CN210528126U - Electric winder for unmanned submersible - Google Patents
Electric winder for unmanned submersible Download PDFInfo
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- CN210528126U CN210528126U CN201921493513.5U CN201921493513U CN210528126U CN 210528126 U CN210528126 U CN 210528126U CN 201921493513 U CN201921493513 U CN 201921493513U CN 210528126 U CN210528126 U CN 210528126U
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Abstract
The utility model discloses an electronic spooler for unmanned submersible relates to unmanned submersible technical field. The winding roller of the winder is rotatably arranged on the rack, one end of a motor is fixed on the rack, the other end of the motor is fixed with one end of the winding roller, the other end of the winding roller is fixedly connected with one end of a transmission mechanism, the other end of the transmission mechanism is fixedly connected with one end of a reciprocating screw rod, and a damper is fixed at the other end of the reciprocating screw rod; the reciprocating screw rod is rotatably installed on the rack and is arranged in parallel with the winding roller, and the straightener is sleeved on the reciprocating screw rod. The winding roller is driven by the motor to complete winding operation, orderly arrangement of wires is realized by the lead screw reciprocating mechanism, and the problems of winding, curling and the like of the cable in a free state after use are solved by the straightener; the damper plays a braking role during paying off, so that the wire explosion during paying off is prevented; the motor is used as a power supply device of the winding roller, and is also a bearing for connecting the winding roller and the rack, and the transmission mechanism is only designed into one group, so that the volume of the winder is greatly reduced.
Description
Technical Field
The utility model relates to an unmanned underwater vehicle technical field, concretely relates to electronic spooler for unmanned underwater vehicle.
Background
ROVs, i.e., remotely operated unmanned submersibles, are underwater robots used for underwater observation, inspection, and construction. Regardless of whether an observation-grade ROV or an operation-grade ROV is used, a cable is required to be used for keeping communication with the ground during the use process of the ROV, the cable length of the consumption-grade ROV only covers the range from dozens of meters to hundreds of meters, almost all use scenes are outdoors, and the following problems exist in the actual use process at present:
1. the cable is not easy to be stored neatly, and occupies a large space;
2. the cable is difficult to store due to the conditions of winding, curling, knotting and the like after use;
3. the time consumed for manual storage is long;
4. the problem of wire explosion easily occurs during paying off.
In production and life, the cable is also widely wound and unwound, and the cable is usually wound by using a wire spool. In a small-diameter thin line containing scene (such as a fish line), due to the small diameter, the line is taken up without strict line arrangement, the used line is short in length and is straightened, and knotting and winding are not easy to occur; when the cable is paid off, the gravity of the counterweight provides power, and the cable is prevented from being broken by the brake. In a large-diameter thick-wire accommodating scene (such as a cable), the winding needs to be orderly arranged, but the wire is not easy to wind, bend and knot due to the large wire diameter. During paying off, the large-diameter cable basically cannot use manpower as power, the paying off speed is low, the wire explosion condition is rarely caused, and even if a small amount of wire explosion occurs, the processing is easy.
The ROV uses the diameter of cable between the two, because the cable is in the relaxed state in the use, the cable winding, distortion, knot scheduling problem exist objectively, not only need to solve above-mentioned problem when receiving the line, also need keep the winding displacement neat simultaneously. The wire explosion is easy to occur in the wire releasing process, and because most ROV wire releasing is mainly pulled out by manpower or the power of the ROV, the wire releasing resistance cannot be too large, which brings certain difficulty to the wire releasing treatment. At present, no better solution is available in the market.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an electronic spooler for unmanned submersible possesses neat winding displacement, electronic receipts line, cable alignment, unwrapping wire and prevents the explosive wire function, solves the problem of mentioning in the background art.
In order to solve the technical problem, the utility model adopts the following technical scheme: an electric winder for an unmanned submersible vehicle, comprising: the winding roller is rotatably installed on the rack, one end of the motor is fixed on the rack, the other end of the motor is fixed with one end of the winding roller, the other end of the winding roller is fixedly connected with one end of the transmission mechanism, the other end of the transmission mechanism is fixedly connected with one end of the reciprocating screw rod, and the other end of the reciprocating screw rod is fixedly provided with the damper; the reciprocating screw rod is rotatably installed on the rack and is arranged in parallel with the winding roller, and the straightener is sleeved on the reciprocating screw rod.
The winding roller is a hollow cylinder, a power supply is arranged in the winding roller, the winding roller is rotatably arranged between the two mounting plates, and the power supply is electrically connected with the motor.
The further technical scheme is that the motor is composed of a stator and a rotor, the stator is fixed at one end of the winding roller, and the rotor is fixed on the inner side wall of the mounting plate.
The further technical scheme is that a mounting disc is fixed at the connecting end of the wire winding roller and the transmission mechanism, a repeater is coaxially fixed on the outer side wall of the mounting disc, and the repeater is electrically connected with a power supply.
The further technical scheme is that a conductive slip ring is coaxially arranged at the connecting end of the winding roller and the transmission mechanism and is electrically connected with a power supply, a repeater is fixed on the mounting plate, and the repeater is electrically connected with the conductive slip ring.
The technical scheme is that a control mainboard is arranged in the repeater and is in signal connection with the motor and the repeater.
A further technical scheme is that an FOC electric regulation module is arranged on the control main board.
The straightener comprises a fixing frame, two wire guide wheels and two wire guide wheels, wherein the fixing frame is in transmission connection with a reciprocating screw rod, the wire guide wheels are rotatably installed in the fixing frame, the wire guide porcelain eyes are fixed on the fixing frame, the two wire guide wheels are arranged in parallel with the reciprocating screw rod, one of the two wire guide wheels is positioned right above the other wire guide wheel, and the wire guide porcelain eyes are perpendicular to the wire guide wheels.
The transmission mechanism is arranged on the outer side of the mounting plate and comprises a driving wheel, a driven wheel and a belt, the driving wheel is fixedly connected with one end of the winding roller, and the driven wheel is fixedly connected with one end of the reciprocating screw rod.
The technical scheme is that the damper is a one-way damper and is arranged on the outer side of the mounting plate.
The working principle is as follows: a wire take-up process: the motor drive winding roller positive direction rotates, passes through the belt with the action wheel that the winding roller is fixed and drives from the driving wheel rotation, rotates with following fixed reciprocal lead screw thereupon from the driving wheel, drives the straightener and is reciprocal linear motion along reciprocal lead screw, and the cable is neatly arranged the round and is walked around on the winding roller under reciprocal lead screw effect, and the cable is followed two wire guide wheels of crossing line porcelain eye department and is gone into winding roller department after straightening, and the attenuator is in undamped state this moment.
And (3) paying off: the cable is pulled out continuously along with the sinking of the unmanned submersible vehicle main body, the cable is placed from the wire passing porcelain eye after being straightened by the wire guide wheel, the damper is in a damping state at the moment, the damping is increased along with the acceleration of the rotating speed of the reciprocating screw rod, the braking effect is realized, and the wire explosion during the paying-off is prevented. When the cable is wound, the winding roller is pulled to rotate reversely, the transmission mechanism drives the reciprocating screw rod to rotate reversely, so that the cable moves in the direction opposite to that of the winding, the winding resistance is small, and the speed is moderate.
Simultaneously through the setting of mounting disc or electrically conductive sliding ring, with repeater and the coaxial fixed synchronous rotation of mounting disc along with mounting disc and wire winding roller, perhaps be connected through electrically conductive sliding ring and the repeater of fixing on the mounting panel, will regard as the integrated on the spooler of ROV remote control signal transmission's repeater, make the ROV structure compacter, the accomodating and the transportation of the machine of being convenient for.
Compared with the prior art, the beneficial effects of the utility model are that: the electric winder for the unmanned submersible is provided, a winding roller is driven by a motor to complete winding operation, orderly arrangement of wires is realized by a lead screw reciprocating mechanism, and the problems of winding, curling and the like of the cables in a free state after use are solved by a straightener; the damper has no damping during winding and damping during paying off, and the damping is increased along with the increase of the paying off speed, so that the damper plays a role in braking and prevents wire explosion during paying off; fix motor one end in the frame, one end is fixed with the wire winding roller, and the motor both had been regarded as the power supply device of wire winding roller this moment, also was the "bearing" that the wire winding roller is connected with the frame, and drive mechanism can only design a set ofly like this, very big reduction the volume of spooler, satisfied the exquisite, portable requirement of ROV as consumer-grade machine.
Drawings
Fig. 1 is a schematic structural view of the middle electric winder of the present invention.
Fig. 2 is a front view of the electric winder of the present invention.
Fig. 3 is a schematic structural view of the middle electric winder of the present invention.
Fig. 4 is another schematic structural diagram of the electric winder of the present invention.
Fig. 5 is a schematic structural diagram of the straightener of the present invention.
In the figure: the device comprises a frame, 11-a mounting plate, 12-a support column, 2-a motor, 21-a stator, 22-a rotor, 3-a winding roller, 31-a mounting plate, 32-a repeater, 33-a conductive slip ring, 4-a transmission mechanism, 5-a reciprocating screw rod, 6-a straightener, 61-a fixing frame, 62-a wire guide wheel, 63-a wire passing porcelain eye, 7-a damper, 8-a power supply and 9-a cable.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1 and 2, the electric winder for the unmanned submersible comprises a frame 1, a motor 2, a winding roller 3, a transmission mechanism 4, a reciprocating screw rod 5, a straightener 6 and a damper 7, wherein the winding roller 3 is rotatably mounted on the frame 1, one end of the motor 2 is fixed on the frame 1, the other end of the motor 2 is fixed with one end of the winding roller 3, the other end of the winding roller 3 is fixedly connected with one end of the transmission mechanism 4, the other end of the transmission mechanism 4 is fixedly connected with one end of the reciprocating screw rod 5, and the damper 7 is fixed at the other end of the reciprocating screw rod 5; the reciprocating screw rod 5 is rotatably installed on the rack 1 and is parallel to the winding roller 3, and a straightener 6 is sleeved on the reciprocating screw rod 5.
In order to facilitate the disassembly and assembly, the frame 1 is composed of mounting plates 11 which are arranged oppositely and supporting columns 12 which are fixed between the two mounting plates 11, and the winding roller 3 is rotatably mounted between the two mounting plates 11. The support posts 12 are preferably round rods distributed at the four corners of the mounting plate 11. The winding roller 3 can be designed to be hollow and cylindrical, a power supply 8 is arranged in the winding roller, and the winder is not required to be connected with an external power supply through a separate rewinder, so that the winding operation is facilitated.
The motor 2 is composed of a stator 21 and a rotor 22, the stator 21 is fixed at one end of the winding roller 3, the rotor 22 is fixed on the inner side wall of the mounting plate 11, and the power supply 8 is communicated with the motor 2 through a wiring hole in the winding roller 3. At the moment, the rotor 22 is fixed, the stator 21 drives the winding roller 3 to rotate after the motor 2 is started, and the motor 2 can be directly installed on the power supply 8 inside the winding roller 3 in the assembly mode without an external power supply. Meanwhile, the motor 2 also serves as a bearing in the winding roller 3 and the mounting plate 11, and the structure of the winder is greatly simplified.
The transmission mechanism 4 is arranged on the outer side of the mounting plate 11, any one of transmission modes such as gear transmission and belt transmission can be selected, belt transmission is preferred in the embodiment, the transmission mechanism 4 is only provided with one group and consists of a driving wheel, a driven wheel and a belt, the driving wheel is fixedly connected with one end of the winding roller 3, and the driven wheel is fixedly connected with one end of the reciprocating screw rod 5. The transmission ratio of belt transmission is set to be 2.2-2.5, the thread pitch of the reciprocating screw rod 5 is set to be 10-12mm, the wire arrangement distance is moderate and neat, and enough cable reversing space is reserved.
The straightener 6 is composed of a fixing frame 61, a wire guide wheel 62 and wire passing porcelain eyes 63, the fixing frame 61 is in transmission connection with the reciprocating screw rod 5, the wire guide wheel 62 is rotatably installed in the fixing frame 61, the wire passing porcelain eyes 63 are fixed on the fixing frame 61, the two wire guide wheels 62 are arranged in parallel with the reciprocating screw rod 5, one wire guide wheel 62 is located right above the other wire guide wheel 62, and the wire passing porcelain eyes 63 are perpendicular to the wire guide wheels 62.
As shown in fig. 5, the cable 9 passes through the wire-passing porcelain eye 63, is wound around one of the wire guiding wheels 62 in the forward direction, is wound around the other wire guiding wheel 62 in the reverse direction, and is finally wound around the winding roller 3, and under the synergistic action of the wire-passing porcelain eye 63 and the wire guiding wheels 62, the cable 9 is straightened, the situations of cable winding, twisting and the like are eliminated, and the reliability and stability of winding are improved.
The damper 7 is an optional one-way damper and is arranged on the outer side of the mounting plate 11. The damper 7 is in a non-damping state when winding and in a damping state when paying off, and the damping is increased along with the increase of the paying off speed, so that the brake effect is achieved, and the wire explosion during paying off is prevented.
The working process of the winder is as follows:
a wire take-up process: the motor 2 drives the winding roller 3 to rotate in the forward direction, the driving wheel which rotates synchronously with the winding roller 3 drives the driven wheel to rotate through the belt, the reciprocating screw rod 5 which rotates synchronously with the driven wheel rotates along with the driven wheel, the straightener 6 is driven to do reciprocating linear motion along the reciprocating screw rod 5, the cable 9 is orderly arranged in a circle and wound on the winding roller 3 under the action of the reciprocating screw rod 5, the cable 9 is wound around the two wire guide wheels 62 from the wire guide ceramic eye 63 and enters the winding roller 3 after being straightened, and the damper 7 is in an undamped state at the moment.
And (3) paying off: the cable 9 is continuously pulled out along with the sinking of the unmanned submersible vehicle main body, the cable 9 is pulled straight by the wire guide wheel 62 and then is placed from the wire passing porcelain eye 63, the damper 7 is in a damping state at the moment, the damping is increased along with the acceleration of the rotating speed of the reciprocating screw rod 5, the braking effect is achieved, and the wire explosion during the paying-off process is prevented. When the cable 9 is wound, the winding roller 3 is pulled to rotate reversely, the transmission mechanism drives the reciprocating screw rod 5 to rotate reversely, so that the cable 9 moves in the direction opposite to that of winding, the winding resistance is small, and the speed is moderate.
The winding roller 3 is driven by the motor 2 to complete winding operation, the lead screw reciprocates 5 to realize tidy arrangement, and the problems of winding, curling and the like of the cable 9 in a free state after use are solved by the straightener 6; the damper 7 has no damping during winding and damping during paying off, and the damping is increased along with the increase of the paying off speed, so that the brake effect is achieved, and the wire explosion during paying off is prevented; through being fixed in frame 1, one end with motor 2 one end and winding roller 3 fixed, motor 2 both had been regarded as the power supply device of winding roller, also "bearing" that winding roller 3 is connected with frame 1, like this drive mechanism can only design a set of can, very big reduction the volume of spooler, satisfied ROV as exquisite, the portable requirement of consumer grade machine.
Example 2
In order to further optimize the technical solution in embodiment 1, in this embodiment, the repeater 32 is integrated on the reel, the repeater 32 is a device for realizing transmission of the ROV control signal, and the repeater 32 receives the signal of the ROV remote control handle and transmits the signal to the main body of the submersible vehicle through the cable 9, so as to control the moving direction, speed and the like of the main body in the water. Meanwhile, the relay 32 is internally integrated with a control mainboard, the control mainboard can control the on-off of the motor 2, the FOC electric adjusting module is arranged on the control mainboard, and the power supply 8 can be reversely charged when the winder pays off. The FOC electric regulation module also has a speed control function and can stabilize the winding speed. The integration of the repeater 32 can be achieved by two schemes as follows.
The first scheme is as follows: as shown in fig. 3, a mounting plate 31 is fixed to a connecting end of the winding roller 3 and the transmission mechanism 4, a relay 32 is coaxially fixed to an outer side wall of the mounting plate 31, and the relay 32 is electrically connected to the power supply 8. The relay 32 rotates synchronously with the mounting plate 31, and is in a stationary state relative to the winding roller 3, so that the control is more precise. At this time, a WiFi module may be provided on the repeater 32, and the control of the take-up and pay-off lines may be performed through the mobile terminal.
Scheme II: as shown in fig. 4, a conductive slip ring 33 is coaxially installed at the connection end of the winding roller 3 and the transmission mechanism 4, the conductive slip ring 33 is electrically connected with the power supply 8, the repeater 32 is fixed on the mounting plate 11, and the repeater 32 is electrically connected with the conductive slip ring 33. The relay 32 is fixed on the mounting plate 11, so that the switch on the relay 32 can be operated manually, and the process of taking up and paying off the cable can be controlled manually.
The integration of repeater 32 and spooler can all be realized to above-mentioned two kinds of schemes, makes the ROV structure compacter, is convenient for accomodate and transport of machine.
While the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope of the principles of this invention. More particularly, various variations and modifications are possible in the component parts and/or arrangements within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.
Claims (10)
1. An electric winder for an unmanned submersible vehicle, comprising: the winding roller winding machine comprises a rack (1), a motor (2), a winding roller (3), a transmission mechanism (4), a reciprocating screw rod (5), a straightener (6) and a damper (7), wherein the winding roller (3) is rotatably installed on the rack (1), one end of the motor (2) is fixed on the rack (1), the other end of the motor (2) is fixed with one end of the winding roller (3), the other end of the winding roller (3) is fixedly connected with one end of the transmission mechanism (4), the other end of the transmission mechanism (4) is fixedly connected with one end of the reciprocating screw rod (5), and the damper (7) is fixed at the other end of the reciprocating screw rod (5);
the reciprocating screw rod (5) is rotatably installed on the rack (1) and is parallel to the winding roller (3), and a straightener (6) is sleeved on the reciprocating screw rod (5).
2. An electric reel for an unmanned submersible vehicle according to claim 1, wherein: the winding machine is characterized in that the rack (1) is composed of opposite mounting plates (11) and supporting columns (12) fixed between the two mounting plates (11), the winding roller (3) is a hollow cylinder and is internally provided with a power supply (8), the winding roller (3) is rotatably mounted between the two mounting plates (11), and the power supply (8) is electrically connected with the motor (2).
3. An electric reel for an unmanned submersible vehicle according to claim 2 wherein: the motor (2) is composed of a stator (21) and a rotor (22), the stator (21) is fixed at one end of the winding roller (3), and the rotor (22) is fixed on the inner side wall of the mounting plate (11).
4. An electric reel for an unmanned submersible vehicle according to claim 2 wherein: and a mounting disc (31) is fixed at the connecting end of the winding roller (3) and the transmission mechanism (4), a repeater (32) is coaxially fixed on the outer side wall of the mounting disc (31), and the repeater (32) is electrically connected with the power supply (8).
5. An electric reel for an unmanned submersible vehicle according to claim 2 wherein: the winding roller (3) and the transmission mechanism (4) are connected through a connecting end, a conductive sliding ring (33) is coaxially installed at the connecting end, the conductive sliding ring (33) is electrically connected with a power supply (8), a repeater (32) is fixed on the installing plate (11), and the repeater (32) is electrically connected with the conductive sliding ring (33).
6. An electric reel for an unmanned submersible vehicle according to claim 4 or 5 wherein: and a control mainboard is arranged in the repeater (32), and is in signal connection with the motor (2) and the repeater (32).
7. An electric reel for an unmanned submersible vehicle according to claim 6 wherein: the control mainboard is provided with an FOC electric tuning module.
8. An electric reel for an unmanned submersible vehicle according to claim 1, wherein: straightener (6) comprise mount (61), wire wheel (62) and cross line porcelain eye (63), mount (61) are connected with reciprocal lead screw (5) transmission, wire wheel (62) rotate to be installed in mount (61), cross line porcelain eye (63) and be fixed in on mount (61), wire wheel (62) and reciprocal lead screw (5) parallel arrangement have two, one of them wire wheel (62) are located another wire wheel (62) directly over, cross line porcelain eye (63) and wire wheel (62) perpendicular setting.
9. An electric reel for an unmanned submersible vehicle according to claim 2 wherein: the transmission mechanism (4) is arranged on the outer side of the mounting plate (11) and is composed of a driving wheel, a driven wheel and a belt, the driving wheel is fixedly connected with one end of the winding roller (3), and the driven wheel is fixedly connected with one end of the reciprocating screw rod (5).
10. An electric reel for an unmanned submersible vehicle according to claim 2 wherein: the damper (7) is a one-way damper and is arranged on the outer side of the mounting plate (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921493513.5U CN210528126U (en) | 2019-09-10 | 2019-09-10 | Electric winder for unmanned submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921493513.5U CN210528126U (en) | 2019-09-10 | 2019-09-10 | Electric winder for unmanned submersible |
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| Publication Number | Publication Date |
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| CN210528126U true CN210528126U (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921493513.5U Active CN210528126U (en) | 2019-09-10 | 2019-09-10 | Electric winder for unmanned submersible |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111099451A (en) * | 2019-09-10 | 2020-05-05 | 深圳潜行创新科技有限公司 | An electric winder for unmanned submersible |
| CN112811268A (en) * | 2021-01-13 | 2021-05-18 | 中国科学院光电技术研究所 | Automatic wire winding device |
-
2019
- 2019-09-10 CN CN201921493513.5U patent/CN210528126U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111099451A (en) * | 2019-09-10 | 2020-05-05 | 深圳潜行创新科技有限公司 | An electric winder for unmanned submersible |
| CN112811268A (en) * | 2021-01-13 | 2021-05-18 | 中国科学院光电技术研究所 | Automatic wire winding device |
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