Efficient modular cable lossless laying system, control system and construction method

Abstract

The application provides a high-efficiency modular cable nondestructive laying system, a control system and a construction method, which can quickly build a complete laying system according to laying environment and design requirements through modular equipment, can realize whole-process monitoring and control of lateral pressure, tension and laying speed of a cable in cable laying through optical, electrical and mechanical sensing control of each conveying device, data acquisition and processing of traction, pressure and speed, can accurately control the bending degree of the cable through a omnidirectional conveyor which can control the change of the included angle between two mutually hinged bending arms through a telescopic mechanism, and can complete the laying and laying of the cable at one time. The system improves operation convenience and safety, solves the problems of complicated laying process, easy damage to the cable, large labor input, difficult management during laying process and inability to collect process data in the existing laying method, and has wide market demand and promotion prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to the power industry, the high-voltage cable laying technology field, and in particular to an efficient modular cable non-destructive laying system, a control system and a construction method. BACKGROUND

[0002] The traditional cable laying system mainly relies on manual laying experience, although professional tools are used, but a large amount of manpower is needed to complete the laying of the cable. However, there are the following defects in the manual laying process: ① In the existing cable laying process, since the manual laying of the cable mostly relies on experience, the laying precision is poor, and at the same time, the laid cable needs to be lifted and placed in position, which is time-consuming and laborious. ② During the laying process of the cable, the stress condition of the cable cannot be monitored in real time, and the whole laying process is a black box operation, which is prone to problems such as excessive local stress and excessive tension during the laying process. If the stress of the cable exceeds the standard value, it cannot be automatically warned, resulting in damage to the cable and equipment. ③ In the existing manual cable laying process, when the cable needs to be laid in a serpentine shape, it is often necessary to cooperate with an electric hoist to lift the local part and naturally hang the other end in a form of a serpentine shape, which on the one hand leads to poor precision and large error of the laid serpentine shape, and on the other hand, the outer wall of the cable is pressed during the lifting and bending process, which is prone to cause local wear and even damage of the cable. The whole process is time-consuming and laborious. ④ In the existing technology, when the cable needs to be laid, multiple device components need to be installed along the whole laying path, and a temporary system needs to be built, which has the problems of large error, complicated process, and the risk of increased damage to the cable caused by the mismatch between the speed, traction force and speed of the conveying device, and the inability of the conveying device to maintain the same speed. ⑤ In the existing cable laying process, due to the complex conditions of the site environment or the terrain conditions, the cable needs to be laid in a slanting manner, which produces a slanting horizontal angle, such as upward conveying and downward conveying. When the traditional lateral conveying device encounters such a situation, it has the problems of being difficult to install and fix, and the cable is not parallel to the conveying device, which is prone to cause problems such as deviation of the clamping position and upward bending at the head and tail of the conveying device, resulting in different conveying friction forces at the head and tail and the middle section of the cable, which leads to speed difference and causes the conveying device to idle or the cable to be unevenly stressed and the insulation skin to be worn.

[0003] It can be seen that manual cable laying has obvious defects in safety, economy, convenience and wide applicability. There is a lack of a device system for quickly laying cables, and a lack of a one-time forming laying system and a construction method. SUMMARY

[0004] In order to solve the defects and deficiencies of the prior art, the inventor has developed and designed a high-efficiency modular cable lossless laying system, a control system and a construction method, which can quickly build a laying path and related equipment through modular equipment before laying, can monitor, adjust and coordinate unified control of the parameters of each laying link, realizes rapid, safe and lossless laying and monitoring of the cable, realizes equal-height, equal-speed and one-time snake formation laying operation, and greatly improves the operation convenience and safety.

[0005] In the application, the active pay-off stand provides power output, can adjust the cable conveying speed according to the setting, can match the speed requirement in the cable advancing process, realizes equal-speed conveying, and the cable output from the active pay-off stand is sequentially subjected to continuous tension detection and speed measurement, so as to ensure that the cable is not damaged in the laying process. The tension control refers to the ability to continuously control the tension of the raw material during conveying on the equipment. This control must be effective for any operating speed of the machine, including acceleration, deceleration and constant speed of the machine. Even in the case of emergency stop, the ability to ensure that the slitting object is not damaged can protect the cable. The conveying device in the system has a power source, and through the operation of the double belts at the same speed and in the same direction, the elastic components can clamp the cable to provide equal-speed power output. In this process, the spacing of the conveying device has a hand adjustment and self-adaptive dual function, which can meet the arrangement of various common cables of different thicknesses, and can clamp the cable and provide power conveying under the pressure that the cable can withstand. In this process, the conveying device can detect the lateral pressure and conveying speed of the cable, realize the state monitoring of the cable conveying, and at the same time, the conveying device is provided with a photoelectric sensor and a micro-motion mechanical sensor, which can ensure that the cable is synchronized to the position before starting when the cable reaches the conveying device, so as to realize the equal-speed synchronous transmission of the cable. The conveying device without detecting the signal remains silent and waits. The modular equipment structure makes the installation and arrangement of each device simple and convenient. The modular structure of the conveying device reduces the structure of the conveying device, so that it can be stably placed and fixed in horizontal and vertical ways, can meet the left and right lateral clamping conveying and the up and down vertical clamping conveying of the cable, can be selected according to the on-site laying path, and can avoid the possibility of conveying damage of the cable caused by height difference. The omnidirectional conveyor in the system is pre-installed according to the required snake laying path. The master control module can calculate the distance required by the snake according to the actual conditions of the cable to be laid, and then calculate the opening and closing angle between the double adjusting arms of the omnidirectional conveyor. After the cable enters the omnidirectional conveyor, it can pass through the angle structure between the three rollers, so that the passing cable forms a snake shape, completes the laying method of conveying and bending at the same time, realizes the one-time laying method of the cable, and the whole laying process is equal-height, equal-speed and one-time bending according to the predetermined snake bending degree, one-time laying and forming. The cable is conveyed at a linear speed, has high laying precision and good effect, and can also realize lossless laying.

[0006] The application provides a high-efficiency modular cable nondestructive laying system, a control system and a construction method, and can quickly build a complete laying system according to a laying environment and design requirements through modular equipment, realizes whole-process monitoring and control of cable lateral pressure, tension and laying speed of a cable in cable laying through optical, electrical and mechanical sensing control of each conveying device, cooperated data acquisition and processing of traction, pressure and speed, cooperated all-direction conveying machines capable of accurately controlling cable bending through control of the included angle change between two mutually hinged bending arms through telescopic mechanisms, and can complete cable laying and laying at one time, effectively simplifies construction steps, greatly improves construction efficiency and saves time, and solves the problem that the cable may be damaged in the process of artificial serpentine bending and lifting onto a support in the previous high-voltage power cable laying and laying method. The system realizes nondestructive protection of the cable in multiple links of high-voltage cable laying, sets and real-time samples, records, monitors and controls speed, lateral pressure, tension and cable bending diameter and other parameters of each device in the laying process, so as to realize fast, safe and nondestructive laying of the cable and process data recording, and can meet the operation of cable design installation fixed position, high one-time serpentine bending forming and laying. Due to the addition of the flexible self-adaptive clamping device and the guiding traction device of the conveying equipment, the problem that the original conveying equipment needs to be manually clamped according to the position of the cable front end, the system needs to be started and stopped multiple times is solved. The system improves operation convenience and safety, solves the problems in the existing laying method, such as complicated laying process, easy damage to the cable, large manual input, difficult management in the laying process and inability to collect process data, and has broad market demand and promotion prospect.

[0007] (2) This cable laying system features one-time, non-destructive laying. From the starting point of cable transport, the active cable laying frame has its own power output, reducing the pulling force of the conveying device and traction machine on the cable, and evenly distributing the laying force. This avoids cable damage caused by localized tension concentration or excessive tension. In addition, in areas requiring serpentine laying, an omnidirectional conveyor with power output is used, utilizing the central active roller to provide power at the point of greatest cable bending. This reduces stress concentration and friction at the bending points, thereby minimizing damage. The probability of injury is reduced; at the same time, in conjunction with a system where each module is individually controllable and the whole system is monitored, the pressure information during the conveying process of the conveying device, as well as the tension information and speed information during the traction process, are all monitored. It can detect any abnormality in any module in a timely manner and control the entire system to shut down for protection. The system's equal height, equal speed, and one-time bending deployment avoid damage caused by secondary handling and secondary fixing of cables. The system can complete the laying in one go, and can quickly fix, safely and without damage to complete the entire deployment process, truly achieving global non-destructive deployment.

[0008] (3) The conveying device of this system has the function of multi-sensor detection. Through the combination of photoelectric sensors and mechanical sensors, it can determine that the cable is in place before starting the conveying device, so as to realize synchronous and constant speed conveying and avoid unnecessary friction damage to the cable. At the same time, the conveying device has the function of adjustable spacing, which can adapt to meet the conveying of cables of various thicknesses and sizes. It can also acquire data on the lateral pressure of the cable, realize the monitoring of the cable speed and lateral pressure. If the lateral pressure is too high, an alarm and shutdown protection will be issued. It can also be controlled by the overall control module to perform global adaptive control of the conveying speed, achieve constant speed conveying, and further improve the protection of the cable.

[0009] (4) The modular structure of the conveying device reduces the weight of the conveying device, allowing it to be stably placed and fixed in both horizontal and vertical directions. It can meet the requirements of lateral clamping and conveying of cables and vertical clamping and conveying of cables. It can be selected according to the on-site delivery path to avoid the possibility of cable damage due to elevation differences. Lateral clamping conveying is used on horizontal delivery paths. Vertical clamping conveying is used on delivery paths with elevation differences, or when the cable is inclined upward or downward. The horizontal or vertical placement of the left and right conveyor belts can be combined and used to effectively meet more complex and varied delivery environments. It effectively prevents problems such as unstable clamping, idling, and uneven speed in traditional conveying devices when the cable is in an inclined delivery section with elevation differences, thus improving the delivery quality.

[0010] (5) The omnidirectional conveyor of the system calculates the corresponding optimal serpentine laying parameters according to the information of the on-site arrangement conditions and cable parameters, converts the angle data required to be opened between the two bending arms of the bending laying machine into the angle data between the two mutually hinged bending arms, controls the angle change between the two mutually hinged bending arms through the telescopic mechanism, adjusts the amplitude and distance of cable bending, completes the serpentine laying at one time, and has the characteristics of high precision, good laying effect and no damage to the bending. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a main structure schematic diagram of the high-efficiency modular cable lossless laying system.

[0012] Figure 2 It is a structure perspective view of the light-weight conveying device in the application.

[0013] Figure 3 It is a structure perspective view of the door-shaped frame installed in front and rear of the conveying device.

[0014] Figure 4 , 5 It is a structure perspective view of the conveying device with the installed door-shaped frame.

[0015] Figure 6 It is a schematic diagram of the conveying device in the application in the state of vertical compression conveying.

[0016] Figure 7 It is a schematic diagram of the conveying device in the application in the state of lateral compression conveying.

[0017] Figure 8 It is a schematic diagram of the principle of adjusting the distance between the two conveying belts through the screw rod.

[0018] Figure 9 It is a schematic diagram of the application scene of the conveying device in the state of vertical compression conveying.

[0019] Figure 10 It is a schematic diagram of the structure of the omnidirectional conveyor of the application and the expansion angle adjustment.

[0020] Figure 11 It is a structure perspective view of the omnidirectional conveyor of the application.

[0021] Figure 12 It is a schematic diagram of the use state of the omnidirectional conveyor of the application in laying a serpentine bend.

[0022] Figure 13 It is a process top view of the serpentine laying process of the omnidirectional conveyor of the application.

[0023] Figure 14 It is a process top view of the turning process of the omnidirectional conveyor of the application.

[0024] Figure 15 Structure diagram of the high-efficiency modular cable lossless release control system of the present application;

[0025] Figure 16 , 17 Structure diagram of the structure of installing lateral pressure sensor on the conveying device of the present application;

[0026] Figure 18 , 19 Structure diagram of installing radial pressure sensor on the active roller of the omnidirectional conveyor of the present application.

[0027] Figure 20 Perspective view of the self-adjusting control device of the active pay-off rack in embodiment 4 of the present application;

[0028] Figure 21 Perspective view of the preferred structure of the self-adjusting control device of the active pay-off rack in embodiment 4 of the present application;

[0029] Figure 22 Usage state diagram of the self-adjusting control device of the active pay-off rack in embodiment 4 of the present application;

[0030] Figure 23 Effect diagram of the cable being pulled tight due to the cable pay-off mechanism being too slow;

[0031] Figure 24 Effect diagram of the cable being piled up due to the cable pay-off mechanism being too fast;

[0032] Among them:

[0033] 1 active pay-off rack,

[0034] 2 tensioning speed measuring device,

[0035] 3 support frame,

[0036] 4 conveying device, 411 door column, 412 horizontal roller shaft, 420 contact type micro switch, 421 elastic arm, 422 micro switch body, 423 contact roller, 424 vertical roller shaft, 425 photoelectric sensing sensor, 430 lateral pressure sensor, 431 fixed plate, 432 contact rod, 440 elastic component, 441 movable upper frame, 442 movable lower frame, 443 vertical guide column, 444 threaded rod, 445 horizontal beam, 446 elastic buckle, 447 threaded inner sleeve, 448 conveying belt, 449 power equipment, 450 built-in spring;

[0037] 5 omnidirectional conveyor, 51 bending arm, 52 telescopic mechanism, 53 driven roller, 54 power roller, 55 hinged section, 56 support roller, 57 mounting plate, 58 rotating shaft, 59 radial pressure sensor;

[0038] 6Towing machine.

[0039] Conveying device, active pay-off stand

[0040] 7Active pay-off stand self-adjusting control device, 71 vertical support slide rod, 72 horizontal rod, 73 line displacement sensor, 74 wire passer, 741 frame, 742 slide roller, 75 horizontal rod, 76 slide sleeve, 77 horizontal displacement pulley. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions and advantages of the present application clearer and more comprehensible, the present application will be further described in detail below with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0042] Example 1: A high-efficiency modular cable lossless laying system, the main modules include equipment:

[0043] The active pay-off stand 1 has an adjustable power pay-off function, which can actively adjust the speed of the cable on the line disc. The large pay-off disc outputs the force to the line disc smoothly through four 1.5KW motors using a reduction device. The four motors are in two groups, and the width of the four motors can be adjusted according to the size of the pay-off disc. One rectifier module and two inverter modules drive four motors to achieve uniform speed. The four motors are started and stopped together, and the centralized control of forward and reverse rotation is realized. The output cable first passes through the tension detection control device to ensure that the cable is not damaged during laying. Tension control refers to the ability to control the tension of the material during conveying on the equipment. This control must be effective for any operating speed of the machine, including acceleration, deceleration and constant speed of the machine. Even in the case of emergency stop, it should have the ability to ensure that the slitting object is not damaged, which can well protect the cable;

[0044] The tension speed detection device 2 detects the speed of the output cable to obtain the conveying speed of the cable. Generally, an encoder tension speed detection device 2 can be selected and connected to the total control module through wired or wireless communication to transmit the conveying speed information to the total control module;

[0045] Several support frames 3 are used to support the fixed conveying device 4, the omnidirectional conveyor 5, the conveying roller, keep the process of cable laying at the same height as the designed installation position, and provide support for the cable during the conveying process; that is, the support frame is arranged, one part is provided every several meters, and the support function is provided. The conventional arrangement is to cooperate with one or two unpowered conveying rollers. The support frame 3 is installed at the necessary point and distance, and the conveying device 4 is installed to provide active power output to the cable, so that the cable force of each link part is uniform and the speed is the same. After the laying is completed, the support frame and the conveying equipment are removed, and the cable can be fixed and installed, thereby saving the process of moving the cable to the installation position after laying the cable on the non-installation plane in the original method.

[0046] The conveying device 4 has power and can adaptively clamp the cable within a predetermined range and ensure that the clamping force borne by the cable is within a specified range. The control system drives all conveying equipment to convey the cable at a constant speed, and optical, electrical or mechanical conveying sensors are installed to detect the relative position of the cable and the conveying equipment and obtain the lateral pressure data of the cable during the bending and clamping process. The conveying device 4 provides power to the cable along the laying path, and several conveying devices 4 are arranged along the laying path to achieve overall constant-speed laying, thereby reducing the traction requirement of the traction machine 6, uniformly distributing the cable conveying requirement for conveying force, and ensuring that the cable force of each part is uniform. This avoids the occurrence of local overload or excessive traction pulling. At the same time, the conveying device 4 is provided with a conveying sensor to detect the running state of the single conveying device 4, the lateral pressure data of the cable, and the conveying speed data of the cable, and can feed back to the total control module and receive the control instructions of the total control module to stop, start, adjust the speed, etc.

[0047] The omnidirectional conveyor 5 is used to be installed on the path that needs to be laid in a serpentine manner, can twist the cable into a curved form, has conveying power, can arrange the cable in a conveying form to be laid in a serpentine manner, and can adjust the bending degree of the cable. During the process of cable laying, the cable laying needs and related regulations require laying in a serpentine manner, or turning conveying is required. The turning or serpentine area is prone to stress concentration. The omnidirectional conveyor 5 is arranged to realize guiding through the vertically arranged rollers to adjust the turning or serpentine laying path of the cable.

[0048] The traction machine 6 is a traction guide angle mill arranged at the cable end to guide and pull the cable forward. The traction machine 6 mainly plays a guiding role, and through the arrangement of the active pay-off stand 1 and the conveying device 4, the traction machine 6 at the cable end only needs to guide.

[0049] The total control module is connected to the control end of the active pay-off stand 1, the tension speed measuring device 2, the conveying device 4 and the omnidirectional conveyor 5, and is used for receiving data of the conveying sensor and outputting a control signal to independently or integrally control the start and stop of the conveying sensor.

[0050] Preferably, the conveying device 4 is of a modular structure, and the frame includes a movable upper frame 441, a movable lower frame 442, three vertical guide columns 443 and a threaded rod 444. The movable upper frame 441 and the movable lower frame 442 are movably sleeved on the three vertical guide columns 443 and the threaded rod 444 at four corners, and are provided with elastic buckles 446 at the sleeving positions of the vertical guide columns 443 and are provided with oppositely arranged threaded sleeves 447 at the sleeving positions of the threaded rod 444. The movable upper frame 441 and the movable lower frame 442 can be lifted along the vertical guide columns 443 to adjust the relative distance therebetween under the rotation of the threaded rod 444. The conveying module includes horizontal beams 445 movably sleeved on the vertical guide columns 443 and the threaded rod 444, two horizontal beams 445 are arranged at each end, and oppositely arranged conveying belts 448 are arranged between the two horizontal beams 445. Each of the conveying belts 448 is drivingly connected with a power device 449, and the horizontal beams 445 are connected with the horizontal frames of the movable upper frame 441 or the movable lower frame 442, so that the two conveying belts 448 can be adjusted in distance by adjusting the relative positions of the movable upper frame 441 and the movable lower frame 442 to clamp and convey the cable. The movable upper frame 441, the movable lower frame 442, the vertical guide columns 443, the threaded rod 444 and the horizontal beams 445 are modularly and detachably combined. For example, the frame structure is of a tubular structure and is spliced into a square cross-section, and the structure and the material are lightweight. When the distance between the conveying belts 448 needs to be adjusted to adapt to the thickness of the cable, the elastic buckles 446 sleeved on the vertical rods are first opened, and then a manual rocker provided at one end of the threaded rod 444 is operated. The threaded sleeves 447 of the movable upper frame 441 and the movable lower frame 442 are oppositely threaded, and when the threaded rod 444 is rotated, the movable upper frame 441 and the movable lower frame 442 can be lifted towards each other to realize the movement of approaching or moving away from each other. After positioning, the elastic buckles 446 are locked to complete the fixation. That is, the threaded rod 444 is a power rod for adjustment, the vertical guide columns 443 serve as guides, and the distance between the conveying belts 448 can be manually adjusted. The installation and combination of the conveying belts 448 and the power device 449 are conventional technical means, and will not be described in detail.

[0051] Preferably, each transverse beam 445 is connected to its adjacent movable upper frame 441 or movable lower frame 442 by an elastic component 440, so that the two conveying belts 448 can be self-adaptively adjusted through the elastic component 440, and can meet the requirement of maintaining appropriate clamping force for the passing cables of different thicknesses; the elastic component 440 is a spring component in this embodiment, and the two ends are respectively installed on the transverse beam 445 and the movable upper frame 441 or the movable lower frame 442; and the conveying belts 448 and the power equipment 449 are installed between the transverse beams 445, thereby realizing an elastic connection, clamping the cables, meeting the requirement of the self-adaptive function, and satisfying the output precision of the conveying device 4 to the cables.

[0052] Preferably, an important function in this embodiment is also the feature of the modularized conveying device 4: the conveying belts 448 can be arranged in a transverse up-down manner to form an up-down longitudinal clamping conveying mode for the cables, or arranged in a vertical left-right manner to form a left-right lateral clamping conveying mode for the cables, and the horizontal-vertical arrangement of the conveying belts 448 is adjusted by the arrangement direction of the frame; the modularized structure of the conveying device 4 reduces the structure of the conveying device 4, and enables the conveying device 4 to be stably placed and fixed in a horizontal-vertical manner, so as to meet the left-right lateral clamping conveying and the up-down longitudinal clamping conveying of the cables, and can be selected according to the on-site installation path, thereby avoiding the possibility of damage to the cables caused by the height difference; the left-right lateral clamping conveying is used in the horizontal installation path; the up-down longitudinal clamping conveying is used in the installation path with height difference, upward or downward inclined conveying of the cables; the horizontal placement or vertical placement of the left-right conveying belts 448 can be combined and used, effectively meeting more complex and variable installation environments, effectively preventing the problems of unstable clamping, idling, uneven speed, etc. of the traditional conveying device 4 in the high-low difference inclined installation section of the cables, and improving the conveying quality.

[0053] Preferably, the passive rotating shaft of the conveying belt of the conveyor is provided with a tensioning adjusting device, and the tensioning force of the conveying belt can be adjusted through the tensioning adjusting device. The tensioning adjusting device is a screw type tensioning device, the passive rotating shaft as a whole is adjustable in the length direction on the side plate of the conveyor through the rotation of the screw rod, and the screw rod has a nut that can be locked, and the adjustment of the tensioning force of the conveying belt is realized by adjusting the shaft spacing between the two shafts of the conveying belts.

[0054] In the preferred embodiment, a door frame is also arranged at the inlet side of the conveying device 4, which includes two door columns 411 mounted on the frame or the rack, and two horizontal roller shafts 412 transversely mounted between the door columns 411, wherein the lower horizontal roller shaft 412 is elastically mounted between the door columns 411 and can be displaced up and down under the elasticity; a contact micro switch 420 is arranged below the lower horizontal roller shaft 412, and the cable passes through the horizontal roller shaft 412, presses the lower horizontal roller shaft 412 to move downward, and contacts and triggers the contact micro switch 420; the elasticity is an internal spring 450 mounted between the door columns 411, when the cable passes through the lower horizontal roller shaft 412, the weight presses the lower horizontal roller shaft 412 to move downward under the extension of the internal spring 450, contacts the contact micro switch 420, and sends a mechanical sensing signal that the cable has been positioned; a side pressure sensor is also arranged in the conveying belt 448 to contact the inner side of the conveying belt 448 and detect the lateral pressure data of the cable. Figure 16 、 17 As shown in FIGS. 13 and 14, the side pressure sensor is arranged on the inner wall of the conveying belt 448, the lateral pressure sensor is mounted on the fixed plate 431 in the middle of the conveying belt 448, the fixed plate 431 is connected to the side plate of the conveying belt 448, the contact rod 432 is mounted at the front end of the lateral pressure sensor, the tail end of the contact rod 432 contacts the lateral pressure sensor, and the other end contacts the inner side of the belt through the contact roller 423; when the cable passes through, the conveying belts 448 on both sides clamp and provide power to the cable, at the same time, the contact roller 423 contacts the cable through the belt, and the force generated by the contact roller 423 is transmitted to the lateral pressure sensor, so that the lateral pressure data of the cable is obtained and fed back to the control terminal for monitoring; once the pressure value is too large, an alarm is given and the machine is stopped to avoid damage to the cable caused by excessive pressure.

[0055] Preferably, the contact micro switch 420 includes an elastic arm 421, the end of the elastic arm 421 is connected to the micro switch body 422, the micro switch body 422 is mounted on the door column 411, the other end of the elastic arm 421 is mounted with the contact roller 423, the contact roller 423 can be contacted with the lower horizontal roller shaft 412 and rotate with it, and the elastic arm 421 is not in contact with the lower horizontal roller shaft 412 in the normal state; the elastic arm 421 is kept at an angle in the normal state, when the contact roller 423 is pressed downward by the horizontal roller shaft 412, the elastic arm 421 is driven to move downward and the micro switch is turned on to send a signal.

[0056] Preferably, the door-shaped frame further comprises two vertical vertical roller shafts 424 vertically installed on both sides of the horizontal roller shaft 412, constituting the horizontal beam of the door-shaped frame, the door-shaped frame is two parts, each arranged at the inlet and outlet of the conveying belt 448; the door-shaped frame is provided with an inward photoelectric sensor 430425 or a Hall sensor for judging whether there is a metal material close to it, which can also realize monitoring whether the cable is in place. The design of the vertical roller shaft 424 and the horizontal roller shaft 412 can make the cable not be damaged by static friction with the frame of the conveying device 4 when entering the conveying belt 448 of the conveying device 4, regardless of the angle of entry, and convert into dynamic friction, which can effectively protect the cable insulation layer.

[0057] Preferably, another key structure of the embodiment is the omnidirectional conveyor 5, which comprises two mutually hinged bending arms 51, a set of expansion mechanisms 52 are hingedly arranged between the opposite ends of the two bending arms 51, the expansion mechanisms 52 can push the two bending arms 51 to contract inward after being expanded, and the expansion mechanisms 52 can pull the two bending arms 51 to expand outward after being contracted, a set of driven rollers 53 are arranged at the two ends of the bending arms 51 respectively, a power roller 54 is coaxially arranged at the hinge of the bending arms 51, and the line between the power roller 54 and the driven rollers 53 constitutes an adjustable angle. Under the conveying of the power roller 54, the passing cable presents a turning or serpentine winding. The path of the serpentine laying is installed in advance according to the need, and the total control module can calculate the distance required by the serpentine according to the actual conditions of the cable to be laid, and then calculate the opening and closing angle between the two bending arms 51 of the omnidirectional conveyor 5. The opening and closing angle can be calculated to correspond to the serpentine length, serpentine curvature and other information through the expansion length of the expansion mechanism 52, the length of the bending wall and the initial angle of the hinge. The calculation process belongs to the prior art, and the expansion amount of the expansion mechanism 52 is also a conventional means, so it will not be described in detail. After the expansion mechanism 52 is expanded to the position and the bending arm 51 is in place, the cable entering the omnidirectional conveyor 5 can follow the driven roller 53, the driving roller and the driven roller 53, pass through the included angle structure between the three rollers, so that the passing cable forms a serpentine shape, and the method of laying a bend while conveying is completed.

[0058] Specifically, the bending arms 51 are provided with a hinge section 55 extending towards each other at the middle or lower middle part, and the hinge sections 55 are hingedly connected at the ends thereof; such design can make the stretching and retracting of the stretching and retracting mechanism 52 bring greater angle transformation between the bending arms 51, and the bending arms 51 are double-layer structure formed by pipes, the spacing between the double-layer pipes is adjustable, which is convenient for installing speed reducer and other devices therebetween; the overall stress is balanced and stable, the angle adjustment range is large, and it is easy to control and calculate. The driven roller 53 and / or the driving roller are both composed of two mutually perpendicular supporting rollers 56 and guide rollers; the supporting rollers 56 are usually horizontally placed to provide support for the weight of the cable, and the guide rollers are vertically placed to provide guidance, limiting and transmission for the bending of the cable; the stretching and retracting mechanism 52 is a pneumatic stretching and retracting device, a hydraulic stretching and retracting device or an electric push rod, and the two ends of the stretching and retracting mechanism 52 are hingedly connected between the two ends of the bending arms 51 in an angle-adjustable manner, having a stepless stretching and retracting function of quantitative stretching under linkage control; the diameter of the driving roller is larger than that of the driven roller 53, and the driving roller is arc-shaped with wide ends and narrow middle, which can provide more contact area with the surface of the cable, cooperate with the power output, further reduce the stress concentration when the cable is bent, disperse the stress, and further protect the safety and non-damage of the cable during the bending process; the connecting end of the supporting roller 56 is rotatably installed on the bending arm 51 with the connecting position as the axis, which can swing with the movement direction of the cable while providing support for the cable, so as to reduce the friction resistance to the cable as much as possible at different bending angles, and prevent damage.

[0059] Preferably, a turning bending degree dial can be installed at the hinge of the two bending arms 51, which is used for comparing the dial with the opening angle of the bending arms 51 during adjustment, so as to have a reference effect on the bending degree adjustment; on the other hand, the relationship between the stretching and retracting degree and the turning bending degree can be calculated through the stretching and retracting degree, so as to achieve the effect of accurately controlling the bending degree by controlling the stretching and retracting degree.

[0060] Preferably, as Figure 18 , 19As shown, the transmission end of the power roller 54 of the omnidirectional conveyor 5 is located at the bottom, the lower end of the power roller 54 is installed on the bottom of a semi-open mounting plate 57 through a shaft sleeve, the upper end of the rotating shaft 58 extends upward and is located in the opening on the top of the mounting plate 57, the radial pressure sensor 59 is installed above the opening, the upper end of the rotating shaft 58 penetrates into the radial pressure sensor 59, when the power roller 54 is contacted by the cable, the cable extrusion will drive the power roller 54 to tilt under pressure in the axial direction, so that the top end of the rotating shaft 58 presses the radial pressure sensor 59, thereby transmitting the current side pressure data of the cable to the control terminal for monitoring, obtaining the side pressure value of the power roller 54, which can better monitor the pressure data generated by the power roller 54 on the cable, and the pressure data is too high, which indicates that the conveying force of the cable during the bending process is abnormal, which will stop the machine to protect the safety of the entire cable. For the bending point with high stress concentration, the real-time state supervision effect is realized.

[0061] Embodiment 2: A high-efficiency modular cable lossless laying method, comprising the following steps:

[0062] Step S1: Install each device module in sequence according to the height along the path where the cable needs to be laid: support frame 3, conveying device 4, omnidirectional conveyor 5 installed in the area where the cable needs to be laid in a serpentine manner; Step S2: the active pay-off stand 1 is started, the cable is actively output, the end of the cable is guided forward by the traction machine 6, and sequentially passes through each device module on the laying and combination installation path; Step S3: the cable passes through the conveying device 4, which provides horizontal transverse side pressure to actively convey horizontally or upward and downward longitudinal pressure to actively convey obliquely forward; Step S4: in the area where the cable needs to be laid in a serpentine manner or turned, the cable enters the omnidirectional conveyor 5, the cable sequentially passes through the driven roller 53, the driving roller, and the other driven roller 53, and is laid in a serpentine cable or turned and conveyed by the opening and closing angle between the driven roller 53 and the driving roller; the opening and closing angle is calculated according to the actual site serpentine length and bending requirement; when the cable passes through the driving roller, the driving roller provides power at a constant speed to reduce the stress during bending; Step S5: after the cable is laid in place, each device module and the active pay-off stand 1 are stopped, and the cable is fixed and installed, and the cable laying is completed at one time. That is, the equipment in embodiment 1 can be used to complete the lossless and one-time laying operation of the cable. It should be noted that the layout of the support frame 3, as well as the layout height and position of each conveying device 4 and omnidirectional conveyor 5, are adapted to the height and position where the cable needs to be laid. After the laying is completed, the cable is directly laid, installed and fixed, without the need for secondary handling, dragging and installation, etc., to realize the effect of one-time laying.

[0063] In step S3, the left and right conveying belts of the conveying device 4 have elastic tension, which can adjust the spacing and clamp the cable according to the thickness of the passing cable to maintain the constant speed of the cable; or the spacing between the left and right conveying belts is adjusted by a manual device before use to reduce the range of elastic adjustment; either elastic tension or elastic tension can be used, the purpose is to realize flexible conveying of the conveying belt, that is, according to the actual thickness specification of the entering cable, the conveying belt 448 of the entire conveying device 4 can be uniformly and compactly clamped to achieve the effect of clamping the cable, which can ensure that the cable in the range covered by the entire conveying belt 448 has uniform conveying clamping force, and the uniform stress can ensure that the tension on each point of the cable is basically the same, preventing local point over-drawing, and at the same time, the conveying speed of the cable can be accurate, improving the effect of constant speed deployment;

[0064] In another aspect, the left and right conveying belts 448 can be placed horizontally or vertically to realize mode switching of left and right lateral compression conveying and up and down vertical compression conveying, wherein: the left and right lateral compression conveying is used for horizontal conveying on the deployment path; the up and down vertical compression conveying is used for the deployment path with height difference, upward or downward inclined conveying on the cable deployment path; the horizontal or vertical placement of the left and right conveying belts 448 can be used in combination. The modular structure of the conveying device 4 reduces the structure of the conveying device 4, which can be placed and fixed horizontally and vertically, can meet the left and right lateral clamping conveying and up and down vertical clamping conveying of the cable, can be selected according to the on-site deployment path, and can avoid the possibility of damage to the cable due to height difference; the left and right lateral compression conveying is used for horizontal conveying on the deployment path; the up and down vertical compression conveying is used for the deployment path with height difference, upward or downward inclined conveying on the cable deployment path; the horizontal or vertical placement of the left and right conveying belts 448 can be used in combination, effectively meeting more complex and variable deployment environments, effectively preventing the problems of unstable clamping, idling, uneven speed, etc. of the traditional conveying device 4 when the cable is in the high-low difference inclined deployment position, and improving the conveying quality.

[0065] Preferably, the embodiment also includes a deployment process safety control step, which includes:

[0066] The running state data of each device is obtained by the equipment of each link of the conveying device 4, the traction machine 6, the testing device and the like and is fed back to the total control system. The running state data of the traction machine 6, the tension speed measuring device 2, each conveying device 4 and the omnidirectional conveying machine 5 is obtained, the side pressure and the conveying speed information of the cable are monitored by each device link, and the machine is stopped immediately for protection when any device has an unexpected condition or an abnormality. The unexpected condition or the abnormality includes one or more of the following: over traction of the cable, over pressure of the cable, too fast speed of the cable, no start of the device and no running of the device. Before the cable enters the conveying device 4, the conveying device 4 can perform sensing detection on the cable, including one or more of the following: a photoelectric detector, which detects whether the cable reaches by infrared light or laser; a metal proximity sensor, which senses whether the cable reaches by the sensor; a micro switch sensor, which judges whether the cable reaches by the on-off of the micro switch. When at least one or at least two of the sensing detection instruments senses a signal, the conveying device 4 starts to run, otherwise, the conveying device 4 is in a silent standby state.

[0067] Embodiment 3: A high-efficiency modular cable lossless laying control system, comprising:

[0068] A main control module connected with the active pay-off stand 1 and a plurality of sub-control boxes, capable of controlling the start and stop and the output speed of the active pay-off stand 1, collecting the data information obtained by each sub-control box, and sending control signals to each sub-control box; used for implementing the related steps of embodiment 2;

[0069] A sub-control box connected with the traction machine 6, the tension speed measuring device 2, each conveying device 4 and the omnidirectional conveying machine 5, and capable of obtaining the running data of the traction machine 6, the speed data fed back by the tension speed measuring device 2, the running state data of each conveying device 4, the speed information of the cable conveying and the side pressure data of the cable, and the conveying speed data of the omnidirectional conveying machine 5 and the opening and closing angle data of the bending arm 51, and adjusting the running parameters of each corresponding traction machine 6, tension speed measuring device 2, each conveying device 4 and omnidirectional conveying machine 5;

[0070] The conveying device 4 is provided with a contact type micro switch 420, which can judge whether the cable reaches through a plurality of signal sensors. If the cable does not reach, the conveying device 4 remains in a silent standby state. If the cable reaches, the conveying device 4 starts to run and conveys the cable. The plurality of signal sensors include one or more of the following: a mechanical sensor, which is pressed downward by the gravity of the cable to obtain the feedback signal of the passing cable; a photoelectric sensing sensor 430425, which detects whether the cable passes through by photoelectric signals; and a metal proximity sensor, which detects whether the cable passes through by sensing signals.

[0071] The omnidirectional conveyor 5 can control the angle change between the two mutually articulated bending arms 51 through the telescopic mechanism 52 to adjust the amplitude and distance of cable bending, and complete the serpentine laying or the bending of the turning once.

[0072] The main control module can set the conveying speed of the conveying device 4, the laying speed of the active laying rack 1 and the bending angle data of the omnidirectional conveyor 5 according to the preset data required by the on-site cable laying, and can also immediately stop for protection when unexpected conditions or abnormalities occur, including over-traction, over-pressure, equipment without starting and equipment without running.

[0073] Example 4: as Figures 20 to 24As shown, on the basis of each of the above embodiments, a cable laying active pay-off frame self-adjusting control device 7 is further installed between the cable active pay-off frame and the conveying device, which comprises a portal frame composed of vertical support slide rods 71 and a horizontal rod 72, a wire displacement sensor 73 is installed on the horizontal rod 72, the wire displacement sensor 73 is connected to a wire passer 74, the wire passer 74 is installed between the two vertical support slide rods 71 in a free lifting and sliding manner; the wire displacement sensor 73 is connected to a master control module, the master control module is connected to the active pay-off frame, and the pay-off rotating speed of the active pay-off frame can be controlled according to the information fed back by the wire displacement sensor 73. In actual use, the portal frame serves as a bracket structure for installing the wire passer 74. In the present embodiment, the wire passer 74 can be selected to have a device with a speed sensor or a tension sensor installed, or can only be composed of a frame 741 with four slide rollers 742 installed on the inner side surface, one horizontal rod 75 is installed on each of the left and right sides of the frame 741, the other end of the horizontal rod 75 is provided with a sliding sleeve 76, and the sliding sleeve 76 is installed on the vertical support slide rod 71; the frame 741 can adaptively lift and slide according to the real-time height position of the cable; and the wire displacement sensor 73 is connected above the frame 741. That is, the cable passes through the frame 741, the frame 741 is actually hung on the cable, the sliding sleeve 76 and the horizontal rod 75 limit the position of the cable and make it only displace in the longitudinal direction, so when the height of the cable changes, the sliding sleeve 76 lifts along the vertical support slide rod 71, and the lifting degree of the frame 741 is monitored by the wire displacement sensor 73, which is a slide block type displacement sensor vertically installed on the horizontal rod 72 of the portal frame, and the measurable stroke length range of the slide block type displacement sensor is not less than the lifting range of the wire passer 74; the wire displacement sensor 73 transmits real-time data to the master control module, after receiving the real-time height position information of the wire passer 74 sent by the wire displacement sensor 73, the master control module performs a conventional threshold judgment operation, when the height position information exceeds the threshold, the master control module can control the active pay-off frame to increase or decrease the pay-off rotating speed until the height position information is within the threshold. Therefore, when the wire displacement sensor 73 senses that the height of the cable is in the “high position”, it indicates that the cable in this area is too straight or even tight, which reflects that the conveying rotating speed of the cable is greater than the output rotating speed of the active pay-off frame, then the master control module controls the active pay-off frame to increase the laying rotating speed, so as to avoid the occurrence of tightness and pulling. When the height of the cable is detected to decrease by more than the lower limit threshold, it indicates that the cable has accumulated and sagged, and the output rotating speed of the active pay-off frame is greater than the conveying rotating speed of the conveyor, then the master control module controls the output rotating speed of the active pay-off frame to decrease until the height of the cable returns to the threshold range.The control terminal automatically adjusts the rotating speed of the active pay-off rack, so as to adapt the rotating speed of the whole cable delivery and pay-off system, and keep the rotating speed in a relatively stable stage, so as to realize intelligent and automatic control of the rotating speed of the cable pay-off process, protect the safety and stability of the cable in the delivery and pay-off process, and enhance the control precision of the whole system and improve the precision of the cable pay-off process.

[0074] Preferably, the frame 741 of the cable pass-through device 74 is installed on the horizontal rod 75 through the transverse displacement pulley 77 and can be transversely displaced on the horizontal rod 75; the horizontal rod 75 is an integral rod, both ends of which are provided with sliding sleeves 76, and the sliding sleeves 76 are installed on the vertical support slide rods 71; the frame 741 can be adaptively lifted and transversely slid according to the real-time height position and transverse position of the cable; one of the sliding sleeves 76 is connected with the wire displacement sensor 73, and the wire displacement sensor 73 is installed on the top of one of the vertical support slide rods 71 of the portal frame and connected with the sliding sleeve 76 on the vertical support slide rod 71 through a connecting rod. Such a case considers that the cable may be transversely displaced in the left and right directions during the output from the active pay-off rack, that is, the displacement of the cable in the up-down and left-right directions is not limited, and the pressure between the cable and the cable pass-through device 74 can be reduced; when necessary, the surface of the sliding roller 742 is provided with a rubber pad, so as to further reduce the pressure and wear on the surface of the cable.

[0075] Preferably, the control terminal acquires the height data of the cable in the interval between the active pay-off rack and the first delivery device in real time and sends the data to the general control module.

[0076] The height data of the cable is acquired by the wire displacement sensor 73,

[0077] After receiving the real-time height position information of the cable sent by the wire displacement sensor 73, it is judged whether the information is in the threshold interval; when the height position information of the cable exceeds the upper limit or lower limit of the threshold, the rotating speed of the active pay-off rack is increased or decreased until the height position information is in the threshold again.

[0078] The area between the cable active pay-off rack and the first cable conveyor can reflect the speed difference between the cable active pay-off rack and the cable conveyor, when the cable in the area is too straight or even tight, it reflects that the conveying speed of the cable is greater than the output rotating speed of the active pay-off rack, which may cause the pulling damage of the cable; when the cable in the area is accumulated and droops, or even contacts the ground, it shows that the output rotating speed of the active pay-off rack is greater than the conveying speed of the conveyor, after the phenomenon occurs in the prior art, manual adjustment is needed, but manual observation is needed at all times, and the adjustment operation is relatively cumbersome, and it is not easy to control and adjust, the embodiment can obtain the current cable state signal data in the area by using the line displacement sensor 73 to judge the cable height degree in the area, and feed back to the control end, and automatically adjust the rotating speed of the active pay-off rack by the control end, so as to adapt the speed of the whole conveying and laying cable system, and keep the speed in a relatively stable stage, so as to achieve the intelligent and automatic control of the cable laying process, protect the safety and stability of the cable in the laying and conveying process, and enhance the control precision of the whole system and improve the accuracy of the cable laying process. It should be understood that the above specific embodiments of the present application are only used for example or explanation of the principles of the present application, and do not constitute a limitation on the present application. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present application shall be included in the protection scope of the present application. In addition, the appended claims of the present application are intended to cover all changes and modifications falling within the scope and boundary of the appended claims, or the equivalent forms of such scope and boundary.

Claims

1. A high-efficiency modular cable non-destructive deployment system, characterized in that... Includes the following module devices: The active cable feeder has an adjustable power cable feed function, which can actively adjust the cable output speed; The tensioning speed measuring device measures the speed of the output cable to obtain real-time linear speed feedback information of the cable transmission. Several support frames are arranged along the path where the cable needs to be laid to support and fix the conveying device, omnidirectional conveyor, and conveying rollers, so that the cable is kept at the same height as the designed installation position during the cable laying and conveying process and to provide support for the cable during the conveying process. Several conveying devices are powered and can adaptively clamp the cable and drive it forward at a constant speed. They are also equipped with conveying sensors that can detect whether the cable is in place and obtain the current lateral pressure data on the cable. One or more omnidirectional conveyors are used to install on the path of cable turning or serpentine laying. They can turn the cable at a predetermined angle by adjusting the angle and have conveying power, so that the cable conveying process can complete the turning or serpentine laying in one go. The traction machine, set at the predetermined cable laying end, is connected to the cable end via a guide steel rope and can accurately guide the cable end onto the pulley, conveying device, or omnidirectional conveyor to guide the cable forward. The main control module is connected to the control terminal of the active wire feeding frame, tension speed measuring device, conveying device, and omnidirectional conveyor. It can receive data from the conveying sensor and output control signals to independently or as a whole control the start and stop of the conveyor. An active wire feeding frame self-adjusting control device is installed between the active wire feeding frame and the conveying device, which includes: A gantry consisting of vertical support slide bars and horizontal bars, wherein a linear displacement sensor is installed on the horizontal bar and the linear displacement sensor is connected to a wire guide. The wire guide is installed between two vertical support slide bars in a freely lifting and sliding manner. The linear displacement sensor is connected to the main control module, which is connected to the active wire feeding frame. The main control module can control the wire feeding speed of the active wire feeding frame based on the information fed back by the linear displacement sensor. The cable guide includes: a frame, with sliding rollers installed on the inner side of the frame in four directions; a crossbar installed on each of the left and right sides of the frame, with a sliding sleeve installed at the other end of the crossbar; the sliding sleeve is installed on the vertical support slide bar; the frame can adaptively rise and fall and slide according to the real-time height position of the cable; the upper part of the frame is connected to the linear displacement sensor.

2. The high-efficiency modular cable non-destructive laying system according to claim 1, characterized in that, The conveying device is a modular structure, comprising: The frame consists of a movable upper frame, a movable lower frame, three vertical guide posts, and a threaded rod; Both the upper and lower movable frames are mounted on three vertical guide posts and one threaded rod using four movable sleeves at their four corners. The upper and lower movable frames have adjustable buckles at the sleeve positions on the vertical guide posts and opposing threaded inner sleeves at the sleeve positions on the threaded rod. The upper and lower movable frames can move up and down along the vertical guide posts as the threaded rod rotates to adjust their relative spacing. The conveying module includes a transverse beam that can be movably fitted onto a vertical guide post and a threaded rod. Two transverse beams are provided at each end. Conveyor belts are installed between the two horizontally opposite transverse beams. Each conveyor belt is connected to a power device. Each transverse beam is connected to a horizontal frame with a movable upper or lower frame, so that the spacing between the two opposite conveyor belts can be adjusted by adjusting the relative position of the movable upper or lower frame to clamp the cable for conveying. The movable upper frame, movable lower frame, vertical guide columns, threaded rods, and horizontal beams are modular and detachable assembly components.

3. The high-efficiency modular cable non-destructive laying system according to claim 2, characterized in that, Each transverse beam is connected to its adjacent movable upper or lower frame via elastic components, allowing the two conveyor belts to self-adjust via the elastic components, thus maintaining appropriate clamping force for cables of different thicknesses. The conveyor belt can be arranged horizontally up and down to form a vertical clamping and conveying mode for the cable, or arranged vertically left and right to form a horizontal clamping and conveying mode for the cable. The horizontal and vertical arrangement of the conveyor belt can be adjusted by adjusting the placement direction of the frame. Located on the inlet side of the conveying device, a gantry frame is also provided. The gantry frame includes: two gantry posts installed on the frame or frame, and two horizontal roller shafts installed horizontally between the gantry posts. The two ends of the lower horizontal roller shaft are installed between the gantry posts with an elastic structure, which can move up and down under the elastic structure. Below the lower horizontal roller shaft, there is also a contact micro switch. The cable passes through the horizontal roller shaft, presses down the lower horizontal roller shaft to move it down, and contacts and triggers the contact micro switch. Inside the conveyor belt, there is also a side pressure sensor that contacts the inner side of the conveyor belt to detect the lateral pressure data of the conveyor belt on the cable.

4. The high-efficiency modular cable non-destructive laying system according to claim 3, characterized in that, The contact-type micro switch includes an elastic arm, the end of which is connected to the micro switch body. The micro switch body is mounted on a door post. The other end of the elastic arm is equipped with a contact roller. The contact roller can rotate after contacting the lower horizontal roller shaft. The elastic arm does not normally contact the lower horizontal roller shaft. The gantry frame also includes two vertically placed vertical rollers, which are vertically installed on both sides of the horizontal roller to form the crossbeam of the gantry frame. There are two gantry frames, each set at the inlet and outlet of the conveyor belt. The gantry frame is equipped with an inward-facing photoelectric sensor to monitor whether the cable is in place.

5. The high-efficiency modular cable non-destructive laying system according to claim 2 or 3, characterized in that, The omnidirectional conveyor includes two hinged bending arms. A telescopic mechanism is hinged between the opposite ends of the two bending arms. When the telescopic mechanism is opened, it can push the two bending arms to retract inward. When the telescopic mechanism is retracted, it can pull the two bending arms to open outward. A set of driven rollers is provided at each end of the bending arms. A coaxially arranged power roller is provided at the hinge point of the bending arms. The line connecting the power roller and the driven roller forms an adjustable angle. Under the conveying of the power roller, the cable passes through either turning or serpentine.

6. The high-efficiency modular cable non-destructive laying system according to claim 5, characterized in that, The bending arms are provided with a hinged section extending towards each other at the middle or lower part of the middle, and the ends of the hinged sections are hinged to each other. The driven roller and / or the driving roller are both composed of two mutually perpendicular support rollers and guide rollers; the telescopic mechanism is a pneumatic telescopic device, a hydraulic telescopic device, or an electric push rod, and the two ends of the telescopic mechanism are hinged between the two ends of the bending arm in an adjustable manner, which has a stepless telescopic function of quantitative telescopic extension under linkage control; the diameter of the driving roller is larger than that of the driven roller, and the driving roller is an arc-shaped surface that is wide at both ends and narrow in the middle; The connecting end of the support roller is rotatably mounted on the bending arm with the connecting position as the axis. A side pressure sensor is installed between the drive roller of the omnidirectional conveyor and the conveyor belt of the conveying device, which can acquire the side pressure data of the passing cable in real time.

7. A highly efficient modular cable non-destructive laying method, characterized in that... Includes the following steps: Step S1: Install each equipment module at the same height along the path where the cable needs to be laid: support frame, conveying device, and install the corresponding number of omnidirectional conveyors in the area where serpentine laying is required; Step S2: The active cable laying frame starts and actively outputs the cable. The cable end is guided forward by the traction machine and passes through each equipment module on the laying and assembly path in sequence. Step S3: The cable passes through the conveying device, which provides horizontal lateral pressure to actively convey it forward horizontally, or vertical longitudinal pressure to actively convey it diagonally forward. Step S4: In areas where cables need to be laid in a serpentine pattern or transported in a turning manner, the cable enters the omnidirectional conveyor. The cable passes sequentially through a driven roller, a driving roller, and another driven roller. The opening and closing angle between the driven roller and the driving roller determines the serpentine cable with different bends or the cable is transported in a turning manner. The opening and closing angle is calculated based on the required serpentine length and bend requirements on site. When the cable passes through the driving roller, it is powered by the driving roller at a constant speed, reducing stress when bending. Step S5: After the cable is laid in place, all equipment modules and the active cable laying frame stop, and the cable is fixed and installed, completing the cable laying in one go.

8. The efficient modular cable non-destructive installation method according to claim 7, characterized in that, In step S3, the left and right conveyor belts of the conveyor device have elastic tension, which can adaptively adjust the spacing and clamp the cable according to the thickness of the cable being transported, so as to maintain a constant speed for the cable; or Before use, adjust the gap between the left and right conveyor belts manually to reduce the range of elastic adjustment. The left and right conveyor belts can be placed horizontally or vertically relative to each other, realizing the switching between left-right lateral pressing conveying and up-down vertical pressing conveying modes, wherein: Lateral compression conveying is used on the horizontal conveying application path; Vertical compression conveying is used in cable laying paths where there are height differences, or when the cable is being conveyed upwards or downwards. The left and right conveyor belts can be placed horizontally or vertically, and can be used in combination.

9. The efficient modular cable non-destructive laying method according to claim 7, characterized in that, It also includes safety control measures during the release process, including: Acquire and monitor the operating status data of the traction machine, tension speed measuring device, various conveying devices, and omnidirectional conveyor, as well as the lateral pressure and conveying speed information of each equipment component on the cable. Immediately shut down and protect the equipment in case of any unexpected situation or abnormality. The unexpected situation or abnormality includes one or more of the following: cable over-traction, cable over-pressure, cable speed too high, equipment not starting, or equipment not running. In step S3, before the cable enters the conveying device, the conveying device can perform inductive detection on the cable, including: A photoelectric detector uses infrared light or laser light to detect whether the cable has reached its destination. A metal proximity sensor detects whether a cable is approaching. The microswitch sensor determines whether the cable has arrived by checking the on / off state of the microswitch; One or more combinations of them, The conveying device will only start operating after at least one or at least two of the sensing and detection instruments detect a signal; otherwise, the conveying device will remain in a silent standby state.

10. The efficient modular cable non-destructive installation method according to claim 7, characterized in that, It also includes the following steps: The height data of the cable in the section between the active cable feeding frame and the first conveying device is acquired in real time and sent to the central control module. The height data of the cable is obtained through a linear displacement sensor. After receiving real-time cable height position information from the linear displacement sensor, it determines whether the cable height position information is within the threshold range. When the cable height position information exceeds the upper or lower threshold, it controls the active cable feeding frame to increase or decrease the cable feeding speed until the height position information returns to the threshold.

11. A high-efficiency modular cable non-destructive deployment control system, characterized in that... include: The main control module connects the active wire feeding frame and several sub-control boxes. It can control the start and stop of the active wire feeding frame and its output speed, collect data information from each sub-control box, and issue control signals to each sub-control box. The control boxes are connected to the traction machine, tension speed measuring device, various conveying devices, and omnidirectional conveyor. They can acquire: the operating data of the traction machine; the speed data fed back by the tension speed measuring device; the operating status data of the conveying devices, the speed information of cable conveying, and the lateral pressure data of the cable; the conveying speed data of the omnidirectional conveyor and the opening and closing angle data of the bending arm; and can also adjust the operating parameters of the corresponding traction machine, tension speed measuring device, various conveying devices, and omnidirectional conveyor. The conveying device is equipped with a contact-type micro switch and can determine whether the cable has arrived through various signal sensors. If the cable has not arrived, the conveying device remains silent and in standby mode. It only starts operating and conveys the cable when the cable arrives. The various signal sensors include: a mechanical sensor, which receives a feedback signal from the cable's gravity; a photoelectric sensor, which detects whether the cable has passed through through photoelectric signals; and a metal proximity sensor, which detects whether the cable has passed through through inductive signals; or one or any combination of two or more of these. The omnidirectional conveyor can control the angle between two hinged bending arms through a telescopic mechanism to adjust the amplitude and distance of cable bending, and complete the serpentine laying or the bending degree of turning around in one go. An active wire feeding frame self-adjusting control module, installed between the active wire feeding frame and the conveying device, includes: a gantry consisting of vertical support slide rods and horizontal rods; a linear displacement sensor is installed on the horizontal rod, and the linear displacement sensor is connected to a wire guide; the wire guide is installed between two vertical support slide rods in a freely lifting and sliding manner; the linear displacement sensor is connected to a main control module, and the main control module is connected to the active wire feeding frame, which can control the wire feeding speed of the active wire feeding frame based on the information fed back by the linear displacement sensor; when the height position information exceeds a threshold, it can control the active wire feeding frame to increase or decrease the wire feeding speed until the height position information is within the threshold. The main control module can set the conveying speed of the conveying device, the wire feeding speed of the active wire feeding frame, and the bending angle data of the omnidirectional conveyor according to the preset data required for cable laying on site. It can also immediately stop the machine for protection in case of unexpected situations or abnormalities. The unexpected conditions or abnormalities include: over-traction, over-pressure, equipment not starting, and equipment not running.

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