CN114194951A - Cable winding and unwinding equipment and control method thereof - Google Patents

Cable winding and unwinding equipment and control method thereof Download PDF

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Publication number
CN114194951A
CN114194951A CN202111611625.8A CN202111611625A CN114194951A CN 114194951 A CN114194951 A CN 114194951A CN 202111611625 A CN202111611625 A CN 202111611625A CN 114194951 A CN114194951 A CN 114194951A
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CN
China
Prior art keywords
cable
speed
winding drum
winding
motor
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111611625.8A
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Chinese (zh)
Inventor
朱健林
吴梦莹
关雪丹
刘治
吴玉
陈嘉杰
张美玲
余冰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China General Nuclear Power Corp
China Nuclear Power Technology Research Institute Co Ltd
CGN Power Co Ltd
Original Assignee
China General Nuclear Power Corp
China Nuclear Power Technology Research Institute Co Ltd
CGN Power Co Ltd
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Publication date
Application filed by China General Nuclear Power Corp, China Nuclear Power Technology Research Institute Co Ltd, CGN Power Co Ltd filed Critical China General Nuclear Power Corp
Priority to CN202111611625.8A priority Critical patent/CN114194951A/en
Publication of CN114194951A publication Critical patent/CN114194951A/en
Pending legal-status Critical Current

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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
    • B65H75/4436—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding
    • B65H75/4442—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding acting on the reel
    • 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
    • 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
    • B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
    • 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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  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)

Abstract

The application relates to a cable take-up and pay-off device and a control method thereof, wherein the cable take-up and pay-off device comprises: the cable winding unit comprises a winding drum motor, a first magnetic powder clutch and a winding drum, wherein the winding drum motor is in transmission connection with the winding drum through the first magnetic powder clutch, and the first magnetic powder clutch is used for controlling the torque and the rotating speed of the winding drum; the driving cable unit comprises a driving motor, a speed reducer and a driving wheel, and the driving motor is in transmission connection with the driving wheel through the speed reducer; the cable is wound on the winding drum, and the driving wheel is used for conveying or pulling back the cable outwards; when the driving wheel and the winding drum rotate in the forward direction, the cable wound on the winding drum is conveyed outwards; when the driving wheel and the winding drum rotate reversely, the cable is pulled back and wound on the winding drum. The cable winding and unwinding equipment and the control method thereof reduce the requirement on the control precision of the rotating speed of the driving motor and the rotating speed of the drum motor, and avoid the risks of untidy cable winding and unwinding, cable damage and fracture.

Description

Cable winding and unwinding equipment and control method thereof
Technical Field
The application relates to the technical field of cable transmission, in particular to cable take-up and pay-off equipment and a control method thereof.
Background
The cable can be used for controlling installation, connecting equipment, transmitting electric power and the like, and has a wide application range. In order to ensure the normal work of the cable winding and unwinding equipment, the speed synchronization of the driving wheel and the winding drum needs to be ensured, namely the cable pulling speed of the driving wheel is equal to the cable releasing speed of the winding drum when the cable is unwound, and the cable conveying speed of the driving wheel is equal to the cable winding speed of the winding drum when the cable is unwound. The existing control method realizes the speed synchronization of the driving wheel and the winding drum by controlling the rotating speed proportion of the driving motor and the winding drum motor, has high requirement on the precision of rotating speed control, and can cause irregular cable releasing and winding, cable damage and even breakage if the speeds of the driving motor and the winding drum motor cannot be completely synchronized.
Disclosure of Invention
Therefore, the cable winding and unwinding equipment and the control method thereof are needed to be provided, the requirement on the control precision of the rotating speeds of the driving motor and the winding drum motor is lowered, and the risks of untidy cable winding and unwinding, cable damage and breakage are avoided.
According to an aspect of the present application, there is provided a cable reel apparatus including:
the cable winding unit comprises a winding drum motor, a first magnetic powder clutch and a winding drum, wherein the winding drum motor is in transmission connection with the winding drum through the first magnetic powder clutch, and the first magnetic powder clutch is used for controlling the torque and the rotating speed of the winding drum; and
the driving cable unit comprises a driving motor, a speed reducer and a driving wheel, and the driving motor is in transmission connection with the driving wheel through the speed reducer;
wherein, the cable is wound on the winding drum, and the driving wheel is used for outwards conveying or pulling back the cable;
when the driving wheel and the winding drum rotate in the forward direction, the cable wound on the winding drum is conveyed outwards;
when the driving wheel and the winding drum rotate reversely, the cable is pulled back and wound on the winding drum.
In one embodiment, the driving cable unit further includes a second magnetic particle clutch, the driving motor is in transmission connection with the driving wheel through the speed reducer and the second magnetic particle clutch, and the second magnetic particle clutch is used for controlling the torque and the rotating speed of the driving wheel.
In one embodiment, the output end of the driving motor is connected to the input end of the second magnetic particle clutch, the output end of the second magnetic particle clutch is connected to the input end of the speed reducer, and the output end of the speed reducer is connected to the driving wheel.
According to another aspect of the application, a control method based on the cable winding and unwinding equipment is provided, and the control method comprises the following steps:
when the cable winding and unwinding equipment conveys the cable outwards, controlling the driving motor to rotate forwards, and controlling the drum motor to rotate forwards or stop rotating; taking a theoretical linear speed value of the cable conveyed outwards by the driving wheel as a theoretical conveying speed, wherein the theoretical conveying speed is positively correlated with the rotating speed of the driving motor; taking a theoretical value of the linear speed of the cable released by the winding drum as a theoretical release speed, wherein the theoretical release speed is positively correlated with the rotating speed of the winding drum motor; setting the rotating speed of the driving motor and the rotating speed of the drum motor so that the theoretical conveying speed is greater than the theoretical releasing speed;
when the cable is pulled back by the cable pay-off and take-up equipment, controlling the driving motor to rotate reversely and controlling the drum motor to rotate reversely; taking a theoretical value of a linear speed of the driving wheel for pulling back the cable as a theoretical pulling-back speed, wherein the theoretical pulling-back speed is positively correlated with the rotating speed of the driving motor; taking a theoretical value of the linear speed of the cable wound by the winding drum as a theoretical winding speed, wherein the theoretical winding speed is positively correlated with the rotating speed of the winding drum motor; and setting the rotating speed of the driving motor and the rotating speed of the drum motor so that the theoretical winding speed is greater than the theoretical pull-back speed.
In one embodiment, before the cable unwinding and winding apparatus conveys the cable outward or pulls back the cable, the control method further includes:
and controlling the first magnetic powder clutch to output with a first preset torque so as to adjust the acting force of the winding drum on the cable, wherein the acting force of the winding drum on the cable is positively correlated with the first preset torque.
In one embodiment, the first predetermined torque is less than a stalling torque of the drum motor.
In one embodiment, the first predetermined torque is set such that the force applied to the cable by the drum is greater than the expansion force of the cable wound on the drum.
In one embodiment, the driving cable unit further comprises a second magnetic particle clutch, the driving motor is in transmission connection with the driving wheel through the speed reducer and the second magnetic particle clutch, and the second magnetic particle clutch is used for controlling the torque and the rotating speed of the driving wheel;
before the cable unwinding and winding apparatus conveys the cable outward or pulls back the cable, the control method further includes:
and controlling the second magnetic powder clutch to output the second preset torque so as to adjust the acting force of the driving wheel to the cable, wherein the acting force of the driving wheel to the cable is positively correlated with the second preset torque.
In one embodiment, the second preset torque is smaller than a locked-rotor torque of the driving motor.
In one embodiment, the second preset torque is set so that the acting force of the driving wheel on the cable is smaller than the breaking force and the crushing force of the cable.
According to the cable winding and unwinding equipment and the control method thereof, the first magnetic powder clutch is arranged between the winding drum and the winding drum motor, the rotating speed ratio of the driving motor and the winding drum motor does not need to be controlled, the slip function of the first magnetic powder clutch is utilized, the speed of the winding drum is ensured to follow the speed of the driving wheel, and the speed synchronization of the driving wheel and the winding drum can be realized. The cable winding and unwinding equipment and the control method thereof reduce the requirement on the control precision of the rotating speed of the driving motor and the rotating speed of the drum motor, and avoid the risks of untidy cable winding and unwinding, cable damage and fracture.
Drawings
Fig. 1 is a schematic structural diagram of a cable reel device according to an embodiment of the present application.
Description of the reference numerals
1. A drum motor; 2. a first magnetic powder clutch; 3. a reel; 4. a drive motor; 5. a speed reducer; 6. a drive wheel; 7. a second magnetic powder clutch; 8. a cable.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
The cable can be used for controlling installation, connecting equipment, transmitting electric power and the like, and has a wide application range. In order to ensure the normal work of the cable winding and unwinding equipment, the speed synchronization of the driving wheel and the winding drum needs to be ensured, namely the cable pulling speed of the driving wheel is equal to the cable releasing speed of the winding drum when the cable is unwound, and the cable conveying speed of the driving wheel is equal to the cable winding speed of the winding drum when the cable is unwound. The existing control method realizes the speed synchronization of the driving wheel and the winding drum by controlling the rotating speed proportion of the driving motor and the winding drum motor, has high requirement on the precision of rotating speed control, and can cause irregular cable releasing and winding, cable damage and even breakage if the speeds of the driving motor and the winding drum motor cannot be completely synchronized.
Therefore, the cable winding and unwinding equipment and the control method thereof are needed to be provided, the requirement on the control precision of the rotating speeds of the driving motor and the winding drum motor is lowered, and the risks of untidy cable winding and unwinding, cable damage and breakage are avoided.
According to one aspect of the present application, a cable reel apparatus is provided. Referring to fig. 1, a cable reel apparatus according to an embodiment of the present application includes a cable winding unit and a driving cable unit. The cable coiling unit comprises a reel motor 1, a first magnetic powder clutch 2 and a reel 3, the reel motor 1 is in transmission connection with the reel 3 through the first magnetic powder clutch 2, and the first magnetic powder clutch 2 is used for controlling the torque and the rotating speed of the reel 3. The driving cable unit comprises a driving motor 4, a speed reducer 5 and a driving wheel 6, wherein the driving motor 4 is in transmission connection with the driving wheel 6 through the speed reducer 5. Wherein the cable 8 is wound around the drum 3 and the drive wheel 6 is used for feeding or pulling back the cable 8 outwards. When the driving wheel 6 and the winding drum 3 rotate in the forward direction, the cable 8 wound on the winding drum 3 is conveyed outwards; when the drive wheel 6 and the drum 3 rotate in opposite directions, the cable 8 is pulled back and wound on the drum 3.
It should be understood that the magnetic particle clutch has a slip function, that is, the output end rotating speed of the magnetic particle clutch can be inconsistent with the input end rotating speed, so that the speed difference between the linkage parts is compensated, and the speed synchronization is realized. Set up first magnetic particle clutch 2 between reel 3 and reel motor 1, needn't control driving motor 4 and reel motor 1 rotational speed proportion, utilize the slip function of first magnetic particle clutch 2, guarantee that the speed of reel 3 follows the speed of drive wheel 6, can realize drive wheel 6 and 3 speed synchronization of reel. So, reduced the control accuracy requirement to driving motor 4 and 1 rotational speed of reel motor, avoided the risk that cable laying and receiving are irregular, cable damage and fracture.
In particular, magnetic particle clutches are based on electromagnetic principles and utilize magnetic particles to transmit torque, which is substantially linear with excitation current. Therefore, the magnitude of the output torque can be easily controlled by changing the magnitude of the exciting current. Therefore, the acting force of the winding drum 3 on the cable 8 can be controlled by setting the output torque of the first magnetic powder clutch 2, and the cable winding and unwinding equipment is kept in a good working state.
When the cable 8 outside the cable winding and unwinding equipment meets the jam condition, if the original speed is maintained to continuously convey outwards or pull back the cable 8, the driving torque required by the driving wheel 6 is continuously increased, and finally the driving motor 4 is overloaded and locked. An increase in the drive torque also results in an increase in the force of the drive wheel 6 on the cable 8, which results in a snapping or crushing of the cable 8 between the drive wheel 6 and the towing object.
In some embodiments, the drive cable unit further comprises a second magnetic particle clutch 7, the drive motor 4 is in transmission connection with the drive wheel 6 through the speed reducer 5 and the second magnetic particle clutch 7, and the second magnetic particle clutch 7 is used for controlling the torque and the rotating speed of the drive wheel 6. Under normal conditions, the second magnetic particle clutch 7 has no slip, that is, the rotating speed of the input end of the second magnetic particle clutch 7 is consistent with the rotating speed of the output end, and the outward conveying speed or the pulling-back speed of the cable 8 can be adjusted by adjusting the rotating speed of the driving motor 4. When the cable 8 outside the cable winding and unwinding equipment meets the jam condition, the second magnetic powder clutch 7 will produce slip, namely the input rotating speed of the second magnetic powder clutch 7 is inconsistent with the output rotating speed, and the overload stalling of the driving motor 4 is avoided. Meanwhile, the acting force of the driving wheel 6 on the cable 8 can be controlled by setting the output torque of the second magnetic powder clutch 7, and the cable winding and unwinding equipment is kept in a good working state.
In some embodiments, the output end of the driving motor 4 is connected to the input end of the second magnetic particle clutch 7, the output end of the second magnetic particle clutch 7 is connected to the input end of the speed reducer 5, and the output end of the speed reducer 5 is connected to the driving wheel 6. So, set up second magnetic particle clutch 7 in the high-speed level of reduction gear 5, reduced the required output torque of second magnetic particle clutch 7 control drive wheel 6, can select the second magnetic particle clutch 7 of less specification during the lectotype, help reducing volume and cost. In other embodiments, the output end of the driving motor 4 is connected to the input end of the speed reducer 5, the output end of the speed reducer 5 is connected to the input end of the second magnetic particle clutch 7, and the output end of the second magnetic particle clutch 7 is connected to the driving wheel 6, that is, the second magnetic particle clutch 7 is arranged at the low speed stage of the speed reducer 5, so as to increase the output torque and reduce the slip speed.
According to another aspect of the application, a control method based on the cable winding and unwinding equipment is provided, and the control method comprises the following steps: when the cable winding and unwinding equipment conveys the cable 8 outwards, the driving motor 4 is controlled to rotate in the forward direction, and the drum motor 1 is controlled to rotate in the forward direction or stop rotating. The theoretical linear speed value of the cable 8 conveyed outwards by the driving wheel 6 is used as the theoretical conveying speed, and the theoretical conveying speed is positively correlated with the rotating speed of the driving motor 4. The theoretical value of the linear speed of the cable 8 released by the winding drum 3 is used as the theoretical releasing speed, and the theoretical releasing speed is positively correlated with the rotating speed of the winding drum motor 1. The rotational speed of the drive motor 4 and the rotational speed of the reel motor 1 are set such that the theoretical release speed is less than the theoretical transport speed. It will be appreciated that when the drum motor 1 is stalled, the theoretical release speed is zero, necessarily less than the theoretical delivery speed.
In the embodiment shown in fig. 1, the radius of the mandrel 3 is R1The radius of the driving wheel 6 is R2The reduction ratio of the reducer 5 is P, and the cable-laying rotation speed of the drum motor 1 is set to V11The cable laying rotation speed of the driving motor 4 is V12Theoretical release rate is S11Theoretical transport speed S12，S11And S12Is calculated as follows:
S11＝6.28×V11×R1
S12＝6.28×V12×R2/P
when the reel motor 1 and the driving motor 4 are just started, the cable 8 between the reel 3 and the driving wheel 6 is not tensioned, at this time, the actual conveying speed is equal to the theoretical conveying speed, the actual releasing speed is equal to the theoretical releasing speed, so the actual conveying speed is greater than the actual releasing speed, the length of the cable 8 conveyed outwards by the driving wheel 6 is greater than the length of the cable 8 released by the reel 3 within a period of time, and the cable 8 between the reel 3 and the driving wheel 6 is tensioned. Thereafter, the actual release speed is synchronized with the actual delivery speed by the slip of the first magnetic particle clutch 2, ensuring that the cable 8 is continuously released from the drum 3 and delivered outwardly via the drive wheel 6 under tension.
When the cable is pulled back by the cable winding and unwinding equipment, the driving motor 4 is controlled to rotate reversely, and the drum motor 1 is controlled to rotate reversely. The theoretical linear speed value of the driving wheel 6 for pulling back the cable 8 is taken as the theoretical pulling back speed, and the theoretical pulling back speed is positively correlated with the rotating speed of the driving motor 4. The theoretical value of the linear speed of the winding drum 3 for winding the cable 8 is used as the theoretical winding speed, and the theoretical winding speed is positively correlated with the rotating speed of the winding drum motor 1. The rotation speed of the drive motor 4 and the rotation speed of the reel motor 1 are set so that the theoretical winding speed is greater than the theoretical drawing speed.
In the embodiment shown in fig. 1, the radius of the mandrel 3 is R1The radius of the driving wheel 6 is R2The reduction ratio of the speed reducer 5 is P, and the cable winding speed of the drum motor 1 is set to V21The cable-winding rotating speed of the driving motor 4 is V22Theoretical winding speed of S21Theoretical pull-back speed of S22，S21And S22Is calculated as follows:
S21＝6.28×V21×R1
S22＝6.28×V22×R2/P
when the drum motor 1 and the driving motor 4 are just started, the cable 8 between the drum 3 and the driving wheel 6 is not tensioned, the actual pull-back speed is equal to the theoretical pull-back speed, the actual winding speed is equal to the theoretical winding speed, the actual winding speed is greater than the actual pull-back speed, the length of the cable 8 wound by the drum 3 in a period of time is greater than the length of the cable 8 pulled back by the driving wheel 6, and the cable 8 between the drum 3 and the driving wheel 6 is tensioned. After that, the actual winding speed is kept synchronous with the actual pulling speed under the action of the slip of the first magnetic particle clutch 2, and the cable 8 is ensured to be continuously pulled back and wound on the winding drum 3 through the driving wheel 6 under the tensioning state.
Before the cable winding and unwinding equipment conveys the cable 8 outwards or pulls back the cable 8, the control method further comprises the step of controlling the first magnetic powder clutch 2 to output with a first preset torque so as to adjust the acting force of the winding drum 3 on the cable 8, wherein the acting force of the winding drum 3 on the cable 8 is positively correlated with the first preset torque, and therefore the cable winding and unwinding equipment is kept in a good working state. Specifically, let in stable first predetermined current to first magnetic particle clutch 2, can make the corresponding first predetermined moment of stable output of first magnetic particle clutch 2, indirect control reel 3 is to the effort of cable 8.
Further, the first preset torque is smaller than the locked-rotor torque of the drum motor 1. The locked-rotor torque of the drum motor 1 means a torque when the rotation speed of the drum motor 1 is zero (locked-rotor). Therefore, the output torque of the drum motor 1 can be controlled to be smaller than the locked-rotor torque of the drum motor 1, and the overload locked-rotor of the drum motor 1 is avoided.
Further, the first predetermined torque is set so that the force of the drum 3 on the cable 8 is greater than the expansion force of the cable 8 wound on the drum 3. When the cable 8 is wound on the drum 3, the expansion force makes the cable 8 tend to be far away from the drum 3, which affects the winding effect of the cable 8 on the drum 3, so the acting force of the drum 3 on the cable 8 needs to be larger than the expansion force to ensure that the cable 8 is tightly wound on the drum 3. The expansion force is determined by the radius of the drum 3 and the properties of the cable 8 itself.
In the embodiment shown in FIG. 1In the middle, the radius of the reel 3 is R1The first predetermined moment is M1The output force of the reel 3 to the cable 8 is F1，F1Is calculated as follows:
F1＝M1/R1
in some embodiments, the drive cable unit further comprises a second magnetic particle clutch 7, the drive motor 4 is in transmission connection with the drive wheel 6 through the speed reducer 5 and the second magnetic particle clutch 7, and the second magnetic particle clutch 7 is used for controlling the torque and the rotating speed of the drive wheel 6.
Under the normal condition, the second magnetic powder clutch 7 has no slip, that is, the input end rotating speed of the second magnetic powder clutch 7 is consistent with the output end rotating speed, the theoretical conveying speed is equal to the actual conveying speed, the theoretical pull-back speed is equal to the actual pull-back speed, and the actual conveying speed and the actual pull-back speed can be adjusted by adjusting the rotating speed of the driving motor 4. When the cable 8 outside the cable winding and unwinding equipment meets the jam condition, the second magnetic powder clutch 7 generates slip, namely the input rotating speed and the output rotating speed of the second magnetic powder clutch 7 are inconsistent, the theoretical conveying speed is greater than the actual conveying speed, the theoretical pull-back speed is greater than the actual pull-back speed, and the overload stalling of the driving motor 4 is avoided.
Before the cable winding and unwinding equipment conveys the cable 8 outwards or pulls back the cable 8, the control method further comprises the step of controlling the second magnetic powder clutch 7 to output at a second preset torque so as to adjust the acting force of the driving wheel 6 on the cable 8, wherein the acting force of the driving wheel 6 on the cable 8 is positively correlated with the second preset torque, and therefore the cable winding and unwinding equipment is kept in a good working state. Specifically, stable second preset current is introduced to the second magnetic powder clutch 7, so that the output end of the second magnetic powder clutch 7 can stably output corresponding second preset torque, and the acting force of the driving wheel 6 on the cable 8 is indirectly controlled.
Further, the second preset torque is smaller than the locked-rotor torque of the driving motor 4. The locked torque of the drive motor 4 means a torque when the rotation speed of the drive motor 4 is zero (locked). Therefore, the output torque of the driving motor 4 can be controlled to be smaller than the locked-rotor torque of the driving motor 4, and the driving motor 4 is prevented from being overloaded and locked-rotor.
Further, the second predetermined torque is set so that the acting force of the driving wheel 6 on the cable 8 is smaller than the breaking force and the crushing force of the cable 8. Thus, the cable 8 can be prevented from being broken or crushed due to the excessive acting force applied to the cable 8, and the breaking force and the crushing force of the cable 8 are determined by the properties of the cable 8.
In the embodiment shown in fig. 1, the radius of the driving wheel 6 is R2The reduction ratio of the speed reducer 5 is P, and the second preset torque is M2The force of the driving wheel 6 on the cable 8 is F2，F2Is calculated as follows:
F2＝M2×P/R2
according to the cable winding and unwinding equipment and the control method thereof, the first magnetic powder clutch 2 is arranged between the winding drum 3 and the winding drum motor 1, the rotating speed ratio of the driving motor 4 and the winding drum motor 1 does not need to be controlled, the slip function of the first magnetic powder clutch 2 is utilized, the speed of the winding drum 3 is ensured to follow the speed of the driving wheel 6, and the speed synchronization of the driving wheel 6 and the winding drum 3 can be realized. The cable winding and unwinding equipment and the control method thereof reduce the requirement on the control precision of the rotating speeds of the driving motor 4 and the drum motor 1, and avoid the risks of untidy cable winding and unwinding, cable damage and breakage.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of this patent shall be subject to the appended claims.

Claims (10)

1. A cable reel apparatus, comprising:
the cable winding unit comprises a winding drum motor, a first magnetic powder clutch and a winding drum, wherein the winding drum motor is in transmission connection with the winding drum through the first magnetic powder clutch, and the first magnetic powder clutch is used for controlling the torque and the rotating speed of the winding drum; and
the driving cable unit comprises a driving motor, a speed reducer and a driving wheel, and the driving motor is in transmission connection with the driving wheel through the speed reducer;
wherein, the cable is wound on the winding drum, and the driving wheel is used for outwards conveying or pulling back the cable;
when the driving wheel and the winding drum rotate in the forward direction, the cable wound on the winding drum is conveyed outwards;
when the driving wheel and the winding drum rotate reversely, the cable is pulled back and wound on the winding drum.
2. The cable pay-off and take-up device according to claim 1, wherein the driving cable unit further comprises a second magnetic particle clutch, the driving motor is in transmission connection with the driving wheel through the speed reducer and the second magnetic particle clutch, and the second magnetic particle clutch is used for controlling the torque and the rotating speed of the driving wheel.
3. The cable reel apparatus according to claim 2, wherein an output end of the driving motor is connected to an input end of the second magnetic particle clutch, an output end of the second magnetic particle clutch is connected to an input end of the speed reducer, and an output end of the speed reducer is connected to the driving wheel.
4. A control method of a cable retracting device according to any one of claims 1 to 3, comprising:
when the cable winding and unwinding equipment conveys the cable outwards, controlling the driving motor to rotate forwards, and controlling the drum motor to rotate forwards or stop rotating; taking a theoretical linear speed value of the cable conveyed outwards by the driving wheel as a theoretical conveying speed, wherein the theoretical conveying speed is positively correlated with the rotating speed of the driving motor; taking a theoretical value of the linear speed of the cable released by the winding drum as a theoretical release speed, wherein the theoretical release speed is positively correlated with the rotating speed of the winding drum motor; setting the rotating speed of the driving motor and the rotating speed of the drum motor so that the theoretical conveying speed is greater than the theoretical releasing speed;
when the cable is pulled back by the cable pay-off and take-up equipment, controlling the driving motor to rotate reversely and controlling the drum motor to rotate reversely; taking a theoretical value of a linear speed of the driving wheel for pulling back the cable as a theoretical pulling-back speed, wherein the theoretical pulling-back speed is positively correlated with the rotating speed of the driving motor; taking a theoretical value of the linear speed of the cable wound by the winding drum as a theoretical winding speed, wherein the theoretical winding speed is positively correlated with the rotating speed of the winding drum motor; and setting the rotating speed of the driving motor and the rotating speed of the drum motor so that the theoretical winding speed is greater than the theoretical pull-back speed.
5. The method of controlling a cable dispensing apparatus according to claim 4, further comprising, before the cable dispensing apparatus delivers the cable outward or pulls back the cable:
and controlling the first magnetic powder clutch to output with a first preset torque so as to adjust the acting force of the winding drum on the cable, wherein the acting force of the winding drum on the cable is positively correlated with the first preset torque.
6. The method of claim 5, wherein the first predetermined torque is less than a stall torque of the drum motor.
7. The method of claim 6, wherein the first predetermined torque is set such that the force of the spool on the cable is greater than the expansion force of the cable wound on the spool.
8. The control method of the cable pay-off and take-up apparatus according to any one of claims 4 to 7, wherein the driving cable unit further includes a second magnetic particle clutch, the driving motor is in transmission connection with the driving wheel through the speed reducer and the second magnetic particle clutch, and the second magnetic particle clutch is used for controlling the torque and the rotation speed of the driving wheel;
before the cable unwinding and winding apparatus conveys the cable outward or pulls back the cable, the control method further includes:
and controlling the second magnetic powder clutch to output the second preset torque so as to adjust the acting force of the driving wheel to the cable, wherein the acting force of the driving wheel to the cable is positively correlated with the second preset torque.
9. The control method of a cable pay-off and take-up apparatus according to claim 8, wherein the second preset torque is smaller than a stalling torque of the drive motor.
10. The control method of the cable retracting device according to claim 9, wherein the second preset torque is set so that an acting force of the driving wheel on the cable is smaller than a breaking force and a crushing force of the cable.
CN202111611625.8A 2021-12-27 2021-12-27 Cable winding and unwinding equipment and control method thereof Pending CN114194951A (en)

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CN202111611625.8A CN114194951A (en) 2021-12-27 2021-12-27 Cable winding and unwinding equipment and control method thereof

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CN202111611625.8A CN114194951A (en) 2021-12-27 2021-12-27 Cable winding and unwinding equipment and control method thereof

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Application publication date: 20220318