CN107894711A - One kind is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine - Google Patents

Abstract

The invention discloses an intelligent cable automatic production machine based on fuzzy support vector machine, which is characterized in that it includes a wire feeding device (1), a peeling and cutting device (2), a skinning and twisting device (3), and a wire clamping mechanism ( 4), rotary conveying device (5), needle pressing device (6), thread feeding device (1), peeling and thread cutting device (2), rubbing and twisting device (3), thread clamping mechanism (4), rotary conveying device (5) The needle pressing device (6) is adjusted and controlled by the single-chip microcomputer-built adjustment platform, and the intelligent cascade control system of the roller speed based on the fuzzy support vector machine is designed in the adjustment platform to realize the wire pulling roller of the wire inlet device (1). (14) Carry out closed-loop control of the speed. The present invention not only effectively solves the problem that the automation degree of the existing cable production equipment is not high, most of the processes require manual participation, the work efficiency is low, and certain safety accidents are caused, but it also effectively solves the problem of the precision control of the speed of the wire pulley of the wire inlet device bad question.

Description

An automatic intelligent cable production machine based on fuzzy support vector machine

technical field

The invention relates to the technical field of cable processing equipment, in particular to an intelligent cable automatic production machine based on a fuzzy support vector machine.

Background technique

In recent decades, with the improvement of people's scientific level, people have manufactured various automation equipment, but these equipment are inseparable from the wire connection to transmit signals to control the operation of the equipment. Therefore, many electrical appliances and automated equipment manufacturing require a large number of various cables. During the use of the cables, terminals need to be pressed on both ends. Terminals are all kinds of electronically controlled power distribution equipment, complete sets of devices, and multi-circuit meter boxes And the combined terminal electrical box plays the role of transfer wiring. Although there are a lot of cable production equipment, it is still impossible to realize fully automatic manufacturing. Many production parts still use manual production of cables, resulting in uneven cable quality, and more importantly, it may also cause electrical safety problems. For the cable manufacturing products at home and abroad at this stage, the problems that still exist have not been well solved.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic cable production machine. The present invention not only effectively solves the problem that the existing cable production equipment is not highly automated, most of the processes require manual participation, the work efficiency is low, and it will also cause certain problems. The problem of safety accidents is solved, and the problem of poor control of the speed accuracy of the wire pulley of the wire inlet device is effectively solved.

The present invention is realized through the following technical solutions:

An intelligent cable automatic production machine based on fuzzy support vector machines, characterized in that it includes a wire inlet device (1), a stripping and cutting device (2), a skinning and twisting device (3), a wire clamping mechanism (4), a rotating The conveying device (5), the needle pressing device (6), and the wire feeding device (1) convey the long cable to the stripping and cutting device (2), and the stripping and cutting device (2) cuts the long cable into short cables of required length , and ring-cut the insulation at both ends of the short cable. The insulation at both ends of the ring-cut short cable is stripped by the twisting device (3), and the clamping wire set on the rotating conveying device (5) The mechanism (4) is sent to the needle pressing device (6) to press the needle, the thread feeding device (1), the peeling and thread cutting device (2), the rubbing and thread twisting device (3), the thread clamping mechanism (4), the rotary conveying device ( 5) The needle pressing device (6) is adjusted and controlled by a single-chip microcomputer-built adjustment platform, and the intelligent cascade control system of the roller speed based on the fuzzy support vector machine is designed in the adjustment platform to realize the pulley of the wire inlet device (1) ( 14) Carry out closed-loop control of the rotational speed. The intelligent cascaded control system of the rotational speed of the drum based on the fuzzy support vector machine includes a fuzzy support vector machine controller, a PID neural network controller, a fuzzy support vector machine motor controller, and a drum rotational speed GM (1 ,1) The gray prediction model, the motor speed GM (1,1) gray prediction model and the wire pulley (14) and motor (16) of the wire inlet device (1) are composed of fuzzy support vector machine controller and PID neural network control The controller is connected in parallel as the main regulator and the fuzzy support vector machine motor controller is used as the secondary regulator to form a cascade control system; the pulley drum (14) is realized by the gray prediction model of the drum speed GM (1,1) and the fuzzy support vector machine controller. Predictive control of the rotational speed, the PID neural network controller realizes real-time control of the rotational speed of the wire pulley (14); the fuzzy support vector machine motor controller and the motor rotational speed GM (1,1) gray prediction model realize the prediction of the motor (16) Control, the drum speed intelligent cascade control system based on fuzzy support vector machine improves the anti-interference and robustness of the drum speed control system.

The closed-loop control of the drum speed is realized by the intelligent cascade control system of the drum speed based on the fuzzy support vector machine designed in the adjustment platform, and the drum speed control process is improved through the double closed-loop control of the main regulator and the sub-regulator in the control system The fast response, control precision and robustness make the drum speed quickly reach the given value.

The single-chip processor is designed with an intelligent cascade control system of drum speed based on fuzzy support vector machine, and the intelligent cascade control system of drum speed based on fuzzy support vector machine is composed of a fuzzy support vector machine controller and a PID neural network controller connected in parallel as The main regulator and the fuzzy support vector machine motor controller are used as the secondary regulator to form a cascade control system, and the main regulator and the secondary regulator constitute the cascade control system of the drum speed to realize real-time control of the drum speed; the fuzzy support vector The machine controller and the PID neural network controller are connected in parallel as the output of the main regulator as the input of the fuzzy support vector machine motor controller sub-regulator, and the output of the fuzzy support vector machine motor controller is used as the adjustment amount for controlling the speed of the motor (16), The output of the speed sensor of the motor (16) is input as the gray prediction model of the motor speed GM (1,1), and the output of the model is used as the feedback quantity of the sub-regulator of the fuzzy support vector machine motor controller to form the closed-loop control of the motor (16) speed, Realize the closed-loop adjustment of the speed of the motor (16); the output of the drum speed sensor is used as the input of the gray prediction model of the drum speed GM (1,1), and the output of the model is used as the feedback quantity of the fuzzy support vector machine controller to realize the pulling drum ( 14) Predictive control of the rotation speed, the output of the drum speed sensor is used as the feedback of the PID neural network controller to realize the real-time control of the rotation speed of the wire drum (14), and the rapid response of the drum speed is improved through the double closed-loop control of the main regulator and the sub-regulator , Control accuracy and robustness, make the drum speed quickly reach the given value.

The further technical improvement scheme of the present invention is:

The wire inlet device (1) includes a fixed base (11), a fixed plate (12) is vertically arranged on the fixed base (11), and a limiting hole (13) is arranged in the middle of the fixed plate (12), and the fixed plate (12) leads out There is a group of wire-drawing rollers (14) whose sides are meshed with each other. The two ends of the wire-drawing rollers (14) are rotationally connected to the mounting bracket (15) through the rotating shaft, and the rotating shaft is connected to the motor (16). Between the two wire-drawing rollers (14) There is an interval, and the height of the limit hole (13) is set to be equal to the center of the interval between the two wire pulleys (14).

The further technical improvement scheme of the present invention is:

The stripping and thread cutting device (2) includes a knife holder (21), and a group of cutters are arranged on the knife holder (21), including an upper cutter (22), a lower cutter (23), and the upper cutter (22) passes through the handle Connected with an electric push rod (24), the tail end of the handle of the lower cutter (23) is driven and connected to the cam driving device (25), and a limit piece (26) is set on the outlet side of the knife holder (21), and the limit piece (26) A limit hole (27) is arranged on the top.

The further technical improvement scheme of the present invention is:

The skin rubbing and thread twisting device (3) includes a set of zigzag skin rubbing knives (31), the tail of the skin rubbing knife (31) is connected with a driving piston (32) through a knife handle, and the driving piston (32) is arranged in a sealed shell In the body, the drive motor A (34) is arranged in the sealed casing, and the power output shaft of the drive motor A (34) drives the pendulum shaft (33) set in the middle of the drive plate (36) through the linkage block (35) to move up and down, and the drive plate (36) Both sides are connected to the piston rod (37) connected to the driving piston (32), and the two sides of the driving disc (36) are clamped with the arc track in the sealed housing (33) through the slider (38) , the free end of the pendulum shaft (33) is oscillatingly connected to the fixed bracket (39) provided on the inner wall of the bottom of the sealed housing through a universal ball.

The further technical improvement scheme of the present invention is:

The clamping mechanism (4) includes an installation housing (41), the top of the installation housing (41) is provided with a central hole (47) which is rotatably connected with the rotary conveying device (5), and a A set of clamping devices, including clamping device A (42), clamping device B (43), a lead screw (44) is arranged between clamping device A (42), clamping device B (43), and the clamping device The drive motor B (45) is installed on the top of A (42), and is fixedly connected with the lead screw (44) through the drive motor B (45), and the clamping device B (43) is connected to the screw through the lead screw flange (46) on the top. Bar (44) is rotatably connected.

The further technical improvement scheme of the present invention is:

The rotary conveying device (5) includes a mounting bracket, the mounting bracket includes a fixed bracket (51), a driving bracket (52), the rotating arm (53) is connected to the fixing bracket (51) through a rotating shaft, and the driving bracket (52) is provided with Drive link A (57), one end of the drive link A (57) is connected to the drive motor C (54), and the opposite end is connected to the chute (56) set on the rotating arm (53) through the slider (55). The end of the arm (53) is connected with a clamping mechanism (4) through a rotating shaft.

The further technical improvement scheme of the present invention is:

The needle pressing device (6) is arranged on both sides of the rotary conveying device (5), and includes a vertical fixed column (61), and the needle pressing platform (62) is arranged on the fixing column (61), and the needle pressing platform (62) The upper fixed column (61) is provided with a movable sleeve (63) whose cross-sectional shape matches the fixed column (61), the movable sleeve (63) is provided with a needle pressing block (64), and the bottom of the fixed column (61) is provided with a There is a driving motor D (65), and the driving motor D (65) drives the movable sleeve (63) to reciprocate up and down along the fixed column (61) through the driving connecting rod B (66).

The further technical improvement scheme of the present invention is:

A wire collection box (7) is arranged on the fixed column (61) below the needle pressing table (62).

The further technical improvement scheme of the present invention is:

The clamping device A (42) includes a housing (421), and a set of clamping blades are arranged in the housing (421), including an upper clamping blade (422), a lower clamping blade (423), and an upper clamping blade (422), the lower clamping blade (423) are respectively connected with the housing (421) through the compression spring (424) provided at the free end of the handle, and the handle of the upper clamping blade (422) and the lower clamping blade (423) The energized electromagnetic package (425) is arranged on the rod body, and the opening and closing between the upper clamping blade (422) and the lower clamping blade (423) are controlled by the electromagnetic package (425) turning on and off, and the clamping device A (42) and Clamping device B (43) has the same structure.

The further technical improvement scheme of the present invention is:

The cam driving device (25) includes a driving motor E (251), and the driving motor E (251) drives the cam (252) to rotate through a power output shaft.

Compared with the prior art, the present invention has the following obvious advantages:

One, the present invention adopts fuzzy support vector machine (LS-SVM) controller and fuzzy support vector machine (LS-SVM) motor controller to merge the advantages of both support vector machine and fuzzy technology, it has the general function of support vector machine It has the advantages of strong optimization ability, global optimization, etc., and has the advantages of independent of the controlled object model and strong robustness of fuzzy technology to achieve high-precision control of the motor speed. The controller combines the advantages of support vector machine and fuzzy technology. It not only has the advantages of SVM with small sample learning, strong generalization ability, and global optimality of support vector machine, but also has the advantages of fuzzy technology that does not depend on the controlled object model. and robust features.

Two, the present invention is aimed at the characteristics of large inertia, large delay, time-varying and many disturbances of the drum speed, and designs a fuzzy support vector machine controller and a PID neural network controller in parallel as a main regulator and a fuzzy support vector machine motor controller As a sub-regulator to form a cascade control system, the sub-regulator of the fuzzy support vector machine motor controller is a follower system that adjusts the drum speed according to the output of the main regulator connected in parallel with the fuzzy support vector machine controller and the PID neural network controller. The sub-regulator circuit has included the main disturbances that have drastic, frequent and large-scale effects on the drum speed in the controlled process as much as possible. It has strong suppression ability and self-adaptive ability, and the adjustment of the main regulator loop and sub-regulator loop connected in parallel by fuzzy support vector machine controller and PID neural network controller through the secondary disturbance has a great influence on the speed of the main controlled roller. Small, so the change range of the drum speed is small and stable, the system can quickly respond to the requirements of the drum speed, improve the response speed, control accuracy and improve the stability of the system.

3. According to the characteristics of the drum speed as the controlled object, which has the characteristics of non-linearity, large inertia, large time delay and time-varying characteristics, the gray prediction model of the drum speed GM (1,1) is designed to realize the prediction of the actual value of the speed of the drum , the predicted value is used as the feedback value of the cascade control to form the predictive control in the intelligent cascade control system of the drum speed based on the fuzzy support vector machine. The control system has strong robustness and anti-interference, and the method is simple and easy to engineer It has good practical application value.

Four, the present invention is aimed at the characteristics of large inertia, large delay, time-varying and multi-interference of the drum speed, and designs the drum speed PID neural network controller and the actual speed of the drum as the feedback value to realize the real-time control of the drum, and the fuzzy support vector machine controller Parallel connection with PID neural network controller as the main regulator combines predictive control, real-time control and cascade control of the drum, and designs an intelligent cascade control system for drum speed based on fuzzy support vector machine, giving full play to predictive control and real-time control The excellent characteristics of parallel overcoming time lag and the good anti-interference of cascade control, the system has the characteristics of strong anti-interference, good robustness, high control precision and fast response speed. Theoretical research and practical application show that the system responds quickly And good immunity and robustness.

5. The present invention designs the fuzzy support vector machine motor controller and the motor speed GM (1,1) gray prediction model to realize the predictive control of the motor and improve The response speed, anti-interference and control precision of the system are improved.

Six, the present invention connects the fuzzy support vector machine controller and the PID neural network controller in parallel as the main regulator as the main regulator of the drum speed, and the fuzzy support vector machine motor controller constitutes a cascade control system as the secondary regulator of the motor speed, Through the gray prediction model of the drum speed GM (1,1) and the gray prediction model of the motor speed GM (1,1), the prediction of the drum speed and the motor speed is realized, and the cascade control system constitutes an intelligent cascade control system to realize the control of the drum speed. Precise control. It fully synthesizes the advantages of fuzzy control, predictive control, cascade control and dual-mode control. The test on the speed control of the drum shows that the control effect of the intelligent controller is better than that of the conventional PID cascade control, it can adapt to the change of the object parameters, and has strong robustness, anti-interference and adaptive ability Good quality, this patent has good application and promotion value, and this invention patent has obvious substantial progress.

7. The present invention transports the long cable to the stripping and cutting device through the wire inlet device. The stripping and cutting device cuts the long cable into short cables of required length, and performs ring cutting for the insulation at both ends of the short cable. The insulation skin at both ends of the short cable is stripped by the skinning and twisting device, and the wire clamping mechanism set on the rotary conveying device is sent to the needle pressing device for pressing, and finally the prepared cables are collected through the wire collection box , The production process is fully automated, and basically no human participation is required. According to the specifications and length of the cable, only the parameters of the drive motor of the relevant device need to be adjusted. The work efficiency is high and the product quality is reliable.

8. The skin rubbing and thread twisting device adopted in the present invention can also perform core twisting while realizing peeling, which greatly improves the accuracy of the subsequent needle pressing process.

9. The needle crimping device of the present invention is arranged on both sides of the rotary conveying device, and can realize crimping one end of the wire or both ends of the wire according to production needs, with higher selectivity.

10. The driving mechanism of the sliding block of the rotating arm of the present invention can realize rapid positioning, so that the wire can quickly reach the processing position for pressing the needle, and the working efficiency is improved.

11. Each device of the present invention has simple structure, high working stability and high efficiency, and standardized product quality.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention;

Fig. 2 is a structural schematic diagram of the line inlet device of the present invention;

Fig. 3 is a structural schematic diagram 1 of the peeling and thread cutting device of the present invention;

Fig. 4 is a structural schematic diagram 2 of the peeling and thread cutting device of the present invention;

Fig. 5 is a structural schematic diagram 1 of the skin twisting device of the present invention;

Fig. 6 is a structural schematic diagram 2 of the skin twisting device of the present invention;

Fig. 7 is a structural schematic diagram of the thread clamping mechanism of the present invention;

Fig. 8 is a schematic diagram of the internal structure of the thread clamping mechanism of the present invention;

Fig. 9 is a structural schematic diagram of the clamping device of the present invention;

Fig. 10 is a structural schematic diagram 1 of the rotary conveying device of the present invention;

Fig. 11 is a structural schematic diagram 2 of the rotary conveying device of the present invention;

Figure 12 is a schematic structural view of the needle pressing device of the present invention;

Fig. 13 is a schematic diagram of a partially enlarged structure of the needle pressing device of the present invention;

Fig. 14 is a schematic diagram of the drum speed intelligent cascade control system of the present invention;

Fig. 15 is a control diagram of the single-chip microcomputer system of the present invention.

Detailed ways

Below in conjunction with accompanying drawing 1-15 illustrate technical solution of the present invention.

The present invention includes a wire inlet device 1, a peeling and thread cutting device 2, a skin twisting device 3, a wire clamping mechanism 4, a rotating conveying device 5, a needle pressing device 6, and a wire collection box 7. The wire inlet device 1 transports long cables to The stripping and cutting device 2, the stripping and cutting device 2 cuts the long cable into short cables of the required length, and performs ring cutting for the insulation at both ends of the short cable, and the insulation at both ends of the ring-cut short cable is twisted by rubbing The thread device 3 is stripped off, and the thread clamping mechanism 4 provided on the rotary conveying device 5 is sent to the needle pressing device 6 for needle pressing. The needle pressing device 6 is located on both sides of the rotating conveying device 5. Press the needle at both ends, set its position, the finished product falls into the wire collection box 7, the wire inlet device 1, the peeling and cutting device 2, the skin twisting device 3, the thread clamping mechanism 4, the rotating conveying device 5, the needle pressing device 6, the wire The collection boxes 7 are all adjusted and controlled by a single-chip microcomputer-built adjustment platform. In the adjustment platform, the designed drum speed intelligent cascade control system based on the fuzzy support vector machine realizes the closed-loop control of the speed of the pulling drum 14 of the wire inlet device 1, and the peeling and cutting The device 2, the skin twisting device 3, the thread clamping mechanism 4, the rotary conveying device 5, the needle pressing device 6, and the wire collection box 7 adopt the existing PID control, and the intelligent cascade control of the drum speed based on the fuzzy support vector machine The system includes fuzzy support vector machine controller, PID neural network controller, fuzzy support vector machine motor controller, drum speed GM (1,1) gray prediction model, motor speed GM (1,1) gray prediction model and line feeder 1, the cable drum 14 and the motor 16 are composed of a fuzzy support vector machine controller and a PID neural network controller connected in parallel as a main regulator and a fuzzy support vector machine motor controller as a secondary regulator to form a cascade control system; (1,1) The gray prediction model and the fuzzy support vector machine controller realize the predictive control of the speed of the wire pulling drum 14, and the PID neural network controller realizes the real-time control of the speed of the wire pulling drum 14; the fuzzy support vector machine motor controller and The motor speed GM (1,1) gray prediction model realizes the predictive control of the motor 16, and the drum speed intelligent cascade control system based on the fuzzy support vector machine improves the anti-interference and robustness of the drum speed control system.

The wire inlet device 1 includes a fixed base 11, on which a fixed plate 12 is vertically arranged, and a limit hole 13 is arranged in the middle of the fixed plate 12, and a group of wire pulleys 14 with mutually meshing sides are arranged on the wire outlet side of the fixed mount 12, and the wire pulley 14 The two ends are rotationally connected with the mounting bracket 15 through the rotating shaft, and the rotating shaft is driven and connected with the motor 16. There is an interval between the two wire pulleys 14, and the height of the limit hole 13 is equal to the interval center between the two wire pulleys 14.

The peeling and thread cutting device 2 includes a knife rest 21, a group of cutters are arranged on the knife rest 21, including an upper cutter 22 and a lower cutter 23, the upper cutter 22 is connected with an electric push rod 24 through a handle of a knife, and the tail of the lower cutter 23 handle The end is driven and connected with the cam driving device 25, and the cam driving device 25 includes a driving motor E251, and the driving motor E251 drives the cam 252 to rotate through the power output shaft. Bit hole 27.

The skin rubbing and twisting device 3 includes a group of zigzag skin rubbing knives 31, the tail of the skin rubbing knives 31 is connected with a driving piston 32 through a knife handle, the driving piston 32 is arranged in a sealed housing, and a driving motor A34 is arranged in the sealing housing to drive The power output shaft of the motor A34 drives the pendulum shaft 33 provided in the middle of the driving disc 36 to move up and down through the linkage block 35, the two sides of the driving disc 36 are connected with the piston rod 37 connected to the driving piston 32, and the both ends of the driving disc 36 pass through the slider 38 The free end of the pendulum shaft 33 is swingably connected to the fixed bracket 39 provided on the inner wall of the bottom of the sealed housing through a universal ball.

The clamping mechanism 4 includes an installation housing 41. The top of the installation housing 41 is provided with a central hole 47 that is rotatably connected to the rotary conveying device 5. A group of clamping devices are arranged in the installation housing 41, including a clamping device A42, a clamping device B43, a lead screw 44 is arranged between the clamping device A42 and the clamping device B43, the top of the clamping device A42 is provided with a drive motor B45, and is fixedly connected with the lead screw 44 through the drive motor B45, and the clamping device B43 passes through the wire on the top. The rod flange 46 is rotatably connected with the lead screw 44; the clamping device A42 includes a housing 421, and a group of clamping blades are arranged in the housing 421, including an upper clamping blade 422, a lower clamping blade 423, and an upper clamping blade 422, the lower clamping blade 423 is respectively connected with the housing 421 through the compression spring 424 provided at the free end of the handle of a knife, the upper clamping blade 422, the handle of a knife body of the lower clamping blade 423 are all provided with an energized electromagnetic bag 425, through the electromagnetic bag 425 power on and off controls the opening and closing between the upper clamping blade 422 and the lower clamping blade 423. The clamping device A42 has the same structure as the clamping device B43, and the bottom between the clamping device A42 and the clamping device B43 is provided with a limit guide. Article 47.

The rotary conveying device 5 includes a mounting bracket, and the mounting bracket includes a fixed bracket 51 and a driving bracket 52. The rotating arm 53 is connected with the fixing bracket 51 through a rotating shaft. The driving bracket 52 is provided with a driving link A53, and one end of the driving link A57 is connected to the driving motor C54. Connection, the opposite end is connected with the chute 56 provided on the rotating arm 53 through the slider 55, and the end of the rotating arm 53 is connected with the clamping mechanism 4 through the rotating shaft.

The needle pressing device 6 is arranged on both sides of the rotary conveying device 5, and includes a vertical fixed column 61. The needle pressing platform 62 is arranged on the fixed column 61, and a reel support for fixing the needle pressing reel is arranged on one side of the needle pressing platform 62. The fixed column 61 on the upper part of the needle press table 62 is provided with a movable sleeve 63 whose cross-sectional shape matches the fixed column 61, the movable sleeve 63 is provided with a needle pressing block 64, and the bottom of the fixed column 61 is provided with a drive motor D65, and the drive motor D65 The movable sleeve (63) is driven to reciprocate up and down along the fixed column 61 through the driving connecting rod B66.

The wire collection box 7 includes a motor A71, a locking strip 71 and a box body 73, and the motor A71 drives the box body 73 to transform through the locking strip 71

Briefly describe the working process of the present invention by the figure:

The drum speed intelligent cascade control system based on the fuzzy support vector machine is adopted. The fuzzy support vector machine motor controller sub-regulator of the drum speed intelligent control is the main controller connected in parallel according to the fuzzy support vector machine controller and the PID neural network controller of the drum speed. The output of the regulator is used to adjust the servo system of the state of the motor 16 of the actuator. The sub-regulator circuit has included the main disturbances that change the state of the motor 16 in the controlled process sharply, frequently and with a large amplitude as much as possible. These The sub-regulator circuit has a strong ability to suppress and adapt to the secondary disturbance that affects the rotation speed of the wire pulley 14. The secondary disturbance is adjusted by the main regulator loop and the sub-regulator loop. The influence is very small, so the change range of the rotating speed of the drawing drum 14 is small and stable, and the system can quickly make the rotating speed of the drawing drum 14 reach a given value, thereby improving the response speed, control precision and system stability. The output of the main regulator is the given control quantity of the sub-regulator, and the speed sensor of the wire pulley 14 and the speed sensor of the motor 16 detects the speed of the wire pulley 14 and the speed of the motor 16 as the gray prediction model of the drum speed GM (1,1) and The motor speed GM (1,1) is the input of the gray prediction model, and the output of the model is used as the feedback of the main regulator and the sub-regulator to realize the predictive control of the predicted rotation speed of the wire pulley 14 and the motor 16, and the actual value of the wire pulley 14 speed is used as The feedback amount of the PID neural network realizes the real-time control of the wire pulley 14, and the main regulator and the fuzzy support vector machine motor controller sub-regulator in parallel with the fuzzy support vector machine controller and the PID neural network controller constitute a cascade control system, so that The sample wire drum 14 rotating speed accurately and quickly reaches the target value. Among them, the drum speed intelligent cascade control system based on fuzzy support vector machine includes the following contents:

1. Fuzzy support vector machine controller design

1) Input layer: realize the fuzzification of the input variable error e and the error change rate ec of the rotation speed of the pulling drum 14, and use them as the input x of the fuzzy support vector machine controller.

(1)

2)) Hidden layer: realize the core operation of the two-dimensional input x and the support vector machine.

(2)

3) Output layer: realize the SVM regression operation, and obtain the actual input control quantity u of the controlled object motor 16 .

(3)

Fuzzy support vector machine motor controller refers to the design method of fuzzy support vector machine controller.

Two, drum speed GM (1,1) gray prediction model

When the GM (1,1) gray prediction model is used to predict the rotation speed data series of the wire drum, under-fitting or over-fitting phenomenon will occur, which will reduce the prediction accuracy of the wire drum speed. The patent of the present invention uses the square root method to preprocess the rotation speed data of the wire pulley, weakens the variation range of the speed data of the wire pulley by selecting an appropriate square root number, and improves the accuracy of predicting the rotation speed of the wire pulley by improving the traditional gray prediction model. Suppose the original data sequence of the rotational speed of a wire pulley is:

(4)

By solving the gray prediction differential equation, the solution of the drum speed GM (1,1) gray prediction model is:

(5)

3. Motor speed GM (1,1) gray prediction model

When the motor speed data sequence is predicted based on the GM (1,1) gray prediction model, underfitting or overfitting will occur, which will reduce the prediction accuracy of the motor speed. The patent of the invention uses the square root method to preprocess the motor speed data, weakens the range of motor speed data changes by selecting the appropriate square root number, and improves the accuracy of predicting the motor speed by improving the traditional gray prediction model.

Before the work starts, the long cable is first introduced into the fixed plate 12 of the wire inlet device 1, the fixed plate 12 passes through the limit hole 13, and enters the interval between the wire pulleys 14 that are meshed with each other at the sides, and the wire pulleys 14 are driven by a motor to roll, and Pull the cable into the stripping and cutting device 2, and enter between the cutter 22 and the lower cutter 23. First, the insulation at the free end of the cable is cut, and then the other end is ring-cut, and a section is reserved for cutting as needed. length of the cable, and then lead the short cable into the skin twisting device 3, the cutter of the skin twisting device 3 reciprocates up and down to remove the insulation at both ends of the short cable, and tighten the exposed wires at the same time. , to facilitate the follow-up needle pressing, and then enter the clamping mechanism 4. The two clamping devices A42 and B43 of the clamping mechanism 4 have the same structure. Under normal conditions, the upper clamping blade 422 and the lower clamping blade 423 are compressed Under the action of the spring 424, they are interlocking. When the electromagnetic package 425 is energized, the two are separated. , the electromagnetic package 425 is powered off, and the elastic force of the spring causes the clamping blade to bite the cable, leaving only the wire head exposed. First, the clamping device A42 and the clamping device B43 are close together. When the wire is to be clamped, the electromagnetic package 425 Power on, after the wire is clamped, the clamping device B43 is powered off, and moves to one end under the action of the lead screw 44. After reaching a certain length, the clamping device A42 is powered off and tightens the other end of the cable, and is sent under the action of the rotary conveying device 5. Go to the needle pressing device 6 for one side of the needle pressing operation, and then continue to rotate to the opposite side of the needle pressing device 6 for the opposite side of the needle pressing operation. Enter the wire collection box 7, the wire collection box 7 includes a motor A71, a locking bar 71 and a box body 73, and the motor A71 drives the box body 73 to transform through the locking bar 71.

The technical means disclosed in the solutions of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be pointed out that for those skilled in the art, some improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also regarded as the protection scope of the present invention.

Claims (10)

1. one kind is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, it is characterised in that：Including line leading device（1）, stripping Skin thread cutter（2）, rubbing leather twist line apparatus（3）, thread clamping mechanism（4）, rotationally conveying device（5）, pressing device（6）, enter traditional thread binding Put（1）Long cable is delivered to peeling thread cutter（2）, peeling thread cutter（2）Long cable, which is cut into, needs the short-term of length Cable, and ring cutting is carried out for the insulated hull at short cable both ends, line apparatus is twisted by rubbing leather by the short cable both ends insulated hull of ring cutting （3）Divest, passing through rotationally conveying device（5）The thread clamping mechanism of upper setting（4）It is sent into pressing device（6）Carry out pressing, inlet wire Device（1）, peeling thread cutter（2）, rubbing leather twist line apparatus（3）, thread clamping mechanism（4）, rotationally conveying device（5）, pressing device （6）Regulation platform is built by single-chip microcomputer control is adjusted, adjusted in platform by design based on fuzzy support vector The drum rotation speed intelligence cascade control system of machine is realized to line leading device（1）Bracing wire roller（14）Carry out the closed loop control of rotating speed System, the drum rotation speed intelligence cascade control system based on fuzzy support vector machine include fuzzy support vector machine controller, PID nerve network controllers, fuzzy support vector machine electric machine controller, drum rotation speed GM（1,1）Grey forecasting model, motor turn Fast GM（1,1）Grey forecasting model and line leading device（1）Bracing wire roller（14）, motor（16）Composition, from it is fuzzy support to Machine controller and the parallel connection of PID nerve network controllers are measured as master selector and fuzzy support vector machine electric machine controller as secondary Adjuster composed cascade control system；By drum rotation speed GM（1,1）Grey forecasting model is real with fuzzy support vector machine controller Now to bracing wire roller（14）Rotating speed be predicted control, PID nerve network controllers are realized to bracing wire roller（14）Rotating speed Controlled in real time；Fuzzy support vector machine electric machine controller and motor speed GM（1,1）Grey forecasting model realizes motor （16）PREDICTIVE CONTROL, drum rotation speed intelligence cascade control system based on fuzzy support vector machine improves drum rotation speed control system The anti-interference and robustness of system.

2. one kind according to claim 1 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, it is characterised in that： The line leading device（1）Including firm banking（11）, firm banking（11）On be vertically installed with fixed plate（12）, fixed plate（12） Middle part is provided with spacing hole（13）, fixed plate（12）Outgoing line side is provided with the intermeshing bracing wire roller of one group of edge（14）, draw Line roller（14）Both ends pass through rotating shaft and mounting bracket（15）Rotation connection, rotating shaft and motor（16）Drive connection, two bracing wires rolling Cylinder（14）Between have interval, spacing hole（13）Height and two bracing wire rollers are set（14）Between interval center it is contour.

3. one kind according to claim 1 or 2 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, its feature exists In：The peeling thread cutter（2）Including knife rest（21）, knife rest（21）One group of cutting knife of upper setting, including upper cutter（22）, incision Knife（23）, upper cutter（22）Electric pushrod is connected with by handle of a knife（24）, lower cutter（23）The tail end of handle of a knife fills with actuated by cams Put（25）Drive connection, knife rest（21）Outgoing line side sets banking stop（26）, banking stop（26）On be provided with spacing hole（27）.

4. one kind according to claim 1 or 2 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, its feature exists In：The rubbing leather twists line apparatus（3）Including one group of zigzag rubbing leather knife（31）, rubbing leather knife（31）Afterbody is connected with drive by handle of a knife Piston（32）, drive piston（32）It is arranged in a seal casinghousing, motor A is provided with seal casinghousing（34）, driving Motor A（34）Power output shaft pass through linkage block（35）Drive drive disk（36）The balance staff that middle part is set（33）Make to transport up and down It is dynamic, drive disk（36）Both sides are with being connected driving piston（32）Piston rod（37）Connection, drive disk（36）Two side ends pass through sliding block （38）With seal casinghousing（33）Interior camber line railway limit clamping, balance staff（33）Free end pass through multi-directional ball and seal casinghousing bottom The fixed support that portion's inwall is set（39）Swing connection.

5. one kind according to claim 1 or 2 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, its feature exists In：The thread clamping mechanism（4）Including installing housing（41）, housing is installed（41）Top is provided with and rotationally conveying device（5）Turn The centre bore of dynamic connection（47）, housing is installed（41）Inside it is provided with a stack clamping device, including clamping device A（42）, clamp dress Put B（43）, clamping device A（42）, clamping device B（43）Between be provided with leading screw（44）, clamping device A（42）Top is provided with Motor B（45）, and pass through motor B（45）With leading screw（44）It is fixedly connected, clamping device B（43）Pass through the silk at top Thick stick flange（46）With leading screw（44）Rotation connection.

6. one kind according to claim 1 or 2 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, its feature exists In：The rotationally conveying device（5）Including mounting bracket, mounting bracket includes fixed support（51）, driving arm（52）, rotation Arm（53）Pass through rotating shaft and fixed support（51）Connection, driving arm（52）On be provided with drive link A（57）, drive link A （57）One end and motor C（54）Connection, opposite end passes through sliding block（55）With turning arm（53）The chute of upper setting（56）Even Connect, turning arm（53）End is connected with thread clamping mechanism by rotating shaft（4）.

7. one kind according to claim 1 or 2 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, its feature exists In：The pressing device（6）It is arranged at rotationally conveying device（5）Both sides, including vertical fixed column（61）, fixed column（61）On It is provided with pressing platform（62）, pressing platform（62）The fixed column on top（61）On be provided with shape of cross section and fixed column（61）Phase The movable sleeve matched somebody with somebody（63）, movable sleeve（63）On be provided with pressing block（64）, fixed column（61）Bottom is provided with motor D （65）, motor D（65）Pass through drive link B（66）Drive movable sleeve（63）Along fixed column（61）Pump.

8. one kind according to claim 7 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, it is characterised in that： The pressing platform（62）The fixed column of lower section（61）On be provided with wire collection box（7）.

9. one kind according to claim 5 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, it is characterised in that： The clamping device A（42）Including housing（421）, housing（421）One group of clamping blade of interior setting, including upper clamping blade （422）, lower clamping blade（423）, upper clamping blade（422）, lower clamping blade（423）Set respectively by handle of a knife free end Compression spring（424）With housing（421）Connection, upper clamping blade（422）, lower clamping blade（423）The handle of a knife body of rod on be all provided with Put energization electromagnetism bag（425）, pass through electromagnetism bag（425）Clamping blade on control system of switching on or off electricity（422）With lower clamping blade（423）It Between folding, clamping device A（42）With clamping device B（43）Structure is identical.

10. one kind according to claim 3 is based on fuzzy support vector machine Intelligent Cable automatic manufacture machine, its feature exists In：The cam driving gear（25）Including motor E（251）, motor E（251）Driven by power output shaft convex Wheel（252）Rotate.