Control system of walking winding device and control method thereof

Abstract

The invention provides a control system of a walking winding device and a control method thereof, and the control system comprises an alignment module, a supporting module, a first control module and a first communication module. Wherein the first control module is electrically connected with the supporting module, the alignment module and the first communication module; when the winding roller is replaced, the first control module achieves alignment operation with the winding roller storage and conveying device through the alignment module. After the alignment operation is completed, the supporting module is used for supporting the middle of a bearing shaft, used for bearing a winding roller, of the winding module and controlling a telescopic second supporting mechanism used for supporting one end of the bearing shaft to contract; when the supporting mechanism completes contraction and the supporting module supports the bearing shaft, a winding roller conveying instruction is sent to the winding roller storage and conveying device through the first communication module; and the winding roller storing and conveying device executes the winding roller conveying instruction. According to the control system of the walking winding device and the control method of the control system, the winding roller can be automatically replaced.

Description

Technical Field

[0001] The present invention relates to the technical field of control systems, and in particular to a control system of a traveling and winding device and a control method thereof. Background Art

[0002] Winding devices are widely used in the production of various coils. They are mainly used to curl the produced products for transfer between processes and to curl the final finished materials to form coils for easy storage and transportation.

[0003] Existing walking and winding devices are only designed for easy movement, and the replacement of material rollers still needs to be done manually, and cannot be truly automated. Summary of the invention

[0004] One of the purposes of the present invention is to provide a control system and a control method for a traveling winding device to realize automatic replacement of winding rollers.

[0005] A control system for a traveling winding device provided in an embodiment of the present invention is applied to a traveling winding device, wherein the traveling winding device comprises: a vehicle body, a traveling mechanism arranged at the lower end of the vehicle body, and a winding module arranged at the upper end of the vehicle body, and the control system comprises: an alignment module, a support module, a first control module, and a first communication module; wherein the first control module is electrically connected to the support module, the alignment module, and the first communication module, respectively; When replacing the roller, the first control module realizes the alignment operation with the roller storage and conveying device through the alignment module; after the alignment operation is completed, the middle part of the bearing shaft of the winding module used for bearing the roller is supported by the support module and the retractable second support mechanism serving as one end support of the bearing shaft is controlled to retract; when the support mechanism is retracted and the support module supports the bearing shaft, a conveying roller instruction is sent to the roller storage and conveying device through the first communication module; the roller storage and conveying device executes the conveying roller instruction.

[0006] Preferably, the winding module comprises: The first support mechanism is arranged on the upper end surface of the vehicle body and is used to support one end of the load-bearing shaft; the second support mechanism supports the other end of the load-bearing shaft; A roller drive motor is arranged at one end of the first support mechanism away from the vehicle body, and is used to drive the roller on the bearing shaft; The bearing shaft has one end rotatably connected to the first supporting mechanism; at least one tensioning mechanism is arranged on the surface of the bearing shaft.

[0007] Preferably, the support module comprises: A horizontal guide rail, arranged on the vehicle body and level with the load-bearing shaft; A first telescopic unit, one end of which is slidably disposed on a horizontal guide rail; The arc-shaped supporting plate is arranged at an end of the first telescopic unit away from the horizontal guide rail.

[0008] Preferably, the second supporting mechanism comprises: A second telescopic unit, one end of which is fixedly connected to the upper end surface of the vehicle body; A first arc-shaped contact plate is fixedly arranged at an end of the second telescopic unit away from the vehicle body; A second arc-shaped contact plate is fixedly connected to the first arc-shaped contact plate via a rotating shaft; A clamping unit, arranged at an end of the first arc-shaped contact plate away from the end connected to the rotating shaft; The clamping body is arranged at the end of the second arc-shaped contact plate away from the end connected with the rotating shaft; the clamping body and the clamping unit cooperate to realize the clamping of the first arc-shaped contact plate and the second arc-shaped contact plate.

[0009] Preferably, the card connection unit comprises: A first planar extension body, fixedly connected to the first arc-shaped contact plate; A motor, arranged on the lower end surface of the first plane extension body, and having a gear arranged at an output end thereof; A rack is slidably arranged on the lower end surface of the first plane extension body through two limiting bodies; the rack is transmission-connected with the gear; A first through hole is provided on the first planar extension body; the first through hole is used for the clamping body to pass through; a second planar extension body is fixedly provided at one end of the second arc-shaped contact plate; the clamping body is provided at the middle of the lower end surface of the second planar extension body; The second through hole is arranged on the clamping body; the second through hole is used for the rack to pass through.

[0010] Preferably, the alignment module includes: An infrared receiving unit is arranged at the middle of the end surface of the bearing shaft close to the second supporting structure, and is used to receive the alignment signal sent by the infrared sending unit arranged on the roll storage and conveying device; At least three third telescopic units are arranged on the periphery of the infrared receiving unit and are used to extend to the corresponding alignment holes on the roll storage and conveying device.

[0011] Preferably, the roll storage and conveying device comprises: The main body has a storage cavity inside, and the roll is stored in the storage cavity; the middle part of the storage cavity is wedge-shaped, and the width of the lower part is adapted to the diameter of the roll; A first docking shaft, arranged at the bottom of the storage cavity; A first docking platform, one side of which is fixedly connected to one end of the first docking shaft, and the other side of which is fixedly connected to the body via a fourth telescopic unit; At least two fifth telescopic units are arranged on the outer periphery of the fourth telescopic unit, and one end of the fifth telescopic unit is extended out from the first docking platform; A first infrared emitting unit and a plurality of first alignment holes are arranged at the middle of the end surface of the first docking shaft away from the first docking platform; a first contact switch is arranged in the first alignment hole; A second control module is electrically connected to the fourth telescopic unit, the fifth telescopic unit, the first infrared emitting unit and the first contact switch respectively; The second communication module is electrically connected to the second control module.

[0012] Preferably, after the winding work of the walking winding device is completed, the first control module further performs the following operations: The traveling winding device is moved to the unloading position of the unloading device by the traveling mechanism; Perform alignment operation through alignment module and unwinding device; When the alignment operation is completed, the support module is controlled to hold the coil from below; Controlling the clamping connection between the clamping unit and the clamping body to open and controlling the second telescopic unit to retract; A material unloading start instruction is sent to the unloading device through the first communication module.

[0013] Preferably, the unloading device comprises: The first body has a roll unloading platform disposed on one side; A second docking platform is disposed in the open cavity in the middle of the first body; A second docking shaft, one end of which is fixedly arranged on the second docking platform; a second infrared emitting unit and a plurality of second alignment holes located on the outer periphery of the second infrared emitting unit are arranged in the middle of the end surface of the second docking shaft away from the second docking platform; a second contact switch is arranged in the second alignment hole; a sixth telescopic unit, one end of which is fixedly connected to the first main body, and the other end of which is fixedly connected to a side of the second docking platform away from the second docking axis; A plurality of guide shafts are arranged on the outer periphery of the sixth telescopic unit and one end of the guide shafts is fixedly connected to the first main body and the other end of the guide shafts is passed through the second docking platform; a third control module, electrically connected to the sixth telescopic unit, the second infrared emitting unit and the second contact switch respectively; A third communication module is electrically connected to the third control module; The second main body has a plurality of seventh telescopic units disposed on one side; the plurality of seventh telescopic units are distributed in a circle with the position corresponding to the second docking axis as the center.

[0014] The present invention also provides a control method for a traveling winding device, which is applied to the traveling winding device, wherein the traveling winding device comprises: a vehicle body, a traveling mechanism arranged at the lower end of the vehicle body, and a winding module arranged at the upper end of the vehicle body, including: When replacing the roll, the alignment module is used to achieve alignment with the roll storage and conveying device; After the alignment operation is completed, the middle part of the bearing shaft of the winding module for bearing the winding roller is supported by the supporting module and the retractable second supporting mechanism serving as one end support of the bearing shaft is controlled to retract; When the support mechanism is completely retracted and the support module supports the bearing shaft, a conveying roller instruction is sent to the roller storage and conveying device through the first communication module.

[0015] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0016] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of a control system of a traveling and winding device in an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a traveling and winding device in an embodiment of the present invention; Figure 3 A schematic diagram of an end surface of one end of a bearing shaft in an embodiment of the present invention; Figure 4 is a schematic diagram of a clamping unit in an embodiment of the present invention; Figure 5 A schematic diagram of a roll storage and conveying device according to an embodiment of the present invention; Figure 6 It is a schematic diagram of another roll storage and conveying device in an embodiment of the present invention; Figure 7 It is a schematic diagram of a roll unloading device in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0019] like Figures 1 to 7 As shown, an embodiment of the present invention provides a control system for a walking and winding device, which is applied to the walking and winding device. The walking and winding device includes: a vehicle body 11, a walking mechanism 10 arranged at the lower end of the vehicle body 11, and a winding module arranged at the upper end of the vehicle body. The control system includes: an alignment module 1, a support module 2, a first control module 3, and a first communication module 4; wherein the first control module 3 is electrically connected to the support module 2, the alignment module 1, and the first communication module 4, respectively; When replacing the roller, the first control module 3 realizes the alignment operation with the roller storage and conveying device through the alignment module 1; after the alignment operation is completed, the middle part of the bearing shaft 15 of the winding module for bearing the roller is supported by the support module 2 and the retractable second support mechanism 13 serving as one end support of the bearing shaft 15 is controlled to retract; when the support mechanism is retracted and the support module 2 supports the bearing shaft 15, a conveying roller instruction is sent to the roller storage and conveying device through the first communication module 4; the roller storage and conveying device executes the conveying roller instruction.

[0020] The winding module includes: The first support mechanism 12 is provided on the upper end surface of the vehicle body 11 and is used to support one end of the bearing shaft 15; the second support mechanism 13 supports the other end of the bearing shaft 15; The roller driving motor 14 is arranged at one end of the first supporting mechanism 12 away from the vehicle body 11 and is used to drive the roller on the bearing shaft 15; One end of the bearing shaft 15 is rotatably connected to the first supporting mechanism 12 ; at least one tensioning mechanism is disposed on the surface of the bearing shaft 15 .

[0021] Wherein, the support module 2 comprises: A horizontal guide rail 2-2 is disposed on the vehicle body 11 and is horizontal to the bearing shaft 15; the horizontal guide rail 2-2 includes a screw guide rail; A first telescopic unit 2-1, one end of which is slidably disposed on a horizontal guide rail 2-2; The arc-shaped support plate 2-3 is arranged at one end of the first telescopic unit 2-1 away from the horizontal guide rail 2-2.

[0022] Wherein, the second supporting mechanism 13 comprises: The second telescopic unit has one end fixedly connected to the upper end surface of the vehicle body 11; A first arc-shaped contact plate, fixedly disposed at an end of the second telescopic unit away from the vehicle body 11; A second arc-shaped contact plate is fixedly connected to the first arc-shaped contact plate via a rotating shaft; A clamping unit, arranged at an end of the first arc-shaped contact plate away from the end connected to the rotating shaft; The clamping body 23 is arranged at the end of the second arc-shaped contact plate away from the end connected to the rotating shaft; the clamping body 23 cooperates with the clamping unit to realize the clamping of the first arc-shaped contact plate and the second arc-shaped contact plate.

[0023] The card connection unit includes: A first planar extension body 22, fixedly connected to the first arc-shaped contact plate; The motor 24 is arranged on the lower end surface of the first plane extension body 22, and a gear is arranged at the output end thereof; The rack 25 is slidably arranged on the lower end surface of the first plane extension body 22 through two limiting bodies 26; the rack 25 is transmission-connected with the gear; A first through hole is provided on the first planar extension body 22; the first through hole is used for the clamping body 23 to pass through; a second planar extension body 21 is fixedly provided at one end of the second arc-shaped contact plate; the clamping body 23 is provided at the middle of the lower end surface of the second planar extension body 21; The second through hole is provided on the clamping body 23 ; the second through hole is used for the rack 25 to pass through.

[0024] Wherein, the alignment module 1 comprises: The infrared receiving unit 1-1 is arranged at the middle of the end surface of the bearing shaft 15 close to the second supporting structure, and is used to receive the alignment signal sent by the infrared sending unit arranged on the roll storage and conveying device; At least three third telescopic units 1-2 are arranged on the periphery of the infrared receiving unit 1-1, and are used to extend to the corresponding alignment holes on the roll storage and conveying device.

[0025] The control system of the walking and winding device of the present embodiment mainly uses the alignment module 1 and the support module 2 to align with the roll storage and conveying device when replacing the roll, so as to facilitate the roll storage and conveying device to convey the empty roll to the bearing shaft 15 of the walking and winding device; the alignment module 1 is implemented by the infrared transmitting unit of the roll storage and conveying device sending an alignment signal which is received by the infrared receiving unit 1-1 of the alignment module 1, and the position is determined, and the walking mechanism 10 is controlled to move toward the roll storage and conveying device, and then the third telescopic unit 1-2 is combined with the alignment hole; the third telescopic unit 1-2 is extended only when alignment is required, and is contracted at other times to keep the end face flat; the first support mechanism 12 is fixed and immovable; the second support mechanism 13 is It is retractable and can be opened at the combined position with respect to the bearing shaft 15; the controllable opening of the clamping is mainly realized by the controllable clamping unit and the clamping body 23; the controllable opening is mainly through the rotating shaft between the first arc-shaped contact plate and the second arc-shaped contact plate; the rotating shaft can adopt a rotating cylinder or an electric cylinder; so as to realize the separation of the first arc-shaped contact plate and the second arc-shaped contact plate after the clamping is opened; and the contact between the first arc-shaped contact plate and the second arc-shaped contact plate when the clamping is to be performed; the motor 24 of the clamping unit drives the rack 25 through the gear; the rack 25 can only be translated laterally under the limitation of the limiting body 26; the operation of inserting the rack 25 into the second through hole and removing it from the second through hole is realized; when inserted, the clamping is realized; when removed, the clamping is realized. Therefore, when controlling the retraction of the second support mechanism 13, the clamping must be released first; when the alignment and support operations are completed, a conveying instruction is sent to the roll storage and conveying device; the roll storage and conveying device executes the conveying instruction; when the roll storage and conveying device is in the process of roll conveying, the support module 2 is controlled to move on the guide rail to a position away from the roll, that is, to move in the direction of the first support mechanism 12, until it moves to the step set on the bearing shaft 15 close to the position of the first support module 2; when the roll is conveyed to the bearing shaft 15, the gear structure set at one end of the roll is engaged with the gear of the drive motor 24; then the tensioning mechanism on the bearing shaft 15 is activated to fix the roll to the bearing shaft 15. Among them, the telescopic units such as the first telescopic unit 2-1, the second telescopic unit, and the third telescopic unit 1-2 can be set to any one of a hydraulic telescopic rod, a telescopic cylinder, or a telescopic electric cylinder. In addition, the walking mechanism 10 includes at least one steering wheel driven by a steering motor 24 and a plurality of driving wheels driven by motors 24, and also includes: a navigation module; the navigation module includes: an infrared navigation module, a laser navigation module, etc.; when the roller is replaced, the walking mechanism 10 moves the walking winding device to the working position, and the staff at the working position rolls the material onto the roller; then the winding device is actuated to perform the winding operation.

[0026] In order to realize the automatic loading of the roller of the traveling winding device; in one embodiment, the roller storage and conveying device comprises: The body 31 has a storage cavity 32 disposed therein, and the roll is stored in the storage cavity 32; the storage cavity 32 is wedge-shaped in the middle, and the width of the lower portion is adapted to the diameter of the roll; A first docking shaft 36, disposed at the bottom of the storage chamber 32; A first docking platform 35, one side of which is fixedly connected to one end of the first docking shaft 36, and the other side of which is fixedly connected to the body 31 via the fourth telescopic unit 33; At least two fifth telescopic units 34 are arranged on the outer periphery of the fourth telescopic unit 33, and one end of the fifth telescopic unit 34 is extended from the first docking platform 35; A first infrared emitting unit and a plurality of first alignment holes are disposed at the middle of the end surface of the first docking shaft 36 away from the first docking platform 35; a first contact switch is disposed in the first alignment hole; A second control module is electrically connected to the fourth telescopic unit 33, the fifth telescopic unit 34, the first infrared emitting unit and the first contact switch respectively; The second communication module is electrically connected to the second control module.

[0027] The working principle and beneficial effects of the above technical solution are: When the second control module receives the conveying roller instruction, it determines whether the instruction is verified by whether the first contact switch is triggered; when the verification is passed, the conveying roller instruction is executed; the specific execution steps are: first control the fifth telescopic unit 34 to extend and push the roller on the first docking shaft 36 onto the load-bearing shaft 15; when it is fully pushed, the fifth telescopic unit 34 contracts and the fourth telescopic unit 33 contracts; the roller in the storage cavity 32 falls to the bottom end; then the fourth telescopic unit 33 extends to pass through the fallen roller.

[0028] In order to realize automatic unloading of the finished winding product of the traveling winding device, after the winding work of the traveling winding device is completed, the first control module 3 also performs the following operations: The traveling winding device is moved to the unloading position of the unloading device by the traveling mechanism 10; the position is located between the first body and the second body of the unloading device; Perform alignment operation with the unwinding device through the alignment module 1; When the alignment operation is completed, the support module 2 is controlled to hold the coil from below; Control the clamping connection between the clamping unit and the clamping body 23 to open and control the second telescopic unit to retract; The unloading start instruction is sent to the unloading device through the first communication module 4.

[0029] The unloading device comprises: The first body 40 has a roll unloading platform 42 disposed on one side; The second docking platform 44 is disposed in the open cavity in the middle of the first body 40; A second docking shaft 43, one end of which is fixedly disposed on the second docking platform 44; a second infrared emitting unit and a plurality of second alignment holes located on the outer periphery of the second infrared emitting unit are disposed in the middle of the end surface of the second docking shaft 43 away from the second docking platform 44; a second contact switch is disposed in the second alignment hole; A sixth telescopic unit 45, one end of which is fixedly connected to the first body 40, and the other end of which is fixedly connected to a side of the second docking platform 44 away from the second docking axis 43; A plurality of guide shafts 46 are arranged on the outer periphery of the sixth telescopic unit 45 and one end of the guide shafts 46 is fixedly connected to the first body 40 and the other end of the guide shafts 46 is passed through the second docking platform 44; A third control module is electrically connected to the sixth telescopic unit 45, the second infrared emitting unit and the second contact switch respectively; A third communication module is electrically connected to the third control module; A plurality of seventh telescopic units 47 are disposed on one side of the second main body 41 ; the plurality of seventh telescopic units 47 are distributed in a circle with the position corresponding to the second docking shaft 43 as the center.

[0030] The working principle and beneficial effects of the above technical solution are: After the bearing shaft 15 and the second docking shaft 43 are docked, the clamping of the clamping unit is opened and the rotating shaft rotates to open the first arc-shaped contact plate and the second arc-shaped contact plate, and the second support mechanism 13 is retracted; then the seventh telescopic unit 47 is extended to push the coil onto the unloading platform 42; when it is pushed onto the unloading platform 42, the docking is completed and the coil is moved to the roll storage and conveying device to carry a new roll for a new round of winding operation. The unloading platform 42 is configured with an arc-shaped upper end surface and can be raised and lowered to adapt to different coil thicknesses; when a forklift or other tool is to take the coil off the unloading platform 42, the sixth telescopic unit 45 is retracted and pulled out of the coil.

[0031] The present invention also provides a control method for a traveling winding device, which is applied to the traveling winding device, wherein the traveling winding device comprises: a vehicle body 11, a traveling mechanism 10 arranged at the lower end of the vehicle body 11, and a winding module arranged at the upper end of the vehicle body, including: When replacing the roll, the alignment module 1 is used to achieve alignment with the roll storage and conveying device; After the alignment operation is completed, the middle part of the bearing shaft 15 of the winding module for bearing the winding roller is supported by the supporting module 2 and the retractable second supporting mechanism 13 supporting one end of the bearing shaft 15 is controlled to retract; When the support mechanism is completely retracted and the support module 2 supports the bearing shaft 15 , a conveying instruction for the roll is sent to the roll storage and conveying device through the first communication module 4 .

[0032] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A control system for a traveling winding device, applied to a traveling winding device, the traveling winding device comprising: The vehicle body, the walking mechanism arranged at the lower end of the vehicle body and the winding module arranged at the upper end of the vehicle body are characterized by comprising: an alignment module, a support module, a first control module and a first communication module; wherein the first control module is electrically connected to the support module, the alignment module and the first communication module respectively; When replacing the roller, the first control module realizes the alignment operation with the roller storage and conveying device through the alignment module; after the alignment operation is completed, the middle part of the bearing shaft of the winding module used for bearing the roller is supported by the support module and the retractable second support mechanism serving as one end support of the bearing shaft is controlled to retract; when the support mechanism is retracted and the support module supports the bearing shaft, a conveying roller instruction is sent to the roller storage and conveying device through the first communication module; the roller storage and conveying device executes the conveying roller instruction.

2. The control system of the traveling and winding device according to claim 1, characterized in that: The winding module comprises: A first supporting mechanism is provided on the upper end surface of the vehicle body and is used to support one end of the load-bearing shaft; and the second supporting mechanism supports the other end of the load-bearing shaft; A roller driving motor, arranged at one end of the first supporting mechanism away from the vehicle body, for driving the roller on the bearing shaft; The bearing shaft has one end rotatably connected to the first supporting mechanism; and at least one tensioning mechanism is arranged on the surface of the bearing shaft.

3. The control system of the traveling and winding device according to claim 2, characterized in that: The support module comprises: A horizontal guide rail, arranged on the vehicle body and parallel to the bearing shaft; A first telescopic unit, one end of which is slidably disposed on the horizontal guide rail; An arc-shaped supporting plate is arranged at an end of the first telescopic unit away from the horizontal guide rail.

4. The control system of the traveling and winding device according to claim 3, characterized in that: The second supporting mechanism comprises: A second telescopic unit, one end of which is fixedly connected to the upper end surface of the vehicle body; A first arc-shaped contact plate, fixedly disposed at an end of the second telescopic unit away from the vehicle body; a second arc-shaped contact plate, fixedly connected to the first arc-shaped contact plate via a rotating shaft; A clamping unit, arranged at an end of the first arc-shaped contact plate away from the end connected to the rotating shaft; The clamping body is arranged at the end of the second arc-shaped contact plate away from the end connected with the rotating shaft; the clamping body cooperates with the clamping unit to realize the clamping of the first arc-shaped contact plate and the second arc-shaped contact plate.

5. The control system of the traveling and winding device according to claim 4, characterized in that: The card connection unit comprises: A first planar extension body, fixedly connected to the first arc-shaped contact plate; A motor, arranged on the lower end surface of the first plane extension body, and having a gear arranged at an output end thereof; A rack is slidably arranged on the lower end surface of the first plane extension body through two limiting bodies; the rack is transmission-connected to the gear; A first through hole is provided on the first planar extension body; the first through hole is used for the clamping body to pass through; a second planar extension body is fixedly provided at one end of the second arc-shaped contact plate; the clamping body is provided at the middle of the lower end surface of the second planar extension body; A second through hole is provided on the clamping body; the second through hole is used for the rack to pass through.

6. The control system of the traveling and winding device according to claim 1, characterized in that: The alignment module comprises: An infrared receiving unit, arranged at the middle of the end surface of the bearing shaft at one end close to the second supporting structure, for receiving a positioning signal sent by an infrared sending unit arranged on the roll storage and conveying device; At least three third telescopic units are arranged on the periphery of the infrared receiving unit and are used to extend to the corresponding alignment holes on the roll storage and conveying device.

7. The control system of the traveling and winding device according to claim 6, characterized in that: The roll storage and conveying device comprises: The main body has a storage cavity inside, and the storage cavity stores the roll; the middle part of the storage cavity is wedge-shaped, and the width of the lower part is adapted to the diameter of the roll; A first docking shaft, arranged at the bottom of the storage cavity; a first docking platform, one side of which is fixedly connected to one end of the first docking shaft, and the other side of which is fixedly connected to the body via a fourth telescopic unit; at least two fifth telescopic units, which are arranged on the periphery of the fourth telescopic unit and one end of which passes through the first docking platform; A first infrared emitting unit and a plurality of first alignment holes located on the periphery of the first infrared emitting unit are arranged in the middle of the end surface of the first docking shaft away from the first docking platform; a first contact switch is arranged in the first alignment hole; a second control module, electrically connected to the fourth telescopic unit, the fifth telescopic unit, the first infrared emitting unit and the first contact switch respectively; The second communication module is electrically connected to the second control module.

8. The control system of the traveling and winding device according to claim 1, characterized in that: After the walking and winding device completes the winding work, the first control module also performs the following operations: The traveling winding device is moved to the unloading position of the unloading device by the traveling mechanism; Performing alignment operation with the unloading device through an alignment module; When the alignment operation is completed, the support module is controlled to hold the coil from below; Controlling the clamping connection between the clamping unit and the clamping body to open and controlling the second telescopic unit to retract; A material unloading start instruction is sent to the unloading device through the first communication module.

9. The control system of the traveling and winding device according to claim 8, characterized in that: The unloading device comprises: The first body has a roll unloading platform disposed on one side; A second docking platform is disposed in the open cavity in the middle of the first body; A second docking shaft, one end of which is fixedly arranged on the second docking platform; a second infrared emitting unit and a plurality of second alignment holes located on the outer periphery of the second infrared emitting unit are arranged in the middle of the end surface of the second docking shaft away from the second docking platform; a second contact switch is arranged in the second alignment hole; a sixth telescopic unit, one end of which is fixedly connected to the first main body, and the other end of which is fixedly connected to a side of the second docking platform away from the second docking axis; A plurality of guide shafts, which are arranged on the periphery of the sixth telescopic unit and fixedly connected to the first main body at one end and penetrated into the second docking platform at the other end; a third control module, electrically connected to the sixth telescopic unit, the second infrared emitting unit and the second contact switch respectively; A third communication module, electrically connected to the third control module; The second main body has a plurality of seventh telescopic units disposed on one side; the plurality of seventh telescopic units are distributed in a circle with the position corresponding to the second docking axis as the center.

10. A control method for a traveling winding device, applied to the traveling winding device, the traveling winding device comprising: The vehicle body, the running mechanism arranged at the lower end of the vehicle body and the winding module arranged at the upper end of the vehicle body are characterized by comprising: When replacing the roll, the alignment module is used to achieve alignment with the roll storage and conveying device; After the alignment operation is completed, the middle part of the bearing shaft of the winding module for bearing the winding roller is supported by the supporting module and the retractable second supporting mechanism serving as one end support of the bearing shaft is controlled to retract; When the support mechanism is completely retracted and the support module supports the bearing shaft, a conveying roller instruction is sent to the roller storage and conveying device through the first communication module.

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