EP0644147A1 - Procédé et agencement pour l'enroulement à tension commandée d'une ligne d'alimentation - Google Patents

Procédé et agencement pour l'enroulement à tension commandée d'une ligne d'alimentation Download PDF

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Publication number
EP0644147A1
EP0644147A1 EP94114197A EP94114197A EP0644147A1 EP 0644147 A1 EP0644147 A1 EP 0644147A1 EP 94114197 A EP94114197 A EP 94114197A EP 94114197 A EP94114197 A EP 94114197A EP 0644147 A1 EP0644147 A1 EP 0644147A1
Authority
EP
European Patent Office
Prior art keywords
supply line
cable
winding device
winding
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP94114197A
Other languages
German (de)
English (en)
Inventor
Rudolf Dipl.-Ing. Bauer
Christian Habermann
Wendelin Dr. Feiten
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BOSCH-SIEMENS HAUSGERAETE GMBH
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0644147A1 publication Critical patent/EP0644147A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
    • B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means

Definitions

  • the object on which the invention is based is to specify a method and an arrangement for winding-dependent winding of a supply line, in which only one motion sensor or its motion data are used.
  • a great advantage of this arrangement according to the invention in comparison with the known prior art is that it requires only one movement sensor, which determines the movement of the winding device as a function of time. In conjunction with an evaluation unit, the train of a supply line is then determined from the movement data and the knowledge of the mechanical data of the winding device.
  • the method according to the invention for controlling a winding device for a supply line as a function of the line pull is particularly advantageous because it only requires the movement data of a movement sensor. Intelligent processing of this data, knowledge of the mechanical data of the winding device, such as, for example, the torque and the drive torque of a drive of the winding device, is used, for example, to determine the acceleration of the winding device and thus the tension of a supply line. Depending on the exercise Train can then advantageously be decided by the evaluation unit unwinding or winding up or remaining of the winding device.
  • a periodic execution of the method according to the invention makes it possible to determine the cable routing at suitable times.
  • the method according to the invention addresses the physical circumstances in connection with the type of supply line, e.g. their weight and unrolled length, and the prevailing environmental conditions, e.g. Coefficient of friction, can be set.
  • Figure 1 shows a block diagram of an exemplary embodiment of the invention. It shows a winding device K, a drive of the winding device On and a movement sensor for determining the movement of the winding device Pos and an evaluation unit Aus.
  • the arrows symbolize the communication or the interdependencies of the individual components of the arrangement according to the invention.
  • This arrangement can be installed, for example, on a mobile mobile unit, such as an autonomous vacuum cleaner, a household robot, or a unit that operates in hazardous areas.
  • a supply line is wound or unwound by moving the same.
  • This winding device is driven by the drive. By reversing the drive direction, you can switch between winding and unwinding.
  • Examples of such supply lines that can be wound up and unwound are air lines, power lines, hydraulic lines, or also optical lines, or communication cables of another type. Operation of this arrangement according to the method according to the invention proceeds as follows: the cable is, for example, in a developed state and is, for example, an electrical cable and connected to a socket.
  • the drive An is now controlled, for example, via the evaluation unit and a constant torque or a torque changed over time is given to the winding device.
  • This winding device begins to move under the influence of the drive torque. If the winding device is now under a cable pull, it will move more slowly than if the cable were not under tension. With the movement sensor Pos, the change in the movement of this winding device over time is determined in the form of movement data and sent to the evaluation unit.
  • the information about the mechanical properties are stored in the evaluation unit. Furthermore, it can contain data about the mass of the cable, the coefficient of friction of the sheathing of the cable and the like stored.
  • the winding device can be driven, for example, by an electric motor, by a hydraulic motor, or by pneumatic means.
  • the evaluation unit determines the cable pull from the movement data and the mechanical characteristics. If the evaluation unit has now determined a cable train from the acceleration, for which the acceleration of the winding device can be measured in different directions, it is determined depending on the train whether the supply line should be rolled up or unrolled.
  • FIG. 2 shows an example of a method for controlling a winding device as a finite state machine with three states as a function of the line pull. This method can be called up periodically (for example every 50 ms).
  • the absolute position and the instantaneous speed n of the winding device are then determined from the signals of the motion sensor.
  • the speed or the rotational speed n of the winding device is assumed to be positive when it is rolled up and negative when it is being rolled up.
  • a positive drive torque on the winding device causes the roll-up and a negative drive torque causes the supply line to roll off.
  • the speed of the winding device is designated with n in FIG. 2, with Ab the state “unrolling”, with Te the state “testing” and with Auf the state “rolling up” of the supply line.
  • n The speed of the winding device is designated with Ab the state “unrolling", with Te the state “testing” and with Auf the state “rolling up” of the supply line.
  • a time-varying or constant drive torque is applied to the winding device, and the cable pull is determined from the change over time.
  • This determined cable routing then leads to the unwinding or rolling up or to the non-winding of the supply line in accordance with the specifications which can be stored in the evaluation unit.
  • the three states of the finite state machine mean unrolling, testing Te and rolling up. For example, the Unroll state is only activated when there is a slight pull on the cable.
  • the drive can exert a special torque curve on the winding device, for example. For example, by outputting a pattern, i.e. a change in the drive torque over time and the observation of the movement speed of the winding device can be concluded on the train of the supply line without using a special train sensor (e.g. lever or spring). Depending on the train of a supply line, the system then jumps to the “winding” or “unwinding” state.
  • a pattern i.e. a change in the drive torque over time and the observation of the movement speed of the winding device can be concluded on the train of the supply line without using a special train sensor (e.g. lever or spring).
  • a special train sensor e.g. lever or spring
  • the winding speed can be regulated. That means the higher the winding speed is, the more the winding torque is reduced. This causes the reeling speed to be set to a fixed value, for example.
  • FIG. 2 an example of the method according to the invention as a finite automaton is shown only as an example. However, it is also conceivable that only part of the method is used, for example the part with which the unwinding of a supply line is made possible.
  • FIG. 3 shows an example of a time-varying torque curve that can be used to check the cable routing of a supply line. It is also conceivable that a constant torque is applied to the winding device over a long period of time and the time course of the movement is observed.
  • the torque D is plotted on the diagram and the time t in seconds is plotted on the right.
  • the frequency with which a test is to be carried out is 2 hearts. However, it is also possible to run the test more often.
  • the evaluation unit thus controls the drive with such a torque curve, for example, and the change in movement over time, ie the acceleration of the winding device, is monitored with the aid of the movement sensor Pos.
  • This torque curve can, for example, be specially adapted to the external circumstances of the device in which the arrangement according to the invention is to be installed.
  • it can be stored, for example, in a table which static friction has to be overcome with which unrolled length of a supply line and thus, for example, the course of the moment during the test can be varied depending on the unrolled cable length.
  • the evaluation unit With the help of the torque curve and the change in movement, the evaluation unit now determines the cable run.
  • the supply line can be rolled up with or without motor support above a certain train value and the supply line can be rolled up again below a certain train until a certain train appears during the test.
  • the method and the arrangement according to the invention have the great advantage over the prior art that only one motion sensor, which determines the temporal change in the motion of the winding device, is required for execution.
  • This position transmitter can, for example, be located directly on a drive motor or, for example, can also be arranged on a gearwheel which moves a cable drum.
  • the rotary movement is recorded directly on the cable drum.

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  • Electric Cable Arrangement Between Relatively Moving Parts (AREA)
EP94114197A 1993-09-17 1994-09-09 Procédé et agencement pour l'enroulement à tension commandée d'une ligne d'alimentation Withdrawn EP0644147A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4331730 1993-09-17
DE4331730 1993-09-17

Publications (1)

Publication Number Publication Date
EP0644147A1 true EP0644147A1 (fr) 1995-03-22

Family

ID=6498004

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94114197A Withdrawn EP0644147A1 (fr) 1993-09-17 1994-09-09 Procédé et agencement pour l'enroulement à tension commandée d'une ligne d'alimentation

Country Status (1)

Country Link
EP (1) EP0644147A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004051094A1 (de) * 2004-10-19 2006-04-27 Hartmann & König Stromzuführungs AG Hydraulische Antriebsanordung zum Antrieb einer Leitungstrommel eines fahrbaren Verbrauchers
DE102018211344A1 (de) * 2018-07-10 2020-01-16 Volkswagen Aktiengesellschaft Kabelwickelsystem sowie Verfahren zum Betreiben eines Kabelwickelsystems

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0216582A2 (fr) * 1985-09-23 1987-04-01 Westinghouse Electric Corporation Dispositif pour enrouler et dérouler un câble
DE3921679A1 (de) * 1989-07-03 1991-01-17 Stemmann Technik Gmbh Vorrichtung zur versorgung eines verfahrbaren, versorgungsnetzabhaengigen verbrauchers
WO1993002957A1 (fr) * 1991-07-27 1993-02-18 Metool Products Limited Systeme de devidoir de cable

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0216582A2 (fr) * 1985-09-23 1987-04-01 Westinghouse Electric Corporation Dispositif pour enrouler et dérouler un câble
DE3921679A1 (de) * 1989-07-03 1991-01-17 Stemmann Technik Gmbh Vorrichtung zur versorgung eines verfahrbaren, versorgungsnetzabhaengigen verbrauchers
WO1993002957A1 (fr) * 1991-07-27 1993-02-18 Metool Products Limited Systeme de devidoir de cable

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004051094A1 (de) * 2004-10-19 2006-04-27 Hartmann & König Stromzuführungs AG Hydraulische Antriebsanordung zum Antrieb einer Leitungstrommel eines fahrbaren Verbrauchers
DE102018211344A1 (de) * 2018-07-10 2020-01-16 Volkswagen Aktiengesellschaft Kabelwickelsystem sowie Verfahren zum Betreiben eines Kabelwickelsystems

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