Amphibious towing device and control method

Abstract

An amphibious traction device and control method, comprising a drive winch assembly, a mounting base, a speed sensor assembly, a tension sensor assembly, a cable gripping assembly, an integrated controller, a cable, the cable is connected to an external device, the device is deployed and retrieved through the amphibious traction device, the components consider sealing design, can solve the amphibious problem, can select one or two drive units according to the load demand to realize the whole machine load capacity control, real-time receive speed sensor and tension sensor detection signal, and according to the cable deployment control strategy, signal control drive assembly output, can realize the closed-loop control of the traction device cable deployment, realize efficient and orderly cable deployment.

Description

Technical Field

[0001] This invention relates to an amphibious traction device and control method, belonging to the field of traction winch design technology. Background Technology

[0002] With the development of science and technology, the development of deep-sea resources is becoming increasingly urgent. Global competition in marine resource exploration and development is fierce, and the rapid growth of the marine economy has led to a booming market for new marine operational equipment and vessels. Deep-sea equipment is a core area of ​​competition among major powers in marine technology. As a key piece of equipment for deep-sea vessel and equipment operations, the winch's primary purpose is to effectively address key issues such as the efficient deployment and retrieval of cables for deep-sea equipment deployment and cable tension reduction, enabling the orderly and reliable deployment and retrieval of deep-sea equipment.

[0003] Existing winch systems typically have cable-laying systems located on ship decks, employing double- or triple-disc winches to lift the load on the end-of-line equipment. The arrangement of the traction winches reduces the torque exerted on the winch drive unit by the end-of-line load. Based on the friction between the traction winch and the cable, the end-of-line load is reduced by winding the cable between two or more winches, thus reducing the tension on the cable reel. The tension reduction capacity is related to the wrap angle between the cable and the winch, and their coefficient of friction. Currently, winch systems primarily control the tension reduction by adjusting the wrap angle between the winch and the cable, and by using the materials of the cable and cable grooves. The patent in question is titled "A Three-Windlock Traction Winch, 202310282425.5, Under Examination." This type of three-winch traction winch structure controls the wrap angle by winding the cable between the main, slave, and small winches. Its advantages include: increased tension reduction capacity. However, its disadvantages include: a complex winch layout with complicated cable routing, making it prone to cable tangling, without reducing the overall machine space; in addition, it cannot achieve closed-loop cable force control and speed control; and the lack of a seal prevents normal underwater operation. Summary of the Invention

[0004] The technical problem solved by this invention is that, in the current technology, traditional traction equipment is complex in design and cannot adapt to underwater movement, and has poor control accuracy. Therefore, this invention proposes an amphibious traction device and control method.

[0005] The present invention solves the above-mentioned technical problem through the following technical solution:

[0006] An amphibious towing device includes a drive 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 has a double-shell structure. Two drive winch assemblies for driving cable winding and unwinding are respectively located at both ends of the top of the upper shell structure of the mounting base. The cable passes through the two drive winch assemblies, the speed sensor assembly, and the tension sensor assembly, and exits from the center of the top of the upper shell structure of the mounting base. An integrated controller for controlling the rotation of the drive winch assemblies to drive the cable is located at the edge of the double-shell structure, with its two ends connected to the edge of the upper shell structure and the edge of the lower shell structure, respectively. A cable clamping assembly for assisting cable output and preventing cable loosening is located at the edge between the double shell structures, close to the integrated controller. The speed sensor assembly is located on the outside of the mounting base facing the same direction as the integrated controller, and the tension sensor assembly is located on the outside of the mounting base opposite to the speed sensor. The speed sensor assembly and the tension sensor assembly are used to monitor cable winding and unwinding information in real time.

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

[0009] The drive shaft mechanism is located at both ends of the top of the upper shell structure of the mounting base, and the drive unit is located on the corresponding drive shaft mechanism. The main drive shaft is located on the top of the upper shell structure of the mounting base through the flange seat and the stop end plate. The winch is fixed to the main drive shaft through the winch fixing plate. The main drive shaft is supported and connected to the flange seat and the stop end plate respectively by the double bearings set at both ends. The main drive shaft is provided with an inner hole, and the drive unit is connected through the inner hole for power transmission. The sealing baffle is set at the top and bottom of the main drive shaft to achieve static sealing.

[0010] The speed sensor assembly includes a support frame, a large wheel axle, a large wheel baffle, a bushing, a large cable wheel, a sensor detection plate, a sensor detection unit, and a frame sealing ring, wherein:

[0011] The large cable pulley is fixed to the bracket via a large pulley axle, on which a bearing is installed. A skeleton sealing ring is installed between the large pulley baffle and the bushing, and a static sealing ring is installed inside the bushing. Seals are arranged on both sides of the bearing for combined sealing. A sensor detection plate is installed on the mounting end face of the large cable pulley. The sensor detection unit is installed in the corresponding position with the sensor detection plate according to the detection requirements. It is used to detect the rotational speed of the large cable pulley in real time and transmit the detection signal to the integrated controller. The integrated controller monitors the cable winding and unwinding speed according to the detection signal.

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

[0013] The small pulley shaft is fixed on the Y-shaped frame and secured by a nut at the shaft end. The force sensor is installed inside the sensor holder to measure cable tension. The sensor holder is fixed to the sliding sleeve seat and sealed with a static sealing ring. A combined sealing ring is installed between the sliding sleeve seat and the sensor pressure shaft for sealing, and a dynamic seal is achieved between the sensor pressure shaft and the sliding sleeve seat through the combined sealing ring. The Y-shaped component is fitted onto the sliding sleeve seat via a sliding sleeve. The cable is wound around the small pulley for real-time detection. The detection signal obtained 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 reel according to the reserved wrap angle. After the force sensor detects the cable tension, the integrated controller calculates the cable tension based on the reserved wrap angle.

[0015] The cable clamping assembly includes a drive 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 a wheel axle, wherein:

[0016] The auxiliary wheel is fixed between two L-shaped seats via an axle. One end of the auxiliary wheel is rotatably connected to one L-shaped seat, and the other end is fixedly connected to the other L-shaped seat. The transmission rod is connected in series with the two L-shaped seats via pre-reserved slots on both sides. The portions of the transmission rod that extend out of the L-shaped seats are used to fix the telescopic shaft on the outside of the L-shaped seats. Spring seats are provided on the outside of both L-shaped seats, and the telescopic springs inside the spring seats are connected to the telescopic shaft. The telescopic springs are located between the spring seats and the L-shaped seats. The clamping shaft passes through the spring seats and is located on the outside of the spring shaft. The telescopic shaft is limited by the clamping shaft. The clamping rubber blocks are located inside the spring seat mounting positions on the two L-shaped seats to prevent the cable from loosening.

[0017] A control method for an amphibious towing device includes:

[0018] The integrated controller sends drive commands to the drive winch assembly according to external control commands. The drive unit of the drive 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 drive command to the cable clamping assembly according to the external control command. The drive unit of the cable clamping assembly pops out the clamping rubber block to ensure the stable winding and unwinding of the cable.

[0020] The movement of the cable in the traction winch section causes the cable passing through the speed sensor assembly and tension sensor assembly to move simultaneously. The speed sensor assembly and tension sensor assembly respectively collect the cable speed and tension data and generate detection signals to be fed back to the integrated sensor.

[0021] Based on the detection signal, the integrated controller monitors the current cable winding speed and tension in real time to ensure the safe and stable winding process of the external equipment connected to the cable.

[0022] The drive unit of the cable clamping assembly receives a drive command when the cable is released. When the cable begins to be released, the drive unit of the cable clamping assembly activates after receiving the drive command from 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 its 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 dislodging during the cable winding and unwinding process. After winding and unwinding is completed, the clamping shaft and the telescopic shaft are manually reset to limit their positions.

[0023] If the current cable winding and tension information collected by the integrated controller exceeds the safety threshold range, the external control commands and drive commands will be adjusted to ensure that the cable winding and tension information is within the safety threshold range.

[0024] The cable winding and unwinding control is determined by the rotation direction of the drive winch assembly. The dual drive winch assemblies simultaneously receive drive commands and realize single-sided or double-sided joint action according to the drive commands. The cable reverses direction by controlling the rotation direction of the drive winch assembly.

[0025] The advantages of this invention compared to 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 drive the winch synchronously. Compared with most current winch systems, the load capacity is doubled, which can meet the load requirements of special working conditions. The drive winch shaft system adopts a dynamic sealing and double static sealing design. After the cavity is filled with oil, the device can be used in both ships and underwater.

[0027] (2) This invention designs a speed sensor assembly that also functions as a cable reversing device, making it easier to measure the cable release speed in real time and achieve real-time control of the cable length. This speed sensor provides high-precision feedback on cable length. Simultaneously, a tension sensor assembly is designed to detect the cable tension in real time, effectively preventing excessive tension in the cable storage drum and cable jamming. The sensor provides real-time feedback to the controller, which adjusts the driving torque of the drive unit based on the feedback data. Furthermore, combined with the speed sensor feedback data, the controller can issue control commands in real time to control the speed of the drive unit, thus achieving controllability of the cable release and retraction of the traction device.

[0028] (3) The traction device of the present invention is equipped with a clamping and releasing component, which ensures that the amphibious cable of the whole machine is in the tensioned state of the device, effectively preventing the cable from getting tangled and running in circles. In addition, the traction device can also select the configuration of each component according to the needs, and can be used in combination with a dual-drive winch for diversified applications. Attached Figure Description

[0029] Figure 1 This is an overall schematic diagram of the amphibious towing device provided by the present invention;

[0030] Figure 2 This is a front view of the amphibious towing device structure provided by the present invention;

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

[0032] Figure 4 A schematic diagram of the inner sealing structure of the drive shaft of the amphibious traction device provided by the present invention;

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

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

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

[0036] Figure 8 This is a schematic diagram of the control system for the amphibious traction device provided by the present invention. Detailed Implementation

[0037] An amphibious traction device and control method are disclosed, comprising a drive 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 connects to external equipment, and the amphibious traction device enables the device to be deployed and retracted. The assembly incorporates a sealed design to address amphibious compatibility. It can select one or two drive units based on load requirements to control the overall load capacity. It receives real-time detection signals from the speed sensor and tension sensor and sends signals to control the output of the drive assembly according to the cable deployment and retraction control strategy, enabling closed-loop control of the cable deployment and retraction of the traction device, achieving efficient and orderly cable deployment and retraction.

[0038] An amphibious towing device, comprising a drive 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 has a double-shell structure. Two drive winch assemblies for driving cable winding and unwinding are respectively located at both ends of the top of the upper shell structure of the mounting base. The cable passes through the two drive winch assemblies, the speed sensor assembly, and the tension sensor assembly, and exits from the center of the top of the upper shell structure of the mounting base. An integrated controller for controlling the rotation of the drive winch assemblies to drive the cable is located at the edge of the double-shell structure, with its two ends connected to the edge of the upper shell structure and the edge of the lower shell structure, respectively. A cable clamping assembly for assisting cable output and preventing cable loosening is located at the edge between the double shell structures, close to the integrated controller. The speed sensor assembly is located on the outside of the mounting base facing the same direction as the integrated controller, and the tension sensor assembly is located on the outside of the mounting base opposite to the speed sensor. The speed sensor assembly and the tension sensor assembly are used to monitor cable winding and unwinding information in real time.

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

[0041] The drive shaft mechanism is located at both ends of the top of the upper shell structure of the mounting base, and the drive unit is located on the corresponding drive shaft mechanism. The main drive shaft is located on the top of the upper shell structure of the mounting base through the flange seat and the stop end plate. The winch is fixed to the main drive shaft through the winch fixing plate. The main drive shaft is supported and connected to the flange seat and the stop end plate respectively by the double bearings set at both ends. The main drive shaft is provided with an inner hole, and the drive unit is connected through the inner hole for power transmission. The sealing baffle is set at the top and bottom of the main drive shaft to achieve static sealing.

[0042] The speed sensor assembly includes a bracket, a large wheel axle, a large wheel baffle, a bushing, a large cable pulley, a sensor detection plate, a sensor detection unit, and a frame sealing ring, wherein:

[0043] The large cable pulley is fixed to the bracket via a large pulley axle, on which a bearing is installed. A skeleton sealing ring is installed between the large pulley baffle and the bushing, and a static sealing ring is installed inside the bushing. Seals are arranged on both sides of the bearing for combined sealing. A sensor detection plate is installed on the mounting end face of the large cable pulley. The sensor detection unit is installed in the corresponding position with the sensor detection plate according to the detection requirements. It is used to detect the rotational speed of the large cable pulley in real time and transmit the detection signal to the integrated controller. The integrated controller monitors the cable winding and unwinding speed according to the detection signal.

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

[0045] The small pulley shaft is fixed on the Y-shaped frame and secured by a nut at the shaft end. The force sensor is installed inside the sensor holder to measure cable tension. The sensor holder is fixed to the sliding sleeve seat and sealed with a static sealing ring. A combined sealing ring is installed between the sliding sleeve seat and the sensor pressure shaft for sealing, and a dynamic seal is achieved between the sensor pressure shaft and the sliding sleeve seat through the combined sealing ring. The Y-shaped component is fitted onto the sliding sleeve seat via a sliding sleeve. The cable is wound around the small pulley for real-time detection. The detection signal obtained 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 reel according to the reserved wrap angle. After the force sensor detects the cable tension, the integrated controller calculates the cable tension based on the reserved wrap angle.

[0047] The cable clamping assembly includes a drive 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 a wheel axle, wherein:

[0048] The auxiliary wheel is fixed between two L-shaped seats via an axle. One end of the auxiliary wheel is rotatably connected to one L-shaped seat, and the other end is fixedly connected to the other L-shaped seat. The transmission rod is connected in series with the two L-shaped seats via pre-reserved slots on both sides. The portions of the transmission rod that extend out of the L-shaped seats are used to fix the telescopic shaft on the outside of the L-shaped seats. Spring seats are provided on the outside of both L-shaped seats, and the telescopic springs inside the spring seats are connected to the telescopic shaft. The telescopic springs are located between the spring seats and the L-shaped seats. The clamping shaft passes through the spring seats and is located on the outside of the spring shaft. The telescopic shaft is limited by the clamping shaft. The clamping rubber blocks are located inside the spring seat mounting positions on the two L-shaped seats to prevent the cable from loosening.

[0049] The control method and steps for an amphibious towing device are as follows:

[0050] The integrated controller sends drive commands to the drive winch assembly according to external control commands. The drive unit of the drive 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 drive command to the cable clamping assembly according to the external control command. The drive unit of the cable clamping assembly pops out the clamping rubber block to ensure the stable winding and unwinding of the cable.

[0052] The movement of the cable in the traction winch section causes the cable passing through the speed sensor assembly and tension sensor assembly to move simultaneously. The speed sensor assembly and tension sensor assembly respectively collect the cable speed and tension data and generate detection signals to be fed back to the integrated sensor.

[0053] Based on the detection signal, the integrated controller monitors the current cable winding speed and tension in real time to ensure the safe and stable winding process of the external equipment connected to the cable.

[0054] The drive unit of the cable clamping assembly receives a drive command when the cable is released. When the cable begins to be released, the drive unit of the cable clamping assembly activates after receiving the drive command from 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 its 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 dislodging during the cable winding and unwinding process. After winding and unwinding is completed, the clamping shaft and the telescopic shaft are manually reset to limit their movement.

[0055] If the current cable winding and tension information collected by the integrated controller exceeds the safety threshold range, the external control commands and drive commands will be adjusted to ensure that the cable winding and tension information is within the safety threshold range.

[0056] The cable winding and unwinding control is determined by the rotation direction of the drive winch assembly. The dual drive winch assemblies simultaneously receive drive commands and realize single-sided or double-sided joint action according to the drive commands. The cable reverses direction by controlling the rotation direction of the drive winch assembly.

[0057] The following description, in conjunction with the accompanying drawings and preferred embodiments, provides further details:

[0058] In the current embodiment, the amphibious towing device is as follows: Figure 1 As shown, the amphibious towing device consists of two drive winch assemblies 1 and their mounting base 2, speed sensor assembly 3 and tension sensor assembly 4, cable clamping assembly 5, integrated controller 6 and cable 7, etc.

[0059] like Figure 2 As shown, the amphibious towing device is equipped with two drive winch assemblies 1, which are mounted on the mounting base 2. Each drive winch assembly 2 is equipped with a drive unit 101, a drive shaft mechanism 102, a winch 103, and a sealing kit 104. The two drive units can independently drive the shaft mechanism 102 to rotate and maintain the same speed. The drive unit 101 can be used as a drive unit for cable retrieval with a load at the end, or as a damping unit for cable release with a load at the end, maintaining stable cable release. The drive unit body 101 is sealed.

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

[0061] like Figure 3 , Figure 4As shown, the shaft mechanism comprises a main drive shaft 1021, a flange seat 1022, a sealing baffle 1023, a stop end plate 1024, a winch 103, a winch fixing plate 1025, and a sealing kit 104. The drive shaft mechanism is mounted in the middle of the mounting base 2 via the flange seat 1022 and the stop end plate 1025, supporting and fixing the drive winch shaft; the winch 103 is fixed to the main drive shaft 1021 via the winch fixing plate 1025; the main drive shaft has double bearings at both ends, which 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 consists of a support 301, a large wheel axle 302, a large wheel baffle 303, a bushing 304, a large cable wheel 305, a sensor detection plate 306, and a sensor detection unit 307. The large cable wheel 305 is fixed to the support 301 via the large wheel axle 302, and a bearing is arranged on the axle. A skeleton sealing ring 308 is provided between the large wheel baffle 303 and the bushing 304, and a static sealing ring 309 is provided inside the bushing. 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 speed sensor assembly 3, sensor detection plates 306, are arranged in a circular pattern on the end face of the large cable reel 305. The sensor detection units can be arranged from single-head to multi-head; here, three are arranged, with the installation positions of the detection units corresponding to the sensor detection plates. The rotational speed of the large cable reel 305 can be detected in real time, and the detection signal is transmitted to the controller 6 to monitor the speed of cable winding and unwinding 7.

[0064] like Figure 6 As shown, the tension sensor assembly 4 comprises a support plate 401, a small wheel shaft 402, a small wheel baffle 402, a small shaft sleeve 403, a small cable pulley 404, a Y-shaped frame 405, a force sensor 406, a sensor base 407, a sliding sleeve base 408, and a sliding sleeve 409. The small cable pulley bearing seal is interchangeable with that of the large cable pulley. The small wheel shaft 402 is fixed to the Y-shaped frame 405, with a nut at the shaft end for fixation. The force sensor 406 is built into the sensor base 407. The sensor base is fixed to the sliding sleeve base and equipped with a static sealing ring 410. A combined sealing ring 411 is provided between the sliding sleeve base 408 and the sensor pressure shaft to ensure dynamic sealing between the pressure shaft and the sliding sleeve base 408. The Y-shaped component 405 can move slightly on the sliding sleeve base 408 via the sliding sleeve 409, facilitating the detection of cable tension. The cable is wound around the small cable pulley 404 with a pre-reserved wrap angle, enabling real-time detection by the force sensor and feedback to the integrated controller 6. The controller calculates the cable tension 7 using the wrap angle calculation.

[0065] like Figure 7As shown, the cable clamping mechanism 5 comprises a drive unit 501, a transmission rod 502, a telescopic shaft 503, a telescopic spring 504, a clamping shaft 505, a clamping rubber block 506, a spring seat 507, an L-shaped seat 508, an auxiliary wheel 509, and a wheel axle 510. The auxiliary wheel 509 is fixed to the double L-shaped seat 508 via the wheel axle 510, assisting in cable output. The drive unit is fixed between the double L-shaped seats, with one end rotatably connected. The transmission rod is slidably fixed in the reserved slot of the L-shaped seat, with the telescopic shaft 503 fixed at both ends. The other end of the telescopic shaft slides through a hole in the spring seat. The transmission mechanisms are used in pairs. When the drive unit 501 receives a command from the integrated controller 6, it actuates, the transmission rod 502 moves, the telescopic spring is built into the space between the spring seat and the L-shaped seat, and the clamping shaft passes through the spring seat and is fitted with a spring. When the telescopic shaft is released from its limit position relative to the clamping shaft, the clamping rod 505 pops out under the action of the spring, thus clamping the rubber block and the cable to prevent the cable inside the traction device from loosening. To retract or extend the cable again, the clamping shaft and telescopic shaft must be manually reset to their limit positions.

[0066] The amphibious towing device operates as follows Figure 8 As shown, the integrated controller 6 drives the traction device drive unit 101 to rotate the traction winch 103 and cause the cable back 7 on the winch to be wound up and down. The cable passes through the speed sensor assembly 3 and the tension sensor assembly 4. The sensors detect the cable winding and unwinding information in real time and feed back the pressure signal and speed signal to the integrated controller 6. The integrated controller unit compares and corrects the drive signal to further control the cable winding and unwinding state, so as to achieve orderly winding and unwinding of the end load equipment.

[0067] The amphibious traction device design proposed in this embodiment features a dual-drive winch design, employing two drive units to synchronously drive the winch. Compared to most current winch systems, this doubles the load capacity, addressing the issue of high-load conditions at the cable end. Furthermore, the speed sensor component also incorporates cable reversing functionality, facilitating real-time measurement of cable release speed and enabling real-time control of cable length. This speed sensor provides high-precision feedback on cable length.

[0068] The tension sensor assembly detects the tension on the cable in real time, effectively monitoring its magnitude to prevent excessive tension in the cable storage drum and potential cable entrapment. The sensor provides real-time feedback to the controller, which adjusts the drive unit's torque accordingly. Furthermore, combined with feedback data from the speed sensor, the controller can issue real-time control commands to regulate the drive unit's speed, ensuring controllable cable deployment and retraction by the traction device.

[0069] The anti-loosening components ensure that the amphibious cable remains taut, effectively preventing tangling and slippage. Furthermore, this traction device can be configured with various components to suit different needs, allowing for diverse applications when combined with a dual-drive winch.

[0070] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0071] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. An amphibious towing device, characterized in that: Includes a drive winch assembly, mounting base, speed sensor assembly, tension sensor assembly, cable clamping assembly, integrated controller, and cable, wherein: The mounting base has a double-shell structure. Two drive winch assemblies for driving the cable winding and unwinding are respectively located at both ends of the top of the upper shell structure of the mounting base. The cable passes through the two drive winch assemblies, the speed sensor assembly, and the tension sensor assembly, and exits from the center of the top of the upper shell structure of the mounting base. An integrated controller for controlling the rotation of the drive winch assemblies to drive the cable is located at the edge of the double-shell structure, with its two ends connected to the edge of the upper shell structure and the edge of the lower shell structure, respectively. A cable clamping assembly for assisting cable output and preventing cable loosening is located at the edge between the double shell structures, close to the integrated controller. The speed sensor assembly is located on the outside of the mounting base facing the same direction as the integrated controller, and the tension sensor assembly is located on the outside of the mounting base opposite to the speed sensor assembly. The speed sensor assembly and the tension sensor assembly are used to monitor the cable winding and unwinding information in real time. The speed sensor assembly includes a support frame, a large wheel axle, a large wheel baffle, a bushing, a large cable wheel, a sensor detection plate, a sensor detection unit, and a frame sealing ring, wherein: The large cable pulley is fixed to the bracket via a large pulley axle, and a bearing is installed on the large pulley axle. A skeleton sealing ring is installed between the large pulley baffle and the bushing, and a static sealing ring is installed inside the bushing. Sealing elements are arranged on both sides of the bearing for combined sealing. The sensor detection plate is installed on the mounting end face of the large cable pulley. The sensor detection unit is installed in the corresponding position with the sensor detection plate according to the detection requirements. It is used to detect the rotation speed of the large cable pulley in real time and transmit the detection signal to the integrated controller. The integrated controller monitors the cable winding and unwinding speed according to the detection signal. The tension sensor assembly includes a support plate, a small wheel axle, a small wheel baffle, a small shaft sleeve, a small cable wheel, a Y-shaped frame, a force sensor, a sensor base, a sliding sleeve base, and a sliding sleeve, wherein: The small pulley shaft is fixed to the Y-shaped frame by a nut at the shaft end. The force sensor is installed inside the sensor holder to measure cable tension. The sensor holder is fixed to the sliding sleeve seat and sealed by a static sealing ring. A combined sealing ring is installed 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 the combined sealing ring. The Y-shaped component is fitted onto the sliding sleeve seat via a sliding sleeve. The cable is wound around the small pulley for real-time detection. The detection signal obtained by the force sensor is fed back to the integrated controller for calculating the cable tension. The cable clamping assembly includes a drive 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 a wheel axle, wherein: The auxiliary wheel is fixed between two L-shaped seats via an axle. One end of the auxiliary wheel is rotatably connected to one L-shaped seat, and the other end is fixedly connected to the other L-shaped seat. The transmission rod is connected in series with the two L-shaped seats via pre-reserved slots on both sides. The portions of the transmission rod that extend out of the L-shaped seats are used to fix the telescopic shaft on the outside of the L-shaped seats. Spring seats are provided on the outside of both L-shaped seats, and the telescopic springs inside the spring seats are connected to the telescopic shaft. The telescopic springs are located between the spring seats and the L-shaped seats. The clamping shaft passes through the spring seats and is located on the outside of the spring shaft. The telescopic shaft is limited by the clamping shaft. The clamping rubber blocks are located inside the spring seat mounting positions on the two L-shaped seats to prevent the cable from loosening.

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

3. The amphibious towing device according to claim 2, characterized in that: The cable is wound around the small cable reel according to the reserved wrap angle. After the force sensor detects the cable tension, the integrated controller calculates the cable tension based on the reserved wrap angle.

4. A control method for an amphibious traction device according to claim 3, characterized in that... include: The integrated controller sends drive commands to the drive winch assembly according to external control commands. The drive unit of the drive 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 drive command to the cable clamping assembly according to the external control command. The drive unit of the cable clamping assembly pops out the clamping rubber block to ensure the stable winding and unwinding of the cable. The movement of the cable in the traction winch section causes the cable passing through the speed sensor assembly and tension sensor assembly to move simultaneously. The speed sensor assembly and tension sensor assembly respectively collect the cable speed and tension data and generate detection signals to be fed back to the integrated sensor. Based on the detection signal, the integrated controller monitors the current cable winding speed and tension in real time to ensure the safe and stable winding process of the external equipment connected to the cable.

5. The control method for an amphibious traction device according to claim 4, characterized in that: The drive unit of the cable clamping assembly receives a drive command when the cable is released. When the cable begins to be released, the drive unit of the cable clamping assembly activates after receiving the drive command from 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 its 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 dislodging during the cable winding and unwinding process. After winding and unwinding is completed, the clamping shaft and the telescopic shaft are manually reset to limit their positions.

6. The control method for an amphibious traction device according to claim 5, characterized in that: If the current cable winding and tension information collected by the integrated controller exceeds the safety threshold range, the external control commands and drive commands will be adjusted to ensure that the cable winding and tension information is within the safety threshold range.

7. The control method for an amphibious traction device according to claim 6, characterized in that: The cable winding and unwinding control is determined by the rotation direction of the drive winch assembly. The dual drive winch assemblies simultaneously receive drive commands and realize single-sided or double-sided joint action according to the drive commands. The cable reverses direction by controlling the rotation direction of the drive winch assembly.

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