Underwater robot cable winch and winding measurement control system thereof

Abstract

The underwater robot cable winch and the winding measurement control system thereof comprise a roller used for winding a cable and a cable arrangement assembly used for straightening and limiting the cable, and the cable arrangement assembly is arranged on the peripheral side of the roller and can slide in the cable winding process; the roller comprises a rolling shaft and supporting wheels located at the two ends of the rolling shaft, an arc-shaped cover is arranged between the two supporting wheels, and the arc-shaped cover and the surface of the rolling shaft are spaced. The side, facing the rolling shaft, of the arc-shaped cover is provided with a distance measuring dot matrix used for measuring the distance between the inner wall of the arc-shaped cover and the surface of the cable. The supporting wheel is provided with a laser sensing dot matrix used for sensing whether the cable exists on each layer in the radial direction. A signal transmitting device is arranged on the cable arranging assembly, a receiving dot matrix is arranged on the side wall, away from the rolling shaft, of the arc-shaped cover, and the receiving dot matrix and the distance measuring dot matrix are arranged in the axial direction of the arc-shaped cover and correspond in a one-to-one mode in the axial direction of the arc-shaped cover. According to the cable storage device, cables can be stored more regularly and are not prone to winding and knotting.

Description

Technical Field

[0001] The invention belongs to the technical field of cable winches, and in particular relates to an underwater robot cable winch and a winding measurement control system thereof. Background Art

[0002] In the fields of marine resource exploration, deep-sea engineering operations and underwater robots, underwater cable winches, as core equipment, undertake the key task of retracting and releasing umbilical cables. Umbilical cables not only provide power transmission, signal control and data communication channels for underwater robots, but also need to withstand mechanical stress and fluid resistance in complex underwater environments.

[0003] At present, the control accuracy of cable retraction and release of underwater cable winches is insufficient. In the deep sea with strong ocean currents and high pressure, the cable is easily entangled, knotted or broken due to the asynchronous retraction and release speed and tension control. The existing winch cable arrangement system mostly relies on mechanical limiters and cannot dynamically adapt to changes in cable diameter and fluctuations in underwater resistance, requiring frequent manual intervention. Summary of the invention

[0004] The present invention provides an underwater robot cable winch and a winding measurement control system thereof, so as to solve the problem of insufficient control accuracy of cable winding and releasing.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: On the one hand, the present application provides an underwater robot cable winch, comprising a drum for winding cables and a rafting assembly for straightening and limiting the position of the cables, wherein the rafting assembly is arranged on the periphery of the drum and can slide along with the cable winding process; The roller comprises a roller and support wheels at both ends of the roller, an arc-shaped cover is arranged between the two support wheels, and the arc-shaped cover is spaced apart from the surface of the roller; The side of the arc cover facing the roller is provided with a distance measuring dot matrix for measuring the distance between the inner wall of the arc cover and the surface of the cable, and the support wheel is provided with a laser sensing dot matrix along its radial direction for sensing whether there is a cable on each layer; A receiving dot matrix is ​​arranged on the side wall of the arc-shaped cover away from the roller, and a signal transmitting device is arranged on the sweeping assembly. The receiving dot matrix and the ranging dot matrix are arranged along the axial direction of the arc-shaped cover, and the positions of the two dot matrixes correspond one to one along the axial direction of the arc-shaped cover. Furthermore, it also includes a metal frame, the roller and the sweeping assembly are both arranged in the metal frame, the roller is rotatably connected to the metal frame, the sweeping assembly includes a sliding track and a sweeper sliding on the sliding track, the sliding track is fixed to the metal frame, and the signal transmitting device is arranged on the sweeper.

[0006] Further, thread-shaped wire grooves are formed on the surface of the roller. The radian of the wire grooves matches the side wall of the cable, and the depth of the wire grooves is less than the radius of the cable.

[0007] Further, the cable arranging device includes a base bracket, a cable arranging wheel, and a second driving source. The cable arranging wheel is rotatably installed on the base bracket, and the second driving source is fixed on the base bracket and used to drive the cable arranging wheel to rotate forward and backward. A limiting groove for restricting the left and right movement of the cable is formed by circumferentially recessing the surface of the cable arranging wheel.

[0008] Further, a pressing device is further arranged on the base bracket. The pressing device is arranged above the cable arranging wheel at intervals. The cable passes through the space between the cable arranging wheel and the pressing device, and is pressed by the pressing device.

[0009] Further, the cable arranging assembly further includes a driving assembly. The driving assembly includes a ball screw and a first driving source for driving the ball screw to rotate. The ball screw passes through the cable arranging device and is used to drive the cable arranging device to move along the sliding track.

[0010] Further, the cable arranging device further includes a gripper. The gripper is arranged in the area between the cable arranging wheel and the drum. The gripper includes two vertically arranged rollers. The cable passes through the two rollers and is simultaneously in close contact with the side walls of the two rollers.

[0011] Further, the gripper includes a first base and a second base. One end of the first base is rotatably connected to one end of the second base. The two rollers are respectively installed at the free ends of the first base and the second base. Adjusting the included angle between the first base and the second base can adjust the distance between the two rollers.

[0012] On the other hand, the present application provides an underwater robot cable winch winding measurement control system for controlling the above-mentioned underwater robot cable winch, including a control center. The control center is signal-connected to a ranging dot matrix, a laser induction dot matrix, a receiving dot matrix, and a signal transmitting device. The laser induction dot matrix is used to detect whether there is a cable in each layer and transmit a first signal containing information about the current number of cable winding layers to the control center. The signal transmitting device is used to transmit a position signal. The receiving dot matrix is used to receive the position signal and generate position information according to the position where the receiving dot matrix receives the position signal. The ranging dot matrix is used to measure the actual distance S between each point and the surface of the nearest cable.

[0013] Further, the following control programs are set in the control center: Form a theoretical distance S1 between the surface of the current wound cable layer and the inner wall of the arc-shaped cover according to the first signal; Control the corresponding points of the ranging dot matrix to measure the actual distance S according to the point position information transmitted by the received dot matrix; Judge whether the theoretical distance S1 and the actual distance S are equal within the error range. If they are equal, output an instruction indicating normal operation; if S1 is greater than S, output an instruction indicating cable overlap; if S1 is less than S, output an instruction indicating that the speeds of the cable arranging device and the drum do not match.

[0014] Further, when the control center outputs an instruction indicating cable overlap, the control center controls the clamping force of the gripper and the pressing force of the presser to decrease, and drives the cable arranging device to move until S1 is not greater than S; After S1 is not greater than S, control the clamping force of the gripper and the pressing force of the presser to increase, and continue to wind the cable.

[0015] Further, when the control center outputs an instruction indicating that the speeds of the cable arranging device and the drum do not match, the control center controls the cable arranging device to stop moving, and drives the drum to continue winding the cable until S1 and S are equal; If S1 is less than S during the adjustment process, start an alarm command.

[0016] The present invention can achieve the following beneficial effects: 1. In this application, the cable is clamped and guided through the cable arranging assembly, the cable is wound through the drum, a ranging dot matrix and a receiving dot matrix are arranged on the arc-shaped cover, a laser induction dot matrix is arranged on the support wheel to cooperate with the signal transmitting device on the cable arranging assembly, and the control center is used for centralized control. Thus, during the cable winding process, the situation where the cable winding progress and the moving position of the cable arranging assembly do not match, and the situation where the cables are relatively stacked during the cable winding process can be recognized in real time, and corresponding instructions are output to solve the corresponding problems, thereby improving the winding efficiency and quality of the cable.

[0017] 2. In this application, the cable arranging device is driven to move by a ball screw, which can reduce mechanical clearance and jamming, and improve the accuracy of the moving position of the cable arranging device; at the same time, a sliding track is set to guide and limit the movement of the cable arranging device, which can enhance the stability of the movement of the cable arranging device, thereby reducing the situation where the cable winding progress and the moving progress of the cable arranging device do not match.

[0018] 3. A wire groove is formed on the surface of the roller, which can position the first winding position of the cable, and then the winding positions of the remaining layers of the cable are also fixed. In this way, the arrangement distance between the ranging dot matrix and the receiving dot matrix can be determined, so as to reduce the detection error of the ranging dot matrix and the receiving dot matrix and improve the detection accuracy. Description of the Drawings

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a schematic diagram of the overall structure of an underwater robot cable winch of the present invention; Figure 2 is Figure 1 an enlarged view of part A in Figure 3 It is a right view of an underwater robot cable winch of the present invention; Figure 4 It is a schematic diagram of the principle of a winding measurement control system for an underwater robot cable winch of the present invention; Figure 5 It is a schematic diagram of the principle of a winding measurement control system for an underwater robot cable winch of the present invention.

[0020] In the accompanying drawings, the list of components represented by each reference numeral is as follows: 1. Drum; 11. Roller shaft; 111. Wire groove; 12. Support wheel; 13. Arc cover; 2. Cable arranging assembly; 21. Sliding track; 22. Cable arranger; 221. Base bracket; 222. Cable winding wheel; 2221. Limit groove; 223. Compressor; 23. Clamp; 231. Roller; 232. First base; 233. Second base; 24. Ball screw; 3. Measurement lattice; 4. Laser induction lattice; 5. Receiving lattice; 6. Metal frame; 100. Cable. Specific embodiments

[0021] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant accompanying drawings. Embodiments of the present application are shown in the accompanying drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0022] Such as Figures 1 to 5As shown in the figure, an underwater robot cable winch includes a metal frame 6. Inside the metal frame 6, there is a drum 1 for winding the cable 100 and a cable arranging assembly 2 for straightening and limiting the cable 100. The cable arranging assembly 2 is arranged on the periphery of the drum 1. The drum 1 specifically includes a roller shaft 11 and support wheels 12 located at both ends of the roller shaft 11. The whole drum 1 is rotationally connected to the metal frame 6. By rotating the drum 1, the cable 100 is wound around the outside of the roller shaft 11, and thus the storage of the cable 100 can be realized. The cable arranging assembly 2 includes a sliding track 21, a cable arranger 22, and a ball screw 24. The sliding track 21 is fixed to the metal frame 6. The cable arranger 22 is slidably arranged on the sliding track 21. The ball screw 24 passes through the cable arranger 22. A first driving source is arranged at the end of the ball screw 24. By driving the ball screw 24 to rotate through the first driving source, the rotation of the ball screw 24 drives the cable arranger 22 to move along the ball screw 24 and the sliding track 21.

[0023] The horizontal moving speed of the cable arranger 22 and the rotating speed of the drum 1 are reasonably set so that the horizontal position of the cable arranger 22 corresponds to the area position of the coil being wound on the roller shaft 11. Thus, the cable 100 wound on the surface of the roller shaft 11 can be straightened in advance, so as to improve the winding efficiency and quality of the cable 100. Using the ball screw 24 to drive the cable arranger 22 to move can reduce mechanical clearance and jamming. Setting the sliding track 21 can enhance the stability of the movement of the cable arranger 22. The two cooperate with each other to reduce the problem that the moving speed of the cable arranger 22 does not match the winding speed of the cable 100, and improve the winding quality and efficiency of the cable 100.

[0024] Further, the cable arranger 22 includes a basic bracket 221. A cable arranging wheel 222 and a second driving source are installed on the basic bracket 221. The second driving source is used to drive the cable arranging wheel 222 to rotate forward and backward. The cable 100 passes through the cable arranging wheel 222 and then is wound on the surface of the roller shaft 11. The surface of the cable arranging wheel 222 is circumferentially recessed inward to form a limiting groove 2221. The width of the limiting groove 2221 gradually increases in the direction approaching the surface of the cable arranging wheel 222, and the width of the bottom of the limiting groove 2221 matches the width of the cable 100. In a preferred embodiment, a friction layer is arranged on the side wall of the limiting groove 2221. By arranging the friction layer, the friction force between the cable 100 and the cable arranging wheel 222 can be increased, so that the cable 100 can be better transported through the cable arranger 22.

[0025] A clamp 223 is also provided on the base bracket 221. The clamp 223 is arranged above the driving wheel at intervals. The cable 100 passes through the space between the cable wheel 222 and the clamp 223 and is clamped by the clamp 223. The clamp 223 includes a plurality of reels rotatably provided on the base bracket 221. Both sides of each reel are provided with spring members, one end of the spring member is rotatably connected to the reel end, and the other end is connected to the base bracket 221. The reel applies a clamping force to the cable 100 through the spring member, thereby limiting the position of the cable 100, so that the cable 100 is not easily separated from the cable wheel 222.

[0026] The cable 100 is clamped by the clamp 23, so as to limit the height of the cable 100 and reduce the section of the cable 100 between the clamp 22 and the roller 11 from falling under the action of its own weight, so as to prevent the cable 100 from being stuck in other structures and affecting the roller 11 from winding the cable 100 smoothly.

[0027] The clamp 23 includes two rollers 231 arranged vertically, and the cable 100 passes through the space between the two rollers 231 and is simultaneously pressed against the side walls of the two rollers 231, thereby clamping and fixing the cable 100. The clamp 23 also includes a first base 232 and a second base 233, one end of the first base 232 and one end of the second base 233 are rotatably connected, and the two rollers 231 are respectively mounted on the free ends of the first base 232 and the second base 233; adjusting the angle between the first base 232 and the second base 233 can adjust the distance between the two rollers 231, thereby clamping and loosening the cable 100 to meet different functional requirements.

[0028] An arc cover 13 is also provided between the two support wheels 12 of the present application, and the arc cover 13 is spaced from the surface of the roller 11. A distance measuring dot matrix is ​​provided on the side of the arc cover 13 facing the roller 11, and a receiving dot matrix 5 is provided on the side wall of the arc cover 13 away from the roller 11. Both the distance measuring dot matrix and the receiving dot matrix 5 include a number of measurement points arranged at intervals. Both the receiving dot matrix 5 and the distance measuring dot matrix are arranged along the axial direction of the arc cover 13, and the points of both are arranged one by one along the axial direction of the arc cover 13. Among them, the distance measuring dot matrix is ​​used to measure the distance between the inner wall of the arc cover 13 and the surface closest to the cable 100, and each point on the receiving dot matrix 5 is used to receive signals. A signal transmitting device is provided on the arrangement device 22, and the signal emitted by the signal transmitting device can be received by the receiving dot matrix 5 and form a signal. At the same time, the support wheel 12 is provided with a laser sensing dot matrix 4 along its radial direction for sensing whether there is a cable 100 in each layer.

[0029] Further, thread-shaped wire grooves 111 are formed on the surface of the roller 11. The radian of the wire grooves 111 matches the side wall of the cable 100, and the depth of the wire grooves 111 is less than the radius of the cable 100. By providing the wire grooves 111, the position of the first turn of the cable 100 wound around the surface of the roller 11 can be fixed, and further, the theoretical winding positions of the remaining layers of the cable 100 can be further defined. In this way, the interval distance between two adjacent points of the ranging dot matrix and the receiving dot matrix 5 can be determined, facilitating the accurate arrangement of the ranging dot matrix and the receiving dot matrix 5. The depth of the wire grooves 111 is set to be less than the radius of the cable 100, so that the area with the largest diameter after the first layer of the cable 100 is wound can protrude from the surface of the roller 11. When winding the cable 100, the side walls at the positions with the largest diameter between adjacent cables 100 can be in close contact, and thus the distance between adjacent cables 100 in the first layer is the same as the distance between adjacent cables 100 in other layers.

[0030] On the other hand, the present application provides an underwater robot cable winch winding measurement control system for controlling the above-mentioned underwater robot cable winch, which includes a control center. The control center is signal-connected to the ranging dot matrix, the laser induction dot matrix 4, the receiving dot matrix 5, and the signal transmitting device.

[0031] The control process of the control center is as follows: First, the laser induction dot matrix 4 is used to detect whether there is a cable 100 in each layer in the direction away from the surface of the roller 11. Specifically, the laser induction dot matrix 4 is arranged with a plurality of detection points along the radial direction of the roller 11, and the distance between two adjacent detection points is the thickness of each layer of the cable 100. A laser emission dot matrix is provided on the side wall of one support wheel 12, and a laser receiving dot matrix 5 is provided on the side wall of the other support wheel 12. The laser emission dot matrix and the laser receiving dot matrix 5 are arranged in one-to-one correspondence. When, at the Nth layer, the laser receiving dot matrix 5 receives the laser signal emitted by the laser emission dot matrix; at the (N + 1)th layer, the laser receiving dot matrix 5 does not receive the laser signal emitted by the laser emission dot matrix, it indicates that the drum 1 is winding the cable 100 at the Nth layer. Then, the laser induction dot matrix 4 transmits a first signal containing the current winding layer number N of the cable 100 to the control center.

[0032] According to the physical parameters of the drum 1 and the cable 100, the linear relationship parameters between the winding layer number of the cable 100 and the theoretical distance S between the surface of the cable 100 and the inner wall of the arc-shaped cover 13 are input into the control center. When the control center receives the first signal transmitted by the laser induction dot matrix 4, the theoretical distance S1 between the surface of the currently wound cable 100 layer and the inner wall of the arc-shaped cover 13 can be obtained according to the current winding layer number N of the cable 100.

[0033] The signal transmitting device is installed on the cable arranging device 22 or the gripper 23, and is used for transmitting the position signal of the cable arranging device 22 or the gripper 23; in a preferred embodiment, the signal transmitter is installed on the gripper 23, and the signal transmission path is perpendicular to the surface of the gripper 23. A plurality of receiving points of the receiving dot matrix 5 are used for receiving the position signal transmitted by the signal transmitting device, and the distance between two adjacent receiving points is the radius of the cable 100. When the receiving dot matrix 5 receives the signal transmitted by the signal transmitting device, the receiving dot matrix 5 immediately transmits the position information A of the receiving point where the signal is specifically received to the control center; When the control center receives the position information A, since the arrangement positions of the receiving dot matrix 5 and the ranging dot matrix correspond one by one, at this time, the control center controls the ranging dot matrix to emit a ranging signal at the position corresponding to the position information A. The ranging signal is used to measure the actual distance S between this position and the surface of the nearest cable 100, and transmits the actual distance S to the control center.

[0034] The control center determines whether the theoretical distance S1 and the actual distance S are equal within the error range according to the received theoretical distance S1 and actual distance S. In this application, the error range is set to z. If S1 - S = 0~z is equal, an instruction of normal operation is output; if S1 - S > z, an instruction of cable 100 overlapping is output; if S1 - S < z, an instruction of mismatch between the rotational speeds of the cable arranging device 22 and the drum 1 is output.

[0035] When the control center outputs an instruction of cable 100 overlapping, the control center controls the clamping force of the gripper 23 and the pressing force of the presser 223 to decrease, and drives the cable arranging device 22 to move until S1 is not greater than S. After S1 is not greater than S, the clamping force of the gripper 23 and the pressing force of the presser 223 are increased, and the cable 100 is continued to be wound.

[0036] When the control center outputs an instruction of mismatch between the rotational speeds of the cable arranging device 22 and the drum 1, the control center controls the cable arranging device 22 to stop moving, and drives the drum 1 to continue winding the cable 100 until S1 and S are equal; if during this adjustment process, there is a situation where S1 is less than S, an alarm command is immediately activated.

[0037] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An underwater robot cable winch, characterized in that: It comprises a roller (1) for winding a cable (100) and a shunting assembly (2) for straightening and limiting the position of the cable (100); the shunting assembly (2) is arranged on the circumference of the roller (1) and is capable of sliding along with the winding process of the cable (100); The roller (1) comprises a roller (11) and support wheels (12) located at both ends of the roller (11), an arc-shaped cover (13) is provided between the two support wheels (12), and the arc-shaped cover (13) is spaced apart from the surface of the roller (11); A distance measuring dot matrix for measuring the distance between the inner wall of the arc-shaped cover (13) and the surface of the cable (100) is arranged on one side of the arc-shaped cover (13) facing the roller (11), and a laser sensing dot matrix (4) for sensing whether a cable (100) exists in each layer is arranged along the radial direction of the support wheel (12); A receiving dot matrix (5) is arranged on the side wall of the arc-shaped cover (13) facing away from the roller (11), and a signal transmitting device is arranged on the sweeping assembly (2). The receiving dot matrix (5) and the ranging dot matrix are both arranged along the axial direction of the arc-shaped cover (13), and the positions of the two dot matrixes correspond one to one along the axial direction of the arc-shaped cover (13).

2. The underwater robot cable winch according to claim 1, characterized in that: It also comprises a metal frame (6), the roller (1) and the sweeping assembly (2) are both arranged in the metal frame (6), the roller (1) is rotatably connected to the metal frame (6), the sweeping assembly (2) comprises a sliding track (21) and a sweeping device (22) sliding on the sliding track (21), the sliding track (21) is fixed to the metal frame (6), and the signal transmitting device is arranged on the sweeping device (22).

3. The underwater robot cable winch according to claim 1, wherein: A threaded wire groove (111) is formed on the surface of the roller (11), the arc of the wire groove (111) matches the side wall of the cable (100), and the depth of the wire groove (111) is less than the radius of the cable (100).

4. The underwater robot cable winch according to claim 2, wherein: The wire arranging device (22) comprises a base bracket (221), a wire arranging wheel (222) and a second driving source, wherein the wire arranging wheel (222) is rotatably mounted on the base bracket (221), and the second driving source is fixed on the base bracket (221) and is used to drive the wire arranging wheel (222) to rotate forward and reverse; The surface of the cable arrangement wheel (222) is circumferentially recessed to form a limiting groove (2221) for limiting the left and right movement of the cable (100).

5. The underwater robot cable winch according to claim 4, characterized in that: A compressor (223) is also provided on the base support (221), and the compressor (223) is arranged above the cable traversing wheel (222) at intervals. The cable (100) passes through the space between the cable traversing wheel (222) and the compressor (223), and is compressed by the compressor (223).

6. The underwater robot cable winch according to claim 2, wherein: The conveyor assembly (2) further comprises a driving assembly, wherein the driving assembly comprises a ball screw (24) and a first driving source for driving the ball screw (24) to rotate, wherein the ball screw (24) passes through the conveyor (22) and is used to drive the conveyor (22) to move along the sliding track (21).

7. The underwater robot cable winch according to claim 2, characterized in that: The cable arranging assembly (2) further includes a gripper (23). The gripper (23) is disposed in the area between the cable arranger (22) and the drum (1). The gripper (23) includes two vertically arranged rollers (231). The cable (100) passes through the two rollers (231) and is simultaneously in close contact with the side walls of the two rollers (231).

8. An underwater robot cable winch according to claim 7, characterized in that: The gripper (23) includes a first base (232) and a second base (233). One end of the first base (232) is rotatably connected to one end of the second base (233). The two rollers (231) are respectively installed at the free ends of the first base (232) and the second base (233). Adjusting the angle between the first base (232) and the second base (233) can adjust the distance between the two rollers (231).

9. An underwater robot cable winch winding measurement control system for controlling the underwater robot cable winch as described in claim 1, characterized in that: It includes a control center, and the control center is in signal connection with the ranging dot matrix, the laser induction dot matrix (4), the receiving dot matrix (5), and the signal transmitting device; The laser induction dot matrix (4) is used to detect whether there is a cable (100) on each layer and transmit a first signal containing the information of the current winding layer number of the cable (100) to the control center. The signal transmitting device is used to transmit a position signal. The receiving dot matrix (5) is used to receive the position signal and generate position information according to the position where the receiving dot matrix (5) receives the position signal. The ranging dot matrix is used to measure the actual distance S between each position and the surface of the nearest cable (100).

10. The winding measurement control system of an underwater robot cable winch according to claim 9, characterized in that: The following control programs are set in the control center: Form a theoretical distance S1 between the surface of the current winding cable (100) layer and the inner wall of the arc-shaped cover (13) according to the first signal; According to the position information transmitted by the receiving dot matrix (5), control the corresponding positions of the ranging dot matrix to measure the actual distance S; Judge whether the theoretical distance S1 and the actual distance S are equal within the error range. If they are equal, output an instruction of normal operation. If S1 is greater than S, output an instruction of cable (100) overlap. If S1 is less than S, output an instruction that the rotation speeds of the cable arranger (22) and the drum (1) do not match.

11. The underwater robot cable winch winding measurement control system according to claim 10, characterized in that: When the control center outputs an instruction of cable (100) overlap, the control center controls the clamping force of the gripper (23) and the pressing force of the presser (223) to decrease, and drives the cable arranger (22) to move until S1 is not greater than S; After S1 is not greater than S, control the clamping force of the gripper (23) and the pressing force of the presser (223) to increase, and continue to wind the cable (100).

12. The winding measurement control system of an underwater robot cable winch according to claim 10, characterized in that: When the control center outputs an instruction that the rotation speeds of the cable arranger (22) and the drum (1) do not match, the control center controls the cable arranger (22) to stop moving and drives the drum (1) to continue winding the cable (100) until S1 and S are equal; If during the adjustment process, there is a situation where S1 is less than S, start an alarm command.

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