A hydraulic drive system specially used for automatic deviation correction and cable arrangement in deep-sea winches

Abstract

A hydraulic drive system specially used for automatic deviation correction and cable arrangement in deep-sea winches, including a drum drive motor, which drives the drum to work, and a brake is also installed on the drum drive motor, and also includes a proportional solenoid valve connected to the oil tank, which is connected to a shuttle valve, a pressure reducing valve, a one-way valve and a brake in sequence through a pipeline to form a drum motor locking control oil circuit; it also includes a cable arrangement mechanism drive motor, which is connected to a ball screw, and a cable output slider is installed on the ball screw, and a TOF camera is installed on the cable output slider, and the detection end of a No. 1 displacement sensor is fixedly connected to the cable output slider, and the cable output slider is connected to the load after being connected to the cable on the drum; it can automatically complete the winch's cable retracting and releasing and position locking actions, and the cable arrangement system can automatically detect the current cable arrangement situation, and quickly adjust the position of the cable output slider of the cable arrangement mechanism by changing the speed and direction of the cable arrangement mechanism drive motor, so that the cable output angle of the drum is always maintained within the set value range, avoiding the phenomenon of cable disorder on the drum.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic drive systems, in particular to a hydraulic drive system specially used for automatic deviation correction and cable arrangement in deep-sea winches. Background Art

[0002] When conducting deep-sea operations such as deep-water manned operations, deep-sea mining, and deep-sea sampling, deep-sea winches are required to tow and lower the operating equipment to a fixed position on the seabed. In addition to the common operations carried by the mother ship, deep-sea winches also have special working conditions for mobile operations with the equipment entering the water. This type of deep-sea winch for water-entering operations has the characteristics of limited installation space, long cable release distance, large cable storage capacity, complex operating environment, and unattended operation. During the cable retraction and release process, the cable arrangement system needs to coil the cables neatly and tightly layer by layer on the winch's cable storage drum. If the cable arrangement effect is not good, cable overlap or cable embedding and other cable disorder phenomena will occur, which will increase the friction between the cables and affect the service life of the cables. In severe cases, the cables will be broken and the equipment will be damaged. Whether the cables can be arranged tightly and neatly is not only related to the characteristics of the cables themselves, but also to whether the cable arrangement mechanism can be effectively and accurately controlled to perform the cable arrangement action.

[0003] At present, underwater winches are mostly used to retract and release cables by means of motor-driven drums. The cable arrangement mechanism used is mostly a bidirectional lead screw, which is driven by gears with the drum. Through a certain gear ratio, the horizontal sliding speed of the cable-out slider on the bidirectional lead screw is synchronized with the cable-out speed of the drum. However, this method has the following two disadvantages:

[0004] (1) The cable-discharging slider is connected to the bidirectional screw rod through a crescent plate. The crescent plate is usually made of relatively soft materials such as tin bronze, which is easy to wear. After a long time of use, the crescent plate is easy to slip in the bidirectional screw rod. Especially when the two ends of the bidirectional screw rod need to be reversed, the reversal failure often occurs, resulting in a larger cable-discharging angle of the drum and eventually a tangled cable situation;

[0005] (2) The method of connecting the reel and the bidirectional screw through gears will cause the cumulative error of the gear gap, resulting in the reel cable release angle becoming larger after the reel releases several layers of cable, and eventually the cable will be tangled. Summary of the invention

[0006] In view of the shortcomings in the above-mentioned existing production technology, the applicant provides a hydraulic drive system for automatic deviation correction and cable arrangement specially used in deep-sea winches, which can automatically complete the winch's cable reeling and releasing and position locking actions. The cable arrangement system can automatically detect the current cable arrangement situation, and by changing the speed and direction of the cable arrangement mechanism drive motor, quickly adjust the position of the cable output slider of the cable arrangement mechanism, so that the cable output angle of the drum is always maintained within the set value range, avoiding the phenomenon of cable tangling on the drum.

[0007] The technical solution adopted by the present invention is as follows:

[0008] A hydraulic drive system specially used for automatic deviation correction and cable arrangement in deep-sea winches, comprising a drum drive motor, the drum drive motor is connected to the drum and drives the drum to work, a brake is also installed on the drum drive motor, and a proportional solenoid valve connected to the oil tank is connected to the shuttle valve, the pressure reducing valve, the one-way valve and the brake in sequence through a pipeline to form a drum motor locking control oil circuit; and a cable arrangement mechanism drive motor arranged in parallel with the drum drive motor, the cable arrangement mechanism drive motor is connected to a ball screw, a cable output slider is installed on the ball screw, a TOF camera is installed on the cable output slider, a detection end of a No. 1 displacement sensor is fixedly connected to the cable output slider, and the cable output slider is connected to the load after being connected to the cable on the drum;

[0009] Limit switches are respectively arranged at the left and right ends of the ball screw;

[0010] It also includes a cable pressure roller, both ends of which are connected to the end faces of the drum by springs, and the cable pressure roller translates with the number of cable layers and remains parallel to the central axis of the drum.

[0011] Its further technical solution is:

[0012] The cable arrangement mechanism driving motor is connected to the servo solenoid valve, the servo solenoid valve is connected to the proportional solenoid valve, the servo solenoid valve is connected to the servo valve control module and the host computer signal processing module in turn, the host computer signal processing module is respectively connected to the No. 1 displacement signal, the imaging signal and the No. 2 displacement signal, the No. 1 displacement signal is connected to the No. 1 displacement sensor, the imaging signal is connected to the TOF camera, and the No. 2 displacement signal is connected to the cable pressing roller.

[0013] The cable pressing roller is composed of an inner and outer sleeve. The outer sleeve rotates around its own central axis, and a No. 2 displacement sensor is installed on the inner side of the outer sleeve.

[0014] The No. 2 displacement sensor is connected to the No. 2 displacement signal.

[0015] The limit switch controls the extreme position of the cable-out slider.

[0016] The servo solenoid valve and the proportional solenoid valve share the same oil tank.

[0017] The rotation direction and speed of the drum drive motor are determined by a proportional solenoid valve.

[0018] The beneficial effects of the present invention are as follows:

[0019] The present invention has a compact and reasonable structure and is easy to operate. The hydraulic system can automatically control the winch to retract and release the cable, and has a self-locking function when the winch is stopped. At the same time, a cable arrangement system that can automatically correct the deviation is designed. The mechanism detects the horizontal position of the arranged cable segment on the drum, the horizontal position data of the cable arrangement mechanism on the lead screw, and the depth map of the arranged cable in real time, and returns it to the upper computer signal processing module to calculate the current cable output angle and the density of the cable arrangement. By comparing the results, the rotation position and direction of the cable arrangement mechanism are automatically adjusted to keep the cable output angle within the set value range. This active control method can ensure that the cables are always arranged neatly when the winch is releasing or retracting the cables, and there will be no cable disorder.

[0020] At the same time, the present invention also has the following advantages:

[0021] (1) Able to effectively and quickly complete the winch cable retracting and releasing tasks;

[0022] (2) The reel can be locked at any position;

[0023] (3) Ability to complete closed-loop control of cable delivery angle adjustment in real time;

[0024] (4) Through remote control of the proportional valve and servo valve, precise control of the winch cable retracting and releasing speed can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the present invention.

[0026] Among them: 1. Proportional solenoid valve; 2. Shuttle valve; 3. Pressure reducing valve; 4. Check valve; 5. Brake; 6. Drum drive motor; 7. Drum; 8. Cable pressing roller; 9. Limit switch; 10. Ball screw; 11. Cable output slider; 12. TOF camera; 13. No. 1 displacement sensor; 14. Cable arrangement mechanism drive motor; 15. Servo solenoid valve; 16. Upper computer signal processing module; 17. No. 1 displacement signal; 18. Imaging signal; 19. No. 2 displacement signal; 20. Servo valve control module. DETAILED DESCRIPTION

[0027] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0028] like Figure 1As shown, the hydraulic drive system of the embodiment is dedicated to the automatic deviation correction and cable arrangement in the deep-sea winch, including a drum drive motor 6, the drum drive motor 6 is connected to the drum 7, drives the drum 7 to work, and a brake 5 is also installed on the drum drive motor 6, and also includes a proportional solenoid valve 1 connected to the oil tank, and the proportional solenoid valve 1 is sequentially connected to the shuttle valve 2, the pressure reducing valve 3, the one-way valve 4 and the brake 5 through a pipeline to form a drum motor locking control oil circuit; and also includes a cable arrangement mechanism drive motor 14 arranged in parallel with the drum drive motor 6, the cable arrangement mechanism drive motor 14 is connected to the ball screw 10, the ball screw 10 is installed with a cable-out slider 11, the cable-out slider 11 is installed with a TOF camera 12, the detection end of the No. 1 displacement sensor 13 is fixedly connected to the cable-out slider 11, and the cable-out slider 11 is connected to the load after being connected to the cable on the drum 7;

[0029] Limit switches 9 are respectively arranged at the left and right ends of the ball screw 10;

[0030] It also includes a cable pressing roller 8, both ends of which are connected to the end surfaces of the drum 7 by springs, and translates with the number of cable layers and remains parallel to the central axis of the drum 7.

[0031] The cable arrangement mechanism driving motor 14 is connected to the servo solenoid valve 15, the servo solenoid valve 15 is connected to the proportional solenoid valve 1, the servo solenoid valve 15 is connected in sequence to the servo valve control module 20 and the host computer signal processing module 16, the host computer signal processing module 16 is respectively connected to the No. 1 displacement signal 17, the imaging signal 18 and the No. 2 displacement signal 19, the No. 1 displacement signal 17 is connected to the No. 1 displacement sensor 13, the imaging signal 18 is connected to the TOF camera 12, and the No. 2 displacement signal 19 is connected to the cable pressing roller 8.

[0032] The cable pressing roller 8 is composed of an inner and outer sleeve. The outer sleeve rotates around its own central axis. A No. 2 displacement sensor is installed on the inner side of the outer sleeve.

[0033] The second displacement sensor is connected to the second displacement signal 19 .

[0034] The limit switch 9 controls the extreme position of the cable-discharging slide block 11.

[0035] The servo solenoid valve 15 and the proportional solenoid valve 1 share the same oil tank.

[0036] The rotation direction and speed of the reel drive motor 6 are determined by the proportional solenoid valve 1 .

[0037] like Figure 1 As shown, the specific structure and functions of the hydraulic drive system for automatic deviation correction and cable arrangement in deep-sea winches described in the present invention are as follows:

[0038] The drum drive motor 6 drives the drum 7 to work, the cable arrangement mechanism drive motor 14 drives the ball screw 10, the ball screw 10 is equipped with a cable slider 11, the cable slider 11 is equipped with a TOF camera 12, the detection end of the No. 1 displacement sensor 13 is fixedly connected to the cable slider 11, and the two ends of the cable pressing roller 8 are connected to the end faces of the drum 7 by springs, which can be translated with the number of cable layers and remain parallel to the central axis of the drum 7. The cable pressing roller 8 is composed of an inner and outer sleeve, the outer sleeve can rotate around its own central axis, and the inner side of the outer sleeve is equipped with a No. 2 displacement sensor.

[0039] The rotation direction and speed of the drum drive motor 6 are determined by the proportional solenoid valve 1, and the shuttle valve 2, the pressure reducing valve 3, the one-way valve 4 and the brake 5 constitute the drum motor locking control oil circuit.

[0040] There is one limit switch 9 on each side. When the cable-discharging slide block 11 runs to the extreme positions at both ends and does not reverse, the cable-discharging mechanism drives the motor 14 to reverse.

[0041] The present invention can realize stepless speed regulation of the winch cable retracting and releasing, and can lock the drum 7 at any position. At the same time, the ball screw 10 is used as the moving part of the cable arrangement mechanism, and the cable-out slider 11 moves more smoothly; the cable-out angle calculation and detection system can realize the cable-out slider 11 to always keep the cable-out angle within the set range through closed-loop control, avoiding the cable jump when releasing the cable and the cable disorder when retracting the cable due to the excessive cable-out angle when the winch is retracting and releasing the cable.

[0042] In the actual work process, it is completed through the following steps:

[0043] Step 1: When the winch needs to retract or release the cable, the proportional solenoid valve 1 is energized, and the high-pressure oil enters the pressure reducing valve 3, the one-way valve 4, and the brake 5 in sequence through the shuttle valve 2, and the brake 5 is opened; at the same time, the high-pressure oil enters the drum drive motor 6, and the drum drive motor 6 drives the drum 7 to rotate, and the drum 7 retracts or releases the cable;

[0044] Step 2: The servo solenoid valve 15 is energized, and the cable arrangement mechanism driving motor 14 drives the ball screw 10 to rotate in the set direction and speed. The No. 2 displacement sensor of the cable pressing roller 8 can measure the displacement of the cable arranged on the drum 7 at the current layer, and the No. 1 displacement sensor 13 can measure the displacement of the cable slider 11. The displacement difference between the two can be calculated as s. The parallel distance h between the ball screw 10 and the cable pressing roller 8 is related to the installation position and the number of cable arrangement layers. The actual cable angle θ=arctan can be calculated by the upper computer signal processing module 16 (s / h), compare it with the set value to obtain the new control amount of the servo solenoid valve 15, and transmit it to the servo valve control module 20, so as to control the opening direction and opening degree of the servo solenoid valve 15, and then adjust the rotation direction and speed of the cable arrangement mechanism drive motor 14, thereby adjusting the rotation direction and speed of the ball screw 10, so that the cable-out slider 11 can quickly adjust its position on the ball screw 10, so as to change the cable-out angle, complete the closed-loop control of the cable-out angle, and avoid the cable being tangled when the winch is reeling in the cable and the cable jumping when the cable is released.

[0045] like Figure 1 As shown, the TOF camera 12 that moves with the cable-discharging slider 11 can calculate in real time the depth map of the cable near the cable-discharging section and the camera position. The upper computer signal processing can analyze and determine the density of the cables arranged on the winch drum 7. When the cables are arranged too sparsely or the density of two turns of cables is different, the rotation direction of the cable-discharging mechanism driving motor 14 is adjusted, and the cables are rearranged after a certain length of cable is released.

[0046] like Figure 1 As shown, displacement sensor No. 1 13 can detect whether the cable slider 11 has reached the limit position. After exceeding the displacement threshold, the host computer controls the servo solenoid valve 15 to reverse, so that the cable arrangement mechanism drive motor 14 reverses, driving the ball screw 10 to reverse, thereby causing the cable arrangement slider 11 to move in the opposite direction. For safety and redundancy design considerations, when the limit switches 9 on both sides transmit the in-position signals to the host computer signal processing module 16, the cable arrangement mechanism drive motor 14 is also controlled to reverse.

[0047] like Figure 1 As shown, the shuttle valve 2 can realize the function of automatically opening the brake 5 regardless of the forward and reverse rotation of the reel drive motor 6 by detecting the hydraulic oil at the two outlets of the proportional solenoid valve 1; the pressure reducing valve 3 is used to prevent the hydraulic oil pressure entering the brake 5 from being too high and damaging the brake 5.

[0048] like Figure 1As shown, the upper computer signal processing module 16 presets the cable outgoing angle range and whether to release the cable for rearrangement, and can receive the displacement signals of the cable pressing roller 8, the No. 1 displacement sensor 13 and the imaging signal 18 of the TOF camera 12 in real time, and form a new servo valve control signal through analysis and comparison, which is input into the servo valve control module 20, thereby changing the position of the valve core of the servo solenoid valve 15, and then changing the direction and flow of the hydraulic oil entering the cable arrangement mechanism drive motor 14, thereby changing the direction and speed of the ball screw 10, completing the position adjustment of the cable outgoing slider 11, and changing the cable outgoing angle.

[0049] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A hydraulic drive system specially used for automatic deviation correction and cable arrangement in deep-sea winches, characterized by: It includes a drum drive motor, which is connected to the drum and drives the drum to work. A brake is also installed on the drum drive motor. It also includes a proportional solenoid valve connected to the oil tank. The proportional solenoid valve is connected to a shuttle valve, a pressure reducing valve, a one-way valve and a brake in sequence through a pipeline to form a drum motor locking control oil circuit; it also includes a cable arrangement mechanism drive motor arranged in parallel with the drum drive motor, the cable arrangement mechanism drive motor is connected to a ball screw, a cable output slider is installed on the ball screw, a TOF camera is installed on the cable output slider, a detection end of a No. 1 displacement sensor is fixedly connected to the cable output slider, and the cable output slider is connected to the load after being connected to the cable on the drum; Limit switches are respectively arranged at the left and right ends of the ball screw; It also includes a cable pressing roller, the two ends of which are connected to the end faces of both sides of the drum by a spring, and are translated with the number of cable layers and remain parallel to the central axis of the drum; the cable arrangement mechanism drive motor is connected to the servo solenoid valve, the servo solenoid valve is connected to the proportional solenoid valve, the servo solenoid valve is connected to the servo valve control module and the upper computer signal processing module in sequence, the upper computer signal processing module is respectively connected to the No. 1 displacement signal, the imaging signal and the No. 2 displacement signal, the No. 1 displacement signal is connected to the No. 1 displacement sensor, the imaging signal is connected to the TOF camera, and the No. 2 displacement signal is connected to the cable pressing roller; The cable pressing roller is composed of an inner and outer sleeve, the outer sleeve rotates around its own central axis, and a second displacement sensor is installed on the inner side of the outer sleeve; The No. 2 displacement sensor is connected to the No. 2 displacement signal.

2. A hydraulic drive system for automatic deviation correction and cable arrangement in deep-sea winches as claimed in claim 1, characterized in that: The limit switch controls the extreme position of the cable-out slider.

3. A hydraulic drive system for automatic deviation correction and cable arrangement in deep-sea winches as claimed in claim 1, characterized in that: The servo solenoid valve and the proportional solenoid valve share the same oil tank.

4. A hydraulic drive system for automatic deviation correction and cable arrangement in deep-sea winches as claimed in claim 1, characterized in that: The rotation direction and speed of the drum drive motor are determined by a proportional solenoid valve.

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