Double-winch synchronous coordination operation system

Abstract

The invention provides a double-winch synchronous coordination operation system. The double-winch synchronous coordination operation system comprises a first dragging and rescuing winch, a second dragging and rescuing winch and a matched controller. And the end part of a first cable led out from the first dragging and rescuing winch sequentially passes through a fixed pulley arranged at the top end of a mast on the dragging and rescuing vehicle and a hook component connected to the vehicle to be rescued, then reversely extends and is connected with the vehicle body of the dragging and rescuing vehicle. A tension sensor is arranged at the end of the first cable. And the end part of a second cable led out from the second dragging and rescuing winch is connected with the hook part after passing through a guide monitoring assembly arranged at the top end of the mast on the dragging and rescuing vehicle. The second dragging and rescuing winch is provided with an angle monitoring part, and the angle monitoring part can conduct real-time monitoring on the angle of the second mooring rope between the second dragging and rescuing winch and the guiding monitoring assembly. The guiding monitoring assembly can monitor the pressure from the second cable in real time. According to the double-winch synchronous coordination operation system, it can be guaranteed that the tensile force of the first cable and the tensile force of the second cable are equal, the service life of the single winch can be prolonged, and practicability is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of tow rescue vehicles, and particularly relates to a double winch synchronous coordination operation system. Background Art

[0002] Tow rescue vehicles are usually used for rescue, mainly to tow out faulty or ground - stuck vehicles. The tow rescue components usually used are winches.

[0003] In the prior art, in order to ensure the rescue of large - tonnage vehicles, usually two winches are set up, and the two winches need to work in coordination. However, considering the change in the position of the vehicle to be rescued, it is impossible to ensure the consistency of the forces on the two winches, the effect of synchronous control is poor, and the practicability is poor. Summary of the Invention

[0004] An embodiment of the present invention provides a double winch synchronous coordination operation system, aiming to solve the problem of poor synchronous coordination operation ability of the double winches used in existing tow rescue vehicles.

[0005] To achieve the above object, the technical solution adopted by the present invention is: to provide a double winch synchronous coordination operation system, including: A first tow rescue winch, arranged on the vehicle body of the tow rescue vehicle; the end of the first cable rope led out from the first tow rescue winch sequentially passes through a fixed pulley arranged at the top of the mast on the tow rescue vehicle, a hook component connected to the vehicle to be rescued, and then extends back and is connected to the vehicle body of the tow rescue vehicle; a tension sensor is arranged at the end of the first cable rope; A second tow rescue winch, arranged on the vehicle body of the tow rescue vehicle; the end of the second cable rope led out from the second tow rescue winch is connected to the hook component through a guiding and monitoring assembly arranged at the top of the mast on the tow rescue vehicle; an angle monitoring part is arranged on the second tow rescue winch, and the angle monitoring part is used for real - time monitoring of the angle of the second cable rope between the second tow rescue winch and the guiding and monitoring assembly; the guiding and monitoring assembly is used for real - time monitoring of the pressure from the second cable rope; A supporting controller, calculates the tension of the second cable rope according to the data of the guiding and monitoring assembly and the angle monitoring part, and makes the tension of the second cable rope equal to the tension of the first cable rope by adjusting the first tow rescue winch or the second tow rescue winch.

[0006] In a possible implementation manner, the fixed pulley and the guiding and monitoring assembly are arranged at intervals along the width direction of the tow rescue vehicle.

[0007] In a possible implementation manner, a guiding wheel for winding the first cable rope and guiding the first cable rope is arranged on the hook component; a connection end for hanging the end of the second cable rope is arranged on the hook.

[0008] In a possible implementation, the second rescue winch includes: Base; Rotating shaft, horizontally rotatably arranged on the base and connected to a self-locking module arranged on the base; one end of the rotating shaft is connected to a driving structure; Wire winding drum, coaxially connected to the rotating shaft; Flipping frame, rotatably connected to the rotating shaft, the flipping frame has two protruding arms extending radially outward along the rotating shaft; the flipping frame has a curved surface portion whose axis is collinear with the axis of the rotating shaft; Wire arranging structure, fixedly arranged on the two protruding arms, having a sliding hole for the second cable to pass through; First encoder, fixedly arranged on the base and corresponding to the curved surface portion, used to monitor the flipping angle of the flipping frame relative to the horizontal plane in real time; the first encoder, the wire arranging structure and the flipping frame form the angle monitoring portion in combination.

[0009] In a possible implementation, the wire arranging structure includes: Guide rod, arranged parallel to the rotating shaft and fixedly arranged on the two protruding arms; Reciprocating lead screw, arranged parallel and at an interval from the guide rod, and rotatably arranged on the two protruding arms; Slider, slidably arranged on the guide rod and in screw-threaded engagement with the reciprocating lead screw; the sliding hole is located on the slider; Driving motor, fixedly arranged on the protruding arm and in power connection with the reciprocating lead screw.

[0010] In a possible implementation, the guiding and monitoring assembly includes: Vertical brackets, two are provided, and the two vertical brackets are arranged at intervals along the vehicle body width direction of the rescue vehicle; Deflection shaft, horizontally arranged, and both ends are respectively rotatably connected to the two vertical brackets; Second encoder, fixedly arranged on one of the vertical brackets and connected to the deflection shaft; Prismatic sleeve, located between the two vertical brackets and coaxially connected to the deflection shaft; Hanging bracket, located between the two vertical brackets, and the top end is slidably connected to the prismatic sleeve; Pressure sensor, arranged on the hanging bracket and in contact with the prismatic sleeve; Wire guide wheel, rotatably arranged at the bottom end of the hanging bracket, and the axis is arranged parallel to the deflection shaft, and the wire guide wheel is used to guide the second cable.

[0011] In a possible implementation, the hanging bracket includes: The top plate is horizontally arranged above the offset shaft; There are two vertical plates, which are arranged at intervals along the interval direction of the two vertical brackets, and the tops are respectively connected to both ends of the top plate; the bottoms of the two vertical plates are for the wire wheels to be rotatably connected; a long sliding opening for the prism sleeve to slide is provided at the top of each vertical plate, and the top of the long sliding opening extends to the top plate; Wherein, the pressure sensor is located between the top plate and the prism sleeve.

[0012] In a possible implementation manner, the cross-section of the prism sleeve is rectangular.

[0013] In a possible implementation manner, the first rescue winch and the second rescue winch are arranged in a staggered manner in the vehicle body width direction of the rescue vehicle.

[0014] In this implementation manner, the first cable rope led out by the first rescue winch is connected to the vehicle body of the rescue vehicle through a fixed pulley and a hook component, which can ensure that the tension sensor is located near the vehicle body, making it more convenient for electrical connection and real-time monitoring of the tension. At the same time, this structure can reduce the tension of the first cable rope. The second cable rope led out by the second rescue winch is directly connected to the hook component. The provided guiding monitoring component and angle monitoring part can ensure real-time monitoring of the angle of the second cable rope between the second rescue winch and the guiding monitoring component, and at the same time can also ensure real-time monitoring of the pressure from the second cable rope on the guiding monitoring component, including the pressure magnitude and the angle of the pressure with the vertical direction. Furthermore, the controller can perform real-time monitoring of the tension of the second cable rope. In summary, the controller can adjust the first rescue winch and the second rescue winch in a timely manner through data analysis to ensure that the tensions of the first cable rope and the second cable rope are equal, thereby realizing coordinated operation, improving the service life of a single winch, and having strong practicability. Description of the Drawings

[0015] Figure 1 It is a schematic working structure diagram of the double winch synchronous coordination operation system provided by the embodiment of the present invention; Figure 2 It is a schematic structure diagram of the first rescue winch of the double winch synchronous coordination operation system provided by the embodiment of the present invention; Figure 3 It is a schematic structure diagram of the second rescue winch of the double winch synchronous coordination operation system provided by the embodiment of the present invention; Figure 4 It is Figure 1 A schematic cross-sectional structure diagram of the double winch synchronous coordination operation system shown; Figure 5 It is Figure 4 A left view of the double winch synchronous coordination operation system shown; Figure 6 Schematic diagram of force analysis among the second towing winch, the guiding and monitoring component, and the second cable in the double winch synchronous coordination operation system provided by the embodiment of the present invention; Description of reference numerals: 10. First towing winch; 11. First cable; 20. Second towing winch; 21. Base; 22. Rotating shaft; 23. Winding drum; 24. Flipping frame; 25. Cable arranging structure; 251. Guide rod; 252. Reciprocating lead screw; 253. Slide block; 254. Driving motor; 26. First encoder; 27. Flipping arm; 28. Curved surface part; 29. Second cable; 30. Guiding and monitoring component; 31. Vertical support; 32. Deflecting shaft; 33. Prismatic sleeve; 34. Hanging bracket; 341. Top plate; 342. Vertical plate; 35. Pressure sensor; 36. Guide pulley; 37. Second encoder; 40. Hook component; 50. Vehicle body; 60. Mast. Detailed implementation manners

[0016] In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0017] Please refer to Figure 1 , and now the double winch synchronous coordination operation system provided by the present invention will be described.

[0018] The towing vehicle usually sets a foldable bracket at the rear of the vehicle body 50. The bracket can provide a vertically arranged mast 60 during operation. The cables on both winches will extend outward through the fixed pulley arranged at the top of the mast 60 to ensure that when towing the vehicle to be rescued, a vertical pulling force can also be given to the vehicle to be rescued. After the cable wound on one of the winches extends, it can extend reversely through a fixed pulley connected to the hook and then be connected to the vehicle body 50. Refer to Figure 2 , the pulling force of this cable is relatively easier to monitor. The extending end of the other cable is directly connected to the hook. Since it is not convenient to install a pulling force sensor on this cable, its pulling force is not easy to monitor. Therefore, it is impossible to ensure that the pulling forces of the two cables are basically the same during the working process, and thus it is impossible to achieve coordinated operation, which will affect the service life of a single winch.

[0019] In summary, the double winch synchronous coordination operation system provided by this embodiment includes a first rescue winch 10, a second rescue winch 20, and a supporting controller. The first rescue winch 10 is arranged on the vehicle body 50 of the rescue vehicle; the end of the first cable 11 led out from the first rescue winch 10 sequentially passes through a fixed pulley arranged at the top of the mast 60 on the rescue vehicle, a hook component 40 connected to the vehicle to be rescued, and then extends reversely and is connected to the vehicle body 50 of the rescue vehicle; a tension sensor is provided at the end of the first cable 11; the second rescue winch 20 is arranged on the vehicle body 50 of the rescue vehicle; the end of the second cable 29 led out from the second rescue winch 20 is connected to the hook component 40 through a guiding and monitoring component 30 arranged at the top of the mast 60 on the rescue vehicle; an angle monitoring part is provided on the second rescue winch 20, and the angle monitoring part is used for real-time monitoring of the angle of the second cable 29 between the second rescue winch 20 and the guiding and monitoring component 30; the guiding and monitoring component 30 is used for real-time monitoring of the pressure from the second cable 29; The controller calculates the tension of the second cable 29 according to the data of the guiding and monitoring component 30 and the angle monitoring part, and adjusts the first rescue winch 10 or the second rescue winch 20 to make the tension of the second cable 29 equal to the tension of the first cable 11.

[0020] Compared with the prior art, for the double winch synchronous coordination operation system provided by this embodiment, the first cable 11 led out from the first rescue winch 10 is connected to the vehicle body 50 of the rescue vehicle through a fixed pulley and a hook component 40, which can ensure that the tension sensor is located near the vehicle body 50, making it more convenient for electrical connection and real-time monitoring of the tension. At the same time, this structure can reduce the tension of the first cable 11. The second cable 29 led out from the second rescue winch 20 is directly connected to the hook component 40, and the arranged guiding and monitoring component 30 and angle monitoring part can ensure real-time monitoring of the angle of the second cable 29 between the second rescue winch 20 and the guiding and monitoring component 30. At the same time, it can also ensure real-time monitoring of the pressure from the second cable 29 on the guiding and monitoring component 30, including the magnitude of the pressure and the angle between the pressure and the vertical direction. Furthermore, the controller can conduct real-time monitoring of the tension of the second cable 29. In summary, the controller can adjust the first rescue winch 10 and the second rescue winch 20 in a timely manner through data analysis to ensure that the tensions of the first cable 11 and the second cable 29 are equal, thereby realizing coordinated operation, improving the service life of a single winch, and having strong practicability.

[0021] In some embodiments, the above fixed pulley and the guiding and monitoring component 30 can adopt the structure as Figure 1 shown. Refer to Figure 1, the fixed pulley and the guiding and monitoring assembly 30 are arranged at intervals along the width direction of the towing rescue vehicle. This structure can avoid interference between the first cable 11 and the second cable 29.

[0022] In some embodiments, the above-mentioned hook member 40 can adopt a structure as shown in Figure 1 . Refer to Figure 1 , a guiding wheel for winding the first cable 11 and guiding the first cable 11 is provided on the hook member 40; a connection end for hanging the end of the second cable 29 is provided on the hook.

[0023] Specifically, a hanging portion can be respectively arranged at both ends of the hook member 40. One hanging portion is connected to the vehicle to be rescued, and the other hanging portion is for hanging the end of the second cable 29. The guiding wheel can be used as a movable pulley, which can reduce the tension on the first cable 11 by increasing the moving distance of the first cable 11, and has a good labor-saving effect.

[0024] In this embodiment, a hook can also be arranged at the end of the first cable 11 to be hung on the hanging structure on the vehicle body 50. This technology is the prior art and will not be elaborated here. In addition, the tension sensor can be directly arranged between the first cable 11 and the hook. The connection method of the tension sensor is the prior art and will not be elaborated here.

[0025] In some embodiments, the above-mentioned second towing winch 20 can adopt a structure as shown in Figures 2 to 3 . Refer to Figures 2 to 3 , the second towing winch 20 includes a base 21, a rotating shaft 22, a winding drum 23, a flipping frame 24, a wire arranging structure 25 and a first encoder 26. The rotating shaft 22 is horizontally rotatably arranged on the base 21 and is connected to a self-locking module arranged on the base 21; one end of the rotating shaft 22 is connected to a driving structure; the winding drum 23 is coaxially connected to the rotating shaft 22; the flipping frame 24 is rotatably connected to the rotating shaft 22, and the flipping frame 24 has two extending arms extending radially outward along the rotating shaft 22; the flipping frame 24 has a curved surface portion 28 whose axis is collinear with the axis of the rotating shaft 22; the wire arranging structure 25 is fixedly arranged on the two extending arms and has a sliding hole for the second cable 29 to pass through; the first encoder 26 is fixedly arranged on the base 21 and corresponds to the curved surface portion 28, and is used to monitor the flipping angle of the flipping frame 24 relative to the horizontal plane in real time.

[0026] After the second cable 29 passes through the guiding and monitoring assembly 30 and is tightened, the second cable 29 between the winding drum 23 and the guiding and monitoring assembly 30 is inclined. Regarding the cable management structure 25, the second cable 29 will pull the flipping frame 24 to rotate upward in a pitching manner. This structure can prevent the cable management structure 25 from bearing the acting force from the second cable 29, thereby extending the service life of the cable management structure 25 and also reducing the wear of the second cable 29. The first encoder 26 corresponds to the flipping frame 24. Specifically, the power input end of the first encoder 26 can be in contact with the curved surface, so as to be able to monitor the inclination change amount of the second cable 29 between the winding drum 23 and the guiding and monitoring assembly 30 in real time. Since the coil diameter on the winding drum 23 is constantly changing, the inclination angle of the second cable 29 between the winding drum 23 and the guiding and monitoring assembly 30 is also constantly changing. This structure can ensure the real-time monitoring of the angle.

[0027] The through hole in the cable management structure 25 will not affect the straightness of the second cable 29. Therefore, regarding the inclination angle of the second cable 29 between the winding drum 23 and the guiding and monitoring assembly 30, it can be understood as the angle when the second cable 29 extends horizontally outward to the working state. Specifically, when initially zeroing the first encoder 26, it can be adjusted through the second cable 29.

[0028] The base 21 can be ensured to be fixed on the vehicle body 50 of the rescue vehicle. For the convenience of the rotational connection of the rotating shaft 22, the base 21 can be set in a "U"-shaped outer structure. The winding drum 23 is located in the cavity in the middle of the base 21. Regarding the self-locking module on the winch, it is prior art and will not be elaborated here.

[0029] It should be noted that the first rescue winch 10 can have the same structure as the second rescue winch 20, but the first rescue winch 10 does not need to be provided with an encoder.

[0030] In some embodiments, the above-mentioned cable management structure 25 can adopt the structure as Figure 2 shown. Refer to Figure 2 , the cable management structure 25 includes a guiding rod 251, a reciprocating lead screw 252, a slider 253, and a driving motor 254. The guiding rod 251 is arranged parallel to the rotating shaft 22 and is fixed on the two protruding arms; the reciprocating lead screw 252 is arranged parallel and spaced from the guiding rod 251 and is rotatably arranged on the two protruding arms; the slider 253 is slidably arranged on the guiding rod 251 and is in spiral fit connection with the reciprocating lead screw 252; the sliding hole is located on the slider 253; the driving motor 254 is fixed on the protruding arm and is in power connection with the reciprocating lead screw 252.

[0031] The reciprocating lead screw 252 is driven to rotate by the drive motor 254, so as to realize the reciprocating sliding of the slider 253 on the guide rod 251, and realize the arrangement of the second cable 29 on the winding drum 23.

[0032] In this embodiment, in order to avoid the sliding friction when the second cable 29 passes through the through hole, at least four rollers can be arranged on the slider 253. Two of the rollers are arranged at intervals in the vertical direction and are both rotatably arranged on the slider 253 in the horizontal direction. The other two rollers are arranged at intervals in the width direction of the vehicle body 50 and are both rotatably arranged on the slider 253 in the vertical direction. A through hole is formed between the four rollers, so as to convert the sliding friction into rolling friction.

[0033] In some embodiments, the above-mentioned guiding and monitoring assembly 30 can adopt the structure as Figure 4 and Figure 5 shown. Refer to Figure 4 and Figure 5 , the guiding and monitoring assembly 30 includes a vertical bracket 31, a deflection shaft 32, a second encoder 37, a prism sleeve 33, a suspension bracket 34, a pressure sensor 35 and a wire guide wheel 36. There are two vertical brackets 31, and the two vertical brackets 31 are arranged at intervals in the width direction of the vehicle body 50 of the tow truck; the deflection shaft 32 is horizontally arranged and is respectively rotatably connected to the two vertical brackets 31 at both ends; the second encoder 37 is fixedly arranged on one of the vertical brackets 31 and is connected to the deflection shaft 32; the prism sleeve 33 is located between the two vertical brackets 31 and is coaxially connected to the deflection shaft 32; the suspension bracket 34 is located between the two vertical brackets 31 and the top end is slidably connected to the prism sleeve 33; the pressure sensor 35 is arranged on the suspension bracket 34 and abuts against the prism sleeve 33; the wire guide wheel 36 is rotatably arranged at the bottom end of the suspension bracket 34 and the axis is parallel to the axis of the deflection shaft 32, and the wire guide wheel 36 is used to guide the second cable 29.

[0034] It is related to that the tension on the second cable 29 is equal everywhere, and the angles between the second cable 29 on both sides of the vertical bracket 31 and the vertical direction are different. Therefore, the resultant force on the wire guide wheel 36 from the second cable 29 will not be along the vertical direction, and as the rescued vehicle moves, this resultant force (pressure) gradually changes. The top end of the suspension bracket 34 is connected to the vertical bracket 31 through the prism sleeve 33 and the deflection shaft 32. This structure can ensure that the connecting line direction between the axis of the wire guide wheel 36 and the axis of the deflection shaft 32 is the pressure direction of the second cable 29 on the wire guide wheel 36, and the angles between the second cables 29 on both sides and this connecting line are equal. At the same time, the second encoder 37 is set. The value monitored by the second encoder 37 is the angle between the deflection shaft 32, or the connecting line between the axis of the wire guide wheel 36 and the axis of the deflection shaft 32 and the vertical direction. Let this angle be θ 1In addition, the pressure sensor 35 is also constantly rotating under the action of the prism sleeve 33. Therefore, the direction of the pressure measured by the pressure sensor 35 is exactly the direction of the line connecting the axis of the wire wheel 36 and the axis of the deflection shaft 32. Let the pressure value be F. In addition, let the inclination angle of the second cable 29 between the winding drum 23 and the guiding and monitoring assembly 30 be θ 2 . It can be calculated according to the following formula:

[0035] It should be noted that G 绳 is the weight of the second cable 29. The gravity of the second cable 29 changes gradually and can be specifically calculated according to its elongation. Of course, when the traction forces of the first cable 11 and the second cable 29 are relatively large, greater than 150 KN, its weight can be ignored.

[0036] Therefore, through this structure of the guiding and monitoring assembly 30, it can ensure indirect detection of the tension of the second cable 29, ensure that monitoring components such as the pressure sensor 35 are located on the rescue vehicle, which is more convenient for electrical connection and also for signal transmission. Through this structure, it can ensure that the traction forces of the first cable 11 and the second cable 29 are consistent, thereby ensuring the coordinated operation of the first rescue winch 10 and the second rescue winch 20, with strong practicability.

[0037] In some embodiments, the above-mentioned hanger 34 can adopt a structure as shown in Figure 4 and Figure 5 . Referring to Figure 4 and Figure 5 , the hanger 34 includes a top plate 341 and vertical plates 342. The top plate 341 is horizontally arranged above the deflection shaft 32; there are two vertical plates 342, and the two vertical plates 342 are arranged at intervals along the interval direction of the two vertical brackets 31, and the tops are respectively connected to both ends of the top plate 341; the bottoms of the two vertical plates 342 are for the wire wheel 36 to be rotatably connected; a long sliding opening for the prism sleeve 33 to slide is provided at the top of each vertical plate 342, and the top end of the long sliding opening extends to the top plate 341; wherein, the pressure sensor 35 is located between the top plate 341 and the prism sleeve 33.

[0038] The setting of the hanger 34 can ensure the sliding connection with the prism sleeve 33, and at the same time can ensure the placement of the pressure sensor 35. The structure is simple, easy to manufacture, and has strong practicability.

[0039] In some embodiments, the above-mentioned prism sleeve 33 can adopt a structure as shown in Figure 4 . Referring to Figure 4, the cross-section of the prism sleeve 33 is rectangular. This structure is convenient for manufacturing and can also prevent circumferential slippage between the prism sleeve and the long strip sliding opening, thereby ensuring that the hanger 34 can drive the deflection shaft 32 to rotate synchronously.

[0040] In some embodiments, the above-mentioned first rescue winch 10 and the second rescue winch 20 can adopt the structure as Figure 2 shown. Refer to Figure 2 , the first rescue winch 10 and the second rescue winch 20 also need to be arranged offset in the width direction of the vehicle body 50 to prevent interference between the first cable 11 and the second cable 29.

[0041] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Double winch synchronous coordination operation system, characterized in that: include: A first towing winch is arranged on the body of the towing vehicle; the end of the first cable led out from the first towing winch passes through a fixed pulley arranged at the top of the mast on the towing vehicle in turn, is connected to a hook component on the vehicle to be rescued, and then extends in the reverse direction and is connected to the body of the towing vehicle; a tension sensor is arranged at the end of the first cable; A second towing winch is arranged on the body of the towing vehicle; the end of the second cable led out from the second towing winch is connected to the hook component after passing through a guide monitoring component arranged at the top of the mast on the towing vehicle; the second towing winch is provided with an angle monitoring part, and the angle monitoring part is used to monitor the angle of the second cable between the second towing winch and the guide monitoring component in real time; the guide monitoring component is used to monitor the pressure from the second cable in real time; The matching controller calculates the tension of the second cable according to the data of the guide monitoring component and the angle monitoring unit, and makes the tension of the second cable equal to the tension of the first cable by adjusting the first towing winch or the second towing winch.

2. The double winch synchronous coordinated operation system according to claim 1, characterized in that: The fixed pulley and the guide monitoring assembly are arranged at intervals along the width direction of the towing vehicle.

3. The double winch synchronous coordinated operation system according to claim 1, characterized in that: The hook component is provided with a guide wheel for the first cable to be wound around and guide the first cable; the hook is provided with a connecting end for the end of the second cable to be hung.

4. The double winch synchronous coordinated operation system according to claim 1, characterized in that: The second towing winch comprises: Base; A rotating shaft is horizontally rotatably arranged on the base and connected to a self-locking module arranged on the base; one end of the rotating shaft is connected to a driving structure; A bobbin coaxially connected to the rotating shaft; A turning frame is rotatably connected to the rotating shaft, and has two extending arms extending radially outward along the rotating shaft; the turning frame has a curved surface whose axis is colinear with the axis of the rotating shaft; A cable management structure, fixedly mounted on the two extending arms, and having a sliding hole for the second cable to pass through; The first encoder is fixed on the base and corresponds to the curved surface portion, and is used for real-time monitoring of the flip angle of the flip frame relative to the horizontal plane; the first encoder, the wire management structure and the flip frame are combined to form the angle monitoring portion.

5. The double winch synchronous coordinated operation system according to claim 4, characterized in that: The wiring structure comprises: A guide rod, arranged parallel to the rotating shaft and fixed on the two extending arms; A reciprocating screw, arranged in parallel and spaced relation to the guide rod, and rotatably arranged on the two extending arms; A slider is slidably disposed on the guide rod and is spirally connected with the reciprocating screw; the sliding hole is located on the slider; The driving motor is fixed on the extending arm and is connected to the reciprocating screw by power.

6. The double winch synchronous coordinated operation system according to claim 1, characterized in that: The guidance monitoring component comprises: Two vertical brackets are provided, and the two vertical brackets are arranged at intervals along the width direction of the towing vehicle; The deflection axis is arranged horizontally, and its two ends are rotatably connected to the two vertical brackets respectively; A second encoder is fixed on one of the vertical brackets and connected to the deflection shaft; A prismatic sleeve, located between the two vertical supports and coaxially connected to the deflection shaft; A hanger, located between the two vertical supports, and having a top end slidably connected to the prismatic sleeve; A pressure sensor, disposed on the hanger and abutting against the prismatic sleeve; A guide wheel is rotatably arranged at the bottom end of the hanger, and its axis is arranged parallel to the deflection axis. The guide wheel is used to guide the second cable.

7. The double winch synchronous coordinated operation system according to claim 6, characterized in that: The hanger comprises: A top plate, horizontally arranged above the deflection axis; There are two vertical plates, which are arranged at intervals along the spacing direction of the two vertical brackets, and the top ends are respectively connected to the two ends of the top plate; the bottom ends of the two vertical plates are connected to the guide wheel for rotation; the top of each vertical plate is provided with a long sliding opening for the prismatic sleeve to be slidably connected, and the top end of the long sliding opening extends to the top plate; Wherein, the pressure sensor is located between the top plate and the prismatic sleeve.

8. The double winch synchronous coordinated operation system according to claim 7, characterized in that: The cross section of the prismatic sleeve is rectangular.

9. The double winch synchronous coordinated operation system according to claim 1, characterized in that: The first towing and rescuing winch and the second towing and rescuing winch are staggered in the width direction of the towing and rescuing vehicle.

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