CN1097176A - Be used for coiling cable etc. machine control setup and control the method for this machine - Google Patents
Be used for coiling cable etc. machine control setup and control the method for this machine Download PDFInfo
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- CN1097176A CN1097176A CN93112653.3A CN93112653A CN1097176A CN 1097176 A CN1097176 A CN 1097176A CN 93112653 A CN93112653 A CN 93112653A CN 1097176 A CN1097176 A CN 1097176A
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- China
- Prior art keywords
- spool
- cable
- crinoline
- respect
- unique point
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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
- B65H54/2869—Control of the rotating speed of the reel or the traversing speed for aligned winding
- B65H54/2875—Control of the rotating speed of the reel or the traversing speed for aligned winding by detecting or following the already wound material, e.g. contour following
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
Abstract
This system comprises a lasing light emitter of being arranged (20) so that its cable (C) attached to the point (Q) on the spool (8) near the irradiation (C partly of the cable (C) between same crinoline (17) and the spool (8) together
1) crossing light; With a PIAPACS, this PIAPACS is arranged to: with respect to the axis that is parallel to spool (8) and be fixed on first reference axis on the crinoline (17), the part (C of the decision same cable of light (C)
1) position of the unique point that intersects; Calculated characteristics point is with respect to the kinematic velocity of axis.
Description
The present invention relates to be used for the machine of coiling cable and analogue.Particularly, the present invention relates to a kind of control system that claims 1 preamble limits the automatic coil winding machine of type that is used for.
For cable or analogue coiling to bobbin winder bracket or have on the scroll core of end flange.To cable one end with coiling be fixed on the bobbin winder bracket.Spool is being parallel to the relative translation campaign that produces on the direction of rotation axis of this spool between spool and the crinoline around the rotation of its oneself axis then.
In fact, by many factor overslaughs form adjacent coil on such spool coideal ground.With respect to the bobbin winder bracket of spool,, and all can hinder the stroke of cable and cause forming the inhomogeneous stacking of each coil with respect to the friction force of the cable of end flange with respect to coil interlayer and adjacent coil.
And the inside of the cable of being made up of twisting material (trending towards twisting when it is stretched) can apply a rotation to cable, makes cable also can upset cable winding order and rule on spool.
The reason of the disorder in the coiling of coil and the stacking formation is also relevant with the variation of tension force on the cable, with cable relevant with dimension limit spool, with the flange of spool is not that exactly parallel factor is relevant, and relevant with the error in the oppositely directed device of relative motion between control cable guide piece and spool when cable arrives the end flange of spool.
In order correctly to carry out coiling, one deck coil must be arranged side by side as far as possible equably so that this layer line circle as far as possible closely constitutes the excellent support to next layer line circle with being formed uniformly a surface.If not like this, during the coiling of next layer line circle, cable will enter any space between the last layer line circle or overlap at the protuberance of last layer line circle or overlap, thereby cable will produce permanent deformation under the pressure of follow-up each layer line circle, this makes it be difficult to launch this cable later and uses, and/or will change its bulk properties, might damage its functional characteristic.
In forming one deck coil process, cable can be near an end flange of spool, its must not by tight plug flange and around last circle between.If this situation, will be difficult in use later on loosen cable, and can damage the 26S Proteasome Structure and Function characteristic of cable from spool.
In some cases, the inside face of an end flange of each spool of cable winding on it has a so-called spiral, therein the coiling first lap so that the cable end on spool be easy to enter from the outside.Use these spools, must be at one end on the scroll core or bobbin winder bracket in the space between the spiral on portion's flange and another flange each coil winding after the first lap.During the formation of follow-up each layer line circle, every layer end coil facing spiral must not be absorbed in spiral space on every side, because if this situation occurs, deformation and stretching, extension will take place, thereby damage cable.
Have that the various automatic coil winding machines of analog vision control system are recommended to be used for automatic winding cable or analogue on spool.
European patent application EP-A-0129926 has described a kind of wire coiling machine, wherein, luminous plaque of a sideway swivel of spool and in tele camera picked-up of rotation on the opposite side at formed this layer line circle and adhere to or be added to coiling partial contour in the zone of institute's formation step between preceding one deck on the position at the cable place on the spool.Tele camera is fixed on the crinoline on the axis (axis X) of the relative motion between crinoline and the spool, and it can move with respect to crinoline with the direction (axis Y) that is orthogonal to this axis.The coiling profile partly that the microprocessor system analysis is constituted.And determine to belong to the position of unique point that the circle that is forming will adhere to that circle of the preceding one deck on it.If the desired location has been left in the position of unique point, the electrical motor of the relative motion of control system drive controlling crinoline and spool makes unique point return assigned address.Thus, this control is to be based upon indirect observation and just on the basis of the location correction of this circle of coiling.
European patent EP-B-0043368 has described a kind of automatic coil winding machine with analog vision system, it comprises: light beam is mapped to luminary and tele camera on the spool, the picked-up of this tele camera around the zone of last lap in, the light beam part between this layer line circle that is particularly forming and preceding one deck in the zone of institute's formation step.In this machine, light beam is mapped on the spool and by tele camera and observes this light beam on an obliquity, and this obliquity departs from cable significantly and adheres to or be added to zone on the spool.According to this patent, just detect in the position of the coil of coiling and regulate crinoline and the interaxle relative motion of volume accurately and consistently remains the constant value that equals to be scheduled to so that cable is added to the angle at spool place.
The GB-B-2221227(Ceat Cavi of British patent) a kind of wire coiling machine of the preamble according to claims 1 has been described, it has a vision system, comprise light beam is mapped to a lasing light emitter on the spool that this light beam is added to or the point that is attached to spool intersects with coil at cable.
In this machine, the PIAPACS relevant with vision system also analyzed the image that is absorbed, and the position of decision accompanying point of cable in a reference system, thereby regulate crinoline and the interaxle relative motion of volume according to the observation position and the deviation between the assigned address of the attachment point that is detected.
In this wire coiling machine, as as described in European patent application EP-A-0129926, only having detected cable at it is added to after point on the spool moved, promptly, after the coil that is just adhering to had overlapped or left last circle, control system just got involved to revise the relative motion between crinoline and the spool.
The correction of the relative motion of Huo Deing is used to prevent that coiling from continuing mistakenly like this, but but can not eliminate the coiling defective that has occurred.
An object of the present invention is wherein can prevent the formation of coiling defective to the control of the relative motion between crinoline and the spool for a kind of automatic coil winding machine of the above-mentioned type is provided.
According to the present invention, this purpose is to obtain by a kind of control system that is used for wire coiling machine, and its principal character is limited by claim 1.
Further purpose of the present invention be in wire coiling machine cable or the analogue a kind of method of coiling to the spool equably, its feature is limited by claim 9 to 16.
Just can be illustrated more clearly in further feature and advantage of the present invention by detailed description, be provided by non-limiting example fully, in the accompanying drawings with reference to following accompanying drawing;
Fig. 1 and Fig. 2 are respectively according to the front elevation of the wire coiling machine of the control system of tool of the present invention and lateral plan;
Fig. 3 and Fig. 4 are respectively the partial side view and the front elevations of spool during from the cable winding of crinoline, and Fig. 4 has also represented to be fixed on the quadrature flute card reference coordinate X on the crinoline, Y;
Fig. 5 is according to the analog vision included in the wire coiling machine of the present invention and the block scheme of control system;
Fig. 6 is one group of three curve circle of the curve example of the amount of being monitored between expression wire coiling machine on-stream period, as the function of time shown in the abscissa;
Fig. 7 is the transparent view that is used for the coiling first lap and has the spool of spiral on end flange.
See figures.1.and.2, in described embodiment, a wire coiling machine (known type) comprises a fixing supporting structure, label is 1, this structure comprises two parallel vertical posts 2, have base 2a respectively in its lower end to be used to be bearing in floor or ground T, above-mentioned two columns 2 are interconnected by the crossbeam 3 and 4 of pair of parallel at its top.It is that guide rail 3 and 4 moves that spool bearing support (label 5) can be sent out along crossbeam.Spool 8 be rotated supporting with the lower end that is used for coiling cable or analogue between, support 5 comprises the arm 6 and 7 of two parallel settings in fact.
At the normal operation period of machine, electrical motor 12 is braked and moves along supporting structure 1 together with arm 6 and 7.
One capstan winch 13 is rotated in electrical motor 12(Fig. 1) and the support 5 of for example wirerope 12a top on, its two ends are coupled on the opposite end of stationary support 1, are wound onto on it.
Capstan winch 13 same electrical motors 14 interrelate, this electrical motor 14 can be with a kind of controllable way in a direction or another direction with its rotation so that support 5 is shifted near or removes along the crossbeam or the guide rail 3 and 4 of supporting structure 1.
The following electrical motor 15 of bringing in further support in order to spinning reel 6 by the vertical arm 6 of support 5.
Angular velocity sensor 16 interrelates as tachogenerator or the rotary encoder end with another arm 7 of support 5.
Can see better that in Fig. 2 crinoline (known type, label 17) is fixed on the supporting structure 1.Particularly, crinoline comprises two export orientation rollers, is label 18 in Fig. 1 to 3, between it, makes around the cable C to axle 8 and stretches.
Wire coiling machine shown in Fig. 1 and 2 is such one type, wherein crinoline be fix and spool 8 can be parallel to its axis with respect to crinoline moves.
But, will become clearer by following content, the invention is not restricted to such layout, it also can be parallel in the wire coiling machine that the rotation axis of spool moves at crinoline and works.
One lasing light emitter (label 20) is supported on the fixed position by supporting structure 1.This source is aimed at spool 8 to a laser beam.The label of this light beam is B in Fig. 2 and 3.Lasing light emitter 20 has corresponding beam spread apparatus, light pencil by its beamwidth projects on the spool 8, thus can along the irradiation of the guide rail beam of supporting structure 1 spread all over spool 8 stroke from a flange 8a to another flange 8b vertically around thereon cable C and spool 8.
In Fig. 4, project on the end flange of spool and the light on cable thereon be denoted as L.
Shown in Fig. 2 to 4, light source 20 is to arrange in such a way: the light L that projects on the spool 8 is crossing with the portion C 1 of cable C, and this cable C is adhering near cable or is being added between the crinoline 17 and spool 8 of the some Q on the spool.
As shown in Figure 3, layout at the light source from start to finish 20 of cable winding all is such, so that light beam B is crossing with the cable section C1 of the some Q that is attached to spool near cable, promptly, for formed each layer line circle on spool, from innermost layer, shown in solid outline, till outermost layer, shown in dotted outline.
The tele camera 21(Fig. 2 and 5 that has interference filters traditionally) be fixed near and depart from the locational supporting structure 1 of lasing light emitter 20.Telephotography 21 is arranged in such a way and is orientated: it is suitable for light L is projected on the spool, projects on cable thereon, and projects on the cable section C1 that is added on the spool.
As shown in Figure 5, tele camera 21 is coupled on the PIAPACS, label 30, and it comprises and being arranged to analyze the image signal processing apparatus by the signal that tele camera was provided.On the basis of signal analysis, as what will see, PIAPACS 30 monitors particularly, cable is added to or is attached to zone on the spool, and,, regulate the speed of spool 8 that produces with respect to the electrical motor 14 of the motion of translation of crinoline 17 by interface circuit 31.
Sensor 16 also is linked on the PIAPACS, so that the signal of performance spool rotative speed to be provided to it.
Usually PIAPACS 30 forms together with multi-processor structure, as mode described in detail in GB-B-2221227.
The hardware equipped of PIAPACS 30 a cover software program, be used for by known technology and comprise that the algorithm of connectivity analysis, grey horizontal analysis and rim detection and other geometrical property handles picture signal.Particularly, this system is arranged to according to being fixed on the tele camera 21, and thereby the reference coordinate X, the Cartesian coordinates among the Y that are fixed on the crinoline 17 detect and describe the shape that projects the light L on spool and the cable by light source 20.In Fig. 4, illustrate this reference coordinate, and it comprises the X-axis that is parallel to spool rotation axis (and thereby be parallel to direction of relative movement between spool and the crinoline) and the Y-axis perpendicular with it.
PIAPACS 30 is arranged to: the coordinate of the unique point (the label P among Fig. 3 and 4) that decision light L intersects with the portion C 1 of cable C within reference coordinate X, Y, this unique point are to adhere to or be added to point on the spool near cable.Particularly, this unique point can be the mid point that (for example) represents the arc that light L intersects with the portion C 1 of cable C.
If cable C has diameter D, and the rotative speed of spool 8 is Ω (radian per seconds), if and between the adjacent turn of each layer of winding that forms on the spool, have minimum space δ (considering the dimension limit of cable) at work, the inlet point of cable moves (that is the rotation axis that, is parallel to spool) along spool 8 with following speed:
Vo＝（D＋δ）·Ω/2π
PIAPACS 30 is control motor 14 in the following manner: spool 8 is normally carrying out with speed Vo with respect to the relative translation of crinoline 17.
Thereby, must remain constant constant and equal to be designated as among Fig. 4 the value of Xo with respect to the coordinate Xp of the some P that is fixed on baseline system X, Y on the crinoline 17.
Usually, the value Xo of specified point P is for formed each layer line circle on spool 8 on reference coordinate X on being fixed to crinoline, the abscissa among the Y, all be different, and it can test decision in advance according to the type and the diameter of cable, thereby is stored in the PIAPACS 30.
During forming one deck coil, the position Xp(t of PIAPACS 30 decision unique point P) and speed dx
p/ dt=V
P(t)
According to the speed data with respect to the some P that is fixed on the axis X on the crinoline, the coordinate Xp that PIAPACS 30 can detect a P departs from the trend of its designated value Xo, and can dope this out-of-position size.
Because the diameter tolerance and the surface imperfection of cable, some P obvious variation occurs with respect to the momentary velocity regular meeting of axis X.PIAPACS 30 thereby suitably be arranged to consider the value that the change horizontalization average that calculates from one group of instantaneous value is obtained is as the speed of a P with respect to axis X.
Certainly, if cable by equably around to spool, some P equals zero with respect to the average velociity of axis X.
If the average velociity Vp of the some P that is detected trends towards not being zero, but positive number or negative, then PIAPACS will be will mode described in conjunction with Figure 6 coming control motor 14, so that revise the speed of spool 8 with respect to the relative translation of crinoline 17.
In the figure, graphical representation point P topmost is with respect to a characteristic example of the velocities Vp of axis X, as the function of the time t shown on the abscissa.Middle graphical representation spool 8 is with respect to the relative translation speed V of crinoline 17
RTThe individual features curve, correspondingly apply by electrical motor 14 by PIAPACS 30 by its control.
Shown in the diagram of curves of Fig. 6, the velocities Vp that only will put P equals zero or under any circumstance is lower than a threshold value △ V, and PIAPACS 30 is just the speed V of relative translation
RTRemain on the above-mentioned value Vo.
Velocities Vp as fruit dot P has surpassed the moment t of threshold value △ V(in the diagram of curves of Fig. 6
1The place), PIAPACS 30 just reduces the speed V of relative translation from value Vo
RTThis reduction for example, is carried out like this; Downward-sloping at first (as the moment t in the middle graphs of Fig. 6
1And t
2Between shown in), be that constant reduction is (as moment t subsequently
2Afterwards).
The speed V of relative translation
RTBe reduced till the actual in size variation that equals to be added on the relative translation speed of velocities Vp of a P, as Fig. 6 moment t
3Shown in.
From the speed of a P, from moment that its designated value of zero increases up to moment t
3, the coordinate Xp that P is ordered is a bit larger tham its designated value Xo, shown in the diagram of curves bottom of Fig. 6.
At moment t
3, PIAPACS spool produce in respect to the relative translation speed of guide piece 17 one very sharply the variation of (theoretic moment) so that the coordinate Xp of some P returns (theoretic moment) its designated value Xo.
Correction at that point has been done.
The beginning of coiling cable on spool, first lap are manual usually to be formed.Under this condition, PIAPACS 30 is not worked.After first lap forms, by the manual work of electrical motor 14 spool 8 is placed on the position relative with crinoline 17, the coordinate Xp of its mid point P is around its designated value Xo.
Automatically PIAPACS 30 is activated then, so that spool 8 moves a segment distance and the coordinate Xp of a P is coupled with its designated value Xo with respect to crinoline 17.In fact, in this stage, PIAPACS is considered the velocities Vp of some P with respect to axis X down.
As mentioned above, for each the layer line circle on spool, the value Xo of the coordinate Xp of specified point P is different.In fact, for example just as by shown in Figure 4 see like that, each circle of one deck before each circle of one deck generally all departs from.
The abscissa value of specified point P can be scheduled to and be stored in the PIAPACS by experiment, perhaps it also can be calculated by system according to following data: diameter D, crinoline and the cable of cable enters the distance between the point of spool, the spiral angle β (Fig. 4) of winding, and the diameter D of this layer
L
Just can calculate the diameter of this layer together attached to the aviation value of the crossing individual features point coordinate on axis Y of each coil in this layer according to light L.
The spiral angle β of winding can obtain from the pitch of spiral, by line L is averaged the pitch that just can obtain above-mentioned spiral successively with individual features point each coordinate on axis X that each circle that has adhered to intersects.
When one deck coil on the spool finish and the attachment point of cable with end flange when consistent, PIAPACS 30 can detect the formation of the first lap of one deck down according to the detection of the characteristic point coordinates on axis X and Y.
As for spool with respect to the relative translation of crinoline 17 oppositely to form new one deck coil, PIAPACS also can be arranged to control in the following manner should be oppositely.
One deck coil form during, PIAPACS 30 decision unique point P with towards the distance between the end flange of mobile point.Because light L also intersects with flange, then this also is possible.
When the distance between unique point P and the flange was reduced to predetermined value, control system produced a controlled minimizing at spool on respect to the speed of the relative translation of crinoline 17.This just is added to the increase that the spool place comprises an angle [alpha] at cable C, is formed down the first lap of one deck up to cable C.This can form consistently with regard to the first lap that makes down one deck and can not make cable bump against the end flange of spool.
After the first lap of detected new one deck formed, control system 30 produced one with respect to the spool of crinoline 17 sharply and the motion under the control, makes the feed angle α of cable C adopt the predetermined value that has with its initial value opposite in sign.Then, in fact along with spool 8 with respect to crinoline with the direction translation opposite with its original moving direction, control the coiling of the follow-up coil of this new one deck in the above described manner.
When having spiral on the inboard of spool in end flange, this fact is significant especially, promptly, cable can form and snap into an accompanying last circle and go up and can not make cable C must cause influencing each other with the end flange of spool so that begin to form new one deck coil, thereby first lap is formed in the following manner: the input end of cable under any circumstance is easy to enter from the outside, and coiling is done.
Fig. 7 has represented a kind of like this spool.The inboard of the end flange 8a of the spool shown in this figure has a salient 40 that has whirlpool shape or spiral medial surface, the input end Co of rotatable cable C on it, from end Co, cable is along advancing from the axis of the spool medial surface with the salient 40 that reduces distance gradually and radially be divided into, finish behind a circle of its axis, at it at a C
2The place, it is bent and leads to the core of spool or frame 8C goes up to form follow-up coil till reaching flange 8b, the salient on from flange 8b towards another flange 8a next layer line circle coiling to preceding one deck.Each layer line circle must be limited between the inboard and the plane in the face of salient 40 surfaces of flange 8b of flange 8b.In other words, when beginning near the new salient 40 of each layer line circle at flange 8a, inner side plane and salient 40 that cable does not enter flange 8a are important in the face of the space between that face of flange 8b.
Above-mentionedly be used to make the oppositely directed control technology of coiling to prevent the stretching that other problem of deformation take place and can damage cable.In fact, if keep principle of the present invention constant, with respect to can changing form of implementation and CONSTRUCTED SPECIFICATION widely by the described content of indefiniteness example fully, and do not depart from the scope of the present invention.
Claims (16)
1, a kind of control system that is used for the machine of coiling cable (C) and analogue, comprising:
Bearing set (1,5) is used for the spool that acceptance and swivel bearing one have end flange (8a, 8b);
One crinoline (17);
First actuating device (15) is used for spinning reel (8);
Second actuating device (14) is used for producing the crinoline (17) of the rotation axis that is parallel to spool (8) and the relative motion between the spool (8) in running;
This control system comprises:
Sensor device (16) is used to monitor the rotative speed of spool (8);
One lasing light emitter (20) is used for from an end flange to the other end flange (8a, 8b) irradiation spool (8) so that one light (L) is projected coil on the spool (8);
At least one tele camera (21), it is fixed on the crinoline (17) and can cooperates spool (8) part of being shone by light source (2); And
One PIAPACS (30,31), its same sensor device (16) connects the rotative speed and the same tele camera (21) that are used to monitor spool (8) mutually and connects mutually, and it comprise arranged in order to the image signal processing apparatus (30) of the signal that is provided by at least one tele camera (21) to be provided, PIAPACS (30,31) is arranged to control first and second actuating devices (15,14) in a predetermined manner according to the analysis result of the signal that is provided by at least one tele camera (21);
This control system is characterised in that: light source (20) is arranged in such a way: near cable (C) is attached point (Q) at spool (8), and the part (C of the cable (C) between same crinoline of the light that is shone (L) (17) and the spool (8)
1) intersect, and feature also is: PIAPACS (30,31) is arranged to:
The decision same cable of light (L) (C) is (C partly
1) position of the unique point (P) that intersects, with respect to the axis that is parallel to spool (8) and be fixed to first reference axis (X) on the crinoline (17);
Calculated characteristics point (P) is with respect to the kinematic velocity (Vp) of axis (X);
When unique point (P) remains a constant and goes up and its speed (Vp) when being actually zero with respect to the predetermined reference position (Xo) of axis (X), control second actuating device (14) so that produce a relative motion with command speed (Vo) between crinoline (17) and spool (8), this command speed (Vo) depends on the diameter (D) of cable (C) and is proportional to the rotative speed (Ω) of spool (8).
2, according to the control system of claim 1, it is characterized in that: PIAPACS (30,31) also is arranged to: when unique point (P) surpasses a predetermined threshold (△ V) with respect to the speed (Vp) of axis (X), and the relative velocity (V between crinoline (17) and spool (18)
RT) go up variation of generation, have speed (V with unique point (P)
P) opposite symbol, and this variation that only speed (Vp) of unique point (P) is produced, equal to influence the relative velocity (V between crinoline (17) and the spool (8) in fact in size
RT) variation, make the relative velocity (V between crinoline (17) and the spool (8) then
RT) return rated value (Vo) rapidly, then between crinoline (17) and spool (8) relative translation rapidly of generation so that make unique point (P) return reference position (Xo) with respect to axis (X).
3, according to the control system of claim 2, it is characterized in that PIAPACS (30,31) is arranged to: compared in the same different constant reference position (Xo) of the instantaneous position of unique point (P) (Xp) for each the layer line circle that is wound on the spool (8).
4, according to the control system of claim 3, it is characterized in that, PIAPACS (30,31) is arranged to: compared in the instantaneous position of unique point (P) (Xp) same constant reference position (Xo), particularly tabulated and be stored in this constant reference position (Xo) of its diameter (D) according to the feature of cable for each layer.
According to the control system of above-mentioned each claim, it is characterized in that 5, PIAPACS (30,31) also is arranged to:
Decision unique point (P) is with respect to the coordinate (Yp) perpendicular to second reference axis (Y) of first (X); And
(X, the formation of the first lap that detects new one deck coil is observed in the variation of coordinate Y) with respect to first and second axis according to unique point (P).
6, according to the control system of claim 3 and 5, it is characterized in that: PIAPACS (30,31) is arranged to: the coordinate with respect to second reference axis (Y) of the individual features point that coil intersects, and according to the diameter of this this layer of coordinate Calculation.
According to the control system of above-mentioned each claim, it is characterized in that 7, PIAPACS (30,31) also is arranged to:
Distance between the end flange (8a, 8b) of decision unique point (P) and spool (8); And
When the distance between a unique point (P) and the flange (8a, 8b) drops to predetermined value, producing a control reducing down on the relative velocity between crinoline (17) and the spool (8) so that increase cable (C) be added to angle (α) on the spool (8) up to making cable (C) thus taking before on the last lap of one deck till formation descend the first lap of one deck.
8, according to the control system of claim 5 and 7, it is characterized in that, PIAPACS (30,31) also is arranged to: after its first lap that detects new one deck forms, between spool (8) and cable guiding (17), produce a rapid and controlled relative motion, take to have predetermined value with its initial value opposite in sign so that make cable (C) be added to angle (α) on the spool (8).
9, a kind of method that in wire coiling machine (1), forms the rule coiling of cable (C) or analogue, wire coiling machine (1) comprises bearing set (1), be used for the spool (8) that acceptance and swivel bearing have end flange (8a, 8b), and it has actuating device (14,15), be used for rotating scroll (8) and make its with respect to crinoline (17), be parallel to the rotation axis translation of spool (8);
This method comprises the following steps:
Irradiation one light (L) from the end flange (8a) of spool (8) to another end flange (8b) in such a way: light (L) shines the coil on the spool (8);
Aim at the part of the spool (8) that light (L) shines being fixed at least one tele camera on the crinoline (17), so that produce image signals corresponding;
Handle and analyze this picture signal;
According to the analysis result of picture signal accessory drive (14,15) in a predetermined manner;
The method is characterized in that, in such a way irradiation light (L): near the part (C of its cable (C) of extending between crinoline (17) and the spool (8) of cable is attached to point (Q) on the spool (8), coexisting
1) intersect, its feature also is to comprise the following steps:
With respect to the axis that is parallel to spool (8) and be fixed on first reference axis (X) on the crinoline (17), the part (C of the decision same cable of light (L) (C)
1) position of the unique point (P) that intersects;
Calculated characteristics point (P) is with respect to the kinematic velocity (Vp) of axis (X);
When unique point (P) remains a constant and goes up and its speed (Vp) when being actually zero with respect to the predetermined reference position (Xo) of axis (X), control second actuating device (14) so that produce a relative motion with a command speed (Vo) between crinoline (17) and spool (8), this command speed depends on the diameter (D) of cable (C) and is proportional to the rotative speed (Ω) of spool (8).
10,, it is characterized in that also comprising following feature according to the method for claim 9:
When unique point (P) surpasses predetermined threshold (△ V) with respect to the speed (Vp) of axis (X), the relative velocity (V between crinoline (17) and spool (8)
RT) upward variation of generation, have and speed (Vp) contrary sign and this variation that only the speed (Vp) of unique point (P) is produced equals to influence the variation of relative velocity between crinoline (17) and the spool (8) in size in fact, make relative velocity (V then
RT) return rated value (Vo) rapidly, then between crinoline (17) and spool (8), produce a relative translation rapidly so that unique point (P) is returned with respect to axis (X) reference position (Xo).
11, according to the method for claim 10, it is characterized in that,, compared in the same different constant reference position (Xo) of the instantaneous position of unique point (P) (Xp) for each the layer line circle on spool (8).
According to the method for claim 11, it is characterized in that 12, for each layer, according to the feature of cable (C) its diameter (D) particularly, tabulated and store in the reference position (Xo) that is used for unique point (P).
13, according to the method for one of claim 9 to 12, it is characterized in that, detected characteristics point (P) is with respect to the coordinate (Yp) perpendicular to second reference axis (Y) of first axle (X), and feature also is, detects the first lap of new one deck winding according to the observation of the coordinate (Xp, Yp) of unique point (P).
14, according to the method for claim 11 and 12, wherein, the individual features point that light (L) intersects with the coil of the coiling layer that is just adhering to, with respect to second reference axis (Y), coordinate determined, and according to the diameter of these these layers of coordinate Calculation.
15, according to the method for one of claim 9 to 14, wherein, the distance between the end flange (8a, 8b) of decision unique point (P) and spool (8); And, when dropping to predetermined value, the distance between unique point (P) and the flange produces controlled reducing on respect to the relative velocity of crinoline (17) at spool (8), so that till increasing on the last lap that cable is added to angle (α) one deck up to cable (C) is taken before on the spool (8), thereby form the first lap of time one deck.
16, according to the method for claim 13 and 15, it is characterized in that, after the first lap that detects new one deck forms, produce spool (8) with respect to one of crinoline (17) sharply motion take predetermined value with its initial value opposite in sign so that make cable (C) be added to angle (α) on the spool (8).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ITTO920999A IT1257931B (en) | 1992-12-14 | 1992-12-14 | CONTROL SYSTEM FOR A WINDING MACHINE FOR ELECTRIC AND SIMILAR CABLES, INCLUDING AN ARTIFICIAL VISION SYSTEM FOR THE CONTROL OF THE STRATIFICATION OF THE COILS, AND PROCEDURE FOR THE CONTROL OF SUCH MACHINE |
| ITTO92A000999 | 1992-12-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1097176A true CN1097176A (en) | 1995-01-11 |
Family
ID=11410914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN93112653.3A Pending CN1097176A (en) | 1992-12-14 | 1993-12-13 | Be used for coiling cable etc. machine control setup and control the method for this machine |
Country Status (10)
| Country | Link |
|---|---|
| EP (1) | EP0602504B1 (en) |
| CN (1) | CN1097176A (en) |
| AT (1) | ATE162999T1 (en) |
| AU (1) | AU675489B2 (en) |
| DE (1) | DE69316859T2 (en) |
| FI (1) | FI102267B1 (en) |
| IT (1) | IT1257931B (en) |
| MY (1) | MY109884A (en) |
| NZ (1) | NZ259328A (en) |
| WO (1) | WO1994013568A1 (en) |
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| CN105384003A (en) * | 2015-11-23 | 2016-03-09 | 中国电子科技集团公司第八研究所 | Novel automatic deviation correction and cable arranging system based on industrial camera visual image processing |
| CN106030045A (en) * | 2014-02-25 | 2016-10-12 | 西门子公司 | Turbine ring segment with abradable layer with compound angle, asymmetric surface area density ridge and groove pattern |
| CN108689240A (en) * | 2018-04-10 | 2018-10-23 | 烟台大学 | A kind of routing device for the high-precision Tension Adjustable control that can effectively reduce sliding friction |
| CN108698781A (en) * | 2015-10-16 | 2018-10-23 | 达涅利自动化有限公司 | Management method for device for winding up and corresponding equipment |
| CN109311618A (en) * | 2016-05-19 | 2019-02-05 | 住友电工运泰克株式会社 | Winding device and winding method |
| CN110316612A (en) * | 2018-11-20 | 2019-10-11 | 海南中坚实业有限公司 | A kind of electric wire automation production flow line technique improved efficiency |
| CN110709342A (en) * | 2017-05-19 | 2020-01-17 | 力雷克斯包装方案公司 | Apparatus and method for winding coil |
| CN114803681A (en) * | 2022-04-12 | 2022-07-29 | 江南大学 | Self-adaptive wire arranging equipment and method based on automatic wire feeding |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19726285A1 (en) * | 1997-06-20 | 1998-12-24 | Siemens Ag | Method and device for winding strand-like material to be wound onto a spool |
| US6247664B1 (en) * | 1999-06-25 | 2001-06-19 | Siecor Operations, Llc | Reel monitor devices and methods of using the same |
| DE102006018428B8 (en) * | 2006-04-20 | 2015-12-17 | Maschinenfabrik Niehoff Gmbh & Co. Kg | Method and device for laying elongated winding material |
| WO2009047719A2 (en) * | 2007-10-11 | 2009-04-16 | Herbert Schmitz | A method, apparatus and system for monitoring the winding of rope about a drum |
| ITTO20110550A1 (en) * | 2011-06-23 | 2012-12-24 | Cometo S N C | STRATIFICATOR FOR WINDING MACHINE |
| US9302872B2 (en) | 2013-07-30 | 2016-04-05 | Kimberly-Clark Worldwide, Inc. | Diameter measurement of a roll of material in a winding system |
| CN104076706B (en) * | 2014-06-27 | 2016-08-10 | 中国电子科技集团公司第八研究所 | The automatic solid matter control system of optical fiber based on image recognition technology |
| NO344472B1 (en) * | 2018-07-10 | 2020-01-13 | Stimline As | A winding apparatus |
| DE102018117687A1 (en) | 2018-07-21 | 2020-01-23 | Dr. Brandt Gmbh | Device and method for optically monitoring the arrangement of at least one traction device and use |
| EP3831754B1 (en) * | 2018-07-31 | 2023-08-30 | Furukawa Electric Co., Ltd. | Wire aligning and winding device and learning system used for same |
| KR102545910B1 (en) * | 2021-07-09 | 2023-06-21 | 주식회사 씨맥 | An apparatus for arraying and winding automatically the cable for easy error correction |
| CN114920076B (en) * | 2022-06-28 | 2023-08-22 | 国网山东省电力公司东营市东营区供电公司 | Dedicated cable winding equipment is erect in construction of electric power transmission cable |
| CN115085094B (en) * | 2022-08-18 | 2022-11-22 | 广东威恒输变电工程有限公司 | Data processing method for controlling cable laying |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH653654A5 (en) * | 1983-06-24 | 1986-01-15 | Maillefer Sa | DEVICE FOR AUTOMATICALLY CONTROLLING A SLICING OPERATION. |
| US4838500A (en) * | 1987-06-18 | 1989-06-13 | United States Of America As Represented By The Secretary Of The Army | Process and apparatus for controlling winding angle |
| IT1219381B (en) * | 1988-06-16 | 1990-05-11 | Ceat Cavi Spa | AUTOMATIC WINDING MACHINE FOR ELECTRIC AND SIMILAR CABLES INCLUDING AN ARTIFICIAL VISION SYSTEM FOR THE CONTROL OF THE STRATIFICATION OF THE COILS AND CONTROL PROCEDURE FOR SUCH MACHINE |
-
1992
- 1992-12-14 IT ITTO920999A patent/IT1257931B/en active IP Right Grant
-
1993
- 1993-12-07 AT AT93119674T patent/ATE162999T1/en not_active IP Right Cessation
- 1993-12-07 EP EP93119674A patent/EP0602504B1/en not_active Expired - Lifetime
- 1993-12-07 DE DE69316859T patent/DE69316859T2/en not_active Expired - Fee Related
- 1993-12-13 AU AU58101/94A patent/AU675489B2/en not_active Ceased
- 1993-12-13 FI FI935576A patent/FI102267B1/en active
- 1993-12-13 CN CN93112653.3A patent/CN1097176A/en active Pending
- 1993-12-13 WO PCT/EP1993/003515 patent/WO1994013568A1/en active Application Filing
- 1993-12-13 NZ NZ259328A patent/NZ259328A/en unknown
- 1993-12-14 MY MYPI93002707A patent/MY109884A/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106030045A (en) * | 2014-02-25 | 2016-10-12 | 西门子公司 | Turbine ring segment with abradable layer with compound angle, asymmetric surface area density ridge and groove pattern |
| CN108698781A (en) * | 2015-10-16 | 2018-10-23 | 达涅利自动化有限公司 | Management method for device for winding up and corresponding equipment |
| CN105384003A (en) * | 2015-11-23 | 2016-03-09 | 中国电子科技集团公司第八研究所 | Novel automatic deviation correction and cable arranging system based on industrial camera visual image processing |
| CN109311618A (en) * | 2016-05-19 | 2019-02-05 | 住友电工运泰克株式会社 | Winding device and winding method |
| CN109311618B (en) * | 2016-05-19 | 2020-09-15 | 住友电工运泰克株式会社 | Winding device and winding method |
| CN110709342A (en) * | 2017-05-19 | 2020-01-17 | 力雷克斯包装方案公司 | Apparatus and method for winding coil |
| CN110709342B (en) * | 2017-05-19 | 2020-12-22 | 力雷克斯包装方案公司 | Apparatus and method for winding coil |
| CN108689240A (en) * | 2018-04-10 | 2018-10-23 | 烟台大学 | A kind of routing device for the high-precision Tension Adjustable control that can effectively reduce sliding friction |
| CN108689240B (en) * | 2018-04-10 | 2020-06-16 | 烟台大学 | High-precision tension adjustable wiring device capable of effectively reducing sliding friction |
| CN110316612A (en) * | 2018-11-20 | 2019-10-11 | 海南中坚实业有限公司 | A kind of electric wire automation production flow line technique improved efficiency |
| CN114803681A (en) * | 2022-04-12 | 2022-07-29 | 江南大学 | Self-adaptive wire arranging equipment and method based on automatic wire feeding |
Also Published As
| Publication number | Publication date |
|---|---|
| IT1257931B (en) | 1996-02-19 |
| DE69316859D1 (en) | 1998-03-12 |
| NZ259328A (en) | 1996-05-28 |
| FI102267B (en) | 1998-11-13 |
| AU5810194A (en) | 1994-07-04 |
| FI102267B1 (en) | 1998-11-13 |
| FI935576A (en) | 1994-06-15 |
| ATE162999T1 (en) | 1998-02-15 |
| DE69316859T2 (en) | 1998-09-03 |
| AU675489B2 (en) | 1997-02-06 |
| FI935576A0 (en) | 1993-12-13 |
| EP0602504B1 (en) | 1998-02-04 |
| MY109884A (en) | 1997-09-30 |
| EP0602504A1 (en) | 1994-06-22 |
| ITTO920999A0 (en) | 1992-12-14 |
| ITTO920999A1 (en) | 1994-06-14 |
| WO1994013568A1 (en) | 1994-06-23 |
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| C01 | Deemed withdrawal of patent application (patent law 1993) | ||
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