Cable delivery direction determination component

Abstract

The application relates to the technical field of cable conveying, and discloses a cable conveying direction determining assembly, which comprises a cable conveying detection unit configured to detect the direction in which a cable is conveyed; a memory storing a corresponding relationship between the direction in which the cable is expected to be conveyed and the running direction of a conveying assembly; and a processor configured to: according to the direction in which the cable is expected to be conveyed, call the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed from the corresponding relationship, and send a running instruction to the conveying assembly and / or a clamping instruction to a clamping assembly. The application has the beneficial effect that the direction in which the cable is expected to be conveyed can be automatically detected, and the running direction of the corresponding conveying assembly can be automatically called according to the direction in which the cable is expected to be conveyed, so that the cable conveyor runs in the correct direction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable conveying, in particular to a cable conveying direction determination assembly and method, a cable conveying anti-slip assembly and method, a cable conveyor and a computer readable storage medium. 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 intelligentization.

[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 approach or departure of the two tracks. When the tracks approach, the cable is clamped, and when the tracks depart, the cable is released. For example, the patent application with the publication number "CN109879111A".

[0004] The technical problems existing in actual use at least include: the conveying direction of the track is related to the wiring (power supply line) mode of the motor, so the conveying direction of the track is not determined; the cable can enter from any end of the conveying channel, so the direction of the cable entering the conveying channel is not determined. In the above two uncertain situations, the conveying direction of the track may not be consistent with the conveying direction of the cable. When this inconsistency occurs, the existing methods are:

[0005] Stopping the cable conveyor and adjusting the orientation of the cable conveyor, that is, turning 180° in the horizontal plane to make the above two directions consistent;

[0006] Changing the wiring mode of the motor to change the rotation direction of the motor (the conveying direction of the track is also changed) to make the above two directions consistent. For example, as disclosed in "https: / / baike.baidu.com / item / %E4%B8%89%E7%9B%B8%E5%BC%82%E6%AD%A5%E7%94%B5%E5%8A%A8%E6%9C%BA%E6%AD%A3%E5%8F%8D%E8%BD%AC%E6%8E%A7%E5%88%B6%E5%8E%9F%E7%90%86%E5%9B%BE / 7620828?fr=ge_ala", "The motor needs to realize forward and reverse rotation control. The phase sequence of its power supply can be adjusted arbitrarily (we call it phase change). Usually, the V phase remains unchanged, and the U and W phases are adjusted."

[0007] There is also a way to set two motors, one of which always rotates in the first direction, and the other always rotates in the second direction, and the user manually sets the motor that needs to work according to the actual needs, such as the utility model patent with authorization announcement No. "CN207001865U".

[0008] In order to solve the above-mentioned two direction consistent attempt, there are still problems: the judgment of whether the two directions are consistent is made by the user, and when they are inconsistent, no matter which adjustment method is used, it is also made by the user, which inevitably leads to: the judgment may not be accurate, and the user needs to judge and reverse each cable conveyor; Especially when the cable conveyor is arranged in multiple intervals, it is more difficult to determine the consistency of the direction and reverse, and the layout, debugging (reversing operation) time of the cable conveyor equipment is increased; If the reversing scheme of CN207001865U is adopted, the problem of relying on manual debugging can be solved, but it increases the additional motor, increases the cost, weight and volume, especially, the cable conveyor is often arranged in an environment that is not easy to transport and move, and the increase of weight and volume increases the difficulty of transportation and movement. In some narrow spaces, it is even impossible to transport and move.

[0009] Therefore, it is urgent to provide a cable conveying direction determination assembly to solve the above-mentioned cable conveying direction conversion problem. SUMMARY

[0010] In order to solve the above-mentioned problem that the running direction of the conveying assembly cannot be automatically determined according to the expected conveying direction of the cable, the first aspect of the present application provides a cable conveying direction determination assembly which can be used in a cable conveyor, the cable conveyor comprising a rack and a clamping assembly and a conveying assembly installed on the rack, respectively used for clamping and conveying the cable, and the cable can be clamped in a conveying channel between the two conveying assemblies, comprising:

[0011] A cable conveying detection unit is configured to detect the direction in which the cable is expected to be conveyed;

[0012] A memory, wherein 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;

[0013] A processor configured to retrieve the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed from the correspondence according to the detected 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.

[0014] The second aspect of the present application discloses a cable conveying direction determination method applying the assembly of the first aspect, which comprises the steps of:

[0015] detecting a direction in which the cable is expected to be conveyed;

[0016] pre-storing a correspondence between the direction in which the cable is expected to be conveyed and a running direction of the conveying assembly;

[0017] retrieving, from the correspondence, the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed according to the direction in which the cable is expected to be conveyed, and sending a running instruction to the conveying assembly and a clamping instruction to the clamping assembly.

[0018] A third aspect of the present application discloses a cable conveying anti-slip assembly, comprising a conveying assembly running detection unit, the cable conveying detection unit of the first aspect, a memory and a processor, wherein:

[0019] The cable conveying detection unit is further configured to detect a speed at which the cable is conveyed;

[0020] The conveying assembly running detection unit is further configured to detect a running speed of the conveying assembly;

[0021] The memory is further configured to store a conveying speed allowable deviation;

[0022] The processor is further configured to, if |the speed at which the cable is conveyed-the running speed of the conveying assembly|≥the conveying speed allowable deviation, perform at least one of the following:

[0023] prompting the unit to prompt a user;

[0024] the clamping assembly clamps the cable to a greater extent;

[0025] the conveying assembly separates to release the clamped cable;

[0026] the conveying assembly stops to stop conveying the cable.

[0027] A fourth aspect of the present application discloses a cable conveying anti-slip method, which can be applied to the assembly of the third aspect, and the method comprises the steps of:

[0028] detecting a speed at which the cable is conveyed;

[0029] detecting a running speed of the conveying assembly;

[0030] if |the speed at which the cable is conveyed-the running speed of the conveying assembly|≥a conveying speed allowable deviation, performing at least one of the following:

[0031] prompting the user, clamping the cable to a greater extent, releasing the clamped cable and stopping conveying the cable.

[0032] A fifth aspect of the present application discloses a cable conveyor, comprising the cable conveying detection unit of the first aspect or the cable conveying anti-slip assembly of the third aspect.

[0033] frame;

[0034] cable conveying direction determining assembly;

[0035] clamping assembly, comprising a clamping power unit and two oppositely arranged clamping supports which are in turn drivingly connected, and under the drive of the clamping power unit, the two clamping supports can be mounted on the frame close to and away from each other;

[0036] conveying assembly, provided on the clamping support, and comprising a conveying power unit, a conveying transmission unit and a conveying track which are in turn drivingly connected;

[0037] processor, the signal output end of the cable conveying direction determining assembly, the control end of the clamping power unit, and the control end of the conveying power unit are all in signal connection with the controller.

[0038] The sixth aspect of the present application discloses a computer readable storage medium, which stores computer instructions, when the computer instructions are run, the cable conveying direction determining method disclosed in the second aspect or the cable conveying anti-slip method disclosed in the fourth aspect is executed.

[0039] When applied to a cable conveyor, the clamping assembly and the conveying assembly of the cable conveyor are in a stop state, and the conveying channel between the two conveying assemblies maintains a large gap (greater than the diameter of the cable to be conveyed).

[0040] Compared with the prior art, the cable conveying direction determining assembly of the first aspect of the present application has the following beneficial effects:

[0041] The cable conveying detection unit detects the direction in which the cable (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.) is expected to be conveyed, and in fact, the direction in which the cable can be conveyed is two, which are respectively recorded as a first direction in which the cable is expected to be conveyed and a second direction in which the cable is expected to be conveyed;

[0042] The running direction of the conveying assembly has a corresponding relationship (one-to-one correspondence) with the direction in which the cable is expected to be conveyed, and in fact, the direction in which the cable can be conveyed is two, which are respectively recorded as a first running direction of the conveying assembly and a second running direction of the conveying assembly, and 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, and the corresponding relationship is pre-stored;

[0043] According to the detected direction in which the cable is expected to be conveyed, the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed is called from the correspondence relationship, and running instructions are sent to the conveying assembly and clamping instructions are sent to the clamping assembly. The conveying assembly receives the running instructions to run in the running direction of the conveying assembly, and the clamping assembly receives the clamping instructions to drive the two conveying assemblies to approach each other to clamp the cable in the conveying channel, so as to realize automatic determination of the running direction of the conveying assembly according to the detected direction in which the cable is expected to be conveyed. The detected direction in which the cable is expected to be conveyed is taken as the start / standby signal of the conveying assembly and the clamping assembly. Only when there is cable conveying, the conveying assembly and the clamping assembly are started, and when there is no cable conveying, the conveying assembly and the clamping assembly are not started, so as to avoid idle operation of the conveying assembly and the clamping assembly, save energy and reduce emissions, and improve the running life of the cable conveyor. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to make the advantages of the present application more easily understood, the present application briefly described above will be described in more detail by referring to the specific embodiments shown in the accompanying drawings. It should be understood that these drawings only depict typical embodiments of the present application and therefore should not be considered as limiting the scope of protection, which describes and explains the present application with additional characteristics and details by means of the drawings.

[0045] Figure 1 Control principle diagram for an embodiment of the cable conveying direction determination assembly;

[0046] Figure 2 Control principle diagram for another embodiment of the cable conveying direction determination assembly;

[0047] Figure 3 Control principle diagram for an embodiment of the cable conveying anti-slip assembly;

[0048] Figure 4 Control principle diagram for another embodiment of the cable conveying anti-slip assembly;

[0049] Figure 5 Perspective structural schematic diagram of a first view angle for the cable conveying direction determination assembly installed in the cable conveyor, wherein the conveying power unit is arranged on the opposite side;

[0050] Figure 6 Left view of Figure 5 ;

[0051] Figure 7 Second view angle of Figure 5 perspective structural schematic diagram;

[0052] Figure 8Figure 1 is a perspective view of a cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel;

[0053] Figure 9 Figure 2 is a perspective view of a cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel; Figure 8 Figure 3 is a partial enlarged view of the middle area Z;

[0054] Figure 10 Figure 4 is a partial enlarged view of the middle area Y; Figure 8 Figure 5 is a partial enlarged view of the middle area X;

[0055] Figure 11 Figure 6 is a schematic view of a way of mounting the conveying parameter detection wheel on the frame;

[0056] Figure 12 Figure 7 is a perspective view of a clamping assembly according to the present application, viewed from the oblique upper direction; Figure 9

[0057] Figure 8 is a perspective view of a clamping assembly according to the present application, viewed from the oblique lower direction; Figure 13

[0058] Figure 9 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel; Figure 14

[0059] Figure 10 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel; Figure 15

[0060] Figure 11 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel; Figure 16

[0061] Figure 12 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel; Figure 17 Figure 16 Figure 13 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel;

[0062] Figure 18 Figure 14 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel;

[0063] Figure 19 Figure 18 Figure 15 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel; Figure 18

[0064] Figure 16 is a schematic view of an embodiment of the cable conveying device according to the present application, wherein the conveying power unit is arranged on the opposite side of the conveying unit, and the conveying power unit is arranged on the same side of the conveying unit, i.e. the driving sprocket is located at the same length position of the conveying channel; Figure 20 Figure 18 ​​​Working principle diagram of the moment when the clamping assembly starts to start, in which the second cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0065] Figure 21 For Figure 18 Working principle diagram of the embodiment for normal conveying of the cable (the clamping assembly remains clamped, and the conveying assembly works in the expected direction and speed);

[0066] Figure 22 For the working principle diagram of an embodiment of the cable conveying assembly, in which: the cable conveying detection unit is one and located at the rear of the conveying direction, and the state in the figure is the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0067] Figure 23 For Figure 22 Second clamping delay clamping after the moment when the clamping assembly of the embodiment starts to start;

[0068] Figure 24 For Figure 22 Working principle diagram of the embodiment for normal conveying of the cable (the clamping assembly remains clamped, and the conveying assembly works in the expected direction and speed);

[0069] Figure 25 For the working principle diagram of an embodiment of the cable conveying assembly, in which: the cable conveying detection unit is one and located at the front of the conveying direction, and the state in the figure is the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

[0070] Figure 26 For Figure 25 Clamping starts at the moment when the cable conveying detection unit of the embodiment detects the direction in which the cable is expected to be conveyed;

[0071] Figure 27 For Figure 25 First clamping delay clamping after the moment when the clamping assembly of the embodiment starts to start;

[0072] Figure 28 For Figure 25 Working principle diagram of the embodiment for normal conveying of the cable (the clamping assembly remains clamped, and the conveying assembly works in the expected direction and speed).

[0073] The reference signs are as follows:

[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, lead screw; 24, lead screw nut; 25, clamping support; 26, floating connecting piece;

[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, conveying parameter detection wheel shaft; 4121, through hole; 413, first rotation direction detector; 4131, first working part of the first rotation direction detector; 4132, second working part of the first rotation direction detector;

[0078] 42, elastic member;

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

[0084] 8. cable. Embodiment

[0085] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring aspects of the present application.

[0086] For a thorough understanding of the present application, reference is made to the following detailed description taken in conjunction with the accompanying drawings. It is apparent that the present application can be practiced without one or more of the specific details set forth herein. Certain features have not been described in detail in order to avoid obscuring aspects of the present application.

[0087] 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 A and B, the term "at least one of A or B" or "at least one of A and B" has the same meaning as "A and / or B", which can include only A, only B, or A and B; the singular form of the term "one", "this" can also include the plural form; the terms "inner side", "outer side", "longitudinal", "transverse", "upper", "lower", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and is not required to be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application; the terms "first", "second", "third" are only for description purposes, 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", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0088] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings:

[0089] During the construction of power cable transmission, it is often necessary to use cable conveyor, and various application scenarios require that the cable conveyor can be bidirectional, and the application scenarios requiring bidirectional transmission of the transmission direction are only listed as follows:

[0090] 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, its 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 inconsistent 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.

[0091] 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 stopping the cable conveyor, manually changing the wiring method (phase sequence) of the motor, and setting two motors with opposite rotating directions.

[0092] The above three methods cannot at least automatically identify the need for reversing (whether reversing is needed), and automatically reverse after identifying the need for reversing. Meanwhile, if the first method is adopted, it can only be applied to cable conveyors for straight-line conveying, and cannot be applied to cable conveyors 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).

[0093] Based on the above considerations, the first aspect of the embodiments of the present application provides a cable conveying direction determination assembly, see Figure 1 、 Figure 2 、 Figures 3 to 17 which can be used in a cable conveyor, the cable conveyor comprising a rack 1 and a clamping assembly 2 and a conveying assembly 3 installed on the rack 1, 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 cable conveying direction determination assembly comprises a cable conveying detection unit 41, a storage 44 and a processor 45. 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 (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 relationship between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly), thus completing the automatic running from standby to start: 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 is required (the cable conveyor is rotated by 180° in the horizontal plane after stopping, switched to another motor drive with opposite turning direction, the phase sequence of the motor is changed, etc.).

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

[0095] The running direction detection unit 43 detects the running direction of the conveying assembly. In fact, the direction in which the cable can be conveyed is two, which are respectively referred to as the first running direction of the conveying assembly and the second running direction of the conveying assembly.

[0096] For the purpose of conveying the cable, it is necessary to ensure that the running direction of the conveying assembly is consistent with the direction in which the cable is expected to be conveyed (as shown in Figure 21 、 Figure 24 and Figure 27 , for example, 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. Of course, it can also be that the first direction in which the cable is expected to be conveyed corresponds to the second running direction of the conveying assembly, and the second direction in which the cable is expected to be conveyed corresponds to the first running direction of the conveying assembly. 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 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 as an example for description.

[0097] In contrast to the sequence from standby to automatic running, when the cable conveying assembly 3 (for a duration Tstandby, such as 15 seconds) does not detect the direction signal of the cable being conveyed, in fact, there is no cable being conveyed. 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 a conveying channel 5 extending in a straight line (as shown in Figures 5 to 17 , and can also be applied to conveying channels that are not straight (such as the 90° bend or even S-shaped of CN113104657A).

[0099] It should be further noted that the cable conveying direction determination assembly can be applied to a 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] In order to obtain the direction (expected to be conveyed) in which the cable 8 is conveyed, the cable conveying detection unit 41 is triggered by the movement of the cable 8 being conveyed. The cable conveying direction obtained by the cable conveying detection unit 41 has a strict one-to-one correspondence with the actual cable conveying direction, and the judgment of the cable conveying direction is unique, accurate and reliable.

[0101] The specific form of the cable conveying detection unit 41 will be described below with reference to Figures 5 to 12 , which includes a conveying parameter detection wheel 411 and a first rotation direction detector 413.

[0102] 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 channel 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 channel 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 using elastic members (such as springs).

[0103] The first rotation direction 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.

[0104] The transport parameter detection wheel 411 is horizontally arranged and perpendicular to the length direction of the transport channel 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 channel 5. The contact area with the cable is increased by the friction-increasing groove 4111, 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 at which the cable is transported).

[0105] The friction-increasing groove 4111 can be arranged as an arc (not shown in the drawings) that matches the outer diameter of the cable, and the diameter of the arc can be set to be the same as the outer diameter of the cable, thereby maximizing 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.

[0106] The friction-increasing groove 4111 can also be arranged as a V shape (in the longitudinal section of the axis of the transport parameter detection wheel 411), as shown inFigures 5 to 9 and Figure 11 As shown in FIG. 11, the V-shaped friction-enhancing groove 4111 supports the cable 8 from two places upward, in other words, the cable can apply pressure to the friction-enhancing groove 4111 from above at the two places, under the action of the pressure, the friction-enhancing 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-enhancing groove 4111 is arranged in a V shape, which can be applied to cables of various specifications.

[0107] The inventor found that the relative height between the friction-enhancing 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-enhancing 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.

[0108] In order to achieve the above-mentioned suitable range, one structure of the conveying parameter detection wheel 411 is that, continuing to refer to Figures 5 to 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. The conveying parameter detection wheel shaft 412 is installed in the mounting hole of the suitable height through the elastic pin 7.

[0109] In order to achieve the above-mentioned suitable range, another structure of the conveying parameter detection wheel 411 is that (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 is suitable for scenes where the cable specification is fixed.

[0110] In order to achieve the above-mentioned suitable range, still another structure of the conveying parameter detection wheel 411, 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 first rotation direction detector 413.

[0111] 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.

[0112] 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 elastic material of the conveying parameter detection wheel 411 can be combined.

[0113] 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.

[0114] The inventors found that, due to the continuity of the conveying channel 5, the cable conveying detection unit 41 cannot be installed in the conveying channel 5; the lateral sides of the conveying channel 5 are arranged with the conveying assembly 3, and the periphery of the conveying channel 5 in the lateral direction cannot provide installation space for the cable conveying detection unit 41, thus posing great challenges to the arrangement and selection of the cable conveying detection unit 41.

[0115] The first arrangement of the cable conveying detection unit 41 is that the cable conveying detection unit 41 is two, and the working principle is as shown in Figures 18 to 21 The two cable conveying detection units 41 are sequentially the first cable conveying detection unit 41-1 and the second cable conveying detection unit 41-2 according to the triggered order; the first cable conveying detection unit 41-1 detects that the cable is not yet in the conveying channel 5 when the cable is expected to be conveyed in a direction, at which time the clamping and conveying operation cannot be performed; the processor is configured to: the second cable conveying detection unit 41-2 detects that the cable is expected to be conveyed in a direction (as shown in Figure 20 ) or a lagging clamping delay (as shown in Figure 19 It should be noted that Tclamping should be ensured after the time point as shown in Figure 19 , that is, the cable 8 completely passes through the effective length L of the conveying channel 5), the running instruction is sent to the conveying assembly 3 and / or the clamping instruction is sent to the clamping assembly 2, and the second cable conveying detection unit 41-2 triggered later detects that the cable is expected to be conveyed in a direction, which can be the basis for the end of the cable to completely come out of the conveying channel 5 (completely pass through the effective length L of the conveying channel 5), more accurately, the clamping assembly 2 receives the clamping instruction and drives the conveying assembly 3 in the direction of Fclamping as shown in Figure 19 or Figure 20 .

[0116] The first arrangement of the cable conveying detection unit 41 can detect the direction in which the cable is expected to be conveyed at the first time, no matter which end of the cable conveying passage 5 the cable enters, and automatically determine the running direction of the conveying assembly according to the signal. The first cable conveying detection unit 41-1 detects the direction in which the cable is expected to be conveyed as the signal that the end of the cable enters the conveying passage and does not completely pass through the conveying passage. At this time, the clamping assembly 2 and the conveying assembly 3 are still not started. When the second cable conveying detection unit 41-2 detects the direction in which the cable is expected to be conveyed or after a clamping delay (for example, 1 second), it is identified that the end of the cable is conveyed from the entrance to the exit of the conveying passage, that is, the end of the cable is exposed from the conveying passage. When the second cable conveying detection unit 42-2 detects the direction in which the cable is expected to be conveyed or after a clamping delay (for example, 1 second), it sends a running instruction to the conveying assembly 3 and a clamping instruction to the clamping assembly 2. The conveying assembly 2 works in the running direction of the conveying assembly, and the clamping assembly 3 drives the two conveying assemblies to approach each other (in the direction of the arrow F shown in Figure 19 and Figure 20 clamping the cable 8 in the conveying passage 5.

[0117] The second arrangement of the cable conveying detection unit 41 is that the cable conveying detection unit 41 is one, which can be arranged at any end of the conveying passage 5, as shown in Figures 22 to 28 The structure is simple and cost-saving. The one cable conveying detection unit 41 is arranged at any end of the conveying passage 5 (in the length direction).

[0118] The inventor finds that the second arrangement of the cable conveying detection unit 41, because the cable conveying detection unit 41 is one, can only detect the direction in which the cable is expected to be conveyed from one place. If the cable conveying detection unit is located in front of the running direction of the conveying assembly, as shown in Figures 25 to 28 The cable conveying detection unit 41 detects the direction in which the cable is expected to be conveyed, that is, identifies that the end of the cable has been conveyed from the entrance to the exit of the conveying passage 5, that is, the end of the cable is completely exposed from the conveying passage 5. When the direction in which the cable is expected to be conveyed is detected or after a first conveying delay (for example, 1 second), a running instruction is sent to the conveying assembly 3. When the direction in which the cable is expected to be conveyed is detected (as shown in Figure 26 or after a first clamping delay (for example, 1 second, as shown in 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 excessive squeezing of the conveying assembly 3 causes an excessive deformation of the conveying assembly, and even causes the conveying assembly to be stuck and unable to operate) 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 the two ends of the conveying assembly 3 to deform out of sync, and even be damaged).

[0119] The second arrangement of the cable conveying detection unit 41 is continuously described as follows. 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 operating direction of the conveying assembly. Compared with the case where the cable conveying detection unit 41 is located at the front of the operating direction of the conveying assembly, the cable conveying detection unit 41 can detect the direction in which the cable is expected to be conveyed earlier, as shown in Figures 22 to 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 clamping delay (the second clamping delay > the first clamping delay), send a clamping instruction to the clamping assembly 2. Figure 23 The value of the second clamping delay is at least Figure 23 The value of the second clamping delay is at least

[0120] 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.

[0121] 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.

[0122] The second aspect of the embodiment of the present application discloses a cable conveying direction determining method, which is applied to any of the above-mentioned cable conveying direction determining assemblies, and comprises the steps of:

[0123] detecting the direction in which the cable is expected to be conveyed;

[0124] pre-storing the correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly;

[0125] according to the detected direction in which the cable is expected to be conveyed, calling the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed from the correspondence, and sending the running instruction to the conveying assembly 3 and / or the clamping instruction to the clamping assembly 2.

[0126] The correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly means 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.

[0127] Since the working process, working principle and effect of the cable conveying determining assembly have been described in detail, the cable conveying direction determining method will not be described repeatedly.

[0128] The cable conveying direction determining method embodiment can further comprise 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.

[0129] The direction in which the cable is expected to be conveyed is detected based on the movement of the cable being conveyed (such as the rotation of the conveying parameter detection wheel), which is changed from the linear movement of the cable being conveyed 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.

[0130] The cable conveying direction adjusting method embodiment can further comprise 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, as mentioned above, 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, the 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, the clamping instruction is sent to the clamping assembly.

[0131] The cable conveying direction adjusting method embodiment 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 a 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; and sending a clamping instruction to the clamping 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 when the direction in which the cable is expected to be conveyed is detected or after a second conveying delay; and sending the clamping instruction to the clamping assembly when the direction in which the cable is expected to be conveyed is detected or after a second clamping delay.

[0132] The structure, working process and role of each working step of the cable conveying direction determining assembly have been described in detail in the disclosure of the first aspect of the embodiment of the present application, and thus will not be repeated here.

[0133] The inventor has found that, in the working process of the cable conveying machine, slippage (the cable moves out of synchronization with the conveying assembly 3) can occur due to various reasons (e.g., too small clamping force, change in cable diameter, shaking caused by protrusions or grooves outside the cable insulation layer, etc.). The slippage causes excessive wear on the cable and can even damage the outer insulation layer 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, the third aspect of the embodiment of the present application discloses a cable conveying anti-slippage assembly, which is described below with reference to Figure 2 、 Figures 3 to 13 The cable conveying anti-slippage assembly comprises a conveying assembly running detection unit 43, the cable conveying detection unit 41 disclosed in the first aspect, a memory 44 and a processor 45, wherein:

[0134] The cable conveying detection unit 41 is further configured to detect the speed at which the cable is conveyed.

[0135] The conveying assembly running detection unit 43 is further configured to detect the speed at which the conveying assembly 3 moves, which is recorded as the running speed of the conveying assembly.

[0136] The memory 44 is further configured to store a conveying speed allowable deviation.

[0137] The processor 45 is further configured to perform at least one of the following if |the speed at which the cable is conveyed - the running speed of the conveying assembly| ≥ the conveying speed allowable deviation:

[0138] The prompting unit 47 is activated to issue a prompt to the user.

[0139] The clamping assembly 2 clamps the cable 8 more tightly.

[0140] The clamping assembly 2 is separated to release the clamped cable 8;

[0141] The conveying assembly 3 is stopped to stop conveying the cable 8.

[0142] The slippage phenomenon is identified based on the relationship between the absolute value of the difference between the speed at which the cable is conveyed and the running speed of the conveying assembly and the size of the conveying speed allowable deviation, and the specific process is as follows:

[0143] If the absolute value of the difference between the speed at which the cable is conveyed and the running speed of the conveying assembly is less than the conveying speed allowable deviation, it indicates that no slippage occurs or the slippage occurs but is within the allowable range, at this time, the cable conveyor can keep normal work, 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 works to provide the clamping force of the cable by the two conveying assemblies 3, and the conveying assembly 3 works to run in the current running direction and speed to continue to provide the conveying force to the cable;

[0144] If the absolute value of the difference between the speed at which the cable is conveyed and the running speed of the conveying assembly is greater than or equal to the conveying speed allowable deviation, it is identified that the slippage occurs, at this time, at least one of the following is executed: the prompting unit is started 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, and the conveying assembly is stopped to stop conveying the cable. The emergency measure can be a prompt, which can be performed by the prompting unit 47, at least one of sound, light, and image is issued to the user to be recognized by the user's senses. The automatically executed 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, that is, reducing the conveying channel, to provide greater clamping force to the cable). The emergency measure is also 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.

[0145] The above-mentioned identification of the slippage phenomenon 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 controlled in real time, and the operation is automatic.

[0146] The determination of the allowable deviation of the conveying speed cannot be too large or too small, too large will affect the reliability of the slip identification (i.e. a larger speed difference occurs and cannot be identified as slip), also cannot be too small to make it too early to be identified as slip phenomenon (occurred a very small speed difference will be judged as slip, however, the very small speed difference may be due to manufacturing, assembly, sensor accuracy, etc.), the allowable deviation of the conveying speed may be equal to 1 / 10 of the absolute value of the difference between the speed of the cable being conveyed and the running speed of the conveying assembly, for example.

[0147] The direction in which the cable is expected to be conveyed and the speed of the cable being conveyed are obtained by the same body (the cable conveying detection unit 41), the running direction of the conveying assembly and the running speed of the conveying assembly are obtained by the same body (the conveying assembly running detection unit 43), the cable conveying anti-slip assembly applying this data acquisition mode can complete closed-loop control: automatically determining the running direction of the conveying assembly according to the detected direction in which the cable is expected to be conveyed, automatically identifying slip based on the correct premise of the running direction of the conveying assembly, the prompt and emergency measures after identifying slip (such as the above: the clamping assembly clamps the cable to a greater extent, the conveying assembly separates to release the clamped cable, the conveying assembly stops to stop conveying the cable).

[0148] In order to improve the visualization of the operation of the control system, continuing to refer 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 of the cable being conveyed, the running speed of the conveying assembly, the allowable deviation of the conveying speed and the conveying force.

[0149] The conveying force can be directly detected by a force sensor, when the cable is being conveyed, an opposite reaction force to the direction expected to be conveyed will be 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 needs of the cable), which reflects the conveying force. The detection method is reliable and accurate.

[0150] 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 the current sampling unit, the torque installed on the driving wheel as the transmission part of the conveying assembly through the torque sensor).

[0151] Regarding the detection method of the running direction of the conveying assembly, continuing to refer to Figure 6 and Figure 8The conveying assembly operation detection unit 43 comprises a second 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 operation direction of the conveying assembly can be reliably and accurately obtained. Similarly to the two parts of the second rotation direction detector 431, a first working part 4131 of the first rotation direction detector is fixed to the clamping support 25, and a second working part 4132 of the first rotation direction detector is fixed to the conveying parameter detection wheel 411 and rotates synchronously with the conveying parameter detection wheel 411.

[0152] As described above, the working principles of the first rotation direction detector 413 and the second rotation direction detector 431 are to detect the rotation direction between two relatively rotating objects, and the actual selection is various. Any one of the following can be used: a bidirectional Hall switch, a rotary potentiometer, an optical encoder, a rotary transformer and an MSMS angle sensor.

[0153] The fourth aspect of the embodiment of the present application discloses a cable conveying anti-slip assembly method, which can be applied to the cable conveying anti-slip assembly disclosed in the third aspect, and comprises the following steps:

[0154] detecting the conveying speed of the cable;

[0155] detecting the operation speed of the conveying assembly;

[0156] if the absolute value of the difference between the conveying speed of the cable and the operation 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 performed: prompting the user, clamping the cable to a greater extent, releasing the clamped cable and stopping conveying the cable.

[0157] The cable conveying anti-slip method embodiment can further comprise the step of: if the absolute value of the difference between the conveying speed of the cable and the operation speed of the conveying assembly is less than the conveying speed allowable deviation, maintaining the clamping and conveying of the cable, that is, not changing the working state of the clamping assembly and the conveying assembly.

[0158] The fifth aspect of the present application discloses a cable conveyor, which continues to refer to Figures 1 to 13 which comprises the rack 1, the cable conveying direction determination assembly, the clamping assembly 2 and the conveying assembly 3 in any of the above-mentioned cable conveying direction determination assemblies or any of the above-mentioned cable conveying anti-slip assemblies.

[0159] which continues to refer to Figures 1 to 28, the clamping assembly 2 comprises a clamping power unit 21 and two oppositely arranged clamping supports 25 which are connected in sequence, and the two clamping supports 25 can be installed close to or away from each other on the rack 1 under the drive of the clamping power unit 21 (such as a clamping motor), 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.

[0160] 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 connected in sequence, and 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 under the drive of the conveying power unit 31 (the conveying motor). The cable conveying direction determining 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 of description.

[0161] 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 will be described below with reference to Figure 3 、 Figure 6 、 Figure 11 and Figure 12 , 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 be a bidirectional ratchet wrench.

[0162] Continuing to refer to Figure 6 and Figure 13 , one structure of the conveying power unit 31, the conveying transmission unit and the conveying track 32 connected in sequence is that the conveying power unit 31 is in the form of a motor, which is called 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 and the driven sprocket 322 are arranged at a distance, the conveying chain 323 is sleeved on the driving sprocket 321 and the driven sprocket 322, the driving sprocket 321 is driven by the conveying motor through the conveying transmission unit (such as a reducer), the clamping block 324 is fixed on the link of the chain, and 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 materials such as rubber.

[0163] As Figures 5 to 8 and Figure 15As shown, the driving sprocket can be located at different ends of the conveying channel 5 (extending direction), referred to as opposite arrangement (or diagonal arrangement), which makes the conveying power unit 31 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 shorter length (the size along the length direction of the conveying channel 5), more compact structure, and lower requirement for installation space.

[0164] As shown in Figure 16 and Figure 17 , the driving sprocket can also be located at the same end of the conveying channel 5 (extending direction), referred to as same side arrangement, in which the two conveying belts 32 are synchronously tensioned and relaxed, and the force is synchronous, avoiding uneven force leading to chain breakage of the larger one.

[0165] One transmission structure of the clamping assembly 2 is screw 23 transmission, continuing to refer to Figure 13 and Figure 14 , the power output shaft of the clamping power unit 21 or the power output shaft of the operating handle 22 is in transmission connection (including direct coaxial fixed connection) with the screw 23, so as to drive the screw 23 to rotate, the two screw nuts 24 threadedly matched on the screw 23 to rotate, and the two clamping supports 25 fixed (or limited in the axial direction of the screw 23) with the two screw nuts 24 respectively to move away from or close to each other along the axial direction of the screw 23.

[0166] As for 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 to be opposite through wiring mode (common sense of those skilled in the art), to be exact, the rotation direction of the two conveying motors is opposite after wiring, but due to the left-right symmetrical arrangement of the two conveying assemblies 3, the running direction (the conveying direction of the cable) of the two conveying assemblies 3 is actually the same.

[0167] Continuing to refer to Figure 5 , Figure 6 , Figure 8 and Figure 16 , the cable conveyor can further include a traction wheel 6, which is rotatably installed on the rack 1 under the drive of the conveying power assembly (to be exact, the conveying power unit 31), the axis of the traction wheel 6 is vertically arranged, and the 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 sleeve to pass through. Thus, the cable conveyor has the function of traction of the cable, especially the traction wheel 6 of one cable conveyor can provide traction force for the other cable conveyor before reversing judgment, and the two cable conveyors are used in cooperation.

[0168] The processor 45 is further configured to: when detecting that the cable is expected to be conveyed in a direction, denoted as a trigger time, at which the conveying assembly 3 keeps the cable unclamped; triggering the clamping assembly 2 to drive the conveying assembly 3 to clamp the cable after a time delay △T from the trigger time. That is, the cable is clamped only after it is determined that the cable is expected to be conveyed in a direction consistent with the running direction of the conveying assembly (as described above, the inconsistent direction is changed to a consistent state), thereby ensuring effective conveying.

[0169] As described above, the conveying power unit 31 and the clamping power unit 21 can both be electric motors. In view of the bidirectional conveyance, the conveying assembly is required to switch the conveying direction. As a common implementation of the conveying direction switching, the processor controls the forward and reverse rotation of the electric motor through an H-bridge circuit.

[0170] Continuing to refer to Figure 13 and Figure 14 , the clamping support 25 and the rack 1 are provided with a floating connecting piece 26, so that a support force is always kept between the clamping support 25 and the rack 1, which overcomes the gap of the kinematic pair (such as a sliding pair, a threaded pair, etc., the threaded pair is shown in the figure) between the clamping support 25 and the rack 1, thereby ensuring that the clamping support 25 is always in close contact with the rack 1 during clamping, ensuring smooth operation and avoiding movement jitter. The floating connecting piece 26 can be an elastic pad made of elastic materials such as springs and polyurethane.

[0171] The sixth aspect of the embodiment of the present application discloses a computer readable storage medium, which stores computer instructions, when the computer instructions are executed, any of the above-mentioned cable conveying direction adjusting methods or any of the above-mentioned cable conveying anti-slip methods are executed.

[0172] The processor can include one or more processing cores. The processor connects various parts within the 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 a hardware form 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 the operating system, user interface graphics 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 direction determining component, characterized in that, This cable conveyor can be used in cable conveyors, which include a frame and clamping and conveying components mounted on the frame for clamping and conveying cables, respectively. The cable can be clamped in a conveying channel between the two conveying components, including: A cable conveying detection unit is configured to detect the desired direction in which the cable is to be conveyed. A memory that stores the correspondence between the desired direction of cable transport and the operating direction of the transport assembly; The processor is configured to retrieve the running direction of the conveying component corresponding to the desired conveying direction of the cable from the correspondence according to the desired conveying direction of the cable, and send a running command to the conveying component and / or a clamping command to the clamping component. 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. The first rotation direction detector is installed between the conveying parameter detection wheel and the frame of the cable conveyor, and is used to detect the direction in which the cable is expected to be conveyed.

2. The cable conveying direction determining component 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 direction determining component 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 direction determining component 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 direction determining component 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 direction determining component 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 transport direction determining component 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 transport direction determining component according to any one of claims 1 to 7, 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 direction determining component 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 transport direction determining component according to any one of claims 1 to 7, 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 transport direction determining component 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 transport direction determining component according to claim 10, characterized in that, If the cable conveying detection unit is located behind the conveying assembly in the direction of travel, the processor is further configured to: The cable conveying detection unit detects a second conveying delay in the direction the cable is expected to be conveyed, 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. A method for determining the cable delivery direction of a component applied to any one of claims 1 to 12, characterized in that, Including the following steps: Detect the desired direction of cable delivery; The correspondence between the desired direction of transport of the pre-stored cable and the operating direction of the transport assembly; Based on the detected direction in which the cable is expected to be transported, the operating direction of the conveying component corresponding to the direction in which the cable is expected to be transported is retrieved from the correspondence, and an operating command is sent to the conveying component and / or a clamping command is sent to the clamping component.

14. The method for determining the cable conveying direction according to claim 13, characterized in that, The motion detection of the cable being transported is based on the desired direction of the cable being transported.

15. The method for determining the cable transmission direction according to claim 14, characterized in that, The desired direction of cable transport is detected by the rotation caused by the movement of the transported cable.

16. The method for determining the cable transmission direction according to any one of claims 13 to 15, characterized in that, Both ends of the self-contained transport channel can detect the desired direction of cable transport.

17. The method for determining the cable conveying direction according to claim 16, characterized in that, The operation command is sent to the conveying assembly when the desired direction of cable delivery is first detected or after a delivery delay. When the desired direction of cable delivery is detected for the second time, or after a delayed clamping time, the clamping command is sent to the clamping assembly.

18. The method for determining the cable transmission direction according to any one of claims 13 to 15, characterized in that, The direction of the cable to be transported is detected by one of the two ends of the self-containment channel.

19. The method for determining the cable conveying direction according to claim 18, characterized in that, If the direction in which the cable is expected to be delivered is detected ahead of the operating direction of the self-conveying component, the following steps are also included: When the desired direction of cable delivery is detected or after a first delivery delay, the operation command is sent to the delivery assembly; When the desired direction of cable delivery is detected or after a first clamping delay, the clamping command is sent to the clamping assembly.

20. The method for determining the cable conveying direction according to claim 18, characterized in that, If the desired direction of cable delivery is detected behind the operating direction of the self-conveying assembly, the following steps are also included: Upon detecting a second delivery delay in the direction the cable is expected to be delivered, the operating command is sent to the delivery assembly; If the direction in which the cable is expected to be delivered is detected to lag behind the second clamping delay, the clamping command is sent to the clamping assembly.

21. A cable conveyor anti-slip assembly, characterized in that, Includes a conveying component operation detection unit, a cable conveying detection unit according to any one of claims 1 to 12, a memory, and a processor, wherein: The cable conveying detection unit is also configured to detect the speed at which the cable is conveyed; The conveying component operation detection unit is further configured to detect the operating speed of the conveying component; The memory is also configured to store allowable deviations in the conveying speed; The processor is further 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.

22. The cable conveyor anti-slip assembly according to claim 21, 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.

23. The cable conveyor anti-slip assembly according to claim 21, 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.

24. The cable conveyor anti-slip assembly according to claim 23, 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.

25. The cable conveyor anti-slip assembly according to claim 21, 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.

26. A method for preventing slippage in cable transport applied to the component according to any one of claims 21 to 25, characterized in that, Including the following steps: Detect the speed at which the cable is being transported; Detect the operating speed of the conveyor components; If the absolute value of the difference between the speed at which the cable is being transported and the operating speed of the transport assembly is greater than or equal to the allowable deviation of the transport speed (which is a pre-stored value), perform at least one of the following: prompt the user, clamp the cable to a greater extent, release the clamped cable, and stop transporting the cable.

27. The cable conveying anti-slip method according to claim 26, characterized in that, It also includes the step of: if the absolute value of the difference between the speed at which the cable is being transported and the operating speed of the transport assembly is less than the allowable deviation of the transport speed, then the cable is kept clamped and transported.

28. A cable conveyor, characterized in that, Includes any one of claims 1 to 12 or 21 to 25: frame; Cable delivery direction determination component; The clamping assembly includes a clamping power unit and two clamping brackets arranged opposite each other, which are connected in sequence and driven by the clamping power unit. The two clamping brackets can be mounted on the frame to move 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; 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.

29. The cable conveyor according to claim 28, characterized in that, The clamping assembly also includes an operating handle configured to adjust the distance between the two clamping supports by means of user operation.

30. The cable conveyor according to claim 28 or 29, characterized in that, It also includes a traction wheel, of which: The traction wheel is rotatably mounted on the frame under the drive of the power transmission component. The axis of the traction wheel is vertically set, and the wheel groove of the traction wheel forms a traction space for the steel wire rope connected to the end of the cable traction net sleeve to pass through.

31. The cable conveyor according to claim 28 or 29, characterized in that, At least one of the clamping brackets and the frame bracket is provided with a floating connection.

32. A computer-readable storage medium, characterized in that, The device stores computer instructions that, when executed, perform the method of any one of claims 13 to 20 or any one of claims 26 to 27.

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