Cable delivery control device

Abstract

The application relates to the technical field of cable conveying, and discloses a cable conveying control device, a cable conveying control method, a computer readable storage medium and a cable conveyor. The device comprises a memory, a processor, a cable conveying direction determining component and a cable clamping degree control component. The cable conveying direction determining component automatically determines the running direction and the running speed of the conveying component according to the detected direction in which the cable is expected to be conveyed and the speed at which the cable is conveyed. The cable clamping degree control component applies different clamping degrees to the cable according to the diameter (or diameter range) of the cable. The application has the beneficial effects of automatically determining the running direction of the conveying component, automatically adjusting the clamping degree, and having reliable and accurate control logic.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable conveying, in particular to a cable conveying control device, method, computer readable storage medium and cable conveyor. BACKGROUND

[0002] With the gradual improvement of China's economic level, a large number of manufacturing industries are developed, and the demand for electricity in each city gradually increases. The traditional overhead line is built on the urban road, which not only affects the appearance but also has safety hazards. Therefore, it is necessary to construct a large-scale underground pipe network, and high-voltage cables are laid in the pipe network. The cable conveyor is one of the indispensable tools in the high-voltage cable laying operation. With the development of science and technology, the times are progressing, and the power construction machine is about to enter the modernization, automation, digitization and intelligence.

[0003] The cable conveyor usually includes a pair of tracks arranged in pairs, which can rotate under the drive of a power unit (such as a motor, etc.). The pair of tracks arranged in pairs forms a conveying channel for accommodating the cable. The size of the conveying channel is adjusted by the close or far distance between the two tracks. When close, the cable is clamped, and when far away, the cable is released, such as the patent application with the publication number "CN109879111A".

[0004] The technical problems existing in actual use at least include: the running direction of the conveying assembly (such as the rotation direction of the track) cannot be automatically determined, and the clamping degree cannot be automatically adjusted according to the diameter of the cable.

[0005] Therefore, it is urgent to provide a cable conveying control device, method, computer readable storage medium and cable conveyor to solve the above technical problems. SUMMARY

[0006] In order to automatically determine the running direction of the conveying assembly and automatically control the clamping degree according to the diameter (diameter range) of the cable, the present application provides a cable conveying control device in the first aspect, which can be applied to a cable conveyor. The cable conveyor includes a rack, a clamping assembly and a conveying assembly installed on the rack, respectively used for clamping and conveying the cable. The cable can be clamped in the conveying channel between the two conveying assemblies. The cable conveying control device includes a memory, a processor, a cable conveying direction determination assembly and a cable clamping degree control assembly, wherein:

[0007] The memory stores the corresponding relationship between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly. The cable conveying direction determination assembly includes a cable conveying detection unit configured to detect the direction in which the cable is expected to be conveyed. The processor is configured to retrieve the corresponding running direction of the conveying assembly from the corresponding relationship according to the direction in which the cable is expected to be conveyed, and send a running instruction to the conveying assembly and / or a clamping instruction to the clamping assembly;

[0008] The cable clamping degree control assembly further comprises a clamping detection unit and a cable diameter acquisition unit, and the memory further stores preset clamping parameters, an initial diameter of a cable or an initial diameter range of a cable, a mapping relationship between the preset clamping parameters and the initial diameter of the cable or a mapping relationship between the preset clamping parameters and the initial diameter range of the cable, wherein the preset clamping parameters are preset clamping parameters, the initial diameter of the cable is an initial diameter of a cable of a certain specification, and the initial diameter range of the cable is an initial diameter range of at least two cables of similar specifications; the clamping detection unit is configured to acquire an actual clamping parameter, which changes due to the relative approach or distance of the two conveying assemblies; the cable diameter acquisition unit is configured to acquire the initial diameter of the cable or the initial diameter range of the cable currently conveyed; and the processor is further configured to: according to the initial diameter of the cable and the mapping relationship, retrieve the preset clamping parameters corresponding to the initial diameter of the cable or the initial diameter range of the cable; if the actual clamping parameter is less than a lower limit of the preset clamping parameters, issue a clamping instruction to the clamping assembly; and if the actual clamping parameter is greater than or equal to an upper limit of the preset clamping parameters, issue a clamping out-of-limit instruction to at least one of the clamping assembly, the conveying assembly, and a prompting unit capable of prompting a user.

[0009] The second aspect of the present application provides a cable conveying control method applied to the cable conveying control device disclosed in the first aspect, which comprises the following steps:

[0010] Conveying direction determination: detecting a direction in which the cable is expected to be conveyed; pre-storing a corresponding relationship between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly; according to the direction in which the cable is expected to be conveyed, retrieving the corresponding running direction of the conveying assembly from the corresponding relationship, and sending a running instruction to the conveying assembly and / or a clamping instruction to the clamping assembly;

[0011] Clamping degree control: automatically adjusting the clamping degree of the cable based on the initial diameter or the initial diameter range of the cable.

[0012] The third aspect of the present application discloses a computer readable storage medium, which stores instructions, and the instructions are executed by the processor to perform the cable conveying control method described in any of the above aspects.

[0013] The fourth aspect of the present application discloses a cable conveyor, which comprises any of the cable conveying control devices disclosed in the first aspect, and the cable conveying control device comprises:

[0014] A rack;

[0015] A clamping assembly comprising a clamping power unit and two oppositely arranged clamping supports which are sequentially drivingly connected, and under the drive of the clamping power unit, the two clamping supports can be mounted on the rack to approach or move away from each other;

[0016] A conveying assembly is arranged on the clamping support and comprises a conveying power unit, a conveying transmission unit and a conveying track which are sequentially connected in transmission.

[0017] A cable conveying direction determining assembly;

[0018] A cable clamping degree control assembly;

[0019] A memory pre-stores the corresponding relationship and the mapping relationship;

[0020] A processor, a signal output end of the cable conveying direction determining assembly, a control end of the clamping power unit and a control end of the conveying power unit are all connected with the controller in signal.

[0021] The fifth aspect of the present application discloses a cable conveying machine, which comprises a cable conveying anti-slip assembly and any one of the cable conveying control devices disclosed in the first aspect.

[0022] A rack;

[0023] A clamping assembly comprises a clamping power unit and two oppositely arranged clamping supports which are sequentially connected in transmission, and the two clamping supports can be installed on the rack to approach or move away from each other under the drive of the clamping power unit;

[0024] A conveying assembly is arranged on the clamping support and comprises a conveying power unit, a conveying transmission unit and a conveying track which are sequentially connected in transmission;

[0025] A cable conveying direction determining assembly;

[0026] A cable clamping degree control assembly;

[0027] A memory pre-stores the corresponding relationship and the mapping relationship;

[0028] A processor, a signal output end of the cable conveying direction determining assembly, a control end of the clamping power unit and a control end of the conveying power unit are all connected with the controller in signal.

[0029] Compared with the prior art, the present application has the following beneficial effects:

[0030] 1. Automatically determine the running direction of the conveying assembly

[0031] The cable conveying detection unit detects the direction in which the cable is expected to be conveyed (such as under the action of a conveying force applied by a user, a traction force provided by another power mechanism such as a cable traction machine, etc.), and records it as the direction in which the cable is expected to be conveyed. In fact, the direction in which the cable can be conveyed is two, which are respectively recorded as the first direction in which the cable is expected to be conveyed and the second direction in which the cable is expected to be conveyed.

[0032] The running direction of the conveying assembly corresponds to the direction in which the cable is expected to be conveyed (one-to-one correspondence). In practice, the cable can be conveyed in two directions, which are referred to as the first running direction of the conveying assembly and the second running direction of the conveying assembly. It is assumed that the first direction in which the cable is expected to be conveyed corresponds to the first running direction of the conveying assembly, and the second direction in which the cable is expected to be conveyed corresponds to the second running direction of the conveying assembly. The correspondence is pre-stored.

[0033] The corresponding running direction of the conveying assembly is retrieved from the correspondence according to the direction in which the cable is expected to be conveyed, and a running instruction is sent to the conveying assembly and a clamping instruction is sent to the clamping assembly. The conveying assembly runs in the direction of the running direction of the conveying assembly after receiving the running instruction, and the clamping assembly drives the two conveying assemblies to approach each other to clamp the cable in the conveying channel after receiving the clamping instruction. Thus, the running direction of the conveying assembly is automatically determined according to the direction in which the cable is expected to be conveyed. The direction in which the cable is expected to be conveyed is detected as the start / standby signal of the conveying assembly and the clamping assembly. Only when the cable is conveyed, the conveying assembly and the clamping assembly are started. When the cable is not conveyed, the conveying assembly and the clamping assembly are not started. This avoids the idle operation of the conveying assembly and the clamping assembly, saves energy, reduces emissions, and improves the operating life of the cable conveyor.

[0034] 2. The clamping degree can be automatically adjusted.

[0035] The cable diameter acquisition unit acquires the initial diameter of the cable being conveyed.

[0036] The preset clamping parameter corresponding to the initial diameter of the cable is retrieved from the pre-stored mapping relationship according to the acquired initial diameter of the cable.

[0037] The clamping detection unit acquires the actual clamping parameter.

[0038] If the actual clamping parameter exceeds the preset clamping parameter, it is identified that the clamping degree for the current cable exceeds the limit. A clamping out-of-limit instruction is sent to at least one of the clamping assembly, the conveying assembly, and a prompting unit capable of prompting the user. After receiving the clamping out-of-limit instruction, the clamping assembly, the conveying assembly, and the prompting unit perform corresponding actions to achieve accurate, reliable, automatic, and real-time adjustment of the clamping degree.

[0039] 3. The preset clamping parameter and the initial diameter of the cable or the initial diameter range of the cable constitute a mapping relationship, and the value of the initial diameter of the cable or the initial diameter range of the cable is positively correlated with the clamping degree required by the cable. The preset clamping parameter is matched based on the initial diameter of the cable or the initial diameter range of the cable. The corresponding relationship is unique and accurate. The cable clamping degree control assembly using the mapping relationship is reliable and accurate in control. BRIEF DESCRIPTION OF DRAWINGS

[0040] To make the advantages of the invention more readily apparent, the invention briefly described above will be described in more detail with reference to the specific embodiments shown in the accompanying drawings. It will be understood that these drawings depict only typical embodiments of the invention and should not be construed as limiting its scope of protection. The invention is described and explained with reference to the drawings to provide additional features and details.

[0041] Figure 1 A control principle diagram of an embodiment of a cable conveying control device, wherein: it includes a cable conveying direction determination component and a cable clamping degree control component;

[0042] Figure 2 This is a control principle diagram of an embodiment of a cable conveying control device, which includes a cable conveying direction determination component, a cable conveying anti-slip component, and a cable clamping degree control component.

[0043] Figure 3 for Figure 1 One embodiment also includes a display screen and a prompting unit;

[0044] Figure 4 for Figure 2 One embodiment also includes a display screen and a prompting unit;

[0045] Figure 5 A first-view perspective three-dimensional structural schematic diagram of an embodiment of a cable conveying control device installed on a cable conveyor, wherein: the conveying power unit is arranged on opposite sides;

[0046] Figure 6 for Figure 5 The left view;

[0047] Figure 7 for Figure 5 A schematic diagram of the three-dimensional structure from a second-person perspective;

[0048] Figure 8 This is a first-view perspective three-dimensional structural diagram of an embodiment of a cable conveying control device installed on a cable conveyor. In order to show the internal structure, some structures of the conveying components (such as protective covers, conveying chains and clamping blocks) are not shown, and the conveying power unit is arranged on the opposite side.

[0049] Figure 9 for Figure 8 A magnified view of a portion of region Z in the middle;

[0050] Figure 10 for Figure 8 A magnified view of a portion of region Y in the middle area;

[0051] Figure 11 This is a method of mounting the parameter detection wheel on the frame;

[0052] Figure 12 forFigure 9 Detail view of the middle region X;

[0053] Figure 13 Schematic perspective view of the clamping assembly from a first viewing angle, the viewing direction being from above;

[0054] Figure 14 Schematic perspective view of the clamping assembly from a second viewing angle, the viewing direction being from above; Figure 14 Sectional view of the middle section A-A;

[0055] Figure 15 Schematic perspective view of an embodiment of the cable conveyor with the drive unit arranged on the opposite side;

[0056] Figure 16 Schematic perspective view of an embodiment of the cable conveyor from a first viewing angle, the viewing direction being from above, with the drive unit arranged on the same side, i.e. the drive sprocket is located at the same longitudinal position of the conveying channel;

[0057] Figure 17 Schematic perspective view of an embodiment of the cable conveyor from a second viewing angle, the viewing direction being from above; Figure 16

[0058] Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed; Figure 18

[0059] Figure 19 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed; Figure 18 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed; Figure 18 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0060] Figure 20 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed; Figure 18 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0061] Figure 21 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed; Figure 18 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0062] Figure 22 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0063] Figure 23 Schematic view of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located behind the conveying direction, the state of the figure being the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed; Figure 22 ​The clamping assembly of the embodiment clamps after a second clamping delay from the start time;

[0064] Figure 24 For Figure 22 The working principle diagram of the embodiment for normal cable conveying (the clamping assembly keeps clamping, and the conveying assembly works in the expected direction and speed);

[0065] Figure 25 The working principle diagram of an embodiment of the cable conveyor, wherein the cable conveying detection unit is one and is located in front of the conveying direction, and the state in the figure is the time when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0066] Figure 26 For Figure 25 The clamping of the embodiment is started by the cable conveying detection unit when the direction in which the cable is expected to be conveyed is detected;

[0067] Figure 27 For Figure 25 The clamping of the clamping assembly of the embodiment is started after a first clamping delay from the start time;

[0068] Figure 28 For Figure 25 The working principle diagram of the embodiment for normal cable conveying (the clamping assembly keeps clamping, and the conveying assembly works in the expected direction and speed);

[0069] Figure 29 The curve diagram when the clamping parameter is the clamping force (or the change rate thereof);

[0070] Figure 30 The curve diagram when the clamping parameter is the deformation amount of the diameter (or the change rate thereof);

[0071] Figure 31 The first curve diagram when the clamping parameter is the conveying speed (or the change rate thereof), and the clamping action can be without delay, corresponding to Figures 18-21 Or Figures 25-28 The embodiment;

[0072] Figure 32 The second curve diagram when the clamping parameter is the conveying speed (or the change rate thereof), and the clamping action must have a delay, corresponding to Figures 22-24 The embodiment.

[0073] Reference signs:

[0074] 1, rack; 11, guide rod; 111, height adjustment hole; 12, guide wheel;

[0075] 2, clamping assembly; 21, clamping power unit; 22, operating handle; 23, screw rod; 241, first linear motion part; 242, second linear motion part; 25, clamping support; 251, first clamping support; 2511, first limiting part; 2512, second limiting part; 252, second clamping support; 2521, third limiting part; 2522, fourth limiting part; 26, floating connecting part; 27, clamping detection unit; 271, pressure sensor; 272, cable diameter acquisition unit; 28, first top cover; 29, second top cover;

[0076] 3, conveying assembly; 31, conveying power unit; 32, conveying track; 321, driving sprocket; 322, driven sprocket; 323, conveying chain; 324, clamping block;

[0077] 41, cable conveying detection unit; 41-1, first cable conveying detection unit; 41-2, second cable conveying detection unit; 411, conveying parameter detection wheel; 4111, friction-increasing groove; 412, wheel shaft of conveying parameter detection wheel; 4121, through hole; 413, conveying parameter detector; 4131, first working part; 4132, second working part;

[0078] 42, elastic part;

[0079] 43, conveying assembly operation detection unit; 431, rotation direction detector; 4311, first working part of rotation direction detector; 4312, second working part of rotation direction detector;

[0080] 44, memory; 45, processor; 46, display screen; 47, prompting unit;

[0081] 5, conveying channel;

[0082] 6, traction wheel; 61, wheel groove;

[0083] 7, elastic pin; 8, cable. DETAILED DESCRIPTION

[0084] In the following description, numerous specific details are given to provide a thorough understanding of the application. However, it will be apparent that the embodiments of the present application can be practiced without one or more of these specific details. In other instances, well-known techniques have not been described in order to avoid obscuring the present application.

[0085] For a thorough understanding of the present application, reference will be made to the following detailed description. It is appreciated that the present application can be practiced with the elements not precisely as described below, in combinations of processes not precisely as described, and in other implementations known to those of ordinary skill in the art. The following detailed description, given by way of example, but not intended to limit the application solely to the specific embodiments described, includes specific details for a thorough understanding of the application.

[0086] In the description of the present application, the term "A and / or B" means all possible combinations of A and B, such as only A, only B, or both A and B, the term "at least one of A or B" or "at least one of A and B" has a similar meaning to "A and / or B", and can include only A, only B, or both A and B; the singular form "one", "this" can also include the plural form; the terms "inner", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and do not require the present application to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application; the terms "first", "second", "third" are only for the purpose of description and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0087] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings:

[0088] During the construction of power cable transmission, cable conveyor is often needed, and various application scenarios require the cable conveyor to be able to transmit in both directions. The application scenarios requiring bidirectional transmission of the transmission direction are only listed as follows:

[0089] When starting to convey the cable, the transmission direction of the existing cable conveyor is determined (when the cable conveyor uses a motor as the transmission power source, the transmission direction is determined by the wiring method of the motor, that is, the so-called phase sequence), that is, when the cable conveyor is placed in the construction site, the running direction is determined, if the direction is consistent with the expected direction of the cable to be conveyed, it can be normally conveyed; if the running direction is not consistent with the expected direction of the cable to be conveyed, it cannot be conveyed, at this time, the running direction of the cable conveyor needs to be reversed.

[0090] As described in the background, in order to try to solve the above-mentioned change of running direction (reversing), there are three ways in the prior art: turning 180° in the horizontal plane after the cable conveyor stops, manually changing the wiring mode (phase sequence) of the motor, and setting two motors with opposite rotating directions.

[0091] The above-mentioned three ways cannot at least automatically identify the need for reversing (whether reversing is needed), automatically reverse after identifying the need for reversing, and cannot apply the clamping degree suitable for cables of different diameters. At the same time, if the first way is adopted, it can only be applied to a cable conveyor for straight-line conveying and cannot be applied to a cable conveyor for non-straight-line conveying (i.e., various turning cable conveyors, such as the patent application with the publication number CN113104657A and the name of a cable conveying device and a cable conveying method, which applies a vertical turning device, the angle between the inlet and the outlet of the cable is 90°, i.e., the cable conveying channel has a 90° bend).

[0092] Based on the above considerations, the first aspect of the embodiment of the present application provides a cable conveying control device, which is described with reference to Figures 1-4 、 Figures 18-32 The control device can be used for a cable conveyor, which is described with reference to Figures 5-17 The cable conveyor includes a rack 1 and a clamping assembly 2 and a conveying assembly 3 installed on the rack 1, which are respectively used for clamping and conveying a cable 8. In the initial state, the clamping assembly 2 and the conveying assembly 3 of the cable conveyor are both in the stopped state, and the conveying channel 5 between the two conveying assemblies 3 maintains a large gap (greater than the diameter of the conveyed cable). The control device embodiment includes a memory, a processor, a cable conveying direction determination assembly, and a cable clamping degree control assembly. Regarding the cable conveying direction determination assembly.

[0093] The working of the cable conveying direction determination assembly is described with reference to Figures 18-28 According to the direction in which the cable is expected to be conveyed detected by the cable conveying detection unit 41, the running direction of the conveying assembly is automatically determined, and the automatic running from standby to start is completed: standby→detecting the direction in which the cable is expected to be conveyed→retrieving the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed from the correspondence relationship→the conveying assembly 3 sends a running instruction and / or sends a clamping instruction to the clamping assembly 2. No manual operation (turning 180° in the horizontal plane after the cable conveyor stops, switching to another motor drive with opposite turning direction, changing the phase sequence of the motor, etc.) is needed.

[0094] The cable 8 moves in the direction desired to be conveyed under the action of a user-applied force (such as lifting upward while applying a pushing or pulling force in the direction desired to be conveyed), the traction of another power mechanism such as a cable traction machine, etc., and the cable conveying detection unit 41 detects the direction desired to be conveyed (such as the user-applied conveying force, the traction of another power mechanism such as a cable traction machine, etc.) and records it as the cable direction desired to be conveyed. In fact, the cable direction desired to be conveyed can be any one of the length directions of the conveying channel 5, which are recorded as the first cable direction desired to be conveyed and the second cable direction desired to be conveyed, respectively.

[0095] The conveying assembly operation detection unit 43 detects the operation direction of the conveying assembly 3 and records it as the conveying assembly operation direction. In fact, the direction in which the cable can be conveyed is two, which are recorded as the first conveying assembly operation direction and the second conveying assembly operation direction, respectively.

[0096] For the purpose of conveying the cable, it is necessary to require that the operation direction of the conveying assembly is consistent with the direction desired to be conveyed by the cable (such as the normal conveying state of Figure 21 、 Figure 24 and Figure 27 ), for example, the first cable direction desired to be conveyed corresponds to the first conveying assembly operation direction, and the second cable direction desired to be conveyed corresponds to the second conveying assembly operation direction. Of course, it can also be that the first cable direction desired to be conveyed corresponds to the second conveying assembly operation direction, and the second cable direction desired to be conveyed corresponds to the first conveying assembly operation direction. The correspondence, that is, the consistency of the direction, is pre-stored in the memory 44. The embodiment of the present application takes the first cable direction desired to be conveyed corresponding to the first conveying assembly operation direction and the second cable direction desired to be conveyed corresponding to the second conveying assembly operation direction as an example for description.

[0097] In contrast to the sequence from standby to automatic operation, when the conveying assembly 3 (for a duration Tstandby, such as 15 seconds) cannot detect the cable conveying direction signal, in fact, there is no cable conveying. At this time, the clamping assembly 2 and the conveying assembly 3 do not need to work, and the clamping assembly 2 and the conveying assembly 3 are stopped to avoid unnecessary energy consumption.

[0098] The cable conveying direction determination assembly can be applied to conveying channels extending in various shapes, such as being applicable to a conveying channel 5 extending in a straight line (as shown in Figures 5-17 ), and also applicable to a conveying channel that is not a straight line (such as the 90° bend or even S-shaped of CN113104657A, etc.).

[0099] It should be noted that the cable conveying direction determining assembly can be applied to the cable conveyor, and those skilled in the art can know that it can also be applied to the conveying of other elongated workpieces, such as the conveying of various pipes and rods.

[0100] Continuing to refer to Figures 18-28 In the standby state, the clamping assembly 2 and the conveying assembly 3 are both stopped, and the conveying channel 5 between the two conveying assemblies 3 is larger than the diameter of the cable, so as to facilitate the cable 8 to enter and exit the conveying channel 5; in the clamping state, the clamping assembly 2 and the conveying assembly 3 are both working, so that the cable 8 is clamped between the two conveying assemblies 3, the clamping assembly 2 applies the required clamping force to the cable 8, and the conveying assembly 3 generates a friction force on the cable 8 to convey the cable.

[0101] Regarding the cable clamping degree control assembly, continuing to refer to Figures 1-4 The memory 44 is configured to store preset clamping parameters (range values with an upper limit and a lower limit), initial diameters of cables or initial diameter ranges of cables, mapping relationships between the preset clamping parameters and the initial diameters of the cables, or mapping relationships between the preset clamping parameters and the initial diameter ranges of the cables (the mapping relationships usually exist in the form of a database), wherein the preset clamping parameters are preset clamping parameters, the initial diameters of the cables are initial diameters of cables of a certain specification, such as 100 mm, 120 mm, 140 mm, 160 mm, and 180 mm, each of which corresponds to a preset clamping parameter; the initial diameter range of the cable is the initial diameter range (in a free state without being clamped) of at least two cables of similar specifications, such as any range of 100 mm-119 mm, 120 mm-139 mm, 140 mm-159 mm, 160 mm-179 mm, and 180 mm-199 mm, each of which corresponds to a preset clamping parameter. Of course, the interval of the initial diameter range can be as described above, and those skilled in the art can know that it can be flexibly selected according to the actual situation, that is, it can be larger (such as 25 mm, 30 mm, or larger) or smaller (such as 15 mm, 10 mm, or smaller).

[0102] The clamping detection unit 27 is configured to obtain the actual clamping parameter (the actual clamping parameter and the preset clamping parameter are actual values and preset values in the same dimension), which changes due to the relative approach or departure of the two conveying assemblies 3, that is, the actual clamping parameter is related to the movement (relative approach or departure) of the two conveying assemblies 3, and the actual clamping parameter is accurate and reliable by the correlation.

[0103] The cable diameter obtaining unit 272 is configured to obtain the initial diameter of the cable 8 currently conveyed, which is the initial diameter of the cable. It can directly obtain the initial diameter of the cable or indirectly obtain it, and the principle and working process of the obtaining will be described in detail below.

[0104] The processor 45 is configured to:

[0105] According to the initial diameter of the cable and the mapping relationship, a preset clamping parameter corresponding to the initial diameter of the cable is retrieved;

[0106] If the actual clamping parameter < the lower limit of the preset clamping parameter, it indicates that the clamping is insufficient, at this time the processor 45 issues a clamping instruction to the clamping assembly 2, after the clamping assembly 2 receives the clamping instruction, it is started, and the two conveying assemblies 3 are driven to be relatively close, so that the cable is clamped to a greater extent, the actual clamping parameter is increased, and until the actual clamping parameter > the preset clamping parameter;

[0107] If the actual clamping parameter ≥ the upper limit of the preset clamping parameter, it indicates that the clamping is excessive, at this time the processor 45 issues a clamping over-limit instruction to at least one of the following: the clamping assembly 2, the conveying assembly 3 and the prompting unit 46 capable of prompting the user.

[0108] The preset clamping parameter and the initial diameter of the cable or the initial diameter range of the cable constitute a mapping (mathematical mapping, that is, a function) relationship, and the value of the initial diameter of the cable or the initial diameter range of the cable is positively correlated with the clamping degree required by the cable. Based on the initial diameter of the cable or the initial diameter range of the cable, the preset clamping parameter is matched, the corresponding relationship is unique and accurate, and the cable clamping degree control assembly using the mapping relationship is reliable and accurate in control.

[0109] It should be further pointed out that the actual clamping parameter includes at least one of the first actual clamping parameter (clamping force or its change rate), the second actual clamping parameter (cable diameter deformation amount or its change rate) and the third actual clamping parameter (conveying speed or its change rate), that is, it can be one of the three actual clamping parameters, or any two of the three actual clamping parameters (simultaneously satisfying the corresponding conditions of the two), or all three actual clamping parameters (simultaneously satisfying the corresponding conditions of the three actual clamping parameters), corresponding to the three clamping parameters, the clamping detection unit 27 can be a pressure sensor 271 between the two clamping supports 25, Figure 14 a cable diameter acquisition unit 272 for acquiring the cable diameter, Figure 7 or a cable conveying detection unit 41. Figure 8 and Figure 9 .

[0110] The inventor found that during the transition from the standby state to the clamping state, the clamping force of the two conveying assemblies 3 on the cable 8 will change, and the change curve is as shown in Figure 29, the first actual clamping parameter is the clamping force or the rate of change of the clamping force exerted by the two conveying assemblies 3 on the cable, and the judgment basis is directly the clamping force or the rate of change of the clamping force (the slope of the change curve of the clamping force over time), and the control logic is more direct based on the comparison between the actual clamping force and the preset clamping force or the comparison between the actual rate of change of the clamping force and the preset rate of change of the clamping force, and the control is reliable and accurate.

[0111] As the two conveying assemblies 3 approach or move away from each other, the clamping force on the cable 8 in the conveying channel 5 changes, which is 0 when the two conveying assemblies 3 do not simultaneously contact the cable, and gradually increases as the distance between the two conveying assemblies 3 decreases in the clamping state. The size of the clamping force should be associated with the initial diameter of the cable or the initial diameter range of the cable, that is, the smaller the diameter or diameter range, the smaller the preset clamping parameter required by the clamping force. The inventors have also found that due to the influence of structural errors, electrical precision, and other factors of the system, the preset clamping parameter should allow a certain deviation, and it is reasonable to set the preset clamping parameter as a range value. Considering the relationship between the above-mentioned preset clamping parameter and the initial diameter of the cable, and the influence of fluctuations caused by system influences. A specific example is that, in association with the initial diameter of the cable, the preset clamping parameter is 1500N±50N when the initial diameter of the cable is 120mm, and the preset clamping parameter is 2500N±80N when the initial diameter of the cable is 180mm.

[0112] When the first actual clamping parameter is the rate of change of the clamping force exerted by the two conveying assemblies 3 on the cable, continuing to refer to Figure 29 , that is, the slope of the clamping force. As mentioned above in considering the clamping force, the slope should also be a range associated with the initial diameter of the cable or the initial diameter range of the cable. A specific example is that, in association with the initial diameter of the cable, the preset clamping parameter is 0.8±0.1 when the initial diameter of the cable is 120mm, and the preset clamping parameter is 1.1±0.15 when the initial diameter of the cable is 180mm. An advantage of this scheme is to reduce the influence of system fluctuations and enhance reliability.

[0113] The inventors have also found that during the transition from the standby state to the clamping state, the diameter of the cable 8 or the rate of change of the diameter will change, and the second actual clamping parameter is the diameter deformation or the rate of change of the diameter deformation of the cable before and after being clamped. Continuing to refer to Figure 30 , the diameter deformation and the rate of change of the diameter deformation (the slope of the diameter curve over time) truly reflect the clamping degree of the cable 8, avoid clamping force control failure caused by mechanical structure, electrical element and operation program failure, and make the control more accurate and reliable, so as to control the diameter deformation or the rate of change of the diameter deformation of the cable 8 within the preset clamping parameter (between the lower limit and the upper limit of the preset clamping parameter).

[0114] The inventors have also found that the conveying speed of the cable 8 or the rate of change of the conveying speed (acceleration of the cable in the conveying direction) also changes during the transition from the standby state to the clamping state, see also Figure 31 and Figure 32 and the third actual clamping parameter is the conveying speed or the rate of change of the conveying speed, the clamping degree of the cable 8 can be indirectly determined by the conveying speed of the cable 8, for example, if the conveying speed of the cable 8 does not reach the preset speed (or the operating speed of the conveying assembly 3), that is, the clamping degree is insufficient, the clamping instruction is sent to the clamping assembly 2.

[0115] One way to obtain the clamping force is to install a pressure sensor 271 between the two clamping assemblies 2, and the clamping force is obtained based on the relative movement (relative approach or away) of the two conveying assemblies 3. The force sensor can be a pressure sensor 271 or a tension sensor. The pressure sensor 271 is located between the two conveying assemblies 3, and the clamping force detected by the pressure sensor 271 = the resistance of the relative movement of the conveying assemblies 3 (the friction of the kinematic pair) + the reaction force of the two conveying assemblies 3 due to clamping the cable, therefore, as long as the initial period after starting from the standby state, the friction of the kinematic pair exists, and before the two conveying assemblies 3 contact the cable, the detected clamping force will increase to the degree of the friction of the kinematic pair, for the sake of simplicity, the following is referred to as the idle resistance.

[0116] The first form of the cable diameter acquisition unit is to obtain (indirectly obtain) from the mapping relationship when the clamping parameter reaches the trigger value. Specifically, the memory 44 stores a trigger clamping parameter (for example, when the clamping parameter is the clamping force, the clamping force is slightly larger than the value under the idle resistance working condition, and is much smaller than the preset clamping parameter, such as 1.1 times the idle resistance, or the idle resistance + 5N), and the processor 45 is also configured to: if the actual clamping parameter = the trigger clamping parameter, it is determined that the initial moment when the cable is clamped, according to the mapping relationship, the initial diameter of the cable or the initial diameter range of the cable corresponding to the trigger clamping parameter is obtained, and the initial diameter of the cable or the initial diameter range of the cable corresponding to the trigger clamping parameter is the initial diameter of the cable 8 or the initial diameter range. Without the need to add another sensor for detection, the number of electrical elements used is greatly reduced, the number of signal sources is as small as possible, the cost is reduced, the control logic is simplified, the programming logic is simplified, and the reliability of the program operation is improved.

[0117] The second way of obtaining the cable diameter is to detect the relative distance between the two conveying assemblies 3 (at the moment of initial clamping) by a sensor, at which time the cable diameter obtaining unit 272 comprises a distance-measuring sensor (such as a contact displacement sensor) to detect the diameter or diameter range of the cable at the moment of initial clamping, and the memory 44 also stores the initial clamping parameter, and the processor 45 is further configured to: when the actual clamping parameter = the initial clamping parameter, it is determined that the initial moment of clamping of the cable (a very small time interval after the cable contacts the two clamping assemblies 2), and the diameter or diameter range of the cable at the moment of initial clamping is the initial diameter or initial diameter range of the cable 8. Correspondingly, the way of obtaining the diameter deformation amount is that the processor 45 is further configured to: if the actual clamping parameter ≥ the lower limit of the preset clamping parameter, it is determined that the cable is clamped, the distance-measuring sensor detects the distance between the two conveying assemblies 3 in the current state, and the diameter or diameter range of the cable at the actual clamping moment; and the diameter deformation amount = the diameter or diameter range of the cable at the initial clamping moment - the diameter or diameter range of the cable at the actual clamping moment.

[0118] The way of controlling the clamping force based on the conveying speed is to detect the conveying speed by the cable conveying detection unit 41. The corresponding preset clamping parameter is the upper limit of the speed of the cable during normal conveying (theoretically equal to the running speed of the conveying assembly 3), and when the conveying speed reaches the preset clamping parameter, it indicates that the cable is running synchronously with the conveying assembly 3, that is, the cable is clamped sufficiently.

[0119] In order to obtain the conveying speed, the cable conveying detection unit 41 is triggered by the movement of the cable 8 being conveyed, and the conveying speed obtained by the cable conveying detection unit 41 has a strict one-to-one correspondence with the actual conveying speed of the cable, and the determination of the direction of the cable being conveyed is unique, accurate and reliable.

[0120] The specific form of the cable conveying detection unit 41 will be described in detail below with reference to Figures 5-12The cable conveying parameter detection wheel 411 and the cable conveying parameter detection instrument 413 (a sensor for detecting linear velocity based on relative rotation, which comprises a first part 4131 fixed to the axle 412 of the cable conveying parameter detection wheel and a second part 4132 fixed to the cable conveying parameter detection wheel 411 and rotating synchronously with the cable conveying parameter detection wheel 411, such as a bidirectional Hall switch, a rotary potentiometer, an optical encoder, a rotary transformer or an MSMS angle sensor). The cable conveying parameter detection wheel 411 is rotatably mounted on the frame 1 of the cable conveying machine under the driving of the cable 8 being conveyed. The cable conveying parameter detection wheel 411 can be mounted in any direction relative to the conveying channel 5, such as below, left, right, above or even inclined to the conveying channel 5. In the drawings, the cable conveying parameter detection wheel 411 is mounted below the conveying channel 5, and the cable can apply pressure (friction) to the cable conveying parameter detection wheel 411 under the action of gravity to drive the cable conveying parameter detection wheel 411 to rotate, which is simple in structure and reliable in triggering. When mounted on the side or above, the cable conveying parameter detection wheel 411 cannot be driven to rotate by the friction force applied by the gravity of the cable 8, and the cable conveying parameter detection wheel 411 can be mounted on the frame 1 in a floating manner by using an elastic member 42 (such as a spring).

[0121] It should be further noted that, continuing to refer to Figure 3 and Figure 4 The cable clamping degree control assembly can also comprise a display screen 46 to display the above-mentioned detected data, intermediate calculation data, a graph associated with the clamping degree, etc.

[0122] In order to describe the working principle of the cable 6 conveying in detail, the memory stores the correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly, and the cable conveying detection unit 41 can also detect the speed at which the cable is expected to be conveyed and the direction in which the cable is expected to be conveyed, and then retrieve the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed from the correspondence, continuing to refer to Figures 18-21 、 Figures 25-28 When the signal that the cable is expected to be conveyed is detected, the end of the cable 6 has completely passed the effective length L of the conveying channel 5, and the clamping action can be performed, and the two clamping supports 25 are driven by the clamping power unit 21 to move along the direction F of clamping. Figures 22-24 As shown in FIG. 6, when the signal that the cable is expected to be conveyed is detected, the end of the cable 6 has not completely passed the conveying channel 5, and the clamping action should be performed with a lag (manifested as the “delayed clamping” stage shown in FIG. 6). Figure 32

[0123] Continuing to refer to Figures 5-8 、 Figures 13-17 ​The clamping assembly 2 comprises a clamping power unit 21, a clamping transmission unit and two oppositely arranged clamping supports 25 connected in sequence, and the two clamping supports 25 can be installed close to or away from each other under the drive of the clamping power unit 21. When the clamping assembly 2 works, the clamping power unit 21 drives the clamping supports 25 to move close to or away from each other through the clamping transmission unit, so as to adjust the size of the conveying channel 5 between the two clamping supports 25 (together with the conveying assembly 3 arranged on the clamping supports 25), so as to clamp the cable, release the cable, clamp the cable to a greater extent or clamp the cable to a smaller extent.

[0124] Continuing to refer to 5 to Figure 8 、 Figures 13-17 One conveying assembly 3 is arranged corresponding to each clamping support 25, and the conveying assembly 3 comprises a conveying power unit 31 and a conveying track 32 connected in sequence. After the clamping assembly 2 is clamped, the conveying assembly 3 is started, the conveying power unit 31 drives the conveying track 32 to reciprocate, so as to generate a conveying force for conveying the cable along the conveying channel 5. The conveying power unit 31 is transmissionally connected with a speed reducer, the conveying track 32 comprises a driving sprocket 321, a driven sprocket 322, a conveying chain 323 and a clamping block 324, the conveying sprocket and the driven sprocket 322 are rotatably installed on the clamping support 25, the conveying chain 323 is sleeved between the driving sprocket 321 and the driven sprocket 322, and the clamping block 324 is fixed to the outer side of the conveying chain 323. The transmission path is: the conveying power unit 31→the speed reducer→the driving sprocket 321→the conveying chain 323→the driven sprocket 322→the clamping block 324, so that the clamping block 324 of the two conveying assemblies 3 applies a clamping force to the cable to achieve the purpose of conveying the cable 8.

[0125] Continuing to refer to 5 to Figure 8 、 Figures 13-17, the structure of the clamping transmission unit is provided with a first linear motion member 2411 and a floating connecting member 26, the clamping power unit 21 drives the first clamping support 2511 to move through the first linear motion member 241, the first clamping support 2511 is provided with a first limiting portion 2511 and a second limiting portion 2512 arranged along the movement direction of the conveying assembly 3, the first linear motion member 241 is limited by the first limiting portion 2511, and the floating connecting member 26 is limited by the second limiting portion 2512 (which can directly abut against the second limiting portion 2512 or indirectly abut against the second limiting portion 2512 through a first top sleeve 28), and the clamping detection unit 27 of the cable clamping degree control assembly is installed between the second clamping support 25 and the rack 1. The first limiting portion 2511 and the second limiting portion 2512 can be protruding portions as shown in the figure, a groove accommodating the first linear motion member 241 and the floating connecting member 26 (the floating connecting member 26 is a compression spring) is formed between the first limiting portion 2511 and the second limiting portion 2512, and the first limiting portion 2511, the first linear motion member 241, the floating connecting member 26 and the second limiting portion 2512 abut in sequence. When the clamping assembly 2 is not working, the floating connecting member 26 can be in a free state (not pre-compressed or not pre-stretched), and of course it can also be pre-compressed.

[0126] The resistance of the first clamping support 2511 to the movement of the second clamping support 2522 in the direction of the support is absorbed by the floating connecting member 26, in other words, the floating connecting member 26 is deformed (compressed or stretched) under the action of the resistance, so that the first clamping support 2511 and the rack 1 are supported in floating through the floating connecting member 26, the movement of the first clamping support 2511 is buffered, and the cable is also buffered, so that the movement of the first clamping support 2511 along the rack 1 is more stable, and sudden acceleration or deceleration is avoided to protect the movement pairs and the cable.

[0127] Continuing to refer to Figures 29-32 Before the conveying assembly 3 contacts the cable, the clamping parameter curve has an "empty load" stage, in which the clamping parameter detected by the clamping detection unit 27 remains in a constant state due to the presence of the floating connecting member 26, which significantly reduces the fluctuation amplitude of the empty load stage caused by the unevenness of the movement (due to the manufacturing, assembly and other errors of the parts constituting the movement pairs), that is, the clamping parameter curve of the empty load stage is kept more straight, so that the triggered clamping parameter is closer to the clamping parameter of the empty load stage (clamping force, clamping force change rate, diameter deformation amount, diameter deformation amount change rate, conveying speed or conveying speed change rate, for example, the clamping force can be 1.02 times the empty load resistance, or the empty load resistance + 1N), thereby improving the sensitivity of the triggered, shortening the response time from empty load to triggering, and reducing the delay between empty load and triggering.

[0128] The whole working cycle (standby→normal conveying→standby) according to the change of the clamping parameter curve (the curve of the clamping parameter changing with time) comprises the following stages in turn: starting, idle, delay, clamping, normal conveying, releasing, idle and resetting.

[0129] For the illustration of the clamping parameter, the curves of the first clamping parameter, the second clamping parameter and the third clamping parameter are plotted as follows. It is to be noted that the plotting of the curves considers ideal working conditions, i.e. the slight fluctuation of the pair resistance due to mechanical errors, electrical element errors and signal transmission errors (occurring in the manufacturing or assembling process of the parts constituting the pair) is ignored.

[0130] The cable conveying detection unit 41 can be two, one arranged at each end of the conveying channel 5, as shown in Figures 18-21 The cable conveying detection unit 41 can also be one, arranged at only one end of the conveying channel 5, as shown in Figures 22-28 The other end of the conveying channel 5 is provided with a guide wheel 11 for supporting and guiding the cable, the guide wheel 11 being rotatably mounted on the frame 1.

[0131] When the clamping parameter is the clamping force or the change rate thereof, the curve thereof is as shown in Figure 29 The stages thereof are explained as follows:

[0132] Starting, after receiving the clamping instruction of the processor 45 from the standby state, the clamping assembly 2 starts, i.e. drives the two clamping supports 25 to approach each other, at this time the two clamping supports 25 overcome the resistance between the clamping supports 25 and the frame 1, so that the clamping force (collected by the pressure sensor when the clamping detection unit 27 adopts the pressure sensor) instantaneously increases, in the figure the time occupied in this stage is artificially lengthened for the purpose of illustration, the actual time required is extremely short;

[0133] Idle, when the clamping force increases to be sufficient to overcome the resistance between the clamping supports 25 and the frame 1 (the pre-compression force or pre-tension force pre-loaded to the floating connecting member 26, if any), i.e. the clamping force is greater than the resistance, then the two clamping supports 25 move towards each other, the clamping force instantaneously decreases to be equal to the resistance at the moment when the two clamping supports 25 start, the resistance is defined as the idle resistance, the two clamping supports 25 continue to approach until the clamping assembly 2 contacts the cable;

[0134] delay, the clamping force continues to increase until it reaches the preset clamping parameter corresponding to the initial diameter of the cable or the initial diameter range of the cable;

[0135] clamping, the clamping force continues to increase until it reaches the preset clamping parameter corresponding to the initial diameter of the cable or the initial diameter range of the cable;

[0136] normal conveying, then the clamping assembly 2 maintains the clamping force, and the conveying assembly 3 starts to convey the cable, and real-time detection and dynamic control are completed by detecting the actual clamping force in real time and comparing it with the preset clamping force, so that the actual clamping force is controlled between the lower limit of the preset clamping parameter and the upper limit of the preset clamping parameter;

[0137] release, when the conveying is completed or the actual clamping parameter is greater than or equal to the preset clamping parameter, the clamping assembly 2 drives the two clamping supports 25 to move away from each other, and the curve is opposite to the clamping action;

[0138] idle, the state is the same as that after the start of the idle state;

[0139] reset, which is opposite to the start action.

[0140] When the clamping parameter is the diameter deformation or its change rate, the curve thereof is as shown in Figure 30 , and the phases thereof are the same as those when the clamping parameter is the clamping force, and the difference lies in that the parameter types are different, and the phases include the start, idle, delay, clamping, normal conveying, release, idle and reset.

[0141] When the clamping parameter is the conveying speed or its change rate, the curve thereof is as shown in Figure 31 and Figure 32 , which is the same as when the clamping parameter is the clamping force, and the difference lies in that the parameter types are different, and the phases include the start, idle, delay, clamping, normal conveying, release, idle and reset. Of course, if only the conveying speed is used as the control of the clamping degree, the curve thereof can only mark the 0 point, the trigger clamping parameter, the preset clamping parameter and the reset point, and the other phases cannot be displayed, Figure 31 and Figure 32 , and the phases that cannot be displayed are still marked in the two figures, and the purpose is to illustrate that the conveying parameters adopt the clamping force (and its change rate), the diameter deformation (and its change rate) and the conveying speed, and the root is that the three parameters have a mapping relationship. Figure 31 and Figure 32 , the difference lies in thatFigure 32 A certain delay is required after detecting the trigger clamping parameter (corresponding to the working principle of Figures 22-24 , Figure 31 The delay of the conveying speed curve (conveying principle diagram as shown in Figures 25-28 ) is not necessary.

[0142] In addition, the clamping overrun stage (thicker dashed line of the clamping curve in the figure) is also shown in the curves of the first clamping parameter and the second clamping parameter, in which the clamping force is much larger than the preset clamping force, and the cable diameter change is much larger than the preset cable diameter change.

[0143] The elasticity of the floating connector 26 can be obtained by changing its own shape, such as various coil springs, leaf springs, disc springs, etc.; it can also be obtained by the elasticity of the material itself, such as polyurethane pads, etc.

[0144] The floating connector 26 is pre-compressed (as shown in Figure 14 ) or stretched (not shown in the figure, one installation method of stretching is that the first elastic end of the floating connector 26 is fixed to the rack 1, and the second elastic end is fixed to the first clamping support 2511).

[0145] Continuing to refer to Figure 14 , the clamping transmission unit also includes a second linear motion member 242, the second clamping support 2522 is configured with a second limiting portion 2521 and a fourth limiting portion 2522 arranged in sequence in the clamping direction (the direction close to the conveying channel 5), and the clamping power unit 21 drives the second clamping support 2522 to move through the second linear motion member 242; the clamping detection unit 27 is located between the second linear motion member 242 and the clamping support 25, and is used for detecting the actual clamping parameter; the clamping detection unit 27 abuts (which can directly abut, or indirectly abut through the second top sleeve 29) between the second limiting portion 2521 and the second linear motion member 242.

[0146] Corresponding to the first clamping parameter, the second clamping parameter and the third clamping parameter, the clamping detection unit 27 is respectively a pressure sensor 271, a cable diameter acquisition unit 272 (a sensor capable of measuring distance, such as a contact type displacement sensor) and a cable conveying detection unit 41. The pressure sensor 271 and the cable conveying detection unit 41 have been described in detail above. The cable diameter acquisition unit 272 is used to detect the relative position change between the two clamping supports 25, which can be directly installed between the two clamping supports 25, or can be installed between the first clamping support 2511 and the rack 1, and then indirectly calculate the relative position change between the two clamping supports 25 through the ratio of the movement speed of the first clamping support 2511 relative to the rack 1 to the movement speed of the second clamping support 2522 relative to the rack 1. As shown in Figure 7As shown, the clamping transmission unit further comprises a screw rod 23 rotating under the drive of the clamping power unit 21, the screw rod 23 is configured with two threads of opposite rotation direction in the length direction, the first linear motion member 241 and the second linear motion member 242 are respectively threaded driven, the pitches of the two threads can be equal or not. Of course, the clamping transmission unit can also adopt other forms (such as push rod motor, gear and rack, etc.), as long as it can drive the first linear motion member 241 and the second linear motion member 242 to move in the direction of relative close and far away of the two conveying assemblies 3. In addition, one end of the screw rod 23 extends beyond the position of the rack 1, and an operating handle 22 is installed at the extending end, which can be used for manual driving of the screw rod 23. When the clamping assembly 2 fails to work, the operating handle 22 can be manually driven to manually clamp or release the cable. Corresponding to the screw rod 23, the first linear motion member 241 and the second linear motion member 242 are both nuts threaded with the screw rod 23.

[0147] In addition, the clamping power unit 21 and the conveying power unit 31 can output rotational driving force, such as conventional electric motor, hydraulic motor, etc.; they can also output linear driving force, such as push rod motor, hydraulic push rod, etc.

[0148] Continuing to refer to Figure 3 and Figure 4 , the cable conveying machine embodiment can further comprise a prompt unit 47, after receiving the clamping out-of-limit instruction, indicating that the clamping degree is too large due to abnormal working condition, at least one of the following is executed: the prompt unit 47 sends a prompt to the user in a manner that the user can perceive (such as sound, light, image, vibration, etc.); the clamping power unit 21 drives the two clamping supports 25 to move away from each other to partially or completely release the cable; the conveying power unit 31 stops to stop conveying to protect the cable.

[0149] In order to obtain the direction of the cable 8 being conveyed (the expected direction of being conveyed), the cable conveying detection unit 41 is triggered by the movement of the cable 8 being conveyed, the direction of the cable 8 being conveyed obtained by the cable conveying detection unit 41 has a strict one-to-one correspondence with the actual direction of the cable 8 being conveyed, and the judgment of the direction of the cable 8 being conveyed is unique, accurate and reliable.

[0150] The specific form of the cable conveying detection unit 41, continuing to refer to Figures 5-12 , which comprises a conveying parameter detection wheel 411 and a conveying parameter detector 413.

[0151] The transport parameter detection wheel 411 is rotatably mounted to the frame 1 of the cable conveyor under the drive of the cable 8 being transported. The transport parameter detection wheel 411 is rotatable under the drive of the cable 8 being transported, and thus can be mounted to the transport passage 5 in any direction, such as below, left, right, above, or even inclined. In the drawings, the transport parameter detection wheel 411 is mounted below the transport passage 5, and the cable 8 can apply pressure (friction) to the transport parameter detection wheel 411 under the action of gravity to drive the transport parameter detection wheel 411 to rotate, which is simple in structure and reliable in triggering. When mounted to the side or above, the transport parameter detection wheel 411 cannot be driven to rotate by the friction force applied by the gravity of the cable, and thus can be mounted to the frame 1 in a floating manner by using elastic members (such as springs).

[0152] The transport parameter detector 413 is mounted between the transport parameter detection wheel 411 and the frame 1 of the cable conveyor, and is used to detect the direction in which the cable is expected to be transported, i.e., the direction in which the cable is expected to be transported is the rotation direction of the transport parameter detection wheel 411, which includes the first direction in which the cable is expected to be transported and the second direction in which the cable is expected to be transported.

[0153] The transport parameter detection wheel 411 is horizontally arranged and perpendicular to the length direction of the transport passage 5, and has a cable-carrying friction-increasing groove 4111, the tangent direction of the upper edge of the friction-increasing groove 4111 being parallel to the length direction of the transport passage 5. The friction-increasing groove 4111 increases the contact area with the cable, thereby ensuring the friction between the cable and the transport parameter detection wheel 411, so that the movement speed between the two is highly consistent (the linear speed of the transport parameter detection wheel 411 = the speed of the cable being transported).

[0154] The friction-increasing groove 4111 can be arranged in an arc shape (not shown in the drawings) that matches the outer diameter of the cable, and the diameter of the arc shape can be the same as the outer diameter of the cable to maximize the contact area. Of course, the diameters of the cables actually transported can be various, and thus a transport parameter detection wheel 411 of a specification (the diameter of the friction-increasing groove 4111 is equal to the diameter of the cable) corresponding to each diameter of the cable is provided, and the transport parameter detection wheel 411 of the corresponding specification is replaced when the diameter of the cable changes. Only one transport parameter detection wheel 411 of a fixed specification can also be provided, and the diameter of the friction-increasing groove 4111 of the transport parameter detection wheel 411 is the maximum diameter of the various cables actually transported.

[0155] The friction-increasing groove 4111 can also be arranged in a V shape (in the longitudinal section of the axis of the transport parameter detection wheel 411), such as Figures 5-9 and Figure 11As shown, the V-shaped friction-increasing groove 4111 supports the cable 8 upward from two places, in other words, the cable can apply pressure to the friction-increasing groove 4111 from above at the two places, under the action of the pressure, the friction-increasing groove 4111 obtains sufficient friction to keep synchronous movement with the cable being conveyed (the linear speed of the conveying parameter detection wheel 411 = the speed of the cable being conveyed), and the conveying direction is one-to-one correspondence. At the same time, the friction-increasing groove 4111 is arranged in a V shape, which can be suitable for cables of various specifications.

[0156] The inventor found that the relative height between the friction-increasing groove 4111 and the conveying channel 5 needs to be kept within a suitable range to meet the conditions that the cable is located in the middle position of the conveying channel 5 in the height direction, which ensures that the conveying assembly 3 can better apply conveying force to the cable; the upper edge of the friction-increasing groove 4111 is flush with or slightly higher (such as 1 mm) than the bottom of the conveying channel 5, which ensures that sufficient friction force to drive the conveying parameter detection wheel 411 to rotate can be generated without excessive extrusion on the cable 8.

[0157] In order to achieve the above-mentioned suitable range, one structure of the conveying parameter detection wheel 411 is as follows, continuing to refer to Figures 5-9 The conveying parameter detection wheel 411 is rigidly supported on the rack 1, and the support height of the conveying parameter detection wheel 411 is adjustable. The above-mentioned relative height of the conveying parameter detection wheel 411 relative to the conveying channel 5 is achieved by adjusting the installation position of the conveying parameter detection wheel 411. This structure can be suitable for cables of various specifications (outer diameters), and only needs to be installed at the above-mentioned suitable position according to the specification of the cable 8. One way of adjusting the position of the conveying parameter detection wheel 411 is that the conveying parameter detection wheel 411 is rotatably installed on the conveying parameter detection wheel shaft 412, and the two ends of the conveying parameter detection wheel shaft 412 are detachably installed in mounting holes of different heights formed on the rack 1 through the elastic pin 7. By installing the conveying parameter detection wheel shaft 412 to the mounting hole of the suitable height through the elastic pin 7, the above-mentioned relative height of the conveying parameter detection wheel 411 relative to the conveying channel 5 can be achieved.

[0158] In order to achieve the above-mentioned suitable range, another structure of the conveying parameter detection wheel 411 is as follows (not shown in the figure): the conveying parameter detection wheel 411 is rigidly supported on the rack 1, which is simple in structure, but only suitable for one specification of cable, and suitable for the scene where the cable specification is fixed.

[0159] In order to achieve the above-mentioned suitable range, another structure of the conveying parameter detection wheel 411 is as follows, continuing to refer to Figure 11 and Figure 12The conveying parameter detection wheel 411 is elastically supported by a spring or the like on the frame 1. When no cable is placed in the increased friction groove 4111, the upper edge of the increased friction groove 4111 is pressed by a distance (e.g. 30 mm) below the bottom of the conveying channel 5. When a cable is placed in the increased friction groove 4111, the conveying parameter detection wheel 411 can be pressed down by the gravity of the cable to be flush with or slightly higher than the bottom of the conveying channel 5, so as to be in the above-mentioned appropriate range. The conveying parameter detection wheel 411 is rotatably installed on the conveying parameter detection wheel shaft 412, which is slidably installed on the frame 1 in the height direction. The end of the conveying parameter detection wheel shaft 412 is elastically connected to the frame 1 by the elastic member 42 (e.g. a spring). When no cable is placed on the conveying parameter detection wheel 411, the upper end of the increased friction groove 4111 is higher than the above-mentioned appropriate range. When a cable is placed on the conveying parameter detection wheel 411, the gravity of the cable presses the elastic member 42, and the appropriate elastic member 42 (elastic modulus and stroke) can ensure that the conveying parameter detection wheel 411 is in the above-mentioned appropriate position after being pressed down. This arrangement can also effectively buffer the force of the cable on the conveying parameter detection wheel 411 and the conveying parameter detection instrument 413.

[0160] The inventor found that when the outer surface of the cable has regular or irregular grooves and protrusions, the grooves of the cable can be stuck in the conveying parameter detection wheel 411, causing the conveying parameter detection wheel 411 to be unable to rotate. Based on this consideration, the cable is elastically supported by the elastic member 42. The protrusions or grooves exert a downward oblique force on the conveying parameter detection wheel 411. One component of the oblique force compresses the elastic member 42, so that the position of the conveying parameter detection wheel 411 relative to the frame 1 changes. The conveying of the cable provides the necessary longitudinal space, avoiding the grooves of the cable being stuck in the conveying parameter detection wheel 411.

[0161] Another implementation of the floating connection is that the conveying parameter detection wheel 411 is made of an elastic material (e.g. rubber), and the above-mentioned height difference is achieved by the deformation of the conveying parameter detection wheel 411 itself. Of course, the elastic member 42 and the conveying parameter detection wheel 411 can also have the characteristics of the above-mentioned elastic material.

[0162] In order to achieve the above-mentioned appropriate range, no matter which structure is adopted, a through hole 4121 can be formed at the end of the conveying parameter detection wheel shaft 412. The frame 1 includes a vertically arranged guide rod 11, which is sleeved in the through hole 4121. Then, the elastic pin 7 is used to lock the conveying parameter detection wheel shaft 412 in the height adjustment hole 111 of the guide rod 11. The height of the conveying parameter detection wheel 411 relative to the conveying channel 5 can be flexibly and quickly adjusted according to actual needs.

[0163] The inventors discovered that, due to the continuity of the conveying channel 5, the cable conveying detection unit 41 cannot be installed inside the conveying channel 5; the conveying components 3 are arranged on the transverse side of the conveying channel 5, and the transverse periphery of the conveying channel 5 cannot provide installation space for the cable conveying detection unit 41. Therefore, this poses a great challenge to the arrangement and selection of the cable conveying detection unit 41.

[0164] The first arrangement of the cable conveying detection unit 41 is as follows: there are two cable conveying detection units 41, and their working principle is as follows. Figures 18-21 As shown, a cable conveying detection unit 41 is arranged at each end of the conveying channel 5 along its length. The two cable conveying detection units 41 are, in order of activation, the first cable conveying detection unit 41-1 and the second cable conveying detection unit 41-2. When the first cable conveying detection unit 41-1 detects the desired direction of cable conveying, the cable has not yet entered the conveying channel 5, and clamping and conveying operations cannot be performed at this time. The processor is configured such that when the second cable conveying detection unit 41-2 detects the desired direction of cable conveying (e.g., ... Figure 20 (as shown) or delayed clamping delay (such as) Figure 19 As shown, it should also be noted that the clamping delay should be ensured within... Figure 19 After the indicated time (that is, ensuring that cable 8 has completely passed through the effective length L of the conveying channel 5), a running command is sent to the conveying assembly 3 and / or a clamping command is sent to the clamping assembly 2. The second cable conveying detection unit 41-2, which is then triggered, detects the desired direction of cable conveying. This serves as the basis for ensuring the cable end completely exits the conveying channel 5 (completely passing through the effective length L of the conveying channel 5). More accurately, after receiving the clamping command, the clamping assembly 2 follows... Figure 19 or Figure 20 The F-clamping direction drive conveyor assembly 3 is shown.

[0165] In the first arrangement of the cable conveying detection unit 41, regardless of which end of the conveying channel 5 the cable enters from, it can detect the signal indicating the desired conveying direction of the cable immediately and automatically determine the running direction of the conveying components based on this signal. The first cable conveying detection unit 41-1 detects the desired conveying direction as a judgment signal that "the cable end has entered the conveying channel but has not completely passed through it." At this time, the clamping component 2 and the conveying component 3 do not start until the second cable conveying detection unit 41-2 detects the desired conveying direction or after a clamping delay (e.g., 1 second), recognizing that "the cable end has been conveyed from the entrance to the exit of the conveying channel, i.e., the cable end is exposed from the conveying channel." The second cable conveying detection unit 42-2, upon detecting the desired conveying direction or after a clamping delay (e.g., 1 second), sends a running command to the conveying component 3 and a clamping command to the clamping component 2. The conveying component 2 operates in the direction of the conveying component's running direction, and the clamping component 3 drives the two conveying components closer together (along the direction of the cable's movement). Figure 19 and Figure 20 (The direction of the arrow F shown is the clamping direction) to clamp the cable 8 located in the conveying channel 5.

[0166] The second arrangement of the cable conveying detection unit 41 is as follows: the cable conveying detection unit 411 consists of one unit, such as... Figures 22-28 As shown, the cable conveying detection unit 411 can be arranged at either end of the conveying channel 5. It has a simple structure and saves costs; a single cable conveying detection unit 411 can be arranged at either end of the conveying channel 5 (in the length direction).

[0167] The inventors discovered that in the second arrangement of the cable conveying detection unit 41, since there is only one cable conveying detection unit 41, the desired direction of cable conveying can only be detected from one point. If the cable conveying detection unit is located in front of the running direction of the conveying assembly, such as Figures 25-28 As shown, the cable conveying detection unit 41 detects the desired direction of cable conveying, that is, it identifies that "the cable end has been conveyed from the inlet to the outlet of the conveying channel 5, that is, the cable end is completely exposed from the conveying channel 5". Upon detecting the desired direction of cable conveying or after a first conveying delay (e.g., 1 second), it sends a running command to the conveying group 3. Figure 26 (as shown) or a delay after the first clamping (e.g., 1 second, e.g.) Figure 27The cable conveying detection unit 41 detects the direction in which the cable is expected to be conveyed, and sends a conveying instruction to the conveying assembly 3. After receiving the respective instruction, the conveying assembly 3 and the clamping assembly 2 operate automatically in the above-mentioned manner. Thus, it is ensured that the cable end is completely exposed from the conveying channel 5 (the cable end exceeds the effective length L of the conveying channel 5 in the direction in which the cable is expected to be conveyed, i.e. the clamping length of the conveying assembly 3) before the conveying assembly 3 and the clamping assembly 2 are started again, so that the cable 8 can be conveyed normally, and the cable end can not be excessively squeezed between the cable 8 and the conveying assembly 3 (the cable 8 does not fill the conveying channel 5, but only occupies a part of the conveying channel 5, which results in the excessive squeezing, the cable end is excessively squeezed, which causes an undesirable deformation and affects the subsequent electrical connection, and the conveying assembly 3 is excessively squeezed, which causes an excessive deformation and even a jamming of the conveying assembly) when the cable end is still in the conveying channel 5, and the two ends of the conveying assembly 3 (in the conveying direction) are not balanced (the end of the conveying assembly corresponding to the part of the conveying channel 5 not occupied by the cable end is not squeezed, and the end of the conveying assembly corresponding to the part of the conveying channel 5 occupied by the cable is squeezed, which can cause an asynchronous deformation of the two ends of the conveying assembly 3, or even damage the conveying assembly 3).

[0168] Continuing to describe the second arrangement of the cable conveying detection unit 41, since the cable conveying detection unit 41 is only one, it can only detect the direction in which the cable is expected to be conveyed from one place. The cable conveying detection unit 41 is located at the rear of the conveying assembly in the conveying direction, which can detect the direction in which the cable is expected to be conveyed earlier than when the cable conveying detection unit 41 is located at the front of the conveying assembly in the conveying direction, as shown in Figures 22-24 The processor is further configured to: when the cable conveying detection unit 41 detects that the direction in which the cable is expected to be conveyed lags behind the second conveying delay (the second conveying delay > the first conveying delay) (as shown in Figure 23 The value of the second clamping delay is at least Figure 23 The value of the second clamping delay is at least Figure 23 The value of the second clamping delay is at least

[0169] In the second arrangement of the cable conveying detection unit 41, in order to make the conveying of the cable 8 more smooth, a guide wheel 12 is rotatably installed at the end of the conveying channel 5 where the cable conveying detection unit 41 is not arranged.

[0170] It is also necessary to point out that the starting time of the conveying assembly 3 should not be earlier than the starting time of the clamping assembly 2, which is advantageous for ensuring the normal conveying of the cable.

[0171] The inventors have found that during the operation of the cable conveying machine, slippage (the cable moves out of synchronization with the conveying assembly 3) may occur due to various reasons (e.g. too small clamping force, change in the diameter of the cable, bumps or grooves on the outer surface of the cable insulation, etc.), which may cause excessive wear of the cable and even damage the outer insulation of the cable. Obviously, this slippage phenomenon is undesirable and should be avoided or at least controlled within a reasonable range. Based on this consideration, a cable conveying anti-slippage assembly is provided, Figures 3-10 which comprises the conveying assembly operation detection unit 43 and the cable conveying detection unit 41 disclosed in the first aspect, wherein:

[0172] The cable conveying detection unit 41 is further configured to detect the speed at which the cable is conveyed and record it as the cable conveying speed;

[0173] The conveying assembly operation detection unit 43 is configured to detect the speed at which the conveying assembly 3 moves and record it as the conveying assembly operation speed;

[0174] The memory 44 is further configured to store a conveying speed allowable deviation;

[0175] The processor 45 is further configured to, if the absolute value of the difference between the cable conveying speed and the conveying assembly operation speed is ≥ the conveying speed allowable deviation, execute at least one of the following:

[0176] The prompting unit 47 is activated to issue a prompt to the user;

[0177] The clamping assembly 2 clamps the cable 8 more tightly;

[0178] The clamping assembly 2 is separated to release the clamped cable 8;

[0179] The conveying assembly 3 is stopped to stop conveying the cable 8.

[0180] The slippage phenomenon is identified based on the size relationship between the absolute value of the difference between the cable conveying speed and the conveying assembly operation speed and the conveying speed allowable deviation, and the specific process is as follows:

[0181] If the absolute value of the difference between the cable conveying speed and the conveying assembly operation speed is < the conveying speed allowable deviation, it indicates that no slippage occurs or that the slippage occurs but is within the allowable range, in which case the cable conveying machine can continue to operate normally, and the processor 45 sends a normal conveying instruction to the clamping assembly 2 and the conveying assembly 3. After receiving the normal conveying instruction, the clamping assembly 2 operates to provide the clamping force of the cable to the conveying assembly 3, and the conveying assembly 3 operates in the current operation direction and speed to continue to provide the conveying force to the cable;

[0182] If the absolute value of the difference between the speed at which the cable is being conveyed and the running speed of the conveying assembly is greater than or equal to the allowable deviation of the conveying speed, i.e. slippage is identified, at least one of the following is performed: the prompting unit is activated to issue a prompt to the user, the clamping assembly clamps the cable to a greater extent, the conveying assembly is separated to release the clamped cable, the conveying assembly is stopped to stop conveying the cable. The emergency measure can be a prompt, which can be made by the prompting unit 47, to issue at least one of sound, light, image to the user, which can be recognized by the user's senses. The automatically performed emergency measures can include the clamping assembly 2 being separated to release the clamped cable and / or the conveying assembly 3 being stopped to stop conveying the cable. The emergency measure can also be that the clamping assembly clamps the cable to a greater extent (by reducing the distance between the two conveying assemblies 3, i.e. reducing the conveying channel, to provide greater clamping force to the cable). The emergency measure can also be that the clamping assembly works, the two conveying assemblies are separated, and the conveying channel is increased to completely release the cable to avoid the occurrence of slippage. The emergency measure can also be that the conveying assembly is stopped to stop conveying the cable to avoid the occurrence of slippage.

[0183] The above-mentioned identification of slippage is performed on the premise that the direction in which the cable is expected to be conveyed is consistent with the running direction of the conveying assembly (the cable can be conveyed in the expected direction), so that the conveying direction of the cable and the conveying speed are dynamically monitored and real-time controlled, and the system is automatically operated.

[0184] The determination of the allowable deviation value of the conveying speed cannot be too large or too small. If it is too large, it will affect the reliability of the slippage identification (i.e. a larger speed difference occurs, but it cannot be identified as slippage). If it is too small, the |cable conveying speed-conveying assembly running speed| identified as slippage phenomenon will be caused by the system operation (i.e. a very small speed difference occurs, but it is judged as slippage, which may be caused by manufacturing, assembly, sensor accuracy, etc.). The allowable deviation of the conveying speed may be, for example, equal to 1 / 10 of the absolute value of the difference between the cable conveying speed and the conveying assembly running speed.

[0185] The direction in which the cable is expected to be conveyed and the speed at which the cable is conveyed are obtained by the same subject (cable conveying detection unit 41), and the running direction of the conveying assembly and the running speed of the conveying assembly are obtained by the same subject (conveying assembly running detection unit 43). The cable conveying anti-slippage assembly using this data acquisition method can complete closed-loop control: automatically determining the running direction of the conveying assembly according to the direction in which the cable is expected to be conveyed, automatically identifying slippage on the premise that the running direction of the conveying assembly is correct, and prompting and emergency measures after identifying slippage (such as the above-mentioned: the clamping assembly clamps the cable to a greater extent, the conveying assembly is separated to release the clamped cable, and the conveying assembly is stopped to stop conveying the cable).

[0186] For the purpose of improving the visualization of the operation of the control system, further referring to Figure 2 The cable conveying anti-slip assembly embodiment can further include a display screen 46 connected to the processor 45 in signal, configured to display at least one of the direction in which the cable is expected to be conveyed, the running direction of the conveying assembly, whether the direction in which the cable is expected to be conveyed corresponds to the running direction of the conveying assembly, the speed at which the cable is conveyed, the running speed of the conveying assembly, the allowable deviation of the conveying speed, and the conveying force.

[0187] The conveying force can be directly detected by a force sensor. When the cable is conveyed, a counterforce opposite to the direction in which the cable is expected to be conveyed is applied to the rack, so that a static friction force is formed between the rack and the ground (as known to those skilled in the art, the rack and the ground cannot slide relative to each other for the normal conveying of the cable), which reflects the conveying force. The detection method is reliable and accurate.

[0188] The conveying force can also be indirectly detected through other parameters associated with the conveying force (such as the current of the motor as the power part of the conveying assembly through a current sampling unit, and the torque installed on the driving wheel as the transmission part of the conveying assembly through a torque sensor).

[0189] For the purpose of detecting the running direction of the conveying assembly, further referring to Figure 6 and Figure 8 The conveying assembly operation detection unit 43 includes a rotation direction detector 431, a first working part 4311 of which is fixed to the rack 1, and a second working part 4312 of which is fixed to the conveying assembly 3, so that the running direction of the conveying assembly 3 relative to the rack 1 can be reliably and accurately obtained. Similarly to the two parts of the rotation direction detector 431, the first working part 4131 of the conveying parameter detector 413 is fixed to the clamping support 25, and the second working part 4132 thereof is fixed to the conveying parameter detection wheel 411 and rotates synchronously therewith.

[0190] As described above, the working principle of the conveying parameter detector 413 and the rotation direction detector 431 is to detect the rotation direction between two objects rotating relative to each other, and the actual selection is various. For example, any of the following can be used: a bidirectional Hall switch, a rotary potentiometer, an optical encoder, a rotary transformer, and an MSMS angle sensor.

[0191] The second aspect of the embodiment of the present application discloses a cable conveying control method applied to any of the above-mentioned cable conveying control devices, which includes the steps of conveying direction determination and clamping degree control.

[0192] The conveying direction determination includes:

[0193] detecting the direction in which the cable 8 is expected to be conveyed.

[0194] The correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly is a correspondence between a first direction in which the cable is expected to be conveyed and a first running direction of the conveying assembly, and a second direction in which the cable is expected to be conveyed and a second running direction of the conveying assembly.

[0195] The running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed is retrieved from the correspondence according to the direction in which the cable is expected to be conveyed, and a running instruction is sent to the conveying assembly 3 and / or a clamping instruction is sent to the clamping assembly 2.

[0196] The correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly is a correspondence between a first direction in which the cable is expected to be conveyed and a first running direction of the conveying assembly, and a second direction in which the cable is expected to be conveyed and a second running direction of the conveying assembly.

[0197] Since the working process, working principle and effect of the cable conveying determination assembly have been described in detail, the cable conveying direction determination method will not be described repeatedly.

[0198] The cable conveying direction determination method can further include the step of detecting the direction in which the cable is expected to be conveyed based on the movement of the cable being conveyed. The above-mentioned correspondence is satisfied, the judgment logic is unique, and the control logic is reliable and accurate.

[0199] The direction in which the cable is expected to be conveyed is detected based on the movement of the cable being conveyed causing the rotation of the (above-mentioned conveying parameter detection wheel), and the linear movement of the cable being conveyed is changed to (the rotation of the conveying parameter detection wheel). The control logic is simple and direct, the transmission is simple, and the reliability of the control and the accuracy of the detection of the direction in which the cable is expected to be conveyed are further improved.

[0200] The cable conveying direction adjustment method can further include the step of detecting the direction in which the cable is expected to be conveyed from both ends of the conveying channel 5. That is, the above-mentioned case where one cable conveying detection unit 41 is installed at each end of the conveying channel 5. When the direction in which the cable is expected to be conveyed is detected for the first time or after a lagging conveying delay, a running instruction is sent to the conveying assembly; when the direction in which the cable is expected to be conveyed is detected for the second time or after a lagging clamping delay, a clamping instruction is sent to the clamping assembly.

[0201] The cable conveying direction determining method can further comprise the steps of: detecting the direction in which the cable is expected to be conveyed from one of the two ends of the conveying channel 5. If the direction in which the cable is expected to be conveyed is detected in front of the running direction of the conveying assembly, the method further comprises the steps of: sending the running instruction to the conveying assembly when the direction in which the cable is expected to be conveyed is detected or after a first conveying delay; sending the running instruction to the conveying assembly when the direction in which the cable is expected to be conveyed is detected or after a first clamping delay. If the direction in which the cable is expected to be conveyed is detected behind the running direction of the conveying assembly, the method further comprises the steps of: sending the running instruction to the conveying assembly after a second conveying delay when the direction in which the cable is expected to be conveyed is detected; sending the running instruction to the conveying assembly after a second clamping delay when the direction in which the cable is expected to be conveyed is detected.

[0202] The clamping degree control comprises automatically adjusting the clamping degree of the cable based on the initial diameter of the cable 8, the initial diameter of the cable or the initial diameter range of the cable.

[0203] The cable conveying control method embodiment further comprises slip prevention control, which comprises the steps of: detecting the conveying speed of the cable; detecting the running speed of the conveying assembly; if the absolute value of the difference between the conveying speed of the cable and the running speed of the conveying assembly is greater than or equal to the conveying speed allowable deviation, which is a pre-stored value, at least one of the following is executed: prompting the user, clamping the cable 8 to a greater extent, releasing the clamped cable 8 and stopping conveying the cable 8.

[0204] The clamping degree control comprises the steps of:

[0205] The pre-stored preset clamping parameters, the initial diameter of the cable, the initial diameter range of the cable, the mapping relationship between the preset clamping parameters and the initial diameter of the cable or the mapping relationship between the preset clamping parameters and the initial diameter range of the cable, wherein the preset clamping parameters are preset clamping parameters, the initial diameter of the cable is the initial diameter of a cable of a certain specification, and the initial diameter range of the cable is the initial diameter range of at least two cables of similar specifications.

[0206] The actual clamping parameters are obtained by the relative approach or departure of the two conveying assemblies;

[0207] The initial diameter of the cable being currently conveyed is obtained.

[0208] The preset clamping parameters corresponding to the initial diameter of the cable are retrieved according to the initial diameter of the cable and the mapping relationship.

[0209] If the actual clamping parameters are less than the lower limit of the preset clamping parameters, a clamping instruction is sent to the clamping assembly.

[0210] If the actual clamping parameter is greater than the upper limit of the preset clamping parameter, a clamping over-limit instruction is issued to at least one of the following: the clamping assembly, the conveying assembly, and a prompting unit capable of prompting a user.

[0211] Since the structures, working processes, and roles of each working step of the cable conveying direction determination assembly, the cable clamping degree control assembly, and the cable anti-slip assembly have been described in detail in the first aspect of the embodiment of the present application, they will not be repeated here.

[0212] The third aspect of the embodiment of the present application discloses a computer readable storage medium, which stores computer instructions, and when the computer instructions are executed, any of the above cable conveying control methods is executed.

[0213] The fourth aspect of the present application discloses a cable conveyor, which continues to refer to Figures 5-17 , which comprises a rack 1, any of the above cable conveying control devices, a cable conveying direction determination assembly, a cable clamping degree control assembly, a clamping assembly 2, and a conveying assembly 3.

[0214] Continuing to refer to Figures 1-28 , the clamping assembly 2 comprises a clamping power unit 21 and two oppositely arranged clamping supports 25 which are sequentially connected in transmission, and under the drive of the clamping power unit 21 (such as a clamping motor), the two clamping supports 25 can be installed on the rack 1 to approach or away from each other, so as to adjust the size of the conveying channel 5 between the two conveying assemblies 3, thereby releasing and clamping the cable as described above.

[0215] Continuing to refer to Figure 8 , the conveying assembly 3 is arranged on the clamping support 25, and comprises a conveying power unit 31 (such as a conveying motor), a conveying transmission unit, and a conveying track 32 which are sequentially connected in transmission, and under the drive of the conveying power unit 31 (the conveying motor), the conveying track 32 moves in the direction of the first running direction of the conveying assembly or the second running direction of the conveying assembly. The cable conveying direction determination assembly, the cable conveying anti-slip assembly, and their application in the cable conveyor have been described in detail in the first aspect and the third aspect of the embodiment of the present application, and will not be repeated for the sake of simplicity.

[0216] When the clamping power unit 21 fails (such as accidental power failure of the power supply, failure of the power supply circuit, failure of the power supply motor, etc. when a clamping motor is used), the clamping power unit 21 cannot work, and the cable is not released from the clamped state. Based on this consideration, the embodiment of the clamping assembly 2 further comprises an operating handle 22, which continues to refer to Figure 5 and Figure 8 , the operating handle 22 is configured to adjust the distance between the two clamping supports 25 by the operation of the user. The operating handle 22 can adopt a bidirectional ratchet wrench.

[0217] Continuing to refer toFigure 8 、 Figures 15-17 , the conveying assembly 3 comprises a conveying power unit 31, a conveying transmission unit and a conveying track 32 connected in sequence, the conveying power unit 31 is in the form of a motor, referred to as a conveying motor, the conveying track 32 comprises a driving sprocket 321, a conveying chain 323, a driven sprocket 322 and a clamping block 324, the driving sprocket 321 is arranged at a distance from the driven sprocket 322, the conveying chain 323 is sleeved on the driving sprocket 321 and the driven sprocket 322, the conveying motor drives the driving sprocket 321 through the conveying transmission unit (such as a speed reducer), the clamping block 324 is fixed on the link of the chain, in order to ensure that the clamping block 324 can provide sufficient friction and avoid damaging the cable, the clamping block 324 is made of elastic material such as rubber.

[0218] As shown in Figures 5-8 and Figure 15 , the driving sprocket can be located at different ends of the conveying channel 5 (the extension direction), referred to as opposite arrangement (or diagonal arrangement), this arrangement enables the conveying power unit 31 to be arranged below the driven sprocket of the other conveying assembly 3, without the need to arrange the conveying power unit along the length direction of the conveying channel 5, the conveying assembly 3 can obtain a shorter length (the size along the length direction of the conveying channel 5), the structure is more compact, and the requirement for installation space is reduced.

[0219] As shown in Figure 16 and Figure 17 , the driving sprocket can also be located at the same end of the conveying channel 5 (the extension direction), referred to as the same side arrangement, in this arrangement, the two conveying tracks 32 are synchronously tensioned and relaxed, the force is synchronous, and uneven force is avoided to cause the larger one to break the chain.

[0220] Regarding the two conveying assemblies 3, the conveying direction can be ensured to be always consistent through conventional setting, for example, when the conveying power units 31 are all three-phase motors, the rotation direction of the two conveying motors can be ensured through wiring (common sense of those skilled in the art), to be precise, after wiring, the rotation directions of the two conveying motors are opposite, but due to the left-right symmetrical arrangement of the two conveying assemblies 3, the running directions (the conveying directions of the cables) of the two conveying assemblies 3 are the same.

[0221] Continuing to refer to Figure 5 、 Figure 6 、 Figure 8 and Figure 16The further embodiment of the cable conveyor can further comprise a traction wheel 6 rotatably mounted on the frame 1 under the drive of the conveying power assembly (precisely, the conveying power unit 31), the axis of the traction wheel 6 is vertically arranged, and a wheel groove 61 of the traction wheel 6 forms a traction space for the steel wire rope connected at the end of the cable traction net to pass through. Thus, the intelligent cable conveyor is provided with the function of traction of the cable, and in particular, the traction wheel 6 of one intelligent cable conveyor can provide traction force for another intelligent cable conveyor before the reversing judgment, and the two intelligent cable conveyors are used in cooperation.

[0222] The processor 45 is further configured to, when detecting the direction in which the cable is expected to be conveyed, denoted as a trigger time, at which the conveying assembly 3 keeps the cable unclamped, trigger the clamping assembly 2 to drive the conveying assembly 3 to clamp the cable with a time lag ΔT. That is, the cable is clamped only after it is determined that the direction in which the cable is expected to be conveyed is consistent with the running direction of the conveying assembly (as described above, the inconsistent reversing is changed to a consistent state), thereby ensuring effective conveying.

[0223] As described above, the conveying power unit 31 and the clamping power unit 21 can both adopt motors. Considering bidirectional conveyance, the conveying direction of the conveying assembly is required to be switchable. As a common implementation manner of switching the conveying direction, the processor controls the forward and reverse rotation of the motor through an H-bridge circuit.

[0224] The processor can include one or more processing cores. The processor connects various parts in the entire server through various interfaces and lines, executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in at least one of hardware forms of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interface graphs, and application programs; the GPU is responsible for rendering and drawing the content required to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor, but can be realized by a separate chip.

Claims

1. A cable conveying control device applicable to a cable conveyor, the cable conveyor comprising a frame and clamping and conveying components mounted on the frame, respectively used for clamping and conveying cables, the cables being clamped in a conveying channel between the two conveying components, comprising a memory, a processor, a cable conveying direction determination component, and a cable clamping degree control component, wherein: The memory stores the correspondence between the desired direction of cable delivery and the operating direction of the delivery component. The cable delivery direction determination component includes a cable delivery detection unit configured to detect the desired direction of cable delivery. The processor is configured to retrieve the corresponding operating direction of the delivery component from the correspondence based on the detected desired direction of cable delivery, and send an operating command to the delivery component and / or a clamping command to the clamping component. The cable clamping control component includes a clamping detection unit and a cable diameter acquisition unit. The memory also stores preset clamping parameters, the initial diameter of the cable or a range of initial diameters, and a mapping relationship between the preset clamping parameters and the initial diameter of the cable. The clamping detection unit is configured to acquire actual clamping parameters, which change due to the relative proximity or distance between the two conveying components. The cable diameter acquisition unit is configured to acquire the initial diameter of the currently conveyed cable or a range of initial diameters. The processor is further configured to: retrieve the preset clamping parameters corresponding to the initial diameter of the cable or the range of initial diameters based on the initial diameter of the cable and the mapping relationship; if the actual clamping parameter is less than the lower limit of the preset clamping parameter, issue a clamping command to the clamping component; if the actual clamping parameter is greater than or equal to the upper limit of the preset clamping parameter, issue a clamping over-limit command to at least one of the following: the clamping component, the conveying component, and a prompting unit that can alert the user. The cable delivery detection unit includes: The parameter detection wheel is rotatably mounted on the frame of the cable conveyor, driven by the cable being conveyed. A conveying parameter detector is installed between the conveying parameter detection wheel and the frame of the cable conveyor to detect the desired direction of cable conveying.

2. The cable conveying control device according to claim 1, characterized in that, The cable delivery detection unit is triggered by the movement of the cable being delivered.

3. The cable conveying control device according to claim 1, characterized in that, The conveying parameter detection wheel has a friction-increasing groove for carrying the cable, and the tangent direction of the upper edge of the friction-increasing groove is parallel to the length direction of the conveying channel.

4. The cable conveying control device according to claim 3, characterized in that, The conveying parameter detection wheel is rigidly supported on the frame, and the support height of the conveying parameter detection wheel is adjustable.

5. The cable conveying control device according to claim 3, characterized in that, The conveying parameter detection wheel is rigidly supported on the frame, and the upper edge of the friction-enhancing groove is flush with or slightly higher than the bottom of the conveying channel.

6. The cable conveying control device according to claim 3, characterized in that, When no cable is placed on the friction-enhancing groove, the upper edge of the friction-enhancing groove extends beyond the bottom of the conveying channel by a pressing distance. After the cable is placed on the friction-enhancing groove, the conveying parameter detection wheel can be pressed down until the upper edge of the friction-enhancing groove is flush with or slightly higher than the bottom of the conveying channel under the gravity of the cable.

7. The cable conveying control device according to claim 6, characterized in that, The conveying parameter detection wheel is made of an elastic material; or... The conveying parameter detection wheel and the frame support are equipped with elastic elements to provide the downward pressure distance.

8. The cable conveying control device according to claim 1, characterized in that, There are two cable conveying detection units, one at each end of the length of the conveying channel.

9. The cable conveying control device according to claim 8, characterized in that, The two cable delivery detection units are, in order of being triggered, a first cable delivery detection unit and a second cable delivery detection unit. The processor is further configured to: When the second cable delivery detection unit detects the desired direction of cable delivery or the delayed clamping time, it sends the clamping command to the clamping assembly.

10. The cable conveying control device according to claim 1, characterized in that, The cable conveying detection unit is a single unit, which is located at either end of the conveying channel.

11. The cable conveying control device according to claim 10, characterized in that, If the cable delivery detection unit is located in front of the operating direction of the delivery assembly, the processor is further configured to: When the cable conveying detection unit detects the desired direction of cable conveying or after a first conveying delay, it sends the operating command to the conveying component. When the cable conveying detection unit detects the desired direction of cable conveying or after a first clamping delay, it sends the clamping command to the clamping assembly.

12. The cable conveying control device according to claim 10, characterized in that, If the cable delivery detection unit is located behind the operating direction of the delivery assembly, the processor is further configured to: The cable conveying detection unit detects that the direction in which the cable is expected to be conveyed lags behind the second conveying delay, and sends the operating command to the conveying component; The cable delivery detection unit detects a second clamping delay when the desired direction of cable delivery lags behind, and sends the clamping command to the clamping assembly.

13. The cable conveying control device according to any one of claims 1 to 12, characterized in that, It also includes a cable conveyor anti-slip assembly, which comprises: The cable conveying detection unit is further configured to detect the speed at which the cable is conveyed and record it as the speed at which the cable is conveyed; The conveyor component operation detection unit is configured to detect the operating speed of the conveyor component and record it as the operating speed of the conveyor component; The memory is configured to store allowable deviations in delivery speed; The processor is configured to: if the absolute value of the difference between the speed at which the cable is conveyed and the operating speed of the conveying assembly is greater than or equal to the allowable deviation of the conveying speed, perform at least one of the following: The notification unit is activated to provide a notification to the user; The clamping assembly clamps the cable to a greater extent; The delivery assembly separates to release the clamped cable; The conveyor assembly is shut down to stop the cable delivery.

14. The cable conveying control device according to claim 13, characterized in that, The processor is also configured to send a normal transport command to the clamping assembly and the transport assembly if the absolute value of the difference between the speed at which the cable is transported and the operating speed of the transport assembly is less than the allowable deviation of the transport speed.

15. The cable conveying control device according to claim 13, characterized in that, It also includes a display screen connected to the processor, configured to display at least one of the following: the direction in which the cable is expected to be transported, the operating direction of the transport component, whether the direction in which the cable is expected to be transported corresponds to the operating direction of the transport component, the speed at which the cable is transported, the operating speed of the transport component, the allowable deviation of the transport speed, and the transport force.

16. The cable conveying control device according to claim 15, characterized in that, The processor is also configured to calculate the conveying force based on one of the following: The current of the motor that serves as the power component of the transmission assembly; A torque sensor is mounted on the drive wheel, which is part of the transmission component of the conveying assembly. The static friction force applied to the ground by the cable conveyor through the rack.

17. The cable conveying control device according to claim 13, characterized in that, The cable conveying detection unit and the conveying component operation detection unit are both either of the following: Two-way Hall switches, rotary potentiometers, optical encoders, rotary transformers, and MSMS angle sensors.

18. The cable conveying control device according to claim 1, characterized in that, The actual clamping parameters include at least one of a first actual clamping parameter, a second actual clamping parameter, and a third actual clamping parameter, wherein: The first actual clamping parameter is the clamping force or the rate of change of the clamping force applied to the cable by the two conveying components; The second actual clamping parameter is the amount of diameter deformation or the rate of change of diameter deformation of the cable before and after clamping. The third actual clamping parameter is the conveying speed or the rate of change of the conveying speed.

19. The cable conveying control device according to claim 18, characterized in that, It also includes a force sensor installed between the two clamping assemblies and configured to acquire the clamping force based on the relative motion of the two conveying assemblies.

20. The cable conveying control device according to claim 18, characterized in that, The preset clamping parameters are proportional to the initial diameter of the cable or the range of the initial diameter of the cable.

21. The cable conveying control device according to any one of claims 18 to 20, characterized in that, The memory also stores trigger clamping parameters, and the processor is further configured to: If the actual clamping parameter equals the trigger clamping parameter, it is determined to be the initial moment when the cable is clamped. Based on the mapping relationship, the initial diameter of the cable or the range of the initial diameter of the cable corresponding to the trigger clamping parameter is retrieved.

22. The cable conveying control device according to any one of claims 18 to 20, characterized in that, It also includes a sensor for measuring the diameter or diameter range of the cable when clamping is triggered, the memory also stores triggering clamping parameters, and the processor is further configured to: If the actual clamping parameter equals the trigger clamping parameter, it is determined to be the initial moment when the cable is clamped.

23. The cable conveying control device according to claim 21, characterized in that, The processor is also configured to: If the actual clamping parameter is greater than or equal to the lower limit of the preset clamping parameter, it is determined that the cable is clamped, and the distance measuring sensor detects the diameter or diameter range of the cable when it is actually clamped. The diameter deformation amount = the diameter or diameter range of the cable when the clamping is triggered - the diameter or diameter range of the cable when the clamping is actually performed.

24. The cable conveying control device according to any one of claims 18 to 20, characterized in that, It also includes a cable conveying detection unit configured to detect the conveying speed.

25. The cable conveying control device according to claim 24, characterized in that, The cable delivery detection unit is triggered by the movement of the cable being delivered.

26. The cable conveying control device according to claim 25, characterized in that, The cable delivery detection unit includes: The parameter detection wheel is rotatably mounted on the frame of the cable conveyor, driven by the cable being conveyed. A conveying parameter detector is installed between the conveying parameter detection wheel and the frame of the cable conveyor to detect the conveying speed.

27. A cable conveying control method, applied to the cable conveying control device according to any one of claims 1 to 6, characterized in that, Including the following steps: The conveying direction is determined, and the desired conveying direction of the cable is detected; the correspondence between the desired conveying direction of the cable and the running direction of the conveying component is pre-stored; the running direction of the corresponding conveying component is retrieved from the correspondence based on the desired conveying direction of the cable, and a running command is sent to the conveying component and / or a clamping command is sent to the clamping component. Clamping degree control: The clamping degree of the cable is automatically adjusted based on the initial diameter of the cable or a range of initial diameters.

28. The cable conveying control method according to claim 27, characterized in that, It also includes the following steps: Anti-slip control detects the speed at which the cable is being conveyed; detects the operating speed of the conveying assembly; if the absolute value of the difference between the speed at which the cable is being conveyed and the operating speed of the conveying assembly is greater than or equal to the allowable deviation of the conveying speed (which is a pre-stored value), at least one of the following is performed: prompting the user, clamping the cable to a greater extent, releasing the clamped cable, and stopping the conveying of the cable.

29. The cable conveying control method according to claim 27, characterized in that, The clamping degree control includes the following steps: The system pre-stores preset clamping parameters, the initial diameter of the cable or the range of the initial diameter of the cable, and the mapping relationship between the preset clamping parameters and the initial diameter of the cable or the mapping relationship between the preset clamping parameters and the range of the initial diameter of the cable. The preset clamping parameters are preset clamping parameters, the initial diameter of the cable is the initial diameter of a cable of a certain specification, and the range of the initial diameter of the cable is the range of the initial diameter of at least two cables with similar specifications. Obtain the actual clamping parameters, which are affected by the relative proximity or distance between the two conveying components; Obtain the initial diameter of the currently being transported cable; The preset clamping parameters corresponding to the initial diameter of the cable are retrieved based on the initial diameter of the cable and the mapping relationship. If the actual clamping parameter is less than the lower limit of the preset clamping parameter, a clamping command is sent to the clamping assembly; If the actual clamping parameter is greater than or equal to the upper limit of the preset clamping parameter, a clamping over-limit command is issued to at least one of the following: the clamping assembly, the conveying assembly, and the prompting unit that can prompt the user.

30. A computer-readable storage medium, characterized in that, It stores computer instructions that, when executed, perform the cable delivery control method as described in claim 27, 28, or 29.

31. A cable conveyor, characterized in that, Including any one of claims 1 to 26: frame; The clamping assembly includes a clamping power unit, a clamping transmission unit, and two clamping brackets arranged opposite to each other, which are connected in sequence and driven by the clamping power unit and the clamping transmission unit. The two clamping brackets can be installed on the frame by moving closer to each other and further away from each other. A conveying assembly is disposed on the clamping bracket and includes a conveying power unit, a conveying transmission unit, and a conveying track that are sequentially connected in a transmission manner; Cable delivery direction determination component; Cable clamping control components; The memory pre-stores the correspondence and the mapping relationship; The processor, the signal output terminal of the cable conveying direction determining component, the control terminal of the clamping power unit, and the control terminal of the conveying power unit are all connected to the controller signal.

32. The cable conveyor according to claim 31, characterized in that, The clamping assembly further includes a first linear motion component and a floating connector, wherein: The clamping power unit drives the first clamping bracket to move through the first linear motion component; The first clamping bracket is configured with a first limiting part and a second limiting part along the movement direction of the conveying assembly; The first linear motion member is limited by the first limiting part; The floating connector is limited by the second limiting part; The clamping detection unit of the cable clamping degree control assembly is installed between the second clamping bracket and the frame.

33. The cable conveyor according to claim 32, characterized in that, The clamping transmission unit further includes a second linear motion component, and the second clamping bracket is constructed with a third limiting part and a fourth limiting part arranged sequentially along the clamping direction, wherein: The clamping power unit drives the second clamping bracket to move through the second linear motion component; The clamping detection unit is located between the second linear motion component and the clamping bracket, and is used to detect the actual clamping parameters. The clamping detection unit abuts between the third limiting part and the second linear motion member.

Images