| 遥控水下机器人脐带缆收放绞车设计及牵引力分析 |
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| 引用本文： | 康守权,张奇峰.遥控水下机器人脐带缆收放绞车设计及牵引力分析[J].海洋工程,2010,28(1). |
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| 作者姓名： | 康守权 张奇峰 |
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| 作者单位： | 中国科学院沈阳自动化研究所,机器人学国家重点实验室,辽宁,沈阳,110016 |
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| 摘 要： | 脐带缆收放技术是有缆遥控水下机器人的一项关键技术,该技术直接影响水下机器人载体的收放及作业过程中脐带缆的安全。针对目前水下机器人收放系统中脐带缆收放技术的特点,给出了一种具有自动排缆、低张力缠绕、能够提供大牵引力和安全制动功能的紧凑新式脐带缆绞车方案,并对牵引绞车与储藏绞车之间脐带缆张力与牵引绞车的牵引力进行了理论分析,给出了二者之间的关系函数。
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| 关 键 词： | 水下机器人 脐带缆 收放系统 牵引绞车 |
Remotely operated vehicle's cable deploying and retracting winch design and cable traction analyses |
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| KANG Shou-quan,ZHANG Qi-feng.Remotely operated vehicle''s cable deploying and retracting winch design and cable traction analyses[J].Ocean Engineering,2010,28(1). |
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| Authors: | KANG Shou-quan ZHANG Qi-feng |
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| Institution: | State Key Laboratory of Robotics;Shenyang Institute of Automation;Chinese Academy of Sciences;Shenyang 110016;China |
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| Abstract: | Umbilical cable deploying and retracting is a key technique of Remotely Operated Vehicle (ROV), which directly affects the cable's safety in course of vehicle's recovery and working. Aiming at the existent characteristics in today's umbilical cable deploying and retracting of ROV, this paper proposes acompact umbilical cable deploying and retracting winch, which has the capacity of autonomous coiling cable with low tension, offering powerful traction force and safe braking. Also, the tension between the traction and storage winch, the traction force produced in traction winch and, two forces' relationship are analyzed. |
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| Keywords: | underwater vehicle umbilical cable deployment system traction winch |
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