Crossing cable control method of deep-sea winch

Abstract

The application relates to a cross-cable control method of a deep-sea winch, which comprises the following steps: calculating the displacement of a cable arranging device corresponding to one rotation of a cable storage drum; calculating the time corresponding to one rotation of the cable storage drum according to the real-time rotating speed of the cable storage drum, and then obtaining the moving speed of the cable arranging device; starting from the zero point side of the cable storage drum, the cable arranging device moves at a speed v along the positive direction of an x axis for one rotation of the cable storage drum, then moves at the speed v along the negative direction of the x axis; after the displacement of the cable arranging device along the negative direction of the x axis, the cable arranging device moves along the positive direction of the x axis again and continuously repeats until the cable arranging device reaches the non-zero point side of the cable storage drum and stops moving; the cable arranging device stops for t1 time, waits for one rotation of the cable storage drum, then starts from the non-zero point side of the cable storage drum, moves at the speed v along the negative direction of the x axis for one rotation of the cable storage drum, and then moves at the speed v along the positive direction of the x axis; after the displacement of the cable arranging device along the positive direction of the x axis, the cable arranging device moves along the negative direction of the x axis again and continuously repeats until the cable arranging device reaches the zero point side of the cable storage drum and stops moving.

Description

TECHNICAL FIELD

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

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

[0003] The traditional layering arrangement technology realizes the storage of the cable by winding the cable in layers on the cable storage device. The main defects of this method include: first, as the cable is used, the cable is prone to cable embedding between layers, the friction between layers is intensified, which accelerates the wear of the cable, thereby reducing the service life of the cable. Especially when dealing with small-diameter cables and flexible cables, the traditional layering arrangement method shows more limitations. Small-diameter cables are prone to winding and misplacement during cable storage due to their small diameter, which affects the arrangement effect and operation stability of the cable. And flexible cables may cause uneven distribution of the cable in the traditional layering arrangement due to their good bending performance and greater flexibility, which increases the friction force of the cable during storage and release, further affecting the stability and use effect of the cable arrangement. SUMMARY

[0004] The purpose of the present application is to provide a cross cable arrangement control method of deep-sea winch which improves the stability and reliability of cable arrangement, especially suitable for small-diameter and flexible cables,

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

[0006] A cross cable arrangement control method of deep-sea winch, comprising the following steps:

[0007] First, according to the preset angle θ and the diameter d of the cable storage drum, the displacement of the cable arrangement device corresponding to one revolution of the cable storage drum is calculated

[0008] Second, according to the real-time speed n of the cable storage drum, the time corresponding to one revolution of the drum is calculated Further, the moving speed v of the cable arrangement device is obtained l0 ;

[0009] t1

[0010] Third, the cable arrangement device starts from the zero point side of the cable storage drum, and after following the cable storage drum at a speed v for one revolution in the positive direction of the x-axis, the cable arrangement device moves in the negative direction of the x-axis at a speed v.

[0011] Fourth step, the cable arrangement device moves along the x-axis negative direction displacement l0-l1, and then moves along the x-axis positive direction again, and the second step and the third step are repeatedly until the cable arrangement device reaches the non-zero point side of the cable storage drum and stops moving;

[0012] Fifth step, the cable arrangement device stops for t1 time, waits for the cable storage drum to rotate for a half circle, and then the cable arrangement device starts from the non-zero point side of the cable storage drum and follows the cable storage drum with the speed v along the x-axis negative direction for a half circle, and then the cable arrangement device moves along the x-axis positive direction with the speed v;

[0013] Sixth step, the cable arrangement device moves along the x-axis positive direction displacement l0-l1, and then moves along the x-axis negative direction again, and the second step and the fifth step are repeatedly until the cable arrangement device reaches the zero point side of the cable storage drum and stops moving;

[0014] Seventh step, the cable arrangement device stops for t1 time, waits for the cable storage drum to rotate for a half circle, and then the cable arrangement device repeats the second, third, fourth and fifth steps until the winding of the cable is completed.

[0015] Further, the control method is used for controlling the cable arrangement device to assist the cable storage device to store the cable, wherein the ball screw of the cable arrangement device is driven by the cable arrangement motor to drive the left and right movement of the cable arrangement device, so as to ensure the entry angle between the cable and the cable storage device; the cable storage drum is driven by the cable storage drum motor to realize the winding and unwinding of the cable.

[0016] Further, the sensors required by the automatic cable arrangement of the deep-sea winch include a cable storage drum encoder, a cable arrangement angle encoder, a cable arrangement right limit limit switch, a cable arrangement left limit limit switch and a cable arrangement encoder; the cable storage drum encoder is installed on the rotating center shaft of the cable storage drum and is used for measuring the rotating pulse number and speed of the cable storage drum; the cable arrangement angle encoder is installed on the rotating pulley center shaft of the cable arrangement device and is used for measuring the deflection angle of the cable from the cable arrangement device to the cable storage drum; the cable arrangement right limit limit switch and the cable arrangement left limit limit switch are respectively installed on the leftmost side and the rightmost side of the cable arrangement device and are used for limiting the left and right limit positions of the movable cable arrangement device; the cable arrangement device automatically stops when moving to any limit position and cannot continue to move forward; the cable arrangement encoder is installed on the center shaft of the cable arrangement roller screw and is used for measuring the rotating pulse number and speed of the cable arrangement roller screw.

[0017] Compared with the prior art, the beneficial effects of the present application are as follows:

[0018] 1. The cross-cable arrangement mode can effectively reduce the cable embedding risk between layers. By forming a 90-degree cross relationship between each layer of cables, compared with the traditional parallel arrangement, the cross-cable arrangement can significantly reduce the possibility of cable entanglement and extrusion, thereby reducing the wear and damage of the cable during use and prolonging the service life of the cable.

[0019] 2. Cross-laying is particularly suitable for handling small-diameter and flexible cables. When handling small-diameter cables, cross-laying can effectively prevent tangling and misalignment caused by the small diameter; while for flexible cables, cross-laying technology can better adapt to their flexibility, reduce friction and uneven distribution, and ensure the stability and smooth operation of the cable during storage and release. Attached Figure Description

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

[0021] Figure 2 This is a diagram showing the trajectory of the double-layer cable laying mechanism for a deep-sea winch cable laying device. Detailed Implementation

[0022] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] This invention provides a method for controlling the cross-cable laying of cables in a deep-sea winch, applicable to controlling the cable storage device of the cable laying machine to store cables. Figure 1 This is a schematic diagram of the deep-sea winch structure and cross-cable laying provided in an embodiment of the present invention. The ball screw 9 of the cable laying device is driven by the cable laying motor 7, which drives the cable laying device 1 to move left and right, thereby ensuring the 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, realizing the winding and unwinding of the cable. The sensors required for the automatic cable laying of the deep-sea winch include the cable storage drum encoder 3, the cable laying angle encoder 4, the cable laying right limit switch 5, the cable laying left limit switch 6, and the cable laying device encoder 8. The cable storage drum encoder 3 is installed on the rotation center shaft of the cable storage drum 2 and is used to measure the rotation pulse number and speed of the cable storage drum. The cable laying angle encoder 4 is installed on the rotation pulley center shaft of the cable laying device 1 and is used to measure the deflection angle of the cable as it enters and exits the cable storage drum 2 from the cable laying device 1. The right limit switch 5 and the left limit switch 6 are installed on the leftmost and rightmost sides of the cable laying device 1, respectively. These two switches limit the left and right extreme positions that the cable laying device 1 can move. The cable laying device 1 will automatically stop when it reaches any of these extreme positions and will not be able to move forward. The cable laying device encoder 8 is installed on the central shaft of the cable laying device roller screw 9 and is used to measure the number of rotational pulses and speed of the cable laying device roller screw.

[0024] A method for controlling the cross-layout of a deep-sea winch, the method comprising the following steps:

[0025] The first step is to calculate the displacement of the cable laying device corresponding to half a revolution of the cable storage drum, based on the preset angle θ and the diameter d of the cable storage drum.

[0026] Second step, according to the real-time speed n of the cable storage reel, the time corresponding to a half turn of the reel is calculated Further, the moving speed of the cable arrangement device is obtained

[0027] Third step, the cable arrangement device starts from the zero point side of the cable storage reel, and follows the cable storage reel to move at a speed v along the positive direction of the x-axis for a half turn, then the cable arrangement device moves at a speed v along the negative direction of the x-axis;

[0028] Fourth step, the cable arrangement device moves along the negative direction of the x-axis by a distance l0-l1, then moves along the positive direction of the x-axis again, and constantly repeats the second step and the third step until the cable arrangement device reaches the non-zero point side of the cable storage reel and stops moving;

[0029] Fifth step, the cable arrangement device stops for a time t1, waits for a half turn of the cable storage reel, then the cable arrangement device starts from the non-zero point side of the cable storage reel, and follows the cable storage reel to move at a speed v along the negative direction of the x-axis for a half turn, then the cable arrangement device moves at a speed v along the positive direction of the x-axis;

[0030] Sixth step, the cable arrangement device moves along the positive direction of the x-axis by a distance l0-l1, then moves along the negative direction of the x-axis again, and constantly repeats the second step and the fifth step until the cable arrangement device reaches the zero point side of the cable storage reel and stops moving;

[0031] Seventh step, the cable arrangement device stops for a time t1, waits for a half turn of the cable storage reel, and repeats the second, third, fourth and fifth steps until the cable arrangement ends. Figure 2 The deep-sea winch cable arrangement device double-layer cable arrangement trajectory diagram is shown.

Claims

1. A method for controlling the cross-laying of cables in a deep-sea winch, characterized in that, Includes the following steps: The first step is to determine the angle based on the preset angle. and storage cable drum diameter d Calculate the displacement of the cable laying device corresponding to half a revolution of the cable storage drum. ; The second step is to adjust the real-time rotation speed of the cable storage drum. n Calculate the time corresponding to half a rotation of the drum. Thus, the moving speed of the cable laying device can be obtained. ; The third step involves the cable laying device starting from the zero-point side of the cable storage drum at a speed... v After the cable storage drum rotates half a turn along the positive x-axis, the cable release device moves at a speed of along x Move in the negative direction of the axis; Step 4, the cable laying device along x Displacement in the negative direction of the axis Then, along x The axis moves in the positive direction, and the second and third steps are repeated until the cable laying device reaches the non-zero point side of the cable storage drum and then stops moving; Step 5: Stop the cable laying process. After the cable storage drum has rotated half a turn, the cable release device starts from the non-zero point side of the cable storage drum at a speed of... v Follow the cable reel along x After rotating half a turn in the negative direction, the cable laying device moves at a speed along x Move in the positive direction of the axis; Step 6, the cable laying device along x Displacement in the positive direction of the axis Then, along x Move in the negative direction of the axis and repeat the second and fifth steps until the cable conveyor reaches the zero point side of the cable storage drum and stops moving; Step 7: Stop the cable laying process. After the cable storage drum has rotated half a turn, the cable unwinding device repeats steps two, three, four, and five until the cable winding is complete. The sensors required for automatic cable laying in deep-sea winches include a cable storage drum encoder, a cable laying angle encoder, a right limit switch, a left limit switch, and a cable laying encoder. The cable storage drum encoder is mounted on the rotating central shaft of the cable storage drum and is used to measure the number of rotational pulses and the speed of the cable storage drum. The cable laying angle encoder is mounted on the rotating pulley central shaft of the cable laying device and is used to measure the angle of the cable as it moves in and out of the cable storage drum. The right and left limit switches are mounted on the leftmost and rightmost sides of the cable laying device, respectively, to limit the left and right extreme positions of the cable laying device. The cable laying device will automatically stop when it reaches any of these extreme positions and cannot continue to move forward. The cable laying encoder is mounted on the central shaft of the cable laying device's lead screw and is used to measure the number of rotational pulses and the speed of the lead screw.

2. The method for controlling the cross-laying of cables for a deep-sea winch according to claim 1, characterized in that: This control method is used to control the cable storage device of the cable laying device to store the cable. The ball screw of the cable laying device is driven by the cable laying motor, which drives the cable laying device to move left and right, thereby ensuring the cable 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, realizing the winding and unwinding of the cable.

Images