Electric pulley device, deep sea winch system and linkage control method

Abstract

The invention relates to an electric pulley device and deep sea winch system and a linkage control method, a cable bearing head at the outermost end of a cable is in butt joint with ROV equipment, the cable penetrates through the electric pulley device on a deck, then penetrates through a cabin to enter a vertical guide pulley, is wound in from the output end of a traction winch, passes through a cable loosening compensator, a horizontal steering pulley and a cable arrangement mechanism, and is connected with the cable loosening compensator, the horizontal steering pulley and the cable arrangement mechanism. Conveying to a cable storage winch; two proximity switches and an induction piece rotating disc are arranged on a pulley of the cable arranging mechanism, a tension sensor is arranged on the electric pulley device and connected with a tension controller, and the control end of the tension controller is connected with the electric pulley device. Linkage synchronous operation of the electric pulley device and the deep sea winch can be kept, automatic and rapid adjustment is carried out when the tension of the cable between the electric pulley device and the deep sea winch changes, the tension of the cable is rapidly restored to the preset tension range, system tension impact is reduced, linkage operation can be synchronous and stable without shaking, the service life of the cable can be prolonged, and the service life of the cable is prolonged. And the cable laying continuity is also facilitated.

Description

Technical Field

[0001] The present invention relates to the field of control of a deep-sea winch system, and in particular to an electric pulley device, a deep-sea winch system and a linkage control method. Background Art

[0002] Before each deep-sea operation, such as deep-water manned operations, deep-sea mining, and deep-sea sampling, the deep-sea winch in the winch cabin needs to release the cable for a distance in order to facilitate the connection between the cable bearing head and ROV and other equipment. Because the large-diameter cable is thicker and heavier, and the winch is located in the winch cabin on the bottom floor, the cable needs to be wound out from the cable storage winch through the cable arrangement mechanism, steering pulley, compensator, traction winch, and then through the cabin to the pulley on the upper deck, and then connected to ROV and other equipment through the guide joint. During the entire cable release process, if the cable bearing head does not apply additional traction, the winch cannot smoothly release the cable for a distance of connection, affecting the connection of ROV and other equipment before the operation. The current conventional method is to rely on the manpower of multiple crew members to apply traction. The winch releases the cable while the manpower drags and slowly pulls the cable out. This method is completely dependent on manpower, and the heavier the cable and the bearing head, the more manpower is required. This not only has low operating efficiency, but also has a great impact on the personal safety of the crew. In order to free up manpower, ensure the safety of workers and equipment, and improve the efficiency of this cable-laying distance, it is necessary to invent an electric pulley device, a deep-sea winch system, and a linkage control method. Summary of the invention

[0003] The present invention aims to provide an electric pulley device and a deep-sea winch system and a linkage control method with high control accuracy, stable internal tension and reliable control process.

[0004] To achieve the above object, the technical solution of the present invention is as follows:

[0005] An electric pulley device and deep-sea winch system, comprising an electric pulley device, a vertical guide pulley, a traction winch, a cable slack compensator, a horizontal steering pulley, a cable arrangement mechanism, a cable storage winch, and a cable. The outermost cable bearing head of the cable is connected to an ROV device. The other end of the cable passes through the electric pulley device on the deck and then enters the vertical guide pulley through the cabin, is wound from the output end of the traction winch, passes through the cable slack compensator, the horizontal steering pulley and the cable arrangement mechanism, and is sent to the cable storage winch. The pulley of the cable arrangement mechanism is provided with two proximity switches and an induction plate turntable for counting the pulses of the pulley and determining the rotation direction of the pulley. The electric pulley device is provided with a tension sensor, the proximity switch is connected to the tension sensor, the tension sensor is connected to a tension controller, and the control end of the tension controller is connected to the electric pulley device.

[0006] Furthermore, the electric pulley device applies a certain traction force to pull and lift the cable between the electric pulley device and the traction winch.

[0007] Furthermore, the electric pulley device is composed of a pressure wheel, a tension sensor, a pulley reducer, a pulley motor, a pulley motor encoder and a pulley body, wherein the pulley reducer, the pulley motor and the pulley motor encoder are connected together, and the motor torque is transmitted to the pulley center axis through a sprocket drive to drive the forward and reverse rotation of the pulley, and the servo drive is used to drive the motor for stepless speed change.

[0008] Furthermore, the tension sensor is a pin sensor, which is installed on the central axis of the pulley and rotates with the pulley to measure the tension of the cable passing through the pulley.

[0009] Furthermore, a clamping wheel is installed in the cable outlet direction of the pulley body, and the clamping force is manually adjusted by adjusting the tightness of the spring to clamp the cable wrapped around the pulley, increase the friction between the cable and the pulley rope groove, and prevent the cable from slipping when the pulley rotates.

[0010] Furthermore, the pulley of the cable arrangement mechanism is composed of two proximity switches, a sensor plate turntable and a cable arrangement pulley body. The two proximity switches and the sensor plate turntable are installed on the cable arrangement pulley body. The two proximity switches generate corresponding pulse signals by sensing the sensor plate turntable. One proximity switch is used for pulse counting, and the other proximity switch is used to determine the rotation direction of the pulley.

[0011] A linkage control method for an electric pulley device and a deep-sea winch system comprises the following steps:

[0012] The first step is to obtain the linear relationship between the given speed of the traction winch and the actual linear speed of the traction winch according to the given speed n1 of the traction winch and the actual linear speed v1 of the traction winch: v1 = k1*n1; where k1 is the measured value, which is calculated by inverse calculation through n1 and v1;

[0013] The second step is to calculate the linear relationship between the given speed n2 of the pulley motor and the linear speed v2 of the pulley according to the reduction ratio of the motor reducer of the electric pulley device, the speed ratio of the transmission sprocket and the outer diameter of the pulley: v2 = k2*n2; where k2 = 3.14*outer diameter d of the pulley / (reduction ratio of the motor reducer*speed ratio of the transmission sprocket);

[0014] Step 3: Since the linear speed on the same cable is the same, the linear relationship between the pulley motor given speed n2 and the winch given speed n1 is obtained according to v1=v2: n2=k3*n1; where k3=k1 / k2;

[0015] The fourth step is that when the given speed n2 of the electric pulley device and the given speed n1 of the deep-sea winch maintain a linear relationship of n2=k3*n1, the feedback value of the tension sensor on the electric pulley device is input into the tension controller, and the given speed n3=n2+Δn of the electric pulley device is automatically adjusted according to the detected change in cable tension. Feedback adjustment is used to ensure that the electric pulley device and the deep-sea winch maintain speed synchronization, the internal tension is stable, and the target compensation effect is achieved.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The electric pulley device and deep-sea winch linkage system and control method of the present invention can maintain the electric pulley device and the deep-sea winch in synchronous operation, automatically and quickly adjust the cable tension between the electric pulley device and the deep-sea winch when it changes, so that the cable tension between the electric pulley device and the deep-sea winch can be quickly restored to a preset tension range, and the system tension shock is reduced, so that the linkage operation between the electric pulley device and the deep-sea winch can be synchronous and stable without shaking, which is beneficial to extending the service life of the cable and also beneficial to the continuity of cable release. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the electric pulley device and the deep-sea winch system;

[0019] Figure 2 It is the structural diagram of the electric pulley device;

[0020] Figure 3 This is the structural diagram of the cable guide wheel;

[0021] Figure 4 This is the control block diagram of the linkage between the electric pulley device and the deep-sea winch. DETAILED DESCRIPTION

[0022] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be clear that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] The embodiment of the present invention provides an electric pulley device and a deep-sea winch system and a linkage control method, which are suitable for preventing excessive changes in the tension in the cable due to the differential speed between the electric pulley device and the deep-sea winch when the cable is pulled out from under the cabin to the upper deck.

[0024] like Figure 1As shown, the electric pulley device and deep-sea winch system are composed of an electric pulley device 1, a vertical guide pulley 2, a traction winch 3, a cable slack compensator 4, a horizontal steering pulley 5, a cable arrangement mechanism 6 and a cable storage winch 7. The cable bearing head that docks with ROV and other equipment is connected to the outermost end of the cable. The cable first passes through the electric pulley device 1 on the deck, then enters the vertical guide pulley 2 through the cabin, winds in from the output end of the traction winch 3, passes through the cable slack compensator 4, the horizontal steering pulley 5 and the cable arrangement mechanism 6, and finally is sent to the cable storage winch 7. The cable between the electric pulley device 1 and the traction winch 3 has a large diameter and a heavy weight. When there is no load at the end of the cable, it is impossible to smoothly release this section of the cable by just releasing the cable with the winch. It is necessary to apply a certain traction force to the electric pulley device 1 to pull and lift this part of the cable.

[0025] like Figure 2 As shown, the electric pulley device 1 is composed of a clamping wheel 10, a tension sensor 11, a pulley reducer 12, a pulley motor 13, a pulley motor encoder 14 and a pulley body 15 (including a sprocket drive). The pulley reducer 12, the pulley motor 13, and the pulley motor encoder 14 are connected together, and the motor torque is transmitted to the pulley center axis through the sprocket drive to drive the pulley to rotate forward and reverse, and the servo driver is used to drive the motor to perform stepless speed change. The tension sensor 11 is a pin sensor installed on the center axis of the pulley, which can rotate with the pulley and is used to measure the tension of the cable passing through the pulley. The clamping wheel 10 is installed in the cable outlet direction of the pulley body 15, and the clamping force is manually adjusted by adjusting the spring tightness, which is used to clamp the cable bypassing the pulley, increase the friction between the cable and the pulley rope groove, and prevent the cable from slipping when the pulley rotates.

[0026] like Figure 3 As shown, the pulley of the cable arrangement mechanism 6 is composed of two proximity switches 21, a sensor plate turntable 22 and a cable arrangement pulley body 23. The two proximity switches 21 and the sensor plate turntable 22 are installed on the cable arrangement pulley body 23, wherein the two proximity switches 21 generate corresponding pulse signals by sensing the sensor plate turntable 22, one proximity switch 21 is used for pulse counting, and the other proximity switch 21 is used to determine the pulley rotation direction, thereby increasing or decreasing the accumulated pulse count value. This cable arrangement device can accurately calculate the actual cable retracting and releasing speed and cable length.

[0027] A control method for a linkage system between an electric pulley device and a deep-sea winch comprises the following steps:

[0028] The first step is to obtain the linear relationship between the given rotation speed of the traction winch and the actual linear speed of the traction winch according to the given rotation speed n1 of the traction winch and the actually measured linear speed v1 of the traction winch: v1=k1*n1; wherein k1 is the measured value, which is calculated by inverse calculation through n1 and v1.

[0029] The second step is to calculate the linear relationship between the given speed n2 of the pulley motor and the linear speed v2 of the pulley according to the reduction ratio of the motor reducer of the electric pulley device, the speed ratio of the transmission sprocket and the outer diameter of the pulley: v2 = k2*n2; where k2 = 3.14*outer diameter d of the pulley / (reduction ratio of the motor reducer*speed ratio of the transmission sprocket);

[0030] Step 3: Since the linear speed on the same cable is the same, the linear relationship between the pulley motor given speed n2 and the winch given speed n1 is obtained according to v1=v2: n2=k3*n1; where k3=k1 / k2;

[0031] The fourth step is that when the given speed n2 of the electric pulley device and the given speed n1 of the deep-sea winch maintain a linear relationship of n2 = k3 * n1, the feedback value of the tension sensor on the electric pulley device is input into the tension controller, such as Figure 4 As shown in the control block diagram of the linkage between the electric pulley device and the deep-sea winch, the given speed n3=n2+Δn of the electric pulley device is automatically adjusted according to the detected change in cable tension. Feedback regulation is used to ensure that the electric pulley device and the deep-sea winch maintain speed synchronization and internal tension is stable, thereby achieving the target compensation effect.

Claims

1. An electric pulley device and a deep-sea winch system, characterized in that: It includes an electric pulley device, a vertical guide pulley, a traction winch, a cable slack compensator, a horizontal steering pulley, a cable arrangement mechanism, a cable storage winch, and a cable. The outermost cable bearing head of the cable is connected to the ROV equipment. The other end of the cable passes through the electric pulley device on the deck and then enters the vertical guide pulley through the cabin, is wound from the output end of the traction winch, passes through the cable slack compensator, the horizontal steering pulley and the cable arrangement mechanism, and is sent to the cable storage winch. Two proximity switches and a sensor plate turntable are provided on the pulley of the cable arrangement mechanism, which are used for counting the pulses of the pulley and determining the rotation direction of the pulley. A tension sensor is provided on the electric pulley device, the proximity switch is connected to the tension sensor, the tension sensor is connected to the tension controller, and the control end of the tension controller is connected to the electric pulley device.

2. The electric pulley device and deep-sea winch system according to claim 1, characterized in that: The electric pulley device applies a certain traction force to pull and lift the cable between the electric pulley device and the traction winch.

3. The electric pulley device and deep-sea winch system according to claim 1, characterized in that: The electric pulley device consists of a pressure wheel, a tension sensor, a pulley reducer, a pulley motor, a pulley motor encoder and a pulley body, wherein the pulley reducer, the pulley motor and the pulley motor encoder are connected together, and the motor torque is transmitted to the pulley center axis through a sprocket drive to drive the pulley to rotate forward and reverse, and the servo drive is used to drive the motor for stepless speed change.

4. The electric pulley device and deep-sea winch system according to claim 2, characterized in that: The tension sensor is a pin sensor installed on the central axis of the pulley. It rotates with the pulley and is used to measure the tension of the cable passing through the pulley.

5. The electric pulley device and deep-sea winch system according to claim 2, characterized in that: The clamping wheel is installed on the cable outlet direction of the pulley body. The clamping force is manually adjusted by adjusting the spring tightness. It is used to clamp the cable wrapped around the pulley, increase the friction between the cable and the pulley groove, and prevent the cable from slipping when the pulley rotates.

6. The electric pulley device and deep-sea winch system according to claim 1, characterized in that: The pulley of the cable arrangement mechanism includes two proximity switches, a sensor plate turntable and a cable arrangement pulley body. The two proximity switches and the sensor plate turntable are installed on the cable arrangement pulley body. The two proximity switches generate corresponding pulse signals by sensing the sensor plate turntable. One proximity switch is used for pulse counting, and the other proximity switch is used to determine the rotation direction of the pulley.

7. A linkage control method of the electric pulley device and the deep-sea winch system according to any one of claims 1 to 6, characterized in that: The following steps are involved: The first step is to obtain the linear relationship between the given speed of the traction winch and the actual linear speed of the traction winch according to the given speed n1 of the traction winch and the actual linear speed v1 of the traction winch: v1 = k1*n1; where k1 is the measured value, which is calculated by inverse calculation through n1 and v1; The second step is to calculate the linear relationship between the given speed n2 of the pulley motor and the linear speed v2 of the pulley according to the reduction ratio of the motor reducer of the electric pulley device, the speed ratio of the transmission sprocket and the outer diameter of the pulley: v2 = k2*n2; where k2 = 3.14*outer diameter d of the pulley / (reduction ratio of the motor reducer*speed ratio of the transmission sprocket); Step 3: Since the linear speed on the same cable is the same, the linear relationship between the pulley motor given speed n2 and the winch given speed n1 is obtained according to v1=v2: n2=k3*n1; where k3=k1 / k2; The fourth step is that when the given speed n2 of the electric pulley device and the given speed n1 of the deep-sea winch maintain a linear relationship of n2=k3*n1, the feedback value of the tension sensor on the electric pulley device is input into the tension controller, and the given speed n3=n2+Δn of the electric pulley device is automatically adjusted according to the detected change in cable tension. Feedback adjustment is used to ensure that the electric pulley device and the deep-sea winch maintain speed synchronization, the internal tension is stable, and the target compensation effect is achieved.

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