Cross cable arrangement control method of deep sea winch

Abstract

The invention relates to a cross cable arrangement control method for a deep sea winch. The method comprises the steps that displacement of a cable arrangement device corresponding to half-circle rotation of a cable storage drum is calculated; according to the real-time rotating speed of the cable storage winding drum, calculating the time corresponding to half-circle rotation of the winding drum to obtain the moving speed of the cable arrangement device; the cable arrangement device starts from the zero point side of the cable storage winding drum and rotates for half a circle along with the cable storage winding drum in the x-axis positive direction at the speed v, and then the cable arrangement device moves in the x-axis negative direction at the speed v; after the cable arrangement device moves in the x-axis negative direction, the cable arrangement device moves in the x-axis positive direction again, and the operation is continuously repeated until the cable arrangement device reaches the non-zero-point side of the cable storage winding drum and then stops moving; the cable arrangement device stops for t1 time, and after the cable storage winding drum rotates for half a circle, the cable arrangement device starts from the non-zero-point side of the cable storage winding drum, follows the cable storage winding drum v to rotate for half a circle in the x-axis negative direction at the speed v and then moves in the x-axis positive direction at the speed v; and after the cable arrangement device moves in the x-axis positive direction, the cable arrangement device moves in the x-axis negative direction again, and the operation is continuously repeated until the cable arrangement device reaches the zero point side of the cable storage winding drum and then stops moving.

Description

Technical Field

[0001] The present invention relates to the field of cable arrangement control of a deep-sea winch, and in particular to a cross-cable arrangement control method of a deep-sea winch. Background Art

[0002] In deep-sea operations, the winch system is a key device to ensure efficient cable management and stable operation. The current cable arrangement technology mainly adopts the traditional stacking arrangement method, which usually winds the cable on the cable storage device in a parallel manner. This method can meet the storage needs of the cable to a certain extent, but there are several significant problems in practical application.

[0003] The traditional stacking arrangement technology achieves cable storage by winding the cables in layers on the cable storage device. The main defects of this method include: First, as the cables are used, cables are prone to embedding between cables, and the friction between layers intensifies, resulting in faster wear of the cables, thereby reducing the service life of the cables. Especially when dealing with small-diameter cables and flexible cables, the traditional stacking arrangement method shows more limitations. Due to their smaller diameter, small-diameter cables are prone to entanglement and dislocation during cable storage, which affects the arrangement effect and operational stability of the cables. Flexible cables, due to their good bending properties and greater flexibility, may lead to uneven distribution of cables in traditional stacking arrangements, increase the friction of cables during storage and release, and further affect the stability and use of the cable arrangement. Summary of the invention

[0004] The purpose of the present invention is to provide a cross-cable control method for deep-sea winches with small cable diameters and flexible cables, which improves the stability and reliability of cable arrangement.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A cross-cable control method for a deep-sea winch comprises the following steps:

[0007] The first step is to calculate the displacement of the cable arranger corresponding to half a circle of the cable storage drum according to the preset angle θ and the diameter d of the cable storage drum.

[0008] The second step is to calculate the time corresponding to half a circle of the drum according to the real-time speed n of the cable storage drum. Then we can get the moving speed v of the cable arranger = l 0 ;

[0009] t 1

[0010] In the third step, the cable arranger starts from the zero point side of the cable storage drum, rotates half a circle along the positive direction of the x-axis with the cable storage drum at a speed v, and then moves along the negative direction of the x-axis at a speed v;

[0011] Step 4: The cable arranger moves l along the negative direction of the x-axis. 0 -l 1 After that, it moves along the positive direction of the x-axis again, and repeats the second and third steps until the cable distaff reaches the non-zero point side of the cable storage drum and stops moving;

[0012] Step 5: Stop the cable guide 1 time, wait for the cable storage drum to rotate half a circle, the cable arranger starts from the non-zero point side of the cable storage drum, and rotates half a circle along the negative direction of the x-axis with the speed v, and then the cable arranger moves along the positive direction of the x-axis at the speed v;

[0013] Step 6: The cable arranger moves l along the positive direction of the x-axis. 0 -l 1 After that, it moves again along the negative direction of the x-axis, and repeats the second and fifth steps until the cable distroller reaches the zero point side of the cable storage drum and stops moving;

[0014] Step 7: Stop the cable guide 1 After the cable storage drum rotates half a circle, the cable reel repeats the second, third, fourth and fifth steps until the cable winding is completed.

[0015] Furthermore, the control method is used to control the cable reel to assist the cable storage device in storing the cable, wherein the ball screw of the cable reel is driven by the cable reel motor to drive the cable reel to move left and right, thereby ensuring the rope entry angle between the cable and the cable storage device; the cable storage drum is driven by the cable storage drum motor to move forward and reverse to realize the reeling and releasing of the cable.

[0016] Furthermore, the sensors required for automatic cable arrangement of deep-sea winches include a cable storage drum encoder, a cable arrangement angle encoder, a cable arrangement right limit switch, a cable arrangement left limit switch, and a cable arranger encoder; the cable storage drum encoder is installed on the rotating center axis of the cable storage drum, and is used to measure the number of rotation pulses and speed of the cable storage drum; the cable arrangement angle encoder is installed on the central axis of the rotating pulley of the cable arranger, and is used to measure the deflection angle of the cable from the cable arranger in and out of the cable storage drum; the cable arrangement right limit switch and the cable arrangement left limit switch are respectively installed on the leftmost and rightmost sides of the cable arranger, and are used to limit the left and right limit positions of the cable arranger. The cable arranger automatically stops when it moves to any limit position and cannot continue to move forward; the cable arranger encoder is installed on the central axis of the cable arranger roller screw, and is used to measure the number of rotation pulses and speed of the cable arranger roller screw.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The cross-cable arrangement can effectively reduce the risk of cables getting stuck between layers. By forming a 90-degree cross relationship between cables in each layer, compared with the traditional parallel arrangement, the cross-cable arrangement can significantly reduce the possibility of cables getting entangled and squeezed with each other, thereby reducing the wear and damage of cables during use and extending the service life of cables.

[0019] 2. The cross-cable arrangement is particularly suitable for handling small-diameter and flexible cables. When handling cables with small diameters, cross-cable arrangement can effectively prevent entanglement and dislocation problems caused by too small diameters; and for flexible cables, cross-cable arrangement technology can better adapt to their flexibility, reduce friction and uneven distribution problems, and ensure the stability and smooth operation of the cables during storage and release. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the deep-sea winch structure and cross-cable arrangement;

[0021] Figure 2 This is the double-layer cable-laying trajectory diagram of the deep-sea winch cable-laying device. 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 a cross-cable arrangement control method for a deep-sea winch, which is suitable for controlling a cable arranger to assist a cable storage device in storing cables. Figure 1A schematic diagram of a deep-sea winch structure and cross-cable arrangement provided in an embodiment of the present invention. The cable arranger ball screw 9 is driven by the cable arranger motor 7 to drive the cable arranger 1 to move left and right, thereby ensuring the rope entry angle between the cable and the cable storage device. The cable storage drum 2 is driven by the cable storage drum motor 9 to move forward and reverse to achieve the retraction and release of the cable. The sensors required for automatic cable arrangement of the deep-sea winch include a cable storage drum encoder 3, a cable arrangement angle encoder 4, a cable arrangement right limit switch 5, a cable arrangement left limit switch 6, and a cable arranger encoder 8. The cable storage drum encoder 3 is installed on the rotating center axis of the cable storage drum 2, and is used to measure the rotation pulse number and speed of the cable storage drum. The cable arrangement angle encoder 4 is installed on the central axis of the rotating pulley of the cable arranger 1, and is used to measure the deflection angle of the cable from the cable arranger 1 to the cable storage drum 2. The right limit switch 5 and the left limit switch 6 are installed on the left and right sides of the cable arranger 1 respectively. These two switches limit the left and right limit positions of the cable arranger 1. The cable arranger 1 stops automatically when it moves to any limit position and cannot move forward. The cable arranger encoder 8 is installed on the central axis of the cable arranger roller screw 9 to measure the rotation pulse number and speed of the cable arranger roller screw.

[0024] A cross-cable control method for a deep-sea winch, the method comprising the following steps:

[0025] The first step is to calculate the displacement of the cable arrangement device corresponding to half a circle of the cable storage drum according to the preset angle θ and the diameter d of the cable storage drum.

[0026] The second step is to calculate the time corresponding to half a circle of the drum according to the real-time speed n of the cable storage drum. Then get the moving speed of the cable arranger

[0027] In the third step, the cable arranger starts from the zero point side of the cable storage drum, rotates half a circle along the positive direction of the x-axis with the cable storage drum at a speed v, and then moves along the negative direction of the x-axis at a speed v;

[0028] Step 4: The cable arranger moves l along the negative direction of the x-axis. 0 -l 1 After that, it moves along the positive direction of the x-axis again, and repeats the second and third steps until the cable distaff reaches the non-zero point side of the cable storage drum and stops moving;

[0029] Step 5: Stop the cable guide 1 time, wait for the cable storage drum to rotate half a circle, the cable arranger starts from the non-zero point side of the cable storage drum, and rotates half a circle along the negative direction of the x-axis with the speed v, and then the cable arranger moves along the positive direction of the x-axis at the speed v;

[0030] Step 6: The cable arranger moves l along the positive direction of the x-axis. 0 -l 1After that, it moves again along the negative direction of the x-axis, and repeats the second and fifth steps until the cable distroller reaches the zero point side of the cable storage drum and stops moving;

[0031] Step 7: Stop the cable guide 1 After the cable storage drum rotates half a circle, the cable reel repeats the second, third, fourth and fifth steps until the cable winding is completed. Figure 2 The double-layer cable arrangement trajectory diagram of the deep-sea winch cable arranger is shown.

Claims

1. A cross-cable control method for a deep-sea winch, characterized in that: The following steps are involved: The first step is to calculate the displacement of the cable arranger corresponding to half a circle of the cable storage drum according to the preset angle θ and the diameter d of the cable storage drum. The second step is to calculate the time corresponding to half a circle of the drum according to the real-time speed n of the cable storage drum. Then get the moving speed of the cable arranger In the third step, the cable arranger starts from the zero point side of the cable storage drum, and rotates along the positive direction of the x-axis with the cable storage drum at a speed v for half a circle, and then moves along the negative direction of the x-axis at a speed v; Step 4: After the cable arranger moves l0-l1 along the negative direction of the x-axis, it moves along the positive direction of the x-axis again, and the second and third steps are repeated until the cable arranger reaches the non-zero point side of the cable storage drum and stops moving; Step 5: The cable arranger stops for t1 time, waits for the cable storage drum to rotate half a circle, and then starts from the non-zero point side of the cable storage drum, and rotates half a circle along the negative direction of the x-axis with the cable storage drum at a speed v, and then moves along the positive direction of the x-axis at a speed v; Step 6: After the cable arranger moves l0-l1 along the positive direction of the x-axis, it moves again along the negative direction of the x-axis, and repeats the second and fifth steps until the cable arranger reaches the zero point side of the cable storage drum and stops moving; Step 7: The cable reel stops for time t1, waits for the cable storage drum to rotate half a circle, and then repeats steps 2, 3, 4, and 5 until the cable winding is completed.

2. The cross-cable control method for deep-sea winch according to claim 1, characterized in that: The control method is used to control the cable reel to assist the cable storage device in storing the cable, wherein the ball screw of the cable reel is driven by the cable reel motor to drive the cable reel to move left and right, thereby ensuring the rope entry angle between the cable and the cable storage device; the cable storage drum is driven by the cable storage drum motor to move forward and reverse to realize the retraction and release of the cable.

3. The cross-cable control method for deep-sea winch according to claim 2, characterized in that: The sensors required for automatic cable arrangement of deep-sea winches include cable storage drum encoder, cable arrangement angle encoder, cable arrangement right limit switch, cable arrangement left limit switch, and cable arranger encoder; the cable storage drum encoder is installed on the rotating center axis of the cable storage drum, and is used to measure the rotation pulse number and speed of the cable storage drum; the cable arrangement angle encoder is installed on the central axis of the rotating pulley of the cable arranger, and is used to measure the deflection angle of the cable from the cable arranger in and out of the cable storage drum; the cable arrangement right limit switch and the cable arrangement left limit switch are respectively installed on the leftmost and rightmost sides of the cable arranger, and are used to limit the left and right limit positions of the cable arranger. The cable arranger automatically stops when it moves to any limit position and cannot continue to move forward; the cable arranger encoder is installed on the central axis of the cable arranger roller screw, and is used to measure the rotation pulse number and speed of the cable arranger roller screw.

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