Winding apparatus

Abstract

A winding apparatus. A controller (100) of the winding apparatus is configured to: determine a target winding speed of a winding device (130) and a swing speed of a swing rod device (120) on the basis of a first electronic cam relationship corresponding to the winding device (130), a second electronic cam relationship corresponding to the swing rod device (120), and a preset unwinding speed; control the swing rod device (120) to swing at the swing speed; and control the winding device (130) to wind at the target winding speed. The winding apparatus can avoid a situation where the requirements for the speed and acceleration of the winding device are overly high, thereby ensuring the normal operation of the winding apparatus at a relatively high unwinding speed, and improving the winding efficiency of the winding apparatus.

Description

Winding device

[0001] The present disclosure claims priority to the Chinese patent application No. 202410635520.3, filed on May 21, 2024, and entitled “Winding device”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of battery, in particular to a winding device. BACKGROUND

[0003] The winding process is a key process in the production process of square batteries, which directly affects the quality of square batteries. In the winding device for square batteries, the winding device is usually irregular in shape, such as a rhombus winding needle. In order to coordinate the speed of the unwinding device and the winding device, the winding device can use an electronic cam to control the variable speed operation of the winding device according to the shape characteristics of the winding device, so as to ensure the constant linear speed operation of the unwinding device. However, in the case that the constant linear speed of the unwinding device is set to be high, the winding device needs to reach a high speed and acceleration peak at a certain moment, which may cause the driving motor of the winding device to be unable to provide matching driving force. SUMMARY

[0004] The present disclosure aims to alleviate or solve at least one of the above-mentioned problems to some extent.

[0005] In one aspect of the present disclosure, a winding device is provided, comprising:

[0006] An unwinding device configured to unwind a material belt to be wound at a preset unwinding speed;

[0007] A winding device configured to have a non-circular cross-section in the axial direction perpendicular to the winding shaft, and configured to wind the material belt to be wound;

[0008] A swing rod device arranged between the unwinding device and the winding device, configured to swing to drive the movement of the material belt to be wound, so as to adjust the speed of the material belt to be wound transmitted to the winding device;

[0009] A controller configured to determine a target winding speed of the winding device and a swing speed of the swing rod device according to a first electronic cam relationship corresponding to the winding device, a second electronic cam relationship corresponding to the swing rod device, and the preset unwinding speed, and control the swing rod device to swing at the swing speed and control the winding device to wind at the target winding speed.

[0010] Optionally, the pendulum rod device comprises a first pendulum rod mechanism; the first electronic cam relationship corresponding to the winding device is used to represent the relationship between the rotation angle of the winding device and the winding length of the material belt to be wound; and the second electronic cam relationship corresponding to the pendulum rod device is used to represent the relationship between the swinging distance corresponding to the first pendulum rod mechanism and the winding length.

[0011] Optionally, the controller is further configured to determine the second electronic cam relationship corresponding to the pendulum rod device according to the first electronic cam relationship and the preset unwinding speed.

[0012] Optionally, the controller is further configured to perform smoothing filtering on the first electronic cam relationship corresponding to the winding device to obtain a filtered first electronic cam relationship; and determine the second electronic cam relationship corresponding to the pendulum rod device according to the comparison between the first electronic cam relationship before filtering and the filtered first electronic cam relationship.

[0013] Optionally, the controller is further configured to determine a first acceleration curve according to the preset unwinding speed and the first electronic cam relationship corresponding to the winding device; perform smoothing filtering on the first acceleration curve to obtain a filtered first acceleration curve; and determine the filtered first electronic cam relationship according to the filtered first acceleration curve and the preset unwinding speed.

[0014] Optionally, the filtered first acceleration curve is used to indicate the relationship between the angular acceleration of the winding device after filtering and the running time.

[0015] The controller is further configured to determine the winding length and the winding angle corresponding to each running time according to the preset unwinding speed and the filtered first acceleration curve; and obtain the filtered first electronic cam relationship according to the corresponding relationship between the winding length and the winding angle at each running time.

[0016] Optionally, the controller is further configured to obtain the first winding angle corresponding to each winding length in the first electronic cam relationship before filtering and the second winding angle corresponding to each winding length in the filtered first electronic cam relationship; calculate the angle difference between the first winding angle corresponding to each winding length and the second winding angle corresponding to each winding length; and determine the swinging distance corresponding to the first pendulum rod mechanism according to the angle difference corresponding to each winding length to obtain the second electronic cam relationship corresponding to the pendulum rod device.

[0017] Optionally, the pendulum rod device further comprises a second pendulum rod mechanism arranged between the unwinding device and the first pendulum rod mechanism.

[0018] The second swing lever mechanism is configured to swing according to the tension of the material ribbon to be wound from the unwinding device during operation of the winding device, to drive the material ribbon to be wound to adjust the tension of the material ribbon to be wound.

[0019] Optionally, the second swing lever mechanism further comprises a reset member configured to provide a force to reset the second swing lever mechanism when the second swing lever mechanism is not at the target position.

[0020] Optionally, the force is of a fixed size, and the target position is an initial position of the second swing lever mechanism before the swing.

[0021] Optionally, the winding device further comprises a tension control device configured to determine a compensation force according to the acceleration force and / or deceleration force of the material ribbon to be wound transmitted by a plurality of fixed rollers included in the winding device, and output the compensation force to the material ribbon to be wound.

[0022] Thus, the winding device provided by the present disclosure comprises an unwinding device, a winding device, a swing lever device, and a controller. The winding device can be configured to have a non-circular cross-section in the axial direction perpendicular to the winding shaft, and the swing lever device can be arranged between the unwinding device and the winding device. The unwinding device can unwind the material ribbon to be wound at a preset unwinding speed, the winding device is configured to wind the material ribbon to be wound, and the swing device is configured to drive the material ribbon to be wound to adjust the speed of the material ribbon to be wound transmitted to the winding device. The winding speed of the winding device and the swing speed of the swing device can be controlled by the controller. The controller can determine the target winding speed of the winding device and the swing speed of the swing lever device according to the first electronic cam relationship corresponding to the winding device, the second electronic cam relationship corresponding to the swing lever device, and the preset unwinding speed, and control the swing lever device to swing at the swing speed and control the winding device to wind at the target winding speed. Through the first electronic cam relationship corresponding to the winding device and the second electronic cam relationship corresponding to the swing lever device, the present disclosure realizes the cooperation of multiple electronic cam relationships, so that the swing speed of the swing lever device can compensate for the speed difference between the target winding speed of the winding device and the preset unwinding speed of the unwinding device. In the case of constant preset unwinding speed of the unwinding device, the speed fluctuation caused by the mismatch between the target winding speed and the preset winding speed can be avoided, and the winding process can be affected. Even if the unwinding speed is high, the winding device can also operate normally, and the winding efficiency of the winding device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0024] Fig. 1 shows a structural schematic diagram of a winding apparatus according to one embodiment of the present disclosure;

[0025] Fig. 2 shows another structural schematic diagram of a winding apparatus according to one embodiment of the present disclosure;

[0026] Fig. 3 shows a structural schematic diagram of a first swing lever mechanism according to one embodiment of the present disclosure;

[0027] Fig. 4 shows a structural schematic diagram of a second swing lever mechanism according to one embodiment of the present disclosure;

[0028] Fig. 5 shows still another structural schematic diagram of a winding apparatus according to one embodiment of the present disclosure;

[0029] Fig. 6 shows yet another structural schematic diagram of a winding apparatus according to one embodiment of the present disclosure;

[0030] Fig. 7 shows a structural schematic diagram of a winding apparatus including a controller according to one embodiment of the present disclosure;

[0031] Fig. 8 shows a curve schematic diagram of a smoothing filtering of a first electronic cam curve according to one embodiment of the present disclosure;

[0032] Fig. 9-A shows a schematic diagram of a first acceleration curve before filtering according to one embodiment of the present disclosure;

[0033] Fig. 9-B shows a schematic diagram of a first acceleration curve after filtering according to one embodiment of the present disclosure;

[0034] Fig. 10 shows a schematic diagram of a second electronic cam relationship according to one embodiment of the present disclosure.

[0035] BRIEF DESCRIPTION OF DRAWINGS: Controller 100; unwinding device 110; swing lever device 120; winding device 130; film laminating device 140; first swing lever mechanism 210; first driving member 211; first swing lever 212; second swing lever mechanism 220; second swing lever 221; first movable roller 310; first fixed roller 320; second movable roller 410; second fixed roller 420; reset member 430; tension control device 510. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present disclosure.

[0037] It should be noted that the terms "comprising" and "having" and any variations thereof used in the disclosure are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device that includes a list of steps or units not necessarily limited to those clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0038] It can be understood that the terms "first", "second" and the like used in the disclosure can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of the disclosure, the first swing lever can be called the second swing lever, and similarly, the second swing lever can be called the first swing lever. The first swing lever and the second swing lever are both swing levers, but they are not the same swing lever.

[0039] The embodiment of the disclosure discloses a winding device, which can avoid the case that the speed and acceleration of the winding device are too high, ensure the normal operation of the winding device under the condition that the unwinding speed is high, and improve the winding efficiency of the winding device.

[0040] The following will be described in detail in combination with the drawings. In order to facilitate understanding, in the following drawings, the arrow direction shows the transmission direction of the to-be-wound material belt.

[0041] As shown in FIG. 1, FIG. 1 is a structural schematic diagram of a winding device disclosed by the embodiment of the disclosure. The electronic device includes an unwinding device 110, a swing lever device 120 and a winding device 130. The swing lever device 120 is arranged between the unwinding device 110 and the winding device 130.

[0042] The unwinding device 110 is configured to unwind the to-be-wound material belt according to a preset unwinding speed.

[0043] The winding device 130 is configured to have a non-circular cross section perpendicular to the axial direction of the winding shaft. The winding device 130 is configured to wind the to-be-wound material belt according to a target winding speed corresponding to the preset unwinding speed.

[0044] The swing lever device 120 is configured to swing to drive the to-be-wound material belt to move, so as to adjust the speed of the to-be-wound material belt transmitted to the winding device 130, so that the speed of the to-be-wound material belt transmitted to the winding device 130 matches the target winding speed.

[0045] The winding device 130 can unwind the to-be-wound material belt according to the preset unwinding speed. The to-be-wound material belt can include but is not limited to an electrode film, a diaphragm and the like. Optionally, the preset unwinding speed can be a constant speed, which can be configured according to the actual needs in the generation process.

[0046] As shown by the direction arrow in FIG. 1, the unwound material ribbon unwound by the unwinding device 110 can first reach the swing lever device 120, and then be transmitted to the winding device 130 by the swing lever device 120, and wound by the winding device 130.

[0047] The winding device 130 can wind around a winding shaft, and the winding device 130 can be configured to have a non-circular cross section in the axial direction perpendicular to the winding shaft. In some embodiments, the winding device 130 can include a winding needle, which can be a non-circular winding needle, such as a rhombic winding needle, an elliptical winding needle, etc. For example, the cross section in the axial direction perpendicular to the winding shaft of the winding device 130 in FIG. 1 can correspond to an example of the cross section of a rhombic winding needle in the axial direction perpendicular to the winding shaft.

[0048] The winding device 130 can rotate in the clockwise direction or the counterclockwise direction of the winding shaft perpendicular to the cross section to wind the material ribbon. The rotation arrow in FIG. 1 can represent that the winding device 130 can rotate in the counterclockwise direction of the winding shaft perpendicular to the cross section. Since it is necessary to match the preset unwinding speed of the unwinding device 110, the winding device 130 can wind the material ribbon at a target winding speed corresponding to the preset unwinding speed, but the target winding speed and the preset unwinding speed can be different.

[0049] The swing lever device 120 can swing to drive the movement of the material ribbon transmitted to the swing lever device 120, so as to adjust the speed of the material ribbon transmitted to the winding device 130 to match the target winding speed. Since the winding device 130 has an irregular device shape and limited driving force, the target winding speed may, in some cases, be insufficient to meet the preset unwinding speed, and thus the swing lever device 120 is needed to drive the movement of the material ribbon to compensate for the speed difference between the target winding speed and the preset unwinding speed, so as to avoid speed fluctuations and tension fluctuations of the material ribbon, and ensure the winding quality.

[0050] As shown in FIG. 2, which is another structural schematic diagram of the winding equipment disclosed by the embodiments of the present disclosure, the swing lever device 120 can include a first swing lever mechanism 210 and a second swing lever mechanism 220, the second swing lever mechanism 220 can be arranged between the unwinding device 110 and the first swing lever mechanism 210, and the first swing lever mechanism 210 can be arranged between the second swing lever mechanism 220 and the winding device 130. As shown by the direction arrow in FIG. 2, the material ribbon unwound by the unwinding device 110 can first reach the second swing lever mechanism 220, then reach the first swing lever mechanism 210, and finally reach the winding device 130 for winding.

[0051] The first swing lever mechanism 210 can include a first driving member 211, which can include a motor, and a first swing lever 212. The second swing lever mechanism 220 can include a second swing lever 221, which can swing under the tension of the material tape to be wound to drive the material tape to be wound to move by the unwinding device 110 to release the tension of the material tape to be wound. The first swing lever 212 is connected to the first driving member 211, and the first swing lever 212 can swing under the driving of the first driving member 211 to drive the material tape to be wound transmitted from the second swing lever 221 to move to adjust the speed of the material tape to be wound transmitted to the winding device 130, so that the speed of the material tape to be wound transmitted to the winding device 130 matches the target winding speed.

[0052] As shown in FIG. 3, which is a structural schematic diagram of the first swing lever mechanism 210 disclosed by the embodiment of the present disclosure, the first swing lever mechanism 210 further includes a first movable roller 310, which can be connected to the first swing lever 212. When the first swing lever 212 swings under the driving of the first driving member 211, the first movable roller 310 can move under the swinging of the first swing lever 212 to drive the material tape to be wound transmitted from the second swing lever 221 to move to adjust the speed of the material tape to be wound transmitted to the winding device 130, so that the speed of the material tape to be wound transmitted to the winding device 130 matches the target winding speed.

[0053] As shown in FIG. 3, the first swing lever mechanism 210 further includes two first fixed rollers 320. One of the first fixed rollers 320 can receive the material tape to be wound transmitted from the second swing lever 221 and transmit the material tape to be wound to the first movable roller 310. The first movable roller 310 can receive the material tape to be wound transmitted from one of the first fixed rollers 320 to transmit the material tape to be wound to the other first fixed roller 320. The other first fixed roller 320 can receive the material tape to be wound transmitted from the first movable roller 310 to transmit the material tape to be wound to the winding device 130.

[0054] The first movable roller 310 can move in the direction of approaching or moving away from the first fixed rollers 320 under the swinging of the first swing lever 212. Specifically, since the center line of the roller shafts of the two first fixed rollers 320 can form an angle with the movement direction of the first movable roller 310, the length of the material tape between the two first fixed rollers 320 changes when the first movable roller moves, to compensate for the length difference of the material tape caused by the speed difference between the target winding speed and the preset unwinding speed, so as to adjust the speed of the material tape to be wound transmitted to the winding device 130.

[0055] Optionally, two first fixed rollers 320 can be arranged on the side of the first movable roller 310 close to the winding device 130, and the line connecting the roller shaft centers of the two first fixed rollers 320 can be perpendicular to the moving direction of the first movable roller 310, so that the material belt to be wound transmitted from the second swing lever 221 is first transmitted onto the first movable roller 310 by rotation of one of the first fixed rollers 320, and the other first fixed roller 320 is used to receive the material belt to be wound transmitted by the first movable roller 310. In this way, the first movable roller 310 moves towards or away from the first fixed rollers 320 under the action of the first swing lever 212, so that the length of the material belt between the two first fixed rollers 320 changes during the approaching or moving away of the first movable roller 310, thereby compensating for the length difference of the material belt caused by the speed difference between the target winding speed and the preset unwinding speed, and achieving the purpose of adjusting the speed of the material belt to be wound transmitted to the winding device 130.

[0056] For example, the first swing lever 212 can swing to drive the first movable roller 310 to move linearly in a first direction, so that the first movable roller 310 moves away from the two first fixed rollers 320, to increase the length of the material belt between the two first fixed rollers 212, and to reduce the speed of the material belt to be wound transmitted to the winding device 130. The first swing lever 212 can also swing to drive the first movable roller 310 to move linearly in a second direction, so that the first movable roller 310 moves close to the two first fixed rollers 320, to reduce the transmission length of the material belt between the two first fixed rollers 320, and to increase the speed of the material belt to be wound transmitted to the winding device 130. The first direction and the second direction are opposite directions.

[0057] In one embodiment, the second swing lever mechanism 220 further comprises a tension roller, which can be connected to the second swing lever 221 and can move under the action of the second swing lever 221 to adjust the tension of the material belt to be wound. As shown in FIG. 4, which is a structural schematic diagram of the second swing lever mechanism 220 disclosed in the embodiment of the present disclosure, the tension roller of the second swing lever mechanism 220 comprises two second movable rollers 410 and two second fixed rollers 420. The two second movable rollers 410 are respectively connected to the two ends of the second swing lever 221 to move under the action of the swing of the second swing lever 221 to drive the material belt to be wound to run to adjust the tension of the material belt to be wound. The two second fixed rollers 420 are respectively located on the two sides of the swing center of the second swing lever 221.

[0058] Exemplarily, the two second fixed rollers 420 are arranged in a quadrilateral with the two second movable rollers 410, and the two second fixed rollers 420 are arranged at the swinging center of the second swinging rod 221, so that the length of the material belt in the first swinging mechanism 210 is changed during the movement of the two second movable rollers 410.

[0059] As shown by the direction arrows in FIG. 4, one of the second movable rollers 410 can receive the material belt transmitted from the unwinding device 110 and transmit the material belt to one of the second fixed rollers 420, one of the second fixed rollers 420 can receive the material belt transmitted from one of the second movable rollers 410 and transmit the material belt to the other second fixed roller 420, the other second fixed roller 420 can receive the material belt transmitted from one of the second fixed rollers 420 and transmit the material belt to the other second movable roller 410, and the other second movable roller 410 can receive the material belt transmitted from the other second fixed roller 420 and transmit the material belt to the first swinging rod mechanism 210.

[0060] As shown in FIG. 4, the second swinging rod mechanism 220 further comprises a reset member 430 connected to the second swinging rod 221. The reset member 430 can include, but is not limited to, a spring, a motor, a piston, etc. The reset member 430 can provide a force to reset the second swinging rod 221. Optionally, the reset member 430 can provide a force to reset the second swinging rod 221 to a target position when the second swinging rod 221 is not in the target position.

[0061] It can be understood that the target position is the initial position of the second swinging rod 221 before the second swinging rod 221 swings. Specifically, when the material belt is being wound, the second swinging rod receives the material belt unwound from the unwinding device, and thus the second swinging rod 221 starts to swing under the tension of the material belt, i.e., the second swinging rod 221 is not in the target position. The reset member can provide a force to the second swinging rod mechanism 220, i.e., to the second swinging rod 221. The force can be a fixed size, such as a fixed torque output by a motor, to reset the second swinging rod mechanism 220.

[0062] As shown in FIG. 5, FIG. 5 is another schematic view of the winding device according to an embodiment of the present disclosure, the winding device further comprises a tension control device 510 for controlling the tension of the material to be wound, the tension control device 510 is arranged between the first swing lever mechanism 210 and the second swing lever mechanism 220, the tension control device 510 can comprise a second driving member and a third fixed roller, the second driving member can comprise a motor, the second driving member can be connected with the third fixed roller, and the second driving member can be used to adjust the rotation of the third fixed roller to control the tension of the material to be wound.

[0063] The tension control device 510 can further detect the acceleration force and / or deceleration force of the plurality of fixed rollers on the material to be wound, and determine the compensation force according to the acceleration force and / or deceleration force of the plurality of fixed rollers on the material to be wound, and output the compensation force to the material to be wound to compensate the movement of the material to be wound, so as to control the tension of the material to be wound. The plurality of fixed rollers can comprise all the fixed rollers through which the material to be wound passes.

[0064] As shown in FIG. 6, FIG. 6 is another schematic view of the winding device according to an embodiment of the present disclosure, wherein the unwinding device 110 and the swing lever device 120 are both multiple, each unwinding device 110 corresponds to a swing lever device 120, and the winding device further comprises a film combining device 140, the film combining device 140 is connected with the plurality of swing lever devices 120, and the film combining device 140 is used to combine the materials to be wound transmitted by the plurality of swing lever devices 120 to enter the winding device 130. The film combining device 140 can comprise a first film combining roller and a second film combining roller, and a film combining channel is formed between the first film combining roller and the second film combining roller, the materials to be wound transmitted by the plurality of swing lever devices 120 enter the film combining channel, and the film combining channel can combine the materials to be wound transmitted by the plurality of swing lever devices 120 to enter the winding device 130, so as to coordinate the plurality of unwinding devices 110 and the plurality of swing lever devices 120. It should be understood that a plurality of fixed rollers are also included in FIG. 6, and the present disclosure does not limit whether each fixed roller is arranged or not, and does not limit the position of each fixed roller, which can be set according to actual conditions.

[0065] In order to accurately control the target winding speed of the winding device 130 and the swing speed of the swing lever device 120, the winding device can further comprise a controller. As shown in FIG. 7, FIG. 7 is a schematic view of the winding device comprising a controller according to an embodiment of the present disclosure, wherein the winding device further comprises a controller 100, the controller 100 can be in communication connection with the unwinding device 110, the swing lever device 120 and the winding device 130, and the communication connection can comprise wired connection and / or wireless connection, which is not limited.

[0066] The controller 100 is configured to determine a target winding speed of the winding device 130 and a swinging speed of the swinging lever device 120 according to the first electronic cam relationship corresponding to the winding device 130, the second electronic cam relationship corresponding to the swinging lever device 120, and the preset unwinding speed, and control the swinging lever device 120 to swing at the swinging speed and control the winding device 130 to wind at the target winding speed. Optionally, the controller 100 can determine winding information of the winding device 130 according to the preset unwinding speed and the first electronic cam relationship corresponding to the winding device 130, and the controller 100 can also determine swinging information of the swinging lever device 120 according to the preset unwinding speed and the second electronic cam relationship corresponding to the swinging lever device 120, so as to determine the target winding speed of the winding device 130 and the swinging speed of the swinging lever device 120 according to the winding information and the swinging information.

[0067] Optionally, the controller 100 can obtain the preset unwinding speed set by the unwinding device 110, or send the preset unwinding speed to the unwinding device 110. Optionally, the controller 100 can obtain the swinging distance, swinging angle and other information of the swinging lever device 120, or send the swinging speed to the swinging lever device 120 to control the swinging lever device 120 to swing at the swinging speed. Optionally, the controller 100 can obtain the winding length of the material belt to be wound by the winding device 130, or send the target winding speed to the winding device 130 to control the winding device 130 to wind at the target winding speed.

[0068] The controller 100 can determine the target winding speed of the winding device 130 and the swinging speed of the swinging lever device 120 according to the first electronic cam relationship corresponding to the winding device 130, the second electronic cam relationship corresponding to the swinging lever device 120, and the preset unwinding speed of the unwinding device 110. The first electronic cam relationship corresponding to the winding device 130 can be used to represent the relationship between the rotation angle of the winding device and the winding length of the material belt to be wound, and the second electronic cam relationship corresponding to the swinging lever device 120 can be used to represent the relationship between the swinging distance corresponding to the first swinging lever mechanism 210 and the winding length.

[0069] In some embodiments, the controller 100 can model the shape structure feature of the winding device 130 to obtain the relationship between the rotation angle and the winding length, so as to obtain the first electronic cam relationship corresponding to the winding device 130. Alternatively, the controller 100 can analyze the first electronic cam relationship corresponding to the winding device 130 by sampling data, and the sampling data can include a plurality of sample rotation angles and sample winding lengths corresponding to each sample rotation angle. Since the swing rod device 120 is used to compensate for the speed difference between the preset unwinding speed and the target winding speed, the second electronic cam relationship corresponding to the swing rod device 120 can be determined according to the first electronic cam relationship and the preset unwinding speed.

[0070] Alternatively, for any target running moment, the controller 100 can obtain the target winding length of the to-be-wound material belt at the target running moment according to the running moment and the preset unwinding speed of the unwinding device 110, so that the controller 100 can determine the target rotation angle according to the target winding length and the first electronic cam relationship, and can determine the target swing distance according to the target winding length and the second electronic cam relationship. The first electronic cam relationship can be represented by a first electronic cam curve, as shown in FIG. 1-C, which is a curve diagram of the first electronic cam relationship disclosed by the embodiment of the present disclosure. In the coordinate system of the first electronic cam curve, the horizontal coordinate axis corresponds to the winding length, and the vertical coordinate axis corresponds to the rotation angle. Since the winding length is proportional to the preset unwinding speed, the curvature of each part of the first electronic cam curve can represent the angular acceleration of the winding device 130. The greater the curvature, the greater the angular acceleration of the winding device 130, and the angular acceleration of the winding device 130 refers to the acceleration of the angular velocity of the winding device 130. Therefore, the controller 100 determines the target rotation angle at the cam curve curvature corresponding to the first electronic cam curve, so as to obtain the target winding speed of the winding device 130, which can refer to the angular acceleration of the winding device 130. Similarly, the controller 100 can also determine the target swing distance at the cam curve curvature corresponding to the second electronic cam curve, so as to obtain the swing speed of the swing rod device 120.

[0071] As an example, for the moment A, the moment A can refer to the 0.8 second of a running period, the controller 100 can obtain the target winding length of the to-be-wound material belt at the moment A according to the moment A and the preset unwinding speed of the unwinding device 110, so that the controller 100 can determine the point B in the first electronic cam curve and the point C in the second electronic cam curve at the moment A, so as to determine the cam curve curvature corresponding to the point B to obtain the target winding speed of the winding device 130, and determine the cam curve curvature corresponding to the point C to obtain the swing speed of the swing rod device 120.

[0072] In one embodiment, the controller 100 can smooth filter the first electronic cam relationship corresponding to the winding device 130 to obtain a filtered first electronic cam relationship, and determine the second electronic cam relationship corresponding to the swing rod device 120 according to the comparison between the first electronic cam relationship before the smoothing filtering and the filtered first electronic cam relationship. In order to avoid the angular acceleration of the winding device 130 being too large, the controller 100 can smooth filter the first electronic cam relationship to obtain the filtered first electronic cam relationship, which is smoother than the first electronic cam relationship before the smoothing filtering, i.e. the curvature of the curve part with large curvature of the first electronic cam relationship before the smoothing filtering is reduced. As shown in FIG. 8, which is a curve diagram illustrating the smoothing filtering of the first electronic cam curve according to an embodiment of the present disclosure, the curve in (a) of FIG. 8 is smoother than the curve in (b). By implementing this embodiment, the smoothing filtering of the first electronic cam relationship is performed to reduce the speed requirement of the winding device 130, and the second electronic cam relationship is determined according to the comparison between the first electronic cam relationship before the smoothing filtering and the filtered first electronic cam relationship, so that the speed required to be compensated by the swing rod device 120 can be accurately determined, the speed fluctuation in the winding process is avoided, the tension fluctuation is reduced, and the winding quality is improved.

[0073] As an optional implementation, the controller 100 can determine a first acceleration curve according to the preset unwinding speed and the first electronic cam relationship corresponding to the winding device, smooth filter the first acceleration curve to obtain a filtered first acceleration curve, and determine the filtered first electronic cam relationship according to the filtered first acceleration curve and the preset unwinding speed. Specifically, as shown in FIG. 9-A and FIG. 9-B, FIG. 9-A is a diagram illustrating the first acceleration curve before the smoothing filtering according to an embodiment of the present disclosure, and FIG. 9-B is a diagram illustrating the filtered first acceleration curve according to an embodiment of the present disclosure, wherein the angular acceleration amplitude of the first acceleration curve before the smoothing filtering can be lower than 10000, and the angular acceleration amplitude of the filtered first acceleration curve can be lower than 4000. By implementing this embodiment, the first acceleration can be accurately limited within the preset threshold by directly smoothing filtering the first acceleration curve, the filtering effect of the first electronic cam relationship is improved, and the situation that a large angular acceleration is required at some time is avoided.

[0074] The controller 100 can preset the unwinding speed and the first electronic cam curve, determine the running time corresponding to each point in the first electronic cam curve and the angular acceleration of the winding device 130, so as to obtain the first acceleration curve, which can be used to represent the relationship between the angular acceleration of the winding device 130 before filtering and the running time, and the filtered first acceleration curve can be used to represent the relationship between the angular acceleration of the winding device 130 after filtering and the running time. Optionally, the controller 100 can also determine the winding length and the winding angle corresponding to each running time according to the preset unwinding speed and the filtered first acceleration curve, and obtain the filtered first electronic cam relationship according to the corresponding relationship between the winding length and the winding angle at each running time.

[0075] The present disclosure briefly describes the smoothing filtering, wherein for any target point of the curve, the left neighboring point and the right neighboring point of the target point can be determined, the difference between the horizontal coordinate of the left neighboring point and the horizontal coordinate of the target point can be the same as the difference between the horizontal coordinate of the right neighboring point and the horizontal coordinate of the target point, the average of the vertical coordinate of the left neighboring point and the vertical coordinate of the right neighboring point is calculated as the vertical coordinate of the target point, and after updating the vertical coordinates of all points of the curve, the smoothing filtering of the curve is completed. The smoothing filtering method can be applied to the filtering process of the first electronic cam curve and the filtering process of the first acceleration curve in the above-mentioned embodiments, and the present disclosure embodiments will not be repeated.

[0076] As an optional implementation, the process of determining the second electronic cam relationship corresponding to the swing rod device 120 by the controller 100 according to the comparison between the first electronic cam relationship before filtering and the first electronic cam relationship after filtering can include: the controller 100 can obtain the first winding angle corresponding to each winding length in the first electronic cam relationship before filtering and the second winding angle corresponding to each winding length in the first electronic cam relationship after filtering, calculate the angle difference between the first winding angle corresponding to each winding length and the second winding angle corresponding to each winding length, and determine the swing distance corresponding to the first swing rod mechanism 210 according to the angle difference corresponding to each winding length, to obtain the second electronic cam relationship corresponding to the swing rod device. As shown in FIG. 10, FIG. 10 is a schematic diagram of the second electronic cam relationship disclosed by the present disclosure embodiment, the positive and negative values of the swing distance are used to represent different moving directions, when the swing distance is positive, it represents that the moving direction of the first swing rod mechanism 210 is the first direction, and when the swing distance is negative, it represents that the moving direction of the first swing rod mechanism 210 is the second direction.

[0077] It needs to be understood that each winding length refers to the winding length corresponding to each point of the first electronic cam curve, and the points corresponding to the same winding length of the first electronic cam curve before filtering and the first electronic cam curve after filtering are used for difference calculation of the longitudinal coordinates, so that the angle difference corresponding to each winding length can be obtained. The controller 100 can determine the distance difference according to the angle difference and the first electronic cam curve before filtering, as the swing distance corresponding to the first swing lever mechanism 210, so as to determine the swing distance corresponding to the first swing lever mechanism 210 at each winding length, and obtain the second electronic cam relationship corresponding to the swing lever device. By implementing the embodiment, the second electronic cam relationship corresponding to the swing lever device is determined by subtracting the first electronic cam relationship before filtering and the first electronic cam relationship after filtering, the accuracy of the second electronic cam relationship is improved, and the accuracy of the speed compensation is improved.

[0078] In the description of the present specification, the description of the terms "some embodiments", "other embodiments", "ideal embodiments" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0079] The technical features of the above-described embodiments can be combined arbitrarily, and in order to make the description simple, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present specification.

[0080] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A winding apparatus characterized by comprising: The winding device comprises: a unwinding device (110) configured to unwind a material strip at a preset unwinding speed; a winding device (130) configured to wind the material strip, wherein a cross section of the winding device (130) in an axial direction perpendicular to a winding shaft is non-circular; the winding device (130) is configured to wind the material strip; a swing lever device (120) disposed between the unwinding device (110) and the winding device (130) and configured to swing to drive the material strip to move so as to adjust a speed at which the material strip is transmitted to the winding device (130); a controller (100) configured to determine a target winding speed of the winding device (130) and a swing speed of the swing lever device (120) according to a first electronic cam relationship corresponding to the winding device (130), a second electronic cam relationship corresponding to the swing lever device (120), and the preset unwinding speed, and control the swing lever device (120) to swing at the swing speed and control the winding device (130) to wind at the target winding speed.

2. The winding apparatus according to claim 1, characterized by, The swing lever device (120) comprises a first swing lever mechanism (210), the first electronic cam relationship corresponding to the winding device (130) is used to represent a relationship between a rotation angle of the winding device (130) and a winding length of the material strip, and the second electronic cam relationship corresponding to the swing lever device (120) is used to represent a relationship between a swing distance corresponding to the first swing lever mechanism (210) and the winding length.

3. The winding device according to claim 2, wherein the controller (100) is further configured to determine the second electronic cam relationship corresponding to the swing lever device (120) according to the first electronic cam relationship and the preset unwinding speed.

4. The winding device according to claim 2 or 3, wherein the controller (100) is further configured to perform smoothing filtering on the first electronic cam relationship corresponding to the winding device (130) to obtain a filtered first electronic cam relationship, and determine the second electronic cam relationship corresponding to the swing lever device (120) according to a comparison between the first electronic cam relationship before filtering and the filtered first electronic cam relationship.

5. The winding device according to claim 4, wherein the controller (100) is further configured to determine a first acceleration curve according to the preset unwinding speed and the first electronic cam relationship corresponding to the winding device (130), perform smoothing filtering on the first acceleration curve to obtain a filtered first acceleration curve, and determine a filtered first electronic cam relationship according to the filtered first acceleration curve and the preset unwinding speed.

6. The winding apparatus according to claim 5, characterized by the filtered first acceleration curve is used to indicate a relationship between an angular acceleration of the winding device (130) after filtering and a running time. The controller (100) is further configured to determine, according to the preset unwinding speed and the filtered first acceleration curve, a corresponding winding length and a winding angle of the filtered first acceleration curve at each running time; and obtain a filtered first electronic cam relationship according to a corresponding relationship between the winding length and the winding angle at each running time.

7. The winding device according to any one of claims 4 to 6, characterized in that, The controller (100) is further configured to obtain a first winding angle corresponding to each winding length in the first electronic cam relationship before filtering and a second winding angle corresponding to each winding length in the filtered first electronic cam relationship; calculate an angle difference between the first winding angle corresponding to each winding length and the second winding angle corresponding to each winding length; and determine a swing distance corresponding to the first swing lever mechanism (210) according to the angle difference corresponding to each winding length, to obtain a second electronic cam relationship corresponding to the swing lever device (120).

8. The winding apparatus according to any one of claims 2 to 7, characterized by, The swing lever device (120) further comprises a second swing lever mechanism (220) arranged between the unwinding device (110) and the first swing lever mechanism (210). The second swing lever mechanism (220) is configured to swing according to a tension of the to-be-wound material belt unwound from the unwinding device (110) during operation of the winding device, to drive the to-be-wound material belt to move, so as to adjust the tension of the to-be-wound material belt.

9. The winding apparatus according to claim 8, characterized by The second swing lever mechanism (220) further comprises a reset member (430) configured to provide an acting force to reset the second swing lever mechanism (220) when the second swing lever mechanism (220) is not at a target position.

10. The winding apparatus according to claim 9, characterized by The acting force is of a fixed size, and the target position is an initial position of the second swing lever mechanism (220) before the second swing lever mechanism (220) swings.

11. The winding apparatus according to any one of claims 1 to 10, characterized by, The winding device further comprises a tension control device (510) configured to determine a compensation force according to a transmission acceleration force and / or a transmission deceleration force of the to-be-wound material belt by a plurality of fixed rollers included in the winding device, and output the compensation force to the to-be-wound material belt.

Images