Labor-saving cable pay-off machine based on adaptive adjustment

Abstract

The invention discloses a labor-saving cable pay-off machine based on self-adaptive adjustment, and relates to the technical field of intelligent manufacturing equipment.The labor-saving cable pay-off machine comprises a control system and a pay-off system, the pay-off system comprises a first adjusting assembly, a mounting frame, a driving assembly, a pay-off assembly and a second adjusting assembly, the pay-off assembly comprises a supporting disc, and a plurality of pushing structures are arranged on the supporting disc; the second adjusting assembly comprises a first guiding structure and a second guiding structure, the control system comprises a data processing module and a control module, the data processing module is used for obtaining position change data and rotating speed change data, and the control module is used for generating a first control command, a second control command and a third control command; the second adjusting assembly is used for performing telescopic motion according to the first control command, the first adjusting assembly is used for adjusting the position of the mounting frame in the plane according to the second control command, and the driving assembly is used for driving the supporting disc to rotate according to the third control command. The method has the advantages of accurate control, dynamic adjustment, high efficiency and stability.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing equipment, and in particular to a labor-saving cable pay-off machine based on adaptive regulation. Background Art

[0002] In the cable industry, the cable pay-off machine is a key auxiliary equipment, and its performance and intelligence level are directly related to production efficiency, product quality, and the safety and labor intensity of operators. However, traditional cable pay-off machines have exposed many problems in use: in the cable manufacturing process, the pay-off machine is responsible for paying out the cable core or outer material from the reel for use in subsequent processes. Traditional pay-off machines usually rely on manual operation or simple mechanical control, and the pay-off speed is unstable and difficult to match the production rhythm of subsequent processes, thereby limiting the efficiency of the entire production line; due to the lack of precise tension control and speed adjustment, traditional pay-off machines may cause uneven tension of the cable core or material during the pay-off process, thereby affecting the electrical and mechanical properties of the final cable product. This quality problem is particularly prominent in high-speed and continuous manufacturing processes; traditional pay-off machines require operators to always pay attention to the pay-off status and manually adjust the tension and speed, which not only increases the complexity of the operation, but also causes the operators to be in a highly tense state for a long time, with high labor intensity and prone to errors; in the automation and intelligent trend of cable manufacturing, traditional pay-off machines lack the ability to intelligently link with other equipment on the production line, and cannot achieve automatic control and data interaction, which restricts the intelligent upgrade of the overall production process. Summary of the invention

[0003] In view of the defects in the prior art, the present invention provides a labor-saving cable pay-off machine based on adaptive adjustment.

[0004] A labor-saving cable pay-off machine based on adaptive adjustment, comprising a control system and a pay-off system, the pay-off system comprising a first adjustment component, a mounting frame, a driving component, a pay-off component and a second adjustment component; the pay-off component comprises a support plate mounted on the mounting frame, the bottom of the support plate is connected to the driving component, a plurality of pushing structures are evenly arranged on the support plate along the circumferential direction, the pushing structure comprises a mounting block, the pushing structure is used to push the mounting block, a tensioning rod is fixed on the mounting block, and a plurality of the tensioning rods are surrounded to form a winding area; the second adjustment component comprises a first guide structure and a second guide structure, the first guide structure comprises a first telescopic frame arranged around the mounting frame and capable of extension and retraction, a first wire channel is arranged on the top of the first telescopic frame, the second guide structure comprises a second telescopic frame arranged around the mounting frame and capable of extension and retraction, a second wire channel is arranged on the top of the second telescopic frame; the control system comprises a first pressure collector, a second pressure collector, a third ... A collector, a data processing module and a control module, wherein the first pressure collector is arranged on the first wire channel and is used to collect the first cable traction pressure data, the second pressure collector is arranged on the second wire channel and is used to collect the second cable traction pressure data, and the third pressure collector is arranged on the pushing structure and is used to collect the pushing torque data; the data processing module is used to receive the first cable traction pressure data, the second cable traction pressure data and the pushing torque data, and obtain the position change data and the speed change data based on the first calculation model and the second calculation model, the control module is used to analyze and disassemble the position change data and generate the first control command and the second control command, and the control module is also used to generate the third control command according to the speed change data; the first telescopic frame and the second telescopic frame are used to perform telescopic movement according to the first control command, the first adjustment component is used to adjust the position of the mounting frame in the plane according to the second control command, and the driving component is used to drive the support plate to rotate according to the third control command.

[0005] Specifically, the first calculation model includes: △P=k 1 *(F 1 -F 2 ), where △P is the position adjustment amount, F 1 and F 2 are the first cable pulling pressure data and the second cable pulling pressure data, k 1 is the first proportional constant; the position change data is obtained through the position adjustment amount.

[0006] Specifically, the second calculation model includes: △R=k 2 *(TT ref )+k 3 *(F avg -F ref), where △R is the rotational speed that the support disk needs to be adjusted, T is the currently collected pushing torque data, and T ref is the reference torque value, and F avg is the average value of the first cable traction pressure data and the second cable traction pressure data, and F ref is the reference cable traction pressure value, k 2 is the second proportionality constant, and k 3 is the third proportionality constant.

[0007] Specifically, the control module includes: a disassembling unit for disassembling △P into an x-axis direction adjustment amount △Px and an x-axis direction adjustment amount △Py, and the relationship among the three is ; a first judgment unit for judging whether |△P| is less than or equal to Th; a first generating unit for generating a first control command after |△P| is less than or equal to Th, △P = (△Px, △Py), where the first telescopic frame is used to move △Px according to the first control command, and the second telescopic frame is used to move △Py according to the second control command; a second generating unit for calculating a first adjustment amount ' and a second adjustment amount △P" after |△P| is greater than Th, satisfying △P = △P' + △P", and |△P'| is less than or equal to Th. It is also used to generate a first control command through △P' and a second control command through △P", △P' = (△Px', △Py'), where the first telescopic frame is used to move △Px' according to the first control command, the second telescopic frame is used to move △Py' according to the second control command, and the first adjustment component is used to adjust the movement of the mounting frame by △P" according to the second control command.

[0008] Specifically, the data processing module is further used to obtain the tension data based on the judgment model, the control module is used to analyze the tension data and generate a fourth control command, and the pushing structure is used to push the mounting block according to the fourth control command.

[0009] Specifically, the judgment model includes: I = w * (T - T ref ) / T ref , where I is the judgment index, w is the weight coefficient, T is the currently collected pushing torque data, and T ref is the reference torque value. If I is less than or equal to the preset critical index, the tension data △d = k 4 T is obtained, and k 4 is the fourth proportionality constant.

[0010] Specifically, the control module further includes: a third generating unit for decomposing △d, satisfying △d = △d 1 + △d 2 + … + △d n, n is the number of push structures, and the plurality of push structures push the plurality of installation blocks to move △d respectively according to the fourth control command 1 , △d 2 ,…,△d n .

[0011] Specifically, the push structure also includes a push slot, a control motor and a screw body connected to the control motor arranged on the support disk, wherein the screw body is inserted in the center of the push slot, and the mounting block is arranged on the push slot and a threaded hole is provided in the center thereof to be locked with the screw body. When the tension state of the cable needs to be adjusted, the control module will issue a corresponding control command to the control motor, and the control motor will start to rotate after receiving the command, driving the screw body to rotate together. Since the threaded hole in the center of the mounting block is locked with the thread on the screw body, when the screw body rotates, the mounting block will move along the push slot. By controlling the forward and reverse rotation and the rotation speed of the motor, the moving direction and moving distance of the mounting block can be accurately controlled, thereby realizing accurate adjustment of the tension state of the cable. The push structure realizes accurate control of the tension state of the cable by controlling the coordinated work of the motor, the screw body and the mounting block. This design not only improves the automation degree and work efficiency of the cable unwinding machine, but also ensures the stability and quality of the cable during the unwinding process.

[0012] Specifically, a first clamping frame is provided on the top of the first telescopic frame, a first wire channel is formed in the first clamping frame, the first pressure collector is passed through the right end of the first clamping frame, and a first pulley body located in the first wire channel is wound on the first pressure collector. The first pulley body is wound on the first pressure collector and is located in the first wire channel. The cable contacts the first pulley body during the release process, reducing the friction resistance of the cable when passing through the wire channel, and at the same time transmitting the pressure to the first pressure collector. Through the coordinated work of these components, the cable pay-off machine can monitor and adjust the tension of the cable in real time while paying out the cable, ensuring that the cable will not be overly stretched or relaxed during the release process. This design not only improves the performance and reliability of the pay-off machine, but also extends the service life of the cable.

[0013] Specifically, a second clamping frame is provided on the top of the second telescopic frame, a second wire channel is formed in the second clamping frame, the second pressure collector is passed through the left end of the second clamping frame, and a second pulley body located in the second wire channel is wound on the second pressure collector. The second pulley body is wound on the second pressure collector and is located in the second wire channel. The cable contacts the second pulley body during the release process, reducing the friction resistance of the cable when passing through the wire channel, and at the same time transmitting the pressure to the second pressure collector. Through the coordinated work of these components, the cable pay-off machine can monitor and adjust the tension of the cable in real time while paying out the cable, ensuring that the cable will not be overly stretched or relaxed during the release process. This design not only improves the performance and reliability of the pay-off machine, but also extends the service life of the cable.

[0014] The beneficial effects of the present invention are embodied in: In the entire labor-saving cable pay-off machine based on adaptive adjustment of the present invention, the pushing structure fixes the tensioning rod through the mounting block, and the winding area formed by the plurality of tensioning rods can effectively control the pay-off tension and direction of the cable, thereby ensuring the stability and uniformity of the cable during the pay-off process; the component can adjust the position of the mounting frame in the plane according to the second control command of the control module, and this flexibility enables the pay-off machine to adapt to different production environments and cable quality inspection requirements, thereby improving the versatility and working efficiency of the equipment; by providing a first telescopic frame and a second telescopic frame that can be telescopic, as well as a first wire channel and a second wire channel on the top, orderly guiding and tension control of the cable are achieved, which This design not only reduces the friction and damage of the cable during the pay-off process, but also improves the pay-off quality and efficiency of the cable; real-time acquisition of cable traction pressure and push torque data provides accurate input information for the data processing module, which is the basis for realizing adaptive control; based on the received data, the position change data and the speed change data are obtained through the first calculation model and the second calculation model, and these data provide a decision-making basis for the control module; the position change data is analyzed and disassembled to generate corresponding control commands, and the working state of the drive component is adjusted according to the speed change data. This intelligent control method enables the pay-off machine to be adjusted in real time according to actual conditions, thereby optimizing the pay-off process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0016] Figure 1 It is a structural front view of a part of the structure of the wire-releasing system and the control system of the present invention; Figure 2It is a schematic diagram of the composition of the control system and the partial structure of the wire-releasing system of the present invention; Figure 3 It is a top view of the structure of the wire-laying system and part of the control system of the present invention; Figure 4 It is a structural stereogram of the partial structure of the wire-releasing system and the partial structure of the control system of the present invention.

[0017] Reference numerals: 1-control system, 11-first pressure collector, 12-second pressure collector, 13-third pressure collector, 14-data processing module, 15-control module, 151-disassembly unit, 152-first judgment unit, 153-first generation unit, 154-second generation unit, 155-third generation unit, 2-pay-off system, 21-first adjustment component, 22-mounting frame, 23-driving component, 24-pay-off component, 241-support plate, 242-pushing structure, 2421-mounting block, 2422-tensioning rod, 2423-push slot, 2424-control motor, 2425-screw rod body, 25-second adjusting assembly, 251-first guide structure, 2511-first telescopic frame, 2512-first wire channel, 2513-first clamping frame, 2514-first pulley body, 252-second guide structure, 2521-second telescopic frame, 2522-second wire channel, 2523-second clamping frame, 2524-second pulley body. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0021] like Figures 1 to 4 As shown, a labor-saving cable pay-off machine based on adaptive adjustment is provided, including a control system 1 and a pay-off system 2, the pay-off system 2 including a first adjustment component 21, a mounting frame 22, a driving component 23, a pay-off component 24 and a second adjustment component 25; the pay-off component 24 includes a support plate 241 mounted on the mounting frame 22, the bottom of the support plate 241 is connected to the driving component 23, and a plurality of pushing structures 242 are evenly arranged on the support plate 241 along the circumferential direction, and the pushing structure 242 includes a mounting block 2421, and the pushing structure 242 is used to push the mounting block 2421, and the mounting block 25 is used to push the mounting block 2421. A tension rod 2422 is fixed on 421, and a plurality of tension rods 2422 are arranged to form a winding area; the second adjustment assembly 25 includes a first guide structure 251 and a second guide structure 252, the first guide structure 251 includes a first telescopic frame 2511 arranged around the mounting frame 22 and capable of extension, and a first wire channel 2512 is arranged on the top of the first telescopic frame 2511, and the second guide structure 252 includes a second telescopic frame 2521 arranged around the mounting frame 22 and capable of extension, and a second wire channel 2522 is arranged on the top of the second telescopic frame 2521; control system 1 comprises a first pressure collector 11, a second pressure collector 12, a third pressure collector 13, a data processing module 14 and a control module 15, wherein the first pressure collector 11 is arranged on the first wire channel 2512 and is used to collect the first cable traction pressure data, the second pressure collector 12 is arranged on the second wire channel 2522 and is used to collect the second cable traction pressure data, and the third pressure collector 13 is arranged on the pushing structure 242 and is used to collect the pushing torque data; the data processing module 14 is used to receive the first cable traction pressure data, the second cable traction pressure data and the pushing torque data, and obtain the position change data and the speed change data based on the first calculation model and the second calculation model, the control module 15 is used to analyze and disassemble the position change data and generate the first control command and the second control command, and the control module 15 is also used to generate the third control command according to the speed change data; the first telescopic frame 2511 and the second telescopic frame 2521 are used to perform telescopic movement according to the first control command, the first adjustment component 21 is used to adjust the position of the mounting frame 22 in the plane according to the second control command, and the driving component 23 is used to drive the support plate 241 to rotate according to the third control command.

[0022] In the present embodiment, it should be noted that before the entire labor-saving cable pay-off machine starts operation, the cable reel to be paid out is installed on the support disc 241, and it is ensured that the tensioning rod 2422 and the pushing structure 242 are correctly set to form a suitable winding area; the operator starts the cable pay-off machine through the control system 1, and inputs relevant pay-off parameters, such as the target pay-off length, pay-off speed, etc. The control system 1 initializes the position and state of the first adjustment component 21, the second adjustment component 25 and the drive component 23 according to the input parameters; under the command of the control system 1, the drive component 23 starts to work, driving the support disc 241 and the cable reel to rotate slowly, and starts to pay out the cable. The cable is guided in an orderly manner by the first guide structure 251 and the second guide structure 252 to ensure that the cable maintains a stable tension and direction during the pay-off process. The pushing structure 242 pushes the mounting block 242 in time according to the command of the control system 1. 1 and the tensioning rod 2422 are used to adjust the volume of the winding area, so as to control the tension and speed of the wire release; the first, second and third pressure collectors 13 continuously monitor the traction pressure and pushing torque of the cable, and transmit the data to the control system 1 in real time. The control system 1 analyzes the received data through the data processing module 14, and obtains the position change data and the speed change data based on the first calculation model and the second calculation model. According to these data, the control system 1 generates corresponding control commands, and adjusts the working states of the first adjustment component 21, the second adjustment component 25 and the drive component 23 in real time to ensure the stability and efficiency of the wire release process; when the preset wire release length is reached or the stop command of the operator is received, the control system 1 will send a stop command to the drive component 23, the wire release machine stops rotating, and all the adjustment components and the guide structure return to the initial position to prepare for the next wire release operation.

[0023] It should also be noted that in the control process, the cable pulling pressure and pushing torque data are continuously collected by the first pressure collector 11, the second pressure collector 12 and the third pressure collector 13; the data processing module 14 in the control system 1 receives and processes these data, and uses the preset calculation model to analyze the required position change and speed change data; the control module 15 generates corresponding control commands according to the analysis results, including a first control command (controlling the extension and retraction of the first and second telescopic frames 2521), a second control command (controlling the position adjustment of the mounting frame 22 in the plane) and a third control command (controlling the speed of the support plate 241); after receiving the control command, the corresponding components (the first adjustment component 21, the second adjustment component 25, the drive component 23) perform precise action adjustments according to the instructions; during the wire laying process, the control system 1 continuously receives new data, performs real-time analysis, and adjusts the control command as needed to form a closed-loop control system 1 to ensure the stability and accuracy of the wire laying.

[0024] It should also be noted that in the entire adaptively adjustable labor-saving cable pay-off machine, the pushing structure 242 fixes the tensioning rod 2422 through the mounting block 2421, and the winding area formed by the multiple tensioning rods 2422 can effectively control the pay-off tension and direction of the cable, and ensure the stability and uniformity of the cable during the pay-off process; the component can adjust the position of the mounting frame 22 in the plane according to the second control command of the control module 15. This flexibility enables the pay-off machine to adapt to different production environments and cable quality inspection requirements, and improves the versatility and work efficiency of the equipment; by providing a telescopic first telescopic frame 2511 and a second telescopic frame 2521, as well as a first wire channel 2512 and a second wire channel 2522 at the top, it is achieved The orderly guidance and tension control of the cable are realized. This design not only reduces the friction and damage of the cable during the pay-off process, but also improves the pay-off quality and efficiency of the cable; real-time acquisition of cable traction pressure and push torque data provides accurate input information for the data processing module 14, which is the basis for realizing adaptive control; based on the received data, the position change data and the speed change data are obtained through the first calculation model and the second calculation model, and these data provide a decision-making basis for the control module 15; the position change data is analyzed and disassembled to generate corresponding control commands, and the working state of the drive component 23 is adjusted according to the speed change data. This intelligent control method enables the pay-off machine to be adjusted in real time according to the actual situation, thereby optimizing the pay-off process.

[0025] Specifically, the first calculation model includes: △P=k 1 *(F 1 -F 2 ), where △P is the position adjustment amount, F 1 and F 2 are the first cable pulling pressure data and the second cable pulling pressure data, k 1 is the first proportional constant; the position change data is obtained through the position adjustment amount.

[0026] In this embodiment, it should be noted that k 1 It is a fixed value determined according to system characteristics and experimental data, which is used to convert the traction pressure difference into the position adjustment amount. The position change data is determined based on the calculated △P value. The positive and negative and size of △P directly reflect the direction and distance that the mounting frame should move to achieve the balance of cable traction force. The control system will generate the corresponding position adjustment instruction according to the value of △P, that is, the first control command, and send it to the first adjustment component, which will perform the position adjustment of the mounting frame. During the cable laying process, due to various reasons (such as cable unevenness, environmental factors, etc.), the traction force of the cable on the two guide structures may be unbalanced. If this imbalance is not adjusted in time, it may cause unstable cable laying, cable damage or equipment failure. By real-time monitoring F 1 and F2 The control system can respond quickly and adjust the position of the mounting frame to maintain the balance of cable traction force, which not only improves the stability and efficiency of cable release, but also extends the service life of cables and equipment and reduces the failure rate.

[0027] Specifically, the second calculation model includes: △R=k 2 *(TT ref )+k 3 *(F avg -F ref ), where △R is the rotation speed of the support plate that needs to be adjusted, T is the currently collected push torque data, and T ref is the reference torque value, F avg is the average value of the first cable pulling pressure data and the second cable pulling pressure data, F ref is the reference cable pulling pressure value, k 2 is the second proportionality constant, k 3 is the third constant of proportionality.

[0028] In this embodiment, it should be noted that k 2 and k 3 are the second and third proportional constants, respectively. These constants are determined by experiment or system calibration and are used to convert the deviation of torque and traction pressure into the adjustment of speed. This model considers two aspects: the deviation of the push torque from the reference torque (TT ref ), and the deviation of the average cable pulling pressure from the reference cable pulling pressure (F avg -F ref ). In this way, the model can comprehensively reflect the needs of the push structure and cable pulling state for the support disk speed adjustment. The second calculation model enables the cable pay-off machine to dynamically adjust the support disk speed according to the real-time push torque and cable pulling pressure data. This dynamic adjustment can ensure that the pay-off process remains stable and efficient under various conditions. By reducing human intervention and real-time monitoring and adjustment, the model also improves the automation level and production efficiency of the pay-off operation, while reducing the risk of operating errors and equipment failures.

[0029] Specifically, the control module includes: a disassembly unit, which is used to disassemble △P into an x-axis direction adjustment amount △Px and an x-axis direction adjustment amount △Py, and the relationship between the three is: ; The first judgment unit is used to judge whether |ΔP| is less than or equal to Th; the first generation unit is used to generate a first control command after |ΔP| is less than or equal to Th, ΔP = (ΔPx, ΔPy), where the first telescopic frame is used to move ΔPx according to the first control command, and the second telescopic frame is used to move ΔPy according to the second control command; the second generation unit is used to calculate a first adjustment amount ' and a second adjustment amount ΔP", satisfying ΔP = ΔP' + ΔP", and |ΔP'| is less than or equal to Th, and is further used to generate a first control command through ΔP', generate a second control command through ΔP", ΔP' = (ΔPx', ΔPy'), where the first telescopic frame is used to move ΔPx' according to the first control command, the second telescopic frame is used to move ΔPy' according to the second control command, and the first adjustment component is used to adjust the mounting frame to move ΔP" according to the second control command.

[0030] In this embodiment, it should be noted that the disassembly unit is responsible for disassembling the position adjustment amount △P into the adjustment amount △Px in the x-axis direction and the adjustment amount △Py in the y-axis direction; this is because in an actual mechanical system, the position adjustment of the mounting bracket may need to be carried out in a two-dimensional plane, so it is necessary to calculate the adjustment amounts on the x-axis and y-axis respectively. The first judgment unit judges whether |△P| (that is, the absolute value of △P) is less than or equal to a preset threshold Th. This threshold Th is a value set according to the system accuracy and actual requirements, and is used to determine whether the position adjustment amount is small enough so that it can be considered that the mounting bracket is already in the correct position and no further large-scale adjustment is required. In the first generation unit, when |△P| is less than or equal to Th, this unit generates a first control command, which includes the adjustment amounts on the x-axis and y-axis, that is, △P = (△Px, △Py). The first telescopic frame moves a distance of △Px on the x-axis according to this command, and the second telescopic frame moves a distance of △Py on the y-axis. In this way, the mounting bracket can be finely adjusted on the two-dimensional plane to achieve an accurate position. In the second generation unit, when |△P| is greater than Th, it means that the position adjustment amount is large and needs to be adjusted step by step; at this time, this unit will calculate two adjustment amounts: △P' and △P", satisfying △P = △P' + △P", and |△P'| is less than or equal to Th. First, a first control command is generated through △P', and this command also includes the adjustment amounts on the x-axis and y-axis, that is, △P' = (△Px', △Py'). The first telescopic frame and the second telescopic frame move the corresponding distances on the x-axis and y-axis respectively according to this command to perform the first step of position adjustment. Then, a second control command is generated through △P"; this command is not directly sent to the telescopic frame, but sent to the first adjustment component to control the mounting bracket to move in a larger range. Through such a control method, the cable pay-off machine can accurately adjust the position of the mounting bracket according to the position adjustment amount △P output by the calculation model; when the adjustment amount is small, fine adjustment is performed through the telescopic frame; when the adjustment amount is large, first, preliminary adjustment is performed through the telescopic frame, and then a larger range of movement is performed through the first adjustment component, so as to ensure the accuracy and stability of the pay-off machine.

[0031] Specifically, the data processing module 14 is further configured to obtain the tension data based on the judgment model, the control module 15 is configured to analyze the tension data and generate a fourth control command, and the pushing structure 242 is configured to push the mounting block 2421 according to the fourth control command.

[0032] In this embodiment, it should be noted that the entire process ensures that the cable pay-off machine can be dynamically adjusted according to the real-time tensioning state of the cable, and accurate tensioning data can be obtained through the judgment model of the data processing module 14. The control module 15 can make precise control decisions and execute these decisions through the pushing structure 242. After pushing the mounting block 2421, the winding area will be reduced or enlarged, thereby maintaining the stability and appropriate tension of the cable during the pay-off process.

[0033] Specifically, the judgment model includes: I=w*(TT ref ) / T ref , where I is the judgment index, w is the weight coefficient, T is the currently collected push torque data, T ref is the reference torque value. If I is less than or equal to the preset critical index, the tension data △d=k is obtained. 4 T, k 4 is the fourth constant of proportionality.

[0034] In this embodiment, it should be noted that k 4 is the fourth proportional constant, which converts the torque data into the corresponding position adjustment. The value of this constant is usually determined by experiment or experience to ensure the stability and responsiveness of the system. The working principle of the judgment model is to evaluate the tension state of the cable by comparing the difference between the current torque data and the reference torque value. If the judgment index (I) is less than or equal to a preset critical index, it means that the current cable tension state is acceptable or within the normal range.

[0035] Specifically, the control module further includes: a third generating unit, configured to decompose △d to satisfy △d=△d 1 +△d 2 +…+△d n , n is the number of push structures, and the plurality of push structures push the plurality of installation blocks to move △d respectively according to the fourth control command 1 , △d 2 ,…,△d n .

[0036] In this embodiment, it should be noted that the total position adjustment amount Δd is decomposed into a plurality of sub-adjustment amounts Δd 1 , △d 2 ,…,△d n, where n represents the number of push structures, the purpose of which is to ensure that each push structure can receive precise adjustment instructions suitable for itself, so as to achieve collaborative work. The decomposition algorithm may be based on various factors, such as the position, capacity, current cable tension state and expected tension state of each push structure. According to the received sub-adjustment amount, the push structure will push its corresponding mounting block to move the corresponding distance; for example, the first push structure will push the first mounting block to move a distance of △d1, the second push structure will push the second mounting block to move a distance of △d2, and so on; in this way, multiple push structures can work together to adjust the cable tension state, and each push structure moves precisely according to its own sub-adjustment amount, thereby ensuring that the tension state of the entire cable system meets the preset requirements.

[0037] Specifically, the pushing structure 242 also includes a pushing groove 2423, a control motor 2424 and a screw body 2425 connected to the control motor 2424, the screw body 2425 is passed through the center of the pushing groove 2423, the mounting block 2421 is clamped on the pushing groove 2423 and has a threaded hole in the center that is locked with the screw body 2425.

[0038] In this embodiment, it should be noted that when the tension state of the cable needs to be adjusted, the control module 15 will issue a corresponding control command to the control motor 2424. After receiving the command, the control motor 2424 starts to rotate, driving the screw body 2425 to rotate together. Since the threaded hole in the center of the mounting block 2421 is locked with the thread on the screw body 2425, when the screw body 2425 rotates, the mounting block 2421 will move along the push groove 2423. By controlling the forward and reverse rotation and rotation speed of the motor 2424, the moving direction and moving distance of the mounting block 2421 can be accurately controlled, thereby achieving accurate adjustment of the tension state of the cable. The push structure 242 achieves accurate control of the tension state of the cable by controlling the coordinated work of the motor 2424, the screw body 2425 and the mounting block 2421. This design not only improves the automation and work efficiency of the cable pay-off machine, but also ensures the stability and quality of the cable during the pay-off process.

[0039] Specifically, a first clamping frame 2513 is arranged on the top of the first telescopic frame 2511, and a first wire channel 2512 is formed in the first clamping frame 2513. A first pressure collector 11 is passed through the right end of the first clamping frame 2513, and a first pulley body 2514 located in the first wire channel 2512 is wound around the first pressure collector 11.

[0040] In this embodiment, it should be noted that the first pulley body 2514 is wound around the first pressure collector 11 and is located in the first wire channel 2512. The cable contacts the first pulley body 2514 during the release process, reducing the friction resistance of the cable when passing through the wire channel, and at the same time transmitting the pressure to the first pressure collector 11. Through the coordinated work of these components, the cable pay-off machine can monitor and adjust the tension of the cable in real time while paying out the cable, ensuring that the cable will not be overly stretched or relaxed during the release process. This design not only improves the performance and reliability of the pay-off machine, but also extends the service life of the cable.

[0041] Specifically, a second positioning frame 2523 is provided on the top of the second telescopic frame 2521, a second wire channel 2522 is formed in the second positioning frame 2523, a second pressure collector 12 is passed through the left end of the second positioning frame 2523, and a second pulley body 2524 located in the second wire channel 2522 is wound around the second pressure collector 12.

[0042] In this embodiment, it should be noted that the second pulley body 2524 is wound around the second pressure collector 12 and is located in the second wire channel 2522. The cable contacts the second pulley body 2524 during the release process, reducing the friction resistance of the cable when passing through the wire channel, and at the same time transmitting the pressure to the second pressure collector 12. Through the coordinated work of these components, the cable pay-off machine can monitor and adjust the tension of the cable in real time while paying out the cable, ensuring that the cable will not be overly stretched or relaxed during the release process. This design not only improves the performance and reliability of the pay-off machine, but also extends the service life of the cable.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A labor-saving cable pay-off machine based on adaptive adjustment, characterized in that: It includes a control system and a wire-paying system, wherein the wire-paying system includes a first adjustment component, a mounting frame, a driving component, a wire-paying component, and a second adjustment component; The pay-off assembly comprises a support plate mounted on the mounting frame, the bottom of the support plate is connected to the driving assembly, a plurality of push structures are evenly arranged on the support plate along the circumferential direction, the push structures comprise a mounting block, the push structures are used to push the mounting block, a tensioning rod is fixed on the mounting block, and a plurality of the tensioning rods are surrounded to form a winding area; The second adjustment assembly includes a first guide structure and a second guide structure, the first guide structure includes a first telescopic frame arranged around the mounting frame and capable of extension and retraction, a first wire channel is arranged on the top of the first telescopic frame, and the second guide structure includes a second telescopic frame arranged around the mounting frame and capable of extension and retraction, a second wire channel is arranged on the top of the second telescopic frame; The control system includes a first pressure collector, a second pressure collector, a third pressure collector, a data processing module and a control module, wherein the first pressure collector is arranged on the first wire channel and used to collect the first cable traction pressure data, the second pressure collector is arranged on the second wire channel and used to collect the second cable traction pressure data, and the third pressure collector is arranged on the pushing structure and used to collect the pushing torque data; The data processing module is used to receive the first cable traction pressure data, the second cable traction pressure data and the push torque data, and obtain the position change data and the speed change data based on the first calculation model and the second calculation model, the control module is used to analyze and disassemble the position change data and generate the first control command and the second control command, and the control module is also used to generate a third control command according to the speed change data; The first telescopic frame and the second telescopic frame are used to perform telescopic movement according to a first control command, the first adjustment component is used to adjust the position of the mounting frame in a plane according to a second control command, and the driving component is used to drive the support plate to rotate according to a third control command.

2. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 1 is characterized in that: The first calculation model includes: △P=k1*(F1-F2), wherein △P is the position adjustment amount, F1 and F2 are the first cable pulling pressure data and the second cable pulling pressure data respectively, and k1 is the first proportional constant; The position change data is obtained by the position adjustment amount.

3. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 2 is characterized in that: The second calculation model includes: △R=k2*(TT ref )+k3*(F avg -F ref ), where △R is the rotation speed of the support plate that needs to be adjusted, T is the currently collected push torque data, and T ref is the reference torque value, F avg is the average value of the first cable pulling pressure data and the second cable pulling pressure data, F ref is the reference cable pulling pressure value, k2 is the second proportional constant, and k3 is the third proportional constant.

4. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 3 is characterized in that: The control module comprises: A disassembly unit, wherein the disassembly unit is used to disassemble ΔP into an x-axis direction adjustment amount ΔP x and the x-axis adjustment △P y The relationship among the three is ; The first determination unit is configured to determine whether |ΔP| is less than or equal to T h ; The first generating unit is used to generate a h After that, the first control command is generated, △P=(△P x , △P y ), wherein the first telescopic frame is used to move △P according to the first control command x The second telescopic frame is used to move △P according to the second control command y ; A second generation unit, configured to calculate a first adjustment amount when |ΔP| > T h and a second adjustment amount Δ ", such that ΔP = ΔP' + Δ ", and |ΔP'| ≤ T . The second generation unit is further configured to generate a first control command based on ΔP', and generate a second control command based on ΔP". ΔP' = (ΔP h ', ΔP x '), where the first telescopic frame is configured to move by ΔP y ' according to the first control command, the second telescopic frame is configured to move by ΔP x ' according to the second control command, and the first adjustment assembly is configured to adjust the movement of the mounting bracket by ΔP" according to the second control command.​​ 5. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 4 is characterized in that: The data processing module is further used to obtain tensioning data based on the judgment model, the control module is used to analyze the tensioning data and generate a fourth control command, and the pushing structure is used to push the installation block according to the fourth control command.

6. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 5, characterized in that: The judgment model includes: I=w*(TT ref ) / T ref , where I is the judgment index, w is the weight coefficient, T is the currently collected push torque data, T ref is the reference torque value. If I is less than or equal to the preset critical index, the tensioning data △d=k4T is obtained, where k4 is the fourth proportional constant.

7. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 6, characterized in that: The control module also includes: The third generation unit is used to decompose △d to satisfy △d=△d1+△d2+…+△d n , n is the number of push structures, and the plurality of push structures push the plurality of mounting blocks to move △d1, △d2, ..., △d respectively according to the fourth control command. n .

8. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 1, characterized in that: The pushing structure also includes a pushing groove, a control motor and a screw body connected to the control motor arranged on the support plate. The screw body is passed through the center of the pushing groove. The mounting block is clamped on the pushing groove and has a threaded hole in the center that is locked with the screw body.

9. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 1, characterized in that: A first clamping frame is arranged on the top of the first telescopic frame, a first wire channel is formed in the first clamping frame, the first pressure collector is passed through the right end of the first clamping frame, and a first pulley body located in the first wire channel is wound around the first pressure collector.

10. The labor-saving cable pay-off machine based on adaptive adjustment according to claim 1, characterized in that: A second clamping frame is arranged on the top of the second telescopic frame, a second wire channel is formed in the second clamping frame, the second pressure collector is passed through the left end of the second clamping frame, and a second pulley body located in the second wire channel is wound around the second pressure collector.

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