Automatic nanocrystalline strip winding device and tension control method

Abstract

The invention relates to an automatic nanocrystalline strip winding device, and belongs to the technical field of nanocrystalline strip processing devices. The automatic nanocrystalline strip winding device comprises a workbench, an unwinding assembly, a winding assembly, a tension control assembly and a feeding and cutting assembly, the unwinding assembly, the winding assembly, the tension control assembly and the feeding and cutting assembly are arranged on the workbench, and the automatic nanocrystalline strip winding device further comprises a control assembly which is electrically connected with the unwinding assembly, the winding assembly and a tension adjusting motor. The control assembly outputs instruction signals to control the unwinding assembly to automatically release the strip, the control assembly outputs instruction signals to control the winding assembly to wind the strip into coils, and the control assembly outputs instruction signals to control the tension adjusting motor to drive the tension swing rod to swing to control the tension of the strip according to received strip tension signals detected and fed back by the tension sensor. The automatic nanocrystalline strip winding device has the advantages that the winding tension is accurately controlled, the winding quality is stable, and the requirement for high-precision production of nanocrystalline strips is met.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of nanocrystalline strip processing device, and particularly relates to a nanocrystalline strip automatic winding device and a tension control method. BACKGROUND

[0002] The nanocrystalline strip is a kind of iron-based soft magnetic alloy material prepared by quenching technology, and its core technology is to form an amorphous precursor by ultra-fast cooling, and then to form a nanocrystalline grain by precise heat treatment, thereby forming an amorphous / nanocrystalline dual-phase composite structure.

[0003] At present, when the nanocrystalline strip is wound and formed, the material roll needs to be fed to the unwinding station first, then enters the tension adjusting station to adjust the winding tension of the material strip, and then enters the winding station after cutting to complete the winding process of the material strip. However, in the actual production process of the material strip, since the existing winding equipment mainly uses simple mechanical adjustment such as dragging, electromagnetic adsorption, counterweight and the like to control the tightness of winding, when the unwinding speed and the winding speed do not match, the tension is prone to suddenly increase or relax, the winding tension cannot be accurately controlled, the production quality fluctuates greatly, the consistency of the product is difficult to guarantee, the production of high-precision nanocrystalline strip cannot be met, and the efficiency is low. SUMMARY

[0004] In view of the deficiencies in the related art, the application provides a nanocrystalline strip automatic winding device and a tension control method, which have the advantages of accurately controlling the winding tension, stable winding quality, and meeting the production of high-precision nanocrystalline strip, so as to solve the technical problems of inaccurate winding tension control of the existing winding equipment and unstable quality of the nanocrystalline strip produced in the prior art.

[0005] The application provides a nanocrystalline strip material automatic winding device, which comprises a workbench, a unwinding assembly arranged at a first end of the workbench, the unwinding assembly being used for placing a raw material roll of the nanocrystalline strip material and automatically releasing the strip material, a winding assembly arranged at a second end of the workbench, the winding assembly being used for winding the strip material into a roll, a tension control assembly arranged between the winding assembly and the unwinding assembly, the tension control assembly comprising a tension sensor arranged on the workbench, a motor support seat arranged on the workbench, a tension swing rod arranged on the motor support seat, the tension swing rod increasing or reducing a path length of the strip material by swinging to adjust a tension of the strip material, a tension adjusting motor arranged on the motor support seat, the tension adjusting motor being connected with the tension swing rod through a coupling, the tension adjusting motor driving the tension swing rod to swing with a motor shaft of the tension adjusting motor as a center, and two conveying rollers arranged at two ends of the tension swing rod respectively, a feeding and cutting assembly arranged between the tension control assembly and the winding assembly, the feeding and cutting assembly being used for conveying and cutting the strip material, and a control assembly electrically connected with the unwinding assembly, the winding assembly, the tension sensor and the tension adjusting motor respectively, the control assembly outputting an instruction signal to control the unwinding assembly to automatically release the strip material, the control assembly outputting an instruction signal to control the winding assembly to wind the strip material into a roll, and the control assembly outputting an instruction signal to control the tension adjusting motor to drive the tension swing rod to swing and control the tension of the strip material according to a strip material tension signal detected and fed back by the tension sensor.

[0006] In some embodiments, the unwinding assembly further comprises an unwinding motor arranged on the workbench and electrically connected with the control assembly, and a tensioning component connected with the unwinding motor through a speed reducer, a tensioning shaft of the tensioning component being driven to rotate by the unwinding motor to release the strip material. In the technical solution, the tensioning component is automatically released by the unwinding motor.

[0007] In some embodiments, the winding assembly further comprises a winding motor arranged on the workbench and electrically connected with the control assembly, a winding main shaft connected with an output end of the winding motor and driven to rotate by the winding motor, a telescopic shaft coaxially sleeved on the winding main shaft and capable of axially extending and retracting relative to the winding main shaft, and a winding reel arranged on the winding main shaft and used for clamping the strip material and winding the strip material into a roll. In the technical solution, the winding assembly can wind the strip material into a roll.

[0008] In some embodiments, the tension control assembly further comprises two energy storage devices arranged on the workbench and located on both sides of the tension swing lever; and a laser position sensor arranged on the workbench and configured to obtain position information of the tension swing lever by irradiating a laser receiving plate arranged on the back of the tension swing lever. In the technical solution, the energy storage devices are used to control the limit position of the tension swing lever and absorb the energy after the swing lever is impacted to prevent the swing lever from being damaged due to abnormal equipment.

[0009] In some embodiments, the feeding and cutting assembly further comprises a first linear module arranged on the workbench; a clamping component arranged on the workbench and connected with the first linear module; and a cutting component arranged on the workbench and comprising a first cylinder configured to provide up-down driving, and an upper cutting knife and a lower cutting knife arranged oppositely and configured to cut the raw material strip. The first cylinder is electrically connected with the control assembly. In the technical solution, the clamping component can move back and forth along the first linear module to deliver the strip to a corresponding work station for cutting by the cutting component.

[0010] In some embodiments, the nanocrystalline strip automatic winding device further comprises a feeding assembly, which further comprises a second linear module arranged on the workbench; a sliding block arranged on the second linear module; a strip blocking component arranged on a first end of the sliding block; a flattening component arranged on a second end of the sliding block adjacent to the strip blocking component; an inner welding component arranged on a third end of the sliding block opposite to the strip blocking component; and an electromagnet feeding component arranged on a side end of the inner welding component. In the technical solution, the sliding block can drive each component arranged thereon to move to a corresponding work station along the second linear module. The flattening component eliminates wrinkles on the surface of the winding core by applying pressure to the surface of the winding core. The inner welding component can weld the inner diameter welding point of the winding core. The electromagnet feeding component is energized to attract the winding core and move the winding core to the detection assembly.

[0011] In some embodiments, the nanocrystalline strip automatic winding device further comprises a detection assembly, which further comprises a weighing component arranged below the feeding assembly and electrically connected with the control assembly; an outer diameter detection component arranged on the workbench and electrically connected with the control assembly, wherein a detection probe of the outer diameter detection component is perpendicular to the winding spindle; and a discharging component arranged below the feeding assembly and arranged in parallel with the weighing component. In the technical solution, the weighing component is used for weight feedback of the winding core. The outer diameter detection component is used to detect the diameter of the winding core so that the control assembly adjusts the outer diameter and tension of the next product according to the winding diameter. The discharging component is used for sorting of good products and defective products.

[0012] In some embodiments, the nanocrystalline strip automatic winding device further comprises a welding assembly arranged on the workbench, the welding assembly being used for outer diameter welding and inner diameter welding of the winding core, the welding assembly further comprising a welding circuit board and a welding floating component, and the welding circuit board being electrically connected with the control assembly.

[0013] Another aspect of the present application provides a tension control method of the nanocrystalline strip automatic winding device, comprising the following steps: presetting a balance origin and a swing range of the tension pendulum rod; calculating a real-time position of the tension pendulum rod and collecting real-time position data according to the received position information of the tension pendulum rod by the PLC; determining whether the tension pendulum rod is at the balance origin according to the calculation result, and performing PID operation on the tension pendulum rod deviating from the balance origin, and performing real-time compensation according to the PID calculation result.

[0014] In some embodiments, the PID operation is performed on the tension pendulum rod deviating from the balance origin, and the real-time compensation is performed according to the PID calculation result, specifically comprising the following steps: the compensation speed value required by the tension pendulum rod is calculated through the preset position of the tension pendulum rod and the actual position data of the tension pendulum rod received by the PLC, and the compensation speed value is fed back to the PLC, the PLC controls the tension adjusting motor and further controls the swing position of the tension pendulum rod to perform real-time compensation, the real-time winding diameter is calculated by using proportional operation or PID estimation method, and then PID calculation is performed, wherein the PID value is calculated according to the following formula: , In the formula, e(t) represents the difference between the set tension and the feedback tension; u( t ) represents the output operation amount; K p represents the proportional amplification coefficient; T i represents the integral time constant; T d represents the differential time constant; The speed compensation value is calculated according to the following formula: , In the formula, W represents the speed compensation value of the tension adjusting motor; v represents the speed of the tension adjusting motor; u( t ) represents the output operation amount of the PID value; and D represents the shaft diameter of the tension pendulum rod.

[0015] Based on the above technical scheme, compared with the prior art, the beneficial effects of the present application are that: through the above structure, the control assembly controls the operation of each component based on the received signal and the set parameter, controls the strip tension with high precision, realizes the automatic control of the strip winding process, and obtains the nanocrystalline strip with stable quality; the tension sensor detects the tension of the strip in real time and feeds back the tension signal to the control system, the control system outputs the instruction signal to drive the tension adjusting motor to make the tension swing rod swing counterclockwise or clockwise, adjusts the tension, realizes the high-precision control of the tension, stabilizes the winding quality, and realizes the production of high-precision nanocrystalline strip. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, and the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings: Figure 1 The structure schematic view of an embodiment of the nanocrystalline strip automatic winding device of the present application; Figure 2 The structure schematic view of the unwinding assembly of the nanocrystalline strip automatic winding device of the present application; Figure 3 The structure schematic view of the feeding and cutting assembly of the nanocrystalline strip automatic winding device of the present application; Figure 4 The structure schematic view of the tension control assembly of the nanocrystalline strip automatic winding device of the present application; Figure 5 The structure schematic view of the discharging assembly of the nanocrystalline strip automatic winding device of the present application; Figure 6 The flow chart of the tension control method of the nanocrystalline strip automatic winding device of the present application; Figure 7 The principle diagram of the tension control method of the nanocrystalline strip automatic winding device of the present application.

[0017] In the drawings: 1, workbench; 2, unwinding assembly, 21, unwinding motor, 22, speed reducer, 23, tensioning part; 3, winding assembly; 4, feeding and cutting assembly, 41, first linear module, 421, upper and lower clamping plate, 422, support plate, 431, first air cylinder, 432, upper cutting knife, 433, lower cutting knife; 5, tension control assembly, 51, motor support seat, 52, tension swing rod, 53, tension adjusting motor, 54, conveying roller, 55, energy accumulator, 56, shaft coupling, 57, tension sensor, 58, laser position sensor; 6, discharging assembly, 61, second linear module, 62, sliding block, 63, belt blocking part, 64, flattening part, 65, inner welding part, 66, electromagnet discharging part; 7, detection assembly, 8, welding assembly. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] As attached Figure 1 As shown in an illustrative embodiment of the automatic nanocrystalline strip winding device of the present invention, the device includes a worktable 1 and an unwinding assembly 2, a winding assembly 3, a tension control assembly 5, a feeding and cutting assembly 4, a feeding assembly 6, a detection assembly 7, a welding assembly 8, and a control assembly, all mounted on the worktable 1. Each assembly is detachably mounted at a preset installation position on the worktable 1, forming a modular layout that facilitates maintenance and replacement of each assembly. The control assembly is electrically connected to the unwinding assembly 2, the winding assembly 3, and the tension adjusting motor 53. The unwinding assembly 2 automatically releases the strip according to the command signal output by the control assembly. The winding assembly 3 winds the strip into a coil according to the command signal output by the control assembly. The tension control assembly 5 controls the tension of the strip according to the command signal from the control assembly, achieving high-precision tension control to stabilize the coil winding quality and realize the production of high-precision nanocrystalline strips.

[0023] Reference Appendix Figure 1 As shown, the workbench 1 provides support and mounting reference for the entire automatic nanocrystalline ribbon winding device, ensuring the stability and reliability of the overall structure. The unwinding assembly 2 is located at the first end of the workbench 1. The unwinding assembly 2 is used to hold the raw material roll of the nanocrystalline ribbon and can automatically release the ribbon according to the command signal output by the control assembly. (See attached diagram) Figure 2 As shown, the unwinding assembly 2 includes an unwinding motor 21, the output end of which is connected to a reducer 22. Preferably, the unwinding motor 21 is a servo motor. A tensioning component 23 is connected to the unwinding motor 21 via the reducer 22. The tensioning component 23 includes a tensioning shaft, which is driven by the unwinding motor 21 to rotate, thereby automatically releasing the strip. The winding assembly 3 is located at the second end of the worktable 1 away from the unwinding assembly 2. The winding assembly 3 winds the strip into a coil according to the command signal output by the control component. The winding assembly 3 includes a winding motor, preferably a servo motor; a winding spindle connected to the output end of the winding motor, which drives the winding spindle to rotate; a telescopic shaft coaxially sleeved inside the winding spindle, which can axially extend and retract relative to the winding spindle; and a coil, located on the winding spindle, used to clamp the strip and wind it into a coil. Specifically, the coil has clamping pins inside for clamping the raw material, which are driven by the telescopic shaft to clamp the raw material strip for winding.

[0024] The feeding and cutting assembly 4 of this invention is disposed on the worktable 1, located between the winding assembly 3 and the tension control assembly 5. The feeding and cutting assembly 4 is used to complete the feeding and cutting of the strip material. (See attached figure) Figure 3 As shown, the feeding and cutting assembly 4 includes a first linear module 41, which is disposed on the worktable 1; a clamping component, which is disposed on the worktable 1 and connected to the first linear module 41, and the clamping component further includes upper and lower clamping plates 421 and a support plate 422; a cutting component, which is disposed on the worktable 1, and the cutting component further includes a first cylinder 431 for providing up and down drive; an upper cutting blade 432, which is connected to the first cylinder 431; and a lower cutting blade 433, which is disposed opposite to the upper cutting blade 432. When the equipment is running, the raw material passes through the middle of the upper and lower clamping plates 421, the upper cutting blade 432, and the lower cutting blade 433, and is fed to the roll by the clamping component. When production is completed, the clamping component clamps the raw material, and the cutting component cuts the raw material.

[0025] Reference Appendix Figure 4As shown, the tension control assembly 5 is arranged on the workbench 1 between the unwinding assembly 2 and the winding assembly 3, and is used to control the tension of the strip during winding, so as to ensure that the tension of the strip is kept within a set range, improve the transmission and winding stability of the strip, and avoid problems such as breakage or wave of the strip. The tension control assembly 5 comprises a motor support seat 51 vertically arranged on the workbench 1; a tension swing rod 52 arranged on the motor support seat 51 and located on the transmission path of the strip, the tension swing rod 52 increases or reduces the path length of the strip by swinging to adjust the tension of the strip; a tension adjusting motor 53 arranged on the motor support seat 51, the tension adjusting motor 53 is connected to the middle part of the tension swing rod 52 through a coupling 56, and the tension adjusting motor 53 drives the tension swing rod 52 to swing around the motor shaft of the tension adjusting motor 53 according to the instruction of the control assembly to adjust the tension of the strip; two conveying rollers 54 arranged at two ends of the tension swing rod 52 respectively, the conveying rollers 54 are arranged perpendicularly to the tension swing rod 52, and the conveying rollers 54 are used to support the strip, the low-friction bearings are arranged in the conveying rollers 54 to reduce the friction force of the strip passing from the bottom; two energy accumulators 55 arranged on the workbench 1 and located at two ends of the tension swing rod 52, the energy accumulators 55 are used to control the limit position of the tension swing rod 52 and absorb the energy after the tension swing rod 52 is impacted to prevent the swing rod from being damaged by impact when the equipment is abnormal, specifically, the limit position of the tension swing rod 52 is controlled through the stroke of the energy accumulator 55; a tension sensor 57 arranged on the workbench 1 and arranged on the transmission path of the strip, the tension sensor 57 is used to detect the tension of the strip in real time and feed back the tension signal to the control assembly; a laser position sensor 58 arranged on the workbench 1 and acquiring the position information of the swing rod by irradiating a laser receiving plate arranged on the back of the tension swing rod 52. In one embodiment, a plurality of rectangular holes are arranged on the tension swing rod 52, which is beneficial to reduce the weight of the tension swing rod 52 and improve the flexibility of the swing of the tension swing rod 52.

[0026] Reference is made to the accompanying drawings Figure 5As shown, the unloading assembly 6 includes a second linear module 61 arranged on the workbench 1, a sliding block 62 arranged on the second linear module 61, a belt blocking component 63 arranged at a first end of the sliding block 62, the belt blocking component 63 being used for preventing the belt from loosening, the belt blocking component 63 including a blocking plate, which is pushed out during winding to prevent the belt from loosening, a flattening component 64 arranged at a second end of the sliding block 62 adjacent to the belt blocking component 63, the flattening component 64 being used for applying pressure to the surface of the winding core to eliminate wrinkles, an inner welding component 65 arranged at a third end of the sliding block 62 opposite to the belt blocking component 63, the inner welding component 65 being used for welding the inner diameter welding point of the winding core, and an electromagnet unloading component 66 arranged at a side end of the inner welding component 65, the electromagnet unloading component 66 being used for adsorbing the winding core for unloading. The unloading assembly 6 drives the sliding block 62 to move the components arranged on the sliding block 62 to corresponding stations along the second linear module 61, and can be quickly positioned and arbitrarily switched according to different use conditions. After winding is completed, the sliding block 62 drives the components arranged on the sliding block 62 to move to the winding core position, the cylinder of the flattening component 64 is pushed out, the flattening pressure plate applies pressure to the surface of the winding core, and the pressure is maintained for 2-3 times to eliminate wrinkles on the surface of the winding core, the welding head of the inner welding component 65 is lowered to weld the inner diameter welding point of the winding core, the electromagnet unloading component 66 is powered to adsorb the winding core, the sliding block 62 moves along the second linear module 61 to move the electromagnet unloading component 66 to above the detection assembly 7, the winding core is transferred to above the detection assembly 7, the electromagnet unloading component 66 is powered off, and the winding core falls on the weighing sensor to obtain weight data. The unloading assembly 6 of the present application integrates the functions of flattening, welding and unloading, moves the components to corresponding stations through the second linear module 61 and the sliding block 62, realizes quick switching of corresponding functions, and is beneficial to improving production efficiency.

[0027] The detection assembly 7 of the present application includes a weighing component arranged below the unloading assembly 6, a weighing sensor installed inside the weighing component for winding core weight feedback, an outer diameter detection component arranged on the workbench, a detection probe of the outer diameter detection component being perpendicular to the winding spindle of the winding assembly 3, the outer diameter detection component being used for detecting the diameter of the winding core so that the control assembly adjusts the outer diameter and tension of the next product according to the winding diameter, and a discharging component arranged in parallel with the weighing component, the discharging component being used for sorting good products and bad products. The welding assembly 8 of the present application is arranged on the workbench 1 and located above the winding assembly 3, and includes a welding circuit board and a welding floating component, and is used for welding the outer diameter and the inner diameter of the winding core before unloading after production is completed. In one embodiment, the welding floating component includes a spring, a rotating shaft and a copper plate, and the copper plate is connected with the welding circuit board, wherein the rotating shaft is used for supporting and connecting the copper plate to provide angle floating so that the welding head reaches the specified station, the spring plays a supporting and buffering role, and the copper plate is used for conducting current.

[0028] The control assembly of the application is electrically connected with the unwinding assembly 2, the winding assembly 3, the feeding and cutting assembly 4, the tension control assembly 5, the discharging assembly 6, the detection assembly 7 and the welding assembly 8 respectively, and specifically, the control assembly is electrically connected with the unwinding motor 21, the winding motor, the tension adjusting motor 53, the tension sensor 57, the first air cylinder 431, the outer diameter detection component, the weighing component and the welding circuit board respectively. The control assembly is used for receiving signals of detection devices of each assembly, and controls the operation of the unwinding motor 21, the winding motor and the tension adjusting motor 53 according to the set parameters and the PID control algorithm, so as to control the strip tension with high precision, and to realize the automatic control of the strip winding process.

[0029] The application further provides a tension control method of the nanocrystalline strip automatic winding device. Figure 6 The application further provides a tension control method of the nanocrystalline strip automatic winding device. Figure 7 The application further provides a tension control method of the nanocrystalline strip automatic winding device. The nanocrystalline strip automatic winding device of the application can realize closed-loop control of tension. When working, the strip winds around the conveying roller 54, the tension sensor 57 detects the tension of the strip in real time and feeds back the tension signal to the control system, the control system compares the received tension signal value with the set value, when the detected tension signal value is greater than the set value, the control assembly drives the tension adjusting motor 53 to make the tension pendulum 52 swing counterclockwise, so as to reduce the path length of the strip and reduce the tension; when the detected tension signal value is less than the set value, the control assembly drives the tension adjusting motor 53 to make the tension pendulum 52 swing clockwise, so as to increase the path length of the strip and increase the tension; through the above adjustment, high-precision control of the tension is realized, and the strip is prevented from being broken or wrinkled.

[0030] The tension control method of the nanocrystalline strip automatic winding device comprises the following steps: The balance origin of the tension pendulum 52 is preset as 0°, and the swing range is +30°-30°; When the nanocrystalline strip automatic winding device works, the PLC calculates the current position of the tension pendulum 52 and collects real-time position data by reading the position information of the tension pendulum 52 fed back by the laser position sensor 58; It is judged whether the tension pendulum 52 is at the balance origin or not, and the tension pendulum 52 deviating from the balance origin is subjected to PID operation and real-time compensation according to the PID calculation result.

[0031] The judgment whether the tension pendulum 52 is at the balance origin or not comprises the following steps: When the tension pendulum 52 is at the balance origin, no adjustment is needed; When the tension pendulum 52 deviates from the balance origin, the compensation speed value required by the tension pendulum 52 is calculated through the preset position of the tension pendulum 52 and the actual position data of the tension pendulum 52 received by the PLC, and the compensation speed value is fed back to the PLC, and the PLC controls the tension adjusting motor 53 to control the swing position of the tension pendulum 52 for real-time compensation. When the tension becomes small, the tension pendulum 52 will be pulled to the left, and vice versa. When the tension becomes large, the tension pendulum 52 moves to the right. At this time, the encoder connected to the tension pendulum 52 can reflect the change of the tension of the strip; The real-time roll diameter is calculated by using proportional calculation or PID estimation method, and then PID calculation is performed to increase compensation calculation to realize the control method. 1. Proportional calculation method: , , In the formula, m P represents the pulse of one revolution of the feed roller; d D represents the diameter of the feed roller; ∑ m N represents the pulse count value of the feed roller; 2. PID estimation method: When in a small range of stable change, ; In the formula, MV P represents the current control axis PID output; SQRT V represents the set speed; When in a large range of rapid change, the equipment is just started, ; When in a stable state, , In the formula, MV P represents the current control axis PID output; SQRT V represents the set speed; 3. The PID value is calculated according to the following formula: , In the formula, e(t) ΔT represents the difference between the set tension and the feedback tension; u( t ) represents the output operation amount; K p Kp represents the proportional amplification coefficient; T i Ti represents the integral time constant; T d Td represents the derivative time constant; 4. The speed compensation value is calculated according to the following formula: , In the formula, W represents a tension adjusting motor speed compensation value; v represents the speed of the tension adjusting motor; u( t ) represents the output operation quantity of the PID value; and D represents the shaft diameter of the tension swing lever.

[0032] The control method can quickly and sensitively judge real-time data and timely adjust the driving output speed, thereby effectively ensuring the constant tension within a certain range during the winding process.

[0033] It should be noted that the various embodiments described in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other.

Claims

1. A nanocrystalline ribbon automatic winding device, characterized by: The application relates to a nanocrystalline strip material automatic winding device. The device comprises a workbench, an unwinding assembly arranged at a first end of the workbench, a winding assembly arranged at a second end of the workbench, a tension control assembly arranged between the winding assembly and the unwinding assembly, and a control assembly electrically connected to the unwinding assembly, the winding assembly, a tension sensor and a tension adjusting motor. The unwinding assembly further comprises an unwinding motor arranged on the workbench and electrically connected to the control assembly, and a tensioning component connected to the unwinding motor through a speed reducer. The winding assembly further comprises a winding motor arranged on the workbench and electrically connected to the control assembly, a winding spindle connected to an output end of the winding motor and driven to rotate by the winding motor, a telescopic shaft coaxially sleeved on the winding spindle and capable of being axially telescoped relative to the winding spindle, and a winding reel arranged on the winding spindle and used for clamping the strip material and winding the strip material into a roll. The tension control assembly further comprises two energy accumulators arranged on the workbench and located on two sides of the tension swing lever, and a laser position sensor arranged on the workbench and used for acquiring position information of the tension swing lever by irradiating a laser receiving plate prearranged on a back surface of the tension swing lever. The feeding and cutting assembly further comprises a first linear module arranged on the workbench, a clamping component arranged on the workbench and connected to the first linear module, and a cutting component arranged on the workbench and comprising a first cylinder used for providing up-down driving, and an upper cutting knife and a lower cutting knife arranged oppositely and used for cutting the raw material strip. The nanocrystalline strip material automatic winding device further comprises a blanking assembly, which further comprises a second linear module arranged on the workbench, a sliding block arranged on the second linear module in a sliding mode, a strip blocking component arranged at a first end of the sliding block, a flattening component arranged at a second end of the sliding block and adjacent to the strip blocking component, and an inner welding component arranged at a third end of the sliding block and opposite to the strip blocking component.

2. The nanocrystal ribbon automatic winding device according to claim 1, characterized in that: ​ ​ ​ 3. The nanocrystal ribbon automatic winding device according to claim 1, characterized in that: ​ ​ ​ ​ ​ 4. The nanocrystal ribbon automatic winding device according to claim 1, characterized in that: ​ ​ ​ 5. The nanocrystal ribbon automatic winding device according to claim 1, characterized in that: ​ ​ ​ ​ 6. The nanocrystal ribbon automatic winding device according to claim 1, wherein: ​ ​ ​ ​ ​ ​ The electromagnetic iron blanking component is arranged at the side end of the inner welding component.

7. The nanocrystal ribbon automatic winding device according to claim 1, wherein: The nanocrystalline strip automatic winding device further comprises a detection assembly A weighing component is arranged below the blanking assembly, and the weighing component is electrically connected with the control assembly. An outer diameter detection component is arranged on the workbench, and the outer diameter detection component is electrically connected with the control assembly. A discharging component is arranged below the blanking assembly, and the discharging component is arranged in parallel with the weighing component.

8. The nanocrystal ribbon automatic winding device according to claim 1, wherein: The nanocrystalline strip automatic winding device further comprises a welding assembly arranged on the workbench, which is used for outer diameter welding and inner diameter welding of the winding core. The welding assembly further comprises a welding circuit board and a welding floating component, and the welding circuit board is electrically connected with the control assembly.

9. A method of controlling the tension of a nanocrystalline ribbon material automatic winding device, characterized by: The method comprises the following steps: The balance origin and swing interval range of the preset tension swing rod are determined; The PLC calculates the real-time position of the tension swing rod according to the received position information of the tension swing rod and collects real-time position data; According to the calculation result, it is determined whether the tension swing rod is at the balance origin, and PID operation is performed on the tension swing rod deviating from the balance origin, and real-time compensation is performed according to the PID calculation result.

10. The method of claim 9, wherein the tension of the nanocrystal ribbon is controlled by the automatic winding device. The PID operation is performed on the tension swing rod deviating from the balance origin, and real-time compensation is performed according to the PID calculation result, which comprises the following steps: The compensation speed value required by the tension swing rod is calculated through the preset position of the tension swing rod and the actual position data of the tension swing rod received by the PLC, and the compensation speed value is fed back to the PLC. The PLC controls the tension adjusting motor and then controls the swing position of the tension swing rod to perform real-time compensation. The real-time winding diameter is calculated by using proportional calculation or PID estimation method, and then PID calculation is performed. The PID value is calculated according to the following formula: ， wherein e(t) represents the difference between the set tension and the feedback tension; u t represents the output operation amount; K p represents the proportional amplification coefficient; T i represents the integral time constant; T d represents the differential time constant; The rotation speed compensation value is calculated according to the following formula: ， In the formula, W represents a speed compensation value of the tension adjusting motor; v represents the speed of the tension adjusting motor; u( t ) represents an output operation amount of the PID value; and D represents the shaft diameter of the tension swing lever.

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