阅读说明：本技术 一种rov绞车线缆辅助牵引装置 (Auxiliary traction device for ROV winch cable ) 是由 邢亮 王亚猛 罗曼 罗双华 李朋飞 陈敏慎 孙成宇 徐建龙 姬增起 魏巍 于 2021-05-18 设计创作，主要内容包括：本发明公开了一种ROV绞车线缆辅助牵引装置,包括支撑架、电机和挤压轮对,支撑架包括外固定框架和多个内滑动框架,挤压轮对包括两个挤压轮,每个挤压轮均包括挤压轮轴及旋转轮,每个挤压轮轴分别固定安装在一个内滑动框架上；挤压轮对的两个旋转轮之间存在空隙,以用于夹住线缆；每个内滑动框架分别滑动安装在外固定框架上；至少一个旋转轮通过电机驱动进行旋转,从而带动被两个旋转轮夹住的线缆移动。本发明的ROV绞车线缆辅助牵引装置,可安装在绞车和ROV之间后,通过电机的扭矩或转速的调节,辅助实现对整个辅助牵引装置恒扭矩或恒转速的牵引力调节设置,从而避免绞车线缆出现排列不整齐,松圈甚至发生陷缆等问题。(The invention discloses an ROV winch cable auxiliary traction device which comprises a support frame, a motor and an extrusion wheel pair, wherein the support frame comprises an outer fixed frame and a plurality of inner sliding frames; a gap is reserved between the two rotating wheels of the extrusion wheel pair and used for clamping the cable; each inner sliding frame is respectively installed on the outer fixed frame in a sliding way; at least one rotating wheel is driven by a motor to rotate, so that the cable clamped by the two rotating wheels is driven to move. The ROV winch cable auxiliary traction device can be installed between a winch and an ROV, and the constant-torque or constant-speed traction force adjustment setting of the whole auxiliary traction device is realized in an auxiliary mode through the adjustment of the torque or the rotating speed of a motor, so that the problems that the winch cables are not arranged orderly, loose loops are generated, and cable sinking is generated are solved.)

1. The utility model provides a draw gear is assisted to ROV winch cable, its characterized in that includes support frame, motor and extrusion wheel pair, the support frame includes outer fixed frame and a plurality of interior slip frame, the extrusion wheel pair includes two extrusion wheels, wherein:

the motor is fixedly arranged on the outer fixed frame;

each extrusion wheel comprises an extrusion wheel shaft and a rotating wheel which is rotatably arranged on the extrusion wheel shaft, and each extrusion wheel shaft is fixedly arranged on one inner sliding frame;

a gap is reserved between the two rotating wheels of the extrusion wheel pair, so that the cable can be clamped;

each inner sliding frame is respectively installed on the outer fixing frame in a sliding mode and used for adjusting the gap between the two rotating wheels so as to adapt to cables with different cable diameters;

at least one of the rotating wheels is driven by the motor to rotate, so that the cable clamped by the two rotating wheels is driven to move.

2. An ROV winch cable auxiliary traction apparatus as claimed in claim 1, further comprising an adaptive pinch force adjusting device, wherein the adaptive pinch force adjusting device comprises a guide sleeve, a slider and a compression spring, the guide sleeve is mounted on the outer fixed frame, the slider is slidably mounted in the guide sleeve, and the compression spring is located between the guide sleeve and the slider to apply an elastic force on the slider, thereby pressing the slider on the inner sliding frame.

3. The ROV winch cable auxiliary traction device as claimed in claim 2, wherein a pressure sensor is further disposed between the compression spring and the guide sleeve, one end of the compression spring abuts against the pressure sensor, and an adjusting bolt abuts against the pressure sensor after passing through the guide sleeve to adjust the pre-tightening force of the compression spring.

4. The ROV winch cable auxiliary traction device as claimed in claim 1, wherein the outer fixed frame is provided with a guide groove, the longitudinal direction of the guide groove is perpendicular to the axial direction of the extrusion wheel shaft, and the outer side of the inner sliding frame is provided with a limit slider, the limit slider extends into the guide groove, so that the inner sliding frame can move along the longitudinal direction of the guide groove.

5. The ROV winch cable auxiliary traction device as claimed in claim 1, wherein a gap is formed on a side wall of the outer fixing frame so that a cable can enter a gap between the two rotating wheels, the supporting seat further comprises an upper cable limiting frame, the upper cable limiting frame is formed by connecting two limiting brackets which are detachably connected together, the upper cable limiting frame is correspondingly installed at the gap of the outer fixing frame, and a through hole A is formed in the upper cable limiting frame so that a cable clamped by the two rotating wheels can pass through the upper cable limiting frame.

6. The ROV winch cable auxiliary traction device as claimed in claim 1, wherein the side wall of the outer fixed frame is provided with a gap for allowing a cable to enter the gap between the two rotating wheels, and the lower cable limiting frames are two in number and respectively detachably mounted at the gap of the outer fixed frame.

7. The ROV winch cable auxiliary traction device as claimed in claim 1, wherein the first positioning bolt passes through the outer fixed frame and is screwed on the inner sliding frame, and the first positioning bolt is screwed to drive the inner sliding frame to move; and the second positioning bolt passes through the outer fixed frame and abuts against the inner sliding frame so as to limit the displacement of the inner sliding frame.

8. The ROV winch cable auxiliary traction device as claimed in claim 1, wherein the outer fixing frame is provided with a through hole B so that the cable is clamped by the squeezing wheel pair after passing through the through hole.

9. The ROV winch cable auxiliary traction device as claimed in claim 1, wherein the rotating wheel comprises an end cover and a rubber ring, the end cover is rotatably mounted on the extrusion wheel shaft, and an annular groove is formed in the end cover, and the rubber ring is sleeved in the annular groove of the end cover.

10. The ROV winch cable auxiliary traction device as claimed in claim 1, wherein the motor is connected with a gear shaft, a driven gear meshed with the gear shaft is rotatably mounted on the extrusion wheel shaft, and the gear on the extrusion wheel shaft is fixed with the rotating wheel.

Technical Field

The invention belongs to the field of remote control unmanned underwater vehicles, and particularly relates to an ROV winch cable auxiliary traction device.

Background

ROV (Remote Operated Vehicle) is an underwater robot used for underwater observation, inspection and construction. The ROVs have various functions, are used for executing different tasks and are widely applied to various fields such as army, coast guard, maritime affairs, customs, nuclear power, water and electricity, marine oil, fishery, marine rescue, pipeline detection, marine scientific research and the like.

At present, two ways are generally provided for releasing and recovering an ROV, one way is that an operator directly places the ROV in water, and a cable storage device is only responsible for receiving and releasing cables and is not responsible for actions such as traction of the ROV; the other is that when the device is used on a ship, a ship winch is used for towing the release and recovery of the ROV, and the proper length of a cable carried by the ROV is ensured.

However, both of the above methods have certain disadvantages. The first scheme is only suitable for shore operation, while the other scheme is that when the device is operated on a ship, an ROV needs to be arranged in a rope lifting hook mode and the like, the operation is complex, and certain potential safety hazards exist. When only the winch is used for releasing and recovering the cloth, the releasing and recovering speed and force of the winch directly act on the ROV, so that the attitude of the ROV in water is easy to interfere, if the interference is avoided, the cable between the winch and the ROV must be in a free state, and the problems of untidy arrangement, loose loops and even cable sinking of the winch cable can occur at the moment.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides an ROV winch cable auxiliary traction device, which aims to solve the problems of complex operation and large potential safety hazard when an ROV is manually laid, and the problems of ROV attitude influence or winch cable loosening, irregular arrangement and even cable sinking caused by direct traction of a winch. The device has the advantages of simple installation and maintenance, strong adaptability modification capability, simple and convenient field operation and the like. The vertical and lateral installation modes of the adaptable cable are matched according to the design requirement of traction force, the diameter application range of the cable is wide, the difference problem of the thickness uniformity of the cable can be compensated, a dynamic force feedback system is further provided, and the extrusion force is ensured to meet the design requirement.

To achieve the above object, according to one aspect of the present invention, there is provided an ROV winch cable auxiliary traction apparatus, comprising a support frame, a motor, and a pair of squeezing wheels, wherein the support frame comprises an outer fixed frame and a plurality of inner sliding frames, and the pair of squeezing wheels comprises two squeezing wheels, wherein:

the motor is fixedly arranged on the outer fixed frame;

each extrusion wheel comprises an extrusion wheel shaft and a rotating wheel which is rotatably arranged on the extrusion wheel shaft, and each extrusion wheel shaft is fixedly arranged on one inner sliding frame;

a gap is reserved between the two rotating wheels of the extrusion wheel pair, so that the cable can be clamped;

each inner sliding frame is respectively installed on the outer fixing frame in a sliding mode and used for adjusting the gap between the two rotating wheels so as to adapt to cables with different cable diameters;

at least one of the rotating wheels is driven by the motor to rotate, so that the cable clamped by the two rotating wheels is driven to move.

Preferably, the self-adaptive pressing force adjusting device comprises a guide sleeve, a sliding block and a compression spring, wherein the guide sleeve is installed on the outer fixed frame, the sliding block is installed in the guide sleeve in a sliding mode, and the compression spring is located between the guide sleeve and the sliding block to exert elastic force on the sliding block, so that the sliding block is pressed on the inner sliding frame.

Preferably, a pressure sensor is further arranged between the compression spring and the guide sleeve, one end of the compression spring abuts against the pressure sensor, and an adjusting bolt abuts against the pressure sensor after penetrating through the guide sleeve so as to adjust the pretightening force of the compression spring.

Preferably, the outer fixed frame is provided with a guide groove, the outer side of the inner sliding frame, which is vertical to the axial direction of the extrusion wheel shaft in the longitudinal direction of the guide groove, is provided with a limit slider, and the limit slider extends into the guide groove so as to facilitate the longitudinal movement of the inner sliding frame along the guide groove.

Preferably, be provided with the breach on the lateral wall of outer fixed frame to in the cable gets into two space between the swiveling wheel, the supporting seat still includes the spacing frame of last cable, go up the spacing frame of cable and be formed by two spacing leg joints that can dismantle the link together, and go up the corresponding installation of the spacing frame of cable the breach department of outer fixed frame, upward be provided with through-hole A on the spacing frame of cable, so that by two the cable that the swiveling wheel was cliied passes this spacing frame of last cable.

Preferably, the lateral wall of the outer fixing frame is provided with a gap so that cables can enter the gap between the two rotating wheels, and the lower cable limiting frames are two in total and are respectively detachably mounted at the gap of the outer fixing frame.

Preferably, the first positioning bolt penetrates through the outer fixed frame and then is in threaded connection with the inner sliding frame, and the inner sliding frame can be driven to move by screwing the first positioning bolt; and the second positioning bolt passes through the outer fixed frame and abuts against the inner sliding frame so as to limit the displacement of the inner sliding frame.

Preferably, the outer fixing frame is provided with a through hole B so that the cable can be clamped by the squeezing wheel pair after passing through the through hole.

Preferably, the rotating wheel comprises an end cover and a rubber ring, the end cover is rotatably mounted on the extrusion wheel shaft, an annular groove is formed in the end cover, and the rubber ring is sleeved in the annular groove of the end cover.

Preferably, the motor is connected with a gear shaft, a driven gear meshed with the gear shaft is rotatably mounted on the extrusion wheel shaft, and the gear on the extrusion wheel shaft is fixed with the rotating wheel.

In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:

1) the ROV winch cable auxiliary traction device can be installed between a winch and an ROV, and the constant-torque or constant-speed traction force adjustment setting is realized in an auxiliary mode through the adjustment of the torque or the rotating speed of the motor, so that the problems that the winch cables are not arranged orderly, loose rings and even cable sinking are caused are solved.

2) The self-adaptive pressing force adjusting device achieves the purpose of adjusting the extrusion force of the rotating wheel mainly by adjusting the transverse displacement of the inner sliding frame, and can adapt to local unevenness of the cable through elastic buffering.

3) The ROV winch cable auxiliary traction device can realize the traction effect on ROV cables with different cable diameters by replacing the rubber ring and moving the inner sliding frame.

4) The ROV winch cable auxiliary traction device realizes accurate control of extrusion force of the extrusion wheel through the self-adaptive pressing force adjusting device, and meanwhile realizes adaptability to the problems of different cable thickness uniformity and the like by utilizing the displacement compensation effect of the elastic element.

5) The auxiliary cable traction device of the ROV winch has two installation modes of vertical installation and lateral installation, can meet different design requirements, and has the convenience of lateral installation, so that the cable can be directly disassembled and assembled on the premise of not disassembling the joints at two ends when the ROV or the winch is maintained and installed in a test field, and the convenience of maintenance and installation of a test system is enhanced.

Drawings

Fig. 1 and 2 are schematic views of the general assembly of the ROV winch cable auxiliary traction apparatus of the present invention from different perspectives;

FIG. 3 is a schematic diagram of the adaptive compaction force adjustment apparatus of the present invention;

FIG. 4 is a perspective view of the extrusion wheel of the present invention;

FIG. 5 is a cross-sectional view of an extrusion wheel of the present invention;

FIG. 6 is a schematic view of an upper cable stop according to the present invention;

FIG. 7 is a schematic view of the inner slide frame of the present invention;

FIG. 8 is a schematic view of an outer fixed frame according to the present invention;

FIG. 9 is a schematic view of a drive shaft according to the present invention;

FIG. 10 is a schematic view of a lower cable stop according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 10, an ROV winch cable auxiliary traction device includes a support frame, a motor 11 and an extrusion wheel pair, where the support frame includes an outer fixed frame 6 and a plurality of inner sliding frames 5, and the extrusion wheel pair includes two extrusion wheels 2, where:

the outer fixed frame 6 is used as an installation foundation of the auxiliary traction device and plays a main role in supporting, installing, positioning and guiding.

The motor 11 is fixedly mounted on the outer fixed frame 6.

Each extrusion wheel 2 comprises an extrusion wheel shaft 18 and a rotating wheel rotatably mounted on the extrusion wheel shaft 18, and each extrusion wheel shaft 18 is fixedly mounted on one inner sliding frame 5.

The motor 11 is connected with a gear shaft 7, the gear shaft 7 is provided with a shaft body 34 and a driving gear 35, a driven gear meshed with the gear shaft 7 is rotatably arranged on the extrusion wheel shaft 18, and the driven gear is preferably integrally formed with an end cover on one side of the extrusion wheel shaft so as to enable the rotating wheel to run in a gear transmission mode. The gear shaft 7 and the motor 11 are fixed by a key 36. The gear shaft 7 is connected with the motor 11 and the rotating wheel, and plays roles in speed reduction and torque transmission.

A gap is formed between the two rotating wheels of the extrusion wheel pair for clamping the cable 4.

Each inner sliding frame 5 is respectively and slidably mounted on the outer fixed frame 6 to adjust the gap between the two rotating wheels so as to adapt to cables 4 with different cable diameters; the inner slide frame 5 serves as a mounting frame of the rotation wheel and a main force receiving structure of the slide frame and pressure adjustment in which the rotation wheel integrally moves.

The extrusion wheels 2 are preferably two pairs, four extrusion wheels 2 are arranged in the same installation plane, and the axes are located at four corner points of the rectangle.

At least one of the rotating wheels is driven to rotate by the motor 11, so that the cable 4 clamped by the two rotating wheels is driven to move. The two rotating wheels of the squeezing wheel pair can also be driven by two motors 11 to rotate reversely, so that larger power can be generated.

The rotating wheel comprises an end cover and a rubber ring 12, the end cover is rotatably arranged on the extrusion wheel shaft 18 and is provided with an annular groove, and the rubber ring 12 is sleeved in the annular groove of the end cover. The traction effect on the cables 4 with different cable diameters can be realized through the replaceable rubber ring 12 and the movable inner sliding frame 5. The rotating wheel comprises two end covers with conical surfaces, namely a first end cover 19 with a conical surface and a first end cover 20 with a conical surface, an annular groove in the rotating wheel is formed by connecting the two end covers with the conical surfaces together, a groove is formed in the outer side of the rubber ring 12, the rubber ring 12 can be replaced to adapt to cables 4 with different cable diameters, and all parts are connected and pressed through bolts. The rotating wheel of the extrusion wheel pair serves as a main conveying member for cable traction, the cable diameter of different cables can be adapted through the change of the grooves in the rubber ring 12, and meanwhile, the abrasion of the cables can be reduced.

The external fixing frame 6 may be additionally provided with a positioning block and a base according to the direction of the cable 4 coming out of the winch to be integrally connected with the motor 11.

Further, the pair of squeezing wheels has two pairs, and there are four squeezing wheels 2 in total, and the center lines of the four squeezing wheels 2 are arranged in a rectangular shape.

Further, the self-adaptive pressing force adjusting device 1 is further included, the self-adaptive pressing force adjusting device 1 comprises a guide sleeve 15, a sliding block 16 and a compression spring 17, the guide sleeve 15 is installed on the outer fixed frame 6, the sliding block 16 is installed in the guide sleeve 15 in a sliding mode, the compression spring 17 is located between the guide sleeve 15 and the sliding block 16 to exert elastic force on the sliding block 16, so that the sliding block 16 is pressed on the inner sliding frame 5, the compression spring 17 can exert force on the inner sliding frame 5 through the sliding block 16, the position of the inner sliding frame 5 can be adjusted elastically, and the rotating wheel can make self-adaptive compensation on thickness unevenness of the cable 4. The adaptive contact-pressure adjusting device 1 is preferably connected to the outer fixing frame 6 by means of screws. The self-adaptive pressing force adjusting device 1 mainly achieves the purpose of adjusting the pressing force of the pressing wheel pair by adjusting the transverse displacement of the inner sliding frame 5, and can adapt to the local nonuniformity of the cable 4 through elastic buffering

Further, a pressure sensor 13 is further arranged between the compression spring 17 and the guide sleeve 15, one end of the compression spring 17 abuts against the pressure sensor 13, and the adjusting bolt 14 abuts against the pressure sensor 13 after penetrating through the guide sleeve 15 so as to adjust the pre-tightening force of the compression spring 17. By screwing the adjusting bolt, the compression amount of the compression spring 17 is controlled to control the pretightening force, and the force sensor can detect the real-time pressing force. The adjusting bolt 14 is also connected with a locknut, and the adjusting bolt 14 can be locked to prevent the adjusting bolt 14 from loosening.

Further, a guide groove 29 is formed in the outer fixed frame 6, a limiting slide block 26 is arranged on the outer side of the inner slide frame 5, the longitudinal direction of the guide groove 29 is perpendicular to the axial direction of the extrusion wheel shaft 18, and the limiting slide block 26 extends into the guide groove 29 so as to facilitate the longitudinal movement of the inner slide frame 5 along the guide groove 29. The other part of the inner sliding frame 5 is also provided with an auxiliary slider 28, which can slide in a channel of the outer fixed frame 6. The inner sliding frame 5 is provided with a limiting slide block 26, an auxiliary slide block 28, a left sliding frame 24, a right sliding frame 25, a lower sliding frame 27 and the like, and all the parts are positioned through grooves and pins and are connected with each other through bolts. The inner slide frame 5 is internally integrated with the pressing wheel 2 and the driving shaft, and the outer slide frame is slidably connected with the channel and the guide groove 29 of the outer fixed frame 6 through the auxiliary slide block 28 and the limit slide block 26, and can move only in one direction.

Further, be provided with the breach on the lateral wall of outer fixed frame 6 to be convenient for cable 4 to get into two space between the swiveling wheel, the supporting seat still includes spacing 3 of last cable, it forms by two spacing leg joints that can dismantle the link together to go up spacing 3 of cable, and two spacing supports are left upper bracket 22 and right upper bracket 23 respectively, and it installs to go up spacing 3 of cable the breach department of outer fixed frame 6, it is provided with through-hole A on spacing 3 of cable to go up, so that by two the cable that the swiveling wheel was cliied passes this spacing 3 of last cable. Go up spacing 3 of cable and adopt split type design, the left and right sides two parts dock through the spacing groove, install split type nylon sheath 21 additional in the middle to the protection cable. When the cable is installed from the side, the upper cable limiting frame 3 can be directly disassembled, and the auxiliary traction device does not need to be integrally disassembled. The upper cable limiting frame 3 is connected with the outer fixing frame 6 through bolts. Preferably, the through hole a is aligned with the gap between the two wheels to facilitate threading, which is located directly above the gap as viewed in the drawing.

Further, be provided with the breach on the lateral wall of outer fixed frame 6 to in 4 entering two of cables the space between the swiveling wheel, the cable spacing frame is total two down, is first cable spacing frame 8 and second cable spacing frame 9 down respectively, and they are demountable installation respectively in the breach department of outer fixed frame 6. The external fixing frame 6 adopts a split design and consists of four side supporting plates 31, a lower connecting plate 32, an internal sliding frame position adjusting plate 30 and a self-adaptive pressing force adjusting device fixing plate 33. The parts are positioned by grooves and pins and are connected with each other by bolts. The two lower cable limiting frames are respectively positioned at two sides of the outer frame and are fixed with the outer fixing frame 6 through bolts. Each lower cable limiting frame is divided into a metal base body 38 and a nylon contact body 37, and the metal base body 38 and the nylon contact body are connected through bolts. The metal base 38 further ensures the rigidity of the entire outer fixing frame 6, and the nylon contact 37 further protects the cable 4 from damage.

The upper cable limiting frame and the lower cable limiting frame mainly ensure that the cable cannot be separated from the gap of the extrusion wheel pair when the cable receives impact accidentally or has large displacement.

Further, a first positioning bolt penetrates through the outer fixed frame 6 and then is in threaded connection with the inner sliding frame 5, and the first positioning bolt is screwed to drive the inner sliding frame 5 to move; the second positioning bolt 10 passes through the outer fixing frame 6 and abuts against the inner slide frame 5 to limit the displacement of the inner slide frame 5. In the present invention, two first positioning bolts may be provided, and four second positioning bolts 10 may be provided. The upper and lower first positioning bolts pull the inner sliding frame 5 to move outwards, and the other four second positioning bolts 10 generate thrust to limit the outer movement of the inner sliding frame 5. The inner slide frame 5 is surely stopped at the arbitrary position where the slide is predetermined by the interaction force between the first and second jack bolts 10.

Further, the outer fixing frame 6 is provided with a through hole B so that the cable 4 can be conveniently clamped by the squeezing wheel pair after passing through the through hole. Preferably, the through hole B is opposite to the gap between the two rotation wheels and opposite to the through hole a for threading. And when the cable 4 passes through the gap between the two rotating wheels of the extrusion wheel pair, the cable passes through the through hole A, and the threading from bottom to top can be completed.

The use of the ROV winch cable auxiliary traction device is briefly described as follows:

the outer fixing frame 6 and the motor 11 are integrally fixed on a mounting base (not shown in the figure), a rubber ring 12 with a proper groove size is selected according to the diameter of the cable 4 matched with the ROV, the extrusion wheel 2 is integrally assembled, and the installation is finished according to an integral assembly drawing of the auxiliary traction device.

The cable 4 is enclosed in two ways:

1) twist the first positioning bolt on the interior sliding frame 5 of moving, make interior sliding frame 5 move outward, make to have suitable clearance between the extrusion wheel 2 of both sides, upwards wear out 4 by the through-hole B of bottom, until wearing out by last through-hole A on the spacing frame 3 of cable, adjust behind the slot central point of the rubber circle 12 of extrusion wheel 2 cable 4, the first positioning bolt on the adjustment interior sliding frame 5 will slide frame 5 and remove to suitable position in the adjustment, make swiveling wheel and cable 4 contact, let cable 4 be located the center of last spacing frame 3 of cable, slide frame 5 in the cooperation locking through first positioning bolt and second positioning bolt 10. The adjusting bolt 14 of the self-adaptive pressing force adjusting device 1 is screwed, the reading of the pressure sensor 13 is observed, corresponding pressing force is matched according to the requirement of the traction force, when the reading of the pressure sensor 13 reaches a preset value, the adjusting bolt 14 is locked through the locknut, the motor 11 operates, the cable 4 completes corresponding retraction and release actions, and the adjustment of the traction force with constant torque or constant rotating speed is assisted.

2) For the condition that the cable 4 can not penetrate through the through hole B at the lower end, the lower cable limiting frame and the upper cable limiting frame 3 are disassembled, the first positioning bolt on the inner sliding frame 5 is screwed to lead the inner sliding frame 5 to move outwards, so that a proper gap is formed between the squeezing wheels 2 at the two sides, the cable 4 is inserted into the gap between the two rotating wheels from the side surface of the auxiliary traction device and penetrates out upwards, the lower cable limiting frame and the upper cable limiting frame 3 are assembled, and the cable 4 is led out from the through hole A of the upper cable limiting frame 3, after the cable 4 is adjusted to the central position of the groove of the rubber ring 12 of the extrusion wheel 2, the first positioning bolt on the adjusting inner sliding frame 5 moves the inner sliding frame 5 to a proper position, so that the rotating wheel is in contact with the cable 4, the cable 4 is positioned at the center of the upper cable limiting frame 3, and the inner sliding frame 5 is locked through the matching of the first positioning bolt and the second positioning bolt 10. Screwing an adjusting bolt 14 of the self-adaptive pressing force adjusting device 1, observing the reading of a pressure sensor 13, matching corresponding pressing force according to the requirement of traction force, locking the adjusting bolt 14 through a locknut when the reading of the pressure sensor 13 reaches a preset value, operating a motor 11, completing corresponding retracting actions of a cable 4, assisting in realizing the adjustment of the traction force with constant torque or constant rotating speed,

it is to be understood that the foregoing are many different embodiments or examples of the different features of the present embodiments. Specific examples of components and arrangements are described above to simplify the illustrative embodiments. These are, of course, merely examples and are not intended to limit the embodiments, and for example, device dimensions are not limited to the ranges or values disclosed, but may depend on processing conditions and/or desired properties of the device.

Moreover, the formation of a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed interposing the first and second features, such that the first and second features may not be in direct contact, although the various features may be drawn arbitrarily to varying proportions for simplicity and clarity of illustration.

Spatially relative terms, such as "under," "below," "lower," "above," "upper," and the like, may be used herein to describe one element or feature's relationship to another element or feature(s) as illustrated in the figures.

These spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be oriented in different ways (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.