Umbilical cable winch driven by multiple motors

Abstract

The invention discloses an umbilical cable winch driven by multiple motors, and belongs to the technical field of umbilical cable winches. Comprising a winch main body, a hydraulic driving unit and an automatic cable arranging unit, wherein a cable disc used for winding an umbilical cable is arranged in the winch main body; the hydraulic driving unit comprises at least three groups of hydraulic motors arranged in parallel; the automatic cable arranging unit comprises a cable arranging device, a rotary encoder coaxially connected to the cable disc and a servo motor used for driving the cable arranging device; the optical fiber slip ring assembly is arranged at the end of a rotating shaft of the cable reel, the proximity switches are arranged on the two sides of the cable reel, the current cable storage amount calculation module is used for calculating the current cable storage amount, and the rope containing amount calculation module is used for calculating the current rope containing amount at the beginning of the current period. According to the invention, the hydraulic motors are standby for each other, so that the reliability and redundancy of the system are obviously improved; the automatic cable arranging unit is combined with a proximity switch and a rotary encoder, the position of the cable arranging device is dynamically adjusted, and it is ensured that the cable is wound neatly and orderly.

Description

Technical Field

[0001] The invention belongs to the technical field of umbilical cable winches, and in particular relates to an umbilical cable winch driven by multiple motors. Background Art

[0002] With the growth of marine resource development and submarine cable laying, the demand for efficient and reliable umbilical winch systems is increasing. As a composite cable integrating power supply and signal transmission, the umbilical cable is crucial in deep-sea operations.

[0003] The existing umbilical winch system usually uses a single large hydraulic motor or electric motor as the driving source, and directly drives the cable drum through the reduction mechanism to perform the cable reeling and releasing operation. In terms of cable arrangement, the traditional mechanical cable arrangement device is gradually replaced by an automatic cable arrangement system based on servo motor control. This system can dynamically adjust the position of the cable arrangement device according to the actual winding situation of the cable, thereby ensuring that the cable is neatly and orderly wound on the cable drum.

[0004] Although current technology has made significant progress, there are still some problems that need to be solved. First, the design of a single drive source can easily lead to the inability to switch to the backup power source in time when the system fails, affecting the operation efficiency and even causing safety hazards. Secondly, although the traditional cable arrangement mechanism can meet basic needs to a certain extent, it is often difficult to achieve the ideal cable arrangement effect when faced with high-speed, large-diameter cables or multi-layer cables arranged in an interlaced manner, which may cause uneven cable winding or jamming. Summary of the invention

[0005] Purpose of the invention: In order to solve the above problems, the present invention provides an umbilical cable winch driven by multiple motors.

[0006] Technical solution: A multi-motor driven umbilical winch, comprising: A winch body, which has a cable drum for winding the umbilical cable inside; A hydraulic drive unit, comprising at least three groups of hydraulic motors arranged in parallel; the hydraulic motors are configured to switchably drive the cable drum; An automatic cable arrangement unit, comprising a cable arranger, a rotary encoder coaxially connected to the cable drum, and a servo motor for driving the cable arranger; the cable arranger is configured to control its own lateral displacement according to the number of rotations of the cable drum recorded by the rotary encoder; An optical fiber slip ring assembly is disposed at the end of the rotating shaft of the cable drum and is used to maintain continuous data transmission during the winding and unwinding process of the umbilical cable; Proximity switches, provided on both sides of the cable drum, for detecting the edge of the umbilical cable and triggering a signal to identify the current layer number; The current cable storage amount calculation module is used to read the current number of layers, the current number of winding turns in the current layer, and the current rotation angle of the umbilical cable, and calculate the current cable storage amount; The rope capacity calculation module is used to calculate the current rope capacity at the start of the current cycle.

[0007] In a further embodiment, the rope capacity calculation unit includes: The layer number identification module is used to determine and update the layer number value in real time according to the signal of the proximity switch and the rotation direction of the rotary encoder; The winding radius calculation module is used to calculate the current winding radius according to the umbilical cable diameter d , the drum diameter of the cable reel D and the current number of layers n ; R ; The motion parameter acquisition module is used to obtain in real time the angular velocity measured by the rotary encoder w and the servo motor speed V ; The dynamic calculation module is used to calculate the rope capacity change amount; The rope capacity update unit is used to update the current rope capacity.

[0008] In a further embodiment, the fiber optic slip ring assembly includes: The mounting plate is arranged on the main body of the winch; The fixed shaft is installed at the central position of the mounting plate; The flexible shaft, one end of which is sleeved on the fixed shaft, is used to provide flexible support; The moving ring bushing is inserted into the other end of the flexible shaft; The moving ring connection seat is arranged at one end of the moving ring bushing; The slip ring fixed ring bracket is sleeved outside the moving ring connection seat; an annular cavity is arranged between the slip ring fixed ring bracket and the moving ring connection seat; The deep groove ball bearing is arranged in the annular cavity; The fiber optic slip ring, one end of which is installed on the moving ring connection seat and the other end extends into the moving ring bushing.

[0009] In a further embodiment, the formula for calculating the current winding radius R is as follows: ; It is defined that when the rotary encoder rotates forward, the current number of layers is updated each time a proximity switch signal is recognized as ; when the rotary encoder rotates in reverse, the current number of layers is updated each time a proximity switch signal is recognized as .

[0010] In a further embodiment, the rope capacity variation is calculated using the following formula: ; In the formula, is the calculation cycle duration; is the steering coefficient; definition The value of is 1 when the rotary encoder rotates forward, and is -1 when the rotary encoder rotates reversely.

[0011] In a further embodiment, updating the current rope capacity comprises the following steps: According to the rope capacity of the previous cycle Add the capacity change of the current cycle To update the current capacity ; The calculation formula is as follows: .

[0012] Beneficial effects: (1) The present invention adopts multiple groups of hydraulic motors arranged in parallel to replace a single driving source. The design of each hydraulic motor serving as a backup for each other significantly improves the reliability and redundancy of the system. When a single hydraulic motor fails, the other hydraulic motors can switch seamlessly and continue to work, ensuring the continuous operation of the system and avoiding operation interruption or safety hazards caused by driving source failure.

[0013] (2) The automatic cable reeling unit of the present invention is based on servo motor control and is combined with a proximity switch and a rotary encoder. It can dynamically adjust the position of the cable reel according to the actual winding condition of the cable, ensuring that the cable is wound neatly and orderly on the cable drum.

[0014] Compared with traditional mechanical cable arrangement devices, this intelligent cable arrangement system performs better in handling high-speed, large-diameter cables or multi-layer cables, effectively avoiding uneven cable winding or jamming. Accurate layer identification and real-time update mechanism further enhance the adaptability and flexibility of the system, allowing the umbilical winch to maintain efficient and stable operation in complex and changing working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural entity diagram of the present invention; Figure 2 It is a schematic diagram of the structure of the optical fiber slip ring assembly; Figure 3 is a cross-sectional view of a fiber optic slip ring assembly; Figure 4 It is the hydraulic principle diagram of the present invention.

[0016] Figures 1 to 4The components are marked as: winch body 1, cable drum 11, cable arranger 12, cable arranger cylinder 13, proximity switch 14, servo motor 15, hydraulic motor 16, fiber optic slip ring assembly 2, mounting plate 21, fixed shaft 22, flexible shaft 23, moving ring sleeve 24, moving ring connecting seat 25, slip ring fixed ring bracket 26, deep groove ball bearing 27, fiber optic slip ring 28, valve assembly 30, first reversing valve 31, second reversing valve 32, third reversing valve 33, brake 34, first pressure reducing valve 35, second pressure reducing valve 36, third pressure reducing valve 37, shuttle valve 38, overflow valve 39, pressure sensor 310, back pressure valve 311, speed regulating valve 312, hydraulic lock 313, oil return port 314, pressure oil port 315, oil unloading port 316. DETAILED DESCRIPTION

[0017] Example 1 like Figures 1 to 4 As shown, this embodiment provides a multi-motor driven umbilical cable winch, comprising: a winch body 1, a hydraulic drive unit, an automatic cable arrangement unit, an optical fiber slip ring assembly 2, a proximity switch 14, a current cable storage amount calculation module, and a cable capacity calculation module. A cable drum 11 for winding the umbilical cable is installed inside the winch body 1.

[0018] The hydraulic drive unit includes at least three sets of hydraulic motors 16 arranged in parallel; the hydraulic motors 16 are configured to switchably drive the cable drum 11. By using multiple hydraulic motors 16 to drive the cable drum 11 in parallel and making them standby for each other, even if one hydraulic motor 16 fails, the other hydraulic motors 16 can still continue to work, thereby greatly improving the overall reliability and stability of the system.

[0019] This design ensures that the entire system will not fail due to a single component failure during critical operations. Since multiple smaller hydraulic motors 16 are used instead of a single large hydraulic motor 16, the size and weight of a single hydraulic motor 16 can be reduced while ensuring output power. This not only helps to reduce manufacturing costs, but also facilitates installation, maintenance and transportation.

[0020] In addition, the hydraulic drive unit further includes: a valve assembly 30. Figure 4 As shown, the valve assembly 30 includes: a first reversing valve 31, a second reversing valve 32, a third reversing valve 33, a brake 34, a first pressure reducing valve 35, a second pressure reducing valve 36, a third pressure reducing valve 37, a shuttle valve 38, a relief valve 39, a pressure sensor 310, a back pressure valve 311, a speed regulating valve 312, a hydraulic lock 313, an oil return port 314, a pressure oil port 315, and an oil unloading port 316.

[0021] In the cable winding state, the first reversing valve 31 is PA, TB, the shuttle valve 38 is in the connected state, the second reversing valve 32 is PA, TB, the brake 34 is released, and the hydraulic motor 16 is in forward rotation to wind the cable.

[0022] In the unwinding state, the first reversing valve 31 is PB, TA, the shuttle valve 38 is in a connected state, the second reversing valve 32 is PA, TB, the brake 34 is released, and the hydraulic motor 16 is reversed to release the cable.

[0023] In the braking state, the second reversing valve 32 is PB, TA, the brake 34 is closed, and the hydraulic motor 16 is braking.

[0024] In the cylinder extension state, the third reversing valve 37 is PA, TB, and the cable arranger cylinder 13 is extended.

[0025] In the state where the oil cylinder is retracted, the third reversing valve 37 is in the state of PB and TA, and the oil cylinder 13 of the cable arranger is retracted.

[0026] The automatic cable arrangement unit comprises a cable arranger 12, a rotary encoder coaxially connected to the cable drum 11, and a servo motor 15 for driving the cable arranger 12. The cable arranger 12 is configured to control its lateral displacement by the number of rotations of the cable drum 11 recorded by the rotary encoder.

[0027] The optical fiber slip ring assembly 2 is disposed at the end of the rotating shaft of the cable drum 11, and is used to maintain continuous data transmission during the winding and unwinding process of the umbilical cable. Figure 2 and 3 As shown, the optical fiber slip ring assembly 2 includes: a mounting plate 21, a fixed shaft 22, a flexible shaft 23, a moving ring sleeve 24, a moving ring connecting seat 25, a slip ring fixed ring bracket 26, a deep groove ball bearing 27, and an optical fiber slip ring 28. The mounting plate 21 is mounted on the winch body 1. The fixed shaft 22 is mounted at the center of the mounting plate 21.

[0028] One end of the flexible shaft 23 is sleeved on the fixed shaft 22; the flexible shaft 23 is used to provide flexible support. The flexible shaft 23 is made of polyurethane. The design of the polyurethane flexible shaft 23 provides good flexible support, can adapt to mechanical vibration and impact under different working conditions, reduces the stress concentration problem caused by rigid connection, and enhances the adaptability and service life of the system.

[0029] The moving ring sleeve 24 is inserted into the other end of the flexible shaft 23, and the moving ring connecting seat 25 is installed at one end of the moving ring sleeve 24, which ensures the overall concentricity and precise guidance of the optical fiber slip ring assembly 2, avoids wear or other mechanical failures caused by eccentricity, and ensures long-term stable operating performance.

[0030] The slip ring fixed ring bracket 26 is sleeved on the outside of the moving ring connecting seat 25. An annular cavity is provided between the slip ring fixed ring bracket 26 and the moving ring connecting seat 25. The deep groove ball bearing 27 is provided in the annular cavity. By using the deep groove ball bearing 27 provided in the annular cavity, the stability and low friction operation of the entire assembly at high speed rotation are ensured, and the reliability and durability of the system are improved.

[0031] One end of the optical fiber slip ring 28 is mounted on the dynamic ring connection seat 25 and the other end extends into the dynamic ring sleeve 24, which ensures that data or signals can be transmitted without interruption even during the continuous rotation of the cable drum 11. This provides strong support for real-time monitoring and control, and improves operating efficiency and safety.

[0032] The proximity switches 14 are arranged on both sides of the cable drum 11 to detect the edge of the umbilical cable and trigger a signal to identify the current layer number. By arranging the proximity switches 14 on both sides of the cable drum 11 to detect the edge of the umbilical cable and combining the steering information of the rotary encoder, the current layer number is updated in real time. This ensures accurate monitoring of the winding condition of each layer of the cable.

[0033] The current cable storage calculation module is used to read the current number of umbilical layers, the number of turns of the current layer and the rotation angle of the current layer and calculate the current cable storage. This accurate calculation helps to optimize cable management and prevent overload or underload.

[0034] The rope capacity calculation module is used to calculate the current rope capacity at the beginning of the current cycle. Specifically, the rope capacity calculation unit includes: a layer number identification module, a gyration radius calculation module, a motion parameter acquisition module, a dynamic calculation module, and a rope capacity update unit. The layer number identification module is used to update the layer value in real time according to the signal of the proximity switch 14 and the direction of the rotary encoder.

[0035] Gyration radius calculation module, used to calculate the gyration radius based on the umbilical cable diameter d , the diameter of the drum of the cable drum 11 D and the current number of layers n Calculate the current winding radius R Current winding radius R The calculation formula is as follows: ; Define that when the rotary encoder rotates forward, the current layer number is updated each time the proximity switch 14 signal is recognized for ; When the rotary encoder is reversed, the current layer number is updated each time the proximity switch 14 signal is recognized for .

[0036] The motion parameter acquisition module is used to obtain the angular velocity measured by the rotary encoder in real time w And servo motor 15 speedV The dynamic calculation module is used to calculate the change in rope capacity.

[0037] The change in rope capacity is calculated using the following formula: ; In the formula, is the calculation cycle duration; is the steering coefficient; definition The value of is 1 when the rotary encoder rotates forward, and is -1 when the rotary encoder rotates reversely.

[0038] The above formula is used to calculate the rope capacity change, where k Adjustment according to the direction of rotation ensures correct calculation when rotating forward or reverse. This dynamic adjustment mechanism can adapt to different operating conditions and ensure stability during the cable retraction and release process.

[0039] The rope capacity updating unit is used to update the current rope capacity. Updating the current rope capacity includes the following steps: According to the rope capacity of the previous cycle Add the capacity change of the current cycle To update the current capacity ; The calculation formula is as follows: .

[0040] By converting the capacity of the previous cycle Add the capacity change of the current cycle To update the current capacity , achieving continuous and accurate rope capacity tracking.

Claims

1. A multi-motor driven umbilical winch, characterized in that: include: A winch body, which has a cable drum for winding the umbilical cable inside; A hydraulic drive unit, comprising at least three sets of hydraulic motors arranged in parallel; The hydraulic motor is configured to switchably drive the cable drum; An automatic cable arrangement unit, comprising a cable arranger, a rotary encoder coaxially connected to the cable drum, and a servo motor for driving the cable arranger; the cable arranger is configured to control its own lateral displacement according to the number of rotations of the cable drum recorded by the rotary encoder; An optical fiber slip ring assembly is disposed at the end of the rotating shaft of the cable drum and is used to maintain continuous data transmission during the winding and unwinding process of the umbilical cable; Proximity switches, provided on both sides of the cable drum, for detecting the edge of the umbilical cable and triggering a signal to identify the current layer number; The current cable storage amount calculation module is used to read the current number of layers, the number of windings of the current layer and the rotation angle of the current layer of the umbilical cable and calculate the current cable storage amount; The rope capacity calculation module is used to calculate the current rope capacity at the beginning of the current cycle.

2. The multi-motor driven umbilical winch according to claim 1, characterized in that: The rope capacity calculation unit comprises: A layer number recognition module is used to update the layer value in real time according to the signal of the proximity switch and the direction of rotation of the rotary encoder; Gyration radius calculation module, used to calculate the gyration radius based on the umbilical cable diameter d , Cable drum diameter D and the current layer n Calculate the current winding radius R ; Motion parameter acquisition module, used to obtain the angular velocity measured by the rotary encoder in real time w and servo motor speed V ; Dynamic calculation module, used to calculate the change of rope capacity; The rope capacity updating unit is used to update the current rope capacity.

3. The multi-motor driven umbilical winch according to claim 1, characterized in that: The optical fiber slip ring assembly comprises: A mounting plate, arranged on the winch body; A fixed shaft, mounted at the center of the mounting plate; A flexible shaft, one end of which is sleeved on the fixed shaft to provide flexible support; A moving ring sleeve is inserted into the other end of the flexible shaft; A moving ring connecting seat is arranged at one end of the moving ring sleeve; A slip ring fixed ring bracket is sleeved on the outside of the moving ring connecting seat; an annular cavity is provided between the slip ring fixed ring bracket and the moving ring connecting seat; A deep groove ball bearing is disposed in the annular cavity; The optical fiber slip ring has one end mounted on the dynamic ring connection seat and the other end extending into the dynamic ring sleeve.

4. The multi-motor driven umbilical winch according to claim 2, characterized in that: The current winding radius R The calculation formula is as follows: ； Define that when the rotary encoder rotates forward, the current number of layers is updated each time the proximity switch signal is recognized for When the rotary encoder is reversed, the current number of layers is updated each time the proximity switch signal is recognized for .

5. The multi-motor driven umbilical winch according to claim 2, characterized in that: The rope capacity change is calculated using the following formula: ； In the formula, is the calculation cycle duration; is the steering coefficient; definition The value of is 1 when the rotary encoder rotates forward, and is -1 when the rotary encoder rotates reversely.

6. The multi-motor driven umbilical winch according to claim 2, characterized in that: The updating of the current rope capacity comprises the following steps: According to the rope capacity of the previous cycle Add the capacity change of the current cycle To update the current capacity ; The calculation formula is as follows: 。

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