CN106629234B - Automatic winding scheme based on vision - Google Patents
Automatic winding scheme based on vision Download PDFInfo
- Publication number
- CN106629234B CN106629234B CN201610888249.XA CN201610888249A CN106629234B CN 106629234 B CN106629234 B CN 106629234B CN 201610888249 A CN201610888249 A CN 201610888249A CN 106629234 B CN106629234 B CN 106629234B
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- Prior art keywords
- winding
- cable
- pulley
- reel
- driving device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2818—Traversing devices driven by rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2848—Arrangements for aligned winding
- B65H54/2854—Detection or control of aligned winding or reversal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/40—Arrangements for rotating packages
- B65H54/54—Arrangements for supporting cores or formers at winding stations; Securing cores or formers to driving members
- B65H54/553—Both-ends supporting arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/10—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by devices acting on running material and not associated with supply or take-up devices
- B65H59/20—Co-operating surfaces mounted for relative movement
- B65H59/26—Co-operating surfaces mounted for relative movement and arranged to deflect material from straight path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
Landscapes
- Filamentary Materials, Packages, And Safety Devices Therefor (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
Abstract
The invention relates to the field of automatic cable winding, in particular to an automatic visual feedback tensioning device. The invention provides a visual system and a cable lifting device for automatically adjusting the tension of a cable, which can realize automatic winding by matching a reel and the cable lifting device through visual feedback when the cable is not uniformly wound. The device consists of three major parts: take-up device, draw gear and hawser elevating gear. The whole system is driven by the take-up device to conduct winding, the visual system installed on the take-up device monitors the winding state in real time and feeds the winding state back to the control system, when the winding is uneven, the control system controls the reel to rotate reversely properly, the cable lifting device adjusts the length of the control cable up and down in a matched mode, tension is kept stable, and automatic adjustment and winding of the system are achieved.
Description
Technical Field
The invention relates to the field of automatic cable winding, in particular to an automatic visual feedback tensioning device.
Background
At present, the phenomenon of uneven winding still exists in the aspect of automatic winding of large cables in the domestic cable industry, the winding quality of the cables can be affected by various factors such as mechanical precision, winding speed and linear size, and meanwhile, the winding direction is controlled by a large amount of manpower in the winding process, so that higher requirements are provided for automatic winding equipment.
Disclosure of Invention
The invention aims to provide a visual automatic winding device which can self-regulate winding through visual feedback and enable cables to be uniformly and orderly wound.
The technical scheme adopted by the invention is as follows: the device consists of three parts, namely a take-up device, a traction device and a cable lifting device.
The winding device comprises a sensor lead screw-slider device, a vision sensor, a winding rotation driving device, a winding wheel and a supporting device, wherein the winding wheel is installed on the winding rotation driving device, and the sensor lead screw-slider device is installed above the winding rotation driving device and drives the vision sensor to move back and forth to monitor the winding state.
The traction device comprises a pulley guide system and a lead screw-slider linear driving device, wherein the lead screw-slider linear driving device drives the pulley guide system to perform left and right linear displacement so as to adjust the winding direction.
Hawser elevating gear include pulley I, pulley drive unit I, pulley II and pulley drive unit II, pulley drive unit drives the chain and can reciprocate the pulley fast and accomplish cable length and adjust, keep tension stable.
The invention has the beneficial effects.
The invention realizes the visual feedback automatic adjustment of the uniform winding of the cable, reduces the labor amount of workers and the product cost, and improves the winding efficiency and quality.
Drawings
Fig. 1 is an overall schematic view of an automatic cable winding device.
Fig. 2 is a schematic view of a take-up device.
Fig. 3 is a schematic view of a towing installation.
Fig. 4 is a schematic view of a cable lifting device.
FIG. 5 is a flow chart of the operation of the automatic winding system.
In the figure, 1 a sensor screw-slide block device, 2 a vision sensor, 3 a winding rotation driving device, 4 winding wheels, 5 a supporting device, 6 a pulley guiding system, 7 a screw-slide block linear driving device, 8 a pulley I, 9 a pulley driving device I, 10 a pulley II and 11 a pulley driving device II.
Detailed description of the invention.
Example 1.
The technical scheme adopted by the invention is as follows: the device consists of three parts, namely a take-up device, a traction device and a cable lifting device.
The winding device comprises a sensor lead screw-slider device 1, a vision sensor 2, a winding rotation driving device 3, a winding wheel 4 and a supporting device 5, wherein the winding wheel is installed on the winding rotation driving device, and the sensor lead screw-slider device is installed above the winding rotation driving device and drives the vision sensor to move back and forth to monitor the winding state.
The traction device comprises a 6-pulley guide system and a 7-lead screw-slider linear driving device, wherein the 7-lead screw-slider linear driving device drives the 6-pulley guide system to perform left-right linear displacement and adjust the winding direction.
Hawser elevating gear include 8 pulley I, 9 pulley drive arrangement I, 10 pulley II and 11 pulley drive arrangement II, pulley drive arrangement drives the chain and can reciprocate the pulley fast and accomplish cable length and adjust, keep tension stable.
Example 2.
The 4 reels are driven by the 3 winding rotating devices to rotate, only can rotate positively and negatively and have the function of moving left and right, and in the winding process, the contact points of the mooring ropes and the 4 reels move along the axial direction.
The vision sensor 2 is driven by the sensor lead screw-slider device 1 and moves along with the cable to monitor the wound cable in real time, and when the cable is wound in disorder, information is transmitted to the control system.
The 7 lead screw-slide block linear driving system drives the 6 pulley guide system to convey the cable to the reel, and controls the cable conveying direction, namely the winding direction, and whether the winding is uniform or not is directly related to the cable conveying direction of the pulley guide system.
And the 9 pulley driving device I and the 11 pulley driving device II respectively drive the 8 pulley I and the 10 pulley II to move so as to guide the cable to convey the cable to the traction device.
Example 3.
The automatic winding scheme based on vision as described in embodiment 1 or 2, and the operation flow.
(1) And starting a system servo power supply, installing a reel on the winding rotation driving device, fixing the cable on one side of the reel, and starting automatic winding by forward rotation of a reel motor.
(2) The pulley on the traction device controls the winding direction of the cable, and the uniform and tidy winding is carried out under the driving of the lead screw-slide block device.
(3) The cable lifting device is matched with the cable to be tensioned or released, so that the tension of the cable is kept constant.
(4) The visual system arranged on the winding rotation driving device monitors whether the winding is uniform or not in real time, and if the cable is not arranged uniformly, the visual system can feed back to the control system to be adjusted.
(5) The control system sends an instruction to control the winding motor to rotate reversely in time to rewind irregular cables, the extra cables caused by the reverse rotation are tensioned through the up-and-down movement of the pulleys of the cable lifting device, the tension is kept stable, and the winding wheel motor performs normal winding in the forward rotation mode.
After the operation is completed, the working origin is selected, and the winding of the next reel is performed again.
Example 4.
The automatic winding method of embodiments 1, 2 or 3, automatically adjusting the correction winding based on vision: the control system works in a known operation space, can be monitored through the vision system, and observes the running condition of the control system; under the normal condition of winding of the reel, the visual system still transmits a winding picture to the console, and the console does not act and runs normally; when the winding of the winding wheel is irregular, the visual system feeds back to the control system to correspondingly adjust and correct the winding.
Claims (2)
1. The utility model provides an automatic winding method based on vision, has the function that can real time monitoring and feed back automatically regulated wire winding, makes the wire reel can evenly neatly wind wire all the time, characterized by: the operation flow is as follows:
(1) starting a system servo power supply, installing a reel on a winding rotation driving device, fixing a cable on one side of the reel, and starting automatic winding by forward rotation of a reel motor;
(2) a guide wheel on the traction device controls the winding direction of the cable, and the cable is uniformly and tidily wound under the driving of the lead screw-slide block device;
(3) the cable lifting device is matched with the cable to tighten or release the cable, so that the tension of the cable is kept constant;
(4) the visual system arranged on the winding rotation driving device monitors whether the winding is uniform or not in real time, and if the cable is not arranged uniformly, the visual system can feed back the control system for adjustment;
(5) the control system sends an instruction to control the winding motor to rotate reversely at the right moment, the untidy cable is wound again, the extra cable caused by the reverse rotation moves up and down through the pulley of the cable lifting device to strain the cable, the tension is kept stable, and the winding wheel motor performs normal forward rotation winding;
(6) after the operation is completed, the working origin is selected, and the winding of the next reel is performed again.
2. The automatic winding system according to claim 1, wherein the automatic winding system comprises a winding device, a traction device and a cable lifting device, the winding device comprises a sensor screw-slider device, a vision sensor, a winding rotation driving device, a reel and a supporting device, the reel is mounted on the winding rotation driving device, the sensor screw-slider device is mounted above the winding rotation driving device, and the vision sensor is driven to move back and forth to monitor the winding state; the traction device comprises a pulley guide system and a lead screw-slider linear driving device, wherein the lead screw-slider linear driving device drives the pulley guide system to perform left and right linear displacement so as to adjust the winding direction; hawser elevating gear include pulley I, pulley drive unit I, pulley II and pulley drive unit II, pulley drive unit drives the chain and can reciprocate the pulley fast and accomplish cable length and adjust, keep tension stable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610888249.XA CN106629234B (en) | 2016-10-12 | 2016-10-12 | Automatic winding scheme based on vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610888249.XA CN106629234B (en) | 2016-10-12 | 2016-10-12 | Automatic winding scheme based on vision |
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| Publication Number | Publication Date |
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| CN106629234A CN106629234A (en) | 2017-05-10 |
| CN106629234B true CN106629234B (en) | 2020-12-04 |
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| CN201610888249.XA Active CN106629234B (en) | 2016-10-12 | 2016-10-12 | Automatic winding scheme based on vision |
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| CN110940372B (en) * | 2019-12-19 | 2020-07-21 | 江西太平洋电缆集团有限公司 | Cable arrangement detection system based on machine vision |
| CN111362165A (en) * | 2020-04-13 | 2020-07-03 | 国家海洋技术中心 | Miniature solar unattended winch |
| CN112885595B (en) * | 2021-04-28 | 2021-07-27 | 北京万龙精益科技有限公司 | Double-line parallel winding method |
| CN114803681B (en) * | 2022-04-12 | 2023-06-02 | 江南大学 | Self-adaptive wire arranging equipment and method based on automatic wire feeding |
| CN115231387B (en) * | 2022-06-29 | 2023-08-22 | 江苏金陵电缆有限公司 | Preparation device and preparation method of aluminum alloy cable |
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|---|---|---|---|---|
| GB2221227B (en) * | 1988-06-16 | 1992-09-30 | Ceat Cavi Spa | Automatic winding machine for electrical cables or the like,including an artificial vision system for checking the stratification of the turns, |
| CN202107377U (en) * | 2011-03-22 | 2012-01-11 | 北京榆构有限公司 | Optical fiber winding machine |
| WO2014068084A1 (en) * | 2012-11-02 | 2014-05-08 | Rolls-Royce Marine As | Control system for cables or similar |
| CN204528884U (en) * | 2015-01-30 | 2015-08-05 | 苏州圣利线缆有限公司 | A kind of enamel wire high precision Winder |
| CN205346500U (en) * | 2015-11-23 | 2016-06-29 | 中国电子科技集团公司第八研究所 | Novel automation is rectified and is received winding displacement system based on industry camera visual image handles |
| CN105841716A (en) * | 2016-05-18 | 2016-08-10 | 北方工业大学 | Vision auxiliary control method and device for wire arrangement consistency of optical fiber winding machine |
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2016
- 2016-10-12 CN CN201610888249.XA patent/CN106629234B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2221227B (en) * | 1988-06-16 | 1992-09-30 | Ceat Cavi Spa | Automatic winding machine for electrical cables or the like,including an artificial vision system for checking the stratification of the turns, |
| CN202107377U (en) * | 2011-03-22 | 2012-01-11 | 北京榆构有限公司 | Optical fiber winding machine |
| WO2014068084A1 (en) * | 2012-11-02 | 2014-05-08 | Rolls-Royce Marine As | Control system for cables or similar |
| CN204528884U (en) * | 2015-01-30 | 2015-08-05 | 苏州圣利线缆有限公司 | A kind of enamel wire high precision Winder |
| CN205346500U (en) * | 2015-11-23 | 2016-06-29 | 中国电子科技集团公司第八研究所 | Novel automation is rectified and is received winding displacement system based on industry camera visual image handles |
| CN105841716A (en) * | 2016-05-18 | 2016-08-10 | 北方工业大学 | Vision auxiliary control method and device for wire arrangement consistency of optical fiber winding machine |
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| CN106629234A (en) | 2017-05-10 |
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Effective date of registration: 20211210 Address after: 230000 room 108, building 2, zone a, intelligent equipment science park, No. 3963 Susong Road, economic and Technological Development Zone, Hefei, Anhui Province Patentee after: Harbin Institute of technology robot Group Hefei Co.,Ltd. Address before: 150080 No. 52, Xuefu Road, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN University OF SCIENCE AND TECHNOLOGY |
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Address after: 230000 room 108, building 2, zone a, intelligent equipment science park, No. 3963 Susong Road, economic and Technological Development Zone, Hefei, Anhui Province Patentee after: Strict scientific and Technological Innovation Industry Development Group Hefei Co.,Ltd. Address before: 230000 room 108, building 2, zone a, intelligent equipment science park, No. 3963 Susong Road, economic and Technological Development Zone, Hefei, Anhui Province Patentee before: Harbin Institute of technology robot Group Hefei Co.,Ltd. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A Vision Based Automatic Winding Scheme Effective date of registration: 20230526 Granted publication date: 20201204 Pledgee: Industrial Bank Limited by Share Ltd. Hefei branch Pledgor: Strict scientific and Technological Innovation Industry Development Group Hefei Co.,Ltd. Registration number: Y2023980041849 |
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