Dynamics Analysis Of The Cable Arrangement System For Full Ocean Depth Geological Winch

The Full Ocean Depth Geological Winch is a key equipment for the exploration of deep sea resources.The system usually consists of traction winch,slack wire compensator and automatic cable arrangement system.The automatic cable arrangement system includes an automatic cable arrangement device and a cable storage drum.Based on the project of Cable Arrangement System and Technology with Multi-redundant and Self-adaptation in the key R& D plans of the Research and Development of The Full Ocean Depth Geological Winch,this paper designs the structure of cable arrangement device and cable storage drum and check the strength.Because the performance of the system is affected by the axial dynamic response,the dynamic analysis of the system is carried out to provide guidance for the design of the system with ideal dynamic characteristics.The cable arrangement device adopts the mode of servo motor driving unilateral screw and the cable storage drum adopts the mode of double-line winding according to the performance index and the common structural forms.Structural design and selection of key components are carried out to complete the design of the cable arrangement system according to the selected structural forms.Meanwhile,the intensity of the key part is checked by using the traditional strength check method.Using the macro command method of Adams,the virtual prototype model during the cable reeling process is established.The virtual prototype model is used to complete the dynamic simulation test of the first layer cable reeling process under different collection speed by using the established virtual prototype model.And the correctness of the virtual prototype is verified by the simulation results.The contact force between the cable and the retainer is obtained in the test,which provides a basis for the subsequent checking of the of the retainer.Moreover,the obtained cable tension change law provides the basis for the dynamics analysis of the cable arrangement device.According to the working principle and stress characteristics of the cable arrangement device,the dynamic analysis is performed for its axial motion.The axial feed system of the cable arrangement device is regarded as the dynamic model of the beam with moving mass,and the axial dynamic model of the cable arranger is established by using the spring damping equivalent system.The axial dynamic equationwas is established according to the Lagrange equation.The numerical method is used to analyze the influence of each parameter in the dynamic model on the first natural frequency.The results provide guidance for the design of walking mechanism,the improvement of the natural frequency and the selection of slewing bearing.Meanwhile,the obtained cable tension is taken as the external load of the cable arrangement device to analyze whether the dynamic response can meet the requirements of the cable arrangement.The finite element model of the cable arrangement system is established by Ansys Workbench to complete the static strength analysis.In order to obtain the natural and dynamic characteristics of the cable arrangement system,the modal and harmonic response analysis are performed by equivalent processing of the joint surface.And,the weak position,the maximum amplitude and its corresponding frequency of the cable arrangement device under external load are obtained through the analysis.Based on analyzing the weak parts,this paper presents a method to change the solid guide shaft into hollow shaft,which can improve the first order natural frequency.Meanwhile,this method provides a feasible scheme for the design and optimization of cable arrangement system.