Amphibious traction device and control method

Abstract

According to the amphibious traction device and the control method, the amphibious traction device comprises a driving winch assembly, a mounting base, a speed measurement sensor assembly, a tension sensor assembly, a cable holding assembly, an integrated controller and a cable, the cable is connected with external equipment, equipment retraction and release are achieved through the amphibious traction device, the assemblies are designed in a sealing mode, and the amphibious problem can be solved; one or two driving units can be selected according to load requirements to achieve whole machine load capacity control, detection signals of a speed measuring sensor and a tension sensor are received in real time, signals are sent out to control output of a driving assembly according to a cable take-up and pay-off control strategy, closed-loop control over cable take-up and pay-off of a traction device can be achieved, and the cable take-up and pay-off efficiency is improved. And efficient and orderly cable take-up and pay-off are achieved.

Description

Technical Field

[0001] The invention relates to an amphibious traction device and a control method, belonging to the technical field of traction winch design. Background Art

[0002] With the development of science and technology, the development of deep-sea resources is imminent. The competition for marine resource exploration and development is extremely fierce worldwide. The rapid growth of the marine economy has led to a hot market for new marine operation equipment and ships. Deep-sea equipment is the core of the marine technology competition among major countries. As one of the key equipment for deep-sea ships and equipment operations, the winch is mainly used to effectively solve the main problems of effective cable retraction and cable tension reduction required for deep-sea operation of ship equipment, so as to realize the orderly and reliable release and recovery of deep-sea equipment.

[0003] The cable retracting and releasing systems of existing winch devices are mostly located on the ship deck, and use double or triple winches to lift the load of the terminal equipment. The layout of the traction winch reduces the torque of the terminal load on the winch drive unit. Based on the friction between the traction winch and the cable, the cable is wound between two or more winches to reduce the terminal load, thereby reducing the tension of the cable entering the storage drum. The tension reduction capacity is related to the wrap angle between the cable and the winch, and the friction coefficient between the two. At present, the winch device mainly focuses on the wrap angle between the winch and the cable, and the cable and rope groove materials to control the tension reduction. The patent involved [A three-capstan traction winch, 202310282425.5, under trial], this type of three-capstan traction winch structure controls the wrap angle by winding the cable between the main, slave and small capstans. Its advantages: it can expand the tension reduction capacity, and its disadvantages are the layout of the three capstans, the cable routing is complicated, and the cable is easy to be entangled, and the space of the whole machine is not reduced; in addition, the closed-loop force control and speed control of the cable cannot be achieved; at the same time, the lack of sealing cannot solve the problem of normal underwater operation. Summary of the invention

[0004] The technical problem solved by the present invention is: in view of the problems in the current prior art that traditional traction equipment is complex in design and cannot adapt to underwater movement and has poor control accuracy, an amphibious traction device and a control method are proposed.

[0005] The present invention solves the above technical problems by the following technical solutions:

[0006] An amphibious traction device includes a driving winch assembly, a mounting base, a speed sensor assembly, a tension sensor assembly, a cable clamping assembly, an integrated controller, and a cable, wherein:

[0007] The mounting base is a double-layer shell structure, and the two driving winch assemblies for driving the cable to be retracted and released are respectively arranged at the two ends of the top of the upper shell structure of the mounting base; the cables pass through the two driving winch assemblies, the speed sensor assembly, and the tension sensor assembly, and pass through the center position of the top of the upper shell structure of the mounting base; the integrated controller for controlling the driving winch assembly to rotate and drive the cable is arranged at the edge position of the double-layer shell structure, and the two ends of the integrated controller are respectively connected to the edge of the upper shell structure and the edge of the lower shell mechanism; the cable holding assembly for assisting the cable output and preventing the cable from loosening is arranged at the edge position between the double-layer shell structures, and is arranged close to the integrated controller; the speed sensor assembly is arranged on the outside of the mounting base in the same direction as the integrated controller, and the tension sensor assembly is arranged on the outside of the mounting base opposite to the speed sensor, and the speed sensor assembly and the tension sensor assembly are used to monitor the cable retraction and release information in real time.

[0008] The driving winch assembly includes a driving unit and a driving shaft mechanism. The driving unit independently drives the driving shaft mechanism to rotate, and the driving units of the two driving winch assemblies rotate at the same speed; the driving shaft mechanism includes a main driving shaft, a flange seat, a sealing baffle, a stop end plate, a winch, a winch fixing plate, and a sealing kit, wherein:

[0009] The driving shaft mechanism is arranged at both ends of the top of the upper shell structure of the mounting base, and the driving unit is arranged on the corresponding driving shaft mechanism; the main driving shaft is arranged at the top of the upper shell structure of the mounting base through a flange seat and a stop end plate, the capstan is fixed to the main driving shaft through a capstan fixing plate, and the main driving shaft is supported and connected to the flange seat and the stop end plate through double bearings arranged at both ends. The main driving shaft is provided with an inner hole, which is connected to the driving unit through the inner hole for power transmission, and the sealing baffle is arranged at the top and bottom of the main driving shaft to realize static sealing.

[0010] The speed sensor assembly includes a bracket, a large wheel axle, a large wheel baffle, a shaft sleeve, a large cable wheel, a sensor detection sheet, a sensor detection unit and a skeleton sealing ring, wherein:

[0011] The large cable wheel is fixed to the bracket through the large wheel shaft, and a bearing is arranged on the large wheel shaft; a skeleton sealing ring is arranged between the large wheel baffle and the shaft sleeve, a static sealing ring is arranged in the shaft sleeve, and seals are arranged on both sides of the bearing for combined sealing; the sensor detection piece is arranged on the installation end face of the large cable wheel, and the sensor detection unit is installed in the corresponding position with the sensor detection piece according to the detection requirements, which is used to detect the rotation speed of the large cable wheel in real time, and transmit the detection signal to the integrated controller, and the integrated controller monitors the rope retraction and release speed according to the detection signal.

[0012] The tension sensor assembly includes a support plate, a small wheel shaft, a small wheel baffle, a small shaft sleeve, a small cable wheel, a Y-shaped frame, a force sensor, a sensor seat, a sliding sleeve seat, and a sliding sleeve, wherein:

[0013] The small wheel shaft is fixed on the Y-shaped frame through the shaft end nut, and the force sensor is arranged in the sensor seat to measure the cable tension. The sensor seat is fixed to the sliding sleeve seat and sealed by a static sealing ring; a combined sealing ring is arranged between the sliding sleeve seat and the sensor pressure shaft for sealing, and a dynamic sealing is achieved between the sensor pressure shaft and the sliding sleeve seat through a combined sealing ring; the Y-shaped piece is mounted on the sliding sleeve seat through a sliding sleeve; the cable is wound around the small cable wheel for real-time detection; the detection signal measured by the force sensor is fed back to the integrated controller for calculating the cable tension.

[0014] The cable is wound around the small cable wheel according to the reserved wrap angle. After the force sensor detects the cable tension, the integrated controller calculates the cable tension through the reserved wrap angle.

[0015] The cable clamping assembly includes a driving unit, a transmission rod, a telescopic shaft, a telescopic spring, a clamping shaft, a clamping rubber block, a spring seat, an L-shaped seat, an auxiliary wheel and an axle, wherein:

[0016] The auxiliary wheel is fixed between the two L-shaped seats through the wheel axle, one end of the auxiliary wheel is rotatably connected to the L-shaped seat on one side, and the other end is fixedly connected to the other L-shaped seat; the transmission rod fixes the two L-shaped seats in series through the reserved grooves arranged on the L-shaped seats on both sides, and the parts of the transmission rod passing through the L-shaped seats at both ends are used to fix the telescopic shaft on the outside of the L-shaped seat, and spring seats are arranged on the outside of the two L-shaped seats, and the telescopic spring in the spring seat is connected with the telescopic shaft; the telescopic spring is arranged between the spring seat and the L-shaped seat, the clamping shaft passes through the spring seat and is arranged on the outside of the spring shaft, the telescopic shaft is limited by the clamping shaft, and the clamping rubber block is arranged on the inner side of the spring seat installation position on the two L-shaped seats to prevent the cable from loosening.

[0017] A control method according to an amphibious traction device, comprising:

[0018] The integrated controller sends a driving instruction to the driving winch assembly according to the external control instruction, and the driving unit of the driving winch assembly drives the traction winch to rotate, and at the same time drives the cable on the traction winch to move;

[0019] The integrated controller sends a driving instruction to the cable clamping assembly according to the external control instruction, and the driving unit of the cable clamping assembly pops out the clamping rubber block to ensure the stable retraction and release of the cable;

[0020] The action of the cable of the traction winch drives the cable passing through the speed sensor assembly and the tension sensor assembly to move simultaneously. The speed sensor assembly and the tension sensor assembly respectively collect the speed and tension data of the cable, generate detection signals and feed them back to the integrated sensor;

[0021] According to the detection signal, the current cable retraction and release speed and tension are monitored in real time through the integrated controller to ensure the safe and stable retraction and release process of the external equipment connected to the cable.

[0022] The driving unit of the cable clamping assembly receives a driving instruction when the cable is released. When the cable begins to be released, the driving unit of the cable clamping assembly is actuated after receiving the driving instruction of the integrated controller, the transmission rod moves and drives the telescopic spring to move, the telescopic spring moves and pushes the clamping shaft to pop out, the clamping shaft releases the limit on the telescopic shaft, and the clamping rubber block pops out under the action of the clamping shaft to prevent the cable from loosening and dislocating during the retraction and release process. After the retraction and release is completed, the clamping shaft and the telescopic shaft are manually reset to limit the position.

[0023] If the current cable retraction and release speed and tension information collected by the integrated controller exceeds the safety threshold range, the external control instructions and drive instructions are adjusted to ensure that the cable retraction and release speed and tension information are within the safety threshold range.

[0024] The retraction and release control of the cable is determined by the rotation direction of the driving winch assembly. The dual-drive winch assembly receives the driving instructions at the same time, and realizes unilateral action or bilateral joint action according to the driving instructions. The cable realizes cable reversal by controlling the rotation direction of the driving winch assembly.

[0025] The advantages of the present invention compared with the prior art are:

[0026] (1) The present invention provides an amphibious traction device and control method, which adopts a dual-drive winch design and uses two drive units to synchronously drive the winch, which doubles the load capacity compared to most current winch systems and can meet the load requirements of special working conditions; a dynamic seal and a dual static seal design are used in the drive winch shaft system, and after the cavity is flushed with oil, the device can be used on ships and underwater;

[0027] (2) The present invention designs a speed sensor assembly, which takes into account the cable reversing function and is easier to measure the cable discharge speed in real time, thereby realizing real-time control of the cable retraction and release length. The speed sensor can realize high-precision feedback of the cable length. At the same time, a tension sensor assembly is designed to detect the tension on the cable in real time, effectively detect the size of the cable tension, and prevent the cable from being stuck due to excessive tension in the cable storage drum. The sensor provides real-time feedback to the controller, and adjusts the driving torque of the drive unit in real time according to the feedback data. In addition, combined with the feedback data from the speed sensor, the controller can issue control instructions in real time to control the speed of the drive unit; the controllability of the cable retraction and release of the traction device can be realized;

[0028] (3) The traction device of the present invention is provided with a tightening and releasing component, which can ensure that the amphibious rope of the whole machine is in a tensioned state, effectively preventing the rope from winding and running in circles. In addition, the traction device can also select the configuration of each component according to the needs, and be matched with a dual-drive winch for diversified applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 An overall schematic diagram of the amphibious traction device provided by the present invention;

[0030] Figure 2 A front view of the structure of the amphibious traction device provided by the present invention;

[0031] Figure 3 A schematic diagram of the structure of the driving assembly of the amphibious traction device provided by the present invention;

[0032] Figure 4 A schematic diagram of the internal seal structure of the driving shaft of the amphibious traction device provided by the present invention;

[0033] Figure 5 A schematic diagram of a speed sensor assembly for an amphibious traction device provided by the present invention;

[0034] Figure 6 A schematic diagram of a tension sensor assembly for an amphibious traction device provided by the present invention;

[0035] Figure 7 A schematic diagram of the structure of the clamping assembly of the amphibious traction device provided by the present invention;

[0036] Figure 8 This is a schematic diagram of the control of the amphibious traction device provided by the present invention. DETAILED DESCRIPTION

[0037] An amphibious traction device and a control method thereof, comprising a driving winch assembly, a mounting base, a speed sensor assembly, a tension sensor assembly, a cable clamping assembly, an integrated controller, and a cable. The cable is connected to an external device, and the equipment is retracted and released through the amphibious traction device. The assembly is designed with sealing properties in mind, and can solve the amphibious problem. One or two driving units can be selected according to load requirements to realize the load capacity control of the entire machine, and detection signals of a speed sensor and a tension sensor are received in real time. According to a cable retraction and release control strategy, a signal is sent to control the output of the driving assembly, and closed-loop control of the retracted and released cables of the traction device can be realized, so as to realize efficient and orderly retraction and release of the cables.

[0038] An amphibious traction device comprises a driving winch assembly, a mounting base, a speed sensor assembly, a tension sensor assembly, a cable clamping assembly, an integrated controller, and a cable, wherein:

[0039] The mounting base is a double-layer shell structure, and the two driving winch assemblies for driving the cable to be retracted and released are respectively arranged at the two ends of the top of the upper shell structure of the mounting base; the cables pass through the two driving winch assemblies, the speed sensor assembly, and the tension sensor assembly, and pass through the center position of the top of the upper shell structure of the mounting base; the integrated controller for controlling the driving winch assembly to rotate and drive the cable is arranged at the edge position of the double-layer shell structure, and the two ends of the integrated controller are respectively connected to the edge of the upper shell structure and the edge of the lower shell mechanism; the cable holding assembly for assisting the cable output and preventing the cable from loosening is arranged at the edge position between the double-layer shell structures, and is arranged close to the integrated controller; the speed sensor assembly is arranged on the outside of the mounting base in the same direction as the integrated controller, and the tension sensor assembly is arranged on the outside of the mounting base opposite to the speed sensor, and the speed sensor assembly and the tension sensor assembly are used to monitor the cable retraction and release information in real time.

[0040] The driving capstan assembly includes a driving unit and a driving shaft mechanism. The driving unit independently drives the driving shaft mechanism to rotate, and the driving units of the two driving capstan assemblies rotate at the same speed; the driving shaft mechanism includes a main driving shaft, a flange seat, a sealing baffle, a stop end plate, a capstan, a capstan fixing plate, and a sealing kit, wherein:

[0041] The driving shaft mechanism is arranged at both ends of the top of the upper shell structure of the mounting base, and the driving unit is arranged on the corresponding driving shaft mechanism; the main driving shaft is arranged at the top of the upper shell structure of the mounting base through a flange seat and a stop end plate, the capstan is fixed to the main driving shaft through a capstan fixing plate, and the main driving shaft is supported and connected to the flange seat and the stop end plate through double bearings arranged at both ends. The main driving shaft is provided with an inner hole, which is connected to the driving unit through the inner hole for power transmission, and the sealing baffle is arranged at the top and bottom of the main driving shaft to realize static sealing.

[0042] The speed sensor assembly includes a bracket, a large wheel axle, a large wheel baffle, a shaft sleeve, a large cable wheel, a sensor detection sheet, a sensor detection unit and a skeleton sealing ring, wherein:

[0043] The large cable wheel is fixed to the bracket through the large wheel shaft, and a bearing is arranged on the large wheel shaft; a skeleton sealing ring is arranged between the large wheel baffle and the shaft sleeve, a static sealing ring is arranged in the shaft sleeve, and seals are arranged on both sides of the bearing for combined sealing; the sensor detection piece is arranged on the installation end face of the large cable wheel, and the sensor detection unit is installed in the corresponding position with the sensor detection piece according to the detection requirements, which is used to detect the rotation speed of the large cable wheel in real time, and transmit the detection signal to the integrated controller, and the integrated controller monitors the rope retraction and release speed according to the detection signal.

[0044] The tension sensor assembly includes a support plate, a small wheel shaft, a small wheel baffle, a small shaft sleeve, a small cable wheel, a Y-shaped frame, a force sensor, a sensor seat, a sliding sleeve seat, and a sliding sleeve, wherein:

[0045] The small wheel shaft is fixed on the Y-shaped frame through the shaft end nut, and the force sensor is arranged in the sensor seat to measure the cable tension. The sensor seat is fixed to the sliding sleeve seat and sealed by a static sealing ring; a combined sealing ring is arranged between the sliding sleeve seat and the sensor pressure shaft for sealing, and a dynamic sealing is achieved between the sensor pressure shaft and the sliding sleeve seat through a combined sealing ring; the Y-shaped piece is mounted on the sliding sleeve seat through a sliding sleeve; the cable is wound around the small cable wheel for real-time detection; the detection signal measured by the force sensor is fed back to the integrated controller for calculating the cable tension.

[0046] The cable is wound around the small cable wheel according to the reserved wrap angle. After the force sensor detects the cable tension, the integrated controller calculates the cable tension through the reserved wrap angle.

[0047] The cable clamping assembly includes a driving unit, a transmission rod, a telescopic shaft, a telescopic spring, a clamping shaft, a clamping rubber block, a spring seat, an L-shaped seat, an auxiliary wheel and an axle, wherein:

[0048] The auxiliary wheel is fixed between the two L-shaped seats through the wheel axle, one end of the auxiliary wheel is rotatably connected to the L-shaped seat on one side, and the other end is fixedly connected to the other L-shaped seat; the transmission rod fixes the two L-shaped seats in series through the reserved grooves arranged on the L-shaped seats on both sides, and the parts of the transmission rod passing through the L-shaped seats at both ends are used to fix the telescopic shaft on the outside of the L-shaped seat, and spring seats are arranged on the outside of the two L-shaped seats, and the telescopic spring in the spring seat is connected with the telescopic shaft; the telescopic spring is arranged between the spring seat and the L-shaped seat, the clamping shaft passes through the spring seat and is arranged on the outside of the spring shaft, the telescopic shaft is limited by the clamping shaft, and the clamping rubber block is arranged on the inner side of the spring seat installation position on the two L-shaped seats to prevent the cable from loosening.

[0049] The control method of the amphibious traction device comprises the following steps:

[0050] The integrated controller sends a driving instruction to the driving winch assembly according to the external control instruction, and the driving unit of the driving winch assembly drives the traction winch to rotate, and at the same time drives the cable on the traction winch to move;

[0051] The integrated controller sends a driving instruction to the cable clamping assembly according to the external control instruction, and the driving unit of the cable clamping assembly pops out the clamping rubber block to ensure the stable retraction and release of the cable;

[0052] The action of the cable of the traction winch drives the cable passing through the speed sensor assembly and the tension sensor assembly to move simultaneously. The speed sensor assembly and the tension sensor assembly respectively collect the speed and tension data of the cable, generate detection signals and feed them back to the integrated sensor;

[0053] According to the detection signal, the current cable retraction and release speed and tension are monitored in real time through the integrated controller to ensure the safe and stable retraction and release process of the external equipment connected to the cable.

[0054] The driving unit of the cable clamping assembly receives a driving instruction when the cable is released. When the cable begins to be released, the driving unit of the cable clamping assembly is actuated after receiving the driving instruction of the integrated controller. The transmission rod moves and drives the telescopic spring to move. The telescopic spring moves and pushes the clamping shaft to pop out. The clamping shaft releases the limit on the telescopic shaft. The clamping rubber block pops out under the action of the clamping shaft to prevent the cable from loosening and dislocating during the retraction and release process. After the retraction and release is completed, the limit clamping shaft and the telescopic shaft are manually reset.

[0055] If the current cable retraction and release speed and tension information collected by the integrated controller exceeds the safety threshold range, the external control instructions and drive instructions are adjusted to ensure that the cable retraction and release speed and tension information are within the safety threshold range.

[0056] The cable's retraction and release control is determined by the rotation direction of the drive winch assembly. The dual-drive winch assembly receives drive instructions at the same time, and implements unilateral action or bilateral joint action according to the drive instructions. The cable realizes cable reversal by controlling the rotation direction of the drive winch assembly.

[0057] The following is further described in conjunction with the accompanying drawings and preferred embodiments of the specification:

[0058] In the current embodiment, the amphibious traction device is as follows Figure 1 As shown, the amphibious traction device is composed of two driving winch assemblies 1 and their mounting bases 2, a speed sensor assembly 3 and a tension sensor assembly 4, a cable clamping assembly 5, an integrated controller 6 and a cable 7.

[0059] like Figure 2 As shown, the amphibious traction device is arranged with two driving winch assemblies 1, and the driving assemblies are installed on the mounting base 2. Each set of driving winch assemblies 2 is arranged with a driving unit 101, a driving shaft mechanism 102, a winch 103 and a sealing kit 104. The two driving units can independently drive the shaft mechanism 102 to rotate and maintain the same speed; the driving unit 101 can be used as a driving unit according to the use environment, such as the end-loaded cable collection, or as a damping unit when the end-loaded cable is released, and the cable is released stably, and the driving unit body 101 is provided with a sealing setting.

[0060] like Figure 2 As shown, an amphibious traction device mounting base 2 includes a fixing base 201 and a fixing cover plate 202, which are fixed by screws or welding.

[0061] like Figure 3 , Figure 4As shown, the shaft mechanism includes a main drive shaft 1021, a flange seat 1022, a sealing baffle 1023, a stop end plate 1024, a capstan 103, a capstan fixing plate 1025 and a sealing kit 104. The drive shaft mechanism is installed in the middle of the mounting base 2 through the flange seat 1022 and the stop end plate 1025 to support and fix the drive capstan shaft; the capstan 103 is fixed on the main drive shaft 1021 through the capstan fixing plate 1025; two ends of the main drive shaft are provided with double bearings, and the two ends are supported on the flange seat 1022 and the stop end plate 1025 respectively, and the inner hole of the main drive shaft 1021 is connected to the drive unit 101 for power transmission.

[0062] like Figure 5 As shown, the speed sensor assembly 3 is composed of a bracket 301, a large wheel axle 302, a large wheel baffle 303, a sleeve 304, a large cable wheel 305, a sensor detection sheet 306 and a sensor detection unit 307. The large cable wheel 305 is fixed to the bracket 301 through the large wheel axle 302, and a bearing is arranged on the shaft. A skeleton sealing ring 308 is arranged between the large wheel baffle 303 and the sleeve 304, a static sealing ring 309 is arranged in the sleeve, and dynamic and static combined seals are arranged on both sides of the bearing to ensure that the bearing grease seal does not leak, thereby improving the amphibious reliability of the speed sensor assembly.

[0063] In this device, the sensor detection piece 306 of the speed sensor assembly 3 is arranged on the end face of the large cable wheel 305, and is distributed in a circle. The sensor detection unit can be arranged in a single or multiple positions, and 3 positions are arranged here, and the installation position of the detection unit corresponds to the sensor detection piece. The rotation speed of the large cable wheel 305 can be detected in real time, and the detection signal is transmitted to the controller 6 to monitor the speed of the retracted and released rope 7.

[0064] like Figure 6 As shown, the tension sensor assembly 4 includes a support plate 401, a small wheel shaft 402, a small wheel baffle 402, a small shaft sleeve 403, a small cable wheel 404, a Y-shaped frame 405, a force sensor 406, a sensor seat 407, a sliding sleeve seat 408 and a sliding sleeve 409. The bearing seal of the small cable wheel is common to the large cable wheel. The small wheel shaft 402 is fixed to the Y-shaped frame 405 and the shaft end nut is fixed; the force sensor 406 is built into the sensor seat 407, the sensor seat is fixed to the sliding sleeve seat and a static sealing ring 410 is set, and a combined sealing ring 411 is set between the sliding sleeve seat 408 and the sensor pressure shaft to ensure dynamic sealing between the pressure shaft and the sliding sleeve seat 408; the Y-shaped member 405 can move slightly on the sliding sleeve seat 408 through the sliding sleeve 409, which is convenient for detecting the cable tension. The cable is wrapped around the small cable wheel 404 by reserving a certain wrap angle to realize real-time detection of the force sensor and feedback to the integrated controller 6. The controller can convert the tension of the cable 7 by calculating the wrap angle.

[0065] like Figure 7As shown, the cable clamping mechanism 5 includes a driving unit 501, a transmission rod 502, a telescopic shaft 503, a telescopic spring 504, a clamping shaft 505 and a clamping rubber block 506, a spring seat 507, an L-shaped seat 508, an auxiliary wheel 509 and an axle 510; the auxiliary wheel 509 is fixed on the double L-shaped seat 508 through the axle 510 to assist the cable output. The driving unit is fixed between the double L-shaped seats, and one end is rotatably connected. The transmission rod is slidably fixed on the reserved groove of the L-shaped seat, and the telescopic shaft 503 is fixed at both ends. The other end of the telescopic shaft is in a sliding relationship with the spring seat through the hole, and the transmission mechanism is used in pairs. When the driving unit 501 receives the instruction of the integrated controller 6, it will act, the transmission rod 502 will move, the telescopic spring is built between the spring seat and the L-shaped seat, and the clamping shaft passes through the spring seat and is covered with a spring. The telescopic shaft is released by limiting the position with the clamping shaft, and the clamping rod 505 pops out under the action of the spring, realizing the clamping function of the clamping rubber block and the cable to prevent the cable in the traction device from loosening. To retract and release the cable again, the clamping shaft and the telescopic shaft need to be manually reset to the limit position.

[0066] The amphibious traction device moves like Figure 8 As shown, the integrated controller 6 drives the traction device driving unit 101 to drive the traction winch 103 to rotate and drive the cable back 7 on the winch to be retracted and released. The cable passes through the speed sensor component 3 and the tension sensor component 4. The sensor detects the cable retraction and release information in real time, and feeds back the pressure signal and speed signal to the integrated controller 6. The integrated controller unit corrects the driving signal through comparison and further controls the cable retraction and release state, so that the end load equipment can be retracted and released in an orderly manner.

[0067] The amphibious traction device design proposed in this embodiment is a dual-drive winch design, which uses two drive units to synchronously drive the winch. Compared with most current winch systems, it can double the load capacity and solve the problem of large load conditions at the end of the cable. According to the speed sensor component, the cable reversing function is taken into account, which makes it easier to measure the cable discharge speed in real time and realize real-time control of the cable retracting length. This speed sensor can realize high-precision feedback of the cable length.

[0068] The tension sensor component detects the tension on the cable in real time, effectively detecting the cable tension and preventing the cable from being stuck in the cable drum due to excessive tension. The sensor provides real-time feedback to the controller, which adjusts the drive torque of the drive unit in real time based on the feedback data. In addition, combined with the feedback data from the speed sensor, the controller can issue control instructions in real time to control the speed of the drive unit, thus achieving controllability of the cable retracting and releasing device.

[0069] The anti-loosening component is held tight to ensure that the amphibious rope of the whole machine is in the tensioned state, effectively preventing the rope from winding and running in circles. In addition, the traction device can also select the configuration of each component according to the needs, and be matched with a dual-drive winch for diversified applications.

[0070] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0071] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An amphibious traction device, characterized in that: It includes a driving winch assembly, a mounting base, a speed sensor assembly, a tension sensor assembly, a cable clamping assembly, an integrated controller, and a cable, wherein: The mounting base is a double-layer shell structure, and the two driving winch assemblies for driving the cable to be retracted and released are respectively arranged at the two ends of the top of the upper shell structure of the mounting base; the cables pass through the two driving winch assemblies, the speed sensor assembly, and the tension sensor assembly, and pass through the center position of the top of the upper shell structure of the mounting base; the integrated controller for controlling the driving winch assembly to rotate and drive the cable is arranged at the edge position of the double-layer shell structure, and the two ends of the integrated controller are respectively connected to the edge of the upper shell structure and the edge of the lower shell mechanism; the cable holding assembly for assisting the cable output and preventing the cable from loosening is arranged at the edge position between the double-layer shell structures, and is arranged close to the integrated controller; the speed sensor assembly is arranged on the outside of the mounting base in the same direction as the integrated controller, and the tension sensor assembly is arranged on the outside of the mounting base opposite to the speed sensor, and the speed sensor assembly and the tension sensor assembly are used to monitor the cable retraction and release information in real time.

2. An amphibious traction device according to claim 1, characterized in that: The driving winch assembly includes a driving unit and a driving shaft mechanism. The driving unit independently drives the driving shaft mechanism to rotate, and the driving units of the two driving winch assemblies rotate at the same speed; the driving shaft mechanism includes a main driving shaft, a flange seat, a sealing baffle, a stop end plate, a winch, a winch fixing plate, and a sealing kit, wherein: The driving shaft mechanism is arranged at both ends of the top of the upper shell structure of the mounting base, and the driving unit is arranged on the corresponding driving shaft mechanism; the main driving shaft is arranged at the top of the upper shell structure of the mounting base through a flange seat and a stop end plate, the capstan is fixed to the main driving shaft through a capstan fixing plate, and the main driving shaft is supported and connected to the flange seat and the stop end plate through double bearings arranged at both ends. The main driving shaft is provided with an inner hole, which is connected to the driving unit through the inner hole for power transmission, and the sealing baffle is arranged at the top and bottom of the main driving shaft to realize static sealing.

3. The amphibious traction device according to claim 1, characterized in that: The speed sensor assembly includes a bracket, a large wheel axle, a large wheel baffle, a shaft sleeve, a large cable wheel, a sensor detection sheet, a sensor detection unit and a skeleton sealing ring, wherein: The large cable wheel is fixed to the bracket through the large wheel shaft, and a bearing is arranged on the large wheel shaft; a skeleton sealing ring is arranged between the large wheel baffle and the shaft sleeve, a static sealing ring is arranged in the shaft sleeve, and seals are arranged on both sides of the bearing for combined sealing; the sensor detection piece is arranged on the installation end face of the large cable wheel, and the sensor detection unit is installed in the corresponding position with the sensor detection piece according to the detection requirements, which is used to detect the rotation speed of the large cable wheel in real time, and transmit the detection signal to the integrated controller, and the integrated controller monitors the rope retraction and release speed according to the detection signal.

4. The amphibious traction device according to claim 1, characterized in that: The tension sensor assembly includes a support plate, a small wheel shaft, a small wheel baffle, a small shaft sleeve, a small cable wheel, a Y-shaped frame, a force sensor, a sensor seat, a sliding sleeve seat, and a sliding sleeve, wherein: The small wheel shaft is fixed on the Y-shaped frame through the shaft end nut, and the force sensor is arranged in the sensor seat to measure the cable tension. The sensor seat is fixed to the sliding sleeve seat and sealed by a static sealing ring; a combined sealing ring is arranged between the sliding sleeve seat and the sensor pressure shaft for sealing, and a dynamic sealing is achieved between the sensor pressure shaft and the sliding sleeve seat through a combined sealing ring; the Y-shaped piece is mounted on the sliding sleeve seat through a sliding sleeve; the cable is wound around the small cable wheel for real-time detection; the detection signal measured by the force sensor is fed back to the integrated controller for calculating the cable tension.

5. The amphibious traction device according to claim 4, characterized in that: The cable is wound around the small cable wheel according to the reserved wrap angle. After the force sensor detects the cable tension, the integrated controller calculates the cable tension through the reserved wrap angle.

6. The amphibious traction device according to claim 1, characterized in that: The cable clamping assembly includes a driving unit, a transmission rod, a telescopic shaft, a telescopic spring, a clamping shaft, a clamping rubber block, a spring seat, an L-shaped seat, an auxiliary wheel and an axle, wherein: The auxiliary wheel is fixed between the two L-shaped seats through the wheel axle, one end of the auxiliary wheel is rotatably connected to the L-shaped seat on one side, and the other end is fixedly connected to the other L-shaped seat; the transmission rod fixes the two L-shaped seats in series through the reserved grooves arranged on the L-shaped seats on both sides, and the parts of the transmission rod passing through the L-shaped seats at both ends are used to fix the telescopic shaft on the outside of the L-shaped seat, and spring seats are arranged on the outside of the two L-shaped seats, and the telescopic spring in the spring seat is connected with the telescopic shaft; the telescopic spring is arranged between the spring seat and the L-shaped seat, the clamping shaft passes through the spring seat and is arranged on the outside of the spring shaft, the telescopic shaft is limited by the clamping shaft, and the clamping rubber block is arranged on the inner side of the spring seat installation position on the two L-shaped seats to prevent the cable from loosening.

7. A control method for an amphibious traction device according to claim 6, characterized in that include: The integrated controller sends a driving instruction to the driving winch assembly according to the external control instruction, and the driving unit of the driving winch assembly drives the traction winch to rotate, and at the same time drives the cable on the traction winch to move; The integrated controller sends a driving instruction to the cable clamping assembly according to the external control instruction, and the driving unit of the cable clamping assembly pops out the clamping rubber block to ensure the stable retraction and release of the cable; The action of the cable of the traction winch drives the cable passing through the speed sensor assembly and the tension sensor assembly to move simultaneously. The speed sensor assembly and the tension sensor assembly respectively collect the speed and tension data of the cable, generate detection signals and feed them back to the integrated sensor; According to the detection signal, the current cable retraction and release speed and tension are monitored in real time through the integrated controller to ensure the safe and stable retraction and release process of the external equipment connected to the cable.

8. The control method of an amphibious traction device according to claim 7, characterized in that: The driving unit of the cable clamping assembly receives a driving instruction when the cable is released. When the cable begins to be released, the driving unit of the cable clamping assembly is actuated after receiving the driving instruction of the integrated controller, the transmission rod moves and drives the telescopic spring to move, the telescopic spring moves and pushes the clamping shaft to pop out, the clamping shaft releases the limit on the telescopic shaft, and the clamping rubber block pops out under the action of the clamping shaft to prevent the cable from loosening and dislocating during the retraction and release process. After the retraction and release is completed, the clamping shaft and the telescopic shaft are manually reset to limit the position.

9. The control method of an amphibious traction device according to claim 7, characterized in that: If the current cable retraction and release speed and tension information collected by the integrated controller exceeds the safety threshold range, the external control instructions and drive instructions are adjusted to ensure that the cable retraction and release speed and tension information are within the safety threshold range.

10. The control method of an amphibious traction device according to claim 7, characterized in that: The retraction and release control of the cable is determined by the rotation direction of the driving winch assembly. The dual-drive winch assembly receives the driving instructions at the same time, and realizes unilateral action or bilateral joint action according to the driving instructions. The cable realizes cable reversal by controlling the rotation direction of the driving winch assembly.

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