A pipeline intelligent retracting and releasing device for spraying equipment and control method thereof

Abstract

The present invention discloses an intelligent pipeline retracting and releasing device for spraying equipment, comprising a three-phase asynchronous motor, a vector frequency converter, a tension sensor, an encoder, a PLC controller, a pipeline reel, a reciprocating cable arrangement device, a rotary joint, an electric slip ring and a cable. The three-phase asynchronous motor drives the pipeline reel, and the reciprocating cable arrangement device comprises a cable arrangement screw, a screw nut and a guide device. The guide device comprises a guide light bar, a guide sleeve and a guide wheel. The guide sleeve is slidably mounted on the guide light bar, the guide sleeve is connected to the screw nut, and a guide wheel is provided on the guide sleeve. The cable is wound on the pipeline reel, and its outgoing end passes through between the guide sleeve and the guide wheel. The present invention realizes stepless speed regulation and direction change of the pipeline reel rotation speed through the vector frequency converter, the PLC controller and the three-phase asynchronous motor, and realizes orderly discharge of the cable through the reciprocating cable arrangement device, reduces the wear of the cable, and prevents the feed pipe and the power supply line inside the cable from being entangled when rotating.

Description

Technical Field

[0001] The invention relates to the field of pipeline retraction and extension, and in particular to an intelligent pipeline retraction and extension device for ship outer plate spraying equipment and a control method thereof. Background Art

[0002] With the advancement of science and technology and the development of human society, pipeline material transportation plays a very important role in human production and life. With the help of pipelines, a series of material transportation such as long-distance electrical conduction, water supply, and gas supply can be achieved. During construction, it is often necessary to use water pipes to drain water and use cables to connect electricity. Especially in the scene of ship drone spraying, when the drone is far away from the paint and power supply, the pipeline used is longer. In the existing pipeline retraction and release working environment, manual pipeline retraction and release are required, which is time-consuming, labor-intensive, and costly. It is impossible to retract and release multiple pipelines at the same time, and the planning of pipelines is poor, which is prone to entanglement and knotting. In some occasions, electric pipeline retraction and release devices are used, which have a certain improvement in efficiency but still cannot be fully automated. Manual control is required, and pipeline entanglement is still prone to occur when retracting and releasing pipelines. In recent years, with the improvement of pipeline retraction and release technology and artificial intelligence algorithms, research on artificial intelligence and pipeline retraction and release technology has also been continuously deepened.

[0003] Patent application number "201822077185.2" pneumatically controlled pipeline retracting and releasing machine, designed a pipeline retracting and releasing machine that uses pneumatic transmission to provide driving force for vertical release. This pneumatic pipeline retracting and releasing machine has difficulty in ensuring the airtightness of the gas, and the air pressure is difficult to accurately control, which leads to the difficulty in accurately controlling the retracting and releasing line speed, and the roller and rolling shaft need to be frequently disassembled, which is cumbersome to disassemble and assemble.

[0004] Patent application number "202010608030.6" is a pipeline retracting and releasing device and system with adjustable winding space. It designs a pipeline retracting and releasing machine that can adapt to the storage needs of pipelines of different sizes and has the function of automatic pipeline retracting and releasing. However, the invention is large in size, complex in structure, and complex in processing technology, and cannot solve the problem of pipeline winding well.

[0005] Patent application number "202110327228.1" describes a follow-up pipeline retracting and releasing device that can retract and release multiple pipelines at the same time and move randomly with the angle of the pipeline or cable, effectively solving the problem of pipeline jamming. However, the invention fails to achieve stepless speed change, and its application scenarios are very limited.

[0006] Patent application number "201820883430.6" for a tethered drone retractable cable device has designed a tethered drone retractable cable device in which the cable is always connected to the drone and is in a straightened state during the flight. However, the invention fails to achieve fully automated coordination between the retractable cable and the drone, and cannot provide power and material at the same time. Summary of the invention

[0007] The purpose of the present invention is to solve the above-mentioned problem and to provide a pipeline intelligent retracting and releasing device for ship outer plate spraying equipment.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is:

[0009] A pipeline intelligent retractable device for spraying equipment, comprising a three-phase asynchronous motor, a vector frequency converter, a tension sensor, an encoder, a PLC controller, a pipeline drum, a reciprocating cable arrangement device, a rotary joint, an electric slip ring and a cable, wherein the three-phase asynchronous motor drives the pipeline drum, the three-phase asynchronous motor is connected to and controlled by the vector frequency converter, the reciprocating cable arrangement device comprises a cable arrangement lead screw, a lead screw nut and a guide device, the guide device comprises a guide light bar, a guide sleeve and a guide wheel, the cable arrangement lead screw, the guide light bar and the pipeline drum are installed in parallel on the delivery side of the pipeline drum, the cable arrangement lead screw is driven by the pipeline drum, and the guide sleeve is slidably installed On the guide light rod, the guide sleeve is connected to the lead screw nut, the guide sleeve is provided with the guide wheel, the cable includes a feed pipe for feeding and a power supply line for power supply, the cable is wound on the pipeline reel, and the lead-out end thereof passes through between the guide sleeve and the guide wheel, the swivel joint and the electric slip ring are installed at both ends of the pipeline reel, the swivel joint and the electric slip ring are connected to the cable, the encoder is used to detect the rotation speed of the pipeline reel, the tension sensor is used to detect the tension of the cable, the pressure sensor and the encoder are connected to the PLC controller, and the PLC controller is connected to the vector frequency converter.

[0010] Furthermore, it also includes a synchronous belt. Synchronous pulleys are installed on the output shaft of the three-phase asynchronous motor and the central axis of the pipeline reel, and the synchronous belt is arranged on the synchronous pulley.

[0011] Furthermore, it also includes a chain, a sprocket is installed on the central axis of the pipeline reel and the discharge screw, the chain is installed on the sprocket, and the pipeline reel drives the discharge screw through the chain.

[0012] Furthermore, the encoder is installed at one end of the lead screw, and the encoder indirectly detects the rotation speed of the pipeline reel by detecting the rotation speed of the lead screw.

[0013] Furthermore, the tension sensor is a pin-type tension and pressure sensor, which is arranged on the central axis of the guide wheel, and detects the tension of the cable by detecting the pressure of the cable on the guide wheel.

[0014] Furthermore, the cable adopts a stainless steel hose, the outlet end of which is connected to the spraying equipment, and the feed pipe and the power supply line are arranged inside the cable.

[0015] The present invention also provides a control method for the above-mentioned pipeline intelligent retracting and releasing device for ship outer plate spraying equipment, comprising:

[0016] In the first step, the encoder transmits the rotation speed information of the pipeline reel detected by the encoder and the tension information of the cable detected by the tension sensor to the PLC controller;

[0017] In the second step, the vector frequency converter establishes a space vector diagram of the three-phase asynchronous motor, uses a magnetic field orientation method to decompose the stator current into an excitation component consistent with the magnetic field direction and a pressure component orthogonal to the magnetic field direction, and controls the magnetic flux and torque respectively, thereby realizing stepless speed regulation and direction change of the three-phase asynchronous motor. The PLC controller controls the speed and rotation direction of the three-phase asynchronous motor through the vector frequency converter according to the received information, thereby controlling the speed and rotation direction of the pipeline reel to realize the retraction and release of the cable;

[0018] In the third step, when the pipeline drum rotates, the unclamping lead screw of the reciprocating unclamping device rotates driven by the pipeline drum, thereby driving the lead screw nut to move, and unclamping the cable through the guide device.

[0019] The arranging screw adopts a reciprocating screw. When the screw nut moves from one end to the other end, it will automatically return to achieve orderly arrangement of the cables. The arranging device limits the random swing of the cables and reduces the wear of the cables when they are retracted and released.

[0020] The present invention has the following characteristics and beneficial effects:

[0021] The present invention realizes stepless speed regulation and direction change of the pipeline reel rotation speed through a vector frequency converter, a PLC controller and a three-phase asynchronous motor, and realizes orderly discharge of cables through a reciprocating discharge device, reduces cable wear, and prevents the feed pipe and power supply line inside the cable from being entangled during rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The structure of the embodiment of the present invention is shown in FIG. Figure 1 ;

[0023] Figure 2 The structure of the embodiment of the present invention is shown in FIG. Figure 2 ;

[0024] In the figure: 1 is a three-phase asynchronous motor; 2 is a vector frequency converter; 3 is a tension sensor; 4 is an encoder; 5 is a PLC controller; 6 is a pipeline drum; 7 is a synchronous belt; 8 is a reciprocating cable arrangement device; 9 is a rotary joint; 10 is an electric slip ring; 11 is a cable; 12 is a cable arrangement screw; 13 is a screw nut; 14 is a guide device; 15 is a guide light rod; 16 is a guide sleeve; 17 is a guide wheel; 18 is a chain. DETAILED DESCRIPTION

[0025] The technical solution provided by the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementations.

[0026] like Figure 1 and 2 As shown, a pipeline intelligent retractable device for spraying equipment includes a three-phase asynchronous motor 1, a vector frequency converter 2, a tension sensor 3, an encoder 4, a PLC controller 5, a pipeline drum 6, a reciprocating cable arrangement device 8, a rotary joint 9, an electric slip ring 10 and a cable 11. The three-phase asynchronous motor 1 drives the pipeline drum 6. The three-phase asynchronous motor 1 is connected to and controlled by the vector frequency converter 2. The reciprocating cable arrangement device 8 includes a cable arrangement screw 12, a screw nut 13 and a guide device 14. The guide device 14 includes a guide light rod 15, a guide sleeve 16 and a guide wheel 17. The cable arrangement screw 12 and the guide light rod 15 are installed in parallel with the pipeline drum 6 on the delivery side of the pipeline drum 6. The cable arrangement screw 12 is driven by the pipeline drum 6. The guide sleeve 15 slides The guide sleeve 16 is dynamically installed on the guide light rod 15, the guide sleeve 16 is connected to the lead screw nut 13, the guide sleeve 16 is provided with the guide wheel 17, the cable 11 includes a feed pipe for feeding and a power supply line for power supply, the cable 11 is wound on the pipeline reel 6, and its lead-out end passes through between the guide sleeve 16 and the guide wheel 17, the swivel joint 9 and the electric slip ring 10 are installed at both ends of the pipeline reel 6, the swivel joint 9 and the electric slip ring 10 are connected to the cable 11, the encoder 4 is used to detect the rotation speed of the pipeline reel 6, the tension sensor 3 is used to detect the tension of the cable 11, the pressure sensor 3 and the encoder 4 are connected to the PLC controller 5, and the PLC controller 5 is connected to the vector frequency converter 2.

[0027] The arranging screw 12 adopts a reciprocating screw. When the screw nut 13 moves from one end to the other end, it will automatically return to achieve orderly arrangement of the cables 11. The arranging device 8 limits the random swing of the cables 11 and reduces the wear of the cables 11 when they are retracted and released.

[0028] It also includes a synchronous belt 7. Synchronous pulleys are installed on the output shaft of the three-phase asynchronous motor 1 and the central axis of the pipeline reel 6, and the synchronous belt 7 is provided on the synchronous pulley.

[0029] It also includes a chain 18 . Sprockets are installed on the central axis of the pipeline reel 6 and the lead screw 12 . The chain 18 is installed on the sprocket. The pipeline reel 6 drives the lead screw 12 through the chain 18 .

[0030] The encoder 4 is installed at one end of the lead screw 12 , and the encoder 4 indirectly detects the rotation speed of the pipeline reel 6 by detecting the rotation speed of the lead screw 12 .

[0031] The tension sensor 3 is a pin-type tension and pressure sensor, which is disposed on the central axis of the guide wheel 17 , and detects the tension of the cable 11 by detecting the pressure of the cable 11 on the guide wheel 17 .

[0032] The cable 11 is a stainless steel hose, the outlet of which is connected to the spraying equipment, and the feed pipe and the power supply line are arranged inside the cable 11.

[0033] Control Methods

[0034] The control method of the pipeline intelligent retracting and releasing device of the above-mentioned spraying equipment includes:

[0035] In the first step, the encoder 4 transmits the rotation speed information of the pipeline reel 6 detected and the tension information of the cable 11 detected by the tension sensor 3 to the PLC controller 5;

[0036] In the second step, the vector inverter 2 establishes a space vector diagram of the three-phase asynchronous motor 1, uses a magnetic field orientation method to decompose the stator current into an excitation component consistent with the magnetic field direction and a pressure component orthogonal to the magnetic field direction, and controls the magnetic flux and torque respectively, thereby realizing stepless speed regulation and direction change of the three-phase asynchronous motor 1. The PLC controller 5 controls the speed and rotation direction of the three-phase asynchronous motor 1 through the vector inverter 2 according to the received information, thereby controlling the speed and rotation direction of the pipeline reel 6 to realize the retraction and release of the cable 11;

[0037] In the third step, when the pipeline drum 6 rotates, the unwinding screw 12 of the reciprocating unwinding device 8 is driven by the pipeline drum 6 to rotate, thereby driving the screw nut 13 to move, and unwinding the cable 11 through the guide device 14.

[0038] The above is only an embodiment of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, any technical solution formed by equivalent replacement or equivalent transformation without departing from the concept of the present invention belongs to the protection scope required by the present invention.

Claims

1. A pipeline intelligent retractable device for spraying equipment, comprising a three-phase asynchronous motor (1), a vector frequency converter (2), a tension sensor (3), an encoder (4), a PLC controller (5), a pipeline reel (6), a reciprocating cable arrangement device (8), a rotary joint (9), an electric slip ring (10) and a cable (11), characterized in that: The three-phase asynchronous motor (1) drives the pipeline drum (6), and the three-phase asynchronous motor (1) is connected to and controlled by the vector frequency converter (2). The reciprocating cable arrangement device (8) comprises a cable arrangement screw (12), a screw nut (13) and a guide device (14). The guide device (14) comprises a guide light rod (15), a guide sleeve (16) and a guide wheel (17). The cable arrangement screw (12), the guide light rod (15) and the pipeline drum (6) are installed in parallel with each other. The cable arrangement screw (12) is driven by the pipeline drum (6). The guide sleeve (16) is slidably installed on the guide light rod (15). The guide sleeve (16) is connected to the screw nut (13). The guide sleeve (16) is provided with the guide wheel (17). ), the cable (11) comprises a feed pipe for feeding material and a power supply line for power supply, the cable (11) is wound on the pipeline drum (6), the cable outlet end of the cable (11) passes through between the guide sleeve (16) and the guide wheel (17), the swivel joint (9) and the electric slip ring (10) are installed at both ends of the pipeline drum (6), the swivel joint (9) and the electric slip ring (10) are connected to the cable (11), the encoder (4) is used to detect the rotation speed of the pipeline drum (6), the tension sensor (3) is used to detect the tension of the cable (11), the tension sensor (3) and the encoder (4) are connected to the PLC controller (5), and the PLC controller (5) is connected to the vector frequency converter (2); It also includes a synchronous belt (7), wherein a synchronous belt pulley is installed on the output shaft of the three-phase asynchronous motor (1) and the central shaft of the pipeline reel (6), and the synchronous belt (7) is provided on the synchronous belt pulley; It also includes a chain (18), a sprocket is installed on the central axis of the pipeline drum (6) and the cable row screw (12), the chain (18) is installed on the sprocket, and the pipeline drum (6) drives the cable row screw (12) through the chain (18); The encoder (4) is mounted on one end of the cable guide screw (12), and the encoder (4) indirectly detects the rotation speed of the pipeline drum (6) by detecting the rotation speed of the cable guide screw (12).

2. The intelligent pipeline retracting and releasing device for spraying equipment according to claim 1, characterized in that: The tension sensor (3) is a pin-type tension pressure sensor, which is arranged on the central axis of the guide wheel (17) and detects the pressure of the cable (11) on the guide wheel (17) to detect the tension of the cable (11).

3. The intelligent pipeline retracting and releasing device for spraying equipment according to claim 1, characterized in that: The cable (11) is a stainless steel hose, the cable outlet end of the cable (11) is connected to the spraying equipment, and the feed pipe and the power supply line are arranged inside the cable (11).

4. A control method for a pipeline intelligent retracting device of a spraying equipment according to any one of claims 1 to 3, characterized in that The specific steps are: In the first step, the encoder (4) transmits the rotation speed information of the pipeline reel (6) detected by the encoder and the tension information of the cable (11) detected by the tension sensor (3) to the PLC controller (5); In the second step, the vector frequency converter (2) establishes a space vector diagram of the three-phase asynchronous motor (1), uses a magnetic field orientation method to decompose the stator current into an excitation component consistent with the magnetic field direction and a pressure component orthogonal to the magnetic field direction, and controls the magnetic flux and torque respectively, thereby realizing stepless speed regulation and direction change of the three-phase asynchronous motor (1); the PLC controller (5) controls the speed and direction of rotation of the three-phase asynchronous motor (1) through the vector frequency converter (2) according to the received information, thereby controlling the speed and direction of rotation of the pipeline reel (6) to realize the retraction and extension of the cable (11); In the third step, when the pipeline drum (6) rotates, the cable arrangement screw (12) of the reciprocating cable arrangement device (8) rotates under the drive of the pipeline drum (6), thereby driving the screw nut (13) to move, and arranging the cable (11) through the guide device (14).

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