CN115973838A - Accurate conveying method for wide braided belt - Google Patents
Accurate conveying method for wide braided belt Download PDFInfo
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- CN115973838A CN115973838A CN202211702981.5A CN202211702981A CN115973838A CN 115973838 A CN115973838 A CN 115973838A CN 202211702981 A CN202211702981 A CN 202211702981A CN 115973838 A CN115973838 A CN 115973838A
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Abstract
An accurate conveying method of a wide braided belt comprises the following steps: a plurality of ultrasonic ranging sensors are installed at the same height position with the center of a material belt winding drum, a real-time measuring system based on the ultrasonic ranging sensors for the material belt winding diameter sends and receives ultrasonic waves through the sensors, the real-time winding diameter in the working process of the material belt is measured, the winding diameter value is fed back to a compensation database, a signal of a compensation torque value is output to a motor of a belt paving machine, the torque value output by the motor is changed, the woven belt is paved in the process, the stability of feeding cannot be influenced due to the change of the winding diameter of the material belt, the same feeding speed can be guaranteed for material rolls of different sizes, and accurate conveying of the woven belt with large width is achieved. The invention realizes the non-contact real-time measurement of the roll diameter of the material belt, does not need to measure the linear speed of the material belt during working, does not need to use a tension sensor and the like to monitor the tension change in real time, and has the advantages of simpler method, smaller error and no need of frequent maintenance and consumable replacement.
Description
Technical Field
The invention belongs to the technical field of composite material laying, and particularly relates to a precise conveying method for a wide braided belt.
Background
When the woven belts are laid on the surface of the ship body, whether the material rolls can be guaranteed to be fed at the same speed all the time in the material roll laying process, namely, accurate conveying is realized, and the woven belts are important factors influencing the laying effect. For a control system of the laying machine, the real-time roll diameter in the working process of a material roll is required to be obtained no matter the tension is controlled through controlling the speed or indirectly, so that the constant tension can be used for controlling the rolling process, and the laying quality of the braided belt can be ensured.
In the material roll conveying process, the diameter of the material roll is gradually reduced, if the power of a motor is always kept constant, when the diameter of the material roll is reduced, the feeding speed is reduced in the same time, and the stable and uniform conveying of the material roll cannot be guaranteed. The traditional indirect roll diameter calculation methods used at present, such as a speed calculation method, a turn number calculation method and the like, have great influence on the roll diameter calculation precision under the condition of uneven thickness control of woven belts, and cannot realize accurate control of material roll conveying.
Disclosure of Invention
In order to solve the problems, the invention discloses a large-width braided belt accurate conveying method.
To achieve the above object, the method of the present invention comprises:
an accurate conveying method of a wide braided belt comprises the following steps:
acquiring the real-time roll diameter of the current material roll and the current motor output force;
according to the real-time roll diameter, a moment compensation value corresponding to the real-time roll diameter is searched in a compensation database;
compensating the torque compensation value to the current motor output force to obtain a motor target output force;
and conveying the current material roll according to the motor target output force.
Preferably, five ultrasonic distance measuring sensors are uniformly arranged, the distance from the sensor to the center of the material roll barrel is measured, and the average value is recorded as L 1 (ii) a When the tape laying machine works, the distance from the ultrasonic ranging sensor to the surface of the material roll in a working state is obtained, and the average value is recorded as L 2 (ii) a According to the formula r = L 1 -L 2 And calculating to obtain the real-time material coil diameter r.
In an initial state, setting a proper motor power and measuring the initial motor torque;
preferably, when the tape laying machine works, the test material roll is controlled to run under the output force of the motor, and whether the actual tension value when the current actual roll diameter runs is in a preset range is detected; if the actual tension value is not in the preset range, calculating a moment compensation value according to the actual tension value and the preset tension value; therefore, different torque compensation values are correspondingly obtained under different coil diameters, and a compensation database is constructed.
Preferably, when the tape is actually laid, different sizes of the roll diameters are obtained according to measurement of the ultrasonic ranging sensor, signals are input into the compensation database, and corresponding torque compensation values are fed back to the motor, so that the output torque of the motor changes.
Preferably, the width of the braided belt is large, the width of the braided belt is about 1m, the thickness of the braided belt is 0.1-0.4mm, because the width of the braided belt is large, five ultrasonic distance measuring sensors are arranged and evenly distributed, the middle ultrasonic distance measuring sensor is used as a main sensor, four sensors on two sides are used as auxiliary sensors, and the roll diameter measured by the main sensor is corrected.
Preferably, the ultrasonic ranging sensor is installed at a position equal to the central axis of the winding drum, so that the distance between the ultrasonic ranging sensor and the center of the winding drum is constant, the actual distance between the ultrasonic ranging sensor and the center of the winding drum is measured, and the average value of the actual distance is L 1 ；
The ultrasonic ranging sensor sends ultrasonic waves to the material roll and receives echo waves, the distance value from the ultrasonic ranging sensor to the surface of the material roll in the working state of the belt paving machine is measured in real time, and the average value is L 2 ；
The ultrasonic ranging sensor acquires the actual distance L 1 And a distance value L 2 Establishing mathematical relation between the roll diameter r of the material roll and the parameters, and measuring real-time data L according to the ultrasonic ranging sensor 1 And L 2 And obtaining a material roll diameter r, transmitting the material roll diameter value to a compensation database in real time, obtaining a compensation torque value of the actual material roll diameter by the compensation database, and then outputting a signal to the motor to change the torque value output by the motor.
Preferably, the ultrasonic ranging sensor comprises an ultrasonic probe and a sensorThe ultrasonic wave transmitting circuit and receiving circuit are connected with ultrasonic probe, the ultrasonic probe adopts a transmitting-receiving separation probe, a singlechip is used for generating current excitation, the current excitation is carried out by a power amplifying circuit, the ultrasonic wave is enabled to transmit ultrasonic wave by the ultrasonic transducer, the ultrasonic wave returns immediately after contacting the surface of a material roll which is being conveyed when propagating in the air, the ultrasonic probe receives the ultrasonic wave reflected by the material roll, a sound wave signal is sent into a filtering, amplifying and shaping circuit and then returns to the singlechip, and the singlechip calculates the distance L from the ultrasonic ranging sensor to the surface of the material roll according to the time difference delta t of the transmitted echo and the received echo recorded by a timer 2 I.e. L 2 = v Δ t, where v is the speed of sound.
The invention has the beneficial effects that:
(1) The material roll diameter measuring system of the invention realizes real-time non-contact measurement by using the ultrasonic ranging principle. The complicated calculation of the traditional measuring method is avoided, the accumulative superposition of errors does not exist among all steps, and the device is simple and convenient, low in cost and easy to maintain.
(2) According to the accurate conveying method for the large-width braided belts, the compensation database is established, the power of the motor can be accurately and rapidly changed for the diameters of the material belts with different sizes, the same conveying speed is always kept in the material belt conveying process, the laying effect is greatly improved, the large-width braided belts can be stably and neatly laid, and the accurate conveying method for the laying of the large-width braided belts is of great significance.
Drawings
Fig. 1 is a schematic view of a precise conveying method of a wide-width woven belt according to an embodiment of the present invention;
fig. 2 is a schematic view of a roll diameter measurement of a wide woven tape roll according to one embodiment of the present invention.
List of reference symbols:
1. ultrasonic ranging sensor, 2-material roll reel.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.
An accurate conveying method of a wide braided belt comprises the following steps:
s1, acquiring the real-time roll diameter of the current material roll and the current motor output force. In particular, the method comprises the following steps of,
a plurality of ultrasonic ranging sensors are installed at the positions equal to the center of the material belt winding drum in height, and based on a real-time measuring system for the material belt winding diameter by the ultrasonic ranging sensors, ultrasonic waves are sent and received by the sensors, and the real-time winding diameter in the working process of the material belt is measured.
(1) And the five ultrasonic ranging sensors are arranged at the same height position with the central axis of the winding drum, so that the distance between the ultrasonic ranging sensors and the center of the winding drum is constant.
(2) After the five ultrasonic ranging sensors are uniformly distributed, measuring the distance from the sensor to the center of a material roll drum, and taking the average value of the distances as L 1 。
(3) When the tape laying machine works, the distance from the ultrasonic ranging sensor to the surface of the material roll in a working state is obtained, and the average value is recorded as L 2 (ii) a According to the formula r = L 1 -L 2 And calculating to obtain the real-time material coil diameter r.
The width of the large-width woven belt is about 1m, the thickness of the large-width woven belt is 0.1-0.4mm, five ultrasonic distance measuring sensors are arranged because the width of the woven belt is large, the ultrasonic distance measuring sensors are uniformly distributed, the middle ultrasonic distance measuring sensor is used as a main sensor, four sensors on two sides are used as auxiliary sensors, and the roll diameter measured by the main sensor is corrected.
The ultrasonic ranging method comprises the following steps:
the ultrasonic distance measuring sensor comprises an ultrasonic probe, an ultrasonic transmitting circuit and a receiving circuit, wherein the ultrasonic transmitting circuit and the receiving circuit are connected with the ultrasonic probe, the ultrasonic probe adopts a transmitting-receiving separation probe, a single chip microcomputer is used for generating current excitation, the current excitation is carried out through a power amplifying circuit, the ultrasonic transducer transmits ultrasonic waves, the ultrasonic waves return immediately after contacting the surface of a material roll which is being rolled when being spread in the air, and after receiving the ultrasonic waves reflected by the material roll, the ultrasonic probe sends sound wave signals to a filtering, amplifying and shaping circuit and then returns to the single chip microcomputerIn the system, the singlechip calculates the distance L from the ultrasonic ranging sensor to the surface of the material roll according to the time difference delta t recorded by the timer and used for measuring the transmitting and receiving echoes 2 I.e. L 2 = v Δ t, where v is the speed of sound.
S2, according to the real-time roll diameter, a moment compensation value corresponding to the real-time roll diameter is searched in a compensation database.
When the tape is actually laid, different roll diameters are obtained according to the measurement of the ultrasonic distance measuring sensor, signals are input into the compensation database, and corresponding torque compensation values are fed back to the motor, so that the output torque of the motor is changed.
The establishment of the compensation database comprises:
(1) In an initial state, setting a proper motor power and measuring the initial motor torque;
(2) When the tape laying machine works, controlling the test material roll to run under the output force of the motor, and detecting whether the actual tension value when the current actual roll diameter runs is in a preset range;
(3) If the actual tension value is not in the preset range (the difference between the preset tension value and the actual tension value is less than or equal to 10N), calculating a torque compensation value according to the actual tension value and the preset tension value;
(4) And correspondingly obtaining different torque compensation values under different coil diameters, thereby constructing a compensation database.
S3, compensating the torque compensation value to the current motor output force to obtain a motor target output force;
and S4, conveying the current material roll according to the target output force of the motor.
The working flow of the invention is as follows,
firstly, before the material roll is not installed, five ultrasonic sensors are started to measure and obtain the average value L of the distances from the sensors to the center of a material roll drum 1 . It should be noted that the ultrasonic distance measuring sensor is installed at a position which is as accurate as the center of the winding drum so that the ultrasonic waves can be transmitted and then the ultrasonic distance measuring sensor can be located at a position which is as high as the center of the winding drumThe nearest steel coil surface of the sensor returns immediately, so that the measurement precision is guaranteed, and the diameter measurement error is reduced.
After the material roll is installed on the tape paving machine, the ultrasonic distance measuring sensor measures the distance from the sensor to the surface of the material roll in a working state, and the average value is recorded as L 2 At the moment, the tape paving machine starts to convey the material roll;
both resulting distance values/are transmitted to the compensation database, obtaining the real-time roll diameter of the current material roll and the current motor output force after processing;
according to the real-time roll diameter value, a corresponding torque compensation value can be found in a database;
the torque compensation value is fed back to the motor, so that the output torque of the motor is adjusted.
The invention feeds back the measured real-time roll diameter value to the compensation database, and outputs a signal of compensating torque value to the motor of the tape laying machine, thereby changing the torque value output by the motor, ensuring that the feeding stability is not influenced by the change of the roll diameter of the material belt in the laying process of the braided tape, ensuring the same feeding speed of the material rolls with different sizes and realizing the accurate conveying of the braided tape with large width. The invention realizes the non-contact real-time measurement of the roll diameter of the material belt, does not need to measure the linear speed of the material belt during working, controls the change of the power of the motor through the change of the roll diameter, does not need to use a tension sensor and the like to monitor the tension change in real time, and has the advantages of more simplicity, smaller error and no need of frequent maintenance and consumable replacement.
It should be noted that the above-mentioned contents only illustrate the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and it is obvious to those skilled in the art that several modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations fall within the protection scope of the claims of the present invention.
Claims (6)
1. A method for accurately conveying a wide woven belt, the method comprising:
acquiring the real-time roll diameter of the current material roll and the current motor output force;
according to the real-time roll diameter, a moment compensation value corresponding to the real-time roll diameter is searched in a compensation database;
compensating the torque compensation value to the current motor output force to obtain a motor target output force;
and conveying the current material roll according to the target output force of the motor.
2. The precision conveying method of the wide woven belt according to claim 1, wherein the method for obtaining the real-time roll diameter of the material roll comprises the following steps:
the ultrasonic distance measuring sensors are arranged at the positions equal to the center of the winding drum and are uniformly distributed, the distance from the sensors to the center of the material roll winding drum is measured, and the average value is recorded as L 1 ；
When the tape laying machine works, the distance from the ultrasonic ranging sensor to the surface of the material roll in a working state is obtained, and the average value is recorded as L 2 ；
According to the formula r = L 1 -L 2 And calculating to obtain the real-time material coil diameter r.
3. The method for accurately conveying a wide woven belt according to claim 1, wherein the establishing of the compensation database includes: in an initial state, setting a proper motor power and measuring the initial motor torque;
when the tape laying machine works, the test material roll is controlled to run under the output force of the motor, and whether the actual tension value when the current actual roll diameter runs is in a preset range or not is detected;
if the actual tension value is not in the preset range, calculating a torque compensation value according to the actual tension value and the preset tension value;
and correspondingly obtaining different torque compensation values under different coil diameters, thereby constructing a compensation database.
4. The precision conveying method of large-width woven belts according to claim 3, characterized in that said preset range is such that the difference between said preset tension value and said actual tension value is less than or equal to 10N.
5. The precision conveying method of the wide webbing of claim 3, wherein the motor torque variation includes: if the actual tension value is not in the preset range, calculating a moment compensation value according to the actual tension value and the preset tension value; when the tape is actually laid, different roll diameters are obtained according to the measurement of the ultrasonic distance measuring sensor, signals are input into the compensation database, and corresponding torque compensation values are fed back to the motor, so that the output torque of the motor is changed.
6. An on-line measuring system for the diameter of a material roll according to any one of claims 1 to 5, characterized in that the ultrasonic distance measuring sensor comprises an ultrasonic probe, an ultrasonic transmitting circuit and a receiving circuit which are connected with the ultrasonic probe, the ultrasonic probe adopts a transmitting and receiving separation probe, a single chip microcomputer is used for generating current excitation and passing through a power amplifying circuit to enable an ultrasonic transducer to emit ultrasonic waves, the ultrasonic waves return immediately after contacting the surface of the material roll which is being rolled when propagating in the air, the ultrasonic probe sends sound wave signals to a filtering, amplifying and shaping circuit after receiving the ultrasonic waves reflected by the material roll and then returns to the single chip microcomputer, and the single chip microcomputer calculates the distance L from the ultrasonic distance measuring sensor to the surface of the material roll according to the time difference Deltat recorded by a timer and used for measuring the emitted and received echoes 2 I.e. L 2 = v Δ t, where v is the speed of sound.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211702981.5A CN115973838A (en) | 2022-12-29 | 2022-12-29 | Accurate conveying method for wide braided belt |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211702981.5A CN115973838A (en) | 2022-12-29 | 2022-12-29 | Accurate conveying method for wide braided belt |
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| Publication Number | Publication Date |
|---|---|
| CN115973838A true CN115973838A (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211702981.5A Pending CN115973838A (en) | 2022-12-29 | 2022-12-29 | Accurate conveying method for wide braided belt |
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- 2022-12-29 CN CN202211702981.5A patent/CN115973838A/en active Pending
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