Winding machine structure for accurately controlling torque on a reel and method for controlling torque on a reel

Abstract

A winding machine structure for accurately controlling the torque of the reel and a method for controlling the torque of the reel are disclosed, in which a magnetorheological fluid clutch is added in series to a transmission chain driving the reel of a conventional winding machine, and the operating torque of the magnetorheological fluid clutch is precisely controlled to precisely control the torque driving the reel, thereby precisely controlling the tension output to the metal foil sheet by the operating torque of the reel. The winding machine structure of the present invention utilizes the characteristics of the magnetorheological fluid clutch, which can precisely control the operating torque and has a fast response speed, to greatly improve the accuracy of tension control in metal foil sheet rolling production, and lay a good equipment foundation for improving the technical level of the domestic metal rolling production industry and producing precision metal foil sheets.

Description

[Technical field]

[0001] The present invention relates to the technical field of metal foil sheet rolling equipment, and in particular to a winding machine structure for accurately controlling the torque of a winding shaft and a method for controlling the torque of the winding shaft. [Background technology]

[0002] The winder is a widely used auxiliary equipment in the rolling production process of metal foil sheets. During rolling production, the tension of the metal foil sheet at the inlet and outlet of the rolling mill needs to be controlled. The inlet and outlet tension of the conventional rolling mill is realized by controlling the rotation speed difference between the winding shaft and the work roll of the winder, or by controlling the torque of the driving motor of the winder. However, both tension control methods have problems such as the transmission chain of the drive system of the tension realization structure being long, the moment of inertia being large, the control response speed being slow, and the control accuracy being low. In the rolling production of ordinary metal foil sheets, the conventional tension realization structure can still meet the usage requirements. However, in the rolling production of precision metal foil sheets, the requirements for tension control at the inlet and outlet of the rolling mill are particularly strict. The conventional tension realization structure already shows some "power deficiency" in tension control in the rolling production of precision metal foil sheets. Therefore, how to further improve the tension control accuracy in the rolling production of precision metal foil sheets has become a technical bottleneck that needs to be resolved as soon as possible in the domestic metal rolling production industry. Summary of the Invention [Problem to be solved by the invention]

[0003] In order to overcome the deficiencies of the background art, the present invention discloses a winding machine structure for accurately controlling the torque of a reel, and a method for controlling the torque of a reel. A magnetorheological fluid clutch is added in series to a transmission chain driving the reel of a conventional winding machine, and the operating torque of the magnetorheological fluid clutch is precisely controlled to realize precise control over the torque driving the reel, and precise control over the tension that the operating torque of the reel outputs to a metal foil sheet. [Means for solving the problem]

[0004] In order to achieve the above object of the invention, the present invention employs the following technical means.

[0005] The winding machine structure accurately controls the torque of a winding shaft, and includes a frame, a winding shaft, a magnetorheological fluid clutch, a reducer, a motor, and a torque synthesis reducer. The winding shaft is rotatably mounted on the frame, and the reducer and the motor are connected to each other so as to be capable of transmitting power. The reducer and the winding shaft are connected to each other so as to be capable of transmitting power via a plurality of magnetorheological fluid clutches and a torque synthesis reducer.

[0006] The operating torque of the magnetorheological fluid clutch is realized by the driving current. When the magnitude of the driving current changes, the operating torque changes accordingly. Therefore, the control of the operating torque of the magnetorheological fluid clutch has the advantages of a fast response speed and high control accuracy. In addition, when the magnetorheological fluid clutch is operated, there is a rotational speed difference between the driving shaft and the driven shaft, and the magnitude of the rotational speed difference does not affect the operating torque. Therefore, the requirement for the control accuracy of the rotational speed difference between the winding shaft and the work roller of the winding machine is greatly reduced. In addition, by adding the magnetorheological fluid clutch to the winding machine structure, the transmission chain that controls the driving torque of the winding shaft is greatly simplified. Therefore, the moment of inertia of the transmission system is also greatly reduced, and the control response speed is further improved accordingly. Since the maximum operating torque of the existing magnetorheological fluid clutch is limited, in a winding machine with a high requirement for rolling tension, the magnetorheological fluid clutch alone cannot provide a sufficient driving torque to the winding shaft. Therefore, multiple magnetorheological fluid clutches are used to output a larger torque through a torque synthesis reducer, thereby resolving the contradiction between the small operating torque of the magnetorheological fluid clutches and the large torque required by the winding shaft. When multiple magnetorheological fluid clutches are used to synthesize a larger driving torque through the torque synthesis reducer, the output torque of the torque synthesis reducer is controlled by sequentially controlling the operating torque of the multiple magnetorheological fluid clutches, thereby avoiding the problem of the operating torque difference between the multiple magnetorheological fluid clutches being too large.

[0007] The torque combiner reducer further includes a torque combiner reducer output shaft and a plurality of torque combiner reducer input shafts. The torque combiner reducer output shaft and the plurality of torque combiner reducer input shafts are connected to each other by meshing of gears so as to be capable of transmitting torque.

[0008] Preferably, a plurality of magnetorheological fluid clutches, a torque synthesis reducer, and a friction clutch are provided between the reducer and the winding shaft. The reducer and the winding shaft are connected to each other in a transmissible manner via the plurality of magnetorheological fluid clutches, the friction clutch, and the torque synthesis reducer.

[0009] Since the maximum operating torque of the existing magnetorheological fluid clutch is limited, even if a larger torque is output through a torque synthesis reducer using multiple magnetorheological fluid clutches, in some cases, for example, when hot rolling or cold rolling a thick copper strip, the requirement for the driving torque of the winding shaft may not be met. In this case, the reducer and the winding shaft can be connected through a friction clutch. The magnetorheological fluid clutch is in a non-operating state, and the requirement for the driving torque of the winding shaft can be met. When the thickness of the hot rolled or cold rolled copper strip is thin and the driving torque required for the winding shaft is small, the transmission connection of the friction clutch between the reducer and the winding shaft is disconnected and transmission connection is made through multiple magnetorheological fluid clutches, thereby meeting the requirement for the control accuracy of the driving torque of the winding shaft.

[0010] The torque combiner reducer further includes a plurality of torque combiner reducer input shafts and a torque combiner reducer main shaft. The plurality of torque combiner reducer input shafts and the torque combiner reducer main shaft are connected to each other by meshing of gears so as to be capable of transmitting power. A method for accurately controlling the torque of a reel, which realizes accurate control of the driving torque of the reel by accurately controlling the operating torque of a plurality of magnetorheological fluid clutches, the control process includes the following steps:

[0011] In step S1 of setting the operating speed of the magnetorheological fluid clutch, the operating speed of the magnetorheological fluid clutch is the rotational speed difference between its torque input shaft and its torque output shaft, and the winder at the outlet side of the reversible rolling mill is installed so that the rotational speed of its torque input shaft is higher than the rotational speed of its torque output shaft, and the winder at the inlet side of the reversible rolling mill is installed so that the rotational speed of its torque input shaft is lower than the rotational speed of its torque output shaft, and the rotational speed difference between the torque input shaft and the torque output shaft is maintained between 20-80 rpm.

[0012] In step S2 of distributing the operating torque of the magnetorheological fluid clutches, the initial operating torque is averagely distributed to the multiple magnetorheological fluid clutches based on the torque required for the actual operation of the winding shaft, and the calculation formula is as follows. Mci=Mj / I*n ......(1) Mj=T*Rj ......(2) In this, Mci is the torque distributed by a single magnetorheological fluid clutch, Mj is the torque required for the actual operation of the reel, I is the transmission ratio between the output shaft of the magnetorheological fluid clutch and the reel, n is the number of magnetorheological fluid clutches, T is the rolling tension, and Rj is the outer diameter of the copper strip roll on the reel.

[0013] In step S3 of controlling the operating torque of the magnetorheological fluid clutch, the operating torque of the multiple magnetorheological fluid clutches is PID controlled by the feedback signal, and in the feedback control process, control is performed to adjust the operating torque of one of the multiple magnetorheological fluid clutches, the integrated value of the torque adjustment amount of one magnetorheological fluid clutch has a predetermined threshold, when the integrated value of the torque adjustment amount of the feedback-controlled magnetorheological fluid clutch becomes equal to or greater than the predetermined threshold, the feedback control process performs feedback control on other magnetorheological fluid clutches according to a set order, and by analogy with this order, feedback control is performed on each magnetorheological fluid clutch in the entire feedback control process.

[0014] By adopting the above technical means, the present invention has the following advantages: The winding machine structure for accurately controlling the torque of the reel and the method for controlling the torque of the reel disclosed in the present invention add a magnetorheological fluid clutch in series to the transmission chain driving the reel of a conventional winding machine, and precisely control the operating torque of the magnetorheological fluid clutch to precisely control the torque driving the reel, thereby precisely controlling the tension output by the operating torque of the reel to the metal foil sheet. The winding machine structure of the present invention utilizes the characteristics of the magnetorheological fluid clutch, which can precisely control the operating torque and has a fast response speed, to greatly improve the tension control accuracy in metal foil sheet rolling production, and lay a good equipment foundation for improving the technical level of the domestic metal rolling production industry and producing precision metal foil sheets. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a schematic diagram showing a winding machine structure for accurately controlling the torque of the winding shaft. [Diagram 2] FIG. 1 is a schematic diagram showing a torque synthesis reducer structure. [Diagram 3] FIG. 1 is a schematic diagram showing a structure of a reducer. [Figure 4] FIG. 2 is a schematic diagram showing a winding machine structure for accurately controlling the torque of the winding shaft. [Diagram 5] FIG. 2 is a schematic diagram showing the torque synthesis reducer structure. [Figure 6] FIG. 2 is a schematic diagram showing the structure of the reducer. [Figure 7] FIG. 1 is a schematic diagram showing a control process for precisely controlling the torque on the spool. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] The present invention will be described in detail by the following embodiments, and the disclosed objectives are intended to protect all technical improvements within the scope of the present invention.

[0017] First Embodiment The winding machine structure for accurately controlling the torque of the winding shaft and the method for controlling the torque of the winding shaft include a frame 1, a winding shaft 2, a magnetorheological fluid clutch 3, a reducer 4, a motor 5, and a torque synthesis reducer 6. The winding shaft 2 is rotatably mounted on the frame 1. The torque synthesis reducer 6 includes one torque synthesis reducer output shaft 6.1 and three torque synthesis reducer input shafts 6.2. The torque synthesis reducer output shaft 6.1 and the torque synthesis reducer input shaft 6.2 are connected by gear meshing, and a reduction ratio of 1:3 is set. The reducer 4 includes three reducer sub-output shafts 4.2 and one reducer input shaft 4.1. The reduction ratio of 1:10 is set between the reducer sub-output shaft 4.2 and the reducer input shaft 4.1. One end of the winding shaft 2 and the torque synthesis reducer output shaft 6.1 of the torque synthesis reducer 6 are connected to each other via a shaft coupling so as to be capable of transmission. The three torque synthesis reducer input shafts 6.2 of the torque synthesis reducer 6 and the three reducer sub-output shafts 4.2 of the reducer 4 are respectively connected to each other via three magnetorheological fluid clutches 3. The reducer input shaft 4.1 of the reducer 4 and the drive shaft of the motor 5 are connected to each other via a shaft coupling. The magnetorheological fluid clutches 3 have a rotational speed difference between the input shaft and the output shaft during operation, and the rotational speed difference is set to 30 rpm. The operating torques of the three magnetorheological fluid clutches 3 are synthesized into a larger operating torque via the torque synthesis reducer and output via the torque synthesis reducer output shaft 6.1, providing an accurate and controllable operating torque for driving the winding shaft 2. The operating torque of each magnetorheological fluid clutch is determined by the operating current of the magnetorheological fluid clutch. The magnitude of the operating current is controlled by the tension control system of the rolling mill line. By alternately controlling the magnitude of the operating current of the three magnetorheological fluid clutches, the problem of the difference between the operating torques of the three magnetorheological fluid clutches 3 being too large can be prevented.

[0018] <Second embodiment> The winding machine structure for accurately controlling the torque of the winding shaft and the method for controlling the torque of the winding shaft include a frame 1, a winding shaft 2, a magnetorheological fluid clutch 3, a reducer 4, a motor 5, a torque synthesis reducer 6, and a friction clutch 7. The winding shaft 2 is rotatably mounted on the frame 1. The torque synthesis reducer 6 includes one torque synthesis reducer main shaft 6.3 and three torque synthesis reducer input shafts 6.2. The torque synthesis reducer main shaft 6.3 and the torque synthesis reducer input shaft 6.2 are connected by gear meshing, and a reduction ratio of 1:2 is set. The reducer 4 includes three reducer sub-output shafts 4.2, one reducer input shaft 4.1, and a reducer main output shaft 4.3. A reduction ratio of 1:10 is set between the reducer sub-output shaft 4.2 and the reducer input shaft 4.1. A reduction ratio of 1:20 is set between the reducer main output shaft 4.3 and the reducer input shaft 4.1. One end of the winding shaft 2 and one end of the torque synthesis reducer main shaft 6.3 of the torque synthesis reducer 6 are operably connected via a shaft coupling. The other end of the torque synthesis reducer main shaft 6.3 of the torque synthesis reducer 6 and the reducer main output shaft 4.3 of the reducer 4 are operably connected via a friction clutch 7. The three torque synthesis reducer input shafts 6.2 of the torque synthesis reducer 6 and the three reducer sub-output shafts 4.2 of the reducer 4 are operably connected respectively via three magnetorheological fluid clutches 3. The reducer input shaft 4.1 of the reducer 4 and the drive shaft of the motor 5 are operably connected via a shaft coupling.

[0019] When the winding machine is operating in high torque mode, the reducer main output shaft 4.3 of the reducer 4 is actually directly and electrically connected to the reel 2 via the friction clutch 7, and the magnetorheological fluid clutch is in a non-operating state (no operating current) to meet the requirement for driving torque of the reel 2.

[0020] When the winder is operating in the torque precision control mode, the friction clutch 7 is in a disconnected state, the three magnetorheological fluid clutches 3 are in an operating state (with operating current), and there is a rotation speed difference between the input shaft and the output shaft of the three magnetorheological fluid clutches 3, and the rotation speed difference is set to 30 rpm. The operating torques of the three magnetorheological fluid clutches 3 are combined into a larger operating torque through the torque combining reducer 6 and output through the torque combining reducer main shaft 6.3, providing an accurate and controllable operating torque for driving the winding shaft 2. The operating torque of each magnetorheological fluid clutch is determined by the operating current of the magnetorheological fluid clutch. The magnitude of the operating current is controlled by the tension control system of the rolling mill line. By alternately controlling the magnitude of the operating current of the three magnetorheological fluid clutches, the occurrence of the problem of the difference between the operating torques of the three magnetorheological fluid clutches 3 being too large is suppressed.

[0021] The method for accurately controlling the torque of the reel is to accurately control the operating torque of a plurality of magnetorheological fluid clutches 3, thereby achieving accurate control of the driving torque of the reel 2. The control process includes the following steps:

[0022] Step S1: Set the operating speed of the magnetorheological fluid clutch 3. The operating speed of the magnetorheological fluid clutch 3 is the rotational speed difference between its torque input shaft and torque output shaft. It is set so that the rotational speed difference between the torque input shaft and the torque output shaft is maintained at 30 rpm. Step S2: Distribute the operating torque of the magnetorheological fluid clutch (3). The initial operating torque is distributed evenly to the multiple magnetorheological fluid clutches 3 based on the torque required for the actual operation of the winding shaft 2. The calculation formula is as follows: Mci=Mj / I*n ......(1) Mj=T*Rj ......(2) In this, Mci is the torque distributed by a single magnetorheological fluid clutch 3, Mj is the torque required for the actual operation of the reel 2, I is the transmission ratio between the output shaft of the magnetorheological fluid clutch 3 and the reel 2, n is the number of magnetorheological fluid clutches 3, T is the rolling tension, and Rj is the outer diameter of the copper strip roll on the reel 2. Step S3: The operating torque of the magnetorheological fluid clutch 3 is controlled. The operating torque of the multiple magnetorheological fluid clutches 3 forms a PID control according to a feedback signal, and in the feedback control process, control is performed to adjust the operating torque of one of the multiple magnetorheological fluid clutches 3, the accumulated value of the torque adjustment amount of one magnetorheological fluid clutch 3 has a predetermined threshold, and when the accumulated value of the torque adjustment amount of the feedback-controlled magnetorheological fluid clutch 3 becomes equal to or greater than the predetermined threshold, the feedback control process performs feedback control on the other magnetorheological fluid clutches 3 based on a set order, and by analogy with this order, feedback control is realized for each magnetorheological fluid clutch 3 in the entire feedback control process.

[0023] Supplementary explanation: The torque control process of the winding machine's shaft 2 actually includes control of the rotation speed of the shaft 2, but the control structure and method are basically the same as those of the conventional technology, so detailed description is omitted here. For the conventional control of the rotation speed of the shaft 2, it is necessary to appropriately increase the calculated motor rotation speed, and ensure that the rotation speed difference between the torque input shaft and the torque output shaft of the magnetorheological fluid clutch 3 is maintained between 20-80 rpm. Usually, in order to reduce heat generation during operation of the magnetorheological fluid clutch 3, the rotation speed difference between the torque input shaft and the torque output shaft is set near the lower limit, and is usually set to 30 rpm. For example, if the hot rough rolling speed of the copper strip is 150 m / min, the unwinding diameter of the reel 2 is 2 m, and the rotation speed of the reel 2 is calculated to be 23.885 rpm, the rotation speed of the torque input shaft 2.3.2 of the torque synthesis reducer 2.3 calculated based on the reduction ratio of 3:1 between the torque input shaft 2.3.2 and the torque output shaft 2.3.1 of the torque synthesis reducer 2.3 is 71.656 rpm. Since the rotation speed difference between the torque input shaft and the torque output shaft of the magnetorheological fluid clutch 3 is 30 rpm, the rotation speed of the torque input shaft of the magnetorheological fluid clutch 3 is 101.656 rpm. If the reduction ratio of the gearbox 2.5 is 10, the finally calculated rotation speed of the motor 2.6 is 1016.56 rpm.

[0024] The details of the control process for accurately controlling the torque of the reel are shown in FIG. 6 of the specification, and the rolling tension control process actually includes an initial torque distribution process 8, an operating torque sequence control process 9 of the magnetorheological fluid clutch 3, and a feedback control cycle process 10. Hereinafter, the rolling tension control process in the hot rough rolling process of precision copper strip will be described by taking the rolling of the final pass of hot rough rolling of copper strip as an example. The parameters are as follows:

[0025] The thickness of the finished hot rough rolled copper strip is 1.5mm, the thickness deviation is ±0.001mm, the inner diameter of the sheet roll is 610mm, the outer diameter of the sheet roll is φ1850mm, the winding speed is 5m / min, the rolling speed is 180m / min, the acceleration time is 30s, the winding tension is 1.0KN, the rolling tension is 10KN, and the allowable fluctuation range of the rolling tension is ±0.5%. The parameters of the magnetorheological fluid clutch 3 are as follows: the maximum operating torque is 2.0 KN*m, and the starting torque (uncontrolled state) is 0.01 KN*m. For convenience of explanation, it is assumed that the control current and the operating torque have a linear relationship (actually a nonlinear relationship), the linear coefficient is 0.25 KN*m / A, and the operating current control accuracy is 10.0 mA.

[0026] Initial torque distribution process 8: During roll-up, the operating torque distribution of the three magnetorheological fluid clutches 3 is as follows: During roll-up, the actual operating torque of the reel 2 is Mj=T*Rj=1.0*0.305=0.305KN*m, and the average distributed operating torque of each magnetorheological fluid clutch 3 is Mci=Mj / I*n=0.305 / (3*3)=0.0339KN*m, so the operating current of each magnetorheological fluid clutch 3 is 95.6mA, and the predetermined threshold value of the integrated value of the torque adjustment amount of each magnetorheological fluid clutch 3 is set to 0.01KN*m.

[0027] Magnetorheological fluid clutch 3 operating torque sequence control process 9: Let the three magnetorheological fluid clutches 3 be A, B, and C, respectively. Since the initial operating torques are evenly distributed, the randomly rearranged front-to-back sequence becomes A, B, and C.

[0028] Feedback control cycle process 10: As the rotation speed of the work roll increases, the rotation speed of the reel 2 and the rolling tension also increase, and the target value after the rolling tension increases is given by the control system. A deviation occurs between the actual tension value detected by the sensor in a set cycle and the target value after the rolling tension increases, and the control system outputs a feedback control signal by PID control calculation. The feedback control signal is incorporated into the reel tension control flow, and first, the control direction of the feedback signal (positive direction increases the operating torque, and negative direction decreases the operating torque) is determined, and control is performed to increase the operating torque of the magnetorheological fluid clutch 3C in the order of A, B, and C determined for the magnetorheological fluid clutch 3. For each cycle of the feedback control cycle process 10, it is determined whether the integrated value of the torque adjustment amount of the magnetorheological fluid clutch 3C exceeds the set threshold value of 0.01 KN*m, and if it does not exceed it, the process moves to the next feedback control cycle. In the subsequent control cycle, if the accumulated torque adjustment amount of the magnetorheological fluid clutch 3C exceeds the set threshold value of 0.01 KN*m, the process returns to the operating torque sequence control process 9, and the order of the three magnetorheological fluid clutches 3A, B, and C is rearranged based on the magnitude of the torque, and the rearranged order becomes C, A, and B (C has the largest operating torque, so it takes first place, and the order of A and B becomes random).

[0029] When the operating torque sequence control process 9 of the magnetorheological fluid clutch 3 is completed, the process returns to the feedback control cycle process 10, and in the new feedback control cycle process 10, the feedback control of the operating torque of the magnetorheological fluid clutch 3B continues in the positive direction. After several feedback control cycle processes 10 have passed, the integrated torque adjustment amount of the magnetorheological fluid clutch 3B exceeds the set threshold value of 0.01 KN*m. At this time, the process returns to the operating torque sequence control process 9 again, and the order of the three magnetorheological fluid clutches 3A, B, and C is rearranged based on the magnitude of the torque, and the rearranged result becomes B, C, and A (or, since the operating torques of C and B are equal, the rearranged result becomes C, B, and A, and the order of C and B becomes random).

[0030] Through the repetition of the above-mentioned operating torque sequence control process 9 and feedback control cycle process 10, the rolling of the final pass of the hot rough rolling of the copper strip gradually goes from the roll-up stage to the stable rolling stage. During this process, the operating torque of the three magnetorheological fluid clutches 3A, B, C increases from the initial 0.0339KN*m to more than 1.1KN*m (when the diameter of the sheet roll increases and the stable rolling stage is entered, the actual operating torque of the three magnetorheological fluid clutches 3A, B, C exceeds 1.1KN*m). When the stable rolling stage is entered, the actual operating torque of the three magnetorheological fluid clutches 3A, B, C continues to increase with the increase in the diameter of the sheet roll. Through the precise control of the rolling tension control process of the copper strip and copper plate rolling line, the rolling tension is constantly stably controlled to maintain 10KN.

[0031] The rolling tension control accuracy is analyzed. Take the rolling tension control in the stable rolling stage as an example. The operating current control accuracy of the magnetorheological fluid clutch 3 is 10.0mA, that is, in the feedback control cycle process 10, the operating torque change amount of the magnetorheological fluid clutch 3 is 0.0025KN*m. Therefore, the operating torque change amount of the reel 2 is 0.0075KN*m. When calculated with a maximum sheet roll diameter of 1450mm, the maximum change amount of the rolling tension finally caused is 0.00544KN, and its control accuracy is 0.0544%. This is far beyond the ±0.5% fluctuation range allowed by the rolling tension during the final pass of hot rough rolling of precision copper strip. Therefore, the high rolling tension control accuracy fully guarantees the dimensional accuracy of the precision copper strip after rough rolling. The parts of the present invention that are not described in detail are prior art. [Explanation of symbols]

[0032] 1 Frame 2 Reel 3. Magnetorheological fluid clutch 4 Reducer 4.1 Reducer input shaft 4.2 Reducer sub-output shaft 4.3 Reducer main output shaft 5 Motor 6 Torque synthesis reducer 6.1 Torque synthesis reducer output shaft 6.2 Torque synthesis reducer input shaft 6.3 Torque composite reducer main shaft 7 Friction clutch 8 Initial Torque Distribution Process 9. Torque sequence control process 10 Feedback Control Cycle Process

Claims

1. A winding machine structure that accurately controls the torque of a winding shaft, The present invention comprises a frame (1), a winding shaft (2), a magnetorheological fluid clutch (3), a reducer (4), a motor (5), and a torque synthesis reducer (6), The winding shaft (2) is rotatably mounted on the frame (1), and the reduction gear (4) and the motor (5) are connected to each other so as to be capable of transmitting power. The reducer (4) and the winding shaft (2) are connected to each other so as to be capable of transmitting power via a plurality of magnetorheological fluid clutches (3) and a torque synthesis reducer (6). A winding machine structure capable of accurately controlling the torque of a reel, characterized in that

2. A winding machine structure for accurately controlling the torque of a winding shaft according to claim 1, The torque synthesis reducer (6) includes a torque synthesis reducer output shaft (6.1) and a plurality of torque synthesis reducer input shafts (6.2); The torque synthesis reducer output shaft (6.1) and the multiple torque synthesis reducer input shafts (6.2) are connected to each other so as to be capable of transmitting torque by meshing gears. A winding machine structure capable of accurately controlling the torque of a reel, characterized in that

3. A winding machine structure for accurately controlling the torque of a winding shaft according to claim 1, A plurality of magnetorheological fluid clutches (3), a torque synthesis reducer (6), and a friction clutch (7) are provided between the reducer (4) and the winding shaft (2); The reducer (4) and the winding shaft (2) are connected to each other so as to be capable of transmitting power via a plurality of magnetorheological fluid clutches (3), a friction clutch (7), and a torque synthesis reducer (6). A winding machine structure capable of accurately controlling the torque of a reel, characterized in that

4. A winding machine structure for accurately controlling the torque of a winding shaft according to claim 3, The torque synthesis reducer (6) includes a plurality of torque synthesis reducer input shafts (6.2) and a torque synthesis reducer main shaft (6.3); The multiple torque synthesis reducer input shafts (6.2) and the torque synthesis reducer main shaft (6.3) are connected to each other so as to be capable of transmitting torque by meshing gears. A winding machine structure capable of accurately controlling the torque of a reel, characterized in that

5. A method for controlling torque on a reel based on the winding machine structure for accurately controlling torque on the reel according to claim 2 or 4, comprising: By precisely controlling the operating torque of the magnetorheological fluid clutches (3), the driving torque of the winding shaft (2) can be precisely controlled. The control process is as follows: Step S1: setting the operating speed of the magnetorheological fluid clutch (3) which is the rotation speed difference between its torque input shaft and torque output shaft, and which is set so that the rotation speed difference between the torque input shaft and the torque output shaft is maintained between 20-80 rpm; The initial operating torque is averagely distributed to the multiple magnetorheological fluid clutches (3) based on the torque required for the actual operation of the winding shaft (2), and the calculation formula is as follows: Mci = Mj / I* n. .. .. .. .. .. (1) Mj = T * Rj ．．．．．．（２） Wherein, Mci is the torque distributed by a single magnetorheological fluid clutch (3), Mj is the torque required for the actual operation of the reel (2), I is the transmission ratio between the output shaft of the magnetorheological fluid clutch (3) and the reel (2), n is the number of magnetorheological fluid clutches (3), T is the rolling tension, and Rj is the outer diameter of the copper strip roll on the reel (2). Step S2 of distributing the operating torque of the magnetorheological fluid clutch (3); and a step S3 of controlling the operating torque of the magnetorheological fluid clutch (3), in which the operating torque of the multiple magnetorheological fluid clutches (3) is PID-controlled according to a feedback signal, and in the feedback control process, a control is performed to adjust the operating torque of one of the multiple magnetorheological fluid clutches (3), an integrated value of the torque adjustment amount of one magnetorheological fluid clutch (3) has a predetermined threshold value, and when the integrated value of the torque adjustment amount of the feedback-controlled magnetorheological fluid clutch (3) becomes equal to or greater than the predetermined threshold value, the feedback control process performs feedback control on the other magnetorheological fluid clutches (3) based on a set order, and by analogy with this order, feedback control is performed on each magnetorheological fluid clutch (3) in the entire feedback control process.

1. A method for controlling torque on a winding machine, comprising:

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