An electric pulley device and deep-sea winch system and linkage control method

Abstract

The present invention relates to an electric pulley device and a deep-sea winch system and a linkage control method. The outermost cable bearing head of the cable is docked with the ROV equipment. The cable passes through the electric pulley device on the deck and then enters the vertical guide pulley in the cabin. It 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 a sensor plate turntable. The electric pulley device is provided with a tension sensor, which is connected to a tension controller. The control end of the tension controller is connected to the electric pulley device. The present invention can maintain the synchronous operation of the electric pulley device and the deep-sea winch. When the cable tension between them changes, it automatically and quickly adjusts, so that the cable tension quickly returns to the preset tension range and reduces the system tension shock. The linkage operation 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.

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 compartment must unwind the cable a certain distance to facilitate connection between the cable support head and equipment such as ROVs. Large-diameter cables are thicker and heavier, and the winch is located in the lower winch compartment. The cable, unwound from the storage winch, must pass through a cable-laying mechanism, a diverting pulley, a compensator, a traction winch, and then through the compartment to a pulley on the upper deck, where it is connected to the ROV through a guide connector. Without additional traction from the cable support head during this unwinding process, the winch cannot unwind the cable the necessary distance, hindering the connection of the ROV and other equipment before the operation. The current conventional method relies on manual traction by multiple crew members, with the winch unwinding the cable while the crew slowly pulls the cable. This method relies entirely on manpower, and the heavier the cable and support head, the more manpower is required. This not only reduces operational efficiency but also significantly impacts crew safety. 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 and 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 precision, 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 includes an electric pulley device, a vertical guide pulley, a traction winch, a cable slack compensator, a horizontal deflection pulley, a cable arrangement mechanism and 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 in the cabin. It is wound from the output end of the traction winch, passes through the cable slack compensator, the horizontal deflection pulley and the cable arrangement mechanism, and is sent to the cable storage winch. Two proximity switches and an induction plate turntable are provided on the pulley of the cable arrangement mechanism for counting pulley pulses and determining the pulley rotation direction. A tension sensor is provided on the electric pulley device. The proximity switch is connected to the tension sensor, which is connected to a tension controller. 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 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 shaft 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 pressure wheel is installed in the cable-out direction of the pulley body, and the pressure force is manually adjusted by adjusting the spring tightness to tighten 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.

[0010] Furthermore, the pulley of the cable arrangement mechanism is composed of two proximity switches, an induction plate turntable and a cable arrangement pulley body. The two proximity switches and the induction plate turntable are installed on the cable arrangement pulley body. The two proximity switches generate corresponding pulse signals by sensing the induction 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 method for controlling a linkage between 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 reverse calculation using n1 and v1;

[0013] The second step is to calculate the linear relationship between the pulley motor's given speed n2 and the pulley's linear velocity v2 based on the motor reducer reduction ratio, the drive sprocket speed ratio, and the pulley's outer diameter: v2 = k2 * n2; where k2 = 3.14 * pulley's outer diameter d / (motor reducer reduction ratio * drive sprocket speed ratio);

[0014] Step 3: Since the linear speeds on the same cable are 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 is quickly restored to a preset tension range, and the system tension impact 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 This is a schematic diagram of the electric pulley device and deep-sea winch system;

[0019] Figure 2 This is a 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 following describes embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0023] An embodiment of the present invention provides an electric pulley device, a deep-sea winch system, and a linkage control method, which are suitable for preventing excessive changes in the tension in the cable caused by the differential speed between the electric pulley device and the deep-sea winch during the process of pulling the cable from under the cabin to the upper deck.

[0024] like Figure 1As shown, the electric pulley assembly and deep-sea winch system consists of an electric pulley assembly 1, a vertical guide pulley 2, a traction winch 3, a cable slack compensator 4, a horizontal deflection pulley 5, a cable-discharging mechanism 6, and a cable storage winch 7. The cable bearing head, which interfaces with equipment such as an ROV, is connected to the outermost end of the cable. The cable first passes through the electric pulley assembly 1 on the deck, then through the cabin and into the vertical guide pulley 2. It is wound from the output end of the traction winch 3, passes through the cable slack compensator 4, the horizontal deflection pulley 5, and the cable-discharging mechanism 6, and finally delivered to the cable storage winch 7. The cable between the electric pulley assembly 1 and the traction winch 3 is large in diameter and heavy. If the end of the cable is unloaded, it is not possible to smoothly release this section of cable by simply using the winch. A certain amount of traction force must be applied to the electric pulley assembly 1 to pull and lift this section of cable.

[0025] like Figure 2 As shown, the electric pulley device 1 consists of a pressure 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 shaft 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 shaft of the pulley, which can rotate with the pulley and is used to measure the tension of the cable passing through the pulley. The pressure wheel 10 is installed in the cable outlet direction of the pulley body 15. The pressure is manually adjusted by adjusting the spring tension to compress 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.

[0026] like Figure 3 As shown, the pulley of the cable arrangement mechanism 6 consists of two proximity switches 21, a sensor disc 22, and a cable arrangement pulley body 23. The two proximity switches 21 and the sensor disc 22 are mounted on the cable arrangement pulley body 23. The two proximity switches 21 generate corresponding pulse signals by sensing the sensor disc 22. One proximity switch 21 counts pulses, while the other determines the pulley's rotation direction, thereby increasing or decreasing the accumulated pulse count. This cable arrangement device can accurately calculate the actual cable retraction and release speed and cable length.

[0027] A method for controlling 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 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.

[0029] The second step is to calculate the linear relationship between the pulley motor's given speed n2 and the pulley's linear velocity v2 based on the motor reducer reduction ratio, the drive sprocket speed ratio, and the pulley's outer diameter: v2 = k2 * n2; where k2 = 3.14 * pulley's outer diameter d / (motor reducer reduction ratio * drive sprocket speed ratio);

[0030] Step 3: Since the linear speeds on the same cable are 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 to input the tension sensor feedback value on the electric pulley device into the tension controller 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. 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 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.

Claims

1. A linkage control method for an electric pulley device and a deep-sea winch system, wherein the electric pulley device and the deep-sea winch system include an electric pulley device, a vertical guide pulley, a traction winch, a cable slack compensator, a horizontal deflection pulley, a cable arrangement mechanism, a cable storage winch, and a cable. The outermost cable bearing head of the cable is docked with the ROV equipment, and 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 deflection pulley and the cable arrangement mechanism, and is sent to the cable storage winch; two proximity switches and an induction plate turntable are provided on the pulley of the cable arrangement mechanism 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, characterized in that The method comprises the following steps: 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 reverse calculation based on n1 and v1; The second step is to calculate the linear relationship between the pulley motor's given speed n2 and the pulley's linear velocity v2 based on the motor reducer reduction ratio, the drive sprocket speed ratio, and the pulley's outer diameter: v2 = k2 * n2; where k2 = 3.14 * pulley's outer diameter d / (motor reducer reduction ratio * drive sprocket speed ratio); Step 3: Since the linear speeds on the same cable are the same, the linear relationship between the pulley motor given speed n2 and the traction 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 traction 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 maintains speed synchronization with the deep-sea winch, the internal tension is stable, and the target compensation effect is achieved.

2. The linkage control method of the electric pulley device and the 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 linkage control method of the electric pulley device and the 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. The pulley reducer, the pulley motor and the pulley motor encoder are connected together, and the motor torque is transmitted to the pulley center shaft 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.

4. The linkage control method of the electric pulley device and the deep-sea winch system according to claim 2, characterized in that: The tension sensor is a pin-shaped 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 linkage control method of the electric pulley device and the deep-sea winch system according to claim 2, characterized in that: The pressure wheel is installed in the cable-out direction of the pulley body. The pressure force is manually adjusted by adjusting the spring tension. It is used to compress 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 linkage control method of the electric pulley device and the 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 direction of pulley rotation.

Images