CN216711456U - Full-automatic winch for large-depth ROV (remote operated vehicle) retracting and releasing system - Google Patents
Full-automatic winch for large-depth ROV (remote operated vehicle) retracting and releasing system Download PDFInfo
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- CN216711456U CN216711456U CN202123136230.5U CN202123136230U CN216711456U CN 216711456 U CN216711456 U CN 216711456U CN 202123136230 U CN202123136230 U CN 202123136230U CN 216711456 U CN216711456 U CN 216711456U
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Abstract
The utility model relates to a full-automatic winch for a large-depth ROV (remote operated vehicle) retracting system.A one-way screw rod is rotatably arranged on a winch frame, any end of the one-way screw rod is connected with a screw rod driving motor, and a nut in threaded connection with the one-way screw rod is arranged in a sliding frame; the sliding frame is respectively provided with a left limiting sensor and a right limiting sensor, and the winch frame is respectively fixedly connected with a left limiting target and a right limiting target; the sliding frame is respectively provided with a left swing rod and a right swing rod which can rotate outwards and reset, the bottom of the right swing rod is fixedly connected with a right deflection angle detection target rotating along with the right swing rod, the bottom of the left swing rod is fixedly connected with a left deflection angle detection target rotating along with the left swing rod, the sliding frame on the outer side of the right swing rod is respectively provided with a front right deflection angle detection sensor and a rear right deflection angle detection sensor, and the sliding frame on the outer side of the left swing rod is respectively provided with a front left deflection angle detection sensor and a rear left deflection angle detection sensor. The utility model can realize manual/automatic recovery and laying of the umbilical cables and automatic orderly arrangement of the umbilical cables on the winding drum, thereby ensuring the stability and reliability of large-depth operation and retraction of the ROV.
Description
Technical Field
The utility model belongs to the field of ocean engineering, and particularly relates to a full-automatic winch for a large-depth ROV (remote operated vehicle) retracting and releasing system, which can be applied to quickly releasing and recovering a large-depth ROV and automatically arranging cables in order.
Background
With the promulgation and implementation of the national ocean strategy, the research on the deep sea exploration and operation carrier is more emphasized by various research organizations. The traditional winch of the ROV (remote control unmanned submersible vehicle) retraction system cannot meet the requirement under the working condition of large depth, needs long-time manual control retraction and extension during the operation and recovery of the ROV at large depth, and has the defects of easy occurrence of cable arrangement and cable clamping, and the like.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems existing in the conventional ROV retracting and releasing and recovering process, the utility model aims to provide a full-automatic winch for a large-depth ROV retracting and releasing system. The full-automatic winch has the advantages of compact structure, stable and reliable performance and low cost, and can automatically run and arrange cables orderly when running for a long time.
The purpose of the utility model is realized by the following technical scheme:
the winch driving motor is used for driving the winding drum to rotate forward or reversely; the winch comprises a winch frame, a winch body, a cable arrangement device, a left limiting target, a left limiting sensor, a right limiting sensor and a right limiting target, wherein the cable arrangement device comprises a lead screw driving motor, a one-way lead screw and a sliding frame; the sliding frame is respectively provided with a left limit sensor and a right limit sensor, and the movement track of the sliding frame is respectively provided with a left limit target and a right limit target which are fixed on the winch frame; install right pendulum rod, left pendulum rod that can rotate and reset to the outside on the balladeur train respectively, the bottom rigid coupling of right pendulum rod has and detects the target along with right pendulum rod pivoted right declination, the bottom rigid coupling of left pendulum rod has and detects the target along with left pendulum rod pivoted left declination, install right front declination detection sensor and right rear declination detection sensor on the balladeur train in the right pendulum rod outside respectively, install left front declination detection sensor and left rear declination detection sensor on the balladeur train in the left pendulum rod outside respectively.
Wherein: one end of the right swing rod and one end of the left swing rod are respectively in rotating connection with a mandrel fixedly connected to the sliding frame and rotate around the mandrel on the horizontal plane, a torsion spring connected with the right swing rod or the left swing rod is arranged inside the mandrel, the right swing rod and the left swing rod reset through the torsion springs connected with the right swing rod and the left swing rod respectively, one end of an umbilical cable is wound on the winding drum, the other end of the umbilical cable penetrates through the other ends of the right swing rod and the left swing rod, and the other sides of the right swing rod and the left swing rod are respectively in rotating contact with the umbilical cable.
The right swing rod and the left swing rod are mounted at the top end of the sliding frame and are arranged in a mirror image mode by taking the center line of the top end of the sliding frame as a reference; the right front deflection angle detection sensor, the right rear deflection angle detection sensor, the left front deflection angle detection sensor and the left rear deflection angle detection sensor are all installed at the top end of the sliding frame, and the right front deflection angle detection sensor, the right rear deflection angle detection sensor, the left front deflection angle detection sensor and the left rear deflection angle detection sensor are arranged in a mirror image mode by taking a center line at the top end of the sliding frame as a reference.
The utility model discloses an umbilical cord cable, including balladeur train, swing rod, left pendulum rod, cable, lead cable roller and umbilical cord cable rotation contact, the balladeur train is last to be located one side symmetry that right pendulum rod and left pendulum rod entered the cable and is equipped with two cable guide rollers, the umbilical cord cable passes between right pendulum rod and the left pendulum rod again after passing between two cable guide rollers, the cable guide roller rotates contact with the umbilical cord cable.
The two cable guide rollers are mounted at the top end of the sliding frame and are arranged in a mirror image mode by taking the center line of the top end of the sliding frame as a reference.
Two ends of the one-way screw rod are respectively and rotatably connected with bearing blocks through bearings, and the bearing blocks at the two ends are fixedly connected to a winch frame; and a guide rod fixed on the bearing seat is arranged above and/or below the one-way lead screw, and a sliding sleeve or a linear bearing in sliding connection with the guide rod is arranged on the sliding frame.
The left limit sensor and the right limit sensor are fixedly connected to the lower end of the sliding frame in a mirror image mode, when the sliding frame moves to the left limit position leftwards, the left limit sensor detects a left limit target, and when the sliding frame moves to the right limit position rightwards, the right limit sensor detects a right limit target.
The left limit sensor, the right front deflection angle detection sensor, the right rear deflection angle detection sensor, the left front deflection angle detection sensor and the left rear deflection angle detection sensor are respectively connected with the controller.
The single rod and the self-locking button are respectively connected with the controller.
The utility model has the advantages and positive effects that:
1. the upper end of the sliding frame is respectively provided with a right front deflection angle detection sensor, a right rear deflection angle detection sensor, a left front deflection angle detection sensor and a left rear deflection angle detection sensor, and the sliding frame is driven to slide left and right on the one-way screw rod through logically judging the start and stop and the forward and reverse rotation of the screw rod driving motor, so that the cable arranging device can arrange cables orderly.
2. According to the utility model, the lower end of the carriage is respectively provided with the left limit sensor and the right limit sensor, the carriage can be read to work to the limit position through sensor signals, the mechanical structure is protected from being damaged, and meanwhile, when the winch works in an automatic mode, the sensors can be used for recording the change of the number of layers of the umbilical cables stored in the winch.
3. The automatic umbilical cable winding and unwinding device can operate in a manual mode and can also work in an automatic mode, the automatic umbilical cable winding and unwinding device can be switched to the automatic mode to work through the self-locking button after the manual mode is executed through single-rod operation until the ROV enters water, hours of time for manually winding and unwinding the umbilical cable can be saved in the automatic mode, constant-speed work for winding and unwinding the umbilical cable can be maintained through judging layer number conversion, and working efficiency is improved.
4. When the automatic winch is in the automatic mode, the automatic cable releasing mode can be switched to the manual cable releasing mode at any time if the automatic cable releasing mode needs to be quitted, the winch driving motor can slowly reduce the speed to zero when the automatic mode is quitted through the reset self-locking button, the mechanical structure of the whole winch is protected, the tension of the umbilical cable can be kept in a reliable range when the winch driving motor is quitted from the working mode, and the winch driving motor can enter the manual mode again to be operated by using the single rod after the speed is reduced to zero completely.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the structure of the present invention;
FIG. 3 is a schematic perspective view of the carriage of the present invention moving to a right limit position;
FIG. 4 is a schematic perspective view of the carriage of the present invention moving to the left extreme limit;
FIG. 5 is a schematic perspective view of the one-way screw and the carriage according to the present invention;
FIG. 6 is a front view of the carriage configuration of the present invention;
FIG. 7 is a rotary sectional view taken along line A-A of FIG. 6;
FIG. 8 is a schematic view of the structure of FIG. 6 in the direction B;
FIG. 9 is a front view of the control box of the present invention;
FIG. 10 is a flow chart of the operation of the present invention;
wherein: the device comprises a cable arrangement device 1, a left limit target 2, a left limit sensor 3, a right limit sensor 4, a right limit target 5, a control box 6, a winch drive motor 7, a winding drum 8, a lead screw drive motor 9, a one-way lead screw 10, a sliding frame 11, a right front deflection angle detection sensor 12, a right rear deflection angle detection sensor 13, a right rear deflection angle detection sensor 14, a right deflection angle detection target 15, a right swing rod 15, a left front deflection angle detection sensor 16, a left rear deflection angle detection sensor 17, a left deflection angle detection target 18, a left swing rod 19, a single rod 20, a self-locking button 21, a winch frame 22, a bearing seat 23, a guide rod 24, a cable guide roller 25, a mandrel 26 and an umbilical cable 27.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 8, the utility model comprises a cable arranger 1, a left limit target 2, a left limit sensor 3, a right limit sensor 4, a right limit target 5, a winch driving motor 7, a winding drum 8 and a winch frame 22, wherein the winding drum 8 is rotatably mounted on the winch frame 22, the winch driving motor 7 and the winding drum 8 are integrated into a whole, the winch driving motor 7 is fixedly mounted on a flange end plate at one layer of the winding drum 8, any end of the winding drum 8 is connected with the output end of the winch driving motor 7, and the winch driving motor 7 drives the winding drum 8 to start, stop, turn and change speed, so as to realize the recovery and the laying of an ROV umbilical cable 27; the cable arrangement device 1 comprises a lead screw driving motor 9, a one-way lead screw 10 and a sliding frame 11, wherein the one-way lead screw 10 is rotatably arranged on a winch frame 22, any one end of the one-way lead screw 10 is connected with the lead screw driving motor 9, a nut in threaded connection with the one-way lead screw 10 is arranged in the sliding frame 11, the lead screw driving motor 9 drives the one-way lead screw 10 to rotate, and the sliding frame 11 reciprocates left and right along the one-way lead screw 10 through a screw pair formed by the lead screw driving motor 9 and the sliding frame 11; a left limit sensor 3 and a right limit sensor 4 are respectively arranged on the sliding frame 11, and a left limit target 2 and a right limit target 5 which are fixed on a winch frame 22 are respectively arranged on the motion trail of the sliding frame 11; the sliding frame 11 is respectively provided with a right swing rod 15 and a left swing rod 19 which can rotate outwards and reset, the bottom of the right swing rod 15 is fixedly connected with a right deflection angle detection target 14 rotating along with the right swing rod 15, the bottom of the left swing rod 19 is fixedly connected with a left deflection angle detection target 18 rotating along with the left swing rod 19, the sliding frame 11 on the outer side of the right swing rod 15 is respectively provided with a right front deflection angle detection sensor 12 and a right rear deflection angle detection sensor 13, and the sliding frame 11 on the outer side of the left swing rod 19 is respectively provided with a left front deflection angle detection sensor 16 and a left rear deflection angle detection sensor 17.
Two ends of the unidirectional screw 10 of the embodiment are respectively and rotatably connected with bearing blocks 23 through bearings, and the bearing blocks 23 at the two ends are fixedly connected to a winch frame 22; the guide rods 24 fixed on the bearing seat 23 are arranged above and/or below the one-way screw 10, in this embodiment, one guide rod 24 is respectively arranged above and below the one-way screw 10, the upper and lower guide rods 24 and the one-way screw 10 are parallel to each other, the sliding sleeve or the linear bearing connected with the guide rod 24 in a sliding manner is installed on the sliding frame 11, and the sliding frame 11 is supported by the one-way screw 10 and the guide rods 24. The screw driving motor 9 is fixed on a bearing seat 23 at one end and is connected with the one-way screw 10 through a coupler to drive the one-way screw 10 to start, stop and turn, so that the sliding frame 11 is driven to move and reverse.
The right swing link 15 and the left swing link 19 of the present embodiment are mounted on the top end of the carriage 11, and are arranged in a mirror image manner with the center line of the top end of the carriage 11 as a reference; the right front deflection angle detection sensor 12, the right rear deflection angle detection sensor 13, the left front deflection angle detection sensor 16, and the left rear deflection angle detection sensor 17 are all mounted on the top end of the carriage 11, and the right front deflection angle detection sensor 12, the right rear deflection angle detection sensor 13, the left front deflection angle detection sensor 16, and the left rear deflection angle detection sensor 17 are arranged in a mirror image with the center line of the top end of the carriage 11 as a reference.
The right deflection angle detection target 14 of the embodiment is welded on the outer side of the bottom of the right swing rod 15 and moves along with the right swing rod 15; the left deflection angle detection target 18 is welded on the outer side of the bottom of the left swing rod 19 and moves along with the left swing rod 19. When the right swing rod 15 is positioned at the middle position, the right front deflection angle detection sensor 12 detects a right deflection angle detection target 14; when the right swing link 15 swings outward to a set limit angle, the right rear slip angle detection sensor 13 detects the right slip angle detection target 14. When the left swing link 19 is positioned at the middle position, the left front deflection angle detection sensor 16 detects a left deflection angle detection target 18; when the left swing link 19 swings outward to a set limit angle, the left back-off angle detection sensor 17 detects a left-off angle detection target 18. In this embodiment, the left limit target 2, the right limit target 5, the right swing link 15, the left swing link 19, the right deflection angle detection target 14, and the left deflection angle detection target 18 are all made of stainless steel.
In this embodiment, one end of the right swing link 15 and one end of the left swing link 19 are respectively connected with a spindle 26 fixedly connected to the carriage 11 in a rotating manner, and the spindle 26 is rotated in a set angle range on a horizontal plane, a torsion spring connected with the right swing link 15 or the left swing link 19 is arranged inside each spindle 26, the right swing link 15 and the left swing link 19 are reset through the torsion springs connected with each other, one end of the umbilical cable 27 is wound on the winding drum 8, the other end of the umbilical cable passes through the space between the other ends of the right swing link 15 and the left swing link 19, and the other sides of the right swing link 15 and the left swing link 19 are respectively in rotational contact with the umbilical cable 27. Two cable guide rollers 25 are symmetrically arranged on one sides of the carriage 11, which are positioned at the cable inlet of the right swing rod 15 and the left swing rod 19, the two cable guide rollers 25 are arranged at the top end of the carriage 11, and the two cable guide rollers are arranged in a mirror image mode by taking the center line of the top end of the carriage 11 as a reference; the umbilical cable 27 passes through the two cable guide rollers 25 and then passes through the right swing rod 15 and the left swing rod 19, and the cable guide rollers 25 are in rotating contact with the umbilical cable 27.
The left limit sensor 3 and the right limit sensor 4 of the embodiment are fixedly connected to the lower end of the sliding frame 11 in a mirror image manner, and the left limit target 2 and the right limit target 5 are welded on the winch frame 22 and are respectively located at the left limit position and the right limit position of the sliding frame 11. When the carriage 11 moves leftward to a left limit position, the left limit sensor 3 detects the left limit target 2; when the carriage 11 moves to the right side limit position, the right limit sensor 4 detects the right limit target 5, and the cable arranger 1 can be limited by respectively detecting the left limit target 2 and the right limit target 5, so that structural damage is prevented.
As shown in fig. 1 to 9, a control box 6 is fixedly connected to a winch frame 22 of the present embodiment, a controller, a single rod 20 and a self-locking button 21 are respectively installed inside the control box 6, a left limit sensor 3, a right limit sensor 4, a right front deflection angle detection sensor 12, a right rear deflection angle detection sensor 13, a left front deflection angle detection sensor 16 and a left rear deflection angle detection sensor 17 are respectively connected to the controller, and the single rod 20 and the self-locking button 21 are respectively connected to the controller. The single rod 20 can control the rotation direction and the rotation speed of the winch driving motor 7, forward and reverse movement of the winding drum 8 is realized according to the pushing direction of the single rod 20, and stepless speed change of the winding drum 8 is realized according to the pushing angle of the single rod 20.
The utility model has 7500m cable laying capacity.
The working principle of the utility model is as follows:
in order to meet the requirements of long-time safe and stable cable winding and cable unwinding, and to keep the umbilical cables 27 to be regularly arranged on the winding drum 8, when the winch normally works, the winch is powered by the winch driving motor 7, and the cable arranger 1 slides by the lead screw driving motor 9. The left limit sensor 3, the right limit sensor 4, the right front deflection angle detection sensor 12, the right rear deflection angle detection sensor 13, the left front deflection angle detection sensor 16 and the left rear deflection angle detection sensor 17 which are arranged on the sliding frame 11 are all proximity switches, the left limit sensor 3 and the right limit sensor 4 respectively judge whether the sliding frame 11 reaches a limit position by detecting the left limit target 2 and the right limit target 5, and the four deflection angle detection sensors judge that the cable arranging device 1 carries out stop-and-go work by logically judging the positions of the right swing rod 15 and the left swing rod 19, so that stable cable arrangement of the cable arranging device 1 is ensured.
The control box 6 is internally provided with electronic devices such as a controller, a single rod 20, a self-locking button 21 and the like, the winch can be operated in a manual mode by using the single rod 20, and the winch can be switched to enter an automatic mode by matching with the self-locking button 21, as shown in fig. 10. When the winch works in a manual mode, after the single rod 20 is pushed to meet the requirement, the self-locking button 21 is pressed, the winch starts a constant-speed cable releasing/cable retracting function, meanwhile, the single rod 20 is controlled to be invalid, an automatic mode button indicating lamp of the winch is lightened, the angular speed of the winch driving motor 7 is controlled in a closed-loop mode by detecting the number of layers of the umbilical cable 27 on the winding drum 8, therefore, the umbilical cable on the winding drum 8 can work at a constant linear speed, and the winch can perform cable releasing/cable retracting in a full-automatic mode. When the winch works in the automatic mode, the self-locking button 21 is reset, the slow deceleration of the winch is zero, the tension impact of the winch on the umbilical cable 27 is reduced, the mechanical structure of the winch is protected, the automatic mode button indicator lamp of the winch is turned off after the deceleration of the winch is zero, the manual mode is turned on, and the single rod 20 is effectively controlled.
The screw driving motor 9 drives the one-way screw 10 to rotate and controls the left and right movement on the sliding frame 11, and the rotating speed of the screw driving motor 9 is in direct proportion to the rotating speed of the winch driving motor 7. The screw rod driving motor 9 can match the movement speed of the control carriage 11 according to the rotating speed of the winch driving motor 7, and automatic and orderly cable arrangement of the cable arranger is realized.
The cable arranger 1 can determine the deviation of the cable entry angle of the umbilical cable 27 by the right rear deviation angle detection sensor 13 and the left rear deviation angle detection sensor 17, thereby controlling the carriage 11 to move in the same direction. The cable arranger 1 can detect the centering of the umbilical 27 by the right and left front slip angle detection sensors 12 and 16, thereby controlling the carriage 11 to stop moving. The cable arranger 1 can limit the change range of the rope inlet angle of the umbilical cable 27 through the cooperative control of the right front deflection angle detection sensor 12 and the right rear deflection angle detection sensor 13 or the left front deflection angle detection sensor 16 and the left rear deflection angle detection sensor 17, thereby realizing automatic and orderly cable arrangement.
According to the utility model, after the winch driving motor 7 reaches the required speed by pushing the single rod 20, the self-locking button 21 is pressed, the single rod 20 is loosened to realize the full-automatic operation of the winch, and the winch driving motor 7 can slowly reduce the speed until the speed is zero by resetting the self-locking button 21, so that the automatic mode of the winch is exited. When the winch works fully automatically, the left limiting sensor 3 and the right limiting sensor 4 can be used for respectively detecting the left limiting target 2 and the right limiting target 5 to calculate the number of layers of the current umbilical cable 27, so that the winch can be used for retracting and releasing cables at a constant speed.
Claims (9)
1. A full-automatic winch for a large-depth ROV (remote operated vehicle) winding and unwinding system comprises a winch frame, a winch driving motor and a winding drum, wherein the winding drum is rotatably arranged on the winch frame, any one end of the winding drum is connected with the output end of the winch driving motor, and the winch driving motor drives the winding drum to rotate forwards or reversely; the method is characterized in that: the winch is characterized by further comprising a cable arrangement device (1), a left limit target (2), a left limit sensor (3), a right limit sensor (4) and a right limit target (5), wherein the cable arrangement device (1) comprises a lead screw driving motor (9), a one-way lead screw (10) and a sliding frame (11), the one-way lead screw (10) is rotatably installed on the winch frame (22), any one end of the one-way lead screw is connected with the lead screw driving motor (9), a nut in threaded connection with the one-way lead screw (10) is installed inside the sliding frame (11), the lead screw driving motor (9) drives the one-way lead screw (10) to rotate, and the sliding frame (11) is enabled to reciprocate left and right along the one-way lead screw (10) through a screw pair formed by the sliding frame (11); a left limit sensor (3) and a right limit sensor (4) are respectively installed on the sliding frame (11), and a left limit target (2) and a right limit target (5) which are fixed on a winch frame (22) are respectively arranged on the motion trail of the sliding frame (11); install right pendulum rod (15), left pendulum rod (19) that can rotate and reset to the outside on balladeur train (11) respectively, the bottom rigid coupling of right pendulum rod (15) has and detects target (14) along with right pendulum rod (15) pivoted right declination, the bottom rigid coupling of left pendulum rod (19) has and detects target (18) along with left pendulum rod (19) pivoted left declination, install right front declination on balladeur train (11) in the right pendulum rod (15) outside respectively and detect sensor (12) and right rear declination and detect sensor (13), install left front declination on balladeur train (11) in the left side pendulum rod (19) outside respectively and detect sensor (16) and left rear declination and detect sensor (17).
2. The fully automatic winch for large depth ROV retraction system according to claim 1, wherein: the one end of right side pendulum rod (15) and left pendulum rod (19) respectively with mandrel (26) rotation connection on balladeur train (11), wind mandrel (26) rotate at the horizontal plane, mandrel (26) inside is equipped with the torsional spring that links to each other with right pendulum rod (15) or left pendulum rod (19), right side pendulum rod (15) and left pendulum rod (19) reset through the torsional spring of connecting separately, the one end winding of umbilical cable (27) is in on reel (8), the other end by pass between the other end of right side pendulum rod (15) and left pendulum rod (19), the opposite side of right side pendulum rod (15) and left pendulum rod (19) respectively with umbilical cable (27) rotation contact.
3. The fully automatic winch for large depth ROV retraction system according to claim 1, wherein: the right swing rod (15) and the left swing rod (19) are mounted at the top end of the sliding frame (11) and are arranged in a mirror image mode by taking the center line of the top end of the sliding frame (11) as a reference; the right front deflection angle detection sensor (12), the right rear deflection angle detection sensor (13), the left front deflection angle detection sensor (16) and the left rear deflection angle detection sensor (17) are all installed at the top end of the sliding frame (11), and the right front deflection angle detection sensor (12), the right rear deflection angle detection sensor (13), the left front deflection angle detection sensor (16) and the left rear deflection angle detection sensor (17) are arranged in a mirror image mode by taking the center line of the top end of the sliding frame (11) as a reference.
4. The fully automatic winch for large depth ROV retraction system according to claim 1, wherein: one side symmetry that lies in right pendulum rod (15) and left pendulum rod (19) on balladeur train (11) and advance the cable is equipped with two guide cable rollers (25), and umbilical cable (27) passes between right pendulum rod (15) and left pendulum rod (19) again after passing between two guide cable rollers (25), guide cable roller (25) and umbilical cable (27) rotate the contact.
5. The fully automatic winch for large depth ROV retraction system according to claim 4, wherein: the two cable guide rollers (25) are mounted at the top end of the sliding frame (11) and are arranged in a mirror image mode by taking the center line of the top end of the sliding frame (11) as a reference.
6. The fully automatic winch for large depth ROV retraction system according to claim 1, wherein: two ends of the one-way screw rod (10) are respectively and rotatably connected with bearing blocks (23) through bearings, and the bearing blocks (23) at the two ends are fixedly connected to a winch frame (22); and a guide rod (24) fixed on the bearing seat (23) is arranged above and/or below the one-way screw (10), and a sliding sleeve or a linear bearing in sliding connection with the guide rod (24) is arranged on the sliding frame (11).
7. The fully automatic winch for large depth ROV retraction system according to claim 1, wherein: left side limit sensor (3) and right limit sensor (4) mirror image rigid coupling in the lower extreme of balladeur train (11), when balladeur train (11) move left side limit position, left side limit sensor (3) detect left limit target (2), when balladeur train (11) move right side limit position, right limit sensor (4) detect right limit target (5).
8. The fully automatic winch for large depth ROV retraction system according to claim 1, wherein: the left limit sensor (3), the right limit sensor (4), the right front deflection angle detection sensor (12), the right rear deflection angle detection sensor (13), the left front deflection angle detection sensor (16) and the left rear deflection angle detection sensor (17) are connected with the controller respectively.
9. The fully automatic winch for large-depth ROV retracting and extending system according to claim 1, wherein: the automatic locking device is characterized by further comprising a single rod (20) and a self-locking button (21), wherein the single rod (20) and the self-locking button (21) are respectively connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123136230.5U CN216711456U (en) | 2021-12-14 | 2021-12-14 | Full-automatic winch for large-depth ROV (remote operated vehicle) retracting and releasing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123136230.5U CN216711456U (en) | 2021-12-14 | 2021-12-14 | Full-automatic winch for large-depth ROV (remote operated vehicle) retracting and releasing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216711456U true CN216711456U (en) | 2022-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123136230.5U Active CN216711456U (en) | 2021-12-14 | 2021-12-14 | Full-automatic winch for large-depth ROV (remote operated vehicle) retracting and releasing system |
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| Country | Link |
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| CN (1) | CN216711456U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056915A (en) * | 2022-06-23 | 2022-09-16 | 广东工业大学 | Large cable mooring device with five-connecting-rod quick release mechanism |
-
2021
- 2021-12-14 CN CN202123136230.5U patent/CN216711456U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056915A (en) * | 2022-06-23 | 2022-09-16 | 广东工业大学 | Large cable mooring device with five-connecting-rod quick release mechanism |
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