A method, apparatus, electronic device, and storage medium for reversing the direction of a cabling device.

Abstract

This application provides a method, apparatus, electronic device, and storage medium for turning a cable tray, applied in the field of strapping production technology. The method uses a flexible motion control method to control the speed of the cable tray during the strapping winding process, making the turning process smoother and avoiding winding quality issues at the turning point. However, this flexible motion control method can lead to displacement lag in the cable tray; that is, when the winding roller rotates one revolution, the displacement distance of the cable tray does not meet a bandwidth length. Therefore, a first acceleration phase compensation is needed to compensate for the speed of the cable tray during the flexible motion control, so that the cable tray moves one bandwidth length when the winding roller rotates one revolution, improving the winding quality of the strapping at the turning point.

Description

Technical Field

[0001] This application relates to the field of strapping production technology, and in particular to a method, apparatus, electronic device and storage medium for turning a cable routing device. Background Technology

[0002] During the winding process of the packing tape, the winding motion and the cable laying motion are synchronized by pulse signals through an encoder, and an electronic gear ratio is set on the servo drive or motion PLC. The electronic gear ratio matches the packing tape size and paper core width parameters set on the human-machine interface, so that when the winding roller rotates one revolution, the cable laying device moves one bandwidth distance. The width of the paper core is set according to the winding requirements, so the cable laying device needs to turn from one end of the paper core to the other end of the paper core. This process is repeated, and the cable laying device performs a reciprocating lateral movement.

[0003] In existing technologies, the steering of the cable tray is usually a hard steering, which is a T-shaped steering in motion control. The steering acceleration is fixed, and the movement is negative constant deceleration during the turn and positive constant acceleration during the sudden turn. Due to the mechanical inertia of the cable tray, the delayed response of the servo motor, the inertia of the steering motion, and other factors, the rapid hard steering can cause quality problems such as burrs, unwinding, uneven winding, etc., in the turning position of the packing strap. It can even cause severe bending of the packing strap at the turning position.

[0004] Therefore, the existing technology has the problem that the winding device turns abruptly, resulting in poor winding quality of the packing tape at the turning position. Summary of the Invention

[0005] In view of the shortcomings of the prior art, this application provides a winding device turning method, device, electronic equipment and storage medium, applied in the field of packing strap production technology. The winding device's speed is controlled during the packing strap winding process using a flexible motion control method, making the turning of the winding device smoother and avoiding winding quality problems at the turning point. However, because the flexible motion control method causes displacement lag in the winding device—that is, when the winding roller rotates one revolution, the displacement distance of the winding device does not meet a bandwidth length—it is necessary to compensate for the speed of the winding device in a first acceleration stage while simultaneously controlling the flexible motion of the winding device. This allows the winding device to move one bandwidth length when the winding roller rotates one revolution, improving the winding quality of the packing strap at the turning point.

[0006] In a first aspect, this application provides a method for steering a cable winding device. This method controls the speed of the cable winding device during the winding process. The method includes an S-curve control method, and the winding cable winding steering flexible motion control method includes an acceleration phase, a uniform acceleration phase, a deceleration phase, a constant speed phase, an acceleration / deceleration phase, a uniform deceleration phase, and a deceleration / deceleration phase. The method includes the following steps:

[0007] When the distance between the wiring device and the turning point is a bandwidth length, the wiring device is controlled to enter the acceleration and deceleration stage, the uniform deceleration stage and the deceleration and deceleration stage sequentially from the uniform speed stage.

[0008] The steps for controlling the cable routing device to sequentially enter the acceleration / deceleration phase, the uniform deceleration phase, and the deceleration / deceleration phase from the constant speed phase include:

[0009] The control device moves from the constant speed stage to the first acceleration stage, and then sequentially into the acceleration and deceleration stage, the uniform deceleration stage, and the deceleration stage, so that the device moves one bandwidth length when the winding drum rotates one revolution.

[0010] The aforementioned method for turning a cable tray allows for real-time acquisition of the cable tray's position during the flexible motion control process. When the distance between the cable tray and the turning point is one bandwidth length, to ensure smooth turning and prevent the strapping from exceeding the width of the winding roller during winding due to excessive speed, thus ensuring substandard winding quality, the speed of the cable tray needs to be reduced. This reduction process involves sequentially entering an acceleration / deceleration phase, a uniform deceleration phase, and a slowdown phase. However, continuous deceleration can prevent the cable tray from displacing exactly one bandwidth length during one revolution of the winding roller. Therefore, a first acceleration phase is required before the deceleration phase to compensate for the displacement error of the cable tray, ensuring that the cable tray moves one bandwidth length during one revolution of the winding roller. Thus, this method for turning a cable tray effectively improves the winding quality of the strapping through smooth turning control.

[0011] Preferably, in the cable routing device steering method provided in this application, the steps of controlling the cable routing device to sequentially enter the first acceleration stage from the constant speed stage include:

[0012] The winding speed of the winding roller, the speed information of the winding device, and the first speed threshold preset by the winding device are obtained; the first speed threshold is greater than the winding speed.

[0013] When the speed information is greater than or equal to the winding speed but less than the first speed threshold, it runs at the first acceleration.

[0014] In the aforementioned method for steering the winding device, the speed of the winding device during the constant speed phase is equal to the winding speed of the take-up roller. However, after the winding device enters the first acceleration phase, its speed increases significantly beyond the winding speed of the take-up roller. Therefore, the speed of the winding device increases in real-time during this first acceleration phase. To prevent the speed increase from exceeding the required speed value for displacement compensation, a first speed threshold can be preset. When the speed reaches this threshold, it indicates that displacement compensation for the winding device has been completed during the first acceleration phase. Therefore, when the speed is greater than or equal to the winding speed but less than the first speed threshold, the device can operate at the first acceleration, ensuring the accuracy of displacement compensation.

[0015] Preferably, this application provides a method for steering a cable routing device, comprising the following steps after controlling the cable routing device to sequentially enter an acceleration / deceleration phase, a uniform deceleration phase, and a deceleration / deceleration phase from a constant speed phase:

[0016] The control cable routing device enters the acceleration phase, uniform acceleration phase, and deceleration phase sequentially from the turning point in the opposite direction to the deceleration phase.

[0017] In the aforementioned method for turning a winding device, after the winding device reaches the turning point during the deceleration phase, it needs to reverse its speed direction and move in the opposite direction to a distance of one bandwidth from the turning point. When the winding device reaches this distance, its speed should be equal to the speed of the take-up roller to ensure uniform operation thereafter. Therefore, after reaching the turning point, the winding device needs to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase from the turning point in the opposite direction to the deceleration phase.

[0018] Preferably, this application provides a method for steering a cable routing device, comprising the steps of controlling the cable routing device from a steering point to sequentially enter an acceleration phase, a uniform acceleration phase, and a deceleration phase in a direction opposite to the speed direction of the deceleration phase, including:

[0019] The control device moves from the turning point in the opposite direction to the deceleration phase, sequentially into the acceleration phase, the uniform acceleration phase, and the deceleration phase, and then into the second deceleration phase, so that the device moves one bandwidth length when the winding drum rotates one revolution.

[0020] In the above-described method for turning the cable tray, the speed information of the cable tray is 0 when it reaches the turning point after the deceleration phase. After turning at the turning point, the cable tray accelerates to make its speed information match the winding speed of the winding roller at a distance of one bandwidth from the turning point. However, if the acceleration is maintained continuously, the displacement of the cable tray will exceed one bandwidth length when the winding roller rotates once, which will further reduce the winding quality. Therefore, it is necessary to compensate for the displacement of the accelerated movement of the cable tray, that is, to accelerate and then enter the second deceleration phase, so that the cable tray moves one bandwidth length when the winding roller rotates once, thereby improving the winding quality of the packing tape.

[0021] Preferably, this application provides a method for steering a cable routing device, comprising controlling the cable routing device from a steering point to sequentially enter an acceleration phase, a uniform acceleration phase, and a deceleration phase in a direction opposite to the speed direction of the deceleration phase, and then enter a second deceleration phase, including the following steps:

[0022] Obtain the speed information of the winding device and the preset second speed threshold of the winding device; the second speed threshold is greater than the winding speed of the take-up roller;

[0023] When the speed information is less than the second speed threshold, the control cable laying device sequentially enters the acceleration phase, the uniform acceleration phase, and the deceleration phase.

[0024] When the speed information equals the second speed threshold, the control cable routing device enters the second deceleration stage and decelerates at the second acceleration.

[0025] Preferably, this application provides a method for steering a cabling device, wherein when the speed information is less than a second speed threshold, the step of controlling the cabling device to sequentially enter an acceleration phase, a uniform acceleration phase, and a deceleration phase further includes:

[0026] Obtain the preset third speed threshold and the winding speed of the winding roller;

[0027] When the speed information is less than the winding speed, it accelerates with the third acceleration.

[0028] When the speed information is greater than or equal to the winding speed, but less than the third speed threshold, it will accelerate uniformly with the fourth acceleration.

[0029] When the speed information is greater than or equal to the third speed threshold and less than the second speed threshold, it accelerates at the fifth acceleration. The winding speed is less than the third speed threshold and the third speed threshold is less than the second speed threshold.

[0030] Preferably, this application provides a method for steering a cable routing device, wherein the step of obtaining a preset third speed threshold further includes:

[0031] Obtain the shortest running time and shortest running path for the wiring device to smoothly transition from the uniform acceleration phase to the deceleration phase;

[0032] The third speed threshold is calculated based on the shortest running time, the shortest running path, and the second speed threshold.

[0033] Secondly, this application provides a cable routing device steering mechanism, the mechanism comprising:

[0034] Control module: Used to control the cable laying device to sequentially enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration / deceleration stage when the distance between the cable laying device and the turning point is one bandwidth length;

[0035] The control module is also used to control the winding device to enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage sequentially from the uniform speed stage when the distance between the winding device and the turning point is one bandwidth length. Specifically, it controls the winding device to enter the first acceleration stage from the uniform speed stage, and then enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage, so that the winding device moves one bandwidth length when the winding drum rotates one revolution.

[0036] Thirdly, this application provides an electronic device including a processor and a memory storing computer-readable instructions that, when executed by the processor, perform the steps of the method provided in the first aspect above.

[0037] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the method provided in the first aspect above.

[0038] Beneficial Effects: The present application provides a method, apparatus, electronic device, and storage medium for steering a cable tray. During the flexible motion control of the cable tray during winding, the position of the cable tray can be acquired in real time. When the distance between the cable tray and the steering point is one bandwidth length, to ensure smooth steering and prevent the packing tape from exceeding the width of the winding roller during winding due to excessive speed, thus affecting winding quality, the speed of the cable tray needs to be reduced. The speed reduction process involves transitioning from a constant speed stage to an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration / deceleration stage. However, continuous deceleration can prevent the cable tray from displacing exactly one bandwidth length during one revolution of the winding roller. Therefore, a first acceleration stage is needed before the deceleration stage to compensate for the displacement error of the cable tray, ensuring that the cable tray moves one bandwidth length during one revolution of the winding roller. Therefore, this method has the beneficial effect of improving the winding quality of the packing tape through smooth steering control. Attached Figure Description

[0039] Figure 1 The speed and time graphs of the wiring device provided in this application, from the uniform speed stage to the first acceleration stage, and then sequentially to the acceleration and deceleration stage, the uniform deceleration stage, and the deceleration and deceleration stage.

[0040] Figure 2 The cable routing device provided in this application enters the acceleration phase, uniform acceleration phase, and deceleration phase sequentially from the turning point in a direction opposite to the speed direction of the deceleration phase.

[0041] Figure 3 The speed and time image of a wiring device provided in this application.

[0042] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0043] Labeling explanations: 301, processor; 302, memory; 303, communication bus; 3, electronic device. Detailed Implementation

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and marked in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0045] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0046] The following disclosure provides many different implementation methods or examples to achieve the objectives of the present invention and solve the problems existing in the prior art. During the winding process of packing tape, because the prior art uses a T-curve control method based on kinematics to control the turning of the cable winding device, the cable winding device, due to its own mechanical inertia and the delayed response of the servo motor, will produce a rapid and hard turn, further leading to serious quality problems such as burrs, unwinding, uneven winding, and bending of the packing tape at the turning position. To solve this problem, this application provides a method, apparatus, electronic device, and storage medium for turning a cable winding device, specifically:

[0047] This application provides a method for turning a cable tray device. This method is applied in the field of strapping production technology. It controls the speed of the cable tray device during the strapping winding process using a flexible motion control method, making the turning process smoother and avoiding winding quality issues at the turning point. However, because the flexible motion control method causes displacement lag in the cable tray device—meaning the displacement distance of the cable tray device does not meet a bandwidth length requirement when the winding roller rotates one revolution—it is necessary to compensate for the speed of the cable tray device during the flexible motion control process. This allows the cable tray device to move one bandwidth length when the winding roller rotates one revolution, improving the winding quality of the strapping at the turning point.

[0048] A method for reversing a cabling device according to an embodiment of this application includes the following steps:

[0049] When the distance between the wiring device and the turning point is a bandwidth length, the wiring device is controlled to enter the acceleration and deceleration stage, the uniform deceleration stage and the deceleration and deceleration stage sequentially from the uniform speed stage.

[0050] The steps for controlling the cable routing device to sequentially enter the acceleration / deceleration phase, the uniform deceleration phase, and the deceleration / deceleration phase from the constant speed phase include:

[0051] The control device moves from the constant speed stage to the first acceleration stage, and then sequentially into the acceleration and deceleration stage, the uniform deceleration stage, and the deceleration stage, so that the device moves one bandwidth length when the winding drum rotates one revolution.

[0052] This method controls the speed of the winding device during the winding process. The winding device moves laterally along the paper core on the winding roller. The paper core is laterally positioned on the winding roller, and its width is set according to the winding requirements, typically an integer multiple of the winding bandwidth. The turning point is the end point of the paper core; since the winding device reciprocates along the width of the paper core, both ends of the paper core are turning points. The bandwidth length is the bandwidth length of the currently winding packing tape. The acceleration / deceleration phase is a deceleration phase in the winding winding turning flexible motion control where the acceleration direction is negative and the acceleration value is continuously increasing. The deceleration phase is a deceleration phase in the winding winding turning flexible motion control where the acceleration direction is negative and the acceleration value is continuously decreasing.

[0053] In actual operation, during winding, the winding roller starts before the winding device. Before the winding device starts, the servo motor controls the winding device to run to one end of the paper core and align with that end. Taking the position aligned with the end of the paper core before the winding device starts as the origin, the winding device is started. The winding winding device speed information is controlled by the winding winding turning flexible motion control to enter the acceleration stage, the uniform acceleration stage, and the deceleration stage sequentially from 0. When the winding roller rotates one revolution, the winding device is exactly displaced by one bandwidth length. At a position one bandwidth length away from the origin, the speed information of the winding device is equal to the winding speed, and it moves at a uniform speed towards the other end of the paper core (turning point) at the same speed information equal to the winding speed. This uniform speed movement continues until the winding device is one bandwidth length away from the turning point. Then, the control system sequentially enters the acceleration / deceleration phase, the uniform deceleration phase, and the deceleration phase from the constant speed phase to reach the turning point. However, during the deceleration process, it cannot be guaranteed that the winding device will reach the turning point exactly when the winding roller completes one revolution, as its actual displacement is less than a bandwidth. Therefore, a first acceleration phase is required before this deceleration process to compensate for the displacement error of the winding device during deceleration, ensuring that the winding device moves one bandwidth length when the winding roller completes one revolution, reaching the turning point. Furthermore, in some preferred embodiments, to ensure smooth turning of the winding device and to guarantee the winding quality of the packing tape at the turning point, the speed of the winding device is controlled to be 0 when it reaches the turning point, minimizing the influence of the mechanical inertia of the winding device and making the turning device more stable. See details... Figure 1 This is a speed-time graph of the cabling device running in the forward direction. The horizontal axis represents time t, and the vertical axis represents the speed ratio v. Figure 1Taking the indicated direction as an example, the line segments from left to right represent the acceleration process, the second deceleration stage, the constant velocity stage, the first acceleration stage, and the deceleration process, respectively. The acceleration process includes an acceleration-increase stage, a uniform acceleration stage, and a deceleration stage. The velocity information corresponding to the highest point of the vertical axis velocity ratio is the first velocity threshold. The deceleration process includes an acceleration-deceleration stage, a uniform deceleration stage, and a deceleration-deceleration stage. The acceleration-increase stage actually refers to the acceleration stage where acceleration increases, and the deceleration stage actually refers to the acceleration stage where acceleration decreases.

[0054] In some preferred embodiments, the step of controlling the cable laying device to enter the first acceleration phase from the constant speed phase includes:

[0055] The winding speed of the winding roller, the speed information of the winding device, and the first speed threshold preset by the winding device are obtained; the first speed threshold is greater than the winding speed.

[0056] When the speed information is greater than or equal to the winding speed but less than the first speed threshold, it runs at the first acceleration.

[0057] In this process, the first acceleration phase compensates for the fact that the winding device does not completely offset the distance of the bandwidth when the take-up roller completes one revolution during the subsequent deceleration. Therefore, the speed of the winding device will be greater than the winding speed of the take-up roller during the first acceleration phase. To ensure that the displacement distance of the winding device in the first acceleration phase exactly compensates for the displacement during the subsequent deceleration, a preset first speed threshold needs to be set for the winding device. This preset first speed threshold is the maximum speed allowed for the winding device to operate, and it can be calculated using the displacement-speed relationship. Specifically, the calculation method is as follows: obtain the total time for the take-up roller to complete one revolution, the bandwidth length, and the displacement length of the deceleration motion. Subtracting the displacement length of the deceleration motion from the bandwidth length yields the compensation displacement distance. Subtracting the deceleration time from the total time yields the compensation displacement time. Substituting the compensation displacement time, compensation displacement distance, and speed information during uniform motion into the displacement-speed relationship, the preset first speed threshold can be obtained. The displacement-speed relationship is an existing mathematical formula and will not be described in detail here. Similarly, the first acceleration can be calculated based on the time of the compensation displacement, the first velocity threshold, and the velocity information during uniform motion.

[0058] In some preferred embodiments, the steps for controlling the cable laying device to sequentially enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration / deceleration stage from the constant speed stage include:

[0059] The control cable routing device enters the acceleration phase, uniform acceleration phase, and deceleration phase sequentially from the turning point in the opposite direction to the deceleration phase.

[0060] In practical applications, when the winding device reaches the turning point after the deceleration phase, its speed is 0. Taking the direction of operation during this deceleration phase as positive, the winding device changes direction at the turning point, moving in the negative direction towards the other end of the paper core. During the movement of the winding device from the turning point to a distance of one bandwidth, to ensure smooth turning without affecting the winding quality of the packing tape, and to ensure that the speed of the winding device equals the winding speed at a distance of one bandwidth from the turning point, the winding device can be controlled to sequentially enter the acceleration phase, uniform acceleration phase, and deceleration phase from the turning point in reverse order. Using a flexible motion control method to control the turning speed makes the winding device turn more smoothly, avoiding problems such as the packing tape flying or unwinding during winding at the turning point.

[0061] In some preferred embodiments, the step of controlling the cable routing device to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase from the turning point in a direction opposite to the speed direction of the deceleration phase includes:

[0062] The control device moves from the turning point in the opposite direction to the deceleration phase, sequentially into the acceleration phase, the uniform acceleration phase, and the deceleration phase, and then into the second deceleration phase, so that the device moves one bandwidth length when the winding drum rotates one revolution.

[0063] In practical applications, the speed information of the assembly device enters the acceleration process after turning, starting from 0. Furthermore, the speed information at a distance of one bandwidth from the turning point is equal to the winding speed. Therefore, if the speed information during this acceleration process is consistently less than the winding speed, the assembly device cannot displace one bandwidth when the winding roller completes one revolution. Consequently, during this acceleration process, the speed information of the assembly device reaches a second speed threshold, which is greater than the winding speed. However, if this acceleration process continues, the assembly device will exceed one bandwidth when the winding roller completes one revolution. Therefore, it is necessary to compensate for the displacement exceeding one bandwidth during this acceleration process. Specifically, during the acceleration process, when the speed information of the assembly device equals the second speed threshold, it enters a second deceleration stage, causing the assembly device to move one bandwidth when the winding roller completes one revolution, thus improving the winding quality of the packing tape.

[0064] Therefore, in some preferred embodiments, the step of controlling the cable routing device to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase from the turning point in the opposite direction to the deceleration phase, and then enter the second deceleration phase includes:

[0065] Obtain the speed information of the winding device and the preset second speed threshold of the winding device; the second speed threshold is greater than the winding speed of the take-up roller;

[0066] When the speed information is less than the second speed threshold, the control cable laying device sequentially enters the acceleration phase, the uniform acceleration phase, and the deceleration phase.

[0067] When the speed information equals the second speed threshold, the control cable routing device enters the second deceleration stage and decelerates at the second acceleration.

[0068] During the reverse motion, the speed information of the winding device and a preset second speed threshold are acquired. The calculation method for the preset second speed threshold is the same as that for the preset first speed threshold, and the value of the second speed threshold is equal to that of the first speed threshold. In practical applications, it can be approximately 1.5 times the speed of the winding roller. The specific data needs to be calculated based on the actual situation. (See details...) Figure 2 This is a speed-time graph of the wiring device running in the reverse direction, with the horizontal axis representing time t and the vertical axis representing the speed ratio v. Figure 2 Taking the direction shown as an example, the line segments from left to right represent the acceleration process, the second deceleration stage, the constant speed stage, the first acceleration stage, and the deceleration process, respectively. The acceleration process includes an acceleration-acceleration stage, a constant acceleration stage, and a deceleration stage. The velocity information corresponding to the lowest point of the vertical axis velocity is the second velocity threshold. The second velocity threshold is numerically equal to the first velocity threshold. The negative sign in this image only indicates that the direction of movement of the wiring device is reversed and is not included in the calculation of velocity information, etc. The second acceleration is calculated using the second velocity threshold, the velocity information of the constant speed stage, and the distance of displacement required in the second deceleration stage.

[0069] In some preferred embodiments, when the speed information is less than the second speed threshold, the step of controlling the cable laying device to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase further includes:

[0070] Obtain the preset third speed threshold and the winding speed of the winding roller;

[0071] When the speed information is less than the winding speed, it accelerates with the third acceleration.

[0072] When the speed information is greater than or equal to the winding speed, but less than the third speed threshold, it will accelerate uniformly with the fourth acceleration.

[0073] When the speed information is greater than or equal to the third speed threshold and less than the second speed threshold, it accelerates at the fifth acceleration. The winding speed is less than the third speed threshold and the third speed threshold is less than the second speed threshold.

[0074] In real-time applications, the third speed threshold is the maximum speed information during the uniform acceleration phase. During acceleration, when the speed information is less than the winding speed, a larger third acceleration is required to accelerate the device quickly to reach the winding speed, improving winding efficiency. To prevent the device from continuously operating at a high third acceleration, which could lead to uneven winding of the strapping, a fourth acceleration is used when the speed information is greater than or equal to the winding speed but less than the third speed threshold. This fourth acceleration is less than the third acceleration. By slowing down the acceleration of the device, the length of time the device travels within a specified time is reduced, ensuring that the strapping can be wound smoothly as the winding roller rotates. Since the difference between the third speed threshold and the second speed threshold is small in actual operation, in order to avoid the influence of the mechanical inertia of the winding device on its displacement, when the speed information is greater than or equal to the third speed threshold but less than the second speed threshold, it accelerates with a fifth acceleration. The fifth acceleration is less than the fourth acceleration, so that the speed information of the winding device slowly reaches the second speed threshold with a smaller acceleration. In this process, the speed control of the winding device is more precise, thereby ensuring higher winding quality.

[0075] In some preferred embodiments, the step of obtaining the preset third speed threshold further includes:

[0076] Obtain the shortest running time and shortest running path for the wiring device to smoothly transition from the uniform acceleration phase to the deceleration phase;

[0077] The third speed threshold is calculated based on the shortest running time, the shortest running path, and the second speed threshold.

[0078] In practical applications, the shortest running time and shortest running path of the wiring device smoothly transitioning from the uniform acceleration phase to the deceleration phase can be obtained from historically stored data. Under the condition that the mechanical inertia of the wiring device does not affect its displacement, its running time and running path in the uniform acceleration phase are the shortest running time and shortest running path. Substituting the shortest running time, shortest running path, and initial velocity information when entering the uniform acceleration phase into the relationship between displacement and velocity, the third acceleration threshold can be calculated.

[0079] Among them, with Figure 3 For example, the diagram shows the speed and time of the cable laying device from the origin (which is the turning point at the other end), through the acceleration process, the second deceleration stage, the constant speed stage, the first acceleration stage, the deceleration process reaching the turning point, the reverse acceleration process, the second deceleration stage, the constant speed stage, the first acceleration stage, and the deceleration process reaching the origin (the turning point at the other end). In practical applications, the cable laying device performs reciprocating motion in this manner.

[0080] As can be seen from the above, this application provides a method for turning a cable tray. During the flexible motion control of the cable tray during winding and turning, the position of the cable tray can be acquired in real time. When the distance between the cable tray and the turning point is one bandwidth length, in order to ensure that the cable tray can turn smoothly and that the packing tape does not exceed the width of the winding roller due to excessive speed, resulting in substandard winding quality, it is necessary to reduce the speed of the cable tray. The speed reduction process involves transitioning from a constant speed stage to an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration / deceleration stage. However, since continuous speed reduction will prevent the cable tray from displacing exactly one bandwidth length when the winding roller rotates one revolution, a first acceleration stage is needed before the deceleration stage to compensate for the displacement error of the cable tray, so that the cable tray moves one bandwidth length when the winding roller rotates one revolution. Therefore, this method has the beneficial effect of improving the winding quality of the packing tape through a smooth turning control method.

[0081] This application provides a cable routing device steering mechanism, the mechanism comprising:

[0082] Control module: Used to control the cable laying device to sequentially enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration / deceleration stage when the distance between the cable laying device and the turning point is one bandwidth length;

[0083] The control module is also used to control the winding device to enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage sequentially from the uniform speed stage when the distance between the winding device and the turning point is one bandwidth length. Specifically, it controls the winding device to enter the first acceleration stage from the uniform speed stage, and then enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage, so that the winding device moves one bandwidth length when the winding drum rotates one revolution.

[0084] In practical applications, during winding, the winding roller starts before the winding device. Before the winding device starts, the servo motor controls the winding device to run to one end of the paper core and align with that end. Taking the position aligned with the end of the paper core before the winding device starts as the origin, the winding device is started. The winding winding device speed information enters the acceleration stage, uniform acceleration stage, and deceleration stage using the flexible motion control of winding winding. When the winding roller rotates one revolution, the winding device is exactly displaced by one bandwidth length. At a position one bandwidth length away from the origin, the speed information of the winding device is equal to the winding speed, and it moves at a uniform speed towards the other end of the paper core (turning point) at the same speed information equal to the winding speed. This uniform speed movement continues until the winding device is one bandwidth length away from the turning point. Then, the control system moves from a constant speed stage to an acceleration / deceleration stage, a constant deceleration stage, and a deceleration stage until it reaches the turning point. However, during the deceleration process, it cannot be guaranteed that the winding device will reach the turning point exactly when the winding roller completes one revolution, as its actual displacement is less than a bandwidth. Therefore, a first acceleration stage is required before this deceleration process to compensate for the displacement error of the winding device during deceleration, so that the winding device moves one bandwidth length when the winding roller completes one revolution and reaches the turning point. Furthermore, in some preferred embodiments, to ensure that the winding device can turn smoothly and that the winding quality of the packing tape at the turning point meets the standard, the speed information of the winding device is controlled to be 0 when it reaches the turning point, minimizing the influence of the mechanical inertia of the winding device and making the winding device more stable when turning.

[0085] In practical applications, since the first acceleration phase compensates for the displacement of the winding device during the subsequent deceleration, the speed of the winding device will be greater than the winding speed of the take-up roller during this phase. To ensure that the displacement distance of the winding device in the first acceleration phase precisely compensates for the displacement during the subsequent deceleration, a preset first speed threshold needs to be set for the winding device. This preset first speed threshold is the maximum speed allowed for the winding device and can be calculated using the displacement-speed relationship. Specifically, the calculation method is as follows: obtain the total time for one revolution of the take-up roller, the bandwidth length, and the displacement length during deceleration. Subtracting the displacement length during deceleration from the bandwidth length yields the compensation displacement distance. Subtracting the deceleration time from the total time yields the compensation displacement time. Substituting the compensation displacement time, compensation displacement distance, and speed information during uniform motion into the displacement-speed relationship yields the preset first speed threshold. The displacement-speed relationship is an existing mathematical formula and will not be described in detail here. Similarly, the first acceleration can be calculated based on the compensation displacement time, the first speed threshold, and the speed information during uniform motion.

[0086] In practical applications, when the winding device reaches the turning point after the deceleration phase, its speed is 0. Taking the direction of operation during this deceleration phase as positive, the winding device changes direction at the turning point, moving in the negative direction towards the other end of the paper core. During the movement of the winding device from the turning point to a distance of one bandwidth, to ensure smooth turning without affecting the winding quality of the packing tape, and to ensure that the speed of the winding device equals the winding speed at a distance of one bandwidth from the turning point, the winding device can be controlled to reverse from the turning point into an acceleration phase, a uniform acceleration phase, and a deceleration phase. Using a flexible motion control method to control the turning speed makes the winding device turn more smoothly, avoiding problems such as the packing tape flying or unwinding during winding at the turning point.

[0087] In practical applications, since the winding device enters an acceleration process after turning, if it continues to operate in this acceleration process, the winding device will exceed one bandwidth length when the winding roller rotates one revolution. Therefore, it is necessary to compensate for the displacement during the acceleration process. Specifically, during the acceleration process, when the speed information of the winding device is equal to the second speed threshold, it enters the second deceleration stage, so that the winding device moves one bandwidth length when the winding roller rotates one revolution, thereby improving the winding quality of the packing tape.

[0088] As can be seen from the above, this application provides a steering device for a cable management device. During the flexible motion control of the cable management device during winding, the position of the cable management device can be acquired in real time. When the distance between the cable management device and the steering point is one bandwidth length, to ensure that the cable management device can smoothly turn without the packing tape exceeding the width of the winding roller due to excessive speed, thus preventing substandard winding quality, it is necessary to reduce the speed of the cable management device. The speed reduction process involves transitioning from a constant speed stage to an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration / deceleration stage. However, since continuous speed reduction may prevent the cable management device from displacing exactly one bandwidth length when the winding roller rotates one revolution, a first acceleration stage is needed before the deceleration stage to compensate for the displacement error of the cable management device, ensuring that the cable management device moves one bandwidth length when the winding roller rotates one revolution. Therefore, this device has the beneficial effect of improving the winding quality of the packing tape through a smooth steering control method.

[0089] Please refer to Figure 4 , Figure 4This application provides a schematic diagram of the structure of an electronic device 3, comprising: a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanism (not shown). The memory 302 stores computer-readable instructions executable by the processor 301. When the electronic device is running, the processor 301 executes the computer-readable instructions to execute the method in any optional implementation of the above embodiments to achieve the following function: when the distance between the wiring device and the turning point is a bandwidth length, control the wiring device to enter from a constant speed stage to an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration stage; the steps of controlling the wiring device to enter from a constant speed stage to an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration stage include: controlling the wiring device to enter from a constant speed stage to a first acceleration stage, and then to an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration stage, so that the wiring device moves a bandwidth length when the winding drum rotates one revolution.

[0090] This application provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it performs the method in any optional implementation of the above embodiments to achieve the following function: when the distance between the winding device and the turning point is a bandwidth length, controlling the winding device to enter from a constant speed stage to an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration stage; the step of controlling the winding device to enter from the constant speed stage to the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage includes: controlling the winding device to enter from the constant speed stage to a first acceleration stage, and then to the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage, so that the winding device moves a bandwidth length when the winding drum rotates one revolution.

[0091] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0092] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0093] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0095] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0096] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for steering a cable winding device, used to control the speed of the cable winding device during the winding process, the method comprising a flexible motion control method for steering the winding cable, the flexible motion control method for steering the winding cable including an acceleration phase, a uniform acceleration phase, a deceleration phase, a uniform speed phase, an acceleration / deceleration phase, a uniform deceleration phase, and a deceleration / deceleration phase, characterized in that, The method includes the following steps: When the distance between the cable routing device and the turning point is a bandwidth length, the cable routing device is controlled to sequentially enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration / deceleration stage from the constant speed stage. The step of controlling the cable laying device to sequentially enter the acceleration / deceleration phase, the uniform deceleration phase, and the deceleration phase from the constant speed phase includes: The winding device is controlled to enter the first acceleration stage from the constant speed stage, and then sequentially enter the acceleration and deceleration stage, the constant deceleration stage, and the deceleration stage, so that the winding device moves one bandwidth length when the winding roller rotates one revolution.

2. The method for turning a cable routing device according to claim 1, characterized in that, The step of controlling the cable laying device to enter the first acceleration phase from the constant speed phase includes: The winding speed of the winding roller, the speed information of the winding device, and a preset first speed threshold of the winding device are obtained; the first speed threshold is greater than the winding speed. When the speed information is greater than or equal to the winding speed but less than the first speed threshold, the cable laying device is controlled to operate at the first acceleration.

3. The method for turning a cable routing device according to claim 1, characterized in that, The steps for controlling the cable laying device to sequentially enter the acceleration / deceleration phase, the uniform deceleration phase, and the deceleration phase from the constant speed phase include: The cable routing device is controlled to enter the acceleration phase, the uniform acceleration phase, and the deceleration phase sequentially from the turning point in a direction opposite to the speed direction of the deceleration phase.

4. The method for turning a cable routing device according to claim 3, characterized in that, The step of controlling the cable routing device to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase from the turning point in a direction opposite to the speed direction of the deceleration phase includes: The winding device is controlled to move from the turning point in the opposite direction to the deceleration phase, sequentially entering the acceleration phase, the uniform acceleration phase, and the deceleration phase, and then entering the second deceleration phase, so that the winding device moves one bandwidth length when the winding roller rotates one revolution.

5. A method for turning a cable routing device according to claim 4, characterized in that, The step of controlling the cable routing device to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase from the turning point in a direction opposite to the speed direction of the deceleration phase, and then enter the second deceleration phase, includes: The speed information of the winding device and the preset second speed threshold of the winding device are obtained; the second speed threshold is greater than the winding speed of the take-up roller. When the speed information is less than the second speed threshold, the wiring device is controlled to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase. When the speed information equals the second speed threshold, the wiring device is controlled to enter the second deceleration stage, and the wiring device is controlled to decelerate at the second acceleration.

6. A method for turning a cable routing device according to claim 5, characterized in that, The step of controlling the cable laying device to sequentially enter the acceleration phase, the uniform acceleration phase, and the deceleration phase when the speed information is less than the second speed threshold further includes: Obtain the preset third speed threshold and the winding speed of the winding roller; When the speed information is less than the winding speed, the cable laying device is controlled to accelerate at a third acceleration. When the speed information is greater than or equal to the winding speed and less than the third speed threshold, the cable laying device is controlled to accelerate uniformly with a fourth acceleration. When the speed information is greater than or equal to the third speed threshold and less than the second speed threshold, the cable winding device is controlled to operate at a fifth acceleration deceleration speed, where the winding speed is less than the third speed threshold and the third speed threshold is less than the second speed threshold.

7. A method for turning a cable routing device according to claim 6, characterized in that, The step of obtaining the preset third speed threshold further includes: Obtain the shortest running time and shortest running path for the wiring device to smoothly transition from the uniform acceleration phase to the deceleration phase; The third speed threshold is calculated based on the shortest running time, the shortest running path, and the second speed threshold.

8. A cable routing device steering mechanism, characterized in that, The device includes: Control module: Used to control the cable laying device to sequentially enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration / deceleration stage when the distance between the cable laying device and the turning point is one bandwidth length; When the control module executes the operation of controlling the winding device to sequentially enter the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage from the constant speed stage when the distance between the winding device and the turning point is one bandwidth length, the specific execution is as follows: the control module controls the winding device to enter the first acceleration stage from the constant speed stage, and then enters the acceleration / deceleration stage, the uniform deceleration stage, and the deceleration stage, so that the winding device moves one bandwidth length when the winding roller rotates one revolution.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-readable instructions that, when executed by the processor, perform the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it performs the steps of the method as described in any one of claims 1-7.

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