CN113148777A - Mobile two-end wire take-up and pay-off device and control method thereof - Google Patents
Mobile two-end wire take-up and pay-off device and control method thereof Download PDFInfo
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- CN113148777A CN113148777A CN202110464890.1A CN202110464890A CN113148777A CN 113148777 A CN113148777 A CN 113148777A CN 202110464890 A CN202110464890 A CN 202110464890A CN 113148777 A CN113148777 A CN 113148777A
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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
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
- B64F1/368—Arrangements or installations for routing, distributing or loading baggage
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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
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
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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
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses a mobile two-end take-up and pay-off device and a control method thereof, wherein the mobile two-end take-up and pay-off device comprises a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, wherein one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with a charging port of an airplane, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to walk; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding lengths of the long paying-off assembly and the short paying-off assembly as well as the running speed of the device, and uploading the detection results to the master control system, so that the master control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the running speed of the device; multi-point data acquisition closed-loop control is added, and a master control system controls each subsystem, so that the intelligent, efficient, safe and reliable operation can be realized at each airport conveniently and quickly; the winding and unwinding linear speed is controlled, and the influence on the running motion of the device caused by too fast or too slow winding and unwinding of the wire is prevented.
Description
Technical Field
The invention relates to the field of airport winding and unwinding devices, in particular to a mobile two-end winding and unwinding device and a control method thereof.
Background
In an airport, the parking position of a part of airplane positions and the distance from a plane ground static variable power supply are far, and the labor intensity is too large and the operation is inconvenient when a power supply cable is manually dragged to an airplane power receiving port; at present, a mobile two-end cable collecting/discharging device of an airport is simply controlled by hardware, and an airplane end cable is still pulled out manually, so that the labor force of a user is increased; the existing mobile cable collecting/discharging device is controlled by pure hardware, and the control is simpler, so that the cable collecting/discharging device is very crude. Therefore, the cable can be rapidly accelerated and retracted by a motor, the cable can not be linearly retracted and retracted, the cable can be violently retracted and retracted, the service life of the cable can be seriously influenced, the internal protection function is insufficient, the safety coefficient of equipment is low, and the safety of equipment and personnel is influenced;
the limit function in the existing mobile cable collecting/discharging device adopts photoelectric detection limit, and is greatly influenced by environmental factors (firstly, a lens is easily polluted by dust and oil dirt, and once the lens is polluted, not only light beams are scattered, but also a part of light is blocked, so that under a severe environment, a feasible protection measure must be adopted, the design difficulty is increased; the existing mobile cable collecting/discharging device has the problems that the power end long cable is collected and discharged and the running speed is not matched, and the following problems are easily caused: firstly, when the take-up speed is higher than the running speed, the long-line control motor moves through long-line dragging equipment, so that the turnover is easily caused, and the service life of a cable is reduced due to long-term dragging; secondly, when the running speed is higher than the paying-off speed, the equipment is pulled, and both the long wire and the driving motor of the equipment are overloaded. The reason for this is that the system does not detect the running speed and cable winding/unwinding speed, and cannot perform closed-loop control. Therefore, there is a need for a mobile two-end take-up and pay-off device and a control method thereof, which are intelligent, efficient, safe, reliable and convenient to operate.
Disclosure of Invention
The invention aims to provide a mobile two-end winding and unwinding device and a control method thereof, wherein multi-point data acquisition closed-loop control is added, a master control system controls all subsystems in a centralized manner, and the mobile two-end winding and unwinding device can be intelligently, efficiently, safely, reliably and conveniently operated at all airports; meanwhile, the speed of the wire winding and unwinding is accurately controlled, and the influence on the running motion of the device caused by too fast or too slow wire winding and unwinding is prevented.
The embodiment of the invention is realized by the following steps:
a mobile two-end take-up and pay-off device comprises a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, wherein one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with a charging port of an airplane, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to travel; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding length of the long paying-off assembly and the short paying-off assembly as well as the device running speed, and uploading the detection results to the main control system, so that the main control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the device running speed; multi-point data acquisition closed-loop control is added, and the main controller controls all subsystems in a centralized manner, so that the intelligent, efficient, safe and reliable operation can be realized at all airports conveniently and quickly; meanwhile, the speed of the wire winding and unwinding is accurately controlled, and the influence on the running motion of the device caused by too fast or too slow wire winding and unwinding is prevented.
Preferably, the long pay-off assembly comprises a long cable and a long wire coil, one end of the long cable is wound on the long wire coil, and the other end of the long cable is connected with the power distribution station; the detection module comprises a first detection unit for detecting the winding and unwinding linear speed of the long pay-off assembly, and the first detection unit is arranged on the long pay-off disc and detects the rotating speed and the number of rotating turns of the long pay-off disc.
Preferably, the stub wire assembly comprises a stub cable and a stub wire coil, one end of the stub cable is wound on the stub wire coil, a charging plug used for being connected with a charging port of an airplane is arranged at the other end of the stub cable, the detection module comprises a second detection unit used for detecting the winding and unwinding linear speed of the stub wire assembly, and the second detection unit is arranged on the stub wire coil.
Preferably, the driving control system comprises a driving control unit and a driving motor, the master control system receives a first control signal input from the outside and further outputs a second control signal to the driving control unit, and the driving control unit controls the driving motor to work; and the main control system controls the linear speed of the long paying-off assembly and the short paying-off assembly according to the received first control signal.
Preferably, the cable pay-off device further comprises a safety detection module, wherein the safety detection module is used for detecting the extending length of the cable in the long pay-off component and the short pay-off component, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the device is controlled to stop. The device is used for various large airports, has extremely high requirements on safety, and can not generate a collision event with an airplane.
Preferably, the device further comprises an inclination protection module, the inclination protection module comprises a fourth detection unit for detecting the inclination angle of the device, and if the fourth detection unit detects that the inclination of the device exceeds a preset angle, an alarm signal is sent out and the device is controlled to stop. If there is an obstacle (wheel chock) in front of the wheels, the device will force the obstacle to roll and cause the vehicle to tilt and roll over. The rollover of the device mainly occurs when the four wheels are not on the same horizontal plane.
Preferably, the device further comprises a buffer module, and the buffer module is used for controlling the slow start and slow stop of the device.
The control method of the mobile two-end winding and unwinding device is also provided, the mobile two-end winding and unwinding device comprises the following steps:
s1: receiving a driving starting signal, enabling each node of the mobile phone to acquire data in real time by the master control system, and starting the driving control system to work according to the starting signal if the data of each node is in a normal state, wherein the driving speed of the device is V1;
s2: calculating the paying-off speed V2 of the adaptive long paying-off assembly according to the real-time running speed, wherein V2 is not less than V1, and the long paying-off assembly stops paying off until the running speed of the device is close to 0, and then starting the self-locking function of the running control system;
s3: taking down a charging plug of the short paying-off assembly, inputting a paying-off signal, paying off the short paying-off assembly, and stopping paying off the short paying-off assembly when the input of the paying-off signal is stopped; in the whole process, the paying-off speed V3 of the short paying-off component is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time;
s4: and a charging plug is inserted into a charging port of the airplane, the master control system receives a charging signal and starts a self-locking function of the motor to control the long paying-off assembly, the short paying-off assembly and the driving control system to stop mechanical movement.
S5: after charging, the charging plug is taken down, and the self-locking of the motor is released; inputting a take-up signal, starting take-up of the short pay-off assembly until the pay-off length is 0, then placing the charging plug on the take-up and pay-off device, slowly increasing the take-up speed V4 of the short pay-off assembly in the whole process, keeping the constant speed for a period of time, and then slowly reducing the take-up speed to 0;
s6: after the charging plug is detected to be placed, the main control system receives a driving starting signal, controls the driving control system to work and enables the device to return at the speed V5;
s7: calculating the paying-off speed V6 of the adaptive long paying-off assembly according to the real-time running speed V5, wherein V6 is not more than V5 until the device runs to a power distribution station, the running speed of the device is about 0, and the long paying-off assembly stops paying off; in the whole process, the take-up speed V6 of the long pay-off assembly is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; and the intelligent wire winding and unwinding process is realized.
Preferably, in the paying-off process, the safety detection module detects the extending length of the cable in the long paying-off assembly and the short paying-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the control device is stopped.
Preferably, if the fourth detection unit detects that the device inclines beyond a preset angle, an alarm signal is sent out and the device is controlled to stop.
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the invention relates to a mobile two-end take-up and pay-off device and a control method thereof, wherein the mobile two-end take-up and pay-off device comprises a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with a charging port of an airplane, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to walk; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding lengths of the long paying-off assembly and the short paying-off assembly as well as the running speed of the device, and uploading the detection results to the master control system, so that the master control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the running speed of the device; multi-point data acquisition closed-loop control is added, and a master control system controls each subsystem, so that the intelligent, efficient, safe and reliable operation can be realized at each airport conveniently and quickly; the winding and unwinding linear speed is controlled, and the influence on the running motion of the device caused by too fast or too slow winding and unwinding of the wire is prevented.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the frame structure of the present invention;
FIG. 2 is a block diagram of the system control of the present invention;
fig. 3 is a signal architecture diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Example 1: referring to fig. 1 to 3, the mobile two-end pay-off and take-up device of the present embodiment includes a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a traveling crane control system, wherein one end of the long pay-off assembly is connected to a power distribution station, and the other end of the long pay-off assembly is connected to the main control system, one end of the short pay-off assembly is connected to a charging port of an airplane, and the other end of the short pay-off assembly is connected to the main control system, and the traveling crane control system is used for controlling the traveling of the device; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding lengths of the long paying-off assembly and the short paying-off assembly as well as the running speed of the device, and uploading the detection results to the master control system, so that the master control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the running speed of the device; multi-point data acquisition closed-loop control is added, and the main controller controls all subsystems in a centralized manner, so that the intelligent, efficient, safe and reliable operation can be realized at all airports conveniently and quickly; meanwhile, the speed of the wire winding and unwinding is accurately controlled, and the influence on the running motion of the device caused by too fast or too slow wire winding and unwinding is prevented.
Example 2: the long pay-off assembly comprises a long cable and a long wire coil, wherein one end of the long cable is wound on the long wire coil, and the other end of the long cable is connected with a power distribution station; the detection module comprises a first detection unit for detecting the winding and unwinding linear speed of the long wire unwinding assembly, wherein the first detection unit is arranged on the long wire coil and detects the rotating speed and the number of rotating turns of the long wire coil. The stub wire subassembly of this embodiment includes stub cable and stub wire dish, and stub cable one end wire-wound is provided with the charging plug who is used for connecting the aircraft charging mouth on the stub wire dish, the other end, and detection module is including the second detecting element who is used for detecting stub wire subassembly receive and releases the linear velocity, and the second detecting element sets up on the stub wire dish. The detection module of this embodiment all sets up inside photoelectric detection, and inside photoelectricity is not influenced by environmental factor, reaction cable position that can be accurate, and control system calculates real-time cable through photoelectric detection and emits length. The device of the embodiment is also provided with the display screen, the display screen directly checks the power supply information of the airplane, and the power supply and the airplane do not need to be reciprocated.
Example 3: the driving control system of the embodiment comprises a driving control unit and a driving motor, wherein the main control system receives a first control signal input from the outside and further outputs a second control signal to the driving control unit, and the driving control unit controls the driving motor to work; and the main control system controls the linear speed of the long paying-off assembly and the short paying-off assembly according to the received first control signal. The cable extension device further comprises a safety detection module, wherein the safety detection module is used for detecting the extension length of the cable in the long paying-off assembly and the short paying-off assembly, and if the extension length exceeds the maximum safety length, an alarm signal is sent out, and the control device is stopped. The device is used for various large airports, has extremely high requirements on safety, and can not generate a collision event with an airplane. The device further comprises an inclination protection module, the inclination protection module comprises a fourth detection unit for detecting the inclination angle of the device, and if the fourth detection unit detects that the inclination of the device exceeds a preset angle, an alarm signal is sent out and the device is controlled to stop. If there is an obstacle (wheel chock) in front of the wheels, the device will force the obstacle to roll and cause the vehicle to tilt and roll over. The rollover of the device mainly occurs when the four wheels are not on the same horizontal plane. The device further comprises a buffer module, and the buffer module is used for controlling the device to start slowly and stop slowly.
Example 4: the embodiment further provides a control method of the mobile two-end winding and unwinding device, which includes the mobile two-end winding and unwinding device, and includes the following steps: s1: receiving a driving starting signal, enabling each node of the mobile phone to acquire data in real time by the master control system, and starting the driving control system to work according to the starting signal if the data of each node is in a normal state, wherein the driving speed of the device is V1; s2: calculating the paying-off speed V2 of the adaptive long paying-off assembly according to the real-time running speed, wherein V2 is not less than V1, and the long paying-off assembly stops paying off until the running speed of the device is close to 0, and then starting the self-locking function of the running control system; s3: taking down a charging plug of the short paying-off assembly, inputting a paying-off signal, paying off the short paying-off assembly, and stopping paying off the short paying-off assembly when the input of the paying-off signal is stopped; in the whole process, the paying-off speed V3 of the short paying-off component is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; s4: and a charging plug is inserted into a charging port of the airplane, the master control system receives a charging signal and starts a self-locking function of the motor to control the long paying-off assembly, the short paying-off assembly and the driving control system to stop mechanical movement. S5: after charging, the charging plug is taken down, and the self-locking of the motor is released; inputting a take-up signal, starting take-up of the short pay-off assembly until the pay-off length is 0, then placing the charging plug on the take-up and pay-off device, slowly increasing the take-up speed V4 of the short pay-off assembly in the whole process, keeping the constant speed for a period of time, and then slowly reducing the take-up speed to 0; s6: after the charging plug is detected to be placed, the main control system receives a driving starting signal, controls the driving control system to work and enables the device to return at the speed V5; s7: calculating the paying-off speed V6 of the adaptive long paying-off assembly according to the real-time running speed V5, wherein V6 is not more than V5 until the device runs to a power distribution station, the running speed of the device is about 0, and the long paying-off assembly stops paying off; in the whole process, the take-up speed V6 of the long pay-off assembly is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; and the intelligent wire winding and unwinding process is realized.
Example 5: in the paying-off process of the embodiment, the safety detection module detects the extending length of the cable in the long paying-off assembly and the short paying-off assembly, if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the control device stops. If the fourth detection unit of the embodiment detects that the device inclines beyond the preset angle, an alarm signal is sent out and the device is controlled to stop.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A movable two-end take-up and pay-off device is characterized by comprising a main control system, a detection module, a long pay-off assembly, a short pay-off assembly and a driving control system, wherein one end of the long pay-off assembly is connected with a power distribution station, the other end of the long pay-off assembly is connected with the main control system, one end of the short pay-off assembly is connected with an airplane charging port, the other end of the short pay-off assembly is connected with the main control system, and the driving control system is used for controlling the device to travel; the detection module is used for detecting the winding and unwinding linear speeds and the winding and unwinding lengths of the long paying-off assembly and the short paying-off assembly and the running speed of the device, and uploading the detection results to the main control system, so that the main control system adjusts the winding and unwinding linear speeds and controls the winding and unwinding linear speeds of the long paying-off assembly and the short paying-off assembly to be matched with the running speed of the device.
2. The mobile two-end take-up and pay-off device according to claim 1, wherein the long pay-off assembly comprises a long cable and a long cable reel, one end of the long cable is wound on the long cable reel, and the other end of the long cable is connected with a power distribution station; the detection module comprises a first detection unit for detecting the winding and unwinding linear speed of the long pay-off assembly, and the first detection unit is arranged on the long pay-off disc and detects the rotating speed and the number of rotating turns of the long pay-off disc.
3. The mobile two-end pay-off and take-up device according to claim 1, wherein the stub cable assembly comprises a stub cable and a stub reel, one end of the stub cable is wound on the stub reel, the other end of the stub cable is provided with a charging plug for connecting a charging port of an airplane, the detection module comprises a second detection unit for detecting the pay-off and take-up linear speed of the stub cable assembly, and the second detection unit is arranged on the stub reel.
4. The mobile two-end take-up and pay-off device according to claim 1, wherein the driving control system comprises a driving control unit and a driving motor, the main control system receives a first control signal input from the outside and further outputs a second control signal to the driving control unit, and the driving control unit controls the driving motor to work; and the main control system controls the linear speed of the long paying-off assembly and the short paying-off assembly according to the received first control signal.
5. The mobile two-end take-up and pay-off device according to claim 1, further comprising a safety detection module, wherein the safety detection module is used for detecting the extending length of the cable in the long pay-off assembly and the short pay-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the device is controlled to stop.
6. The mobile two-end take-up and pay-off device according to claim 1, further comprising an inclination protection module, wherein the inclination protection module comprises a fourth detection unit for detecting the inclination angle of the device, and if the fourth detection unit detects that the device is inclined beyond a preset angle, an alarm signal is sent out and the device is controlled to stop.
7. The mobile two-end line take-up and pay-off device according to claim 1, further comprising a buffer module, wherein the buffer module is used for controlling slow start and slow stop of the device.
8. A control method of a mobile two-end winding and unwinding device, characterized in that the mobile two-end winding and unwinding device comprises any one of claims 1 to 7, and comprises the following steps:
s1: receiving a driving starting signal, enabling each node of the mobile phone to acquire data in real time by the master control system, and starting the driving control system to work according to the starting signal if the data of each node is in a normal state, wherein the driving speed of the device is V1;
s2: calculating the paying-off speed V2 of the adaptive long paying-off assembly according to the real-time running speed, wherein V2 is not less than V1, and the long paying-off assembly stops paying off until the running speed of the device is close to 0, and then starting the self-locking function of the running control system;
s3: taking down a charging plug of the short paying-off assembly, inputting a paying-off signal, paying off the short paying-off assembly, and stopping paying off the short paying-off assembly when the input of the paying-off signal is stopped; in the whole process, the paying-off speed V3 of the short paying-off component is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time;
s4: and a charging plug is inserted into a charging port of the airplane, the master control system receives a charging signal and starts a self-locking function of the motor to control the long paying-off assembly, the short paying-off assembly and the driving control system to stop mechanical movement.
S5: after charging, the charging plug is taken down, and the self-locking of the motor is released; inputting a take-up signal, starting take-up of the short pay-off assembly until the pay-off length is 0, then placing the charging plug on the take-up and pay-off device, slowly increasing the take-up speed V4 of the short pay-off assembly in the whole process, keeping the constant speed for a period of time, and then slowly reducing the take-up speed to 0;
s6: after the charging plug is detected to be placed, the main control system receives a driving starting signal, controls the driving control system to work and enables the device to return at the speed V5;
s7: calculating the paying-off speed V6 of the adaptive long paying-off assembly according to the real-time running speed V5, wherein V6 is not more than V5 until the device runs to a power distribution station, the running speed of the device is about 0, and the long paying-off assembly stops paying off; in the whole process, the take-up speed V6 of the long pay-off assembly is slowly increased and slowly reduced to 0 after being kept at a constant speed for a period of time; and the intelligent wire winding and unwinding process is realized.
9. The control method of the mobile two-end take-up and pay-off device according to claim 8, wherein during the pay-off process, the safety detection module detects the extending length of the cable in the long pay-off assembly and the short pay-off assembly, and if the extending length exceeds the maximum safety length, an alarm signal is sent out, and the device is controlled to stop.
10. The control method of the mobile two-end winding and unwinding device according to claim 8, wherein the fourth detection unit sends an alarm signal and controls the device to stop if the device is detected to be inclined beyond a preset angle.
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| CN202110464890.1A CN113148777B (en) | 2021-04-28 | 2021-04-28 | Mobile two-end wire take-up and pay-off device and control method thereof |
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| CN113148777B (en) | 2022-10-21 |
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