阅读说明：本技术 一种电动储缆绞车控制装置及控制方法 (Control device and control method for electric cable storage winch ) 是由 朱鹏程 张辉 赵孟军 赵忠 方喜峰 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种电动储缆绞车控制装置,由第一微动开关至第四微动开关、第一接近开关至第二接近开关、第一按钮至第二按钮、第一变频器至第二变频器、第一减速电机至第二减速电机、第一编码器至第二编码器、可编程序控制器、触摸屏、制动电阻、储缆卷筒、排缆导轮、排缆丝杆和缆绳组成。本发明是为承受大负载的牵引绞车提供一种具有储缆功能的控制装置,其参数设置方便,操作简单,自动化程度高,可对多种不同直径的缆绳实现多层精确储、排缆。本发明还公开了一种电动储缆绞车控制装置的控制方法。(The invention discloses a control device of an electric cable storage winch, which consists of a first microswitch, a second microswitch, a first button, a second button, a first frequency converter, a second frequency converter, a first speed reduction motor, a second speed reduction motor, a first encoder, a second encoder, a programmable controller, a touch screen, a brake resistor, a cable storage drum, a cable arrangement guide wheel, a cable arrangement lead screw and a cable. The invention provides a control device with a cable storage function for a traction winch bearing a large load, which has the advantages of convenient parameter setting, simple operation and high automation degree, and can realize the accurate multilayer cable storage and arrangement of cables with various diameters. The invention also discloses a control method of the control device of the electric cable storage winch.)

1. A control device of an electric cable storage winch is characterized by comprising a first microswitch, a second microswitch, a third microswitch, a fourth microswitch, a first proximity switch, a second proximity switch, a first frequency converter, a second frequency converter, a first speed reducing motor, a second speed reducing motor, a first encoder, a second encoder, a programmable logic controller, a touch screen, a brake resistor, a cable storage drum, a cable arrangement guide wheel, a cable arrangement lead screw and a cable; the touch screen is connected with the programmable controller, and the programmable controller is respectively connected with the first frequency converter and the second frequency converter; the first frequency converter is sequentially connected with a first speed reducing motor and the left end of the cable storage drum, the first frequency converter is also connected with a brake resistor, a first encoder is arranged in the first speed reducing motor, and a second proximity switch is arranged on the outer side of the right end of the cable storage drum; the second frequency converter is sequentially connected with a second speed reducing motor and a cable arranging guide screw, a second encoder is arranged in the second speed reducing motor, the cable arranging guide screw is connected with a cable arranging guide wheel through a nut, a first proximity switch is installed on the cable arranging guide wheel, a first microswitch and a second microswitch are installed on one side of the left end of the cable arranging guide screw from left to right, and a third microswitch and a fourth microswitch are installed on one side of the right end of the cable arranging guide screw from right to left; and the cable is fixed on the cable storage drum and is wound, and then is connected with the cable arrangement guide wheel and enters the traction winch.

2. The electric cable storage winch control device as claimed in claim 1, wherein the cable guide wheel is uniformly provided with 6 lightening holes along the circumferential direction, and the first proximity switch can be triggered 6 times per 1 rotation of the cable guide wheel; the storage cable reel curb plate evenly opens 12 lightening holes along circumference, and the storage cable reel rotates 1 circle per turn and can trigger the second proximity switch 12 times.

3. The electric cable storage winch control device according to claim 1, wherein the first speed reduction motor and the second speed reduction motor are provided with brakes, and the brakes brake the output shaft of the speed reducer during braking.

4. The electrical cable storage winch control device of claim 1, wherein the programmable controller is connected to the first and second transducers and the touch screen in a profinet bus communication manner.

5. A control method of an electric cable storage winch control device according to any one of claims 1 to 4, wherein C is provided_ZIs the count value of the cable guide pulley triggering the second microswitch, C_YIs the count value of the cable guide wheel triggering the fourth microswitch, C_QIs the number of surface turns, C, of the current cable stored on the cable storage drum_CIs the number of layers currently stored on the storage drum, C_LIs the current length of cable, M_QThe number of turns of the cable can be stored in a single layer when the cable is stored on the cable storage drum, n is the number of turns of the cable which can be stored in a surface layer when the cable is stored on the cable storage drum, and the control device controls the motor to rotate the motor in a single layer modeThe method specifically comprises the following steps:

(1) initially, the programmable controller reads C from its power down hold register_Z、C_Y、C_Q、C_CAnd C_LThe numerical value is displayed on a touch screen, and a first speed reduction motor speed reduction ratio K is set in the touch screen_cAnd the reduction ratio K of the second speed reducing motor_sDiameter d of the cable_LPitch t of cable arranging wire rod_s；

(2) The programmable controller is communicated with the first frequency converter through a profinet bus to acquire a rotating speed signal of a first speed reducing motor, is communicated with the second frequency converter to acquire a rotating speed signal of a second speed reducing motor and a receiving, releasing and stopping instruction signal transmitted by a traction winch;

(3) the programmable controller judges the receiving, releasing and stopping instructions, when receiving the instructions, the step (4) is carried out, when stopping the instructions, the step (62) is carried out, and when releasing the instructions, the step (33) is carried out;

(4) the programmable controller sets the forward rotation direction and the torque of the first frequency converter through a profinet bus;

(5) the programmable controller judges whether C is available_Z>C_YIf yes, the next step is carried out; if not, the step (19) is carried out;

(6) the programmable controller sets the forward rotation direction and the rotation speed of the second frequency converter through the profinet bus;

(7) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (9) is carried out;

(8) programmable controller execution C_L＝C_L-1 operation;

(9) the programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (11) is carried out;

(10) programmable controller execution C_P＝C_P+1 operation;

(11) programmable controller execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step (13) is carried out;

(12) programmable controller execution C_Q＝C_Q+1 operation and make C_P＝0；

(13) The programmable controller judges whether (M)_Q-C_Q)<n, if yes, the next step is carried out; if not, circularly waiting at the step;

(14) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (16) is carried out;

(15) the programmable controller sends a deceleration signal to the traction winch;

(16) the programmable controller detects whether the fourth microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(17) programmable controller execution C_Y＝C_Y+1 operation and make C_Q＝0；

(18) The programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(19) the programmable controller executes the steps (2) and (3), and when the stop command is sent, the step (62) is carried out; when the command is put, the step (33) is carried out; when receiving the instruction, after executing the steps (4) and (5), the programmable controller judges whether C is available_Z＝C_YIf yes, the next step is carried out; if not, the step (62) is carried out;

(20) the programmable controller sets the reverse direction and the rotating speed of the second frequency converter through a profinet bus;

(21) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (23) is carried out;

(22) programmable controller execution C_L＝C_L-1 operation;

(23) the programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (25) is carried out;

(24) programmable controller execution C_P＝C_P+1 operation;

(25) programmable controlSystem execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step (27) is carried out;

(26) programmable controller execution C_Q＝C_Q+1 operation and make C_P＝0；

(27) The programmable controller judges whether (M)_Q-C_Q)<n, if yes, the next step is carried out; if not, circularly waiting at the step;

(28) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (30) is carried out;

(29) the programmable controller sends a deceleration signal to the traction winch;

(30) the programmable controller detects whether the second microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(31) programmable controller execution C_Z＝C_Z+1 operation and make C_QReturning to the step (2) when the value is 0;

(32) the programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(33) the programmable controller executes the steps (2) and (3), and when the stop command is sent, the step (62) is carried out; when receiving the instruction, turning to the step (4); when the command is released, the programmable controller sets the forward rotation direction and the torque magnitude of the first frequency converter through the profinet bus;

(34) the programmable controller judges whether C is available_Z>C_YIf yes, the next step is carried out; if not, the step (48) is carried out;

(35) the programmable controller sets the reverse direction and the rotating speed of the second frequency converter through a profinet bus;

(36) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (38) is carried out;

(37) programmable controller execution C_L＝C_L+1 operation;

(38) the programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (40) is carried out;

(39) programmable controller execution C_P＝C_P+1 operation;

(40) programmable controller execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step (42) is carried out;

(41) programmable controller execution C_Q＝C_Q-1 operation and let C_P＝0；

(42) The programmable controller judges whether C is available_Q<n, if yes, going to the next step, and if not, circularly waiting at the step;

(43) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (45) is carried out;

(44) the programmable controller sends a deceleration signal to the traction winch;

(45) the programmable controller detects whether the second microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(46) programmable controller execution C_Z＝C_Z-1 operation and let C_Q＝0；

(47) The programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(48) the programmable controller executes the steps (2) and (3), and when the stop command is sent, the step (62) is carried out; when receiving the instruction, turning to the step (4); when the instruction is released, after the steps (33) and (34) are executed, the programmable controller judges whether C is available or not_Z＝C_YIf yes, the next step is carried out; if not, the step (62) is carried out;

(49) the programmable controller sets the forward rotation direction and the rotation speed of the second frequency converter through the profinet bus;

(50) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (52) is carried out;

(51) programmable controller execution C_L＝C_L+1；

(52) The programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (54) is carried out;

(53) programmable controller execution C_P＝C_P+1；

(54) Programmable controller execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step (56) is carried out;

(55) programmable controller execution C_Q＝C_Q-1 operation and let C_P＝0；

(56) The programmable controller judges whether C is available_Q<n, if yes, the next step is carried out; if not, circularly waiting at the step;

(57) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (59) is carried out;

(58) the programmable controller sends a deceleration signal to the traction winch;

(59) the programmable controller detects whether the fourth microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(60) programmable controller execution C_Y＝C_Y-1 operation and let C_QReturning to the step (2) when the value is 0;

(61) the programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(62) the programmable controller executes the steps (2) and (3), and when receiving the instruction, the step (4) is carried out; when the command is put, the step (33) is carried out; when the stop command is given, the system stops and returns to the step (2).

6. The control method as claimed in claim 5, wherein the electric cable storage control device is set to be de-energized when the cable guide pulley triggers the first micro switch or the third micro switch.

7. The control method according to claim 5, wherein the first frequency converter is set in a torque servo control mode, the movement direction is always set to be the forward rotation cable collecting direction, the torque setting value of the first frequency converter is two fixed gears and respectively corresponds to the torque when the traction winch executes the cable collecting and releasing command, and the torque setting value when the traction winch receives the command is larger than the torque setting value when the traction winch releases the command.

8. The control method according to claim 5, wherein the second frequency converter is set in a speed servo control mode, and the calculation formula of the real-time speed setting value is as follows:

in the formula n_sThe rotating speed of the second speed reducing motor; k_sThe reduction ratio of the second reduction motor is; k_cThe speed reduction ratio is a first speed reduction motor speed reduction ratio; d_LIs the diameter of the cable; t is t_sThe pitch of the cable arranging wire rod is adopted; n is_cIs the first gear motor speed.

9. The control method according to claim 5, wherein the programmable controller is programmed to have the functions of recording and maintaining the number of cable storage layers, the number of surface turns, the length of the cable to be stored, the triggering times of the second micro switch and the triggering times of the fourth micro switch when power is off.

10. The control method according to claim 5, wherein the program of the touch screen is provided with a first speed reduction motor speed reduction ratio, a second speed reduction motor speed reduction ratio, a cable diameter and cable arranging wire rod pitch parameters, and positive and negative inching control can be carried out on the second speed reduction motor.

Technical Field

The invention relates to a control device and a control method of an electric cable storage winch, in particular to a control device and a control method of an electric cable storage winch, which are used for storing and discharging a steel wire rope or a photoelectric composite bearing cable with certain hardness and are realized by adopting a programmable controller.

Background

The winch is a common transmission device, and the steel wire rope has enough strength and hardness, is not afraid of extrusion deformation, and has higher safety, so most of the winch and the dragged object are connected by the steel wire rope. When the length of the cable is thousands of meters, the weight of the steel wire rope tends to greatly increase the driving power, and if the dragged object needs to be supplied with power and communicated with the optical fiber, the steel wire rope cannot meet the use requirement, and at this time, the photoelectric composite bearing cable made of high polymer fiber materials is often adopted. When such a cable is wound in multiple layers, if the underlying cable is subjected to large compressive stresses in the radial direction, the cross section of the underlying cable cannot maintain a circular shape, and even the internal cables and optical fibers can be damaged. The use of a drum that both pulls the load and stores the cable is therefore unsuitable for such cables, requiring separation of the pulling function from the cable storage function. At this time, a traction winch or friction winch mainly used for dragging loads and a cable storage winch mainly used for storing cables are connected through cables and matched to work in a coordinated mode. After the load tension is reduced by a plurality of circles of tension reduction force of the cable on a winch of the traction winch, the cable is discharged, the cable enters the cable storage winch, and at the moment, enough tension is ensured to straighten the cable between the load tension and the cable storage winch, so that the cable on the cable storage winch cannot be subjected to great radial extrusion stress, and the cable is effectively protected.

When the mooring rope needs to realize multi-circle and multi-layer cable storage or cable arrangement on the cable storage winch, a cable arrangement guide wheel driven by a screw rod needs to reciprocate on the screw rod, the traditional mode for driving the screw rod is that chain transmission is adopted between a cable arrangement screw rod and a cable storage drum, the cable storage drum is driven by a motor, and the screw rod is driven to move through the chain transmission, so that the system is simple, the screw rod does not need to be independently controlled, but the defects are obvious, and the following points are mainly adopted: 1) the system is not flexible and can not adapt to cables with different diameters, and if the cables are replaced by cables with different diameters, the lead screws with different screw pitches need to be redesigned and manufactured; 2) because multi-layer cable storage and arrangement are required to be realized, the cable arrangement guide wheel is required to reciprocate left and right under the driving of the cable arrangement screw rod, and the cable arrangement screw rod is required to be designed into a bidirectional screw rod, so that the manufacturing difficulty and cost are increased; 3) due to manufacturing and assembling errors, the storage and arrangement of cables are easy to cause irregularity, parking is often needed, cables are arranged in a manual auxiliary mode, efficiency is low, and a lead screw is possibly redesigned and manufactured in serious cases; 4) because the cable arranging screw rod is connected with the cable storage drum through the chain, when the cable arranging guide wheel needs to be stopped and adjusted to be in the position of the cable arranging screw rod, the chain needs to be disassembled to be separated from the chain wheel, the adjusting hand wheel at the end part of the cable arranging screw rod is manually rotated, and the whole process is time-consuming and labor-consuming.

As winch task systems put higher and higher demands on cable storage winch control devices, conventional cable storage winch control devices have failed to meet the demands, and the adoption of new control devices and new control methods generated by the new control devices are the key points for solving the problems.

Disclosure of Invention

The invention aims to solve the problems in the prior art, provides a control device of an electric cable storage winch, which has excellent performance and high automation degree and can adapt to cables with different diameters, and also provides a control method of the control device.

In order to achieve the purpose, the invention adopts the technical scheme that:

a control device of an electric cable storage winch is composed of a first microswitch, a second microswitch, a first frequency converter, a second frequency converter, a first speed reduction motor, a second speed reduction motor, a first encoder, a second encoder, a programmable logic controller, a touch screen, a brake resistor, a cable storage drum, a cable arrangement guide wheel, a cable arrangement lead screw and a cable; the touch screen is connected with the programmable controller, and the programmable controller is respectively connected with the first frequency converter and the second frequency converter; the first frequency converter is sequentially connected with a first speed reducing motor and the left end of the cable storage drum, the first frequency converter is also connected with a brake resistor, a first encoder is arranged in the first speed reducing motor, and a second proximity switch is arranged on the outer side of the right end of the cable storage drum; the second frequency converter is sequentially connected with a second speed reducing motor and a cable arranging guide screw, a second encoder is arranged in the second speed reducing motor, the cable arranging guide screw is connected with a cable arranging guide wheel through a nut, a first proximity switch is installed on the cable arranging guide wheel, a first microswitch and a second microswitch are installed on one side of the left end of the cable arranging guide screw from left to right, and a third microswitch and a fourth microswitch are installed on one side of the right end of the cable arranging guide screw from right to left; and the cable is fixed on the cable storage drum and is wound, and then is connected with the cable arrangement guide wheel and enters the traction winch.

The cable arrangement guide wheel is uniformly provided with 6 lightening holes along the circumferential direction, and the first proximity switch can be triggered for 6 times when the cable arrangement guide wheel rotates for 1 circle; the storage cable reel curb plate evenly opens 12 lightening holes along circumference, and the storage cable reel rotates 1 circle per turn and can trigger the second proximity switch 12 times. The first speed reduction motor and the second speed reduction motor are both provided with brakes, and the brakes are applied to the output shafts of the speed reducers during braking. And the programmable controller is connected with the first frequency converter, the second frequency converter and the touch screen in a profinet bus communication mode.

In order to achieve the purpose, the invention adopts another technical scheme that:

is provided with C_ZIs the count value of the cable guide pulley triggering the second microswitch, C_YIs the count value of the cable guide wheel triggering the fourth microswitch, C_QIs the number of surface turns, C, of the current cable stored on the cable storage drum_CIs the number of layers currently stored on the storage drum, C_LIs the current length of cable, M_QThe control method comprises the following steps of:

(1) initially, the programmable controller reads C from its power down hold register_Z、C_Y、C_Q、C_CAnd C_LThe numerical value is displayed on a touch screen, and a first speed reduction motor speed reduction ratio K is set in the touch screen_cAnd the reduction ratio K of the second speed reducing motor_sDiameter d of the cable_LPitch t of cable arranging wire rod_s。

(2) The programmable controller is communicated with the first frequency converter through a profinet bus to acquire a rotating speed signal of a first speed reducing motor, is communicated with the second frequency converter to acquire a rotating speed signal of a second speed reducing motor and a receiving, releasing and stopping instruction signal transmitted by a traction winch;

(3) the programmable controller judges the receiving, releasing and stopping instructions, when receiving the instructions, the step (4) is carried out, when stopping the instructions, the step (62) is carried out, and when releasing the instructions, the step (33) is carried out;

(4) the programmable controller sets the forward rotation direction and the torque of the first frequency converter through a profinet bus;

(5) the programmable controller judges whether C is available_Z>C_YIf yes, the next step is carried out; if not, the step (19) is carried out;

(6) the programmable controller sets the forward rotation direction and the rotation speed of the second frequency converter through the profinet bus;

(7) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (9) is carried out;

(8) programmable controller execution C_L＝C_L-1 operation;

(9) the programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (11) is carried out;

(10) programmable controller execution C_P＝C_P+1 operation;

(11) programmable controller execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step (13) is carried out;

(12) programmable controller execution C_Q＝C_Q+1 operation and make C_P＝0；

(13) The programmable controller judges whether (M)_Q-C_Q)<n, if yes, the next step is carried out; if not, circularly waiting at the step;

(14) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (16) is carried out;

(15) the programmable controller sends a deceleration signal to the traction winch;

(16) the programmable controller detects whether the fourth microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(17) programmable controller execution C_Y＝C_Y+1 operation and make C_Q＝0；

(18) The programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(19) the programmable controller executes the steps (2) and (3), and when the stop command is sent, the step (62) is carried out; when the command is put, the step (33) is carried out; when receiving the instruction, after executing the steps (4) and (5), the programmable controller judges whether C is available_Z＝C_YIf yes, the next step is carried out; if not, the step (62) is carried out;

(20) the programmable controller sets the reverse direction and the rotating speed of the second frequency converter through a profinet bus;

(21) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (23) is carried out;

(22) programmable controller execution C_L＝C_L-1 operation;

(23) the programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (25) is carried out;

(24) programmable controller execution C_P＝C_P+1 operation;

(25) programmable controller execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step (27) is carried out;

(26) programmable controller execution C_Q＝C_Q+1 operation and make C_P＝0；

(27) The programmable controller judges whether (M)_Q-C_Q)<n, if yes, the next step is carried out; if not, then cycle is performed here, etcWaiting;

(28) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (30) is carried out;

(29) the programmable controller sends a deceleration signal to the traction winch;

(30) the programmable controller detects whether the second microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(31) programmable controller execution C_Z＝C_Z+1 operation and make C_QReturning to the step (2) when the value is 0;

(32) the programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(33) the programmable controller executes the steps (2) and (3), and when the stop command is sent, the step (62) is carried out; when receiving the instruction, turning to the step (4); when the command is released, the programmable controller sets the forward rotation direction and the torque magnitude of the first frequency converter through the profinet bus;

(34) the programmable controller judges whether C is available_Z>C_YIf yes, the next step is carried out; if not, the step (48) is carried out;

(35) the programmable controller sets the reverse direction and the rotating speed of the second frequency converter through a profinet bus;

(36) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (38) is carried out;

(37) programmable controller execution C_L＝C_L+1 operation;

(38) the programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (40) is carried out;

(39) programmable controller execution C_P＝C_P+1 operation;

(40) programmable controller execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, turning toA step (42);

(41) programmable controller execution C_Q＝C_Q-1 operation and let C_P＝0；

(42) The programmable controller judges whether C is available_Q<n, if yes, going to the next step, and if not, circularly waiting at the step;

(43) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (45) is carried out;

(44) the programmable controller sends a deceleration signal to the traction winch;

(45) the programmable controller detects whether the second microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(46) programmable controller execution C_Z＝C_Z-1 operation and let C_Q＝0；

(47) The programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(48) the programmable controller executes the steps (2) and (3), and when the stop command is sent, the step (62) is carried out; when receiving the instruction, turning to the step (4); when the instruction is released, after the steps (33) and (34) are executed, the programmable controller judges whether C is available or not_Z＝C_YIf yes, the next step is carried out; if not, the step (62) is carried out;

(49) the programmable controller sets the forward rotation direction and the rotation speed of the second frequency converter through the profinet bus;

(50) the programmable controller judges whether the first proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (52) is carried out;

(51) programmable controller execution C_L＝C_L+1；

(52) The programmable controller judges whether the second proximity switch is triggered by a rising edge, and if so, the next step is carried out; if not, the step (54) is carried out;

(53) programmable controller execution C_P＝C_P+1；

(54) Programmable controller execution C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step (56) is carried out;

(55) programmable controller execution C_Q＝C_Q-1 operation and let C_P＝0；

(56) The programmable controller judges whether C is available_Q<n, if yes, the next step is carried out; if not, circularly waiting at the step;

(57) the programmable controller judges whether the current linear speed of the cable is greater than a set deceleration threshold value, if so, the next step is carried out; if not, the step (59) is carried out;

(58) the programmable controller sends a deceleration signal to the traction winch;

(59) the programmable controller detects whether the fourth microswitch has a rising edge trigger signal, if so, the next step is carried out; if not, circularly waiting at the step;

(60) programmable controller execution C_Y＝C_Y-1 operation and let C_QReturning to the step (2) when the value is 0;

(61) the programmable controller sends a deceleration releasing signal to the traction winch, the linear speed of the cable is recovered, and the step (2) is returned;

(62) the programmable controller executes the steps (2) and (3), and when receiving the instruction, the step (4) is carried out; when the command is put, the step (33) is carried out; when the stop command is given, the system stops and returns to the step (2).

When the cable arranging guide wheel triggers the first micro switch or the third micro switch, the electric cable storage control device is set to be powered off.

The first frequency converter is set in a torque servo control mode, the movement direction is always set to be the forward rotation cable collecting direction, the torque setting value of the first frequency converter is two fixed gears and respectively corresponds to the torque when the traction winch executes a cable collecting and releasing instruction, and the torque setting value is larger than that when the traction winch receives the instruction. The second frequency converter is set in a speed servo control mode, and the calculation formula of the real-time speed set value is as follows:

in the formula n_sThe rotating speed of the second speed reducing motor; k_sThe reduction ratio of the second reduction motor is; k_cThe speed reduction ratio is a first speed reduction motor speed reduction ratio; d_LIs the diameter of the cable; t is t_sThe pitch of the cable arranging wire rod is adopted; n is_cIs the first gear motor speed.

The program of the programmable controller has the functions of recording and maintaining the number of the cable storage layers, the number of surface turns, the length of the cable to be stored, the triggering times of the second microswitch and the triggering times of the fourth microswitch when power is off. The program of the touch screen is provided with a first speed reduction motor speed reduction ratio, a second speed reduction motor speed reduction ratio, a cable diameter and cable arranging wire rod pitch parameters, and positive and negative inching control can be implemented on the second speed reduction motor.

It should be noted that: the control device of the electric cable storage winch is not used independently and needs to be matched with a traction winch for use, and the linear speed of the cable load is controlled by the traction winch, so that the actual rotating direction and speed of the cable storage winch are controlled by the traction winch. Specifically, a first frequency converter of the cable storage winch is always arranged in the cable collection direction and is in a torque control mode. When the traction winch is controlled to take up the cable, the cable storage winch also moves in the cable take-up direction, and the first frequency converter is in a torque control mode, so that the tension of the cable between the traction winch and the cable storage winch is controlled by the set torque, and the cable is ensured to be in a tension state in the movement; when the traction winch is controlled by cable releasing, even if the first frequency converter of the cable storage winch is arranged in the cable releasing direction, the first frequency converter is dragged by the traction winch reversely due to small moment and is in a reverse cable releasing state, and the first speed reduction motor is in a power generation running state. Meanwhile, under the condition that the linear velocity of the cable is controlled by the traction winch, the rotating speed of a winding drum of the cable storage winch correspondingly changes due to the change of the number of the layers of the cable storage, and if the linear velocity is not changed on the same layer, the rotating speed of the cable storage winding drum is also not changed; when the number of the cable storage layers is increased, if the linear speed is not changed, the rotating speed of the cable storage drum is reduced; when the number of the cable storage layers is reduced, if the linear speed is not changed, the rotating speed of the cable storage drum is increased. In addition, the cable storage winch control device can also send a speed reduction signal to the traction winch when the distance between the cable storage winch control device and the reversing position is several circles (a fixed set value), and send a speed increase signal after the reversing is finished.

The invention has the advantages and beneficial effects that:

(1) the control device of the electric cable storage winch is composed of conventional elements, is simple to operate, completes all operations and parameter settings in the touch screen, and is convenient to use.

(2) The control device of the electric cable storage winch can realize multi-circle and multi-layer orderly cable storage and cable arrangement aiming at cables with different diameters in a mechanical design range, and the cable arrangement wire rod is stable in reversing and high in automation degree.

(3) The electric cable storage winch control device has the advantages that the position of the cable arrangement guide wheel is adjusted in an electric inching mode, and the initial installation and intermediate maintenance of a cable are facilitated.

(4) The control device of the electric cable storage winch has the advantages of realizing the display and storage of parameters such as cable laying length, cable storage layer number, surface layer turn number and the like, being easy for state monitoring and troubleshooting and greatly facilitating users.

Drawings

Fig. 1 is a block diagram of an electric cable winch control device according to the present invention.

Fig. 2 is a control flow chart of the electric cable storage winch control device of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, the control device of the electric cable storage winch of the present invention is composed of a first micro switch 115, a second micro switch 114, a third micro switch 110, a fourth micro switch 108, a first proximity switch 111, a second proximity switch 107, a first frequency converter 102, a second frequency converter 118, a first speed reduction motor 105, a second speed reduction motor 116, a first encoder 103, a second encoder 117, a programmable controller 101, a touch screen 100, a brake resistor 104, a cable storage drum 106, a cable arrangement guide wheel 112, a cable arrangement screw 113 and a cable 109. The touch screen 100 is connected with a programmable controller 101, the programmable controller 101 is respectively connected with a first frequency converter 102 and a second frequency converter 118, the first frequency converter 102 is sequentially connected with the left ends of a first speed reducing motor 105 and a cable storage reel 106, the first frequency converter 102 is further connected with a brake resistor 104, a first encoder 103 is arranged in the first speed reducing motor 105, and a second proximity switch 107 is arranged on the outer side of the right end of the cable storage reel 106; the second frequency converter 118 is sequentially connected with a second speed reducing motor 116 and a cable arranging guide rod 113, a second encoder 117 is arranged in the second speed reducing motor 116, the cable arranging guide rod 113 is connected with a cable arranging guide wheel 112 through a nut, a first proximity switch 111 is arranged on the cable arranging guide wheel 112, a first microswitch 115 and a second microswitch 114 are arranged on one side of the left end of the cable arranging guide rod 113 from left to right, and a third microswitch 110 and a fourth microswitch 108 are arranged on one side of the right end of the cable arranging guide rod 113 from right to left; the cable 109 is secured to the storage drum 106 and wound around and then connected to the cable guide pulley 112 and into the traction winch.

The cable guide wheel 112 is uniformly provided with 6 lightening holes along the circumferential direction, and the first proximity switch 111 can be triggered six times when the cable guide wheel 112 rotates for one circle; 12 lightening holes are uniformly formed in the right side plate of the cable storage drum 106 along the circumferential direction, and a second proximity switch 107 can be triggered twelve times when the cable storage drum 106 rotates for one circle; the first reduction motor 105 to the second reduction motor 116 are provided with brakes, and brake is carried out on the output shaft of the speed reducer during braking. The programmable controller 101 is connected to the first frequency converter 102, the second frequency converter 118 and the touch screen 100 in a profinet bus communication manner.

Fig. 2 is a control flow chart of the electric cable storage winch control device according to the present invention. Is provided with C_ZIs the count value, C, of the cable guide pulley 112 triggering the second microswitch 114_YIs the count value, C, of the cable guide pulley 112 triggering the fourth microswitch 108_QIs the number of surface turns, C, currently stored on the storage drum 106_CIs that the current cable is in the storage reel 106 number of layers stored, C_LIs the current length of cable, M_QIs the total number of turns of the single layer cable stored when the cable is stored on the cable storage drum 106, and n is the number of turns of the surface layer stored when the cable is stored on the cable storage drum 106, the control method comprises the following steps:

step 1, initially, programmable controller 101 reads C from its power down hold register_Z、C_Y、C_Q、C_CAnd C_LNumerical values are displayed on the touch screen 100, and the first speed reducing motor 105 is arranged in the touch screen 100 to reduce the speed ratio K_cAnd a reduction ratio K of the second reduction motor 116_sDiameter d of cable 109_LThe pitch t of the cable arranging wire rod 113_s。

Step 2, the programmable controller 101 communicates with the first frequency converter 102 through a profinet bus to acquire a rotating speed signal of the first reducing motor 105, communicates with the second frequency converter 118 to acquire a rotating speed signal of the second reducing motor 116, and transmits a receiving, releasing and stopping instruction signal from the traction winch;

step 3, the programmable controller 101 judges the receiving, releasing and stopping instructions, when receiving the instructions, the step 4 is carried out, when stopping the instructions, the step 62 is carried out, and when releasing the instructions, the step 33 is carried out;

step 4, the programmable controller 101 sets the forward rotation direction and the torque magnitude to the first frequency converter 102 through the profinet bus;

step 5, the programmable controller 101 judges whether C is available_Z>C_YIf yes, the next step is carried out; if not, go to step 19;

step 6, the programmable controller 101 sets the forward rotation direction and the rotation speed of the second frequency converter 116 through the profinet bus;

step 7, the programmable controller 101 judges whether the first proximity switch 111 is triggered by a rising edge, and if so, the next step is carried out; if not, the step 9 is carried out;

step 8, the programmable controller 101 executes step C_L＝C_L-1 operation;

step 9, the programmable controller 101 judges whether the second proximity switch 107 has rising edge trigger, if yes, the next step is carried out; if not, the step 11 is carried out;

step 10, the programmable controller 101 executes C_P＝C_P+1 operation;

step 11, the programmable controller 101 executes step C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, the step 13 is carried out;

step 12, the programmable controller 101 executes C_Q＝C_Q+1 operation and make C_P＝0；

Step 13, the programmable controller 101 determines whether (M)_Q-C_Q)<n, if yes, the next step is carried out; if not, circularly waiting at the step;

step 14, the programmable controller 101 judges whether the current linear speed of the cable 109 is greater than a set deceleration threshold, and if so, the next step is carried out; if not, the step 16 is carried out;

step 15, the programmable controller 101 sends a deceleration signal to the traction winch;

step 16, the programmable controller 101 detects whether the fourth micro switch 108 has a rising edge trigger signal, and if so, the next step is carried out; if not, circularly waiting at the step;

step 17, the programmable controller 101 performs C_Y＝C_Y+1 operation and make C_Q＝0；

Step 18, the programmable controller 101 sends a deceleration releasing signal to the traction winch, the linear speed of the cable 109 is recovered, and the step 2 is returned;

step 19, the programmable controller 101 executes the step 2 and the step 3, and when the stop command is sent, the step 62 is executed; when the command is put, the step 33 is carried out; when receiving the command, after executing step 4 and step 5, the programmable controller 101 determines whether C is present_Z＝C_YIf yes, the next step is carried out; if not, go to step 62;

step 20, the programmable controller 101 sets the reverse direction and the rotation speed of the second frequency converter 118 through the profinet bus;

step 21, the programmable controller 101 judges whether the first proximity switch 111 has rising edge trigger, if yes, the next step is carried out; if not, go to step 23;

step 22, the programmable controller 101 executes step C_L＝C_L-1 operation;

step 23, the programmable controller 101 judges whether the second proximity switch 107 has rising edge trigger, if yes, the next step is carried out; if not, go to step 25;

step 24, the programmable controller 101 executes step C_P＝C_P+1 operation;

step 25, the programmable controller 101 performs step C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, go to step 27;

step 26, the programmable controller 101 performs step C_Q＝C_Q+1 operation and make C_P＝0；

In step 27, the programmable controller 101 determines whether (M)_Q-C_Q)<n, if yes, the next step is carried out; if not, circularly waiting at the step;

step 28, the programmable controller 101 judges whether the current linear speed of the cable 109 is greater than a set deceleration threshold value, and if so, the next step is carried out; if not, the step 30 is carried out;

step 29, the programmable controller 101 sends a deceleration signal to the traction winch;

step 30, the programmable controller 101 detects whether the second microswitch 114 has a rising edge trigger signal, and if so, the next step is carried out; if not, circularly waiting at the step;

step 31, the programmable controller 101 executes step C_Z＝C_Z+1 operation and make C_QReturning to the step 2 when the value is 0;

step 32, the programmable controller 101 sends a deceleration releasing signal to the traction winch, the linear speed of the cable 109 is recovered, and the step 2 is returned;

step 33, the programmable controller 101 executes step 2 and step 3, and when the stop command is received, the procedure goes to step 62; when receiving the instruction, turning to step 4; when releasing the command, the programmable controller 101 sets the forward rotation direction and the torque magnitude to the first frequency converter 102 through the profinet bus;

step 34, the programmable controller 101 determines whether to determine C_Z>C_YIf yes, the next step is carried out; if not, go to step 48;

step 35, the programmable controller 101 sets the reverse direction and the rotation speed of the second frequency converter 118 through the profinet bus;

step 36, the programmable controller 101 judges whether the first proximity switch 111 has rising edge trigger, if yes, the next step is carried out; if not, go to step 38;

step 37, the programmable controller 101 executes step C_L＝C_L+1 operation;

step 38, the programmable controller 101 judges whether the second proximity switch 107 has rising edge trigger, if yes, the next step is carried out; if not, go to step 40;

step 39, the programmable controller 101 performs step C_P＝C_P+1 operation;

step 40, the programmable controller 101 performs step C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, go to step 42;

step 41, the programmable controller 101 executes step C_Q＝C_Q-1 operation and let C_P＝0；

Step 42, the programmable controller 101 determines whether C is present_Q<n, if yes, going to the next step, and if not, circularly waiting at the step;

step 43, the programmable controller 101 judges whether the current linear speed of the cable 109 is greater than a set deceleration threshold, and if so, the next step is carried out; if not, go to step 45;

step 44, the programmable controller 101 sends a deceleration signal to the traction winch;

step 45, the programmable controller 101 detects whether the second microswitch 114 has a rising edge trigger signal, and if so, the next step is carried out; if not, circularly waiting at the step;

step 46, the programmable controller 101 performs step C_Z＝C_Z-1 operation and let C_Q＝0；

Step 47, the programmable controller 101 sends a deceleration releasing signal to the traction winch, the linear speed of the cable 109 is recovered, and the step 2 is returned;

step 48, the programmable controller 101 executes the step 2 and the step 3, and when the stop command is sent, the step 62 is executed; when receiving the instruction, turning to step 4; when the command is released, after steps 33 and 34 are executed, the programmable controller 101 determines whether C is present_Z＝C_YIf yes, the next step is carried out; if not, go to step 62;

step 49, the programmable controller 101 sets the forward rotation direction and the rotation speed of the second frequency converter 118 through the profinet bus;

step 50, the programmable controller 101 judges whether the first proximity switch 111 is triggered by a rising edge, and if so, the next step is carried out; if not, go to step 52;

in step 51, the programmable controller 101 performs step C_L＝C_L+1；

Step 52, the programmable controller 101 judges whether the second proximity switch 107 has rising edge trigger, if yes, the next step is carried out; if not, go to step 54;

in step 53, the programmable controller 101 performs step C_P＝C_P+1；

Step 54, the programmable controller 101 performs step C_PPerforming complementation operation on 12, judging whether the remainder is 0, and if so, turning to the next step; if not, go to step 56;

step 55, the programmable controller 101 performs step C_Q＝C_Q-1 operation and let C_P＝0；

Step 56, the programmable controller 101 determines whether to determine C_Q<n, if yes, the next step is carried out; if not, circularly waiting at the step;

step 57, the programmable controller 101 determines whether the current linear velocity of the cable 109 is greater than a set deceleration threshold, and if so, proceeds to the next step; if not, go to step 59;

step 58, the programmable controller 101 sends a deceleration signal to the traction winch;

step 59, the programmable controller 101 detects whether the fourth micro switch 108 has a rising edge trigger signal, and if so, the next step is carried out; if not, circularly waiting at the step;

step 60, the programmable controller 101 performs step C_Y＝C_Y-1 operation and let C_QReturning to the step 2 when the value is 0;

step 61, the programmable controller 101 sends a deceleration releasing signal to the traction winch, the linear speed of the cable 109 is recovered, and the step 2 is returned;

step 62, the programmable controller 101 executes the step 2 and the step 3, and when receiving the instruction, the step 4 is executed; when the command is put, the step 33 is carried out; when a stop command is given, the system stops and returns to step 2.

The foregoing is only a preferred embodiment of the present invention. The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that all such equivalent changes and modifications as would be obvious to one skilled in the art be included herein are deemed to be within the scope and spirit of the present invention as defined by the appended claims.