Automatic winding device and synchronous control method

Abstract

The invention relates to the technical field of material winding, in particular to an automatic winding device and a synchronous control method.The automatic winding device comprises a winding assembly which comprises a main body piece, jacking pieces arranged on the two sides of the main body piece, fixing pieces arranged above the jacking pieces and butt joint pieces arranged on the outer walls of the jacking pieces; the jacking piece can adjust the height of the main body piece; the fixing piece is used for fixing the main body piece; the butt joint piece can enable the main body piece to rotate or stop; the lifting device has the beneficial effects that a steel wire rope reel or a cable reel can be supported, the automatic rotating and stopping functions can be achieved, lifting operation can be achieved, and therefore the lifting device can more flexibly adapt to the requirements of different heights and working environments, the unwinding speed and the winding speed of a steel wire rope or a cable can be accurately controlled, and operation stability and safety are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of material winding, in particular to an automatic winding device and a synchronous control method. Background Art

[0002] In current industrial operations, especially in the replacement of crane wire ropes or 10KV cables for gantry cranes in hydropower stations, workers face many challenges and problems. When replacing a heavy roll of wire rope or cable, workers need to laboriously turn the drum, or rely on external equipment (such as a forklift) to coil the drum, which consumes a lot of physical strength to pull out and recycle. This process is not only time-consuming and labor-intensive, but also reduces work efficiency. In addition, because there is a risk of mechanical injury when turning the drum, this operation poses a safety hazard. In addition, the existing operation has a low degree of automation and cannot accurately control the rotation speed, which may lead to unstable operation and increased safety risks.

[0003] Based on the above problems, we proposed an automatic winding device and a synchronous control method. Summary of the invention

[0004] In view of the above-mentioned technical problems that the existing personnel need to rotate the reel laboriously or rely on external equipment to coil the reel, the automatic winding device in the present invention is proposed.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic winding device, which includes a winding assembly, including a main body, a lifting member arranged on both sides of the main body, a fixing member arranged above the lifting member and a docking member arranged on the outer wall of the lifting member; the lifting member can adjust the height of the main body; the fixing member is used to fix the main body; the docking member can make the main body rotate or stop.

[0006] As a preferred solution of the automatic winding device of the present invention, the main body comprises a drum, outer walls on both sides of the drum are provided with support shafts, and connecting flanges are provided at both ends of the support shaft.

[0007] As a preferred solution of the automatic winding device of the present invention, the lifting member includes a base arranged on both sides of the reel, a first motor is arranged inside the base, a reduction box is arranged at the output end of the first motor, and an output shaft is arranged at the output end of the reduction box.

[0008] As a preferred solution of the automatic winding device of the present invention, wherein: a first screw is provided at the output end of the output shaft, a first nut is movably provided on the outer wall of the first screw, and first connecting rods are connected to the outer walls on both sides of the first nut.

[0009] As a preferred solution of the automatic winding device of the present invention, wherein: a second connecting rod is movably provided on the outer wall of the first connecting rod, a supporting platform is movably provided above the second connecting rod, a receiving groove is provided on the outer wall of the supporting platform, and a movable opening is provided through the outer wall of the supporting platform.

[0010] As a preferred solution of the automatic winding device of the present invention, wherein: the fixing part includes a stabilizing frame arranged above the supporting platform, a second motor is arranged inside the stabilizing frame, a second screw rod is arranged at the output end of the second motor, a second nut is movably arranged on the outer wall of the second screw rod, and a guide block is arranged on the outer wall of the second screw rod.

[0011] As a preferred solution of the automatic winding device of the present invention, a fixing plate is provided above the second nut, a supporting frame is provided at one end of the stabilizing frame, a positioning groove is penetrated through the outer wall of the supporting frame, and the fixing plate is movably matched with the positioning groove.

[0012] As a preferred solution of the automatic winding device of the present invention, the docking member includes a third motor arranged above the supporting platform, a commutator is provided at the output end of the third motor, a transmission shaft is provided at the output end of the commutator, and a clutch is slidably connected to the outer wall of the transmission shaft.

[0013] As a preferred solution of the automatic winding device of the present invention, wherein: a push rod motor is provided at the bottom of the support platform, a push rod is provided at the output end of the push rod motor, an axle seat is provided on the outer wall of the push rod, the axle seat is movably sleeved on the outer wall of the clutch, and the outer wall of the clutch is sleeved with an elastic part.

[0014] The present invention also provides the following technical solution: a synchronous control method, comprising an automatic winding device, wherein the speed setting value of the slave motor = the limit (the acceleration of the main motor×the acceleration coefficient+the speed of the slave motor).

[0015] The beneficial effects of the present invention are: the wire rope drum or cable drum can be lifted up and the automatic rotation and stop functions can be realized, and the lifting operation can also be realized, so as to more flexibly adapt to the requirements of different heights and working environments, and the releasing and retracting speed of the wire rope or cable can be accurately controlled to ensure stable and safe operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall connection structure of the winding assembly in the present invention.

[0018] Figure 2 It is a schematic diagram of the main body connection structure in the present invention.

[0019] Figure 3 It is a schematic diagram of the lifting member connection mechanism in the present invention.

[0020] Figure 4 For the present invention Figure 1 The enlarged view of the "A" part structure is a schematic diagram of the fixing part connection structure.

[0021] Figure 5 For the present invention Figure 1 The enlarged view of the "B" part structure is the cross-sectional view of the connection structure of the butt joint.

[0022] Figure 6 This is a logic diagram of the synchronization control method in the present invention. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0026] Example 1, reference Figure 1 to Figure 3 , which is the first embodiment of the present invention, provides an automatic winding device, including a winding assembly 100, which achieves the function of retracting and releasing the reel 101a by arranging a main body 101, lifting members 102 arranged on both sides of the main body 101, a fixing member 103 arranged above the lifting member 102 and a docking member 104 arranged on the outer wall of the lifting member 102.

[0027] Specifically, the winding assembly 100 includes a main body 101, lifting members 102 arranged on both sides of the main body 101, a fixing member 103 arranged above the lifting member 102 and a docking member 104 arranged on the outer wall of the lifting member 102; the lifting member 102 can adjust the height of the main body 101; the fixing member 103 is used to fix the main body 101; the docking member 104 can make the main body 101 rotate or stop.

[0028] Preferably, the main body 101 includes a reel 101a, and support shafts 101b are provided on the outer walls of both sides of the reel 101a, and connecting flanges 101c are provided at both ends of the support shaft 101b.

[0029] Preferably, the lifting member 102 includes a base 102a arranged on both sides of the reel 101a, a first motor 102b is arranged inside the base 102a, a reduction box 102b-1 is arranged at the output end of the first motor 102b, and an output shaft 102b-2 is arranged at the output end of the reduction box 102b-1.

[0030] Preferably, a first screw rod 102c is provided at the output end of the output shaft 102b-2, a first nut 102c-1 is movably provided on the outer wall of the first screw rod 102c, and first connecting rods 102d are connected to the outer walls on both sides of the first nut 102c-1.

[0031] Preferably, the outer wall of the first connecting rod 102d is movably provided with a second connecting rod 102d-1, and a supporting platform 102e is movably provided above the second connecting rod 102d-1. The outer wall of the supporting platform 102e is provided with a receiving groove 102e-1, and the outer wall of the supporting platform 102e is penetrated with a movable opening 102e-2.

[0032] Among them, the winding assembly 100 is symmetrically arranged in two groups; the reel 101a is used for winding wire ropes or cables and other items that need to be wound; the support shaft 101b is connected to the reel 101a through the connecting flange 101c; the first motor 102b is arranged inside the base 102a, and is decelerated by the reduction box 102b-1 to drive the rotation of the first screw rod 102c; a storage space is arranged inside the base 102a, and the support platform 102e can extend out of the storage space when rising, and be stored in the storage space when descending; a connecting block 102c-2 is rotatably provided at one end of the first screw rod 102c, and the connecting block 102c-2 is fixedly arranged at the bottom of the base 102a, and the connecting block 102c-2 can provide support for the first screw rod 102c without affecting the first screw rod 102c rotates; the first connecting rod 102d and the second connecting rod 102d-1 form a scissor-type structure, and the first screw rod 102c can be rotated by the first nut 102c-1 to support the rise or fall of the platform 102e; the applicable load of the lifting member 102 is 5-10T, which meets the maintenance requirements, and the drive of the lifting member 102 can also be replaced by other driving forces such as electric cylinders and air cylinders; the inner wall of the base 102a is provided with a sliding groove, which can be slidably matched with the rotating shaft of the first connecting rod 102d and the second connecting rod 102d-1, so as to provide a guiding effect for the stable lifting and lowering of the supporting platform 102e; the accommodating groove 102e-1 can provide a guiding effect for the movement of the clutch 104a-2, and the movable opening 102e-2 can provide a guiding effect for the movement of the push rod 104c-1.

[0033] In summary, the wire rope or cable is transported to the site and placed in a suitable position, and the drum 101a is supported by a support shaft 101b. At the same time, in order to ensure the tightness of the connection between the support shaft 101b and the drum 101a, a connecting flange 101c is added, and the connecting flange 101c is installed on both sides of the drum 101a by bolts. After the drum 101a is connected through the support shaft 101b, the drum 101a is fixed on the supporting platform 102e by the fixing member 104. The reduction gear box 102b-1 can be decelerated by starting the first motor 102b, and the angle between the first connecting rod 102c and the second connecting rod 102d-1 can be changed by the active cooperation of the first screw rod 102c and the first nut 102c-1, and the height of the supporting platform 102e can be further adjusted, so that the height of the drum 101a can be adjusted according to needs.

[0034] Example 2, reference Figure 1 to Figure 4 , which is the second embodiment of the present invention, is based on the previous embodiment, but differs in that the support shaft 101b can be fixed in the support bracket 103d to mechanically fix the reel 101a.

[0035] Specifically, the fixing member 103 includes a stabilizing frame 103a arranged above the supporting platform 102e, a second motor 103b is arranged inside the stabilizing frame 103a, a second screw rod 103b-1 is arranged at the output end of the second motor 103b, a second nut 103b-2 is movably arranged on the outer wall of the second screw rod 103b-1, and a guide block 103b-3 is arranged on the outer wall of the second screw rod 103b-1.

[0036] Preferably, a fixing plate 103c is provided above the second nut 103b-2, a supporting bracket 103d is provided at one end of the stabilizing frame 103a, a positioning groove 103d-1 is penetrated through the outer wall of the supporting bracket 103d, and the fixing plate 103c is movably matched with the positioning groove 103d-1.

[0037] The stabilizing frame 103a is fixedly arranged above the supporting platform 102e, and the second motor 103b is fixedly arranged in the stabilizing frame 103a and fixedly arranged above the supporting platform 102e; the rotation of the second screw rod 103b-1 can make the second nut 103b-2 drive the fixing plate 103c to move horizontally; the driving force of the fixing plate 103c is not limited to the driving force of the second motor 103b and the second screw rod 103b-1, and can be replaced by other driving mechanisms such as a cylinder; the second nut 103b-2 is fixedly connected to the bottom of the fixing plate 103c; the guide block 103b-3 Arranged between the second nut 103b-2 and the second motor 103b, the outer wall of the stabilizing frame 103a is provided with a sliding groove. When the second motor 103b is started, the guide block 103b-3 can slide along the sliding groove to provide a more stable guiding effect on the movement of the fixed plate 103c; the supporting bracket 103d is used to place the support shaft 101, and a positioning groove 103d-1 is opened through the outer wall of the supporting bracket 103d. The positioning groove 103d-1 is used to fix the fixed plate 103c, so that the support shaft 101b is locked in the supporting bracket 103d to avoid displacement when the lifting member 102 moves.

[0038] In summary, after the reel 101a is connected through the support shaft 101b, the support shaft 101b can be placed above the supporting frame 103d, and the second motor 103b can be further started to rotate the second screw rod 103b-1. With the cooperation of the second screw rod 103b-1 and the second nut 103b-2, the fixing plate 103c can be moved to the positioning groove 103d-1 until it passes through the entire positioning groove 103d-1, thereby locking the supporting frame 103d, and fixing the reel 101a on the supporting platform 102e to avoid displacement when the lifting member 102 is in operation.

[0039] Example 3, reference Figure 1 to Figure 5 , which is the third embodiment of the present invention, is based on the previous embodiment, except that the drive shaft 104a-2 and the support shaft 101b can be connected or disconnected by the docking member 104 to control the rotation of the reel 101a.

[0040] Specifically, the docking member 104 includes a third motor 104a disposed above the supporting platform 102e, a commutator 104a-1 is disposed at the output end of the third motor 104a, a transmission shaft 104a-2 is disposed at the output end of the commutator 104a-1, and a clutch 104b is slidably connected to the outer wall of the transmission shaft 104a-2.

[0041] Preferably, a push rod motor 104c is provided at the bottom of the support platform 102e, a push rod 104c-1 is provided at the output end of the push rod motor 104c, an axle seat 104d is provided on the outer wall of the push rod 104c-1, the axle seat 104d is movably sleeved on the outer wall of the clutch 104b, and an elastic member 104b-1 is sleeved on the outer wall of the clutch 104b.

[0042] Among them, the third motor 104a is fixedly arranged above the support platform 102e, and controls the rotation of the transmission shaft 104a-2 through the commutator 104a-1; the clutch 104b is movably sleeved on the outer wall of the support shaft 101b, and transmits the torque of the transmission shaft 104a-2 to the support shaft 101b and then drives the reel 101a to rotate; the push rod motor 104c is installed under the support platform 102e, and provides driving force for the movement of the push rod 104c-1 in the movable opening 102e-2. The push rod motor 104c can also be replaced by a cylinder structure; the shaft seat 104d is fixedly connected to the push rod 104c-1, and the shaft seat 104d is movably sleeved on the outer wall of the clutch 104b, and does not affect the rotation of the clutch 104b; the elastic member 104b-1 is preferably a return spring, and the elastic member 104b-1 is sleeved between the shaft seat 104d and the outer wall of the clutch close to the support shaft 101b.

[0043] In summary, the clutch 104b can connect the transmission shaft 104a-2 with the support shaft 101b, transmit the torque of the transmission shaft 104a-2 to the support shaft 101b, and then drive the reel 101a to rotate. When the power needs to be disconnected, the push rod motor 104c works to drive the push rod 104c-1 to move in the direction of the commutator 104a-1 in the movable opening 102e-2. At this time, the clutch 104b moves in the direction of the commutator 104a-1 in the receiving groove 102e-1. The push rod motor 104c drives the push rod 104c-1 to move in the movable opening 102e-2 toward the reel 101a, and at the same time, the elastic member 104b-1 starts to reset, driving the clutch 104b to move in the accommodating groove 102e-1 toward the reel 101a, thereby realizing the connection between the clutch 104b and the support shaft 101b.

[0044] Example 4, reference Figure 1 to Figure 6, which is the fourth embodiment of the present invention, provides a synchronous control method, including an automatic winding device, and adopts an improved master-slave following control strategy to ensure the synchronization of lifting. In view of the problem that the speed of the slave motor in the traditional master-slave following control always lags behind the speed of the master motor, resulting in excessive synchronization error, the acceleration of the master motor is multiplied by the acceleration coefficient, and then added to the speed after limiting. The sum is used as the speed given by the slave motor. This greatly increases the response speed of the slave motor and reduces the synchronization error between the master and slave motors. The limiting device is added to avoid generating a particularly large acceleration signal acting on the slave motor when a load disturbance occurs. The improved master-slave following control strategy is a method based on control theory, which aims to improve the lifting synchronization of a scissor-type lifting platform. This control strategy achieves synchronous lifting operations by adjusting the speeds of the master and slave motors. The following is a specific formula representing the synchronous control method:

[0045] The speed setting value of the slave motor = limit (master motor acceleration × acceleration coefficient + slave motor speed)

[0046] The speed given value of the slave motor indicates the speed that the slave motor should reach, the master motor acceleration indicates the acceleration of the master motor, the acceleration coefficient is an adjustable parameter used to adjust the response speed of the slave motor, and the slave motor speed indicates the actual speed of the slave motor.

[0047] In this formula, the acceleration of the master motor is adjusted and multiplied by the acceleration coefficient to obtain the corrected acceleration. The corrected acceleration is further added to the speed of the slave motor to obtain the speed set value of the slave motor. In order to ensure the stability of operation, the speed set value is limited by the limit function to avoid excessive acceleration.

[0048] In summary, the acceleration coefficient and limit range can be adjusted through the synchronous control method to meet different lifting requirements. By increasing the acceleration coefficient, the response speed of the slave motor can be accelerated and the synchronization of the lifting can be improved. Appropriately limiting the range of the speed set value can avoid overshoot and instability.

[0049] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to several modifications still falling within the scope of the appended claims.

[0050] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0051] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0052] 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 preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic winding device, characterized in that: include, A coiling assembly (100) comprises a main body (101), lifting members (102) arranged on both sides of the main body (101), a fixing member (103) arranged above the lifting member (102), and a docking member (104) arranged on the outer wall of the lifting member (102); The lifting member (102) can adjust the height of the main body (101); The fixing member (103) is used to fix the main body member (101); The docking member (104) can cause the main body (101) to rotate or stop.

2. The automatic winding device according to claim 1, characterized in that: The main body (101) comprises a reel (101a), outer walls on both sides of the reel (101a) are provided with support shafts (101b), and connecting flanges (101c) are provided at both ends of the support shaft (101b).

3. The automatic winding device according to claim 2, characterized in that: The lifting member (102) comprises a base (102a) arranged on both sides of the reel (101a), a first motor (102b) is arranged inside the base (102a), a reduction box (102b-1) is arranged at the output end of the first motor (102b), and an output shaft (102b-2) is arranged at the output end of the reduction box (102b-1).

4. The automatic winding device according to claim 3, characterized in that: The output end of the output shaft (102b-2) is provided with a first screw rod (102c), the outer wall of the first screw rod (102c) is movably provided with a first nut (102c-1), and the outer walls on both sides of the first nut (102c-1) are connected with first connecting rods (102d).

5. The automatic winding device according to claim 4, characterized in that: A second connecting rod (102d-1) is movably provided on the outer wall of the first connecting rod (102d), a supporting platform (102e) is movably provided above the second connecting rod (102d-1), a receiving groove (102e-1) is provided on the outer wall of the supporting platform (102e), and a movable opening (102e-2) is provided through the outer wall of the supporting platform (102e).

6. The automatic winding device according to claim 5, characterized in that: The fixing member (103) comprises a stabilizing frame (103a) arranged above the supporting platform (102e), a second motor (103b) is arranged inside the stabilizing frame (103a), a second screw rod (103b-1) is arranged at the output end of the second motor (103b), a second nut (103b-2) is movably arranged on the outer wall of the second screw rod (103b-1), and a guide block (103b-3) is arranged on the outer wall of the second screw rod (103b-1).

7. The automatic winding device according to claim 6, characterized in that: A fixing plate (103c) is provided above the second nut (103b-2), a supporting frame (103d) is provided at one end of the stabilizing frame (103a), a positioning groove (103d-1) is penetrated through the outer wall of the supporting frame (103d), and the fixing plate (103c) is movably matched with the positioning groove (103d-1).

8. The automatic winding device according to claim 7, characterized in that: The docking member (104) comprises a third motor (104a) arranged above the supporting platform (102e), a commutator (104a-1) being provided at the output end of the third motor (104a), a transmission shaft (104a-2) being provided at the output end of the commutator (104a-1), and a clutch (104b) being slidably connected to the outer wall of the transmission shaft (104a-2).

9. The automatic winding device according to claim 8, characterized in that: A push rod motor (104c) is provided at the bottom of the support platform (102e), a push rod (104c-1) is provided at the output end of the push rod motor (104c), an axle seat (104d) is provided on the outer wall of the push rod (104c-1), the axle seat (104d) is movably sleeved on the outer wall of the clutch (104b), and an elastic member (104b-1) is sleeved on the outer wall of the clutch (104b).

10. A synchronous control method, characterized in that: It comprises the automatic winding device as claimed in any one of claims 1 to 9, and; The speed setting value of the slave motor = limit (master motor acceleration × acceleration coefficient + slave motor speed).

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