Cable drum control method, cable drum and engineering machinery

Abstract

The invention belongs to the technical field of engineering machinery and provides a cable drum control method, a cable drum and engineering machinery. The cable drum control method comprises the steps that the working mode of the cable drum is confirmed; when the cable drum is in the winding working mode, in the cable winding process of the cable drum, whether the tensile force borne by the cable at the current moment is larger than the limited tensile force for pulling the cable to be damaged or not is detected; if the tensile force borne by the cable is larger than the limited tensile force of the cable damaged by pulling, the cable drum is controlled to rotate by a preset number of turns in the paying-off direction, so that the cable drum releases the cable with the preset length; and controlling the cable drum to continuously rotate towards the winding direction. When the cable is blocked, the method not only can realize automatic obstacle avoidance of cable winding at a program level, but also can prevent the cable from being damaged by pulling when the cable is blocked.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery, and in particular relates to a cable reel control method, a cable reel and engineering machinery. Background Art

[0002] Cable reels are used on engineering machinery that require power supply, such as rock drilling rigs, wet shotcrete machines, pump trucks, etc. They are mainly used for power supply operations on engineering machinery. Cable reels are generally driven by hand, hydraulic motors, electric motors, etc.

[0003] When the cable reel is winding up the cable, the cable often drags on the ground, but the existing cable reel lacks intelligent control and the winding force cannot be controlled. When the cable is winding up and dragging, if the ground is rugged and there are many stones, the cable is easy to get entangled with obstacles on the ground. At this time, if the cable is forcibly dragged, it is easy to cause damage to the cable. Summary of the invention

[0004] In view of the above-mentioned defects or shortcomings, the present invention provides a cable reel control method, a cable reel and engineering machinery, aiming to solve the technical problem that the existing cable reel cannot control the force of reeling the cable, resulting in easy damage to the cable.

[0005] To achieve the above object, the present invention provides a cable drum control method, the cable drum control method comprising:

[0006] S100: confirming the working mode of the cable reel;

[0007] S200: When the cable reel is in the winding working mode, during the process of the cable reel winding up the cable, detecting whether the tension applied to the cable at the current moment is greater than the limited tension at which the cable is damaged;

[0008] S300a: If the tension applied to the cable is greater than the limited tension at which the cable is damaged, the cable reel is controlled to rotate a preset number of turns in the release direction so that the cable reel releases a preset length of cable;

[0009] S400a: Control the cable drum to continue rotating in the winding direction.

[0010] The working modes of the cable reel include a winding working mode and a paying-out working mode.

[0011] In an embodiment of the present invention, during S400a: controlling the cable drum to continue rotating in the winding direction, the cable drum control method further includes:

[0012] S500a: Detecting whether the number of rotations of the cable reel reaches a preset number of rotations;

[0013] S600a: When the number of rotations of the cable reel reaches a preset number of rotations, it is detected again whether the tension applied to the cable at the current moment is greater than the limited tension at which the cable is damaged.

[0014] In an embodiment of the present invention, if the tension applied to the cable is greater than a limited tension at which the cable is damaged, the cable reel control method further comprises:

[0015] S700a: Control cable drum to stop;

[0016] If the tension on the cable is less than or equal to the limited tension at which the cable is damaged, the cable reel control method further includes:

[0017] S700b: Control the cable reel to continue rotating in the winding direction until the cable is completely wound.

[0018] In an embodiment of the present invention, S200: when the cable reel is in the winding working mode, during the process of the cable reel winding the cable, after detecting whether the tension applied to the cable at the current moment is greater than the limited tension at which the cable is damaged, the cable reel control method further includes:

[0019] S300b: If the tension applied to the cable is less than or equal to the limit tension at which the cable is damaged, the cable reel is controlled to continue rotating in the winding direction until the cable is completely wound.

[0020] In an embodiment of the present invention, confirming that the cable reel is in the winding working mode specifically includes:

[0021] S101: confirming that the driving motor for driving the cable reel to rotate is in a constant torque working mode, and confirming that the driving motor drives the cable reel to rotate in a winding direction.

[0022] In an embodiment of the present invention, S100: after confirming the working mode of the cable reel, the cable reel control method further includes:

[0023] S210: When the cable reel is in the wire-releasing working mode, during the process of the cable reel releasing the cable, detecting whether the tension on the cable at the current moment is greater than the set pressure;

[0024] S310: If it is greater than, the cable drum is controlled to rotate faster; if it is less than, the cable drum is controlled to rotate slower until the cable is released to a specified length.

[0025] In an embodiment of the present invention, confirming that the cable reel is in the line-paying working mode includes:

[0026] S110: Confirm that the drive motor for driving the cable reel to rotate is in a constant speed working mode, and confirm that the drive motor drives the cable reel to rotate in the line-releasing direction.

[0027] To achieve the above-mentioned objectives, the present invention also provides a cable reel, which includes a reel body, a motor drive mechanism and a controller. The reel body is used to reel in and release the cable. The rotation output end of the motor drive mechanism is connected to the reel body through a torque sensing component. The torque sensing component is used to detect the tension of the cable on the cable reel. The controller is controlled and connected to the motor drive mechanism and is used to execute the cable reel control method described above.

[0028] In an embodiment of the present invention, the cable reel also includes a support, a fixed shaft is provided on the support, the reel body is rotatably mounted on the fixed shaft, the motor drive mechanism includes a motor body and a slewing bearing, the motor body is mounted on the support, the slewing bearing is sleeved on the fixed shaft and is drivingly connected to the output shaft of the motor body, and the torque sensing component is fixedly connected between the slewing bearing and the reel body.

[0029] To achieve the above object, the present invention further provides an engineering machine, wherein the engineering machine comprises the cable reel described above.

[0030] Through the above technical solution, the cable reel control method provided by the embodiment of the present invention has the following beneficial effects:

[0031] The present invention detects the tension on the cable to determine whether the cable is blocked. When the cable is blocked, the tension on the cable is compared with the limited tension at which the cable is broken. When the tension on the cable is greater than the limited tension at which the cable is broken, the cable reel can be controlled to rotate a preset number of circles in the direction of unwinding, and then the cable reel can be controlled to continue rotating in the direction of winding to simulate the behavior of manually pulling the cable out of trouble. Through the above control, not only can the automatic obstacle avoidance of cable winding at the program level be achieved, but the cable can also be prevented from being broken when the cable is blocked.

[0032] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0034] Figure 1 is a general step diagram of the cable reel control method according to an embodiment of the present invention when performing a cable reel operation;

[0035] Figure 2 According to the embodiment of the present invention Figure 1 Flow chart of steps after step S400a;

[0036] Figure 3 According to the embodiment of the present invention Figure 2 One of the step diagrams after step S600a;

[0037] Figure 4 According to the embodiment of the present invention Figure 2 Another step diagram after step S600a;

[0038] Figure 5 According to the embodiment of the present invention Figure 1 Another step diagram after step S200;

[0039] Figure 6 According to the embodiment of the present invention Figure 1 One of the specific step diagrams of step S100;

[0040] Figure 7 is a flowchart of the steps of the cable reel control method according to an embodiment of the present invention when performing a wire-releasing operation;

[0041] Figure 8 According to the embodiment of the present invention Figure 1 Another specific step diagram of step S100;

[0042] Fig. 9 is a schematic structural diagram of a cable reel according to an embodiment of the present invention;

[0043] Fig.10 4 is a complete flow chart of the cable reel control method according to an embodiment of the present invention.

[0044] Description of Reference Numerals

[0045] 1. Reel body; 2. Motor drive mechanism; 21. Motor body; 22. Slewing bearing; 3. Torque sensing component; 4. Support; 41. Fixed shaft; 51. Temperature and humidity sensor; 52. Water level sensor; 53. Heater; 54. Electric slip ring; 6. Cable. DETAILED DESCRIPTION

[0046] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0047] The cable reel control method of the present invention will be described below with reference to the accompanying drawings.

[0048] When the cable reel is in the process of reeling in the cable 6, some of the unreeled parts of the cable 6 will come into contact with the ground. If the ground is rugged and there are many obstacles, the cable 6 may be easily blocked by the ground obstacles when being dragged on the ground. At this time, if the cable 6 is forcibly reeled in, the surface of the cable 6 may be damaged.

[0049] Based on the above considerations, the present invention provides a cable reel control method, such as Figure 1 , Fig. 9 and Fig.10 As shown, the cable drum control method includes:

[0050] S100: confirming the working mode of the cable reel;

[0051] S200: When the cable reel is in the winding working mode, during the process of the cable reel winding up the cable 6, detecting whether the tension applied to the cable 6 at the current moment is greater than the limited tension at which the cable 6 is damaged;

[0052] S300a: If the tension applied to the cable 6 is greater than the limited tension at which the cable 6 is damaged, the cable reel is controlled to rotate a preset number of turns in the release direction so that the cable reel releases a preset length of the cable 6;

[0053] S400a: Control the cable drum to continue rotating in the winding direction.

[0054] The working modes of the cable reel include a winding working mode and a paying-out working mode.

[0055] Through laboratory simulation, the limited pulling force of the cable 6 under different environments such as rough ground and stone ground can be measured. When the cable reel is winding up the cable 6, if the cable 6 is blocked by a ground obstacle, the pulling force on the cable 6 will increase. At this time, if the cable is forcibly wound up, it is very likely to cause damage to the cable 6.

[0056] The present invention detects the tension on the cable 6 to determine whether the cable 6 is blocked. When the cable 6 is blocked, the tension on the cable 6 is compared with the limited tension at which the cable 6 is broken. When the tension on the cable 6 is greater than the limited tension at which the cable 6 is broken, the cable drum can be controlled to rotate in the direction of unwinding for a preset number of turns, and then the cable drum can be controlled to continue rotating in the direction of winding to simulate the behavior of manually pulling the cable 6 out of trouble. Through the above control, not only the automatic obstacle avoidance of the cable 6 winding at the program level is realized, but also the cable 6 can be prevented from being broken when the cable 6 is blocked.

[0057] like Figure 2 , Fig. 9 and Fig.10 As shown, in an embodiment of the present invention, in S400a: in the process of controlling the cable drum to continue rotating in the winding direction, the cable drum control method further includes:

[0058] S500a: Detecting whether the number of rotations of the cable reel reaches a preset number of rotations;

[0059] S600a: When the number of rotations of the cable reel reaches a preset number of rotations, it is detected again whether the tension applied to the cable 6 at the current moment is greater than the limited tension that will damage the cable 6.

[0060] When the cable reel performs the automatic obstacle avoidance operation, it will first control the cable reel to rotate in the direction of unwinding for a preset number of turns to release the preset length of cable 6. After the cable 6 releases the preset length, it will control the cable reel to continue rotating in the direction of winding to continue winding the cable 6. When the number of winding turns of the cable reel reaches the number of turns of the previously released cable 6, it means that the cable 6 is wound back to the previously blocked position. At this time, it is necessary to detect again whether the tension on the cable 6 at the current moment is greater than the limited tension that breaks the cable 6, so as to determine whether the automatic obstacle avoidance operation is successful.

[0061] It is understandable that when the program is designed, the automatic obstacle avoidance can be executed once or multiple times.

[0062] like Figure 3 and Fig.10 As shown, in the embodiment of the present invention, if the tension applied to the cable 6 is greater than the limited tension at which the cable 6 is broken, it means that the automatic obstacle avoidance fails. At this time, the cable reel control method performs the following steps after step S600a:

[0063] S700a: Control cable drum shutdown.

[0064] When the cable drum is controlled to stop, the alarm unit can also be controlled to issue an alarm prompt to remind the operator that the cable 6 is blocked and needs to be manually cleared.

[0065] like Figure 4 and Fig.10 As shown, in the embodiment of the present invention, if the tension applied to the cable 6 is less than or equal to the limited tension at which the cable 6 is broken, it means that the automatic obstacle avoidance is successful. At this time, the steps performed by the cable reel control method after step S600a are:

[0066] S700b: Control the cable reel to continue rotating in the winding direction until the cable 6 is completely wound up.

[0067] like Figure 1 , Figure 5 and Fig.10 As shown, in an embodiment of the present invention, S200: when the cable reel is in the winding working mode, in the process of the cable reel winding the cable 6, after detecting whether the tension applied to the cable 6 at the current moment is greater than the limited tension at which the cable 6 is broken, the cable reel control method further includes:

[0068] S300b: If the tension applied to the cable 6 is less than or equal to the limit tension at which the cable 6 is damaged, the cable reel is controlled to continue rotating in the winding direction until the cable 6 is completely wound up.

[0069] like Figure 6 As shown, in an embodiment of the present invention, confirming that the cable reel is in the winding working mode specifically includes:

[0070] S101: confirming that the driving motor for driving the cable reel to rotate is in a constant torque working mode, and confirming that the driving motor drives the cable reel to rotate in a winding direction.

[0071] When the cable reel is in the winding working mode, the drive motor needs to be switched to the constant torque working mode. When setting the specific value of the constant output torque of the drive motor, it is preferred to meet the following conditions: ① The maximum tension generated by the constant output torque of the drive motor on the cable 6 should be less than the rated maximum tension that the cable 6 can withstand provided by the manufacturer; ② The maximum tension generated by the constant output torque of the drive motor on the cable 6 should be less than the limited tension of the cable 6 that is broken in the current ground environment tested in the experiment. By setting the constant output torque of the drive motor, it can be ensured that the cable 6 is not broken when the cable 6 is seriously blocked.

[0072] When the cable 6 is released, it is usually pulled manually toward the power supply cabinet on the ground. When the manual pulling cable 6 moves, the cable reel needs to release the cable 6. If the release speed of the cable 6 is faster than the manual walking speed, the cable 6 will be released too much, and the middle of the cable 6 will sag to contact the ground, causing the part of the cable 6 that contacts the ground to be dragged. If the release speed of the cable 6 is slower than the manual pulling speed, it will be difficult for the manual pulling cable 6.

[0073] In order to realize the intelligent release of cable 6 and enhance the user experience, Figure 7 , Fig. 9 and Fig.10 As shown, in an embodiment of the present invention, after step S100: confirming the working mode of the cable reel, the cable reel control method further includes:

[0074] S210: When the cable reel is in the wire-releasing working mode, during the process of the cable reel releasing the cable 6, detecting whether the tension exerted on the cable 6 at the current moment is greater than the set pressure;

[0075] S310: If it is greater than, the cable drum is controlled to rotate faster; if it is less than, the cable drum is controlled to rotate slower until the cable 6 reaches the specified length.

[0076] like Figure 8 As shown, in an embodiment of the present invention, confirming that the cable reel is in the line-releasing working mode includes:

[0077] S110: Confirm that the drive motor for driving the cable reel to rotate is in a constant speed working mode, and confirm that the drive motor drives the cable reel to rotate in the line-releasing direction.

[0078] Specifically, when the cable reel is in the wire-releasing working mode, the drive motor may preferably be switched to a constant speed working mode, and a specific value of the set pressure may be set.

[0079] When the cable 6 is released, if the pay-off speed of the cable reel matches the walking speed of the personnel, the cable reel should be in a uniform rotation state. At this time, the tension on the cable 6 is equal to the set pressure, and the tension of the cable reel on the cable 6 is balanced with the tension of the personnel on the cable 6.

[0080] When the personnel are pulling the cable 6 forward, the walking speed of the personnel may be accelerated or slowed down due to the influence of the terrain, resulting in a change in the pulling force of the personnel on the cable 6 and a break in the balance.

[0081] If the walking speed of the person is faster than the release speed of the cable 6, the tension N of the cable 6 detected by the torque sensing element will be greater than the set pressure. By controlling the cable drum to rotate faster to increase the release speed of the cable 6, the pay-off speed of the cable drum can be matched with the walking speed of the person again.

[0082] If the walking speed of the personnel is slower than the release speed of the cable 6, the tension N of the cable 6 detected by the torque sensing element will be smaller than the set pressure. By controlling the rotation speed of the cable reel to slow down the release speed of the cable 6, the pay-off speed of the cable reel can be matched with the walking speed of the personnel again.

[0083] Through the above operation, a dynamic coordinated balance between the pay-off speed and the operator's walking speed can be achieved when the cable reel is paying out the cable, which not only improves the user experience of the pay-off process, but also avoids wear of the cable 6.

[0084] like Fig. 9 As shown, in order to achieve the above-mentioned purpose, the present invention also provides a cable reel, which includes a reel body 1, a motor drive mechanism 2 and a controller. The reel body 1 is used for winding and releasing the cable 6. The rotation output end of the motor drive mechanism 2 is connected to the reel body 1 through a torque sensing component 3. The torque sensing component 3 is used to detect the tension of the cable 6 on the cable reel. The controller is controlled and connected to the motor drive mechanism 2 and is used to execute the cable reel control method described above.

[0085] Specifically, Fig. 9 and Fig.10As shown, when the cable 6 needs to be released, the controller will control the drive motor to switch to the constant speed working mode and set the initial constant working speed of the drive motor. The value of the initial constant working speed can be set according to the site environment and work experience, such as the speed of the cable drum when it just starts to release the cable as the setting value of the initial constant working speed. After the initial constant working speed is set, the torque sensor will detect an initial tension N, and the controller can use the tension N as the initial set pressure.

[0086] As the walking speed of the personnel changes, the tension of the cable 6 detected by the torque sensor will also change. When the tension N of the cable 6 is greater than the set pressure, the controller will increase the set value of the constant working speed of the drive motor to speed up the drive motor. When the tension N of the cable 6 is less than the set pressure, the controller will reduce the set value of the constant working speed of the drive motor to slow down the drive motor. By dynamically changing the speed of the drive motor when the cable 6 is released, the dynamic matching of the release speed and the walking speed of the operator can be achieved, so as to avoid the cable 6 from falling to the ground when the cable 6 is released too quickly, causing wear and tear, or to avoid the difficulty of dragging when the cable 6 is released too slowly.

[0087] like Fig. 9 and Fig.10 As shown, when the cable 6 needs to be reeled in, the controller will control the drive motor to adjust to the constant torque working mode, and set the constant output torque of the drive motor when it is working. Among them, the constant output torque of the drive motor when it is working needs to be guaranteed to be less than the rated maximum tension that the cable 6 can withstand provided by the manufacturer, and less than the limited tension of the cable 6 that is broken in the current ground environment tested by the experiment, so as to avoid the cable 6 from being broken when the cable 6 is seriously blocked. When the cable 6 is blocked, the tension borne by the cable 6 will increase. When the tension borne by the cable 6 is greater than the limited tension that is broken by the cable 6, continuing to pull the cable 6 strongly may cause damage to the cable 6. Therefore, it is necessary to control the servo motor to drive the cable reel to rotate i turns in the direction of unwinding, and then rotate in the direction of winding. After rotating i turns in the direction of winding, if the tension borne by the cable 6 is still greater than the limited tension that is broken by the cable 6, it means that the automatic obstacle avoidance operation cannot remove the blockage of the ground obstacle to the cable 6. At this time, an alarm can be issued and the drive motor can be controlled to stop rotating, and the obstacle can be manually cleared. If it is less than , it means that the automatic obstacle avoidance operation has successfully removed the obstruction of the ground obstacle to the cable 6 , and the drive motor can continue to operate until the cable 6 is fully retracted.

[0088] like Fig.10 As shown, in an embodiment of the present invention, during the process of releasing the cable 6, the controller may also record the number of revolutions Z of the motor body 21 or the reel body 1, so as to serve as a basis for determining whether the reel is fully wound during subsequent reeling.

[0089] In an embodiment of the present invention, the driving motor may be a servo motor.

[0090] like Fig. 9 As shown, in an embodiment of the present invention, the cable reel also includes a support 4, a fixed shaft 41 is provided on the support 4, the reel body 1 is rotatably mounted on the fixed shaft 41, the motor drive mechanism 2 includes a motor body 21 and a slewing bearing 22, the motor body 21 is mounted on the support 4, the slewing bearing 22 is sleeved on the fixed shaft 41 and is drivingly connected to the output shaft of the motor body 21, and the torque sensing component 3 is fixedly connected between the slewing bearing 22 and the reel body 1.

[0091] Specifically, the support 4 is fixedly installed on the engineering machinery platform, the shell of the motor body 21 is installed on the support 4, the slewing bearing 22 can be a gear ring combination with a deceleration function, the slewing bearing 22 is sleeved on the fixed shaft 41 and is connected to the output shaft of the motor body 21, the torque sensing component 3 is installed on the end surface of the slewing bearing 22 facing the reel body 1 and is fixedly connected to the reel body 1, and the reel body 1 and the torque sensing component 3 can rotate together with the slewing bearing 22.

[0092] Under ideal circumstances, when the cable reel is in uniform rotation or is completely stopped, the theoretical tension calculated by the constant output torque of the drive motor will be equal to the actual tension exerted on the cable 6, that is, the motor body 21 is in a constant torque working mode, and when the cable reel is in uniform rotation or is completely stopped, the torque calculated by the numerical value detected by the torque sensing component 3 is equal to the output torque of the drive motor.

[0093] In actual operation, the rotation speed of the cable drum will change due to the change of the drag resistance of the cable 6, and the tension on the cable 6 will be higher or lower than the theoretical tension. Therefore, it is difficult to calculate the actual tension on the cable 6 through the theoretical calculation formula. The present invention arranges a torque sensing element between the slewing bearing 22 and the drum body 1, so as to realize the detection of the tension on the cable 6 in an intuitive and convenient way.

[0094] It should be noted that, in the embodiment of the present invention, the conversion formula between tension and torque is: T=N*r / I; wherein T is torque, N is tension, r is the radius of the cable drum, and I is the radius of the motor shaft.

[0095] like Fig. 9 As shown, in an embodiment of the present invention, an electric slip ring 54 is further provided between the fixed shaft 41 and the sleeve body, the rotor of the electric slip ring 54 is fixed on the sleeve body, the stator is fixed on the fixed shaft 41, and the head of the cable 6 is connected to the electrical control box of the mechanical platform through the electric slip ring 54.

[0096] In the embodiment of the present invention, an inspection door is further provided on the side of the reel body 1, and the interior of the reel body 1 is in a sealed state.

[0097] In the embodiment of the present invention, a temperature and humidity sensor 51, a water level sensor 52, etc. are installed inside the reel body 1 to remotely obtain the water vapor situation inside the reel body 1, thereby reducing the number of times personnel open the inspection door. At the same time, a heater 53 is also provided inside the reel body 1 to heat the air inside the reel body 1, thereby achieving the effect of accelerating the evaporation of water in the internal air.

[0098] To achieve the above object, the present invention further provides an engineering machine, wherein the engineering machine comprises the cable reel described above. Since the engineering machine uses all the technical solutions of the above embodiments, it at least has the beneficial effects brought by the above embodiments, which will not be repeated again.

[0099] In summary, the cable reel control method of the present invention can achieve automatic matching of the wire-releasing speed and the walking speed of personnel when the reel body 1 is releasing the wire, and can automatically perform obstacle avoidance operation, shutdown operation and forced reeling operation according to the different tensions applied to the cable 6 when the reel body 1 is reeling the wire, thereby ensuring that the cable 6 is not damaged by external forces.

[0100] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0101] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0102] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0103] Although the embodiments of the present invention have been described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A cable drum control method, characterized in that: The cable drum control method comprises: Confirm the working mode of the cable reel; When the cable reel is in the winding working mode, during the process of the cable reel winding up the cable (6), it is detected whether the tension applied to the cable (6) at the current moment is greater than the limited tension at which the cable (6) is damaged; If the tension applied to the cable (6) is greater than a limited tension at which the cable (6) is damaged, the cable reel is controlled to rotate a preset number of turns in the release direction so that the cable reel releases a preset length of the cable (6); Controlling the cable drum to continue rotating in the winding direction; The working modes of the cable reel include a wire winding working mode and a wire unwinding working mode.

2. The cable reel control method according to claim 1, characterized in that: In the process of controlling the cable drum to continue rotating in the winding direction, the cable drum control method further includes: Detecting whether the number of turns of the cable reel in the winding direction reaches the preset number of turns; When the number of rotations of the cable reel reaches the preset number of rotations, it is detected again whether the tension applied to the cable (6) at the current moment is greater than the limited tension at which the cable (6) is damaged.

3. The cable reel control method according to claim 2, characterized in that: If the pulling force of the cable reel on the cable (6) is greater than the limited pulling force at which the cable (6) is damaged, the cable reel control method further comprises: Controlling the cable drum to stop; If the pulling force of the cable drum on the cable (6) is less than or equal to the limited pulling force at which the cable (6) is damaged, the cable drum control method further comprises: The cable reel is controlled to continue rotating in the winding direction until the cable (6) is completely wound up.

4. The cable drum control method according to claim 1, characterized in that: During the process of the cable reel reeling up the cable (6), after detecting whether the tension applied to the cable (6) at the current moment is greater than a limited tension at which the cable (6) is damaged, the cable reel control method further comprises: If the pulling force of the cable reel on the cable (6) is less than or equal to the limiting pulling force at which the cable (6) is damaged, the cable reel is controlled to continue rotating in the winding direction until the cable (6) is completely wound up.

5. The cable drum control method according to claim 1, characterized in that: Confirming that the cable reel is in the winding working mode specifically includes: It is confirmed that the driving motor for driving the cable drum to rotate is in a constant torque working mode, and it is confirmed that the driving motor drives the cable drum to rotate in a winding direction.

6. The cable reel control method according to any one of claims 1 to 5, characterized in that: After confirming the working mode of the cable reel, the cable reel control method further includes: When the cable reel is in a wire-releasing working mode, during the process of the cable reel releasing the cable (6), detecting whether the tension applied to the cable (6) at the current moment is greater than a set pressure; If it is greater than, the cable drum is controlled to rotate faster; if it is less than, the cable drum is controlled to rotate slower until the cable (6) is released to a specified length.

7. The cable reel control method according to claim 6, characterized in that: Confirming that the cable reel is in the line-paying working mode includes: It is confirmed that the driving motor for driving the cable drum to rotate is in a constant speed working mode, and it is confirmed that the driving motor drives the cable drum to rotate in the line-releasing direction.

8. A cable reel, characterized in that: The cable reel comprises: A reel body (1) for reeling in and releasing the cable (6); a motor drive mechanism (2), wherein a rotation output end of the motor drive mechanism (2) is connected to the reel body (1) via a torque sensing component (3), and the torque sensing component (3) is used to detect the tension applied to the cable (6); and A controller is control-connected to the motor drive mechanism (2) and is used to execute the cable reel control method according to any one of claims 1 to 7.

9. The cable reel according to claim 8, characterized in that: The cable reel further comprises a support (4), a fixed shaft (41) being provided on the support (4), the reel body (1) being rotatably mounted on the fixed shaft (41), the motor drive mechanism (2) comprising a motor body (21) and a slewing bearing (22), the motor body (21) being mounted on the support (4), the slewing bearing (22) being sleeved on the fixed shaft (41) and being transmission-connected to an output shaft of the motor body (21), and the torque sensing component (3) being fixedly connected between the slewing bearing (22) and the reel body (1).

10. An engineering machine, characterized in that: Comprising a cable reel according to any one of claims 8 to 9.

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