Winching apparatus and method of rope retrieval

Abstract

This invention provides a method and apparatus for retrieving ropes in a hoisting device, relating to the field of equipment hoisting technology. The method includes: determining the real-time torque of the main motor and the real-time torque of the slave motor; determining the real-time radius and angular velocity of the wire rope drum and the nylon rope drum; determining the angular velocity deviation based on the linear velocity setpoint, the real-time radius of the wire rope drum, and the real-time angular velocity, and controlling the torque of the main motor based on the angular velocity deviation; determining the tension deviation based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, and controlling the torque of the slave motor based on the tension deviation; the main motor is used to retrieve the wire rope; the slave motor is used to release the nylon rope; the nylon rope and the wire rope are detachably connected. The method and apparatus provided by this invention achieve stable wire rope retrieval, ensuring the safety of personnel and equipment.

Description

Technical Field

[0001] This invention relates to the field of equipment hoisting technology, and in particular to a method and apparatus for winding up ropes in a winch. Background Technology

[0002] During equipment installation, hoisting equipment is often used to lift large components. For example, during the installation of a wind turbine generator, the blades and generator need to be hoisted to the top of the tower.

[0003] The winch equipment contains both steel wire rope and nylon rope. Steel wire rope possesses high strength, wear resistance, and corrosion resistance, enabling it to withstand significant tensile forces and making it suitable for lifting heavy objects. Nylon rope is relatively lightweight and has some elasticity, providing a cushioning effect and assisting in the winding and unwinding of the steel wire rope. This prevents direct, hard collisions between the steel wire rope and winch components, reducing impact on both the rope and the equipment. During the wire rope recovery process, as the number of winding layers on the drum increases or decreases, the linear velocity changes non-linearly, causing fluctuations in the tension between the steel wire rope and the nylon rope. This makes the steel wire rope prone to slack or overload, posing a risk to personnel and equipment safety.

[0004] Therefore, how to reliably recover the wire rope in the hoisting equipment and ensure the safety of personnel and equipment has become a technical problem that the industry urgently needs to solve. Summary of the Invention

[0005] This invention provides a method and apparatus for retrieving wire ropes in a winch, which solves the technical problem of how to stably retrieve wire ropes from a winch and ensure the safety of personnel and equipment.

[0006] This invention provides a method for winding up a rope in a winch, comprising:

[0007] Determine the real-time torque of the main motor and the real-time torque of the slave motor;

[0008] Determine the real-time radius and real-time angular velocity of the wire rope drum, as well as the real-time radius of the nylon rope drum;

[0009] Based on the linear velocity setpoint, the real-time radius and real-time angular velocity of the wire rope drum, the angular velocity deviation is determined, and the torque of the main motor is controlled based on the angular velocity deviation.

[0010] Based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, the tension deviation is determined, and the torque of the slave motor is controlled based on the tension deviation.

[0011] The main motor is used to retract the steel wire rope; the slave motor is used to release the nylon rope; the nylon rope is detachably connected to the steel wire rope.

[0012] In some embodiments, determining the angular velocity deviation based on the linear velocity setpoint, the real-time radius of the wire rope drum, and the real-time angular velocity, and controlling the torque of the main motor based on the angular velocity deviation, includes:

[0013] Based on the linear velocity setting value and the real-time radius of the wire rope drum, the set angular velocity of the wire rope drum is determined;

[0014] The angular velocity deviation is determined based on the difference between the set angular velocity and the real-time angular velocity;

[0015] Using the angular velocity deviation as an error signal, a real-time torque adjustment amount for the main motor is generated, and the torque of the main motor is controlled based on the real-time torque adjustment amount.

[0016] In some embodiments, determining the tension deviation based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, and controlling the torque of the slave motor based on the tension deviation, includes:

[0017] Based on the real-time torque of the main motor and the real-time radius of the wire rope drum, the real-time traction force of the main motor on the wire rope is determined.

[0018] The real-time braking force of the slave motor on the wire rope is determined based on the real-time torque of the slave motor and the real-time radius of the nylon rope drum.

[0019] Based on the real-time traction force and the real-time braking force, the real-time tension of the wire rope is determined;

[0020] The tension deviation is determined based on the real-time tension of the wire rope and the set tension value.

[0021] Using the tension deviation as an error signal, a real-time torque adjustment amount for the slave motor is generated, and the torque of the slave motor is controlled based on the real-time torque adjustment amount.

[0022] In some embodiments, determining the real-time radius and real-time angular velocity of the wire rope drum, and the real-time radius of the nylon rope drum, includes:

[0023] Based on the real-time recovery length of the wire rope, the average radius of the first section of the wire rope after one turn on the wire rope drum, the number of turns of wire rope stored in each layer of the wire rope drum, and the diameter of the wire rope, the radius increment of the wire rope drum is determined.

[0024] The real-time radius of the wire rope drum is determined based on the initial radius of the wire rope drum and the radius increment.

[0025] The first average radius of the cross section is determined based on the cross section radius of the wire rope after one turn of the wire rope on the wire rope drum before and after the increase of the number of winding layers.

[0026] In some embodiments, the real-time recovery length of the wire rope is determined based on the following steps:

[0027] The real-time linear velocity of the wire rope drum is determined based on its real-time angular velocity and real-time radius.

[0028] The real-time recovery length of the wire rope is determined based on the real-time linear velocity of the wire rope drum and the rope winding time.

[0029] In some embodiments, the method further includes:

[0030] The real-time release length of the nylon rope is determined based on the real-time recovery length of the steel wire rope.

[0031] Based on the real-time release length of the nylon rope, the average radius of the second section of the nylon rope after one turn on the nylon rope drum, the number of turns of nylon rope stored in each layer of the nylon rope drum, and the diameter of the nylon rope, the radius reduction value of the nylon rope drum is determined.

[0032] The real-time radius of the nylon rope drum is determined based on the initial radius of the nylon rope drum and the radius reduction value.

[0033] The average radius of the second cross section is determined based on the cross section radius of the nylon rope after one turn of the nylon rope on the nylon rope drum before and after the reduction of the number of winding layers.

[0034] This invention provides a rope winding device for a winch, comprising:

[0035] The first determining module is used to determine the real-time torque of the main motor and the real-time torque of the slave motor.

[0036] The second determining module is used to determine the real-time radius and real-time angular velocity of the wire rope drum, as well as the real-time radius of the nylon rope drum.

[0037] The main motor control module is used to determine the angular velocity deviation based on the linear velocity setpoint, the real-time radius and real-time angular velocity of the wire rope drum, and to control the torque of the main motor based on the angular velocity deviation.

[0038] The slave motor control module is used to determine the tension deviation based on the real-time torque of the master motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension set value, and to control the torque of the slave motor based on the tension deviation.

[0039] The main motor is used to retract the steel wire rope; the slave motor is used to release the nylon rope; the nylon rope is detachably connected to the steel wire rope.

[0040] The present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned method for winding up the rope of a winch.

[0041] The present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the aforementioned method for winding up ropes in a hoisting device.

[0042] The present invention provides a computer program product, including a computer program, which, when executed by a processor, implements the rope winding method of the winch device.

[0043] The present invention provides a method and apparatus for retrieving wire rope using a winch. A main motor is used to retrieve the wire rope; a slave motor is used to release the nylon rope. The real-time torque of the main motor and the slave motor are determined. The real-time radius and angular velocity of the wire rope drum and the nylon rope drum are determined. Based on the linear velocity setpoint, the real-time radius and angular velocity of the wire rope drum, the torque of the main motor is controlled based on the angular velocity deviation. Based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, the tension deviation is determined, and the torque of the slave motor is controlled based on the tension deviation. During the wire rope retrieval process, the main motor controls the linear velocity, and the slave motor controls the tension, preventing tension fluctuations between the wire rope and the nylon rope. This ensures the wire rope remains taut, preventing slack or overload, achieving stable wire rope retrieval, and guaranteeing the safety of personnel and equipment. Attached Figure Description

[0044] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0045] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the winch device for winding up the rope provided by the present invention.

[0047] Figure 2 This is a schematic flowchart of the rope winding method for the winch equipment provided by the present invention.

[0048] Figure 3 This is a schematic diagram of the structure of the rope winding device of the winch provided by the present invention.

[0049] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0050] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps, units, or modules is not necessarily limited to those explicitly listed, but may include other steps, units, or modules not explicitly listed or inherent to such processes, methods, products, or devices.

[0052] ‌ Figure 1 This is a schematic diagram of the rope winding process of the winch device provided by the present invention, as shown below. Figure 1 As shown, the winch 110 is generally installed at the bottom of the tower 100. The winch has two sets of ropes: a steel wire rope 111 and a nylon rope 112. The steel wire rope is represented by a solid line, and the nylon rope by a dashed line.

[0053] Correspondingly, a wire rope drum 113 is provided for storing the wire rope, and a nylon rope drum 114 is provided for storing the nylon rope. The main motor 115 drives the wire rope drum to rotate, and the slave motor 116 drives the nylon rope drum to rotate.

[0054] During the rope feeding stage of the winch, the wire rope needs to be hoisted to the top of the tower, passed through the fixed pulley block 120 of the tower cylinder, and then lowered to the ground. Then, it is connected to the equipment to be hoisted (such as blades) for hoisting work. At this time, nylon ropes are needed to connect the wire ropes for auxiliary hoisting. Since the wire rope is subjected to gravity, it will not loosen significantly during the hoisting process. Therefore, only the slave motor needs to be controlled. The main motor does not need to work and there is no need to perform synchronous adjustment.

[0055] During the rope winding stage of the winch, to prevent the wire rope from falling due to its own weight, a braking force needs to be provided by the motor to keep the wire rope taut. At this point, it's necessary to control both the main motor to retract the wire rope and the auxiliary motor to provide the braking force. As the number of winding layers on the two drums increases or decreases, the linear speeds of the two motors change non-linearly, causing tension fluctuations. The wire rope is prone to slack or overload, posing a risk to personnel and equipment safety.

[0056] To solve the above technical problems, Figure 2 This is a schematic flowchart of the rope winding method for the winch equipment provided by the present invention, as shown below. Figure 2 As shown, the method includes steps 210, 220, 230 and 240.

[0057] Step 210 determines the real-time torque of the main motor and the real-time torque of the slave motor. The main motor is used to retract the wire rope; the slave motor is used to release the nylon rope; the nylon rope is detachably connected to the wire rope.

[0058] Specifically, the execution subject of the winch rope winding method provided in this embodiment of the invention is a winch rope winding device. This device can be implemented by software, such as a winch rope winding program running in a computer; or by hardware, such as a computer or server that executes the winch rope winding method.

[0059] The method provided in this invention can be applied to wire rope winding and unwinding scenarios in port cranes, mine hoists, stage hoisting equipment, and wind power lifting equipment. The method also eliminates the need for tension sensors to detect the tension on the wire rope.

[0060] During the rope winding process, the nylon rope and the steel wire rope can be detachably connected, for example, by using rope buckles and knots to connect the nylon rope and the steel wire rope together.

[0061] The main motor drives the wire rope drum to rotate, retrieving the wire rope. The retrieved wire rope is wound layer by layer onto the wire rope drum. As the number of layers on the wire rope drum increases, the effective radius of the drum gradually increases, resulting in a faster linear speed. The slave motor drives the nylon rope drum to rotate, releasing the nylon rope. As the number of layers on the wire rope drum decreases, the effective radius of the drum decreases, and the linear speed slows down. The linear speeds of both motors must be synchronized; otherwise, the wire rope will become either too slack or too tight. Therefore, the core issue is controlling the torque of the two motors to maintain the synchronization of the linear speeds of the main and slave motors, thereby maintaining constant tension.

[0062] Controlling the master and slave motors is a real-time process. The real-time torque of the master motor and the slave motor can be obtained first through sensors or controllers on both motors.

[0063] Real-time torque is the output torque of a motor, which is the torque generated when the motor rotor rotates. The real-time torque of the motor is obtained through the motor controller.

[0064] Step 220: Determine the real-time radius and real-time angular velocity of the wire rope drum, and the real-time radius of the nylon rope drum.

[0065] Specifically, the radius of the drum changes as the wire rope or nylon rope is retracted or released. For wire rope drums, the real-time radius gradually increases as the wire rope is gradually retracted; for nylon rope drums, the real-time radius gradually decreases as the nylon rope is gradually released.

[0066] Determining the real-time radius of both wire rope drums and nylon rope drums is crucial for the precise control and safe operation of winch equipment.

[0067] Real-time angular velocity is the angle of rotation of the drum per unit time. For example, the real-time angular velocity of wire rope drums and nylon rope drums can be obtained through photoelectric encoders or Hall sensors.

[0068] Step 230: Based on the linear velocity setpoint, the real-time radius and real-time angular velocity of the wire rope drum, determine the angular velocity deviation, and control the torque of the main motor based on the angular velocity deviation.

[0069] Specifically, the main motor is primarily used to control the speed of wire rope recovery. Correspondingly, for the wire rope drum, this means controlling the linear speed of the wire rope drum. The linear speed setpoint is the set value for the linear speed at which the wire rope is recovered by the wire rope drum.

[0070] Based on the linear velocity setpoint and the real-time radius of the wire rope drum, the required angular velocity to be maintained by the wire rope drum can be determined. The angular velocity deviation is determined by the difference between the set angular velocity and the real-time angular velocity. The torque of the main motor is then controlled based on the angular velocity deviation. For example, if the angular velocity deviation is large, the torque of the main motor can be controlled to reduce the angular velocity deviation.

[0071] Step 240: Based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, determine the tension deviation, and control the torque of the slave motor based on the tension deviation.

[0072] Specifically, the motor is mainly used to control the nylon rope drum to maintain the same linear speed as the wire rope drum, providing braking force for the wire rope to be retracted, thereby maintaining the tension between the nylon rope and the wire rope.

[0073] Based on the real-time torque of the main motor and the real-time radius of the wire rope drum, the real-time traction force applied by the main motor to the wire rope can be determined. Based on the real-time torque of the slave motor and the real-time radius of the nylon rope drum, the real-time braking force applied by the slave motor to the nylon rope can be determined. Based on the difference between the real-time traction force and the real-time braking force, the real-time tension between the nylon rope and the wire rope can be determined. The tension setpoint is the constant tension that the winch needs to maintain when winding the rope. The tension deviation is determined based on the difference between the real-time tension and the tension setpoint. The torque of the slave motor is controlled based on the tension deviation. For example, if the tension deviation is large, the torque of the slave motor can be controlled to reduce the tension deviation.

[0074] It should be noted that as the wire rope is retracted, the torque of the main motor, the torque of the slave motor, the radius of the wire rope drum, and the radius of the nylon rope drum all change in real time. Therefore, the above process is dynamic. The main motor and slave motor need to work together, with the main motor controlling the linear speed and the slave motor controlling the tension, to maintain a constant wire rope tension synchronized with the linear speed, ensuring that the wire rope remains taut throughout the winding process.

[0075] The rope-reeling method for a winch provided in this invention involves a main motor for reeling in the wire rope and a slave motor for releasing the nylon rope. The method determines the real-time torque of both the main and slave motors, as well as the real-time radius and angular velocity of both the wire rope drum and the nylon rope drum. Based on the linear velocity setpoint, the real-time radius and angular velocity of the wire rope drum, the torque of the main motor is controlled accordingly. Similarly, based on the real-time torque of the main motor, the slave motor, the real-time radius of both the wire rope drum and the nylon rope drum, and the tension setpoint, a tension deviation is determined, and the torque of the slave motor is controlled accordingly. During the wire rope reeling process, the main motor controls the linear velocity, and the slave motor controls the tension, preventing tension fluctuations between the wire rope and the nylon rope. This ensures the wire rope remains taut, preventing slack or overload, achieving stable wire rope reeling, and guaranteeing the safety of personnel and equipment.

[0076] It should be noted that each embodiment of the present invention can be freely combined, rearranged, or executed individually, and does not need to rely on or depend on a fixed execution order.

[0077] In some embodiments, based on the linear velocity setpoint, the real-time radius of the wire rope drum, and the real-time angular velocity, an angular velocity deviation is determined, and the torque of the main motor is controlled based on the angular velocity deviation, including:

[0078] The set angular velocity of the wire rope drum is determined based on the linear velocity setpoint and the real-time radius of the wire rope drum.

[0079] The angular velocity deviation is determined based on the difference between the set angular velocity and the real-time angular velocity;

[0080] Using angular velocity deviation as an error signal, a real-time torque adjustment amount for the main motor is generated, and the torque of the main motor is controlled based on the real-time torque adjustment amount.

[0081] Specifically, the main motor needs to drive the wire rope drum to maintain a constant linear speed. This is based on the set linear speed value. and the real-time radius of the wire rope drum Determine the set angular velocity of the wire rope drum. It can be expressed by the formula: In the formula, This refers to the length of time after the rope is started to be wound up.

[0082] Based on the set angular velocity and real-time angular velocity The difference between them determines the angular velocity deviation. This can be expressed as a formula: .

[0083] Relevant control algorithms can be employed, using angular velocity deviation as the error signal, to generate real-time torque adjustment for the main motor, and then the torque of the main motor can be controlled based on this real-time torque adjustment. For example, a proportional-integral-derivative (PID) control algorithm can be used, using angular velocity deviation as the error signal to adjust the torque of the main motor. Control can be expressed by the formula:

[0084] .

[0085] In the formula, The proportional coefficient in the torque control of the main motor. The integral coefficient in the torque control of the main motor. It is the differential coefficient in the torque control of the main motor.

[0086] The wire rope winding method for winch equipment provided in this embodiment of the invention uses angular velocity deviation as an error signal to control the torque of the main motor, which enables the wire rope drum to rewind the wire rope at a constant linear speed, thereby achieving stable wire rope winding and ensuring the safety of personnel and equipment.

[0087] In some embodiments, a tension deviation is determined based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint. The torque of the slave motor is then controlled based on the tension deviation, including:

[0088] The real-time traction force of the main motor on the wire rope is determined based on the real-time torque of the main motor and the real-time radius of the wire rope drum.

[0089] The real-time braking force exerted by the motor on the wire rope is determined based on the real-time torque of the motor and the real-time radius of the nylon rope drum.

[0090] The real-time tension of the wire rope is determined based on the real-time traction force and real-time braking force.

[0091] Based on the real-time tension and tension setpoint of the wire rope, the tension deviation is determined;

[0092] Using tension deviation as an error signal, a real-time torque adjustment amount is generated for the slave motor, and the torque of the slave motor is controlled based on the real-time torque adjustment amount.

[0093] Specifically, the motor needs to control and drive the nylon rope drum to maintain a constant tension.

[0094] Based on the real-time torque of the main motor and the real-time radius of the wire rope drum Determine the real-time traction force of the main motor on the wire rope: .

[0095] Based on the real-time torque of the motor Real-time radius of nylon rope drum Determine the real-time braking force exerted by the motor on the wire rope: .

[0096] The real-time tension of the wire rope is determined based on the real-time traction force and real-time braking force. This can be expressed as a formula: .

[0097] Understandably, the tension setpoint of the wire rope can be determined. Ideally, the tension setpoint should remain constant, that is: To maintain a constant tension setpoint, the real-time torque of the main motor and slave motor needs to be adjusted. Theoretically, maintaining constant tension can keep the linear speed of both the large and small drums constant (ignoring friction and other losses).

[0098] Since the slave motor follows the master motor, its torque can be obtained using the formula above, expressed as: . This represents the torque from the motor under ideal conditions.

[0099] Based on the real-time tension of the wire rope and tension setting value Determine the tension deviation This can be expressed as a formula: .

[0100] Relevant control algorithms can be employed, using tension deviation as the error signal, to generate a real-time torque adjustment for the slave motor, and then the torque of the slave motor can be controlled based on this real-time torque adjustment. For example, a PID control algorithm can be used, using tension deviation as the error signal to adjust the torque of the slave motor. Control can be expressed by the formula:

[0101] .

[0102] In the formula, This refers to the proportional coefficient used in motor torque control. The integral coefficient is derived from the motor torque control. This is the differential coefficient in motor torque control.

[0103] The rope winding method for winch equipment provided in this embodiment of the invention uses tension deviation as an error signal to control the torque of the slave motor, which enables the nylon rope drum to provide braking force, maintain tension balance, achieve stable wire rope winding, and ensure the safety of personnel and equipment.

[0104] In some embodiments, a PID control algorithm is used to establish a torque control loop for the main motor, with the input error being the angular velocity deviation; and to establish a torque control loop for the slave motor, with the input error being the tension deviation; maintaining constant wire rope tension and synchronization with the linear velocity ensures that the wire rope remains straight throughout the winding process.

[0105] In some embodiments, determining the real-time radius and real-time angular velocity of the wire rope drum, and the real-time radius of the nylon rope drum, includes:

[0106] The radius increment of the wire rope drum is determined based on the real-time recovery length of the wire rope, the average radius of the first section of the wire rope after one turn on the wire rope drum, the number of turns of wire rope stored in each layer of the wire rope drum, and the diameter of the wire rope.

[0107] The real-time radius of the wire rope drum is determined based on its initial radius and radius increment.

[0108] The average radius of the first cross section is determined based on the cross section radius of the wire rope after one turn of the wire rope on the wire rope drum before and after the increase of the number of winding layers.

[0109] Specifically, during rope winding, the retrieved wire rope is wound onto the wire rope drum, distributed layer by layer from the inside out, with each layer capable of multiple turns. Only when the maximum number of turns in a layer is reached is an additional layer added to the outside. Understandably, the radius of the wire rope drum gradually increases and is dynamically changing. The increase comes from the retrieved wire rope.

[0110] Based on the real-time recovery length of the wire rope The average radius of the first section of the wire rope after one turn on the wire rope drum The number of turns of wire rope stored in each layer of the wire rope drum. and the diameter of the wire rope The increase in the radius of the wire rope drum can be determined by the following formula: .

[0111] Based on the initial radius of the wire rope drum The radius increment is used to determine the real-time radius of the wire rope drum. This can be expressed as a formula: .

[0112] The initial radius of the wire rope drum is the radius of the wire rope drum before the start of rope winding. Since the average radius of the first cross-section continuously increases with the number of winding layers during the winding process, the average radius of the first cross-section can be obtained by averaging the cross-sectional radii of the wire rope after one turn on the drum before and after the increase in the number of winding layers. Here, the cross-sectional radius is the radius of the circular cross-section formed after the wire rope has been wound one turn on the drum. This calculation method fully considers the dynamic increase of the wire rope drum radius, improving the accuracy of real-time radius calculation.

[0113] The wire rope winding method for winch equipment provided in this invention dynamically updates the real-time radius of the wire rope drum, improving the accuracy of real-time radius calculation, as well as the accuracy of angular velocity deviation and tension deviation calculation, thereby achieving stable wire rope winding and ensuring the safety of personnel and equipment.

[0114] In some embodiments, the real-time recovery length of the wire rope is determined based on the following steps:

[0115] The real-time linear velocity of the wire rope drum is determined based on its real-time angular velocity and real-time radius.

[0116] The real-time recovery length of the wire rope is determined based on the real-time linear speed of the wire rope drum and the rope winding time.

[0117] Specifically, based on the real-time angular velocity of the wire rope drum and the real-time radius of the wire rope drum Determine the real-time linear velocity of the main motor. To maintain a constant tension in the wire rope, the linear velocities of the wire rope drum and the nylon rope drum must be kept consistent, as expressed by the formula: .

[0118] In the formula, This represents the real-time angular velocity of the nylon rope drum. This is the real-time radius of the nylon rope drum.

[0119] Based on the real-time linear speed of the wire rope drum and rope winding time The real-time recovery length of the wire rope can be determined using the following formula: .

[0120] The rope winding method for winch equipment provided in this embodiment of the invention determines the real-time recovery length of the wire rope based on the real-time linear velocity of the wire rope drum and the winding time, thereby improving the accuracy of the real-time drum radius calculation and the accuracy of the angular velocity deviation and tension deviation calculation.

[0121] In some embodiments, the method further includes:

[0122] The real-time release length of the nylon rope is determined based on the real-time recovery length of the steel wire rope.

[0123] The radius reduction value of the nylon rope drum is determined based on the real-time release length of the nylon rope, the average radius of the second section of the nylon rope after one turn on the nylon rope drum, the number of turns of nylon rope in each layer of the nylon rope drum, and the diameter of the nylon rope.

[0124] The real-time radius of the nylon rope drum is determined based on its initial radius and radius reduction value.

[0125] The average radius of the second cross section is determined based on the cross section radius of the nylon rope after one turn on the nylon rope drum before and after the reduction of the number of winding layers.

[0126] Specifically, it can be understood that the real-time release length of the nylon rope is equal to the real-time recovery length of the steel wire rope.

[0127] Based on the real-time release length of the nylon rope The average radius of the second cross section after the nylon rope is wound one turn on the nylon rope drum The number of turns of nylon rope stored in each layer of the nylon rope spool and the diameter of the nylon rope Determine the reduction in radius of the nylon rope drum: .

[0128] Based on the initial radius of the nylon rope drum The radius reduction value determines the real-time radius of the nylon rope drum. This can be expressed as a formula: .

[0129] The initial radius of the nylon rope drum is the radius of the nylon rope drum before the start of winding. Since the average radius of the second cross-section continuously decreases as the number of winding layers decreases during the winding process, the average radius of the second cross-section can be obtained by averaging the cross-sectional radii of the nylon rope after one turn on the nylon rope drum before and after the reduction of the number of winding layers. Here, the cross-sectional radius is the radius of the circular cross-section formed after the nylon rope has been wound one turn on the nylon rope drum. This calculation method fully considers that the radius of the nylon rope drum is dynamically decreasing, improving the accuracy of real-time radius calculation.

[0130] The rope winding method for winch equipment provided in this embodiment of the invention dynamically updates the real-time radius of the nylon rope drum, improving the accuracy of real-time radius calculation, improving the accuracy of angular velocity deviation and tension deviation calculation, achieving stable wire rope winding, and ensuring the safety of personnel and equipment.

[0131] The apparatus provided in the embodiments of the present invention will be described below. The apparatus described below can be referred to in correspondence with the method described above.

[0132] Figure 3 This is a structural schematic diagram of the rope winding device for the winch provided by the present invention, as shown below. Figure 3 As shown, the device includes:

[0133] The first determining module 310 is used to determine the real-time torque of the main motor and the real-time torque of the slave motor.

[0134] The second determining module 320 is used to determine the real-time radius and real-time angular velocity of the wire rope drum, as well as the real-time radius of the nylon rope drum.

[0135] The main motor control module 330 is used to determine the angular velocity deviation based on the linear velocity setpoint, the real-time radius and real-time angular velocity of the wire rope drum, and to control the torque of the main motor based on the angular velocity deviation.

[0136] The slave motor control module 340 is used to determine the tension deviation based on the real-time torque of the master motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, and to control the torque of the slave motor based on the tension deviation.

[0137] The main motor is used to retract the steel wire rope; the slave motor is used to release the nylon rope; the nylon rope and the steel wire rope are detachably connected.

[0138] The rope winding device for a winch provided in this embodiment of the invention includes a main motor for winding up the wire rope and a slave motor for releasing the nylon rope. The device determines the real-time torque of both the main and slave motors, as well as the real-time radius and angular velocity of the wire rope drum and the nylon rope drum. Based on the linear velocity setpoint, the real-time radius and angular velocity of the wire rope drum, the angular velocity deviation is determined, and the torque of the main motor is controlled based on this deviation. Similarly, based on the real-time torque of the main motor, the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, a tension deviation is determined, and the torque of the slave motor is controlled based on this deviation. During the wire rope winding process, the main motor controls the linear velocity, and the slave motor controls the tension, preventing tension fluctuations between the wire rope and the nylon rope. This ensures the wire rope remains taut, preventing slack or overload, achieving stable wire rope winding, and guaranteeing the safety of personnel and equipment.

[0139] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 4As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other via the communications bus 440. The processor 410 can call logical commands stored in the memory 430 to execute the methods described in the above embodiments, for example:

[0140] The system determines the real-time torque of the main motor and the real-time torque of the slave motor; it also determines the real-time radius and angular velocity of the wire rope drum and the nylon rope drum; based on the linear velocity setpoint, the real-time radius and angular velocity of the wire rope drum, it determines the angular velocity deviation and controls the torque of the main motor based on the angular velocity deviation; and based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, it determines the tension deviation and controls the torque of the slave motor based on the tension deviation. The main motor is used to reel in the wire rope; the slave motor is used to release the nylon rope; and the nylon rope and wire rope are detachably connected.

[0141] Furthermore, when the logical commands in the aforementioned memory can be implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several commands to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0142] The processor in the electronic device provided in this embodiment of the invention can call logical instructions in the memory to implement the above method. Its specific implementation method is the same as the aforementioned method implementation method and can achieve the same beneficial effects, which will not be repeated here.

[0143] This invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the methods provided in the above embodiments.

[0144] The specific implementation method is the same as the aforementioned method implementation method and can achieve the same beneficial effects, so it will not be repeated here.

[0145] This invention provides a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0146] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for winding up a rope in a winch, characterized in that, include: Determine the real-time torque of the main motor and the real-time torque of the slave motor; Determine the real-time radius and real-time angular velocity of the wire rope drum, as well as the real-time radius of the nylon rope drum; Based on the linear velocity setpoint, the real-time radius and real-time angular velocity of the wire rope drum, the angular velocity deviation is determined, and the torque of the main motor is controlled based on the angular velocity deviation. Based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension set value, the tension deviation is determined, and the torque of the slave motor is controlled based on the tension deviation. The main motor is used to retract the steel wire rope; the slave motor is used to release the nylon rope; the nylon rope is detachably connected to the steel wire rope. The process of determining the angular velocity deviation based on the linear velocity setpoint, the real-time radius of the wire rope drum, and the real-time angular velocity, and controlling the torque of the main motor based on the angular velocity deviation, includes: Based on the linear velocity setting value and the real-time radius of the wire rope drum, the set angular velocity of the wire rope drum is determined; The angular velocity deviation is determined based on the difference between the set angular velocity and the real-time angular velocity; Using the angular velocity deviation as an error signal, a real-time torque adjustment amount for the main motor is generated, and the torque of the main motor is controlled based on the real-time torque adjustment amount. The process of determining the tension deviation based on the real-time torque of the main motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension setpoint, and controlling the torque of the slave motor based on the tension deviation, includes: Based on the real-time torque of the main motor and the real-time radius of the wire rope drum, the real-time traction force of the main motor on the wire rope is determined. The real-time braking force of the slave motor on the wire rope is determined based on the real-time torque of the slave motor and the real-time radius of the nylon rope drum. Based on the real-time traction force and the real-time braking force, the real-time tension of the wire rope is determined; The tension deviation is determined based on the real-time tension of the wire rope and the set tension value. Using the tension deviation as an error signal, a real-time torque adjustment amount for the slave motor is generated, and the torque of the slave motor is controlled based on the real-time torque adjustment amount.

2. The method for winding up the rope in a winch according to claim 1, characterized in that, The determination of the real-time radius and real-time angular velocity of the wire rope drum, and the real-time radius of the nylon rope drum, includes: Based on the real-time recovery length of the wire rope, the average radius of the first cross section of the wire rope, the number of turns of wire rope stored in each layer of the wire rope drum, and the diameter of the wire rope, the radius increment of the wire rope drum is determined. The real-time radius of the wire rope drum is determined based on the initial radius of the wire rope drum and the radius increment. The first average radius of the cross section is determined based on the cross section radius of the wire rope after one turn of the wire rope on the wire rope drum before and after the increase of the number of winding layers.

3. The method for winding up the rope in a winch according to claim 2, characterized in that, The real-time recovery length of the wire rope is determined based on the following steps: The real-time linear velocity of the wire rope drum is determined based on its real-time angular velocity and real-time radius. The real-time recovery length of the wire rope is determined based on the real-time linear velocity of the wire rope drum and the rope winding time.

4. The method for winding up rope in a winch according to claim 2, characterized in that, The method further includes: The real-time release length of the nylon rope is determined based on the real-time recovery length of the steel wire rope. Based on the real-time release length of the nylon rope, the average radius of the second cross section of the nylon rope, the number of turns of nylon rope stored in each layer of the nylon rope drum, and the diameter of the nylon rope, the radius reduction value of the nylon rope drum is determined. The real-time radius of the nylon rope drum is determined based on the initial radius of the nylon rope drum and the radius reduction value. The average radius of the second cross section is determined based on the cross section radius of the nylon rope after one turn of the nylon rope on the nylon rope drum before and after the reduction of the number of winding layers.

5. A rope winding device for a winch, characterized in that, The method for winding up a rope using a winch as described in any one of claims 1 to 4 includes: The first determining module is used to determine the real-time torque of the main motor and the real-time torque of the slave motor. The second determining module is used to determine the real-time radius and real-time angular velocity of the wire rope drum, as well as the real-time radius of the nylon rope drum. The main motor control module is used to determine the angular velocity deviation based on the linear velocity setpoint, the real-time radius and real-time angular velocity of the wire rope drum, and to control the torque of the main motor based on the angular velocity deviation. The slave motor control module is used to determine the tension deviation based on the real-time torque of the master motor, the real-time torque of the slave motor, the real-time radius of the wire rope drum, the real-time radius of the nylon rope drum, and the tension set value, and to control the torque of the slave motor based on the tension deviation. The main motor is used to retract the steel wire rope; the slave motor is used to release the nylon rope; the nylon rope is detachably connected to the steel wire rope.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the rope winding method of the winch equipment according to any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the rope winding method of the winch equipment according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the rope winding method of the winch equipment according to any one of claims 1 to 4.

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