A control device based on winding permanent magnet constant torque and a use method

Abstract

The application relates to the technical field of cable winding and unwinding, and particularly relates to a control device based on winding permanent magnet constant torque and a use method. The control device based on winding permanent magnet constant torque comprises a permanent magnet constant torque control assembly, a winding assembly and a permanent magnet rotor assembly are sequentially sleeved from outside to inside, a gap is left between the inner circumferential surface of the winding assembly and the outer circumferential surface of the permanent magnet rotor assembly, the permanent magnet rotor assembly is adapted to be sequentially connected with a speed reducer and a reel, and the reel is adapted to wind a cable; and a control assembly, the winding assembly is connected with the control assembly through a current collector, so that the generated differential power during work is sequentially controlled and led out through the winding assembly, the current collector and the control assembly. The application provides the control device based on winding permanent magnet constant torque and the use method, so as to solve the problems that the eddy current on the induction disc of the motor generates heat during the cable winding and unwinding process, a large number of heat dissipation rib plates need to be arranged on the outer surface of the magnetic hysteresis coupler, and the magnetic hysteresis coupler is large in size and high in cost.

Description

Technical Field

[0001] This invention relates to the field of cable winding and unwinding technology, specifically to a control device and its usage method based on the constant torque of a permanent magnet winding. Background Technology

[0002] Cable reels are typically found in various rail-mounted mobile equipment, such as port gantry cranes, yard cranes, container cranes, tower crane trolley traveling mechanisms, and bucket wheel excavators. In these applications, the cable reel is usually fixedly installed at one end or in the middle of the rail, with the other end of the cable connected to the mobile equipment via a slip ring or terminal box.

[0003] In cable reel winding and unwinding control systems, constant torque control is a core technology that ensures stable cable tension and prevents cable breakage or excessive slack due to changes in reel diameter. Currently, the main method for achieving constant torque control is the hysteresis coupler.

[0004] A hysteresis coupler is a device that transmits torque through non-contact magnetic force. Its core principle is to control the distance between the conductor disk and the permanent magnet disk, thereby changing the magnetic field coupling strength between the driving and driven sides. This generates a constant slip torque on the driven side (i.e., the cable drum side) that is essentially independent of the speed difference. Its technological advantage lies in its inherently "constant torque" characteristic. The torque is determined only by the induced magnetic field strength and is independent of the relative speeds of the driving and driven ends. This allows the system to naturally maintain constant tension even when changes in drum speed due to variations in drum diameter. Simultaneously, the non-contact transmission method avoids mechanical wear, has a simple structure, high reliability, and provides some buffering effect against impact loads.

[0005] During cable retrieval, the motor rotates, driving the induction disk to rotate. The induction disk cuts the magnetic lines of force of the permanent magnet in the permanent magnet disk, generating eddy currents in the induction disk. These eddy currents induce a magnetic field that couples with the permanent magnet disk, causing it to rotate. The disk is connected to a reducer on the cable reel, and the reducer's output shaft drives the cable reel to rotate, thus achieving cable retrieval. During cable unloading, the cable's tension pulls it out of the reel, causing the reducer to reverse, which in turn drives the disk to reverse. The disk, through electromagnetic coupling with the permanent magnet disk, drives the motor to reverse. However, a one-way bearing is installed at the connection between the motor and the induction disk, preventing the motor shaft from reversing. Since the one-way bearing cannot withstand too large a reverse torque, the motor must maintain its original direction of rotation during cable unloading. Because cable retrieval is driven by the motor and unloading is achieved by pulling the cable in the opposite direction, the eddy currents on the induction disk generate heat during this process. Therefore, the hysteresis coupler generates a large amount of eddy current heat during prolonged cable unloading. This is the main reason why the hysteresis coupler must have numerous heat dissipation fins on its exterior. Consequently, existing hysteresis couplers are large and expensive. Summary of the Invention

[0006] This invention provides a control device and method based on the constant torque of a permanent magnet winding, to solve the problem that eddy currents on the induction plate of the motor will generate heat during the cable winding and unwinding process, and a large number of heat dissipation fins need to be installed on the surface of the hysteresis coupler, resulting in the large size and high cost of the hysteresis coupler.

[0007] In a first aspect, the present invention provides a control device based on the constant torque of a permanent magnet winding, comprising: A permanent magnet constant torque control component includes a winding assembly and a permanent magnet rotor assembly nested sequentially from the outside to the inside. A gap is left between the inner circumferential surface of the winding assembly and the outer circumferential surface of the permanent magnet rotor assembly. The permanent magnet rotor assembly is adapted to be connected sequentially to a reducer and a reel. The reel is adapted to wind cables. The control component, wherein the winding assembly is connected to the control component via a slip ring, so that the slip power generated during operation is controlled and extracted sequentially through the winding assembly, slip ring and control component.

[0008] During cable winding and unwinding, the winding assembly rotates under drive, cutting the permanent magnet rotor assembly and generating an internal induced current. This creates slip power between the winding and permanent magnet rotor assemblies. This slip power is led out through slip rings to the control assembly for control and dissipation, thereby maintaining a constant coupling torque between the winding and permanent magnet rotor assemblies. This achieves precise control of the cable winding and unwinding process, offering high accuracy. Simultaneously, the slip rings lead the slip power to the control assembly for dissipation, reducing internal heat generation and eliminating the need for external heat sinks, resulting in smaller size and lower cost.

[0009] In one alternative embodiment, the winding assembly includes an externally mounted winding rotor and an internally mounted three-phase winding core, the three-phase winding core being connected to the slip ring circuit via leads.

[0010] In one alternative implementation, the control components include a three-phase rectifier, a controller, and a heating resistor, wherein the three-phase rectifier is adapted to rectify the induced current of the three-phase winding core into direct current, and the heating resistor is adapted to dissipate excess slip power.

[0011] In one optional embodiment, the permanent magnet rotor assembly includes a first output shaft and a permanent magnet assembly sleeved on the first output shaft, wherein the three-phase winding core and the permanent magnet assembly are provided with an electromagnetic air gap.

[0012] In one optional embodiment, the system further includes a support base, wherein the winding assembly and the slip ring are both disposed within the support base, and the permanent magnet rotor assembly is partially disposed within the support base.

[0013] In one optional embodiment, a power-off braking motor is also included, which includes a brake and a drive motor. The second output shaft of the drive motor is inserted into the shaft hole of the winding rotor, and the flange of the second output shaft is connected to the winding rotor.

[0014] In one optional embodiment, a first support bearing is provided between the first output shaft and the support base, a second support bearing is provided between the second output shaft and the support base, and a third support bearing is provided between the first output shaft and the second output shaft of the drive motor.

[0015] In one alternative embodiment, a speed reducer is further included, which is connected in sequence to the first output shaft and the reel.

[0016] In one optional implementation, the formula for calculating the slot torque between the winding assembly and the permanent magnet rotor assembly is as follows: T2=F*R / i Where T2 is the magnetic slot torque between the winding assembly and the permanent magnet rotor assembly, F is the gravity generated by the cable suspension height, R is the maximum radius of the cable reel, and i is the reduction ratio of the reducer.

[0017] Secondly, the present invention also provides a method for using a control device based on the constant torque of a permanent magnet winding. In the cable winding and unwinding state, the winding assembly is driven to rotate, the winding assembly cuts the permanent magnet rotor assembly and generates an internal induced current, thereby forming slip power between the winding assembly and the permanent magnet rotor assembly. The slip power is led out to the control assembly through the slip ring to control and consume, so as to control the constant coupling torque between the winding assembly and the permanent magnet rotor assembly. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a control device based on the constant torque of a permanent magnet winding, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of a permanent magnet constant torque control component according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the control component according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the cable rotation direction and movement direction in the cable winding state according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the cable rotation direction and movement direction in the cable laying state according to an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached drawings: 1. Power-off braking motor; 101. Drive motor; 102. Brake; 103. Second output shaft; 1031. Connecting end; 1032. Output end; 2. Control component; 201. Three-phase rectifier; 202. Controller; 203. Heating resistor; 3. Permanent magnet constant torque control component; 301. Winding assembly; 3011. Winding rotor; 3012. Three-phase winding core; 302. Permanent magnet rotor assembly; 3021. Permanent magnet assembly; 3022. First output shaft; 303. Support base; 304. First support bearing; 305. Second support bearing; 306. Third support bearing; 4. Reducer; 5. Reel; 6. Cable; 7. Ground; 8. Slip ring; 9. Brush. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of 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 some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The following is combined Figures 1 to 5 The following describes embodiments of the present invention.

[0023] According to an embodiment of the present invention, in one aspect, a control device based on the constant torque of a permanent magnet winding is provided, comprising: a permanent magnet constant torque control component 3, including a winding component 301 and a permanent magnet rotor component 302 sequentially nested from the outside to the inside, with a gap between the inner circumferential surface of the winding component 301 and the outer circumferential surface of the permanent magnet rotor component 302, the permanent magnet rotor component 302 being adapted to be sequentially connected to a reducer 4 and a reel 5, the reel 5 being adapted to wind a cable 6; and a control component 2, wherein the winding component 301 is connected to the winding component 301 via a slip ring 8, so that the slip power generated during operation is sequentially controlled and extracted through the winding component 301, the slip ring 8 and the control component 2.

[0024] During cable winding and unwinding, the winding assembly 301 rotates under drive, cutting the permanent magnet rotor assembly 302 and generating an internal induced current. This creates slip power between the winding assembly 301 and the permanent magnet rotor assembly 302. The slip power is led out to the control assembly 2 through the slip ring 8 for control and dissipation, thereby controlling the constant coupling torque between the winding assembly 301 and the permanent magnet rotor assembly 302. This achieves precise control of the cable winding and unwinding process, offering the advantage of high accuracy. Simultaneously, the slip ring 8 leads the slip power to the control assembly 2 for dissipation, reducing internal heat generation and eliminating the need for external heat dissipation fins, resulting in smaller size and lower cost.

[0025] In one embodiment, such as Figure 1 , Figure 2 As shown, the winding assembly 301 includes an externally mounted winding rotor 3011 and an internally mounted three-phase winding core 3012. The three-phase winding core 3012 is connected to the slip ring 8 via leads. In this embodiment, the winding rotor 3011 is annular with a U-shaped cross-section, and there are several three-phase winding cores 3012 arranged in a ring. In this embodiment, the winding rotor 3011 has several pole slots circumferentially arranged, and each pole slot contains a three-phase winding core 3012.

[0026] In one embodiment, such as Figure 1 , Figure 2 , Figure 3 As shown, the control component 2 includes a three-phase rectifier 201, a controller 202, and a heating resistor 203. The three-phase rectifier 201 is adapted to rectify the induced current of the three-phase winding core 3012 into direct current, and the heating resistor 203 is adapted to dissipate excess slip power. In this embodiment, the three-phase rectifier 201 is connected to the controller 202 by wiring, and the heating resistor 203 is also connected to the controller 202 by wiring.

[0027] In this embodiment, as Figure 3 As shown, the induced current of the three-phase winding rotor 3011 is converted into DC power through the three-phase rectifier 201. The controller 202 is an IGBT board. The IGBT board controls the on and off of the DC power to control the magnitude of the DC power to form a circuit in the winding, thereby controlling the magnitude of the current in the three-phase winding to control the torque. Another part of the induced current of the three-phase winding is consumed by the heating resistor 203.

[0028] In one embodiment, such as Figure 1 , Figure 2 As shown, the permanent magnet rotor assembly 302 includes a first output shaft 3022 and a permanent magnet assembly 3021 sleeved on the first output shaft 3022. The three-phase winding core 3012 and the permanent magnet assembly 3021 are provided with an electromagnetic air gap to achieve no contact between the permanent magnet rotor assembly 302 and the winding assembly 301.

[0029] In one embodiment, such as Figure 1 , Figure 2 As shown, it also includes a support base 303, a winding assembly 301, a permanent magnet rotor assembly 302 and a slip ring 8, all of which are located within the support base 303. The permanent magnet rotor assembly 302 is partially located within the support base 303.

[0030] In one embodiment, such as Figure 1 , Figure 2 As shown, it also includes a power-off braking motor 1, which includes a brake 102 and a drive motor 101. The second output shaft 103 of the drive motor 101 is inserted into the shaft hole of the winding rotor 3011, and the flange of the second output shaft 103 is connected to the winding rotor 3011. The drive motor 101 drives the winding rotor 3011 to rotate through the second output shaft 103.

[0031] In this embodiment, as Figure 2 As shown, it also includes a brush 9, which remains stationary while the slip ring 8 rotates with the second output shaft 103. The brush 9 and the slip ring 8 cooperate to transmit the induced current received by the slip ring 8 to the controller 202.

[0032] In one embodiment, such as Figure 1 , Figure 2 As shown, a first support bearing 304 is provided between the first output shaft 3022 and the support base 303, a second support bearing 305 is provided between the second output shaft 103 and the support base 303, and a third support bearing 306 is provided between the first output shaft 3022 and the second output shaft 103 of the drive motor 101. The first support bearing 304 enables the rotation of the first output shaft 3022 relative to the support base 303; the second support bearing 305 enables the movement of the second output shaft 103 relative to the support base 303. Figure 2 As shown, the output end 1032 of the second output shaft 103 extends into the end of the first output shaft 3022. A third support bearing 306 is provided between the second output shaft 103 and the first output shaft 3022 to realize the rotation of the second output shaft 103 relative to the first output shaft 3022. It should be noted that the winding rotor 3011 in this embodiment is provided with a lead wire outlet, and the winding rotor 3011 is located close to the output end 1032 of the second output shaft 103.

[0033] In one embodiment, such as Figure 1As shown, it also includes a speed reducer 4, which is connected in sequence to the first output shaft 3022 and the reel 5. The braking force is transmitted to the second output shaft 103 through the brake 102 to brake the winding rotor 3011. Due to the magnetic slot torque between the winding rotor 3011 and the permanent magnet rotor assembly 302, the permanent magnet rotor assembly 302 is braked, which drives the speed reducer 4 to brake. The speed reducer 4 drives the reel 5 to remain stationary, ensuring that the cable 6 will not slack off.

[0034] In this embodiment, the formula for calculating the slot torque between the winding assembly 301 and the permanent magnet rotor assembly 302 is as follows: T2=F*R / i; Where T2 is the magnetic slot torque between the winding assembly 301 and the permanent magnet rotor assembly 302, F is the gravity generated by the cable suspension height, R is the maximum radius of the cable reel 5, and i is the reduction ratio of the reducer 4. The specific derivation process is as follows: the gravity F generated by the cable suspension height H * the maximum radius R of the reel 5 is equal to the torque T1 of the cable drop, the torque T1 / the reduction ratio i of the reducer 4 is equal to the magnetic slot torque T2, and H is the distance from the center point of the reel 5 to the ground 7.

[0035] In one embodiment, such as Figure 4 , Figure 5 As shown, it also includes a sliding base, which is connected to the power failure braking motor 1, the control component 2, the reducer 4, the permanent magnet constant torque control component 3, and the reel 5. In this embodiment, a slide rail is also laid on the ground 7, and the sliding base is slidably connected to the slide rail. The sliding base moves along the slide rail to realize cable laying and retrieval.

[0036] A method for using a control device for constant torque of a permanent magnet winding, comprising a cable winding state ( Figure 4 As shown, reel 5 moves counterclockwise, and the cable is in the unwinding state. Figure 5 As shown, the reel 5 moves clockwise and is stationary. The white arrow indicates the direction of movement of the sliding base, and the black arrow indicates the direction of rotation of the reel 5. The specific steps include: (1) In the cable winding state: the power-off braking motor 1 drives the winding assembly 301 to rotate, the winding assembly 301 cuts the permanent magnet assembly 3021 and generates an internal induced current, thereby forming a slip power between the winding assembly 301 and the permanent magnet rotor assembly 302. The slip power is led out to the three-phase rectifier 201 through the slip ring 8 and transmitted to the controller 202 by the three-phase rectifier 201. The induced current is converted into DC through the three-phase rectifier 201. The controller 202 controls the on and off of the DC to control the magnitude of the DC to form a loop in the winding. The controller 202 controls the current magnitude to control the constant coupling torque between the winding assembly 301 and the permanent magnet assembly 3021. At the same time, the reel 5 moves counterclockwise and the sliding base moves along the slide rail to cooperate with the cable winding of the reel 5. (2) In the cable release state: the power-off brake motor 1 does not work, the sliding base moves along the slide rail direction (opposite to the movement direction of the sliding base in the reeling state), the reel 5 moves clockwise, and drives the permanent magnet group 3021 to rotate through the reducer 4. Similarly, the winding assembly 301 cuts the permanent magnet group 3021 and generates an internal induced current. The internal induced current is led out through the collector ring 8 to the three-phase rectifier 201 and transmitted to the controller 202 by the three-phase rectifier 201. The induced current is converted into DC through the three-phase rectifier 201. The controller 202 controls the on and off of the DC to control the magnitude of the DC to form a loop in the winding. The controller 202 controls the current magnitude to control the constant coupling torque between the winding assembly 301 and the permanent magnet group 3021. (3) In the static state: the drive motor 101 of the power-off braking motor 1 does not rotate, the brake 102 of the power-off braking motor 1 starts to de-energize and brake, the second output shaft 103 of the power-off braking motor 1 remains stationary. Since the second output shaft 103 of the power-off braking motor 1 is connected to the winding rotor 3011, the winding rotor 3011 remains stationary. Since there is a magnetic slot torque between the winding rotor 3011 and the permanent magnet group 3021, it causes braking on the permanent magnet group 3021 and the first output shaft 3022, thereby driving the reducer 4 to brake. The reducer 4 drives the reel 5 to remain stationary, ensuring that the cable 6 will not loosen.

[0037] The control device and method based on the constant torque of the permanent magnet winding provided by the present invention have the following advantages: (1) In the cable winding and unwinding state (including cable winding state and cable unwinding state), the winding assembly 301 is driven to rotate, the winding assembly 301 cuts the permanent magnet rotor assembly 302 and generates an internal induced current, thereby forming slip power between the winding assembly 301 and the permanent magnet rotor assembly 302. The slip power is led out to the control assembly 2 through the slip ring 8 for control and consumption, so as to control the constant coupling torque between the winding assembly 301 and the permanent magnet rotor assembly 302, realize the precise control of the cable winding and unwinding process, and has the advantage of high precision. Meanwhile, the slip ring 8 leads the slip power to the control component 2 for control and consumption, thereby reducing the internal heat generation phenomenon. There is no need to set heat dissipation fins on the outside, which has the advantages of small size and low cost; (2) When the brake 102 starts to de-energize and brake, the brake 102 transmits the braking force to the second output shaft 103 to brake the winding rotor 3011. Since there is a magnetic slot torque between the winding rotor 3011 and the permanent magnet rotor assembly 302, it causes the permanent magnet assembly 3021 and the first output shaft 3022 to brake, thereby driving the reducer 4 to brake. The reducer 4 drives the reel 5 to stay stationary, ensuring that the cable 6 will not loosen, thus ensuring the stability of the braking process; (3) The controller 202 controls the on and off of the DC power to control the magnitude of the DC power to form a circuit in the winding, thereby controlling the magnitude of the current in the winding rotor 3011 to control the torque. The other part of the induced current is consumed by the heating resistor 203, reducing the heat generation phenomenon.

[0038] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A control device based on the constant torque of a permanent magnet winding, characterized in that, include: The permanent magnet constant torque control component (3) includes a winding component (301) and a permanent magnet rotor component (302) arranged sequentially from the outside to the inside. There is a gap between the inner circumferential surface of the winding component (301) and the outer circumferential surface of the permanent magnet rotor component (302). The permanent magnet rotor component (302) is adapted to be connected sequentially to the reducer (4) and the reel (5). The reel (5) is adapted to wind cables (6). The control component (2) is connected to the winding component (301) via a slip ring (8) so that the slip power generated during operation is controlled and drawn out sequentially through the winding component (301), slip ring (8) and control component (2).

2. The control device based on the constant torque of a permanent magnet winding according to claim 1, characterized in that, The winding assembly (301) includes an externally mounted winding rotor (3011) and an internally mounted three-phase winding core (3012), which is connected to the slip ring (8) via leads.

3. The control device based on the constant torque of a permanent magnet winding according to claim 2, characterized in that, The control component (2) includes a three-phase rectifier (201), a controller (202), and a heating resistor (203). The three-phase rectifier (201) is adapted to rectify the induced current of the three-phase winding core (3012) into direct current, and the heating resistor (203) is adapted to dissipate excess slip power.

4. The control device based on the constant torque of the permanent magnet winding according to claim 3, characterized in that, The permanent magnet rotor assembly (302) includes a first output shaft (3022) and a permanent magnet assembly (3021) sleeved on the first output shaft (3022), and the three-phase winding core (3012) and the permanent magnet assembly (3021) are provided with an electromagnetic air gap.

5. The control device based on the constant torque of a permanent magnet winding according to claim 4, characterized in that, It also includes a support base (303), in which the winding assembly (301) and the slip ring (8) are both located, and the permanent magnet rotor assembly (302) is partially located in the support base (303).

6. The control device based on the constant torque of a permanent magnet winding according to claim 5, characterized in that, It also includes a power failure braking motor (1) installed in conjunction with the power failure braking motor (1), which includes a brake (102) and a drive motor (101). The second output shaft (103) of the drive motor (101) is inserted into the shaft hole of the winding rotor (3011), and the flange of the second output shaft (103) is connected to the winding rotor (3011).

7. The control device based on the constant torque of a permanent magnet winding according to claim 6, characterized in that, A first support bearing (304) is provided between the first output shaft (3022) and the support base (303), a second support bearing (305) is provided between the second output shaft (103) and the support base (303), and a third support bearing (306) is provided between the first output shaft (3022) and the second output shaft (103) of the drive motor (101).

8. The control device based on the constant torque of a permanent magnet winding according to claim 7, characterized in that, It also includes a speed reducer (4), which is connected in sequence to the first output shaft (3022) and the reel (5).

9. The control device based on the constant torque of a permanent magnet winding according to any one of claims 1 to 8, characterized in that, The formula for calculating the slot torque between the winding assembly (301) and the permanent magnet rotor assembly (302) is as follows: T2=F*R / i Wherein, T2 is the magnetic slot torque between the winding assembly (301) and the permanent magnet rotor assembly (302), F is the gravity generated by the suspension height of the cable, R is the maximum radius of the cable (6) reel (5), and i is the reduction ratio of the reducer (4).

10. A method of using the control device based on the constant torque of a permanent magnet winding, as claimed in any one of claims 1 to 9, characterized in that, In the cable winding and unwinding state, the winding assembly (301) is driven to rotate, the winding assembly (301) cuts the permanent magnet rotor assembly (302) and generates an internal induced current, thereby forming slip power between the winding assembly (301) and the permanent magnet rotor assembly (302). The slip power is led out through the slip ring (8) to the control assembly (2) for control and consumption, so as to control the constant coupling torque between the winding assembly (301) and the permanent magnet rotor assembly (302).

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