Winding device

Abstract

The embodiment of the invention discloses winding equipment, and a controller of the winding equipment is used for determining a target winding speed of a winding device and a swinging speed of a swinging rod device according to a first electronic cam relationship corresponding to the winding device, a second electronic cam relationship corresponding to the swinging rod device and a preset unwinding speed. And the swing rod device is controlled to swing according to the swing speed, and the winding device is controlled to wind according to the target winding speed. By implementing the embodiment of the invention, the situation that the requirements on the speed and the acceleration of the winding device are too high can be avoided, the normal operation of the winding equipment under the condition that the unwinding speed is relatively high is ensured, and the winding efficiency of the winding equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of battery technology, and in particular to a winding device. Background Art

[0002] The winding process is a key process in the production process of square batteries, which directly affects the battery quality of square batteries. In the winding equipment for square batteries, the winding device is usually an irregular shape, such as a diamond-shaped winding needle. In order to coordinate the speed of the unwinding device and the winding device, the winding device can use an electronic cam to control the variable speed operation of the winding device according to the shape characteristics of the winding device to ensure the constant linear speed of the unwinding device. However, when the constant linear speed set for the unwinding device is high, the winding device needs to reach extremely high speed and acceleration peaks at a specific moment, and the drive motor of the winding device may not be able to provide a matching driving force. Summary of the invention

[0003] The embodiment of the present application discloses a winding device, which can avoid the situation where the speed and acceleration of the winding device are too high, ensure the normal operation of the winding device under the condition of high unwinding speed, and improve the winding efficiency of the winding device.

[0004] The present application also discloses a winding device, including:

[0005] An unwinding device, used for unwinding the material strip to be wound at a preset unwinding speed;

[0006] The winding device is configured to have a non-circular cross section in an axial direction perpendicular to the winding axis; the winding device is used to wind the material strip to be wound;

[0007] A swing rod device, disposed between the unwinding device and the winding device, for swinging to drive the to-be-wound material strip to move, so as to adjust the speed at which the to-be-wound material strip is transmitted to the winding device;

[0008] A controller is used to determine the target winding speed of the winding device and the swing speed of the rocker device according to the first electronic cam relationship corresponding to the winding device, the second electronic cam relationship corresponding to the first rocker mechanism and the preset unwinding speed, and control the rocker device to swing according to the swing speed, and control the winding device to wind according to the target winding speed.

[0009] In one embodiment, the rocker device includes a first rocker mechanism; the first electronic cam relationship corresponding to the winding device is used to characterize the relationship between the rotation angle of the winding device and the winding length of the material strip to be wound, and the second electronic cam relationship corresponding to the rocker device is used to characterize the relationship between the swing distance corresponding to the first rocker mechanism and the winding length.

[0010] In one embodiment, the controller is also used to perform smoothing filtering on the first electronic cam relationship corresponding to the winding device to obtain the first electronic cam relationship after filtering; and determine the second electronic cam relationship corresponding to the rocker device based on the comparison between the first electronic cam relationship before filtering and the first electronic cam relationship after filtering.

[0011] In one embodiment, the controller is also used to determine a first acceleration curve based on the preset unwinding speed and the first electronic cam relationship corresponding to the winding device; smooth filter the first acceleration curve to obtain a filtered first acceleration curve; and determine the filtered first electronic cam relationship based on the filtered first acceleration curve and the preset unwinding speed.

[0012] In one embodiment, the filtered first acceleration curve is used to indicate the relationship between the angular acceleration of the winding device and the operating time; the controller is also used to determine the winding length and winding angle corresponding to the filtered first acceleration curve at each operating moment according to the preset unwinding speed and the filtered first acceleration curve; and obtain the filtered first electronic cam relationship according to the corresponding relationship between the winding length and the winding angle at each operating moment.

[0013] In one embodiment, the controller is also used to obtain the first winding angle corresponding to the first electronic cam relationship before filtering and each winding length, and the second winding angle corresponding to each winding length in the first electronic cam relationship after filtering; calculate the angle difference between the first winding angle corresponding to each winding length and the corresponding second winding angle; determine the swing distance corresponding to the first rocker mechanism according to the angle difference corresponding to each winding length, and obtain the second electronic cam relationship corresponding to the rocker device.

[0014] In one embodiment, the rocker arm device also includes a second rocker arm mechanism, which is arranged between the unwinding device and the first rocker arm mechanism; the second rocker arm mechanism is used to swing according to the tension of the material tape to be wound unwound from the unwinding device during the operation of the winding device, so as to drive the movement of the material tape to be wound, thereby adjusting the tension of the material tape to be wound.

[0015] In one embodiment, the second rocker mechanism further includes a reset member for providing a force when the second rocker mechanism is not in a target position, so as to reset the second rocker mechanism.

[0016] In one embodiment, the acting force is of a fixed magnitude, and the target position is an initial position of the second rocker mechanism before it swings.

[0017] In one embodiment, the winding device also includes a tension control device, which is used to determine the compensation force based on the transmission acceleration force and / or transmission deceleration force of the multiple fixed rollers included in the winding device on the material strip to be wound, and output the compensation force to the material strip to be wound.

[0018] The winding device disclosed in the embodiment of the present application includes a unwinding device, a winding device, a rocker device and a controller. The winding device can be configured to have a non-circular cross-section in an axial direction perpendicular to the winding axis, and the rocker device can be arranged between the unwinding device and the winding device; the unwinding device can unwind the material tape to be wound at a preset unwinding speed, the winding device is used to wind the material tape to be wound, and the swinging device is used to drive the material tape to be wound to move so as to adjust the speed at which the material tape to be wound is transmitted to the winding device; wherein the winding speed of the winding device and the swinging speed of the swinging device can be controlled by the controller, and the controller can determine the target winding speed of the winding device and the swinging speed of the rocker device according to the first electronic cam relationship corresponding to the winding device, the second electronic cam relationship corresponding to the rocker device and the preset unwinding speed, and control the rocker device to swing according to the swinging speed, and control the winding device to wind according to the target winding speed. Through this embodiment, through the first electronic cam relationship corresponding to the winding device and the second electronic cam relationship corresponding to the rocker device, the coordination of multiple electronic cam relationships is achieved, so that the swing speed of the rocker device can make up for the speed difference between the target winding speed of the winding device and the preset unwinding speed of the unwinding device. When the unwinding device has a constant preset unwinding speed, it can avoid that the speed fluctuation caused by the target winding speed not matching the preset winding speed is too large, affecting the winding process. Even if the unwinding speed is high, the winding equipment can also operate normally, thereby improving the winding efficiency of the winding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1It is a structural schematic diagram of a winding device disclosed in an embodiment of the present application;

[0021] Figure 2 It is another structural schematic diagram of the winding device disclosed in the embodiment of the present application;

[0022] Figure 3 is a structural schematic diagram of a first swing lever mechanism disclosed in an embodiment of the present application;

[0023] Figure 4 is a structural schematic diagram of a second swing rod mechanism disclosed in an embodiment of the present application;

[0024] Figure 5 It is another structural schematic diagram of the winding device disclosed in the embodiment of the present application;

[0025] Figure 6 It is another structural schematic diagram of the winding device disclosed in the embodiment of the present application;

[0026] Figure 7 It is a structural schematic diagram of a winding device including a controller disclosed in an embodiment of the present application;

[0027] Figure 8 It is a curve schematic diagram of smoothing and filtering the first electronic cam curve disclosed in the embodiment of the present application;

[0028] Figure 9-A is a schematic diagram of a first acceleration curve before filtering disclosed in an embodiment of the present application;

[0029] Figure 9-B is a schematic diagram of a filtered first acceleration curve disclosed in an embodiment of the present application;

[0030] Fig.10 It is a schematic diagram of the second electronic cam relationship disclosed in the embodiment of the present application. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be noted that the terms "including" and "having" in the embodiments of the present application and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first swing lever may be referred to as a second swing lever, and similarly, a second swing lever may be referred to as a first swing lever. Both the first swing lever and the second swing lever are swing levers, but they are not the same swing lever.

[0034] The embodiment of the present application discloses a winding device, which can avoid the situation where the speed and acceleration of the winding device are too high, ensure the normal operation of the winding device under the condition of high unwinding speed, and improve the winding efficiency of the winding device.

[0035] The following will be described in detail with reference to the accompanying drawings. For ease of understanding, in the following drawings, the arrows point to indicate the transmission direction of the material strip to be wound.

[0036] like Figure 1 As shown, Figure 1 1 is a schematic diagram of a structure of a winding device disclosed in an embodiment of the present application, wherein the electronic device comprises an unwinding device 110, a swing rod device 120 and a winding device 130. The swing rod device 120 is disposed between the unwinding device 110 and the winding device 130.

[0037] The unwinding device 110 is used to unwind the material strip to be wound according to a preset unwinding speed.

[0038] The winding device 130 is configured to have a non-circular cross section in an axial direction perpendicular to the winding axis, and the winding device 130 is used to wind the winding material strip according to a target winding speed corresponding to a preset unwinding speed;

[0039] The swing rod device 120 is used to swing to drive the to-be-wound material tape to move, so as to adjust the speed at which the to-be-wound material tape is transmitted to the winding device 130, so that the speed at which the to-be-wound material tape is transmitted to the winding device 130 matches the target winding speed.

[0040] The winding device 130 can unwind the material strip to be wound at a preset unwinding speed, and the material strip to be wound can include but is not limited to electrode films, diaphragms, etc. Optionally, the preset unwinding speed can be a constant speed, which can be configured according to actual needs in the production process.

[0041] like Figure 1 As shown by the direction arrow in the figure, the material strip to be wound unwound by the unwinding device 110 can first reach the swing arm device 120, and then the swing arm device 120 transmits the material strip to be wound to the winding device 130, and the winding device 130 winds it.

[0042] The winding device 130 can be wound around the winding shaft. The winding device 130 can be configured to have a non-circular cross section in the axial direction perpendicular to the winding shaft. In some embodiments, the winding device 130 can include a winding needle. The winding needle can be a non-circular winding needle, such as a diamond-shaped winding needle, an elliptical winding needle, etc. For example, the cross section in the axial direction perpendicular to the winding shaft can refer to Figure 1 The winding device 130 in the figure is an example of a cross-section of a diamond winding needle in an axial direction perpendicular to the winding axis.

[0043] The winding device 130 can rotate in a clockwise direction or a counterclockwise direction perpendicular to the winding axis of the cross section to wind the material strip to be wound. Figure 1 The rotating arrow in the figure indicates that the winding device 130 can rotate counterclockwise in a winding axis perpendicular to the cross section. Since the preset unwinding speed of the unwinding device 110 needs to be matched, the winding device 130 can wind the winding material strip according to the target winding speed corresponding to the preset unwinding speed, but the target winding speed and the preset unwinding speed may be different.

[0044] The swing rod device 120 can swing to drive the material strip to be wound that is transmitted to the swing rod device 120 to move, so that the speed of the material strip to be wound that is transmitted to the winding device 130 can be adjusted to match the target winding speed. Due to the irregular shape of the winding device 130 and the limited driving force, the target winding speed may not be sufficient to meet the preset unwinding speed under certain circumstances. Therefore, the swing rod device 120 is required to drive the material strip to be wound to move to compensate for the speed difference between the target winding speed and the preset unwinding speed, thereby avoiding speed fluctuations and tension fluctuations of the material strip to be wound, and ensuring the winding quality.

[0045] like Figure 2 As shown, Figure 2 is another structural schematic diagram of the winding device disclosed in the embodiment of the present application, wherein the swing rod device 120 may include a first swing rod mechanism 210 and a second swing rod mechanism 220, the second swing rod mechanism 220 may be arranged between the unwinding device 110 and the first swing rod mechanism 210, and the first swing rod mechanism 210 may be arranged between the second swing rod mechanism 220 and the winding device 130, as shown in FIG. Figure 2As shown by the direction arrows in the figure, the material strip to be wound unwound by the unwinding device 110 can first reach the second swing lever mechanism 220, then reach the first swing lever mechanism 210, and finally reach the winding device 130 for winding.

[0046] The first swing bar mechanism 210 may include a first driving member 211 and a first swing bar 212, wherein the first driving member 211 may include a motor, and the second swing bar mechanism 220 may include a second swing bar 221, wherein the second swing bar 221 may be used to swing under the tension of the material tape to be wound, so as to drive the material tape to be wound unwound by the unwinding device 110 to move, and release the tension of the material tape to be wound. The first swing bar 212 is connected to the first driving member 211, and the first swing bar 212 may swing under the drive of the first driving member 211, so as to drive the material tape to be wound transmitted from the second swing bar 221 to move, so as to adjust the speed of the material tape to be wound transmitted to the winding device 130, so that the speed of the material tape to be wound transmitted to the winding device 130 matches the target winding speed.

[0047] like Figure 3 As shown, Figure 3 It is a structural schematic diagram of the first rocker arm mechanism disclosed in an embodiment of the present application. The first rocker arm mechanism 210 also includes a first movable roller 310. The first movable roller 310 can be connected to the first swing rod 212. When the first swing rod 212 can swing under the drive of the first driving member 211, the first movable roller 310 can be used to move under the swinging action of the first swing rod 212 to drive the movement of the to-be-wound material tape transmitted from the second swing rod 221 to adjust the speed at which the to-be-wound material tape is transmitted to the winding device 130, so that the speed at which the to-be-wound material tape is transmitted to the winding device 130 matches the target winding speed.

[0048] For example Figure 3 As shown, the first swing arm mechanism 210 also includes two first fixed rollers 320, one of which can receive the material tape to be wound transmitted from the second swing arm 221, and transmit the material tape to be wound to the first movable roller 310, the first movable roller 310 can receive the material tape to be wound transmitted from one of the first fixed rollers 320, so as to transmit the material tape to be wound to the other first fixed roller 320, and the other first fixed roller 320 can receive the material tape to be wound transmitted from the first movable roller 310, so as to transmit the material tape to be wound to the winding device 130.

[0049] Among them, the first movable roller 310 can move in a direction close to or away from the first fixed roller 320 under the swinging action of the first swing rod 212. Specifically, since the connecting line of the roller axis centers of the two first fixed rollers 320 can form an angle with the movement direction of the first movable roller 310, when the first movable roller moves, the length of the material strip to be wound between the two first fixed rollers 320 changes to compensate for the material strip length difference caused by the speed difference between the target winding speed and the preset unwinding speed, thereby adjusting the speed at which the material strip to be wound is transmitted to the winding device 130.

[0050] Optionally, the two first fixed rollers 320 can be arranged on one side of the first movable roller 310 close to the winding device 130, and the center line of the roller axes of the two first fixed rollers 320 can be perpendicular to the movement direction of the first movable roller 310, so that the to-be-wound material tape transmitted from the second swing rod 221 is first transmitted to the first movable roller 310 by self-rotation of one of the first fixed rollers 320, and the other first fixed roller 320 is used to receive the to-be-wound material tape transmitted by the first movable roller 310. In this way, the first movable roller 310 moves in a direction approaching or away from the first fixed roller 320 under the action of the first swing rod 212, so that in the process of the first movable roller 310 approaching or moving away, the length of the to-be-wound material tape between the two first fixed rollers 320 changes, thereby compensating for the material tape length difference caused by the speed difference between the target winding speed and the preset unwinding speed, thereby achieving the purpose of adjusting the speed at which the to-be-wound material tape is transmitted to the winding device 130.

[0051] For example, the first swinging rod 212 can swing to drive the first movable roller 310 to move linearly in the first direction, so that the first movable roller 310 is away from the two first fixed rollers 320, so as to increase the length of the material strip to be wound between the two first fixed rollers and the first swinging rod 212, so as to reduce the speed at which the material strip to be wound is transmitted to the winding device 130; the first swinging rod 212 can also swing to drive the first movable roller 310 to move linearly in the second direction, so that the first movable roller 310 is close to the two first fixed rollers 320, so as to reduce the transmission length of the material strip to be wound between the two first fixed rollers 320, so as to increase the speed at which the material strip to be wound is transmitted to the winding device 130. The first direction and the second direction are opposite directions.

[0052] In one embodiment, the second swing lever mechanism 220 further includes a tension roller, which can be connected to the second swing lever 221 and can move under the drive of the second swing lever 221 to adjust the tension of the material strip to be wound. Figure 4 As shown, Figure 4: is a schematic diagram of the structure of the second swing lever mechanism disclosed in the embodiment of the present application. The tension roller of the second swing lever mechanism 220 includes two second movable rollers 410 and two second fixed rollers 420. The two second movable rollers 410 are respectively connected to the two ends of the second swing lever 221 to move under the swinging action of the second swing lever 221 to drive the winding material strip to run and adjust the tension of the winding material strip. The two second fixed rollers 420 are respectively located on both sides of the swing center of the second swing lever 221.

[0053] Exemplarily, a line connecting the roller axis centers of the two second fixed rollers 420 forms an angle with a line connecting the roller axis centers of the two second movable rollers 410, and the two second fixed rollers 420 are arranged roughly corresponding to the swing center of the second swing rod 221, so that the two second fixed rollers 420 and the two second movable rollers 410 are arranged in a quadrilateral, so that during the movement of the two second movable rollers 410, the length of the material strip to be wound in the first swing rod mechanism 210 is changed.

[0054] like Figure 4 As shown by the direction arrows in the figure, one of the second movable rollers 410 can receive the material tape to be wound transmitted from the unwinding device 110, so as to be transmitted to one of the second fixed rollers 420, one of the second fixed rollers 420 can receive the material tape to be wound transmitted from one of the second movable rollers 410, so as to be transmitted to another second fixed roller 420, another second fixed roller 420 can receive the material tape to be wound transmitted from one of the second fixed rollers 420, so as to be transmitted to another second movable roller 410, and another second movable roller 410 can receive the material tape to be wound transmitted from another second fixed roller 420, so as to be transmitted to the first rocker mechanism 210.

[0055] For example Figure 4 As shown, the second swing bar mechanism 220 further includes a reset member 430, which can be connected to the second swing bar 221. The reset member 430 can include but is not limited to a spring, a motor, a piston, etc. The reset member 430 can provide a force to reset the second swing bar 221. Optionally, the reset member 430 can provide a force when the second swing bar 221 is not in the target position, so that the second swing bar 221 is reset to the target position.

[0056] It can be understood that the target position is the initial position of the second swing bar 221 before it swings. Specifically, when winding the material tape to be wound, the second swing bar receives the material tape to be wound unwound from the unwinding device, so that under the tension of the material tape to be wound, the second swing bar 221 starts to swing, that is, the second swing bar 221 is not in the target position, and the reset member can provide a force to the second swing bar mechanism 220, that is, can provide a force to the second swing bar 221, and the force can be a fixed size, such as a fixed torque output by a motor, so that the second swing bar mechanism 220 is reset.

[0057] like Figure 5 As shown, Figure 5 It is another structural schematic diagram of the winding device disclosed in the embodiment of the present application, the winding device also includes a tension control device 510, the tension control device 510 is used to control the tension of the material strip to be wound, the tension control device 510 is arranged between the first rocker mechanism 210 and the second rocker mechanism 220, the tension control device 510 may include a second drive member and a third fixed roller, the second drive member may include a motor, the second drive member may be connected to the third fixed roller, the second drive member may be used to adjust the rotation of the third fixed roller to control the tension of the material strip to be wound.

[0058] The tension control device 510 can also detect the transmission acceleration force and / or transmission deceleration force of the plurality of fixed rollers included in the winding device on the material strip to be wound, and determine the compensation force according to the transmission acceleration force and / or transmission deceleration force of the plurality of fixed rollers on the material strip to be wound, so as to output the compensation force to the material strip to be wound to compensate for the movement of the material strip to be wound, so as to control the tension of the material strip to be wound. The plurality of fixed rollers can include all the fixed rollers through which the material strip to be wound passes.

[0059] like Figure 6 As shown, Figure 6 It is another structural schematic diagram of the winding device disclosed in the embodiment of the present application, wherein there are multiple unwinding devices 110 and rocker devices 120, each unwinding device 110 corresponds to a rocker device 120, and the winding device also includes a film-joining device 140, which is connected to multiple rocker devices 120, and the film-joining device 140 is used to make the to-be-wound material tapes transmitted by the multiple rocker devices 120 come together to enter the winding device 130. Among them, the film-joining device 140 may include a first film-joining roller and a second film-joining roller, and a film-joining channel is formed between the first film-joining roller and the second film-joining roller, and the material tapes to be wound transmitted by the multiple rocker devices 120 enter the film-joining channel, and the film-joining channel can make the to-be-wound material tapes transmitted by the multiple rocker devices 120 come together to enter the winding device 130, so that the multiple unwinding devices 110 and the multiple rocker devices 120 cooperate. It should be understood that in Figure 6 The invention also includes a plurality of fixed rollers. The present application does not impose any restriction on whether or not each fixed roller is provided, and does not impose any restriction on the position of each fixed roller, which can be set according to actual conditions.

[0060] In order to accurately control the target winding speed of the winding device 130 and the swing speed of the swing rod device 120, the winding device may further include a controller, such as Figure 7 As shown, Figure 7It is a structural schematic diagram of a winding device including a controller disclosed in an embodiment of the present application, wherein the winding device also includes a controller 100, and the controller 100 can be communicatively connected with the unwinding device 110, the rocker device 120 and the winding device 130, and the communication connection can include a wired connection and / or a wireless connection, which is not limited.

[0061] The controller 100 is used to determine the target winding speed of the winding device 130 and the swing speed of the swing rod device 120 according to the first electronic cam relationship corresponding to the winding device 130, the second electronic cam relationship corresponding to the swing rod device 120, and the preset unwinding speed, and control the swing rod device 120 to swing according to the swing speed, and control the winding device 130 to wind according to the target winding speed. Optionally, the controller 100 can determine the winding information of the winding device 130 according to the preset unwinding speed and the first electronic cam relationship corresponding to the winding device 130, and the controller 100 can also determine the swing information of the swing rod device 120 according to the preset unwinding speed and the second electronic cam relationship corresponding to the swing rod device 120, so as to determine the target winding speed of the winding device 130 and the swing speed of the swing rod device 120 according to the winding information and the swing information.

[0062] Optionally, the controller 100 may obtain the preset unwinding speed set by the unwinding device 110, or send the preset unwinding speed to the unwinding device 110. Optionally, the controller 100 may obtain information such as the swing distance and swing angle of the swing arm device 120, or send the swing speed to the swing arm device 120 to control the swing arm device 120 to swing according to the swing speed. Optionally, the controller 100 may obtain the winding length of the to-be-wound material tape that has been wound by the winding device 130, and the controller 100 may also send the target winding speed to the winding device 130 to control the winding device 130 to wind according to the target winding speed.

[0063] The controller 100 can determine the target winding speed of the winding device 130 and the swing speed of the swing arm device 120 according to the first electronic cam relationship corresponding to the winding device 130, the second electronic cam relationship corresponding to the swing arm device 120, and the preset unwinding speed of the unwinding device 110. The first electronic cam relationship corresponding to the winding device 130 can be used to represent the relationship between the rotation angle of the winding device and the winding length of the material strip to be wound, and the second electronic cam relationship corresponding to the swing arm device 120 can be used to represent the relationship between the swing distance corresponding to the first swing arm mechanism and the winding length.

[0064] In some embodiments, the controller 100 can model the shape and structure characteristics of the winding device 130 to obtain the relationship between the rotation angle and the winding length, thereby obtaining the first electronic cam relationship corresponding to the winding device 130. Optionally, sampling can also be performed during the low-speed winding process of the winding device 130. The controller 100 can analyze the sampling data to obtain the first electronic cam relationship corresponding to the winding device 130. The sampling data may include multiple sample rotation angles and sample winding lengths corresponding to each sample rotation angle. Since the swing arm device 120 is used to compensate for the speed difference between the preset unwinding speed and the target winding speed, the second electronic cam relationship corresponding to the swing arm device 120 can be determined based on the first electronic cam relationship and the preset unwinding speed.

[0065] Optionally, for any target operating time, the controller can obtain the target winding length of the material strip to be wound at the target operating time according to the operating time and the preset unwinding speed of the unwinding device 110, and the controller 100 can thereby determine the target rotation angle according to the target winding length and the first electronic cam relationship, and can determine the target swing distance according to the target winding length and the second electronic cam relationship. The first electronic cam relationship can be represented by a first electronic cam curve, wherein the horizontal axis of the coordinate system of the first electronic cam curve corresponds to the winding length, and the vertical axis corresponds to the rotation angle. Since the winding length is proportional to the preset unwinding speed, the curvature of each part of the first electronic cam curve can represent the angular acceleration of the winding device 130. The greater the curvature, the greater the angular acceleration of the winding device 130. The angular acceleration of the winding device 130 refers to the acceleration of the angular velocity of the winding device 130. Therefore, the controller 100 determines the curvature of the cam curve corresponding to the target rotation angle on the first electronic cam curve, and can obtain the target winding speed of the winding device 130, and the target winding speed can refer to the angular acceleration of the winding device 130. Similarly, the controller 100 can also determine the curvature of the cam curve corresponding to the target swing distance on the second electronic cam curve, and can obtain the swing speed of the swing arm device 120.

[0066] As an example, for moment A, moment A may refer to the 0.8 second of an operating cycle. The controller 100 may obtain the target winding length of the material strip to be wound at moment A based on moment A and the preset unwinding speed of the unwinding device 110. The controller 100 may thereby determine point B in the first electronic cam curve and point C in the second electronic cam curve at moment A, thereby determining the curvature of the cam curve corresponding to point B, and obtaining the target winding speed of the winding device 130. As well as determining the curvature of the cam curve corresponding to point C, the swinging speed of the rocker device 120 may be obtained.

[0067] In one embodiment, the controller 100 can perform smoothing filtering on the first electronic cam relationship corresponding to the winding device 130 to obtain the first electronic cam relationship after filtering, and determine the second electronic cam relationship corresponding to the rocker device 120 based on the comparison between the first electronic cam relationship before filtering and the first electronic cam relationship after filtering. In order to avoid the need for excessive angular acceleration of the winding device 130, the controller 100 can perform smoothing filtering on the first electronic cam relationship to obtain the first electronic cam relationship after filtering, and the first electronic cam curve after filtering is smoother than the first electronic cam curve before filtering, that is, the curvature of the curve portion with a larger curvature of the first electronic cam curve before filtering is reduced. Figure 8 As shown, Figure 8 is a curve schematic diagram of smoothing and filtering the first electronic cam curve disclosed in the embodiment of the present application, Figure 8 The curve in (a) is smoother than the curve in (b). By implementing this embodiment, the first electronic cam relationship is smoothed and filtered to reduce the speed requirement for the winding device 130, and the second electronic cam relationship is determined by comparing the first electronic cam relationship before filtering and the first electronic cam relationship after filtering, so that the speed required to be compensated by the swing arm device 120 can be accurately determined to avoid speed fluctuations in the winding process, thereby reducing tension fluctuations and improving winding quality.

[0068] As an optional implementation, the controller 100 may determine the first acceleration curve according to the preset unwinding speed and the first electronic cam relationship corresponding to the winding device, and then smooth the first acceleration curve to obtain the filtered first acceleration curve, and determine the filtered first electronic cam relationship according to the filtered first acceleration curve and the preset unwinding speed. Specifically, Figure 9-A and Figure 9-B As shown, Figure 9-A is a schematic diagram of the first acceleration curve before filtering disclosed in the embodiment of the present application, Figure 9-B It is a schematic diagram of the filtered first acceleration curve disclosed in the embodiment of the present application, wherein the angular acceleration amplitude of the first acceleration curve before filtering can be lower than 10000, and the angular acceleration amplitude of the first acceleration curve after filtering can be lower than 4000. By implementing this embodiment, by directly smoothing and filtering the first acceleration curve, the first acceleration can be accurately limited within the preset threshold, thereby improving the filtering effect of the first electronic cam relationship and avoiding the need for a larger angular acceleration at some moments.

[0069] Among them, the controller 100 can preset the unwinding speed and the first electronic cam curve, determine the operating time corresponding to each point in the first electronic cam curve and the angular acceleration of the winding device 130, so as to obtain the first acceleration curve, and the first acceleration curve can be used to characterize the relationship between the angular acceleration and the operating time of the winding device 130 before filtering, and the first acceleration curve after filtering can be used to characterize the relationship between the angular acceleration and the operating time of the winding device 130 after filtering. Optionally, the controller 100 can also determine the winding length and winding angle corresponding to the filtered first acceleration curve at each operating time according to the preset unwinding speed and the filtered first acceleration curve, and obtain the filtered first electronic cam relationship according to the corresponding relationship between the winding length and the winding angle at each operating time.

[0070] The present application briefly describes the smoothing filter, wherein, for any target point of the curve, the left neighbor point and the right neighbor point of the target point can be determined, the horizontal coordinate difference between the left neighbor point and the target point can be the same as the horizontal coordinate difference between the right neighbor point and the target point, and then the average value of the vertical coordinate of the left neighbor point and the vertical coordinate of the right neighbor point is calculated as the vertical coordinate of the target point, and after the vertical coordinates of all points of the curve are updated, the smoothing filter of the curve is completed. The smoothing filter method can be applied to the filtering process of the first electronic cam curve and the filtering process of the first acceleration curve in the above embodiment, and the present application embodiment will not be repeated.

[0071] As an optional implementation, the process in which the controller 100 determines the second electronic cam relationship corresponding to the swing arm device 120 based on the comparison between the first electronic cam relationship before filtering and the first electronic cam relationship after filtering may include: the controller 100 may obtain the first winding angle corresponding to the first electronic cam relationship before filtering and each winding length, and the second winding angle corresponding to each winding length in the first electronic cam relationship after filtering, and then calculate the angle difference between the first winding angle corresponding to each winding length and the corresponding second winding angle, and determine the swing distance corresponding to the first swing arm mechanism based on the angle difference corresponding to each winding length, and obtain the second electronic cam relationship corresponding to the swing arm device. Fig.10 As shown, Fig.10 It is a schematic diagram of the second electronic cam relationship disclosed in the embodiment of the present application. The positive and negative values ​​of the swing distance are used to characterize different moving directions. When the swing distance is a positive value, it characterizes that the moving direction of the first rocker mechanism is the first direction. When the swing distance is a negative value, it characterizes that the moving direction of the first rocker mechanism is the second direction.

[0072] It should be understood that each winding length refers to the winding length corresponding to each point of the first electronic cam curve. The difference in the ordinate is calculated for the points of the same winding length corresponding to the first electronic cam curve before filtering and the first electronic cam curve after filtering, and the angle difference corresponding to each winding length can be obtained. The controller 100 can determine the distance difference based on the angle difference and the first electronic cam curve before filtering as the swing distance corresponding to the first swing rod mechanism, thereby determining the swing distance corresponding to the first swing rod mechanism under each winding length, and obtaining the second electronic cam relationship corresponding to the swing rod device. In implementing this embodiment, the second electronic cam relationship corresponding to the swing rod device is determined by taking the difference between the first electronic cam relationship before filtering and the first electronic cam relationship after filtering, thereby improving the accuracy of the second electronic cam relationship and thus improving the accuracy of the speed compensation.

[0073] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0074] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A winding device, characterized in that: include: An unwinding device, used for unwinding the material strip to be wound at a preset unwinding speed; A winding device, wherein the winding device is configured to have a non-circular cross section in an axial direction perpendicular to the winding axis; The winding device is used to wind the material strip to be wound; A swing rod device, disposed between the unwinding device and the winding device, for swinging to drive the to-be-wound material strip to move, so as to adjust the speed at which the to-be-wound material strip is transmitted to the winding device; A controller is used to determine the target winding speed of the winding device and the swing speed of the rocker device according to the first electronic cam relationship corresponding to the winding device, the second electronic cam relationship corresponding to the rocker device and the preset unwinding speed, and control the rocker device to swing according to the swing speed, and control the winding device to wind according to the target winding speed.

2. The winding device according to claim 1, characterized in that The rocker device includes a first rocker mechanism; the first electronic cam relationship corresponding to the winding device is used to characterize the relationship between the rotation angle of the winding device and the winding length of the material strip to be wound, and the second electronic cam relationship corresponding to the rocker device is used to characterize the relationship between the swing distance corresponding to the first rocker mechanism and the winding length.

3. The winding device according to claim 2, characterized in that The controller is also used to perform smooth filtering on the first electronic cam relationship corresponding to the winding device to obtain the filtered first electronic cam relationship; and determine the second electronic cam relationship corresponding to the rocker device based on the comparison between the first electronic cam relationship before filtering and the first electronic cam relationship after filtering.

4. The winding device according to claim 3, characterized in that The controller is further used to determine a first acceleration curve according to the preset unwinding speed and the first electronic cam relationship corresponding to the winding device; and perform smoothing filtering on the first acceleration curve to obtain a filtered first acceleration curve; A filtered first electronic cam relationship is determined according to the filtered first acceleration curve and the preset unwinding speed.

5. The winding device according to claim 4, characterized in that The filtered first acceleration curve is used to indicate the relationship between the angular acceleration of the winding device and the operating time after filtering; The controller is also used to determine the winding length and winding angle corresponding to the filtered first acceleration curve at each operating moment according to the preset unwinding speed and the filtered first acceleration curve; and obtain the filtered first electronic cam relationship according to the corresponding relationship between the winding length and the winding angle at each operating moment.

6. The winding device according to claim 3, characterized in that The controller is also used to obtain the first winding angle corresponding to the first electronic cam relationship before filtering and each winding length, and the second winding angle corresponding to each winding length in the first electronic cam relationship after filtering; calculate the angle difference between the first winding angle corresponding to each winding length and the corresponding second winding angle; determine the swing distance corresponding to the first rocker mechanism according to the angle difference corresponding to each winding length, and obtain the second electronic cam relationship corresponding to the rocker device.

7. The winding device according to any one of claims 1 to 6, characterized in that: The swing rod device further comprises a second swing rod mechanism, which is arranged between the unwinding device and the first swing rod mechanism; The second swing rod mechanism is used to swing according to the tension of the material strip to be wound unwound from the unwinding device during the operation of the winding device, so as to drive the material strip to be wound to move, thereby adjusting the tension of the material strip to be wound.

8. The winding device according to claim 7, characterized in that The second rocking bar mechanism further includes a reset member for providing a force when the second rocking bar mechanism is not in a target position, so as to reset the second rocking bar mechanism.

9. The winding device according to claim 8, characterized in that The acting force is of a fixed magnitude, and the target position is an initial position of the second rocker mechanism before it swings.

10. The winding device according to any one of claims 1 to 6, characterized in that: The winding device also includes a tension control device, which is used to determine a compensation force based on the transmission acceleration force and / or transmission deceleration force of the multiple fixed rollers included in the winding device on the material strip to be wound, and output the compensation force to the material strip to be wound.

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