CN117509294A

CN117509294A - Cable conveyor control device

Info

Publication number: CN117509294A
Application number: CN202311650730.1A
Authority: CN
Inventors: 全伟; 黄桂宏; 殷立楠
Original assignee: Beijing Tianze Electric Power Group Co ltd
Current assignee: Beijing Tianze Electric Power Group Co ltd
Priority date: 2023-12-05
Filing date: 2023-12-05
Publication date: 2024-02-06
Anticipated expiration: 2043-12-05
Also published as: CN117509294B

Abstract

The invention relates to the technical field of cable conveying, and discloses a cable conveying control device, a method, a computer-readable storage medium and a cable conveyor. The beneficial effects of the invention are as follows: automatically determining the running direction of the conveying assembly; automatically adjusting the clamping degree; the control logic is reliable and accurate.

Description

Cable conveying control device

Technical Field

The invention relates to the technical field of cable conveying, in particular to a cable conveying control device, a method, a computer readable storage medium and a cable conveyor.

Background

Along with the gradual improvement of the economic level of China, a great deal of manufacturing industry is developed, the electricity demand of each city is gradually increased, and the traditional overhead line is built on the urban road, so that the beauty is affected, and potential safety hazards exist. Therefore, a large-scale underground pipe network needs to be built, high-voltage cables are paved in the pipe network, a cable conveyor is one of the tools which are indispensable in the high-voltage cable paving operation, along with the development of technology, the era is advancing, and the electric power construction machine is about to step into modernization, automation, digitization and intellectualization.

The cable conveyor generally comprises a pair of tracks arranged in pairs, the tracks are rotatable under the drive of a power unit (such as a motor, etc.), a conveying channel for accommodating cables is formed between the tracks arranged in pairs, the size of the conveying channel is adjusted by approaching or separating the two tracks from each other, and the cables are clamped when approaching or released when separating, as in the patent application with publication number of CN109879111 a.

The technical problems in practical use at least comprise: the direction of travel (direction of rotation of the conveyor assembly, such as a track) cannot be automatically determined, nor can the degree of clamping be automatically adjusted according to the cable diameter.

Accordingly, there is a need to provide a cable transportation control device, a method, a computer readable storage medium and a cable transportation machine, so as to solve the above-mentioned technical problems.

Disclosure of Invention

In order to automatically determine the running direction of the conveying assembly and automatically control the clamping degree according to the diameter (diameter range) of the cable, the first aspect of the invention provides a cable conveying control device, which can be applied to a cable conveyor, wherein the cable conveyor comprises a rack, a clamping assembly and a conveying assembly, which are arranged on the rack, and are respectively used for clamping and conveying the cable, and a conveying channel between the two conveying assemblies, wherein the conveying channel comprises a memory, a processor, a cable conveying direction determining assembly and a cable clamping degree control assembly, and the cable conveying control device comprises the following components:

The cable conveying direction determining component comprises a cable conveying detection unit configured to detect the direction in which the cable is expected to be conveyed, and the processor is configured to call the corresponding conveying component running direction from the corresponding relation according to the direction in which the cable is expected to be conveyed, and send a running instruction to the conveying component and/or a clamping instruction to the clamping component;

the cable clamping degree control assembly further comprises a clamping detection unit and a cable diameter acquisition unit, wherein the memory is also internally stored with preset clamping parameters, initial diameters of cables or initial diameter ranges of the cables, mapping relation between the preset clamping parameters and the initial diameters of the cables or mapping relation between the preset clamping parameters and the initial diameter ranges of the cables, the preset clamping parameters are preset clamping parameters, the initial diameters of the cables are initial diameters of cables with a certain specification, the initial diameter ranges of the cables are initial diameter ranges of at least two cables with specifications similar to each other, the clamping detection unit is configured to acquire actual clamping parameters, and the actual clamping parameters are changed due to the fact that two conveying assemblies are relatively close to or far away from each other; the cable diameter acquisition unit is configured to acquire an initial diameter of a currently conveyed cable or an initial diameter range of the cable; the processor is further configured to: according to the initial diameter of the cable and the mapping relation, a preset clamping parameter corresponding to the initial diameter of the cable or the initial diameter range of the cable is fetched; if the actual clamping parameter is smaller than the lower limit of the preset clamping parameter, a clamping instruction is sent to the clamping assembly; if the actual clamping parameter is more than or equal to the upper limit of the preset clamping parameter, sending a clamping overrun instruction to at least one of the following: clamping component, conveying component and can indicate user's suggestion unit.

A second aspect of the present invention provides a cable conveyance control method applied to the cable conveyance control apparatus disclosed in the first aspect, comprising the steps of:

determining a conveying direction, and detecting the direction in which the cable is expected to be conveyed; pre-storing the correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly; according to the direction in which the cable is expected to be conveyed, the running direction of the corresponding conveying assembly is called from the corresponding relation, and a running instruction is sent to the conveying assembly and/or a clamping instruction is sent to the clamping assembly;

and controlling the clamping degree, wherein the clamping degree of the cable is automatically adjusted based on the initial diameter or the initial diameter range of the cable.

A third aspect of the invention discloses a computer-readable storage medium storing instructions that, when executed by the processor, perform any of the above-described cable transport control methods.

A fourth aspect of the invention discloses a cable conveyor comprising the cable conveying control device of any one of the first aspects of the invention:

a frame;

the clamping assembly comprises a clamping power unit and two clamping brackets which are arranged oppositely, and the two clamping brackets can be installed on the rack close to and far away from each other under the driving of the clamping power unit;

The conveying assembly is arranged on the clamping bracket and comprises a conveying power unit, a conveying transmission unit and a conveying crawler belt which are sequentially connected in a transmission way;

a cable conveyance direction determination assembly;

a cable grip level control assembly;

the memory is pre-stored with the corresponding relation and the mapping relation;

and the signal output end of the cable conveying direction determining assembly, the control end of the clamping power unit and the control end of the conveying power unit are all in signal connection with the controller.

A fifth aspect of the invention discloses a cable conveyor comprising a cable conveying anti-slip assembly, the cable conveying control device of any one of the first aspect of the invention:

a frame;

a cable conveyance direction determination assembly;

a cable grip level control assembly;

Compared with the prior art, the invention has the beneficial effects that:

1. automatic determination of the direction of travel of a conveyor assembly

The cable conveying detection unit detects the direction in which the cable is expected to be conveyed (such as under the action of conveying force applied by a user, traction force provided by another power mechanism such as a cable tractor and the like), and marks the direction in which the cable is expected to be conveyed, and in fact, the directions in which the cable is likely to be conveyed are two, namely a first direction in which the cable is expected to be conveyed and a second direction in which the cable is expected to be conveyed;

the running direction of the conveying component has a corresponding relation (one-to-one correspondence) with the direction in which the cable is expected to be conveyed, and in practice, the two possible directions of the cable are respectively marked as a first running direction of the conveying component and a second running direction of the conveying component, and the corresponding relation is prestored assuming that the first direction in which the cable is expected to be conveyed corresponds to the first running direction of the conveying component and the second direction in which the cable is expected to be conveyed corresponds to the second running direction of the conveying component;

According to the direction in which the cable is expected to be conveyed, the corresponding running direction of the conveying assembly is called from the corresponding relation, an operation instruction is sent to the conveying assembly, a clamping instruction is sent to the clamping assembly, the conveying assembly receives the operation instruction to run in the direction of the running direction of the conveying assembly, the clamping assembly receives the clamping instruction to drive the two conveying assemblies to be close to each other so as to clamp the cable in the conveying channel, therefore, the running direction of the conveying assembly is automatically determined according to the direction in which the cable is expected to be conveyed, the direction in which the cable is expected to be detected is used as a starting/standby signal of the conveying assembly and the clamping assembly, the conveying assembly and the clamping assembly are started only when the cable is conveyed, the conveying assembly and the clamping assembly are not started when the cable is not conveyed, the idle work of the conveying assembly and the clamping assembly is avoided, the energy conservation and emission reduction are realized, and the service life of the cable conveyor is prolonged;

2. but automatically regulated presss from both sides tight degree:

the cable diameter acquisition unit acquires the initial diameter of the currently conveyed cable;

retrieving preset clamping parameters corresponding to the initial diameter of the cable from a prestored mapping relation according to the acquired initial diameter of the cable;

the clamping detection unit acquires actual clamping parameters;

If the actual clamping parameters exceed the preset clamping parameters, the clamping degree of the current cable is recognized to exceed the limit, a clamping overrun instruction is sent to at least one of the clamping assembly, the conveying assembly and the prompting unit capable of prompting a user, and after the clamping overrun instruction is received, the clamping assembly, the conveying assembly and the prompting unit execute corresponding actions so as to realize accurate, reliable, automatic and real-time adjustment of the clamping degree.

3. The preset clamping parameters and the initial diameter of the cable or the initial diameter range of the cable form a mapping relation, the value of the initial diameter of the cable or the initial diameter range of the cable is positively correlated with the clamping degree required by the cable, the preset clamping parameters are matched based on the initial diameter of the cable or the initial diameter range of the cable, the corresponding relation is unique and accurate, and the control of the cable clamping degree control assembly adopting the mapping relation is reliable and accurate.

Drawings

In order that the advantages of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings.

Fig. 1 is a control schematic diagram of an embodiment of a cable transportation control device, in which: the device comprises a cable conveying direction determining component and a cable clamping degree control component;

fig. 2 is a control schematic diagram of an embodiment of the cable transportation control device, wherein: the cable conveying device comprises a cable conveying direction determining assembly, a cable conveying anti-slip assembly and a cable clamping degree control assembly;

FIG. 3 is a schematic illustration of an embodiment of FIG. 1 further comprising a display screen and a prompting unit;

FIG. 4 is a schematic illustration of the embodiment of FIG. 2 further comprising a display screen and a prompting unit;

fig. 5 is a schematic perspective view of a cable transport control device installed at a first view angle of an embodiment of a cable transport machine, wherein: the opposite side of the conveying power unit is arranged;

FIG. 6 is a left side view of FIG. 5;

FIG. 7 is a schematic perspective view of the second view of FIG. 5;

FIG. 8 is a schematic perspective view of a first view of a cable transport control device mounted to an embodiment of a cable transport conveyor, wherein portions of the transport assembly (e.g., the shield, the transport chain, and the gripping blocks) are not shown and the transport power unit is disposed on opposite sides for the purpose of illustrating the internal structure;

FIG. 9 is an enlarged partial view of region Z of FIG. 8;

FIG. 10 is an enlarged view of a portion of region Y of FIG. 8;

FIG. 11 is one manner in which the transport parameter detection wheel is mounted to the frame;

FIG. 12 is an enlarged partial view of the region X in FIG. 9;

FIG. 13 is a schematic perspective view of the clamping assembly from a first perspective, with the perspective view from top to bottom;

FIG. 14 is a cross-sectional view of section A-A of FIG. 14;

FIG. 15 is a schematic view of a configuration of an embodiment of a contralateral arrangement of a conveyor power unit;

FIG. 16 is a schematic perspective view of an embodiment of a cable conveyor from a first perspective, wherein the conveyor power units are disposed on the same side, i.e., the drive sprocket is located at the same length of the conveyor path;

FIG. 17 is a schematic perspective view of the second view of FIG. 16;

fig. 18 is a schematic diagram of the operation of an embodiment of a cable conveyor, wherein: the number of the cable conveying detection units is two, and the first cable conveying detection unit (first cable conveying detection unit) detects the direction in which the cable is expected to be conveyed, and at the moment, the clamping assembly and the conveying assembly do not work;

FIG. 19 is a schematic diagram of operation of the clamping assembly of FIG. 18 at a start-up time, wherein the clamping delay clamping is delayed after the time of FIG. 18;

FIG. 20 is a schematic diagram of operation of the clamp assembly of FIG. 18 at a start-up time, wherein the clamp assembly starts to start when the second cable transport detection unit detects a direction in which a cable is desired to be transported;

FIG. 21 is a schematic diagram of the operation of the embodiment of FIG. 18 in normal cable transport (the clamping assembly remains clamped and the transport assembly operates in a desired direction and speed);

fig. 22 is a schematic diagram of the operation of an embodiment of a cable conveyor, wherein: the cable conveying detection unit is one and is positioned at the rear of the conveying direction, and the state in the figure is the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

FIG. 23 is a delayed second clamp delay clamp after the start of the clamp assembly of the embodiment of FIG. 22;

fig. 24 is a schematic diagram of the normal transport of cables (clamping assembly remains clamped, transport assembly operates at desired direction and speed) of the embodiment of fig. 22;

fig. 25 is a schematic diagram of the operation of an embodiment of a cable conveyor, wherein: the cable conveying detection unit is one and is positioned in front of the conveying direction, and the state in the figure is the moment when the cable conveying detection unit detects the direction in which the cable is expected to be conveyed;

FIG. 26 is a view of the embodiment of FIG. 25 with the cable transport detection unit detecting the direction in which the cable is desired to be transported initiating gripping;

FIG. 27 is a schematic illustration of the clamping assembly of the embodiment of FIG. 25 after a delay in a first clamping delay following a start-up time

Fig. 28 is a schematic diagram of the normal transport of cables (clamping assembly remains clamped, transport assembly operates at desired direction and speed) of the embodiment of fig. 25;

FIG. 29 is a graph of clamping force (or rate of change thereof) for a clamping parameter;

FIG. 30 is a graph of the amount of deformation (or rate of change thereof) of the clamping parameter as a diameter;

FIG. 31 is a first graph of clamping parameters as a transport speed (or its rate of change), the clamping action may be without delay, corresponding to the embodiments of FIGS. 18-21 or FIGS. 25-28;

fig. 32 is a second graph of the clamping parameters as the transport speed (or its rate of change), the clamping action having to be delayed, corresponding to the embodiment of fig. 22-24.

The reference numerals are as follows:

1. a frame; 11. a guide rod; 111. a height adjusting hole; 12. a guide wheel;

2. a clamping assembly; 21. clamping the power unit; 22. an operation handle; 23. a screw rod; 241. a first linear motion member; 242. a second linear motion member; 25. clamping a bracket; 251. a first clamping bracket; 2511. a first limit part; 2512. a second limit part; 252. a second clamping bracket; 2521. a third limit part; 2522. a fourth limit part; 26. a floating connection; 27. a clamp detection unit; 271. a pressure sensor; 272. a cable diameter acquisition unit; 28. a first top cover; 29. a second top cover;

3. A transport assembly; 31. a transmission power unit; 32. a conveyor track; 321. a drive sprocket; 322. a driven sprocket; 323. a conveyor chain; 324. a clamping block;

41. a cable transportation detection unit; 41-1, a first cable transport detection unit; 41-2, a second cable conveying detection unit; 411. a transport parameter detection wheel; 4111. friction increasing grooves; 412. a wheel shaft for conveying the parameter detection wheel; 4121. a through hole; 413. a transport parameter detector; 4131. a first working portion; 4132. a second working portion;

42. an elastic member;

43. the conveying assembly operates the detecting unit; 431. a rotation direction detector; 4311. a first working part of the rotation direction detector; 4312. a second working part of the rotation direction detector;

44. a memory; 45. a processor; 46. a display screen; 47. a prompting unit;

5. a conveying channel;

6. a traction wheel; 61. wheel grooves;

7. an elastic pin; 8. and (3) a cable.

Description of the embodiments

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the embodiments of the invention.

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the present invention. It will be apparent that embodiments of the invention may be practiced without limitation to the specific details that are set forth by those skilled in the art. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to these detailed descriptions.

In the description of the invention, the term "a and/or B" means all possible combinations of a and B, such as a alone, B alone or a and B, the term "at least one a or B" or "at least one of a and B" has a meaning similar to "a and/or B" and may include a alone, B alone or a and B; the singular forms "a", "an" and "the" include plural referents; the terms "inboard", "outboard", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. indicate an orientation or positional relationship based on that shown in the drawings, are merely for convenience of description of the invention and do not require that the invention must be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Embodiments of the present invention will be described in further detail below with reference to the attached drawings:

when the power cable is conveyed and constructed, the power cable is often required to be conveyed by a cable conveyor, and various application scenes all require the cable conveyor to be conveyed in two directions, and the application scenes requiring the two-way conveying in the conveying direction are only listed as follows:

when the cable is conveyed, the conveying direction of the existing cable conveyor is determined (when the cable conveyor adopts a motor as a conveying power source, the conveying direction is determined by the wiring mode of the motor, namely the phase sequence), namely the running direction of the cable conveyor is determined when the cable conveyor is placed on a construction site, and if the direction is consistent with the expected conveying direction of the cable, the cable conveyor can be conveyed normally; if the direction of travel does not coincide with the desired direction in which the cable is to be conveyed, resulting in an inability to convey, it is necessary to reverse the direction of travel of the cable conveyor.

As described in the background, in order to try to solve the above-mentioned change of running direction (commutation), three ways are in the prior art: after the cable conveyor is stopped, 180 degrees of rotation are carried out in a horizontal plane, the wiring mode (phase sequence) of the motor is manually replaced, and two motors with opposite rotation directions are arranged.

The three modes at least cannot automatically identify the reversing requirement (whether reversing is needed) and automatically reverse after the reversing requirement is identified, and cannot apply clamping degrees suitable for cables with different diameters. Meanwhile, if the first mode is adopted, only a linear conveying cable conveyor can be adopted, and a non-linear conveying cable conveyor cannot be adopted (namely, various turning cable conveyors such as patent application publication No. CN113104657A, entitled a cable conveying device and a cable conveying method, which apply a vertical turning device, the angle between the inlet and the outlet of the cable is 90 degrees, namely, the cable conveying passage has 90 degrees of bend).

Based on the above consideration, the first aspect of the embodiment of the present invention provides a cable transporter control device, see fig. 1 to 4, and fig. 18 to 32. The control device can be used for a cable conveyor, and the cable conveyor is referred to in fig. 5 to 17, the cable conveyor comprises a frame 1, a clamping assembly 2 and a conveying assembly 3 which are arranged on the frame 1 and are respectively used for clamping and conveying a cable 8, the clamping assembly 2 and the conveying assembly 3 of the cable conveyor are in a stop state in an initial state, and a conveying channel 5 between the two conveying assemblies 3 keeps a large gap (larger than the diameter of the conveyed cable). The control device embodiment comprises a memory, a processor, a cable conveying direction determining component and a cable clamping degree control component. The assembly is determined with respect to the cable transport direction.

Operation of the cable conveyance direction determining component, with continued reference to fig. 18 to 28, the direction of travel of the conveyance component is automatically determined from the direction in which the cable is expected to be conveyed, detected by the cable conveyance detecting unit 41, to which automatic operation from standby to start is completed: standby- & gt detecting the direction in which the cable is expected to be conveyed- & gt retrieving the running direction of the conveying assembly corresponding to the direction in which the cable is expected to be conveyed from the corresponding relationship- & gt transmitting the running instruction by the conveying assembly 3 and/or transmitting the clamping instruction to the clamping assembly 2. Without manual operation (rotation of 180 degrees in the horizontal plane after the cable conveyor is stopped, switching to another motor drive with opposite rotation direction, changing the phase sequence of the motor, etc.).

The cable 8 moves in the direction desired to be conveyed by the action of the force applied by the user (e.g., pushing force or pulling force applied in the direction desired to be conveyed while being lifted up), the traction force of the other power mechanism such as a cable tractor, or the like, and the cable conveyance detecting unit 41 detects the direction desired to be conveyed (e.g., the conveying force applied by the user, the traction force of the other power mechanism such as a cable tractor, or the like), and marks the direction desired to be conveyed by the cable, and in fact, the direction desired to be conveyed by the cable may be any one of the directions along the length direction of the conveying passage 5, which is respectively referred to as the first direction desired to be conveyed by the cable and the second direction desired to be conveyed by the cable.

The transport assembly operation detection unit 43 detects the operation direction of the transport assembly 3 and notes the operation direction of the transport assembly, and the directions in which the cable may be actually transported are two, respectively noted as the first operation direction of the transport assembly and the second operation direction of the transport assembly.

For achieving the purpose of cable transportation, it is necessarily required that the direction of travel of the transportation assembly corresponds to the direction in which the cable is expected to be transported (as in the normal transportation state of fig. 21, 24 and 27), for example, the first direction in which the cable is expected to be transported corresponds to the first direction of travel of the transportation assembly, the second direction in which the cable is expected to be transported corresponds to the second direction of travel of the transportation assembly, or it is needless to say that the first direction in which the cable is expected to be transported corresponds to the second direction of travel of the transportation assembly, and the correspondence is prestored in the memory 44, that is, the correspondence indicates that the direction corresponds to the first direction in which the cable is expected to be transported corresponds to the first direction of travel of the transportation assembly, and the second direction in which the cable is expected to be transported corresponds to the second direction of travel of the transportation assembly.

In contrast to the sequence from standby to automatic operation, when the conveying assembly 3 (duration tsstandby, e.g. 15 seconds) does not detect the direction signal in which the cable is conveyed, practically no cable is conveyed, and at this time, neither the clamping assembly 2 nor the conveying assembly 3 needs to work, and the clamping assembly 2 nor the conveying assembly 3 is stopped, thereby avoiding unnecessary energy consumption.

The cable conveying direction determining assembly can be applied to conveying paths extending along various shapes, such as conveying paths 5 extending along a straight line (as shown in fig. 5 to 17), and conveying paths with non-straight conveying paths (such as 90 ° bend of CN113104657a, even S-shape, etc.).

It should be further noted that the present cable conveying direction determining assembly can be applied to a cable conveyor, and those skilled in the art will recognize that it can also be applied to conveying other elongated workpieces, such as various pipes and rods.

With continued reference to fig. 18-28, in the standby state, both the clamping assembly 2 and the conveying assembly 3 are stopped, and the conveying channel 5 between the two conveying assemblies 3 is larger than the diameter of the cable so as to facilitate the cable 8 to enter and exit the conveying channel 5; in the clamped state, both the clamping assembly 2 and the conveying assembly 3 work, so that the cable 8 is clamped between the two conveying assemblies 3, a required clamping force is applied to the cable 8 through the clamping assembly 2, and a friction force is generated to the cable 8 through the conveying assemblies 3 to convey the cable.

With respect to the cable grip level control assembly, and with continued reference to fig. 1-4, the memory 44 is configured to store a preset grip parameter (being a range value, having an upper limit and a lower limit), an initial diameter of the cable or a range of initial diameters of the cable, a mapping relationship of the preset grip parameter to the initial diameter of the cable or a mapping relationship of the preset grip parameter to the range of initial diameters of the cable (the mapping relationship typically exists in the form of a database), wherein the preset grip parameter is a preset grip parameter, and the initial diameters of the cable are initial diameters of a certain specification, such as 100mm, 120mm, 140mm, 160mm, 180mm, respectively, with a corresponding set of preset grip parameter; the initial diameter range of the cable is a range of initial diameters (undamped free state) of at least two cables with similar specifications, such as any one of 100mm-119mm, 120mm-139mm, 140mm-159mm, 160mm-179mm and 180mm-199mm, and a preset clamping parameter is correspondingly set, and of course, the range of the initial diameter range can be exemplified by the unit of 20mm as described above, and the range can be flexibly selected according to practical situations, that is, can be larger (such as 25mm, 30mm or larger) or smaller (such as 15mm, 10mm or smaller).

The clamping detection unit 27 is configured to obtain the actual clamping parameters (actual clamping parameters and preset clamping parameters are actual values and preset values in the same dimension), which are caused to change by the relative approach or separation of the two transport assemblies 3, i.e. the actual clamping parameters are related to the movement (relative approach or separation) of the two transport assemblies 3, from which the actual clamping parameters are obtained accurately and reliably.

The cable diameter acquisition unit 272 is configured to acquire an initial diameter of the initial diameter cable of the cable 8 currently being conveyed. It can be obtained directly from the initial diameter of the cable or indirectly from the cable, the principle and operation of which are described in more detail below.

The processor 45 is configured to:

according to the initial diameter of the cable and the mapping relation, a preset clamping parameter corresponding to the initial diameter of the cable is fetched;

if the actual clamping parameter is smaller than the lower limit of the preset clamping parameter, the clamping is insufficient, at the moment, the processor 45 sends a clamping instruction to the clamping assembly 2, the clamping assembly 2 is started after receiving the clamping instruction, the two conveying assemblies 3 are driven to be relatively close to each other, the cable is clamped to a greater extent, and the actual clamping parameter is increased until the actual clamping parameter is larger than the preset clamping parameter;

If the actual clamping parameter is greater than or equal to the upper limit of the preset clamping parameter, an excessive clamping is indicated, and the processor 45 issues a clamping overrun command to at least one of the following: a clamping assembly 2, a conveying assembly 3 and a prompting unit 46 capable of prompting a user.

The preset clamping parameters and the initial diameter of the cable or the initial diameter range of the cable form a mapping (mathematical mapping meaning, namely function) relation, the value of the initial diameter of the cable or the initial diameter range of the cable is positively related to the clamping degree required by the cable, the preset clamping parameters are matched based on the initial diameter of the cable or the initial diameter range of the cable, the corresponding relation is unique and accurate, and the control of the cable clamping degree control component adopting the mapping relation is reliable and accurate.

It should be noted that the actual clamping parameters include at least one of a first actual clamping parameter (clamping force or a change rate thereof), a second actual clamping parameter (cable diameter deformation amount or a change rate thereof), and a third actual clamping parameter (conveying speed or a change rate thereof), that is, may be one of three actual clamping parameters, may be any two of the three actual clamping parameters (simultaneously satisfying the conditions corresponding to the two), may also be three actual clamping parameters (simultaneously satisfying the conditions corresponding to the three actual clamping parameters), and may be the pressure sensor 271 (fig. 14) between the two clamping brackets 25, the cable diameter acquisition unit 272 (fig. 7) or the cable conveying detection unit 41 (fig. 8 and 9) for acquiring the cable diameter.

The inventor finds that the clamping force of the two conveying components 3 to the cable 8 will change during the process of transition from the standby state to the clamping state, the change curve refers to fig. 29, the first actual clamping parameter is the clamping force or the change rate of the clamping force applied by the two conveying components 3 to the cable, the first actual clamping parameter is directly based on the clamping force or the change rate of the clamping force (the slope of the change curve of the clamping force with time), the actual clamping force is compared with the preset clamping force, or the actual change rate of the clamping force is compared with the preset clamping force, and the control logic is more direct, and the control is reliable and accurate.

As the two conveying components 3 approach or separate, the clamping force of the cable 8 in the conveying channel 5 changes, and when the two conveying components 3 do not contact the cable at the same time, the clamping force is 0, in the clamping state, the clamping force gradually increases as the distance between the two conveying components 3 decreases, and the magnitude of the clamping force should be related to the initial diameter of the cable or the initial diameter range of the cable, that is, the smaller the diameter or the diameter range, the smaller the preset clamping parameter of the clamping force is needed; the inventors have also found that due to structural errors of the system, electrical accuracy, etc., the preset clamping parameters should be allowed to deviate somewhat, reasonably the preset clamping parameters are set to a range of values. The influence of fluctuation generated by the relation between the preset clamping parameters and the initial diameter of the cable and the influence of the system is considered. A specific example is that, in relation to the initial diameter of the cable, the preset clamping parameter is 1500n±50N when the initial diameter of the cable is 120mm, and 2500n±80N when the initial diameter of the cable is 180 mm.

With continued reference to fig. 29, i.e., the slope of the clamping force, where the first actual clamping parameter is the rate of change of the clamping force applied by the two transport assemblies 3 to the cable, as with the clamping force considerations described above, the slope should also be a range associated with the initial diameter or range of initial diameters of the cable. One specific example is that the preset clamping parameter is 0.8±0.1 when the initial diameter of the cable is 120mm, and 1.1±0.15 when the initial diameter of the cable is 180mm, in association with the initial diameter of the cable. One advantage of this approach is that it reduces the effects of system fluctuations, enhancing reliability.

The inventors have also found that the diameter or the rate of change of the diameter of the cable 8 changes during the transition from the standby state to the clamped state, and that the second actual clamping parameter is the diameter deformation or the rate of change of the diameter deformation before and after the cable is clamped, with continued reference to fig. 30, the clamping degree of the cable 8 is truly reflected by the diameter deformation and the rate of change of the diameter deformation (the slope of the curve of the diameter with time), and the failure of the clamping force control due to the failure of the mechanical structure, the electrical components and the operation program is avoided, so that the control is more accurate and reliable, and the diameter deformation or the rate of change of the diameter deformation of the cable 8 is controlled within the preset clamping parameter (between the lower limit and the upper limit of the preset clamping parameter).

The inventors have also found that the conveying speed or the rate of change of the conveying speed (acceleration of the cable in the conveying direction) of the cable 8 will also change during the transition from the standby state to the clamping state, and as shown in fig. 31 and 32, the third actual clamping parameter is the conveying speed or the rate of change of the conveying speed, and the clamping degree of the cable 8 can be indirectly determined by the conveying speed of the cable 8, for example, the conveying speed of the cable 8 does not reach the preset speed (or the running speed of the conveying assembly 3, that is, the clamping degree is insufficient), and at this time, a clamping instruction is sent to the clamping assembly 2.

One way of obtaining the clamping force described above is by installing a pressure sensor 271 between two clamping assemblies 2 and configured to: the clamping force is obtained on the basis of the relative movement (relative approaching or separating) of the two transport assemblies 3. The force sensor may be a pressure sensor 271 or a tension sensor. The pressure sensor 271 is located between the two conveying units 3, and detects the clamping force=the resistance force of the relative movement of the conveying units 3 (friction force of the kinematic pair) +the reaction force of the two conveying units 3 due to the clamping of the cable, so that the friction force of the kinematic pair exists only at the initial stage of starting from the standby state, and therefore, the detected clamping force is increased to the extent equal to the friction force of the kinematic pair before the two conveying units 3 contact the cable, and the idle resistance is hereinafter referred to for simplicity of description.

The first form of the cable diameter obtaining unit is called (indirectly obtained) from the above-mentioned mapping relation when the clamping parameter reaches the trigger value, specifically, the memory 44 stores the trigger clamping parameter (taking the clamping parameter as the clamping force, for example, the clamping force is slightly larger than the value under the no-load resistance condition and is far smaller than the preset clamping parameter, such as 1.1 times the no-load resistance, or no-load resistance +5n), and the processor 45 is further configured to: if the actual clamping parameter=the trigger clamping parameter, judging the initial time when the cable is clamped, and according to the mapping relation, calling the initial diameter or the initial diameter range of the cable corresponding to the trigger clamping parameter, wherein the initial diameter or the initial diameter range of the corresponding cable is the initial diameter or the initial diameter range of the cable 8. No additional sensor is needed for detection, the number of electric elements is greatly reduced, signal sources are used as few as possible, the cost is reduced, the control logic is simplified, the programming logic is simplified, and the reliability of program operation is improved.

The second way to obtain the cable diameter is to detect it by a sensor (the relative distance between the two conveying members 3 when they are just clamped), where the cable diameter obtaining unit 272 includes a sensor (such as a contact displacement sensor) capable of measuring the distance to detect the diameter or the diameter range of the cable when the distance between the two conveying members 3 triggers clamping, and the memory 44 stores therein trigger clamping parameters, and the processor 45 is further configured to: when the actual clamping parameter = trigger clamping parameter, it is determined as the initial moment when the cable is clamped (the minimum time interval after the cable contacts both clamping assemblies 2), the diameter or diameter range of the cable at the time of trigger clamping is the initial diameter or initial diameter range of the cable 8. Correspondingly, the diameter deformation is obtained by the processor 45 being further configured to: if the actual clamping parameter is more than or equal to the lower limit of the preset clamping parameter, judging that the cable is clamped, and detecting the diameter or the diameter range of the cable when the distance between the two conveying components 3 is actually clamped in the current state by a distance-measuring sensor; diameter deformation = diameter or diameter range of the cable at the time of trigger clamping-diameter or diameter range of the cable at the time of actual clamping.

The gripping force is controlled based on the conveying speed in such a manner that the conveying speed is detected by the cable conveying detection unit 41. The corresponding preset clamping parameter is the upper limit of the normal cable conveying speed (which is theoretically equal to the running speed of the conveying assembly 3), and when the conveying speed reaches the preset clamping parameter, the synchronous operation of the cable and the conveying assembly 3 is indicated, that is, the cable is sufficiently clamped.

In order to acquire the conveying speed, the cable conveying detection unit 41 is triggered by the movement of the conveyed cable 8, the conveying speed acquired by the cable conveying detection unit 41 has a strict one-to-one correspondence with the speed at which the cable is actually conveyed, and the judgment of the direction in which the cable is conveyed is unique, accurate and reliable.

With continued reference to fig. 5-12, the specific form of the cable delivery detection unit 41 includes a delivery parameter detection wheel 411 and a delivery parameter detector 413 (a sensor based on relative rotation detection line speed, which includes a first portion 4131 secured to an axle 412 of the delivery parameter detection wheel, a second portion 4132 secured to and synchronously rotating with the delivery parameter detection wheel 411, such as a bi-directional hall switch, rotary potentiometer, optical encoder, rotary transformer, or MSMS angle sensor). The conveying parameter detecting wheel 411 can be rotatably mounted on the frame 1 of the cable conveyor under the driving of the conveyed cable, and the conveying parameter detecting wheel 411 can only rotate under the driving of the conveyed cable 8, so that the conveying parameter detecting wheel 411 can be mounted in any direction of the conveying channel 5 relative to the conveying channel 5, such as below, left side, right side, above and even obliquely arranged on the conveying channel 5. The conveying parameter detecting wheel 411 is arranged below the conveying channel 5, and the cable can apply pressure (friction force) to the conveying parameter detecting wheel 411 under the action of dead weight so as to drive the conveying parameter detecting wheel 411 to rotate, so that the conveying parameter detecting wheel 411 is simple in structure and reliable in triggering. When installed sideways or above, the conveying parameter detecting wheel 411 may be floatingly installed to the frame 1 using an elastic member 42 (e.g., a spring) because a frictional force for driving the conveying parameter detecting wheel 411 to rotate cannot be applied by the gravity of the cable 8.

It should be further noted that with continued reference to fig. 3 and 4, the cable clamp level control assembly may further include a display screen 46 to display the above-described sensed data, intermediate calculation data, graphs associated with the clamp level, etc.

In order to explain in detail the working principle of the cable 6 transport, the memory stores: the cable conveying detection unit 41 may also detect the direction in which the cable is expected to be conveyed and the direction in which the cable is expected to be conveyed, and then retrieve the direction in which the cable is expected to be conveyed from the correspondence, and with continued reference to fig. 18-21 and 25-28, when detecting the signal of the direction in which the cable is expected to be conveyed, the end of the cable 6 completely passes through the effective length L of the conveying channel 5, so that the clamping action may be implemented, and the two clamping brackets 25 approach in the direction of F clamping by the driving force of the clamping power unit 21; in contrast, fig. 22-24 show that the cable 6 has not yet completely passed through the feed channel 5 when a signal is detected indicating the desired direction of the cable (which is indicated by the "delayed clamping" phase in fig. 32) after a delay.

With continued reference to fig. 5-8 and 13-17, the clamping assembly 2 comprises a clamping power unit 21, a clamping transmission unit and two oppositely arranged clamping brackets 25 which are in driving connection in sequence, the two clamping brackets 25 being mountable to the frame 1 close to and remote from each other under the drive of the clamping power unit 21, and the clamping power unit 21, when the clamping assembly 2 is in operation, drives the clamping brackets 25 close to and remote from each other by means of the clamping transmission unit, so as to adjust the size of the conveying channel 5 between the two clamping brackets 25 (together with the conveying assembly 3 arranged on the clamping brackets 25), so as to adjust the conveying assembly 3 to clamp the cable, release the cable, clamp the cable to a greater extent or clamp the cable to a lesser extent.

With continued reference to fig. 5-8 and 13-17, a conveying assembly 3 is provided for each clamping bracket 25, the conveying assembly 3 includes a conveying power unit 31 and a conveying track 32 which are sequentially in transmission connection, and after the clamping assembly 2 is clamped, the conveying assembly 3 is started, and the conveying power unit 31 drives the conveying track 32 to reciprocate so as to generate a conveying force for conveying the cable along the conveying channel 5. The transmission of the conveying power unit 31 is connected with a speed reducer, the conveying crawler 32 comprises a driving sprocket 321, a driven sprocket 322, a conveying chain 323 and a clamping block 324, the conveying sprocket and the driven sprocket 322 are rotatably arranged on the clamping bracket 25, the conveying chain 323 is sleeved between the driving sprocket 321 and the driven sprocket 322, and the clamping block 324 is fixed on the outer side of the conveying chain 323. The transmission path is as follows: the power unit 31 is conveyed, the speed reducer is conveyed, the driving sprocket 321 is conveyed, the chain 323 is conveyed, the driven sprocket 322 is conveyed, and the clamping blocks 324 are clamped, so that clamping force is applied to the cables through the clamping blocks 324 of the two conveying assemblies 3, and the purpose of conveying the cables 8 is achieved.

With continued reference to fig. 5 to 8 and 13 to 17, one structure of the clamping transmission unit includes a first linear motion member 2411 and a floating connection member 26, the clamping power unit 21 drives a first clamping bracket 2511 to move through a first linear motion member 241, the first clamping bracket 2511 is limited by a first limiting portion 2511 and a second limiting portion 2512 arranged along the motion direction of the conveying assembly 3, the first linear motion member 241 is limited by the first limiting portion 2511, the floating connection member 26 is limited by the second limiting portion 2512 (may directly abut against the second limiting portion 2512 or indirectly abut against the second limiting portion 2512 through a first top sleeve 28), and the clamping detection unit 27 of the cable clamping degree control assembly is installed between the second clamping bracket 25 and the frame 1. The first limiting portion 2511 and the second limiting portion 2512 may be convex portions as shown in the figures, and a groove for accommodating the first linear motion member 241 and the floating connection member 26 (the floating connection member 26 is a compression spring) is formed between the first limiting portion 2511, the first linear motion member 241, the floating connection member 26 and the second limiting portion 2512 are sequentially abutted. The floating connection 26 may be in a free state (neither pre-compressed nor pre-stretched) when the clamping assembly 2 is not in operation, although it may be pre-compressed.

The resistance of the movement of the first clamping bracket 2511 in the direction of the bracket approaching/separating from the second clamping bracket 2522 is absorbed by the floating link 26, in other words, the floating link 26 is deformed (compressed or elongated) by the resistance, so that the floating support is maintained between the first clamping bracket 2511 and the rack 1 by the floating link 26, and the movement of the first clamping bracket 2511 is buffered, and the cable is buffered, so that the movement of the first clamping bracket 2511 along the rack 1 is smoother, rapid acceleration or rapid deceleration is avoided, and each kinematic pair and the cable are protected.

With continued reference to fig. 29-32, before the delivery assembly 3 does not contact the cable, the clamping parameter curve has an "no-load" phase, in which, due to the presence of the floating connector 26, the clamping parameter detected by the clamping detection unit 27 is kept in a constant state, which significantly reduces the fluctuation amplitude of the no-load phase caused by irregularities in movement (due to errors in manufacturing, assembling, etc. of the parts constituting the kinematic pair), i.e. the clamping parameter curve in the no-load phase is kept more straight, so that the triggering clamping parameter can be closer to the clamping parameter in the no-load phase (clamping force, rate of change of clamping force, diameter deformation, rate of change of diameter deformation, delivery speed or rate of change of delivery speed, such as for example, 1.02 times of no-load resistance, or no-load resistance +1n of clamping force), thereby improving the triggered sensitivity, shortening the response time from no-load to triggered, and reducing the delay between no-load and triggered.

Completing the whole working cycle (standby-normal conveying-standby) comprises the following stages in sequence according to the change of the clamping parameter curve (curve of the clamping parameter changing along with time): start, idle, delay, pinch, normal delivery, release, idle, and reset.

For the purpose of illustration of the clamping parameters, curves for the first clamping parameter, the second clamping parameter and the third clamping parameter are plotted as follows. The curve is drawn taking into account the ideal conditions, i.e., ignoring small fluctuations in the resistance of the kinematic pair due to (mechanical errors, electrical component errors, and signal transmission errors that occur during the manufacturing or assembly of the parts that make up the kinematic pair).

The number of the cable conveyance detecting units 41 may be two, one at each end of the conveyance path 5, as shown in fig. 18 to 21; the cable transportation detecting unit 41 may also be one, and is disposed only at one end of the transportation path 5, and as shown in fig. 22 to 28, the other end of the transportation path 5 is provided with a guide wheel 11 for supporting and guiding the cable, and the guide wheel 11 is rotatably mounted to the frame 1.

When the clamping parameter is the clamping force or the change rate thereof, the curve is shown in fig. 29, and the following is described for each stage:

After receiving the clamping command of the processor 45 from the standby state, the clamping assembly 2 is started, namely, the two clamping brackets 25 are driven to be close to each other, and at the moment, the two clamping brackets 25 overcome the resistance between the clamping force and the rack 1, so that the clamping force (acquired by the pressure sensor when the clamping detection unit 27 adopts the pressure sensor) is instantaneously increased, and the time occupied by the stage is artificially prolonged for the purpose of illustrating the stage, and the time required by the stage is extremely short;

when the clamping force increases sufficiently to overcome the resistance of the clamping brackets 25 to the frame 1 (pre-compression force or pre-tension force pre-loaded to the floating connection 26, if any), i.e. the clamping force is greater than this resistance, then the two clamping brackets 25 move towards each other, the instantaneous clamping force of the two clamping brackets 25 actuation rapidly drops to equal this resistance, which is set as the no-load resistance, and the two clamping brackets 25 continue to approach until the clamping assembly 2 contacts the cable;

delay triggering, when the conveying component 3 contacts the cable, the conveying component continues to approach, so that clamping force is applied to the cable, the clamping force is increased along with the continuing approach of the two clamping brackets 25, when the clamping force is increased to trigger the clamping parameter (slightly larger than idle resistance), the clamping of the cable is judged to be started, and as described above, the initial diameter of the cable or the initial diameter range of the cable corresponding to the trigger clamping parameter can be called from the database through the trigger clamping parameter, so that the initial diameter of the cable or the initial diameter range of the cable of the initial diameter of the currently conveyed cable 8 can be identified;

Clamping, the clamping force continues to increase as the two clamping brackets 25 continue to approach until a preset clamping parameter corresponding to the initial diameter of the cable or the initial diameter range of the cable is reached;

normally conveying, then, maintaining the clamping force by the clamping assembly 2, starting the conveying assembly 3 to convey the cable, and detecting and comparing the actual clamping force with the preset clamping force in real time so as to complete real-time detection and dynamic control, wherein the actual clamping force is controlled between the lower limit of the preset clamping parameter and the upper limit of the preset clamping parameter;

releasing, when the conveying is finished or the actual clamping parameters are more than or equal to the preset clamping parameters, the clamping assembly 2 drives the two clamping brackets 25 to be far away from each other, and the curve is opposite to the clamping action;

no-load, the state is the same as no-load after starting;

reset, as opposed to start-up.

When the clamping parameter is the diameter deformation or the change rate thereof, the curve is shown in fig. 30, and each stage is the same as when the clamping parameter is the clamping force, except that the parameter types are different, including stage start, no load, delay, clamping, normal conveying, release, no load and reset.

When the clamping parameter is the conveying speed or the change rate thereof, the curves are as shown in fig. 31 and 32, and the clamping parameter is the same when the clamping force is the clamping force, and the difference is that the parameter types are different, and the parameters respectively comprise stage starting, idle load, delay, clamping, normal conveying, releasing, idle load and resetting. Of course, if only the conveying speed is used as the control of the clamping degree, the curve thereof can only mark 0 point, the triggering clamping parameter, the preset clamping parameter and the resetting point, and other stages can not be displayed, and the stages which can not be displayed are still marked in fig. 31 and 32, so as to illustrate that the conveying parameter adopts the clamping force (and the change rate thereof), the diameter deformation (and the change rate thereof) and the conveying speed, and the root lies in the mapping relation of the three. Fig. 31 and 32 differ in that fig. 32 requires a certain delay (corresponding to the operation principle of fig. 22 to 24) after the detection of the trigger clamping parameter, and the delay of the conveying speed profile shown in fig. 31 (conveying principle diagram shown in fig. 25 to 28) is not necessary.

In addition, the curves of the first clamping parameter and the second clamping parameter also show a stage of clamping overrun (such as a thicker dotted line of a clamping curve of the figure), at which the clamping force is far greater than the preset clamping force, and the cable diameter variation is far greater than the preset cable diameter variation.

The elasticity of the floating link 26 can be obtained by its own shape change, such as various coil springs, leaf springs, disc springs, etc.; but also by the elasticity of the material itself, such as polyurethane pads, etc.

The floating link 26 is pre-compressed (as shown in fig. 14) or stretched (not shown in the drawings), one way of mounting the floating link 26 is by fixing the first elastic end to the frame 1 and the second elastic end to the first clamping bracket 2511.

With continued reference to fig. 14, the clamp transmission unit further includes a second rectilinear motion piece 242, the second clamp bracket 2522 is configured with a second stopper portion 2521 and a fourth stopper portion 2522 which are sequentially arranged in the clamp direction (direction approaching the conveying path 5), and the clamp power unit 21 drives the second clamp bracket 2522 to move through the second rectilinear motion piece 242; the clamping detection unit 27 is located between the second linear motion member 242 and the clamping bracket 25, and is used for detecting actual clamping parameters; the clamp detection unit 27 may abut (may abut directly or may abut indirectly against the second limiting portion 2512 through the second top cover 29) between the second limiting portion 2521 and the second linear motion member 242.

The grip detection unit 27 is a pressure sensor 271, a cable diameter acquisition unit 272 (a sensor capable of measuring a distance, such as a contact displacement sensor), and a cable transport detection unit 41, respectively, corresponding to the first grip parameter, the second grip parameter, and the third grip parameter. The pressure sensor 271 and the cable transport detecting unit 41 are described in detail above. The cable diameter acquisition unit 272 is configured to detect a relative positional change between the two clamping brackets 25, which may be directly installed between the two clamping brackets 25, or may be installed between the first clamping bracket 2511 and the frame 1, and then indirectly calculate the relative positional change between the two clamping brackets 25 by a ratio of a moving speed of the first clamping bracket 2511 relative to the frame 1 and a moving speed of the second clamping bracket 2522 relative to the frame 1. As shown in fig. 7, the clamping transmission unit further includes a screw rod 23 that is driven by the clamping power unit 21 to rotate, and two threads with opposite rotation directions are formed in the length direction of the screw rod 23, and the first linear motion member 241 and the second linear motion member 242 are respectively driven by one thread, and the pitches of the two threads may be equal or unequal. Of course, the clamping transmission unit may take other forms (such as a push rod motor, a rack and pinion, etc.), as long as it can drive the first linear motion member 241 and the second linear motion member 242 to move in the directions in which the two conveying assemblies 3 relatively approach and separate. In addition, one end of the screw rod 23 extends to a position beyond the frame 1, and an operation handle 22 is mounted at the extending end and can be used for manually driving the screw rod 23, and when the clamping assembly 2 fails to work, the operation handle 22 can be manually driven to clamp or release the cable manually. The first linear motion member 241 and the second linear motion member 242 are nuts screw-engaged with the corresponding lead screw 23.

In addition, the clamping power unit 21, the conveying power unit 31 may output a rotational driving force, such as with a conventional motor, a hydraulic motor, or the like; and can output linear driving force, such as push rod motor, hydraulic push rod, etc.

With continued reference to fig. 3 and 4, the cable conveyor embodiment may further include a prompt unit 47, upon receipt of a clamping overrun command, indicating that the clamping is too great due to an abnormal condition, performing at least one of: the prompt unit 47 gives a prompt to the user in a manner that the user can perceive (such as sound, light, image, vibration, etc.); the clamping power unit 21 drives the two clamping brackets 25 away from each other to partially or completely release the cable; the delivery power unit 31 is stopped, and delivery is stopped to protect the cable.

In order to acquire the direction in which the cable 8 is conveyed (the direction in which the cable 8 is expected to be conveyed), the cable conveyance detection unit 41 is triggered by the movement of the conveyed cable 8, and the direction in which the cable is conveyed acquired by the cable conveyance detection unit 41 has a strict one-to-one correspondence with the actual direction in which the cable is conveyed, and the determination of the direction in which the cable is conveyed is unique, accurate, and reliable.

With continued reference to fig. 5-12, a specific form of cable transport detection unit 41 includes a transport parameter detection wheel 411 and a first rotational direction detector 413.

The conveying parameter detecting wheel 411 can be rotatably mounted on the frame 1 of the cable conveyor under the driving of the conveyed cable 8, and the conveying parameter detecting wheel 411 can only rotate under the driving of the conveyed cable 8, so that the conveying parameter detecting wheel 411 can be mounted in any direction of the conveying channel 5 relative to the conveying channel 5, such as below, left side, right side, above and even obliquely arranged on the conveying channel 5. The conveying parameter detecting wheel 411 is arranged below the conveying channel 5, the cable 8 can apply pressure (friction force) to the conveying parameter detecting wheel 411 under the action of dead weight, so that the conveying parameter detecting wheel 411 is driven to rotate, and the conveying parameter detecting device is simple in structure and reliable in triggering. When installed sideways or above, the conveying parameter detecting wheel 41 may be floatingly installed to the frame 1 using an elastic member (e.g., a spring) because a frictional force for rotating the conveying parameter detecting wheel 411 cannot be applied by the gravity action of the cable.

The first rotation direction detector 413 is installed between the conveying parameter detecting wheel 411 and the frame 1 of the cable conveyor, and is used for detecting the direction in which the cable is expected to be conveyed, that is, the direction in which the cable is expected to be conveyed is the rotation direction of the conveying parameter detecting wheel 411, and includes the first direction in which the cable is expected to be conveyed and the second direction in which the cable is expected to be conveyed.

The conveying parameter detecting wheel 411 is horizontally arranged and perpendicular to the length direction of the conveying passage 5, and the conveying parameter detecting wheel 411 has a friction increasing groove 4111 for carrying a cable, and the tangential direction of the upper edge of the friction increasing groove 4111 is parallel to the length direction of the conveying passage 5. The contact area with the cable is increased by the provision of the friction increasing groove 4111, thereby ensuring the frictional force between the cable and the conveying parameter detecting wheel 411 so that the movement speed therebetween maintains a high degree of consistency (the linear speed of the conveying parameter detecting wheel 411=the speed at which the cable is conveyed).

The friction increasing groove 4111 may be provided in an arc shape (not shown) corresponding to the outer diameter of the cable, and the diameter of the arc shape may be the same as the outer diameter of the cable, thereby maximizing the guaranteed contact area. Of course, the diameters of the cables actually transported may be various, and for this purpose, a transport parameter detecting wheel 411 of one specification (the diameter of the friction increasing groove 4111 is equal to the diameter of the cable) may be provided for each cable of different diameters, and the transport parameter detecting wheel 411 of the corresponding specification may be replaced after the cable diameter is changed. It is also possible to provide only one fixed-size conveying parameter detecting wheel 411, and the diameter of the friction increasing groove 4111 of the conveying parameter detecting wheel 411 takes the maximum diameter of various cables actually conveyed.

The friction increasing groove 4111 may also be provided in a V shape (a longitudinal section through the axis of the conveying parameter detecting wheel 411), as shown in fig. 5 to 9 and 11, the V-shaped friction increasing groove 4111 supports the cable 8 upward from two places, in other words, the cable may apply pressure to the friction increasing groove 4111 from above through the two places, under the effect of which pressure the friction increasing groove 4111 obtains enough friction to keep synchronous movement with the conveyed cable (the linear velocity of the conveying parameter detecting wheel 411=the velocity at which the cable is conveyed), and the conveying directions are in one-to-one correspondence. Meanwhile, the friction increasing groove 4111 is provided in a V shape, and can be applied to cables of various specifications.

The inventors found that the relative height between the friction increasing grooves 4111 and the conveying passage 5 needs to be kept within a suitable range to satisfy the conditions at the same time: the cable is positioned at the middle position of the conveying channel 5 in the height direction, so that the conveying assembly 3 can better apply conveying force to the cable; the upper edge of the friction increasing groove 4111 is flush with the bottom of the conveying passage 5 or slightly higher (e.g., 1 mm) than the bottom of the conveying passage 5, ensuring that a sufficient frictional force for driving the conveying parameter detecting wheel 411 to rotate can be generated without excessive pressing of the cable 8.

To achieve the above-described suitable range, one configuration of the conveyance parameter detection wheel 411 is such that, with continued reference to fig. 5 to 9, the conveyance parameter detection wheel 411 is rigidly supported to the frame 1, and the support height of the conveyance parameter detection wheel 411 is adjustable. The above-mentioned relative height of the transport parameter detecting wheel 411 with respect to the transport passage 5 is achieved by adjusting the mounting position of the transport parameter detecting wheel 411, and the structure can be adapted to cables of various specifications (outer diameters) by simply mounting the transport parameter detecting wheel 411 to the above-mentioned suitable position according to the specifications of the cable 8. One way to adjust the position of the conveying parameter detecting wheel 411 is that the conveying parameter detecting wheel 411 is rotatably mounted on the conveying parameter detecting wheel axle 412 (for example, through a bearing), two ends of the conveying parameter detecting wheel axle 412 are detachably mounted in mounting holes with different heights formed on the frame 1 through elastic pins 7, and the conveying parameter detecting wheel axle 412 is mounted to the mounting holes with proper heights through the elastic pins 7.

To achieve the above-described suitable range, a further structure of the conveyance parameter detection wheel 411 is (not shown in the drawings): the conveying parameter detecting wheel 411 is rigidly supported on the frame 1, and has a simple structure, but is only applicable to cables with one specification, and is applicable to a scene with the cable specification being fixed.

In order to achieve the above-mentioned suitable range, with continued reference to fig. 11 and 12, the conveying parameter detecting wheel 411 is floatingly mounted on the frame 1 by an elastic member such as a spring, and when no cable is placed on the friction increasing groove 4111, the upper edge of the friction increasing groove 4111 exceeds the bottom of the conveying channel 5 by a downward pressing distance (e.g., 30 mm); after placing the cable on the friction increasing groove 4111, the conveying parameter detecting wheel 411 can be pressed down to: the upper edge of the friction increasing groove 4111 is flush with the bottom of the conveying passage 5 or slightly higher than the bottom of the conveying passage 5 to achieve the above-mentioned proper range. The conveying parameter detecting wheel 411 is rotatably installed on the conveying parameter detecting wheel axle 412 (e.g. through a bearing), the conveying parameter detecting wheel axle 412 is slidably installed along the frame 1 in the height direction, an elastic member 42 (e.g. a spring) is installed between the end of the conveying parameter detecting wheel axle 412 and the frame 1, when no cable is placed on the conveying parameter detecting wheel 411, the upper end of the friction increasing groove 4111 is higher than the reasonable range, after the cable is placed, the elastic member 42 is pressed under the gravity action of the cable, and the conveying parameter detecting wheel 411 can be ensured to be at the proper position after being pressed by selecting the elastic member 42 with proper (elastic modulus and stroke). This arrangement can also effectively buffer the forces of the cable against the transport parameter detection wheel 411 and the first rotation direction detector 413.

The inventor has found that when the outer surface of the cable has regular or irregular grooves and protrusions, the grooves of the cable may be caught on the conveying parameter detecting wheel 411, so that the conveying parameter detecting wheel 411 cannot rotate, and based on this consideration, the cable is floatingly supported by the elastic member 42, the protrusions or grooves may apply a downward oblique force to the conveying parameter detecting wheel 411, and a component of the oblique force may compress the elastic member 42, so that the position of the conveying parameter detecting wheel 411 relative to the frame 1 is changed, the conveying of the cable provides a necessary longitudinal space, and the grooves of the cable are prevented from being caught on the conveying parameter detecting wheel 411.

Another implementation of the floating connection is that the transport parameter detection wheel 411 is made of an elastic (e.g. rubber, etc.) material, the above-mentioned height difference being achieved by deformation of the transport parameter detection wheel 411 itself. Of course, the above-mentioned elastic member 42 and the conveying parameter detecting wheel 411 may be made of an elastic material.

In order to achieve the above-mentioned suitable range, whichever structure is adopted, a through hole 4121 may be provided at the end of the conveying parameter detecting wheel shaft 412, the frame 1 includes a guide rod 11 vertically provided, the guide rod 11 is fitted in the through hole 4121, and then the conveying parameter detecting wheel shaft 412 is locked to the height adjusting hole 111 on the guide rod 11 using the elastic pin 7. The height of the conveying parameter detecting wheel 411 relative to the conveying channel 5 can be flexibly and quickly adjusted according to actual needs.

The inventors found that the cable transportation detecting unit 41 cannot be installed in the transportation path 5, limited to the continuity of the transportation path 5; the lateral sides of the conveying channel 5 are provided with the conveying components 3, and the lateral periphery of the conveying channel 5 cannot provide the installation space of the cable conveying detection unit 41, so that the arrangement and the selection of the cable conveying detection unit 41 are very challenging.

The first arrangement of the cable conveyance detecting unit 41 is: the two cable conveyance detecting units 41 are provided, and the principle of operation thereof is as shown in fig. 18 to 21, and one cable conveyance detecting unit 41 is disposed at each of both ends in the longitudinal direction of the conveyance path 5. The two cable conveying detection units 41 are a first cable conveying detection unit 41-1 and a second cable conveying detection unit 41-2 in sequence according to the triggered sequence, when the first cable conveying detection unit 41-1 detects that the cable is not in the conveying channel 5 yet in the direction in which the cable is expected to be conveyed, the clamping and conveying operation cannot be performed at this time, and the processor is configured to: when the second cable conveying detection unit 41-2 detects the direction in which the cable is expected to be conveyed (as shown in fig. 20) or lags behind the clamping delay (as shown in fig. 19, it should also be noted that the clamping delay should ensure that after the time shown in fig. 19, that is, the time when the cable 8 completely passes through the effective length L of the conveying channel 5, an operation command is sent to the conveying component 3 and/or a clamping command is sent to the clamping component 2, and then the triggered second cable conveying detection unit 41-2 detects the direction in which the cable is expected to be conveyed, so that the second cable conveying detection unit 41-2 can serve as a basis for the end of the cable to completely come out of the conveying channel 5 (completely passes through the effective length L of the conveying channel 5), and more accurately, the clamping component 2 drives the conveying component 3 along the direction of F clamping shown in fig. 19 or 20 after receiving the clamping command.

The first arrangement of the cable transport detection unit 41 is such that no matter which end of the transport channel 5 the cable enters, at a first time a signal is detected about the direction in which the cable is desired to be transported and the direction of travel of the transport assembly is automatically determined from this signal. Taking the direction in which the first cable conveying detection unit 41-1 detects that the cable is expected to be conveyed as a judgment signal of "the cable end enters the conveying passage, does not pass through the conveying passage completely", at this time, the clamping assembly 2 and the conveying assembly 3 are still not activated until the second cable conveying detection unit 41-2 detects that the cable is expected to be conveyed or a clamping delay time is delayed (for example, 1 second), it is recognized that "the cable end is conveyed from the inlet to the outlet of the conveying passage, that is, the cable end is exposed from the conveying passage", the second cable conveying detection unit 42-2 sends an operation instruction to the conveying assembly 3 when detecting that the cable is expected to be conveyed or a clamping delay time is delayed (for example, 1 second), the conveying assembly 2 operates in the direction of the operation direction of the conveying assembly, and the clamping assembly 3 drives the two conveying assemblies to approach each other (in the direction of the arrow F shown in fig. 19 and 20) to clamp the cable 8 located in the conveying passage 5.

The second arrangement of the cable conveyance detecting unit 41 is: the cable conveyance detecting unit 411 is one, and as shown in fig. 22 to 28, the cable conveyance detecting unit 411 may be disposed at either end of the conveyance path 5. The one cable transportation detecting unit 411 is arranged at either end of the transportation path 5 (in the length direction) with a simple structure and cost saving.

The inventors found that, in the second arrangement of the cable transportation detecting unit 41, since the cable transportation detecting unit 41 is one, only the direction in which the cable is expected to be transported can be detected from one place, if the cable transportation detecting unit is located in front of the direction of travel of the transporting assembly, as shown in fig. 25 to 28, the cable transportation detecting unit 41 detects the direction in which the cable is expected to be transported, that is, recognizes that "the end of the cable has been transported from the inlet to the outlet of the transporting passage 5, that is, the end of the cable is completely exposed from the transporting passage 5", sends the transporting assembly 3 an operation command at the time of detecting the direction in which the cable is expected to be transported or after a first transportation delay (e.g., 1 second), sends the clamping command to the clamping assembly 3 at the time of detecting the direction in which the cable is expected to be transported (e.g., 1 second) or after receiving the respective commands, the clamping assembly 3, the clamping assembly 2 operates automatically in the manner as described above. Thereby ensuring that after the end of the cable is completely exposed from the conveying channel 5 (the direction of the end of the cable along the direction in which the cable is expected to be conveyed exceeds the effective area L of the conveying channel 5, namely, the clamping length of the conveying component 3 to the cable 8), restarting the conveying component 3 and the clamping component 2, ensuring the normal conveying of the cable 8, avoiding the possible excessive extrusion between the end of the cable 8 and the conveying component 3 caused by starting the conveying component 3 and the clamping component 2 when the end of the cable is still in the conveying channel 5 (the cable 8 is not fully distributed in the conveying channel 5, only occupying a part of the conveying channel 5, causing the excessive extrusion, the end of the cable 8 is excessively extruded to generate impermissible deformation, affecting the subsequent electrical connection, causing the excessive deformation of the conveying component 3 and even the clamping of the conveying component to be inoperable), and unbalanced stress at two ends of the conveying component 3 (the conveying component corresponding to the conveying component end of the conveying channel 5 which is not arrived at the end of the cable is not pressed, and the conveying component 3 corresponding to the part of the conveying channel 5 occupied by the cable is stressed, and the unbalanced stress may cause the damage to the two ends of the conveying component 3 and even be out of synchronization deformation.

Continuing to state the second arrangement of the above-described cable conveyance detection unit 41, since the cable conveyance detection unit 41 is one, only the direction in which the cable is desired to be conveyed can be detected from one place, the direction in which the cable is desired to be conveyed is detected more earlier after the cable conveyance detection unit 41 is located in the traveling direction of the conveying assembly than before the cable conveyance detection unit 41 is located in the traveling direction of the conveying assembly, and as shown in fig. 22 to 24, the processor is further configured to: the cable conveyance detection unit 41 detects that the direction in which the cable is desired to be conveyed lags behind by a second conveyance delay (second conveyance delay > first conveyance delay) (as in the state of fig. 23, the value of the second clamping delay is at least the state of fig. 23 so that the end of the cable can exceed the effective length L of the conveyance path 5), and sends an operation instruction to the conveyance assembly 3; the cable conveyance detection unit 41 detects that the direction in which the cable is desired to be conveyed lags behind the second clamping delay (second clamping delay > first clamping delay), and sends a clamping instruction to the clamping assembly 2. The second delivery delay and the second clamping delay are sized to ensure that the end of the cable 8 is able to pass completely through the effective length L of the delivery channel 5, so as to avoid the occurrence of the above-mentioned cable end still being located within the delivery channel 5, i.e. being subjected to the squeezing action of the clamping assembly 3.

In the second arrangement of the cable conveyance detecting unit 41, in order to make the conveyance of the cable 8 smoother, the guide wheel 12 is rotatably mounted at the end of the conveyance path 5 where the cable conveyance detecting unit 41 is not provided.

It should also be noted that the actuation time of the delivery assembly 3 should not be earlier than the actuation time of the clamping assembly 2, which arrangement is advantageous to ensure proper delivery of the cable.

The inventors have found that during operation of the cable conveyor, slippage (out of sync of the movement of the cable relative to the conveyor assembly 3) may be caused by various reasons (e.g. too little clamping force, variations in cable diameter, jitter caused by protrusions or grooves on the outside of the cable insulation, etc.), which cause excessive wear on the cable and even damage the cable outer insulation, which is obviously undesirable, should be avoided or at least controlled within a reasonable range. With this in mind, a cable conveyance slip prevention assembly is provided, fig. 3 to 10, comprising a conveyance assembly operation detection unit 43, a cable conveyance detection unit 41 as disclosed in the first aspect, wherein:

the cable conveyance detection unit 41 is further configured to detect a speed at which the cable is conveyed, and to record as the speed at which the cable is conveyed;

The conveying-assembly operation detecting unit 43 is configured to detect a movement speed of the conveying assembly 3 and record as an operation speed of the conveying assembly;

the memory 44 is further configured to store a conveyance speed allowable deviation;

the processor 45 is further configured to: if the absolute value of the difference between the speed at which the cable is conveyed and the operating speed of the conveying assembly is greater than or equal to the conveying speed allowable deviation, performing at least one of the following:

the prompt unit 47 is activated to issue a prompt to the user;

the clamping assembly 2 tightens the cable 8 to a greater extent;

the clamping assembly 2 is separated to release the clamped cable 8;

the conveyor assembly 3 is shut down to stop conveying the cable 8.

Based on the relation between the absolute value of the difference between the speed of the cable to be conveyed and the running speed of the conveying assembly and the allowable deviation of the conveying speed, the slipping phenomenon is identified, and the specific process is as follows:

if the absolute value of the difference between the speed at which the cable is conveyed and the running speed of the conveying assembly is less than the allowable deviation of the conveying speed, the cable conveyor is not slipped or slipped but within the allowable range, and the cable conveyor is kept in normal operation, the processor 45 sends a normal conveying instruction to the clamping assembly 2 and the conveying assembly 3, after receiving the normal conveying instruction, the clamping assembly 2 works to provide the clamping force of the two conveying assemblies 3 to the cable, and the conveying assembly 3 works to continue to provide the conveying force to the cable in the current running direction and speed;

If the absolute value of the difference between the speed at which the cable is conveyed and the operating speed of the conveying assembly is greater than or equal to the allowable conveying speed deviation, that is, slip is identified as occurring, at least one of the following is executed: the prompting unit is started to give a prompt to a user, the clamping assembly clamps the cable to a larger extent, the conveying assembly is separated to release the clamped cable, and the conveying assembly is stopped to stop conveying the cable. The emergency measure may be a prompt, which may be performed by the prompt unit 47, to give at least one of a sound, a light, an image to the user so as to be recognized by the sense of the user. The automatically performed emergency action may include the clamping assembly 2 being separated to release the clamped cable and/or the delivery assembly 3 being shut down to stop delivering the cable. The emergency measure may also be that the clamping assembly clamps the cable to a greater extent (by reducing the distance between the two conveying assemblies 3, i.e. reducing the conveying channels, to provide a greater clamping force for the cable). The emergency measure also clamps the assembly work, two conveying assemblies are separated, the conveying passage is enlarged, in order to release the cable completely, avoid slipping. The emergency measure can also be that the conveying assembly is stopped so as to stop conveying the cable and avoid slipping.

The identification of the slipping phenomenon is performed on the premise that the expected conveying direction of the cable is consistent with the running direction of the conveying assembly (the cable can be conveyed according to the expected direction), so that the conveying direction and the conveying speed of the cable are dynamically monitored, controlled in real time and automatically run.

The determination of the transport speed allowable deviation value cannot be too large nor too small, which affects the reliability of slip identification (i.e., a large speed difference occurs and cannot be identified as slip), nor is it too small that the speed at which the cable is transported resulting from the operation of the system-the operating speed of the transport assembly-is identified as a slip phenomenon (a very small speed difference that is also judged to be slip, however, may be due to manufacturing, assembly, sensor accuracy, etc.), the transport speed allowable deviation may be, for example, equal to 1/10 of the absolute value of the speed at which the cable is transported and the operating speed of the transport assembly.

The direction in which the cable is expected to be conveyed and the speed at which the cable is conveyed are both acquired by the same main body (cable conveying detection unit 41), the running direction of the conveying assembly and the running speed of the conveying assembly are both acquired by the same main body (conveying assembly running detection unit 43), and the cable conveying anti-slip assembly using the data acquisition mode can complete closed loop control: the running direction of the conveying assembly is automatically determined according to the expected conveying direction of the cable, the slipping is automatically identified on the premise that the running direction of the conveying assembly is correct, the prompt and emergency measures after the slipping are identified (as described above, the clamping assembly clamps the cable to a greater extent, the conveying assembly separates to release the clamped cable, and the conveying assembly stops to stop conveying the cable).

To facilitate visualization of the control system operation, with continued reference to fig. 2, the cable transport slip prevention assembly embodiment may further include a display screen 46 in signal communication with the processor 45 configured to display at least one of a direction in which the cable is expected to be transported, a direction of travel of the transport assembly, whether the direction in which the cable is expected to be transported corresponds to the direction of travel of the transport assembly, a speed at which the cable is transported, a speed at which the transport assembly is operated, a transport speed tolerance, and a transport force.

The conveying force can be directly detected by the force sensor, and when the cable is conveyed, a reaction force opposite to the expected conveying direction is applied to the rack, so that static friction force is formed between the rack and the ground (as known by a person skilled in the art, the rack and the ground cannot slide relatively due to the requirement of normal conveying of the cable), and the static friction force reflects the conveying force. The detection mode is reliable and accurate.

The conveying force can also be indirectly detected by other parameters associated with the conveying force, such as the current of a motor as a power part of the conveying assembly through a current sampling unit, and the torque mounted on a driving wheel as a transmission part of the conveying assembly through a torque sensor.

With respect to the manner of detecting the running direction of the running direction conveying assembly, with continued reference to fig. 6 and 8, the conveying assembly running detection unit 43 includes a rotation direction detector 431, the first working portion 4311 of which is fixed to the frame 1, and the second working portion 4312 of which is fixed to the conveying assembly 3, so that the running direction of the conveying assembly 3 with respect to the running direction conveying assembly of the frame 1 can be reliably and accurately obtained. Similar to the two parts of the rotation direction detector 431, the first working part 4131 of the transport parameter detector 413 is fixed to the clamp bracket 25, and the second working part 4132 of the transport parameter detector 413 is fixed to the transport parameter detecting wheel 411 and rotates in synchronization therewith.

As described above, the first rotation direction detector 413 and the rotation direction detector 431 operate on the principle of detecting the rotation direction between the objects that are relatively rotated, and the actual types thereof are various. Any of the following may be used as well: a bidirectional Hall switch, a rotary potentiometer, an optical encoder, a rotary transformer and an MSMS angle sensor.

The second aspect of the embodiment of the invention discloses a cable conveying control method which is applied to any one of the cable conveying control devices and comprises the steps of conveying direction determination and clamping degree control.

The conveying direction determination includes:

detecting a direction in which the cable 8 is expected to be conveyed and a direction in which the cable is expected to be conveyed;

the corresponding relation between the expected conveying direction of the cable and the running direction of the conveying assembly, wherein the running direction of the conveying assembly is the running direction of the conveying assembly 3;

the direction of travel of the transport assembly corresponding to the direction in which the cable is intended to be transported is retrieved from the correspondence according to the direction in which the cable is intended to be transported, and an operation command is sent to the transport assembly 3 and/or a clamping command is sent to the clamping assembly 2.

The correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly means that the first direction in which the cable is expected to be conveyed corresponds to the first running direction of the conveying assembly, and the second direction in which the cable is expected to be conveyed corresponds to the second running direction of the conveying assembly.

Since the working process, working principle and function of the cable conveying determining assembly have been described in detail, the description of the cable conveying direction determining method will not be repeated.

The cable conveying direction determining method may further include the steps of: the direction in which the cable is expected to be conveyed is detected based on the movement of the conveyed cable. The corresponding relation is met, the judging logic has uniqueness, and the control logic is reliable and accurate.

The linear motion of the cable being transported is changed into rotation (of the transport parameter detection theory) based on the rotation of the cable being transported caused by the motion of the cable being transported (such as the transport parameter detection wheel described above), the control logic is simple and direct, the transmission is simple, and the reliability of control and the accuracy of the detection of the direction of the cable being transported are further improved.

The cable conveying direction adjusting method may further include the steps of: the direction in which the cable is intended to be conveyed can be detected from both ends of the conveying channel 5. That is, as described above, the case where one cable transportation detecting unit 41 is installed at each end of the transportation path 5. When the direction in which the cable is expected to be conveyed is detected for the first time or the conveying delay is delayed, an operation command is sent to the conveying assembly; the second time the direction in which the cable is desired to be conveyed is detected or the clamping delay is delayed, a clamping command is sent to the clamping assembly.

The cable conveying direction determining method may further include the steps of: the direction in which the cable is desired to be conveyed is detected from one of the two ends of the conveying path 5. If the direction in which the cable is desired to be conveyed is detected from the front of the direction of travel of the conveying assembly, the method further comprises the steps of: when the direction in which the cable is expected to be conveyed is detected or the first conveying delay is delayed, sending the operation command to the conveying assembly; the first clamping delay is delayed or detected when the cable is expected to be conveyed, and the running command is sent to the conveying assembly. If the direction in which the cable is desired to be conveyed is detected from behind the direction of travel of the conveying assembly, the steps of: detecting that the direction in which the cable is expected to be conveyed lags behind a second conveying delay, and sending the running command to a conveying assembly; the detection of the direction in which the cable is expected to be conveyed lags behind the second clamping delay, and the running command is sent to the conveying assembly.

The clamping degree control comprises the following steps: the clamping degree of the cable is automatically adjusted based on the initial diameter of the cable 8 or the initial diameter range of the cable.

The cable transportation control method embodiment further comprises anti-slip control, and the method comprises the following steps: detecting the speed at which the cable is conveyed; detecting the running speed of the conveying assembly; if the absolute value of the difference between the speed at which the cable is conveyed and the operating speed of the conveying assembly is greater than or equal to the conveying speed allowable deviation, the conveying speed allowable deviation is a prestored value, and at least one of the following is executed: prompting the user, gripping the cable 8 to a greater extent, releasing the gripped cable 8, and stopping the delivery of the cable 8.

The clamping degree control comprises the following steps:

pre-storing preset clamping parameters, initial diameters of cables or initial diameter ranges of the cables, mapping relation between the preset clamping parameters and the initial diameters of the cables or mapping relation between the preset clamping parameters and the initial diameter ranges of the cables, wherein the preset clamping parameters are preset clamping parameters, the initial diameters of the cables are initial diameters of cables with a certain specification, and the initial diameter ranges of the cables are initial diameter ranges of cables with specifications close to at least two types;

acquiring actual clamping parameters, wherein the actual clamping parameters are changed due to the fact that two conveying components are relatively close to or far away from each other;

Acquiring the initial diameter of the cable currently conveyed;

if the actual clamping parameter is smaller than the lower limit of the preset clamping parameter, a clamping instruction is sent to the clamping assembly;

if the actual clamping parameter is more than or equal to the upper limit of the preset clamping parameter, sending a clamping overrun instruction to at least one of the following: clamping component, conveying component and can indicate user's suggestion unit.

Since the structures, working processes and functions of the cable conveying direction determining assembly, the cable clamping degree controlling assembly and the cable anti-slip assembly are described in detail in the disclosure of the first aspect of the embodiment of the present invention, the description thereof will not be repeated here.

A third aspect of an embodiment of the present invention discloses a computer-readable storage medium storing computer instructions that, when executed, perform any of the above-described cable conveyance control methods.

In a fourth aspect the invention discloses a cable conveyor, with continued reference to fig. 5 to 17, comprising a frame 1, any of the above mentioned cable conveying control means, a cable conveying direction determining assembly, a cable clamping degree control assembly, a clamping assembly 2 and a conveying assembly 3.

With continued reference to fig. 1-28, the clamping assembly 2 comprises a clamping power unit 21 and two oppositely arranged clamping brackets 25 in driving connection in sequence, the two clamping brackets 25 being mountable to the frame 1 close to and remote from each other under the drive of the clamping power unit 21 (e.g. a clamping motor) for adjusting the size of the conveying channel 5 between the two conveying assemblies 3 for the above-mentioned release and clamping of the cable.

With continued reference to fig. 8, the conveyor assembly 3 is disposed on the clamping bracket 25 and includes a conveyor power unit 31 (e.g., a conveyor motor), a conveyor transmission unit, and a conveyor track 32, which are sequentially drivingly connected, the conveyor track 32 being moved in a direction of a first travel direction of the conveyor assembly or a second travel direction of the conveyor assembly under the drive of the conveyor power unit 31 (conveyor motor). The cable conveying direction determining assembly, the cable conveying anti-slip assembly and the application thereof to the cable conveyor have been described in detail in the first aspect and the third aspect of the embodiments of the present invention, and are not repeated for simplicity of description.

When the clamping power unit 21 fails (e.g. when a clamping motor is used: accidental de-energizing of the power supply, failure of the power supply circuit, failure of the power supply motor, etc.), the clamping power unit 21 is not operational, the cable is not released from the clamped state, and, in view of this, the embodiment of the clamping assembly 2 further comprises an operating handle 22, with continued reference to fig. 5 and 8, the operating handle 22 being configured to adjust the distance of the two clamping brackets 25 by means of a user's operation. The operating handle 22 may be a two-way ratchet wrench.

With continued reference to fig. 8 and 15-17, one structure of the conveying assembly 3 including a conveying power unit 31, a conveying transmission unit and a conveying crawler 32 which are sequentially connected in a transmission manner is that the conveying power unit 31 adopts a form of a motor, which is called a conveying motor, the conveying crawler 32 includes a driving sprocket 321, a conveying chain 323, a driven sprocket 322 and a clamping block 324, the driving sprocket 321 and the driven sprocket 322 are arranged at a certain interval, the conveying chain 323 is sleeved on the driving sprocket 321 and the driven sprocket 322, the conveying motor drives the driving sprocket 321 through the conveying transmission unit (such as a speed reducer), the clamping block 324 is fixed on a section of the chain, and in order to ensure that the clamping block 324 can provide enough friction force and avoid damaging cables, the clamping block 324 is made of elastic materials such as rubber.

As shown in fig. 5 to 8 and 15, the driving sprockets may be located at different ends of the conveying path 5 (extending direction), referred to as a contralateral arrangement (or diagonal arrangement), in such a manner that the conveying power unit 31 may be arranged under the driven wheel of the other conveying assembly 3 without arranging the conveying power unit along the length direction of the conveying path 5, the conveying assembly 3 can obtain a shorter length (dimension along the length direction of the conveying path 5), the structure is more compact, and the requirement for installation space is reduced.

As shown in fig. 16 and 17, the driving sprocket may also be located at the same end (extending direction) of the conveying channel 5, and simply arranged at the same side, and in this arrangement, the two conveying tracks 32 are synchronously tensioned and relaxed, and the stress is synchronous, so that the chain breakage phenomenon caused by the uneven stress of the larger stress is avoided.

Regarding the two conveying components 3, the conveying directions thereof can be guaranteed to be consistent all the time through the conventional arrangement, for example, when the conveying power units 31 all adopt three-phase motors, the conveying direction can be guaranteed through a wiring mode (common knowledge of a person skilled in the art), precisely speaking, the rotating directions of the two conveying motors after wiring are opposite, but the running directions (the conveying directions of the cables) of the two conveying components 3 are the same due to the bilateral symmetry of the two conveying components 3.

With continued reference to fig. 5, 6, 8 and 16, a further embodiment of the cable conveyor may further comprise a traction wheel 6, the traction wheel 6 being rotatably mounted to the frame 1 under the drive of a conveying power assembly, precisely a conveying power unit 31, the axis of the traction wheel 6 being arranged vertically, the wheel groove 61 of the traction wheel 6 forming a traction space for the passage of a wire rope connected to the end of the cable traction jacket. Therefore, the intelligent cable conveyors have the function of pulling cables, and particularly the traction wheel 6 of one intelligent cable conveyor can provide traction force of the other intelligent cable conveyor before reversing judgment, and the two intelligent cable conveyors are matched for use.

The processor 45 is further configured to: when the direction in which the cable is expected to be conveyed is detected, the direction is recorded as a moment triggering moment, and the lower conveying assembly 3 keeps the cable unclamped at the moment; the trigger time lags behind by DeltaT, and the clamping assembly 2 drives the conveying assembly 3 to clamp the cable. That is, the cable is clamped after it is determined that the direction in which the cable is desired to be conveyed is consistent with the direction of travel of the conveying assembly (as described above, the inconsistent commutation is in a consistent state), ensuring effective conveyance.

As described above, the motor may be used for both the conveying power unit 31 and the clamping power unit 21, and in consideration of bidirectional conveyability, the conveying direction of the conveying assembly is required to be switchable, and as a common implementation manner of switching the conveying direction, the processor controls the forward and reverse rotation of the motor through the H-bridge circuit.

Wherein the processor may include one or more processing cores. The processor uses various interfaces and lines to connect various portions of the overall server, perform various functions of the server, and process data by executing or executing instructions, programs, code sets, or instruction sets stored in memory, and invoking data stored in memory. Alternatively, the processor may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, initial diameter range P of cable), field-programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem etc. The CPU mainly processes an operating system, a user interface diagram, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor and may be implemented by a single chip.

Claims

1. The utility model provides a cable transport controlling means can be applied to cable conveyer, and cable conveyer includes the frame and installs in the clamping component and the conveying component of frame, is used for pressing from both sides tightly and conveying cable respectively, and the cable can press from both sides the conveying passageway of tight between two conveying components, including memory, treater, cable conveying direction determine the subassembly and cable clamp degree control assembly, wherein:

the cable conveying direction determining component comprises a cable conveying detection unit configured to detect the direction in which the cable is expected to be conveyed, and the processor is configured to call the corresponding conveying component running direction from the corresponding relation according to the detected direction in which the cable is expected to be conveyed, and send a running instruction to the conveying component and/or a clamping instruction to the clamping component;

the cable clamping degree control assembly comprises a clamping detection unit and a cable diameter acquisition unit, wherein a preset clamping parameter, an initial diameter of a cable or an initial diameter range of the cable, a mapping relation between the preset clamping parameter and the initial diameter of the cable or a mapping relation between the preset clamping parameter and the initial diameter range of the cable are also stored in the memory, the clamping detection unit is configured to acquire an actual clamping parameter, and the actual clamping parameter is changed due to the fact that two conveying assemblies are relatively close to or far away from each other; the cable diameter acquisition unit is configured to acquire an initial diameter of a currently conveyed cable or an initial diameter range of the cable; the processor is further configured to: according to the initial diameter of the cable and the mapping relation, a preset clamping parameter corresponding to the initial diameter of the cable or the initial diameter range of the cable is fetched; if the actual clamping parameter is smaller than the lower limit of the preset clamping parameter, a clamping instruction is sent to the clamping assembly; if the actual clamping parameter is more than or equal to the upper limit of the preset clamping parameter, sending a clamping overrun instruction to at least one of the following: clamping component, conveying component and can indicate user's suggestion unit.

2. The cable transportation control device according to claim 1, wherein the cable transportation detection unit is triggered by a movement of the transported cable.

3. The cable conveyance control device according to claim 2, wherein the cable conveyance detection unit includes:

the conveying parameter detection wheel is rotatably arranged on a rack of the cable conveyor under the drive of a conveyed cable;

and the first rotation direction detector is arranged between the conveying parameter detection wheel and the rack of the cable conveyor and is used for detecting the direction in which the cable is expected to be conveyed.

4. A cable transportation control device according to claim 3, wherein the transportation parameter detecting wheel has a friction increasing groove for carrying the cable, and the tangential direction of the upper edge of the friction increasing groove is parallel to the length direction of the transportation path.

5. The cable transportation control device according to claim 4, wherein the transportation parameter detecting wheel is rigidly supported to the frame, and a supporting height of the transportation parameter detecting wheel is adjustable.

6. The cable transportation control device of claim 4 wherein the transportation parameter sensing wheel is rigidly supported to the frame and the upper edge of the friction enhancing groove is flush with or slightly above the bottom of the transportation channel.

7. The cable transportation control device according to claim 4, wherein when no cable is placed on the friction increasing groove, an upper edge of the friction increasing groove exceeds a bottom pushing distance of the transportation channel;

after placing the cable on the groove of increasing friction, under the action of the gravity of cable carry the parameter detection wheel and can be pushed down to: the upper edge of the friction increasing groove is flush with or slightly higher than the bottom of the conveying channel.

8. The cable transportation control device according to claim 7, wherein the transportation parameter detection wheel is made of an elastic material; or,

and the conveying parameter detection wheel and the rack bracket are provided with elastic pieces so as to provide the pressing distance.

9. The cable transportation control device according to claim 1, wherein the number of the cable transportation detecting units is two, and one of the cable transportation detecting units is disposed at each of both ends in the longitudinal direction of the transportation path.

10. The cable transportation control device of claim 9, wherein the two cable transportation detection units are a first cable transportation detection unit and a second cable transportation detection unit in order of the triggered order, the processor being further configured to:

The second cable conveying detection unit sends the clamping command to the clamping assembly when detecting the direction in which the cable is expected to be conveyed or after the clamping delay.

11. The cable transportation control device according to claim 1, wherein the cable transportation detecting unit is one, and the cable transportation detecting unit is disposed at either end of the transportation path.

12. The cable transportation control device of claim 11, wherein if the cable transportation detection unit is located in front of the direction of travel of the transportation assembly, the processor is further configured to:

the cable conveying detection unit detects the direction in which the cable is expected to be conveyed or delays the first conveying delay, and sends the running instruction to the conveying assembly;

the cable conveying detection unit detects the direction in which the cable is expected to be conveyed or delays the first clamping delay, and sends the clamping command to the clamping assembly.

13. The cable transportation control device of claim 12, wherein if the cable transportation detection unit is located rearward of the direction of travel of the transportation assembly, the processor is further configured to:

the cable conveying detection unit detects that the direction in which the cable is expected to be conveyed lags behind the second conveying delay, and sends the running instruction to the conveying assembly;

The cable conveying detection unit detects that the direction in which the cable is expected to be conveyed lags behind the second clamping delay, and sends the clamping command to the clamping assembly.

14. The cable transportation control device of any one of claims 1 to 13, further comprising a cable transportation slip prevention assembly comprising:

the cable conveying detection unit is further configured to detect the speed at which the cable is conveyed and record the speed as the speed at which the cable is conveyed;

a conveying assembly operation detection unit configured to detect an operation speed of the conveying assembly and record as the operation speed of the conveying assembly;

the memory is configured to store a conveying speed allowable deviation;

the processor, and configured to: if the absolute value of the difference between the speed at which the cable is conveyed and the operating speed of the conveying assembly is greater than or equal to the conveying speed allowable deviation, performing at least one of the following:

the prompting unit is started to send a prompt to a user;

the clamping assembly clamps the cable to a greater extent;

the transport assembly is separated to release the clamped cable;

the transport assembly is shut down to stop transporting the cable.

15. The cable transportation control device of claim 14, wherein the processor is further configured to send a normal transportation command to the clamping assembly and the transportation assembly if an absolute value of a difference between a speed at which the cable is transported and an operational speed of the transportation assembly is less than a transportation speed allowable deviation.

16. The cable transportation control device of claim 14, further comprising a display screen in signal communication with the processor configured to display at least one of a direction in which the cable is expected to be transported, a direction of travel of the transportation assembly, whether the direction in which the cable is expected to be transported corresponds to the direction of travel of the transportation assembly, a speed at which the cable is transported, a speed at which the transportation assembly is operated, a speed allowance for transportation, and a transportation force.

17. The cable transportation control device of claim 16, wherein the processor is further configured to calculate the transportation force based on one of:

current of the motor as the power portion of the delivery assembly;

a torque sensor mounted on a drive wheel as a transmission portion of the conveying assembly;

friction applied to the ground by the rack due to cable transport.

18. The cable transportation control device according to claim 14, wherein the cable transportation detecting unit and the transportation component operation detecting unit are each any one of:

a bidirectional Hall switch, a rotary potentiometer, an optical encoder, a rotary transformer and an MSMS angle sensor.

19. The cable transportation control device of claim 1, wherein the actual clamping parameters include at least one of a first actual clamping parameter, a second actual clamping parameter, and a third actual clamping parameter, wherein:

The first actual clamping parameter is the clamping force applied to the cable by the two conveying components or the change rate of the clamping force;

the second actual clamping parameter is the diameter deformation or the change rate of the diameter deformation before and after the cable is clamped;

the third actual clamping parameter is the conveying speed or the rate of change of the conveying speed.

20. The cable feed control device of claim 19 further comprising a force sensor mounted between the two clamping assemblies and configured to: the clamping force is obtained based on the relative movement of the two transport assemblies.

21. The cable feed control device of claim 19 wherein the preset clamping parameter is proportional to the initial diameter of the cable or the initial diameter range of the cable.

22. The cable transportation control device of any one of claims 19 to 21, wherein the memory further stores trigger clamping parameters therein, the processor further configured to:

and if the actual clamping parameter=the triggering clamping parameter, judging the initial moment of the clamped cable, and calling the initial diameter or the initial diameter range of the cable corresponding to the triggering clamping parameter according to the mapping relation.

23. The cable transportation control device of any one of claims 19 to 21 further comprising a distance detection unit for detecting a diameter or range of diameters of the cable upon triggering the clamping, the memory further having stored therein a triggering clamping parameter, the processor further configured to:

if the actual clamping parameter = trigger clamping parameter, it is determined as the initial moment when the cable is clamped.

24. The cable transportation control device of claim 22, wherein the processor is further configured to:

if the actual clamping parameter is more than or equal to the lower limit of the preset clamping parameter, judging that the cable is clamped, and detecting the diameter or the diameter range of the cable when the cable is actually clamped by the distance detection unit;

the diameter deformation = the diameter or diameter range of the cable at the time of triggering clamping-the diameter or diameter range of the cable at the time of actual clamping.

25. The cable transportation control device according to any one of claims 19 to 21, further comprising a cable transportation detection unit configured to detect the transportation speed.

26. The cable transportation control device of claim 25, wherein the cable transportation detection unit is triggered by movement of the transported cable.

27. The cable transportation control device according to claim 26, wherein the cable transportation detecting unit includes:

and the first rotation direction detector is arranged between the conveying parameter detection wheel and the rack of the cable conveyor and is used for detecting the conveying speed.

28. A cable transportation control method applied to the cable transportation control device according to any one of claims 1 to 27, characterized by comprising the steps of:

determining a conveying direction, and detecting the direction in which the cable is expected to be conveyed; pre-storing the correspondence between the direction in which the cable is expected to be conveyed and the running direction of the conveying assembly; retrieving the running direction of the corresponding conveying assembly from the corresponding relation according to the direction in which the cable is expected to be conveyed, and sending a running instruction to the conveying assembly and/or a clamping instruction to the clamping assembly;

29. The cable transportation control method according to claim 28, further comprising the step of:

Anti-slip control, detecting the speed at which the cable is conveyed; detecting the running speed of the conveying assembly; if the absolute value of the difference between the speed at which the cable is conveyed and the operating speed of the conveying assembly is greater than or equal to the conveying speed allowable deviation, the conveying speed allowable deviation is a pre-stored value, and at least one of the following is executed: prompting the user, gripping the cable to a greater extent, releasing the gripped cable, and stopping the delivery of the cable.

30. The cable transportation control method according to claim 28, wherein the clamping degree control includes the steps of:

acquiring the initial diameter of the cable currently conveyed;

31. A computer readable storage medium storing computer instructions which, when executed, perform the cable transportation control method of claim 28, 29 or 30.

32. A cable conveyor comprising the apparatus of any one of claims 1 to 27:

a frame;

A cable conveyance direction determination assembly;

a cable grip level control assembly;

33. The cable conveyor of claim 32, wherein the clamping assembly further comprises a first linear motion member and a floating connection member, wherein:

the clamping power unit drives a first clamping bracket to move through the first linear moving piece;

a first limiting part and a second limiting part are formed on the first clamping bracket along the movement direction of the conveying assembly;

the first linear motion piece is limited by the first limiting part;

the floating connecting piece is limited by the second limiting part;

the clamping detection unit of the cable clamping degree control assembly is arranged between the second clamping bracket and the rack.

34. The cable conveyor of claim 33, wherein the clamp transmission unit further comprises a second linear motion member, a second of the clamp brackets being configured with a third limit portion and a fourth limit portion disposed in sequence along a clamping direction, wherein:

The clamping power unit drives a second clamping bracket to move through the second linear moving piece;

the clamping detection unit is positioned between the second linear motion piece and the clamping bracket and is used for detecting actual clamping parameters;

the clamping detection unit is abutted between the third limiting part and the second linear motion piece.