Launching and recycling device based on self-adaptive structure and control method thereof

Abstract

The invention discloses a laying and recycling device based on a self-adaptive structure and a control method of the laying and recycling device, and belongs to the technical field of marine laying and recycling. A winch drives a winding drum in the winch to rotate through a winch servo motor provided with a torque sensor; the cable arrangement device is installed on the winch installation base, the top ends of the cable arrangement springs are fixedly connected with the cable arrangement base, and the bottom ends of the cable arrangement springs are fixedly connected with the cable arrangement sliding blocks respectively. The cable arrangement wheels are rotatably installed on the cable arrangement sliding blocks on the left side and the right side through horizontal rotating shafts. The top ends of the tensioning springs are fixedly connected with the cable pulling base, and the bottom ends of the tensioning springs are fixedly connected with the cable pulling sliding blocks respectively. The tensioning wheels are rotatably installed on the cable pulling sliding blocks on the left side and the right side through horizontal rotating shafts. A rotatable cable pulling wheel is mounted below the cable pulling base through a horizontal rotating shaft; the cable pulling base is further provided with a cable pulling servo motor provided with a torque sensor. And the phenomenon that the cable is stuck in the cable arrangement device due to the thickness change of the cable is effectively avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine deployment and recovery, and in particular relates to a deployment and recovery device based on an adaptive structure and a control method thereof. Background Art

[0002] The application of unmanned and automated methods has become a trend in various industries in recent years. The deployment of unmanned boats, cables and towed bodies at sea has gradually adopted the method of unmanned automatic deployment and recovery. The unmanned automatic deployment and recovery of cable-towed bodies is usually achieved by winch. The command is sent to the ship-borne control system through remote wireless communication. The control system controls the rotation of the winch servo motor to realize the automatic deployment and recovery of the cable. When recovering, the cable is neatly arranged on the winch cable drum under the action of the winch cable arranger. When laying, the cable slides along the stern cable guide wheel to the sea under the action of the weight of the towed body at the end.

[0003] Reference "Design of AUV deployment and recovery device based on unmanned boat and research on towing dynamics [D]. Shenyang University of Technology, 2022." According to the use requirements of AUV in marine operating environment, a surface integrated recovery system is designed. However, the system is used for underwater towed bodies with large volume and weight. When the towed body is light and small, the system cannot deploy and recover it well. Reference "Song Tao, Zheng Rong, Liang Hongguang. Design and research of autonomous deployment and recovery device for underwater towed body [J]. Ship Science and Technology, 2020, 42(07): 96-101." An underwater towed body autonomous deployment and recovery device for unmanned boat is designed. The cable is retracted and released by hydraulically driven winch, and the three-level deployment is realized by hydraulic cylinder driving lifting frame, slide rail and slide table. However, when the device faces cables of different thicknesses, the winch will get stuck. At the same time, the device is also used for underwater towed bodies with large weight and volume. Patent publication number CN202010240642.4, "A device for deploying and recovering a deep-sea towed sonar system", relates to a device for deploying and recovering a deep-sea towed sonar system, which consists of a towing winch, a cable guide assembly and a folding boom. However, when the device is used to deploy cables of varying thicknesses, the cables will get stuck in the cable arranger of the towing winch. When deploying a lighter towed body, the cables will accumulate on the deck between the towing winch and the cable guide assembly, making it impossible to complete the deployment well.

[0004] In summary, the current unmanned automatic deployment and recovery devices are used for cables of uniform thickness and heavy towing bodies. However, when the thickness of the cable changes, the cable may get stuck in the winch cable arranger or the stern cable guide wheel; when the weight of the towing body is light, the cable cannot automatically slide down the cable guide wheel and accumulates on the deck. Summary of the invention

[0005] In view of this, the present invention provides a laying and recovery device based on an adaptive structure and a control method thereof, which solves the problem that the cable may get stuck in the winch cable arranger or the stern cable guide wheel when the thickness of the cable changes, and the problem that the cable cannot automatically slide down the cable guide wheel when the weight of the towing body is light, and thus accumulates on the deck.

[0006] The present invention provides a deployment and recovery device based on an adaptive structure, which adopts the following technical solutions:

[0007] A deployment and recovery device based on an adaptive structure, comprising:

[0008] A winch, in which a drum in the winch is driven to rotate by a winch servo motor equipped with a torque sensor, and is used to coil, recover or release the cable, and the end of the cable is a towing body;

[0009] The cable arranger is installed on the winch installation base. At least two cable arrange springs on the left and right sides of the cable arranger are symmetrically arranged vertically. The top of the cable arrange spring is fixedly connected to the cable arrange base, and the bottom of the cable arrange spring is respectively fixedly connected to a cable arrange slider; the cable arrange wheel is rotatably installed on the cable arrange sliders on the left and right sides through a horizontal rotating shaft; the space between the bottom of the cable arrange wheel and the bottom of the cable arrange base is used as a space for the cable to pass;

[0010] The adaptive cable pulling device comprises at least two tension springs symmetrically installed on the left and right sides of the adaptive cable pulling device, the top of the tension spring is fixedly connected to the cable pulling base, and the bottom of the tension spring is respectively fixedly connected to a cable pulling slider; the tension wheel is rotatably installed on the cable pulling sliders on the left and right sides through a horizontal rotating shaft; a rotatable cable pulling wheel is installed under the cable pulling base through a horizontal rotating shaft; a cable pulling servo motor provided with a torque sensor is also installed on the cable pulling base to drive the cable pulling wheel to rotate; the space between the tension wheel and the cable pulling wheel is used as a space for the cable to pass;

[0011] When in use, one end of the cable is coiled on the drum of the winch, and the other end passes through the cable arranger and adaptive cable pulling equipment in sequence, and finally sinks into the sea through the towing body.

[0012] Furthermore, the cable arrangement slider is guided for vertical displacement by a vertical frame on the cable arrangement base;

[0013] The cable pulling slider passes through a vertical guide rod on a cable pulling base, and the vertical guide rod can guide the vertical displacement of the cable pulling slider.

[0014] Furthermore, a rotatable sleeve in contact with the cable is provided in the space between the bottom of the cable arrangement wheel and the bottom of the cable arrangement base, and in the space between the tensioning wheel and the cable pulling wheel, so as to protect the cable.

[0015] The present invention provides a control method for a deployment and recovery device based on an adaptive structure, which adopts the following technical solution. The method uses the deployment and recovery device based on the adaptive structure for control, including:

[0016] When laying the cable: the winch servo motor drives the drum of the winch to rotate clockwise, and at the same time the cable pulling servo motor drives the cable pulling wheel to rotate clockwise, so that the cable is laid into the sea under the friction provided by the mutual clamping of the cable pulling wheel and the tensioning wheel;

[0017] When the cable is recovered: the winch servo motor drives the winch drum to rotate counterclockwise, and the cable pulling servo motor drives the cable pulling wheel to rotate counterclockwise. The cable is pulled up from the sea under the pulling force of the winch and is wound on the winch drum through the action of the cable reel.

[0018] Furthermore, when the cable tension exceeds a set first threshold, the speed of the winch servo motor remains unchanged, and the speed of the cable pulling servo motor decreases until the cable tension is less than a maximum threshold;

[0019] When the cable tension is less than the set minimum threshold, the speed of the winch servo motor remains unchanged, and the speed of the cable pulling servo motor increases until the cable tension is greater than the minimum threshold;

[0020] When the cable tension is between a set second threshold and a set maximum threshold, the rotation speeds of the winch servo motor and the cable pulling servo motor remain unchanged at the set rotation speed, and the set rotation speed is greater than zero;

[0021] The first threshold is greater than the second threshold, and both are greater than zero.

[0022] Furthermore, when the rotation speed of the cable pulling servo motor increases or decreases, it increases or decreases in a set ratio.

[0023] Furthermore, when the cable tension is zero or a third threshold value, the cable pulling servo motor and the winch servo motor stop running and give an alarm feedback;

[0024] The third threshold is greater than the first threshold.

[0025] Beneficial effects:

[0026] 1. Because the cable arrangement slider is arranged below the vertical cable arrangement spring, the cable can squeeze the cable arrangement slider to make the cable arrangement spring deform with the thickness of the cable, thereby realizing adaptive changes in the diameter of the cable arrangement device, effectively avoiding the phenomenon that the cable is stuck in the cable arrangement device due to changes in thickness.

[0027] 2. The traditional stern cable guide wheel is replaced by an adaptive cable pulling device. The adaptive cable pulling device also adopts a spring-slider mechanism. The cable is clamped by a tensioning wheel and a cable pulling wheel. The distance between the tensioning wheel and the double wheels changes according to the thickness of the cable, thus avoiding the cable being stuck.

[0028] 3. The adaptive cable pulling device is driven by a cable pulling servo motor. When the weight of the towing body is light, the double-wheel clamping provides good friction for the cable, thereby pulling the cable outward into the sea, effectively avoiding the problem that the cable is difficult to slide down due to the light weight of the towing body and thus accumulates on the deck.

[0029] 4. The cable pulling servo motor in the adaptive cable pulling device can be coordinated with the winch servo motor. By real-time monitoring of the cable tension, the cable tension can be adaptively adjusted through algorithm control. When the tension is abnormal, the operation can be stopped and an alarm feedback can be given, thereby increasing the service life and effectively improving the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a deployment and recovery device based on an adaptive structure provided by the present invention;

[0031] Figure 2 A schematic diagram of a cable arrangement device in a deployment and recovery device based on an adaptive structure provided by the present invention;

[0032] Figure 3 A schematic diagram of an adaptive cable pulling device in a deployment and recovery device based on an adaptive structure provided by the present invention;

[0033] Figure 4 A schematic diagram of the control flow of a deployment and recovery device based on an adaptive structure provided by the present invention;

[0034] Among them, 1 - winch, 2 - deck, 3 - cable, 4 - adaptive cable pulling device, 5 - cable arranger, 6 - cable arrangement spring, 7 - cable arrangement wheel, 8 - winch servo motor, 9 - cable pulling wheel, 10 - tensioning wheel, 11 - tensioning spring, 12 - cable pulling servo motor, 13 - cable pulling slider, 14 - cable pulling sleeve, 15 - cable pulling slider, 16 - cable pulling sleeve, 17 - vertical frame, 18 - vertical guide rod. DETAILED DESCRIPTION

[0035] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0036] Embodiment 1:

[0037] Reference Figure 1 to Figure 3 This embodiment provides a deployment and recovery device based on an adaptive structure, including:

[0038] The winch 1 drives the drum in the winch 1 to rotate through the winch servo motor 8 provided with a torque sensor, so as to reel in or release the cable 3, the end of which is a towing body (not shown in the figure);

[0039] The cable arranger 5 is installed on the installation base of the winch 2. At least two cable arranger springs 6 are symmetrically arranged vertically on the left and right sides of the cable arranger 5. The top of the cable arranger spring 6 is fixedly connected to the cable arranger base, and the bottom of the cable arranger spring 6 is respectively fixedly connected to a cable arranger slider 13; the cable arranger wheel 7 is rotatably installed on the cable arranger sliders 13 on the left and right sides through a horizontal rotating shaft; the space between the bottom of the cable arranger wheel 7 and the bottom of the cable arranger base is used as a space for the cable 3 to pass (the size of the space can be defined as the diameter of the cable arranger);

[0040] The adaptive cable pulling device 4 has at least two tensioning springs 11 symmetrically installed on the left and right sides of the adaptive cable pulling device 4, the top of the tensioning spring 11 is fixedly connected to the cable pulling base, and the bottom of the tensioning spring 11 is respectively fixedly connected to a cable pulling slider 15; the tensioning wheel 10 is rotatably installed on the cable pulling sliders 15 on the left and right sides through a horizontal rotating shaft; a rotatable cable pulling wheel 9 is installed below the cable pulling base through a horizontal rotating shaft; a cable pulling servo motor 12 provided with a torque sensor is also installed on the cable pulling base to drive the cable pulling wheel 9 to rotate; the space between the tensioning wheel 10 and the cable pulling wheel 9 is used as a space for the cable 3 to pass through (the space can be defined as the caliber of the adaptive cable pulling device);

[0041] In use, one end of the cable 3 is wound on the drum of the winch 1, and the other end passes through the cable arranger 5 and the adaptive cable pulling device 4 in sequence, and finally sinks into the sea through the towing body.

[0042] In this way, because the cable row slider 13 is arranged below the vertical cable row spring 6, the cable 3 can squeeze the cable row slider 14 to make the cable row spring 6 deform with the thickness of the cable 3, thereby realizing the adaptive change of the diameter of the cable row device, and effectively avoiding the phenomenon that the cable 3 is stuck in the cable row device 5 due to the change of the thickness. Secondly, the adaptive cable pulling device 4 replaces the traditional stern cable guide wheel. The adaptive cable pulling device 4 also adopts a spring-slider mechanism. The cable 3 is clamped by the tensioning wheel 10 and the cable pulling wheel 9. According to the change of the thickness of the cable 3, the distance between the tensioning wheel 10 and the cable pulling wheel 9 also changes accordingly, avoiding the situation that the cable 3 is stuck. In addition, the adaptive cable pulling device 4 is driven by the cable pulling servo motor 12. When the weight of the towing body is light, the double wheel clamping provides good friction to the cable 3, thereby pulling the cable 3 outward into the sea, effectively avoiding the problem that the cable 3 is difficult to slide down due to the light weight of the towing body and thus accumulates on the deck 2.

[0043] In addition, the cable pulling servo motor 12 in the adaptive cable pulling device 4 can be coordinated with the winch servo motor 8. By real-time monitoring of the tension of the cable 3, the tension of the cable 3 can be adaptively adjusted through algorithm control, and when the tension is abnormal (such as the cable 3 is stuck, the towing body is stuck, or the cable 3 is broken, etc., which will cause the tension to be abnormal), the operation can be stopped and the alarm feedback can be given, thereby increasing the service life and effectively improving the safety and reliability of the system.

[0044] As an example, see Figure 2 and Figure 3 The cable row slider 13 is guided for vertical displacement by the vertical frame 17 on the cable row base, and the cable pulling slider 15 is passed through the vertical guide rod 18 on the cable pulling base. The vertical guide rod 18 can guide the vertical displacement of the cable pulling slider 15, and the structure is simple and compact.

[0045] As an example, see Figure 2 and Figure 3 The space between the bottom of the cable wheel 7 and the bottom of the cable wheel base is provided with a cable row sleeve 14, and the space between the tension wheel 10 and the cable puller wheel 9 is provided with a rotatable cable puller sleeve 16 in contact with the cable 3, which is used to prevent the cable 3 from being worn and protect the cable 3. More specifically, referring to Figure 3 The cable pulling sleeve 16 arranged in the space between the tensioning wheel 10 and the cable pulling wheel 9 is passed through the vertical guide rod 18 .

[0046] Embodiment 2:

[0047] Reference Figure 4 Based on the first embodiment, a control method for a deployment and recovery device based on an adaptive structure is provided, and the control method includes:

[0048] When laying the cable 3: the winch servo motor 8 drives the drum of the winch 1 to rotate clockwise, and at the same time the cable pulling servo motor 12 drives the cable pulling wheel 9 to rotate clockwise, so that the cable 3 is laid into the sea under the friction provided by the mutual clamping of the cable pulling wheel 9 and the tensioning wheel 10;

[0049] When the cable 3 is recovered: the winch servo motor 8 drives the drum of the winch 1 to rotate counterclockwise, and at the same time the cable pulling servo motor 12 drives the cable pulling wheel 9 to rotate counterclockwise. The cable 3 is pulled up from the sea under the pulling force of the winch 1 and is wound on the drum of the winch 1 through the action of the cable reel 5.

[0050] More specifically, when the tension of cable 3 exceeds a set first threshold, the speed of winch servo motor 8 remains unchanged, and the speed of cable pulling servo motor 12 decreases until the tension of cable 3 is less than the maximum threshold; when the tension of cable 3 is less than a set second threshold, the speed of winch servo motor 8 remains unchanged, and the speed of cable pulling servo motor 12 increases, until cable 3 is greater than the minimum threshold; when the tension of cable 3 is between the set second threshold and the set first threshold, the speeds of winch servo motor 8 and cable pulling servo motor 12 remain unchanged at the set speed, and the set speed is greater than zero; the first threshold is greater than the second threshold, and both are greater than zero.

[0051] As an example, when the rotation speed of the cable pulling servo motor 12 increases or decreases, it increases or decreases in a set ratio.

[0052] Furthermore, when the tension of the cable 3 is zero (such as when the cable 3 is broken) or reaches the third threshold (such as when the towing body is stuck or the towing body is stuck, etc.), the cable pulling servo motor 12 and the winch servo motor 8 stop running and give an alarm feedback; wherein the third threshold is greater than the first threshold.

[0053] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A deployment and recovery device based on an adaptive structure, characterized in that: include: A winch, in which a drum in the winch is driven to rotate by a winch servo motor equipped with a torque sensor, is used to coil up, recover or release the cable, and the end of the cable is a towing body; The cable arranger is installed on the winch installation base. At least two cable arrange springs are symmetrically arranged vertically on the left and right sides of the cable arranger. The top of the cable arrange spring is fixedly connected to the cable arrange base, and the bottom of the cable arrange spring is respectively fixedly connected to a cable arrange slider. The cable arrange wheel is rotatably installed on the cable arrange sliders on the left and right sides through a horizontal rotating shaft. The space between the bottom of the cable arrange wheel and the bottom of the cable arrange base is used as a cable passing space. The adaptive cable pulling device comprises at least two tension springs symmetrically installed on the left and right sides of the adaptive cable pulling device, the top of the tension spring is fixedly connected to the cable pulling base, and the bottom of the tension spring is respectively fixedly connected to a cable pulling slider; the tension wheel is rotatably installed on the cable pulling sliders on the left and right sides through a horizontal rotating shaft; a rotatable cable pulling wheel is installed under the cable pulling base through a horizontal rotating shaft; a cable pulling servo motor provided with a torque sensor is also installed on the cable pulling base to drive the cable pulling wheel to rotate; the space between the tension wheel and the cable pulling wheel is used as a space for the cable to pass; When in use, one end of the cable is coiled on the winch drum, and the other end passes through the cable arranger and adaptive cable pulling equipment in sequence and then sinks into the sea through the towing body.

2. The deployment and recovery device based on the adaptive structure according to claim 1 is characterized in that: The cable arrangement slider is guided by the vertical frame on the cable arrangement base for vertical displacement; The cable pulling slider passes through a vertical guide rod on a cable pulling base, and the vertical guide rod can guide the vertical displacement of the cable pulling slider.

3. A deployment and recovery device based on an adaptive structure according to claim 1 or 2, characterized in that: The space between the bottom of the cable row wheel and the bottom of the cable row base, and the space between the tension wheel and the cable pulling wheel are both provided with a rotatable sleeve in contact with the cable, so as to protect the cable.

4. A control method for a deployment and recovery device based on an adaptive structure, characterized in that: Controlling the deployment and recovery device based on the adaptive structure according to any one of claims 1 to 3 comprises: When laying the cable: the winch servo motor drives the drum of the winch to rotate clockwise, and at the same time the cable pulling servo motor drives the cable pulling wheel to rotate clockwise, so that the cable is laid into the sea under the friction provided by the mutual clamping of the cable pulling wheel and the tensioning wheel; When the cable is recovered: the winch servo motor drives the winch drum to rotate counterclockwise, and the cable pulling servo motor drives the cable pulling wheel to rotate counterclockwise. The cable is pulled up from the sea under the pulling force of the winch and is wound on the winch drum through the action of the cable reel.

5. The control method of a deployment and recovery device based on an adaptive structure according to claim 4 is characterized in that: When the cable tension exceeds a set first threshold, the speed of the winch servo motor remains unchanged, and the speed of the cable pulling servo motor decreases until the cable tension is less than the maximum threshold; When the cable tension is less than the set minimum threshold, the speed of the winch servo motor remains unchanged, and the speed of the cable pulling servo motor increases until the cable tension is greater than the minimum threshold; When the cable tension is between a set second threshold and a set maximum threshold, the rotation speeds of the winch servo motor and the cable pulling servo motor remain unchanged at the set rotation speed, and the set rotation speed is greater than zero; The first threshold is greater than the second threshold, and both are greater than zero.

6. A control method for a deployment and recovery device based on an adaptive structure according to claim 5, characterized in that: When the rotation speed of the cable pulling servo motor increases or decreases, it increases or decreases in a set ratio.

7. A control method for a deployment and recovery device based on an adaptive structure according to claim 5 or 6, characterized in that: When the cable tension is zero or the third threshold, the cable pulling servo motor and the winch servo motor stop running and give an alarm feedback; The third threshold is greater than the first threshold.

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