A cable arrangement

Abstract

The application discloses a cable winding device and belongs to the technical field of power cables. The device comprises a straightening mechanism, a cutting mechanism, a wire diameter measuring mechanism, a tension control mechanism and a guide mechanism arranged in sequence on a workbench; the left sliding block and the right sliding block of the wire diameter measuring mechanism respectively form a screw pair with a forward and reverse toothed rod, and are respectively attached with a pressure sensitive film through a left antenna and a right antenna; one end of a diameter measuring slide base is provided with a diameter measuring encoder; the flexible arm support body of the tension control mechanism is connected with the root joint body and the primary joint body through a series hinge, and is connected with the root joint body through a telescopic linear driving mechanism; the root joint body and the primary joint body are respectively hingedly connected with a recessed rotating shaft pulley. The application solves a series of problems such as diameter measurement and tension control, is not only complete in function, but also suitable for winding various small and heavy cables, and can significantly improve the winding efficiency and ensure the winding quality.

Description

TECHNICAL FIELD

[0001] The present application relates to a cable winding device, in particular to a cable winding device, belonging to the technical field of power cable. BACKGROUND

[0002] In the production, storage and distribution process of power cable, the cable of a predetermined length needs to be taken out from the unwinding reel and wound on the winding reel. For a long time, workers need to measure and approve the diameter of the cable before winding, and then fix the end of the cable to the winding reel. During the winding process, the winding reel and the unwinding reel need to be rotated at the same time, and the position of the cable relative to the winding reel needs to be controlled to wind the cable on the winding reel as evenly as possible; after winding, the cable needs to be cut. With the expansion of the production scale of the cable, the above-mentioned traditional winding method has the problems of high labor intensity, inaccurate position of the cable relative to the winding reel, and uneven winding caused by the bending of the cable itself, which affects the service life of the cable.

[0003] In order to overcome the above-mentioned disadvantages of the traditional winding method, the Chinese patent document with application number 201310284082.2 discloses a driven heavy cable winding machine with driving force, which can carry a large reel and drive the reel to rotate to complete automatic unwinding and winding, greatly reducing the physical labor required for winding operation, but there are still deficiencies because the tension and position control of the cable during winding are not considered. The Chinese patent document with application number 201911198134.8 discloses an automatic guide intelligent winding machine for cable winding, which has an AVG motion chassis and can automatically find the unwinding reel storage location according to the instructions of the storage management software, complete the steps of winding, metering, cable cutting, film winding and account settlement, and improve the intelligent level of cable storage management, but the winding machine does not realize the diameter measurement and tension control during winding, and depends on a perfect cable storage management system, so the application range is limited. In addition, the Chinese patent document with application number 202020362668.1 discloses a cable winding machine, which maintains the tension between the cable and the winding roller when winding by passing the cable through the entry hole with an elastic pulley, but the winding machine is only suitable for thin cables and small rollers, and cannot perform the winding task of heavy cables.

[0004] In summary, the existing technology more or less has the problems of inaccurate cable position guidance, low straightening and cutting efficiency, manual assistance for diameter measurement, and difficult cable tension control during the cable winding process. SUMMARY

[0005] The present application aims to overcome the deficiencies of the existing technology, and provides a cable winding device that not only guides, straightens and cuts efficiently and reliably, but also measures the diameter without manual intervention and controls the tension evenly, thereby significantly improving the winding efficiency and ensuring the winding quality.

[0006] To achieve the above object, the basic technical scheme of the cable arranging device of the present application is to include a straightening mechanism, a cutting mechanism, a wire diameter measuring mechanism, a tension control mechanism, and a guide mechanism passing through the above mechanisms arranged in sequence on a workbench.

[0007] The wire diameter measuring mechanism includes left and right sliding blocks constituting horizontal moving pairs with a diameter measuring sliding table base, the left and right sliding blocks constituting screw pairs with positive and negative toothed rods driven by a diameter measuring sliding table motor and supported on the diameter measuring sliding table base, and the left and right sliding blocks being respectively provided with left and right feelers to which pressure sensitive films capable of simultaneously touching the passing cable are attached; one end of the diameter measuring sliding table base is provided with a diameter measuring encoder coupled with the positive and negative toothed rods.

[0008] The tension control mechanism includes a flexible arm support body, the lower part of the flexible arm support body constituting a serial hinge with a primary joint body through at least a root joint body, and the upper part of the flexible arm support body being hingedly connected with the root joint body through a telescopic linear drive mechanism, and the root joint body and the primary joint body being respectively hingedly supported with a cross-section inner recessed shaft pulley for transmitting the force of the tension control mechanism to the passing cable.

[0009] Further, the guide mechanism is composed of a set of guide wheels distributed along a straight line at intervals on the tabletop of the workbench, which includes at least a pair of vertical shaft guide pulleys and a pair of horizontal shaft groove pulleys for guiding the passing cable.

[0010] Further, the straightening mechanism is composed of a movable pulley set and a fixed pulley set which can be relatively displaced to tightly touch the passing cable, one of the movable pulley and the fixed pulley has a convex wheel rim and the other has a concave wheel rim, and they are staggered.

[0011] Further, the cutting mechanism includes a pair of vertical shaft meshing cutting gears driven by cutting motors, and the top ends of the gear shafts of the two cutting gears are respectively hingedly connected with cutting knives capable of being closed to cut the passing cable.

[0012] Further, the guide mechanism includes a guide pulley support supporting an upper groove pulley matched with one of the lower groove pulleys, and the guide pulley support is symmetrically provided with left and right vertical shaft guide pulleys at both sides of the inlet end.

[0013] Further, the movable pulley set and the fixed pulley set are composed of a movable pulley mechanism mounted on a T-shaped support and a fixed pulley mechanism mounted on a fixed pulley support; the tabletop is supported with an axial limiting straightening sliding table screw rod driven by a straightening sliding table motor, the straightening sliding table screw rod constituting a screw pair with a screw nut fixed to the bottom of the T-shaped support, and the bottom of the T-shaped support constituting a moving pair with a sliding block fixed thereto and a sliding rail supported on the straightening sliding table.

[0014] Further, the movable pulley mechanism comprises a "[ ]"-shaped cross-section movable pulley support supported on one side of the T-shaped support by the sliding table force sensor, and the movable pulley support supports a group of vertical shaft movable pulleys arranged in sequence.

[0015] Further, the upper middle of the flexible arm support body is fixed with a push rod top support, and the lower part is hinged with two parallel root joint bodies through a bearing seat root joint rotating shaft; one end of the two parallel root joint bodies is hinged with two parallel first joint bodies through a first rotating shaft body with a first rotating shaft pulley in the middle; the other end of the two parallel first joint bodies is hinged with two parallel second joint bodies through a second rotating shaft body with a second rotating shaft pulley in the middle; the other end of the two parallel second joint bodies is installed with a terminal rotating shaft body with a terminal rotating shaft pulley in the middle; the crosspiece between the two parallel root joint bodies is installed with a push rod bottom support in the middle, and the two ends of the telescopic linear drive mechanism are respectively hinged to the push rod top support and the push rod bottom support.

[0016] Further, the rotating shaft bodies of each level are respectively provided with elastic members for keeping the adjacent joint bodies in a linear continuation state.

[0017] In work, the diameter encoder can be used to measure the pulse number of the change in the distance between the left and right pressure sensing membranes when the cable passes between them, and then the diameter data is obtained by conversion. By adjusting the telescopic linear drive mechanism, the required force can be transmitted to each rotating shaft pulley through each pipe clamp body and rotating shaft body, so that the cable is pressed tightly to obtain the required cable tension. Therefore, the cable intelligent winding device of the present application can properly solve the problems of automatic diameter measurement, cable tension regulation, unreliable guidance, straightening, and low cutting efficiency during cable winding, and has complete functions and is suitable for winding various small and heavy cables, which can significantly improve the winding efficiency and ensure the winding quality. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below with reference to the accompanying drawings.

[0019] Figure 1 is a perspective structural schematic diagram of the use state of an embodiment of the present application.

[0020] Figure 2 is Figure 1 a perspective structural schematic diagram of the embodiment.

[0021] Figure 3 is Figure 2 a planar projection structural schematic diagram of the embodiment.

[0022] Figure 4 is Figure 2 a perspective structural schematic diagram of one side of the straightening mechanism of the embodiment.

[0023] Figure 5 is Figure 4 Another perspective view of the structure.

[0024] Figure 6 is Figure 2 Another perspective view of the straightening mechanism of the embodiment.

[0025] Figure 7 is Figure 2 A plan view of the structure of the straightening mechanism of the embodiment.

[0026] Figure 8 is Figure 2 A perspective view of the cutting mechanism of the embodiment.

[0027] Figure 9 is Figure 2 A perspective view of the diameter measuring mechanism of the embodiment.

[0028] Figure 10 is Figure 2 A perspective view of the tension control mechanism of the embodiment.

[0029] Figure 11 is Figure 2 A perspective exploded view of the tension control mechanism of the embodiment.

[0030] Workbench 1, tabletop 1-1, cuboid frame 1-2, electrical cabinet 1-3, operation panel 1-4, guide mechanism 2, guide pulley support 2-1, left leaning wheel 2-2, right leaning wheel 2-3, front groove wheel 2-4, middle groove wheel 2-5, rear groove wheel 2-6, upper groove wheel 2-7, straightening mechanism 3, straightening slide motor 3-1-1, straightening slide motor base 3-1-2, straightening slide shaft coupling 3-1-3, straightening slide screw 3-1-4, screw base one 3-1-5, screw base two 3-1-6, slide rail one 3-1-7, slide rail two 3-1-8, slide rail base one 3-1-9, slide rail base two 3-1-10, slide rail base three 3-1-11, slide rail base four 3-1-12, screw nut 3-1-13, slide block one 3-1-14, slide block two 3-1-15, movable pulley mechanism, T-shaped support 3-2-1, slide force sensor one 3-2-2, slide force sensor two 3-2-3, movable pulley support 3-2-4, movable pulley one 3-2-5, movable pulley two 3-2-6, movable pulley three 3-2-7, movable pulley four 3-2-8, fixed pulley mechanism, fixed pulley support 3-3-1, feed motor one 3-3-2, feed motor two 3-3-3, feed coupling one 3-3-4, feed coupling two 3-3-5, fixed pulley one 3-3-6, fixed pulley two 3-3-7, fixed pulley three 3-3-8, fixed pulley four 3-3-9, cutting mechanism 4, cutting reduction motor 4-1, cutting motor support 4-2, cutting motor coupling 4-3, cutting gear support 4-4, left cutting gear 4-5, right cutting gear 4-6, left cutting knife 4-7, right cutting knife 4-8, left cutting shaft 4-9, right cutting shaft 4-10, wire diameter measurement mechanism 5, diameter measurement slide base 5-1-1, positive and negative tooth screw 5-1-2, left slide block 5-1-3, right slide block 5-1-4, diameter measurement slide motor 5-1-5, diameter measurement coupling two 5-1-6, diameter measurement encoder 5-2, diameter measurement coupling one 5-3, diameter measurement encoder support 5-4, left feeler 5-5, right feeler 5-6, left pressure sensitive film 5-7, right pressure sensitive film 5-8, tension control mechanism 6, flexible arm support body 6-1-1, push rod top support 6-1-2, left bearing seat 6-1-3, right bearing seat 6-1-4, electric push rod base 6-2-1, electric push rod telescopic shaft 6-2-2, push rod connector one 6-2-3, push force sensor 6-2-4, push rod connector two 6-2-5, root joint body 6-3-1, root joint rotating shaft 6-3-2, push rod bottom support 6-3-3, root joint left support pipe 6-3-4, root joint right support pipe 6-3-5, first level joint body 6-4-1, first level joint left support pipe 6-4-2, first level joint right support pipe 6-4-3, second level joint body 6-5-1, second level joint left support pipe 6-5-2, second level joint right support pipe 6-5-3, first level rotating shaft body 6-6-1, first level rotating shaft pulley 6-6-2, first level rotating shaft left torsional spring 6-6-3, first level rotating shaft right torsional spring 6-6-4,Second level rotating shaft body 6-7-1, second level rotating shaft pulley 6-7-2, second level rotating shaft left torsion spring 6-7-3, second level rotating shaft right torsion spring 6-7-4, terminal rotating shaft body 6-8-1, terminal rotating shaft pulley 6-8-2, pay-off reel support 7-1, take-up reel support 7-2, pay-off reel 7-3, take-up reel 7-4. DETAILED DESCRIPTION

[0031] Example One

[0032] The working principle and working process of the present application will be further described in detail below in combination with the drawings and examples.

[0033] The overall structure of the cable intelligent winding device of the present embodiment is shown in Figure 1 、 Figure 2 , which mainly consists of a straightening mechanism 3, a cutting mechanism 4, a wire diameter measuring mechanism 5, a tension control mechanism 6 and a guide mechanism 2 passing through the above mechanisms arranged in order on a workbench 1.

[0034] The workbench 1 is mainly shown in Figure 3 , which consists of a desktop 1-1 fixed on a cuboid frame 1-2, an operation panel 1-4 supported on the desktop and an electrical cabinet 1-3 arranged in the cuboid frame 1-2.

[0035] The guide mechanism 2 is mainly shown in Figure 2 , which includes a horizontal axis front groove wheel 2-4, a middle groove wheel 2-5, a rear groove wheel 2-6 distributed at intervals along a straight line on the desktop 1-1, and a guide pulley support 2-1 supporting an upper groove wheel 2-7 paired with the rear groove wheel 2-6, which is in a three-dimensional gantry structure, and a vertical axis left guide wheel 2-2 and a right guide wheel 2-3 are symmetrically arranged at the entrance end of the guide pulley support 2-1. Thus, it can play a left and right, up and down, and front and back guiding role during the winding process.

[0036] The straightening mechanism 3 is mainly shown in Figure 4 、 Figure 5 、 Figure 6 and Figure 7 , which consists of a movable pulley mechanism and a fixed pulley mechanism respectively installed on opposite T-shaped supports 3-2-1 and fixed pulley supports 3-3-1.

[0037] The output shaft of the straightening slide motor 3-1-1 supported on the straightening slide motor base 3-1-2 on the desktop 1-1 is connected with the straightening slide screw 3-1-4 supported between the screw base one 3-1-5 and the screw base two 3-1-6 through the straightening slide coupling 3-1-3, the straightening slide screw 3-1-4 and the screw nut 3-1-13 fixed on the middle of the bottom of the T-shaped support 3-2-1 constitute a screw pair, the two sides of the bottom of the T-shaped support 3-2-1 are connected with the slide rail one 3-1-7 and the slide rail two 3-1-8 supported on the straightening slide 3-1 through the slide block one 3-1-14 and the slide block two 3-1-15 fixed thereon, the two ends of the slide rail one 3-1-7 and the slide rail two 3-1-8 are correspondingly supported on the slide rail base one 3-1-9, the slide rail base two 3-1-10, the slide rail base three 3-1-11 and the slide rail base four 3-1-12.

[0038] The movable pulley mechanism comprises the "[ ]" shaped cross-section movable pulley support 3-2-4 supported on one side of the T-shaped support 3-2-1 through the slide force sensor one 3-2-2 and the slide force sensor two 3-2-3, the movable pulley support 3-2-4 supports the vertical shaft movable pulley one 3-2-5, the movable pulley two 3-2-6, the movable pulley three 3-2-7 and the movable pulley four 3-2-8 arranged in sequence.

[0039] The fixed pulley mechanism comprises the vertical shaft fixed pulley one 3-3-6, the fixed pulley two 3-3-7, the fixed pulley three 3-3-8 and the fixed pulley four 3-3-9 supported on the fixed pulley support 3-3-1 in sequence, and comprises the feeding motor one 3-3-2 and the feeding motor two 3-3-3 connected with the fixed pulley one 3-3-6 and the fixed pulley three 3-3-8 through the feeding coupling one 3-3-4 and the feeding coupling two 3-3-5 respectively. Since the flanges of the four movable pulleys are convex outward, the flanges of the four fixed pulleys are concave inward, and the four fixed pulleys and the four movable pulleys are relatively staggered, when the movable pulley mechanism is driven to approach the fixed pulley mechanism by the straightening slide motor 3-1-1 through the screw pair, the passing cable can be forcedly constrained and straightened.

[0040] The cutting mechanism 4 is mainly shown in Fig. Figure 8 The cutting gear support 4-4 supported on the desktop 1-1 supports a pair of vertical shaft left cutting gear 4-5 and right cutting gear 4-6 meshing with each other and is fixed with the cutting motor support 4-2. The left cutting gear 4-5 is connected with the cutting reduction motor 4-1 installed on the cutting motor support 4-2 through the cutting motor coupling 4-3, the gear shafts of the left cutting gear 4-5 and the right cutting gear 4-6 are hinged with the left cutting knife 4-7 and the right cutting knife 4-8 through the top ends of the left cutting shaft 4-9 and the right cutting shaft 4-10. Therefore, when the cutting reduction motor 4-1 rotates, the left cutting knife 4-7 and the right cutting knife 4-8 can be driven to swing relatively through the meshing gear pair, and the passing cable can be cut by the cutting edges thereof.

[0041] The wire diameter measuring mechanism 5 mainly includes, for example: Figure 9 As shown, the diameter measuring slide base 5-1-1, mounted on the desktop 1-1, forms a horizontal sliding pair with the left slider 5-1-3 and the right slider 5-1-4, and horizontally supports the diameter measuring slide motor 5-1-5, which is connected to the positive and negative threaded rod 5-1-2 via the diameter measuring coupling 5-1-6. The left slider 5-1-3 and the right slider 5-1-4 have opposing left pressure sensing membranes 5-7 and 5-8 attached to them via left and right contact points 5-5 and 5-6, respectively. The two ends of the positive and negative threaded rod 5-1-2 form a helical pair with the internal threads of the left slider 5-1-3 and the right slider 5-1-4, respectively. At the end of the diameter measuring slide base 5-1-1 furthest from the diameter measuring slide motor 5-1-5, a diameter encoder 5-2, connected to the positive and negative threaded rod 5-1-2 via the diameter measuring encoder bracket 5-4, is mounted. Therefore, when the diameter measuring slide motor 5-1-5 rotates, it can drive the left pressure sensing diaphragm 5-7 and the right pressure sensing diaphragm 5-8 to move relative to each other through the screw pair. Thus, the diameter encoder 5-2 can measure the number of pulses that change the distance between the left pressure sensing diaphragm 5-7 and the right pressure sensing diaphragm 5-8 when the cable passes between them, and then calculate the wire diameter data.

[0042] Tension control mechanism 6 mainly includes Figure 10 and Figure 11 As shown, the upper middle part of the output end of the flexible arm support body 6-1-1 of the three-dimensional gantry structure is fixed with a push rod top support 6-1-2, and the lower two sides of this end are respectively equipped with a left bearing seat 6-1-3 and a right bearing seat 6-1-4. The root joint pivot 6-3-2, supported between the left bearing housing 6-1-3 and the right bearing housing 6-1-4, is hinged to one end of two parallel root joint bodies 6-3-1. The other end of the two parallel root joint bodies 6-3-1 is hinged to one end of two parallel first-stage joint bodies 6-4-1 via a first-stage pivot body 6-6-1 with a first-stage pivot pulley 6-6-2 in the middle. The other end of the two parallel first-stage joint bodies 6-4-1 is hinged to one end of two parallel second-stage joint bodies 6-5-1 via a second-stage pivot body 6-7-1 with a second-stage pivot pulley 6-7-2 in the middle. The other end of the two parallel second-stage joint bodies 6-5-1 is fitted with an end pivot body 6-8-1 with an end pivot pulley 6-8-2 in the middle. All pivot pulleys have a concave cross-section.

[0043] The push rod bottom support 6-3-3 is arranged between the two parallel root joint bodies 6-3-1 adjacent to and parallel to the crosspieces of the primary rotation shaft body 6-6-1. The two ends of the telescopic linear drive mechanism composed of the electric push rod base 6-2-1, the electric push rod telescopic shaft 6-2-2, the push rod connecting piece one 6-2-3, the push force sensor 6-2-4 and the push rod connecting piece two 6-2-5 are respectively hinged to the push rod top support 6-1-2 and the push rod bottom support 6-3-3.

[0044] The primary rotation shaft body 6-6-1 is sleeved with the primary rotation shaft left torsional spring 6-6-3 and the primary rotation shaft right torsional spring 6-6-4 on the left and right sides respectively, and the secondary rotation shaft body 6-7-1 is sleeved with the secondary rotation shaft left torsional spring 6-7-3 and the secondary rotation shaft right torsional spring 6-7-4 on the left and right sides respectively. The root joint body 6-3-1 is fixedly connected with the root joint left support pipe 6-3-4 and the root joint right support pipe 6-3-5; the primary joint body 6-4-1 is fixedly connected with the primary joint left support pipe 6-4-2 and the primary joint right support pipe 6-4-3; and the secondary joint body 6-5-1 is fixedly connected with the secondary joint left support pipe 6-5-2 and the secondary joint right support pipe 6-5-3. The two ends of each torsional spring are respectively constrained to the adjacent support pipes, so that the adjacent joint bodies are kept in a position relationship tending to be linearly continuous.

[0045] In operation, when the electric push rod telescopic shaft 6-2-2 is elongated, the push force is sequentially conducted to the push rod bottom support 6-3-3 through the push rod connecting piece one 6-2-3, the push force sensor 6-2-4 and the push rod connecting piece 6-2-5, and then conducted to the primary rotation shaft body 6-6-1, the secondary rotation shaft body 6-7-1 and the terminal rotation shaft body 6-8-1 through the root joint body 6-3-1, the primary joint body 6-4-1 and the secondary joint body 6-5-1, and then conducted to the primary rotation shaft pulley 6-6-2, the secondary rotation shaft pulley 6-7-2 and the terminal rotation shaft pulley 6-8-2, and finally the push force is converted into the tension of the cable by each rotation shaft pulley compressing the cable. The elongation of the electric push rod telescopic shaft 6-2-2 is directly controlled, so that the push force of the electric push rod is controlled, and finally the indirect control of the cable tension is realized.

[0046] The cable intelligent winding device of the embodiment includes a straightening step, a cutting step, a wire diameter measurement step, a tension winding step and a winding work flow (see Figure 1 ).

[0047] The straightening step includes the following steps:

[0048] S1: Place the cable between the movable pulley mechanism and the fixed pulley mechanism;

[0049] S2: Control the straightening slide motor 3-1-1 to drive the straightening slide screw 3-1-4 to rotate, thereby driving the screw nut 3-1-13, the slide block one 3-1-14, the slide block two 3-1-15 and the movable pulley mechanism to translate towards the fixed pulley mechanism;

[0050] S3: When the movable pulley mechanism is close enough to the fixed pulley mechanism, the cable is clamped and straightened, and the cable pressure can be measured by using the slide force sensor one 3-2-2 and the slide force sensor two 3-2-3.

[0051] The cutting-off step includes the following steps:

[0052] S1: Place the cable between the left cutting-off knife 4-7 and the right cutting-off knife 4-8;

[0053] S2: Control the cutting-off reduction motor 4-1 to drive the left cutting-off shaft 4-9, the left cutting-off gear 4-5 and the left cutting-off knife 4-7 to rotate, and since the left cutting-off gear 4-5 and the right cutting-off gear 4-6 are meshed with each other, the right cutting-off shaft 4-10, the right cutting-off gear 4-6 and the right cutting-off knife 4-8 rotate at the same speed in the opposite direction at this time;

[0054] S3: When the left cutting-off knife 4-7 and the right cutting-off knife 4-8 are meshed, the cable is cut off.

[0055] The wire diameter measurement step includes the following steps:

[0056] S1: If the cable is located between the left feeler 5-5 and the right feeler 5-6, move the cable out;

[0057] S2: Control the diameter measurement slide motor 5-1-5 to drive the left slide block 5-1-3 and the right slide block 5-1-4 to move towards each other until the left pressure sensing film 5-7 and the right pressure sensing film 5-8 are pressed against each other, at which time the pulse number output by the diameter measurement encoder is recorded from zero, and if the left slide block and the right slide block move away from each other, the count is increased, and if they move towards each other, the count is decreased;

[0058] S3: Control the diameter measurement slide motor 5-1-5 to drive the left slide block 5-1-3 and the right slide block 5-1-4 to move away from each other, and when the distance between the left feeler 5-5 and the right feeler 5-6 is large enough, place the cable between the left feeler 5-5 and the right feeler 5-6;

[0059] S4: Control the diameter measurement slide motor 5-1-5 to drive the left slide block 5-1-3 and the right slide block 5-1-4 to move towards each other until the left pressure sensing film 5-7 and the right pressure sensing film 5-8 are simultaneously pressed by the cable, and calculate the cable diameter according to the following formula:

[0060]

[0061] In formula (1), n ​​is the cumulative number of pulses of the diameter encoder, d is the lead of the forward and reverse thread screws, N is the number of pulses emitted by the diameter encoder in one revolution, and Φ is the diameter of the cable being measured.

[0062] The tension cable laying process includes the following steps:

[0063] S1: Control the electric push rod telescopic shaft 6-2-2 to retract to its shortest length, causing the root joint 6-3, primary joint 6-4, secondary joint 6-5, primary rotating shaft 6-6, secondary rotating shaft 6-7 and end rotating shaft 6-8 to swing upward;

[0064] S2: Place the suspended cable directly below the first-stage rotating shaft pulley 6-6-2, the second-stage rotating shaft pulley 6-7-2, and the end rotating shaft pulley 6-8-2;

[0065] S3: The thrust output of the linear drive mechanism 6-1 is the controlled variable, and the movement speed of the electric push rod telescopic shaft 6-2-2 is the control variable. A PID algorithm is used to control the cable tension. A digital controller is used, with time as the control variable. For intervals, execute the following formula:

[0066]

[0067]

[0068] In formula (2), w is the target value of the thrust, and x(k) is the value of the thrust at the th moment. The output value of the thrust sensor 6-2-4 in the kth cycle (positive value is thrust, negative value is tension), e(k) is the thrust error in the kth cycle. In formula (3), Kp is the proportional coefficient, Ti is the integral time, and Td is the derivative time. In the kth cycle, the push rod speed is set to y(k) (positive value represents extension, negative value represents shortening).

[0069] Reference Figure 1 The cabling process includes the following steps:

[0070] S1: Place the pay-off reel bracket 7-1 behind the wire laying machine, place the take-up reel bracket 7-2 in front of the wire laying machine, and install the pay-off reel 7-3 and take-up reel 7-4 on the pay-off reel bracket 7-1 and take-up reel bracket 7-2 respectively.

[0071] S2: Take the cable out of the cable reel 7-3 and insert it into the gap between the left guide wheel 2-2 and the right guide wheel 2-3. The cable passes through the upper groove wheel 2-7, the rear groove wheel 2-6, the straightening mechanism 3, the middle groove wheel 2-5, the cutting mechanism 4, the wire diameter measuring mechanism 5, the front groove wheel 2-4 and the tension control mechanism 6 in sequence in the cable laying machine.

[0072] S3: Fix the front end of the cable on the take-up reel 7-4;

[0073] S4: Measure the cable diameter using the wire diameter measuring mechanism 5;

[0074] S5: Clamp the cable using the straightening mechanism 3;

[0075] S6: Adjust the cable tension to an appropriate size using the tension control mechanism 6.

[0076] S7: Start winding, drive the pay-off reel 7-3 and the take-up reel 7-4 to rotate using the pay-off reel support 7-1 and the take-up reel support 7-2, and the cable is continuously unwound from the pay-off reel 7-3 to the take-up reel 7-4 through the cable laying machine. During winding, the tension control mechanism 6 is used to maintain the cable tension; the feed motor 1 3-3-2 and the feed motor 2 3-3-3 are controlled to rotate to assist the precession of the cable; the take-up reel support 7-2 drives the take-up reel 7-4 to reciprocate along the left and right directions of the cable laying machine to adjust the position of the cable relative to the take-up reel 7-4, so as to ensure the neatness of the winding.

[0077] S8: After winding, cut off the cable using the cutting mechanism 4.

[0078] The test proves that the embodiment has the following characteristics and beneficial effects:

[0079] (1) The straightening mechanism adjusts the distance between the movable pulley and the fixed pulley by using the straightening sliding table, which can adapt to cables of different diameters. The designed fixed pulley rim is concave, and the movable pulley rim is convex, so the movable pulley can closely engage with the fixed pulley, avoiding the problem of mutual interference of the pulleys when the cable is thin. The movable pulley and the fixed pulley are staggered, which can avoid rigid extrusion between them, improve the clamping force adjustment range, and improve the straightening effect.

[0080] (2) The cutting mechanism uses a reduction motor to provide power, and uses left and right symmetrical cutting gears to realize the closing and unfolding of the cutting knife. The operator can complete the cutting of the cable without touching the cable, avoiding heavy physical labor and providing great convenience for winding work.

[0081] (3) The wire diameter measuring mechanism uses a forward and reverse thread rod to realize the expansion and contraction of the diameter measuring mechanism, uses a pressure sensitive film to identify the contact event between the diameter measuring feeler and the cable, and uses an encoder to realize the wire diameter measurement, which can automatically complete the accurate measurement of the cable diameter, and can replace the manual measurement of the wire diameter using a vernier caliper.

[0082] (4) The tension control mechanism uses a linear drive mechanism with force feedback, which indirectly controls the cable tension by automatically controlling the pushing force of the push rod. The buffer action of the elastic joint mechanism enhances the anti-interference ability of the tension control and improves the winding quality.

[0083] The cable arranging work flow realizes the functions of cable guiding, cable clamping and straightening, cable cutting, cable diameter measuring and cable tension control in the winding process, and can complete the cable arranging task with minimum manual intervention, thereby improving the intelligent level of the winding work.

[0084] In addition to the above embodiments, the present application can have other implementation manners. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present application.

Claims

1. A cable laying device, comprising a straightening mechanism (3) and a cutting mechanism (4) arranged sequentially on a workbench (1), characterized in that: It also includes a wire diameter measuring mechanism (5), a tension control mechanism (6), and a guide mechanism (2) that passes through the above mechanisms, which are arranged sequentially on the workbench. The wire diameter measuring mechanism includes a left slider and a right slider that form a horizontal moving pair with the diameter measuring slide base. The left slider and the right slider respectively form a helical pair with a positive and negative threaded rod supported on the diameter measuring slide base and driven by the diameter measuring slide motor. The left slider and the right slider are respectively attached to pressure sensing membranes that can simultaneously touch the cable passing through them through the left and right contact points. A diameter measuring encoder is installed at one end of the diameter measuring slide base and is coupled to the positive and negative threaded rods. The tension control mechanism includes a flexible arm support body. The lower part of the flexible arm support body is connected in series with the primary joint body through at least the root joint body, and the upper part is connected to the root joint body through a telescopic linear drive mechanism. The root joint body and the primary joint body are respectively hinged to a pulley with a concave cross-section that transmits the force of the tension control mechanism to the cable. The upper middle part of the flexible arm support body has a fixed push rod top support, and the lower part has two parallel root joint bodies hinged at one end via a bearing seat root joint pivot. The other end of the two parallel root joint bodies is hinged to one end of the two parallel first-level joint bodies via a first-level pivot body with a first-level pivot pulley in the middle. The other end of the two parallel first-level joint bodies is hinged to one end of the two parallel second-level joint bodies via a second-level pivot body with a second-level pivot pulley in the middle. The other end of the two parallel second-level joint bodies is equipped with an end pivot body with an end pivot pulley in the middle. A push rod bottom support is installed in the middle of the crossbar between the two parallel root joint bodies and parallel to the first-level pivot bodies. The two ends of the telescopic linear drive mechanism are respectively hinged to the push rod top support and the push rod bottom support.

2. The cable laying device according to claim 1, characterized in that: The guiding mechanism consists of a set of guide wheels spaced along a straight line on the workbench surface, including at least a pair of vertical shaft guide wheels that guide the cable and a pair of horizontal shaft groove wheels.

3. The cable laying device according to claim 2, characterized in that: The straightening mechanism consists of a movable pulley group and a fixed pulley group that can be relatively displaced and closely attached to the cable. The rim of one of the movable pulley groups and the rim of the fixed pulley group are convex and the rim of the other are concave, and they are arranged in an alternating manner.

4. The cable laying device according to claim 3, characterized in that: The cutting mechanism includes a pair of vertical shaft meshing cutting gears driven by a cutting motor, and the top ends of the gear shafts of the two cutting gears are respectively hinged with cutting blades that can mesh to cut through the cable.

5. The cable laying device according to claim 4, characterized in that: The guiding mechanism includes a guide pulley bracket that supports an upper grooved wheel that is paired with one of the lower grooved wheels. The left and right guide wheels of the vertical shaft are symmetrically arranged on both sides of the inlet end of the guide pulley bracket.

6. The cable laying device according to claim 5, characterized in that: The movable pulley group and the fixed pulley group are composed of a movable pulley mechanism installed on a T-shaped bracket and a fixed pulley mechanism installed on a fixed pulley bracket, respectively; the tabletop is supported by an axially limiting straightening slide screw driven by a straightening slide motor, and the straightening slide screw and the screw nut fixed to the bottom of the T-shaped bracket form a helical pair; the bottom of the T-shaped bracket forms a sliding pair with the slide rail supported on the straightening slide through a slider fixed thereto.

7. The cable laying device according to claim 6, characterized in that: The movable pulley mechanism includes a movable pulley bracket with a cross-section of "[" supported on one side of the T-shaped bracket by a slide force sensor, and the movable pulley bracket supports a set of vertical shaft movable pulleys arranged in sequence.

8. The cable laying device according to claim 7, characterized in that: Each of the rotating shaft bodies is equipped with an elastic element that makes the adjacent joint bodies tend to maintain a straight line continuity.

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