Cable lifting in-place device and method

Abstract

The invention belongs to the technical field of cable tunnel construction, and particularly relates to a cable lifting in-place device and method. The device comprises a walking mechanism and a cable guiding in-place assembly. The cable guiding in-place assembly comprises a slewing bearing, a height adjusting device, a pushing mechanism, a head swinging assembly and a positioning recognition device. The positioning recognition device is used for recognizing the road condition in the cable tunnel and the cable placement position condition on the cable fixing support, controlling the walking mechanism to walk based on the road condition, and controlling the rotation angle of the slewing bearing, the height adjustment amount of the height adjustment device and the translation amount of the pushing mechanism based on the cable placement position condition on the cable fixing support. The current cable is lifted and guided to the corresponding cable placement position; the head swinging assembly is used for limiting the cable in the lifting and guiding process. The device integrates the walking mechanism, the cable guiding in-place assembly and intelligent control, and automatic operation of cable lifting, guiding and in-place is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of cable tunnel construction, and in particular relates to a cable lifting and positioning device and method. Background Art

[0002] With the growth of urban power supply, high-voltage large-section cables are increasingly used in urban power grid construction. Laying large-section cable lines can not only increase the transmission capacity of the lines and reduce the scale of substation outgoing lines, but also reduce the pressure on the transmission line channels, improve channel utilization, and simplify grid wiring. With the further development of urbanization, the application of high-voltage large-section power cables will become more and more common. In the process of cable laying, the lifting of cables in tunnels is a key construction link. How to improve the cable lifting efficiency is an important indicator to measure the construction efficiency of large-section power cable lines, and it has also become a key issue that needs to be solved in the construction process of large-section power cable lines.

[0003] At present, when laying high-voltage heavy cables, the lifting and positioning of the cables in the cable tunnels are mainly done by manpower. Construction workers need to lift the cables to a certain height. Under previous construction and technical conditions, the lifting of high-voltage heavy cables mainly adopts the method of manual lifting, that is, at least two workers are arranged at intervals along the cables, and the cables are lifted to the predetermined support layer by people carrying them on their shoulders.

[0004] There are several problems with the human resource promotion approach: 1. High construction cost: Generally, the high-voltage cables to be laid are long in length, large in cross-section, and heavy in weight per unit length. The use of pure manual lifting requires a large amount of labor input, resulting in high construction costs; 2. Low work efficiency: Due to the large weight of the cable, the pure manual lifting method requires high physical fitness of the construction workers. The workers need to coordinate and cooperate in the process of transferring the cable from low to high, the one-time forming rate is low, and the construction efficiency is low; 3. Low safety factor: When using manual lifting, heavy cables need to be lifted manually, which poses many safety hazards in construction; 4. Difficulty in management and control: Since multiple people are required to collaborate and lift at the same time, the work surface is relatively chaotic, and it is difficult for on-site management personnel to coordinate, which is not conducive to construction coordination and safety control.

[0005] Therefore, the manual lifting method has certain defects in safety control, construction cost and production efficiency during the cable lifting process, which seriously restricts the progress of cable lifting of large-section power cable lines. It is urgent to develop a cable lifting device to solve the problems of low cable racking efficiency and high labor intensity. Summary of the invention

[0006] The object of the present invention is to provide a cable lifting device and method to solve the problems of low cable racking efficiency and high labor intensity in the prior art.

[0007] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a cable lifting device, comprising: Walking mechanism, used for walking in the cable tunnel; The cable guiding assembly is used to lift and guide the cables in the cable tunnel and place the cables at the preset positions of the corresponding cable fixing brackets; Wherein, the cable guiding assembly comprises a slewing bearing, a height adjustment device, a pushing mechanism, a swing head assembly and a positioning identification device; The slewing bearing is installed on the walking mechanism, the height adjustment device is installed on the slewing bearing, the pushing mechanism is installed on the height adjustment device, and the swing head assembly is installed on the pushing mechanism; The positioning identification device is used to identify the road conditions in the cable tunnel and the cable placement position on the cable fixing bracket during the cable lifting and guiding process, and control the walking of the walking mechanism based on the road conditions; and control the rotation angle of the slewing bearing, the height adjustment amount of the height adjustment device and the translation amount of the pushing mechanism based on the cable placement position on the cable fixing bracket, so as to lift and guide the current cable to the corresponding cable placement position on the cable fixing bracket; The swing head assembly is used to limit the position of the cable during the lifting and guiding process.

[0008] Furthermore, the pushing mechanism includes: A sleeve, and a push rod disposed within the sleeve; The sleeve is installed at the top position of the height adjustment device; The fixed end of the push rod is arranged at the first end in the sleeve, and the second end of the sleeve is provided with a sliding member; the first end of the sliding member is slidably arranged in the sleeve relative to the sleeve and connected to the extended end of the push rod; the second end of the sliding member is connected to the swing head assembly.

[0009] Further, the swing head assembly includes: an upper mounting plate and a lower mounting plate; The lower mounting plate is fixedly connected to the second end of the sliding member, and the upper mounting plate is mounted on the lower mounting plate through a hinge; An upper roller is mounted on the upper mounting plate, and a lower roller is mounted on the lower mounting plate; the upper roller and the lower roller are arranged opposite to each other up and down; During lifting and guiding, the cable is arranged between the upper roller and the lower roller.

[0010] Furthermore, the swing head assembly also includes a limiting member; wherein the limiting member is used to limit the relative rotation position of the upper mounting plate and the lower mounting plate.

[0011] Furthermore, the walking mechanism includes a crawler frame assembly and a driving mechanism for driving the crawler frame assembly to walk.

[0012] Furthermore, the upper mounting plate can be rotated toward a side away from the cable through a hinge; The upper mounting plate and the lower mounting plate are respectively provided with limiting holes, and the limiting member is a rigid member, which is used to be inserted into the limiting holes on the upper mounting plate and the lower mounting plate at the same time to limit the relative rotational position of the upper mounting plate and the lower mounting plate.

[0013] In a second aspect, the present invention provides a system including the above-mentioned cable lifting and positioning device, further comprising a plurality of cable guides and a plurality of ground support wheels arranged in the cable tunnel along the length direction of the cable; The cable guide is used to transport the remaining cables to the direction where the lifting and guiding is completed during the process of lifting and guiding the cables, so as to meet the length margin requirements of the cables to be lifted and guided later; The ground support wheels are provided in plurality along the length direction of the cable and are used to cooperate with the cable guide to transport the cable and provide a labor-saving transport channel.

[0014] Furthermore, a fixing clip is provided at a preset position of the cable fixing bracket for fixing the position of the cable after being lifted into place.

[0015] In a third aspect, the present invention provides a cable lifting method, which is implemented based on a cable lifting device and includes the following steps: Before the operation begins, the cable tunnel to be operated is scanned to identify the current road conditions and the cable fixing brackets where the cables are to be placed; The height adjustment device is controlled to be in the first state, and the slewing bearing is adjusted to make the swing head assembly face the side of the cable fixing bracket; the end of the cable to be operated is passed through the swing head assembly to achieve the position limitation of the cable; wherein, before the operation starts, the cable to be operated is placed on the ground in the cable tunnel; The height adjustment device is adjusted so that the height of the cable corresponds to that of the corresponding cable fixing bracket; The pushing mechanism is telescopically adjusted so that the cable corresponds to the placement position on the cable fixing bracket; The slewing bearing is rotated to adjust the angle direction of the cable on the swing head assembly so that the angle direction of the cable corresponds to the angle direction of the corresponding fixing clip; The traveling mechanism travels along the cable tunnel, and the lifted cables fall into the fixing clips on the corresponding cable fixing brackets.

[0016] Furthermore, the scanning of the cable tunnel to be operated and identification of tunnel road conditions also includes: Make path corrections based on real-time scanned tunnel road conditions; The cable lifting and positioning method further comprises: controlling the walking mechanism (1) to move along the tunnel according to the path correction result.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The cable lifting and positioning device provided by the present invention includes a walking mechanism and a cable guiding and positioning component; wherein the cable guiding and positioning component includes a slewing bearing, a height adjustment device, a pushing mechanism, a swing head component and a positioning identification device; the slewing bearing is installed on the walking mechanism, the height adjustment device is installed on the slewing bearing, the pushing mechanism is installed on the height adjustment device, and the swing head component is installed on the pushing mechanism; the positioning identification device is used to identify the road conditions in the cable tunnel and the cable placement position on the cable fixing bracket during the cable lifting and guiding process, and control the walking mechanism based on the road conditions; and, based on the cable placement position on the cable fixing bracket, control the rotation angle of the slewing bearing, the height adjustment amount of the height adjustment device and the translation amount of the pushing mechanism, and lift and guide the current cable to the corresponding cable placement position on the cable fixing bracket; the swing head component is used to limit the cable during the lifting and guiding process. This device integrates a walking mechanism, a cable guiding and positioning component and intelligent control, and realizes the automated operation of cable lifting, guiding and positioning. Compared with the traditional manual construction method, it greatly reduces the manpower input and significantly improves the construction efficiency.

[0018] The device can be used to lift the cable, and its height can be adjusted according to the height of the bracket, so as to better adapt to the requirements of tunnels of different sizes to improve the quality of cable laying. The guiding, shifting and lifting process no longer requires a lot of human resources. The mechanical guiding, shifting and lifting of the cable has a higher implementation efficiency, which makes it more suitable for practical use.

[0019] The device can move by itself in the channel with power, has good passability and high construction efficiency.

[0020] The position of the fixing clamp can be identified by the positioning identification device, thereby controlling the lifting and lowering of the height adjustment device and the movement of the pushing mechanism to position the cable at the designated position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1It is a front view of a cable lifting and positioning device according to an embodiment of the present invention; Figure 2 A side view of a cable lifting device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the arrangement of a fixing clamp in a cable tunnel according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the open state of the swing head assembly in an embodiment of the present invention; Figure 5 This is a schematic diagram of the operation of the cable lifting and positioning device in the tunnel according to an embodiment of the present invention; Among them: 1. walking mechanism; 11. crawler frame assembly; 12. driving mechanism; 2. cable guide assembly; 21. slewing bearing; 22. height adjustment device; 23. pushing mechanism; 24. swing head assembly; 25. positioning identification device; 231. sleeve; 232. push rod; 233. sliding member; 241. upper mounting plate; 242. lower mounting plate; 243. upper roller; 244. lower roller; 3. cable guide; 4. ground support wheel; 5. fixing clamp; 100. cable tunnel; 200. cable; 300 cable fixing bracket; 400. drainage ditch; DETAILED DESCRIPTION The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0022] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Example 1 like Figure 1~Figure 4 As shown, an embodiment of the present invention provides a cable lifting device, comprising: A walking mechanism 1, used for walking in the cable tunnel; The cable guiding assembly 2 is used to lift and guide the cables in the cable tunnel and place the cables at the preset positions of the corresponding cable fixing brackets; The cable guiding assembly 2 includes a slewing bearing 21, a height adjustment device 22, a pushing mechanism 23, a swing head assembly 24 and a positioning identification device 25; The slewing bearing 21 is mounted on the walking mechanism 1, the height adjustment device 22 is mounted on the slewing bearing 21, the pushing mechanism 23 is mounted on the height adjustment device 22, and the swing head assembly 24 is mounted on the pushing mechanism 23; The positioning identification device 25 is used to identify the road conditions in the cable tunnel and the cable placement position on the cable fixing bracket during the cable lifting and guiding process, and control the walking of the walking mechanism 1 based on the road conditions; and control the rotation angle of the slewing bearing 21, the height adjustment amount of the height adjustment device 22 and the translation amount of the pushing mechanism 23 based on the cable placement position on the cable fixing bracket, so as to lift and guide the current cable to the corresponding cable placement position on the cable fixing bracket; The swing head assembly 24 is used to limit the position of the cable during the lifting and guiding process.

[0026] The cable lifting device provided by the above scheme realizes the deflection and adjustment of the cable through the slewing bearing, the pushing mechanism and the height adjustment device, realizes the limit and protection of the cable through the swing head assembly, and controls each mechanism to lift the cable to the specified position through the sensing of the positioning identification device, so as to accurately arrange the cable in the fixing clamp on the cable fixing bracket. The walking mechanism 1 and the cable guiding and positioning assembly 2 are used to cooperate to automatically lift the cable located on the ground of the cable tunnel to the corresponding position on the cable fixing bracket, thereby realizing the automation of cable lifting and positioning, improving work efficiency, and eliminating high-intensity manual work.

[0027] Next, in conjunction with a specific embodiment, a cable lifting device of this solution is further explained and illustrated: In an optional embodiment, if Figure 1 As shown, the walking mechanism 1 includes a crawler frame assembly 11 and a driving mechanism 12 for driving the crawler frame assembly to walk. The crawler frame assembly 11 adopts the crawler frame assembly in the prior art, and the driving mechanism 12 is used to drive the crawler frame assembly 11, so as to realize the movement of the entire device in the tunnel, and its walking and steering are adjustable. The walking mechanism adopts a crawler form, and its walking and passability are better adapted to the complex construction environment on site, which is convenient for the operation of the equipment.

[0028] Optionally, the driving mechanism 12 may adopt a driving motor to provide power for walking and turning.

[0029] Optionally, a slewing bearing 21 is assembled at the top of the crawler frame assembly 11 by bolt connection, and the slewing bearing 21 is used for angle adjustment during the cable guiding process.

[0030] In an optional embodiment, if Figure 1 and Figure 2 As shown, the height adjustment device 22 is mainly used to achieve height adjustment in the vertical direction.

[0031] In an optional embodiment, if Figure 2 As shown, the pushing mechanism 23 includes: a sleeve 231, and a push rod 232 disposed in the sleeve; the fixed end of the push rod 232 is disposed at the first end in the sleeve, and the second end of the sleeve 231 is provided with a sliding member 233; the first end of the sliding member 233 is slidably disposed in the sleeve 231 relative to the sleeve 231 and connected to the extended end of the push rod 232; the second end of the sliding member 233 is connected to the swing head assembly 24. The pushing mechanism 23 is used to push the cable from the original position to the top of the cable fixing bracket on one side, so that the cable corresponds to the position of the fixing clamp.

[0032] In an optional embodiment, if Figure 1 As shown, the positioning identification device 25 can be installed on the swing head assembly 24, and by identifying the position of the fixing clamp, the pushing mechanism and the height adjustment device are controlled to operate, and the cable is lifted into place in the corresponding fixing clamp. At the same time, the positioning identification device 25 also uses a path planning algorithm according to the current road conditions to correct the path of travel.

[0033] As an example, the positioning and identification device 25 uses laser sensors, cameras and other sensors to collect environmental data, and controls the various components of the cable lifting and positioning device to adjust the height, translation amount, rotation angle, and path correction planning based on the environmental data.

[0034] The positioning and identification device uses sensors and image processing technology to identify the road conditions in the cable tunnel and the location information of the cable fixing bracket in real time. By monitoring the road conditions in the cable tunnel and the location of the cable fixing bracket in real time, the device can quickly adjust the working state to ensure the accurate lifting and guidance of the cable. This shortens the construction period and improves the overall project progress.

[0035] In an optional embodiment, the crawler frame assembly of the cable lifting device is also provided with a battery, an electric control box, etc., and the battery can supply power to the power source on the device. Alternatively, the power can be supplied by connecting to the mains through the electric control box.

[0036] In an optional embodiment, in order to more reliably control the lifting process, the present solution is also provided with a wireless operating handle, and the actions required for the operation of the device can be controlled by the wireless operating handle, which has good practicality and convenient operation.

[0037] like Figure 1 , 2 As shown in Figure 4, the swing head assembly 24 includes: an upper mounting plate 241 and a lower mounting plate 242; the lower mounting plate 242 is fixedly connected to the second end of the sliding member 233, and the upper mounting plate 241 is mounted on the lower mounting plate 242 through a hinge; an upper roller 243 is installed on the upper mounting plate 241, and a lower roller 244 is arranged on the lower mounting plate; when lifting and guiding, the cable is arranged between the upper roller 243 and the lower roller 244.

[0038] Optionally, two upper rollers 243 and two lower rollers 244 are provided respectively.

[0039] In an optional embodiment, the swing head assembly 24 further includes a limiting member, wherein the limiting member is used to limit the relative rotational position of the upper mounting plate 241 and the lower mounting plate 242 .

[0040] Specifically, the upper mounting plate 241 can be rotated to the side away from the cable through a hinge; limiting holes are respectively provided on the upper mounting plate 241 and the lower mounting plate 242, and the limiting member is a rigid member, which is used to be inserted into the limiting holes on the upper mounting plate 241 and the lower mounting plate 242 at the same time to limit the relative rotation position of the upper mounting plate 241 and the lower mounting plate 242.

[0041] The cable lifting and positioning device provided by the above scheme has its own electric walking and steering mechanism, which meets the walking requirements on the tunnel ground and has good mobility; the self-walking speed is adjustable and can be adapted to the cable laying speed; the swing head assembly can be pushed and moved left and right, and the height adjustment device can be adjusted up and down to better adapt the cable from the channel position to the fixed clamp on the cable fixing bracket; remote control operation can be performed through the matching remote control to move and turn the equipment, rotate and lift the swing head, swing, push and adjust the operations, improve the working efficiency, and ensure the safety of the operators; the device can be moved by its own power to better ensure the synchronization of the cable conveying speed and the moving speed of the cable guide positioning frame device; it is movable and can form a continuous operation mode with the conveying equipment, thereby improving the mechanical automation level and working efficiency of the equipment in the cable racking construction link; mechanized operation for cable racking saves manpower and material resources, and at the same time reduces the labor intensity of construction personnel in cable laying and cable racking.

[0042] Example 2 like Figure 5 As shown, a system including the above-mentioned cable lifting and positioning device also includes a plurality of cable guides 3 and a plurality of ground support wheels 4 arranged in the cable tunnel along the length direction of the cable; The cable guide 3 is used to transport the remaining cables to the direction where the lifting and guiding is completed during the cable lifting and guiding process, so as to meet the length margin requirements of the cables to be lifted and guided later; The ground support wheels 4 are provided in plurality along the length direction of the cable 200 and are used to cooperate with the cable guide to transport the cable and provide a labor-saving transport channel during the process of the cable guide transporting the cable.

[0043] like Figure 3 As shown, in the cable tunnel 100, a drainage ditch 400 is provided in the middle of the ground, and the walking mechanism 1 of the device walks on both sides of the drainage ditch 400; part of the cable 200 has been lifted into place and placed on the cable fixing bracket 300; A fixing clip 5 is provided at a preset position of the cable fixing bracket 300 for fixing the position of the cable after being lifted into place.

[0044] Example 3 A cable lifting method is implemented based on the cable lifting device of embodiment 1, comprising the following steps: Before lifting the cable into place, the positioning and identification device 25 scans the situation in the cable tunnel to identify the current road conditions and the cable fixing bracket where the cable is to be placed; The height adjustment device 22 is controlled to be in the first state, and the slewing bearing 21 is adjusted so that the swing head assembly 24 faces the side of the cable fixing bracket; wherein the first state is the lowest height after the height adjustment device 22 is retracted; the end of the cable is placed in the swing head assembly 24, so that the end of the cable to be operated is passed through the swing head assembly 24, and the cable is limited; wherein before the operation starts, the cable to be operated is placed on the ground in the cable tunnel; wherein, as Figure 4 As shown, the swing head assembly 24 is opened manually, and then the cable is placed between the upper and lower rollers, the swing head assembly 24 is closed, and the position is limited by the limiter, so as to achieve the limit and protection of the cable.

[0045] The height adjustment device 22 is adjusted up and down so that the height of the cable corresponds to that of the corresponding cable fixing bracket; The pushing mechanism 23 is telescopically adjusted so that the cable corresponds to the placement position on the cable fixing bracket; wherein the placement position is the fixing clip 5 set at the preset position of the cable fixing bracket; The slewing bearing 21 rotates to adjust the angle direction of the cable on the swing head assembly 24 so that the cable corresponds to the angle direction of the corresponding fixing clamp 5; The traveling mechanism 1 moves along the cable tunnel, and the lifted cable falls into the fixing clamp 5 on the corresponding cable fixing bracket. In the process of the traveling mechanism 1 moving along the cable tunnel, the positioning identification device 25 scans the path of the cable tunnel content in real time and corrects the forward path. If the horizontal angle needs to be adjusted during the turning process, it can be adjusted through the slewing bearing 21.

[0046] In an optional embodiment, the scanning of the cable tunnel to be operated and identification of tunnel road conditions further includes: performing path correction according to the tunnel road conditions scanned in real time; The cable lifting and positioning method further comprises: controlling the walking mechanism (1) to move along the tunnel according to the path correction result.

[0047] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0048] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A cable lifting device, characterized in that: include: A walking mechanism (1), used for walking in the cable tunnel; The cable guiding assembly (2) is used to lift and guide the cables in the cable tunnel and place the cables at the preset positions corresponding to the cable fixing brackets; The cable guiding assembly (2) comprises a slewing bearing (21), a height adjustment device (22), a pushing mechanism (23), a swing head assembly (24) and a positioning identification device (25); The slewing bearing (21) is mounted on the walking mechanism (1), the height adjustment device (22) is mounted on the slewing bearing (21), the pushing mechanism (23) is mounted on the height adjustment device (22), and the swing head assembly (24) is mounted on the pushing mechanism (23); The positioning identification device (25) is used to identify the road conditions in the cable tunnel and the cable placement position on the cable fixing bracket during the cable lifting and guiding process, and control the movement of the walking mechanism (1) based on the road conditions; and control the rotation angle of the slewing bearing (21), the height adjustment amount of the height adjustment device (22), and the translation amount of the pushing mechanism (23) based on the cable placement position on the cable fixing bracket, so as to lift and guide the current cable to the corresponding cable placement position on the cable fixing bracket; The swing head assembly (24) is used to limit the position of the cable during the lifting and guiding process.

2. The cable lifting and positioning device according to claim 1, characterized in that: The pushing mechanism (23) comprises: A sleeve (231), and a push rod (232) disposed inside the sleeve; The sleeve (231) is installed at the top position of the height adjustment device (22); The fixed end of the push rod is arranged at a first end in the sleeve, and the second end of the sleeve is provided with a sliding member (233); the first end of the sliding member (233) is slidably arranged in the sleeve (231) relative to the sleeve (231) and is connected to the extended end of the push rod (232); the second end of the sliding member (233) is connected to the swing head assembly (24).

3. The cable lifting device according to claim 2, characterized in that: The swing head assembly (24) comprises: an upper mounting plate (241) and a lower mounting plate (242); The lower mounting plate (242) is fixedly connected to the second end of the sliding member (233), and the upper mounting plate (241) is mounted on the lower mounting plate (242) via a hinge; An upper roller (243) is mounted on the upper mounting plate (241), and a lower roller (244) is arranged on the lower mounting plate; the upper roller (243) and the lower roller (244) are arranged vertically opposite to each other; When lifting and guiding are performed, the cable is arranged between the upper roller (243) and the lower roller (244).

4. The cable lifting device according to claim 3 is characterized in that: The swing head assembly (24) further comprises a limiting member, wherein the limiting member is used to limit the relative rotational position of the upper mounting plate (241) and the lower mounting plate (242).

5. The cable lifting device according to claim 4, characterized in that: The upper mounting plate (241) can be rotated toward a side away from the cable via a hinge; Limiting holes are respectively provided on the upper mounting plate (241) and the lower mounting plate (242); the limiting member is a rigid member and is used to be inserted into the limiting holes on the upper mounting plate (241) and the lower mounting plate (242) at the same time to limit the relative rotational position of the upper mounting plate (241) and the lower mounting plate (242).

6. The cable lifting and positioning device according to claim 1, characterized in that: The walking mechanism (1) comprises a crawler frame assembly (11) and a driving mechanism (12) for driving the crawler frame assembly to walk.

7. A system comprising the cable lifting device according to any one of claims 1 to 6, characterized in that: It also includes a plurality of cable guides (3) and a plurality of ground support wheels (4) arranged in the cable tunnel along the length direction of the cable; The cable guide (3) is used to transport the remaining cables in the direction where the lifting and guiding is completed during the process of lifting and guiding the cables; The ground support wheels (4) are provided in plurality along the length direction of the cable and are used to cooperate with the cable guide to transport the cable.

8. The system according to claim 7, characterized in that A fixing clip (5) is arranged at a preset position of the cable fixing bracket, and is used to fix the position of the cable after it is lifted into place.

9. A cable lifting method, implemented based on the cable lifting device according to any one of claims 1 to 6, characterized in that: The steps include: Scan the conditions in the cable tunnel to be operated, identify the current road conditions, and the cable fixing brackets where the cables are to be placed; The height adjustment device (22) is controlled to be in a first state, and the slewing bearing (21) is adjusted so that the swing head assembly (24) faces one side of the cable fixing bracket; the end of the cable to be operated is passed through the swing head assembly (24); wherein, before the operation begins, the cable to be operated is placed on the ground in the cable tunnel; The height adjustment device (22) is adjusted so that the height of the cable corresponds to that of the corresponding cable fixing bracket; The pushing mechanism (23) is adjusted to be telescopic so that the cable corresponds to the placement position on the cable fixing bracket; The slewing bearing (21) rotates to adjust the angular direction of the cable on the swing head assembly (24) so ​​that the angular direction of the cable corresponds to the angular direction of the corresponding fixing clamp (5); The walking mechanism (1) moves along the cable tunnel, and the lifted cable falls into the fixing clamp (5) on the corresponding cable fixing bracket.

10. The cable lifting method according to claim 9, characterized in that: The scanning of the cable tunnel to be operated and identifying the tunnel road conditions also includes: Make path corrections based on real-time scanned tunnel road conditions; The cable lifting and positioning method further comprises: controlling the walking mechanism (1) to move along the tunnel according to the path correction result.

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