A downhole cable laying device

Abstract

The present application belongs to the technical field of cable arrangement in underground roadway working face, and particularly relates to an underground cable laying device; the device comprises a cable storage device, a hook taking device and a storage and transportation device carried on a movable operation platform; the storage and transportation device comprises a hook storage bin, a cable guiding device and a hook conveying device, the hook conveying device is used for outputting the hooks in the hook storage bin one by one, the cable pulled out from the cable storage device passes through the outlet of the hook conveying device after passing through the corresponding guiding channels of the cable guiding device one by one, and the arc-shaped lifting of the hooks output by the hook conveying device lifts the cable guided and arranged by the cable guiding device; the hook taking device is used for grabbing the hooks supplied by the storage and transportation device; the underground cable laying device realizes the mechanical laying operation of the underground cable through the cooperation of the unique structural design of the hook taking device and the storage and transportation device by the mechanical mode, and practically solves the problems of high labor intensity and safety hazards in the current manual operation.

Description

Technical Field

[0001] This invention belongs to the technical field of cable arrangement in underground roadway working faces, and specifically relates to an underground cable laying device. Background Technology

[0002] Electric drive is the primary power source for equipment in coal mines and tunnels, necessitating the installation of numerous electrical cables underground, such as power cables, communication lines, and lighting lines. Traditional cable laying involves manually securing cables to anchor nets on both sides of the tunnel using ties / wires, resulting in high labor intensity and certain safety hazards. With the development of mechanized and intelligent equipment in underground mines, the types, quantities, and weight of cables are increasing daily, making manual cable laying operations extremely challenging. Therefore, developing a mechanized underground cable laying device is essential. Summary of the Invention

[0003] This invention aims to address the problems of low automation and high manual labor intensity in existing underground cable laying; it develops a mechanized underground cable laying device to achieve mechanized underground cable laying operations.

[0004] The present invention provides the following technical solution: an underground cable laying device, comprising a cable storage device, a hook retrieval device and a storage and transportation device mounted on a mobile working platform, wherein the cable storage device is in front and the hook retrieval device and the storage and transportation device are behind along the working platform's operating direction, and the storage and transportation device is close to the cable hanging on the roadway side.

[0005] The storage and transportation device includes a hook storage bin, a cable guide device, and a hook conveying device. The hook conveying device is used to output the hooks one by one from the hook storage bin. Several arc-shaped supports are distributed on one side of the hook from bottom to top, and a hook head is provided on the top of the opposite side. The cable guide device is located between the outlet of the cable storage device and the hook conveying device. The cable pulled out from the cable storage device passes through the corresponding guide channels on the cable guide device and then passes through the outlet of the hook conveying device. When the hook conveying device outputs the hook, the arc-shaped supports of the hook lift the cable that is guided and arranged by the cable guide device.

[0006] The hook-grabbing device is used to grab the hooks supplied by the storage and transportation device and hang them on the anchor net of the roadway. It includes a multi-degree-of-freedom manipulator and a hook-grabbing device. The fixed end of the multi-degree-of-freedom manipulator is connected to the working platform, and the motion end is connected to the hook-grabbing device. The hook-grabbing device has a groove for accommodating the hook. The groove is distributed with support pins that support the various arc-shaped lifts of the hook and the sensor opening and closing device for the lowest arc-shaped lift of the hook lock.

[0007] Furthermore, the main structure of the hook conveying device is a conveying frame. The lower part of the conveying frame and the hook storage bin are connected side by side. A conveying groove is opened in the middle of the conveying frame. The conveying groove serves as a vertical conveying guide channel for the hooks. A lifting shaft and a lifting chain are arranged inside the conveying groove. The lifting shaft is horizontally held on the lifting chain with one end suspended to receive the hooks. The hooks located in the hook storage bin can be moved horizontally into the conveying groove and suspended on the lifting shaft. Under the action of the lifting drive, the lifting chain can be vertically lifted around the guide wheel located at the top of the conveying device, thereby realizing the lifting of the hooks. On both sides of the upper end of the conveying groove of the conveying frame, there are grooves vertically distributed corresponding to the arc-shaped support of the hooks. These grooves are used for the positioning of the hooks and to facilitate the hook gripping device to grip the hooks.

[0008] Furthermore, the hook storage compartment is equipped with a longitudinal plate and a transverse plate. The longitudinal plate can hold a number of hooks, and the transverse plate supports the hooks. The hook head is hung on the longitudinal plate, and the arc-shaped lifting part is backed by the transverse plate. A pushing mechanism is provided on the outside of the hook storage compartment, which pushes the hooks one by one into the conveying frame.

[0009] Furthermore, the hook gripping device includes a support frame, support rods, support pins, a sensor opener / closer, and a distance sensor. The main structure of the hook gripping device is the support frame, on which n sets of support rods are arranged at an angle, where n equals the number of arc-shaped supports of the hook. Each set of support rods consists of two rods arranged opposite each other, and a support pin is provided between each set of support rods. The support pin is located at the end of the support rod. The sensor opener / closer is arranged on the support rod in the lowest set. The several arc-shaped supports of the hook can be placed in the support space formed by the n sets of support rods and the support pins on the hook gripping device. At this time, the sensor opener / closer closes to prevent the hook from falling off.

[0010] Furthermore, the inductive opener includes contacts, a spring, and a sensor. Two symmetrically arranged contacts are in contact under the action of the spring, while the sensor controls the extension and retraction of the spring to achieve the contact and separation of the contacts.

[0011] Furthermore, the cable guide device is fixedly installed on the upper part of the hook conveyor and arranged at a right angle to the hook conveyor, so that the cable passing through the cable guide device can pass through the arc-shaped support of the hook; the cable guide device includes a guide frame, a rotating idler, and an adjusting idler. The rotating idler and the adjusting idler are arranged at intervals inside the cable guide frame. The rotating idler can rotate relative to the guide frame and play the role of rolling and transmitting the cable. The adjusting idler can be vertically adjusted in the long groove on the guide frame, thereby realizing the adjustment of its spacing relative to the rotating idler.

[0012] Furthermore, the multi-degree-of-freedom manipulator, from the connection end with the work platform to the connection end with the hook gripping device, sequentially includes a lifting joint, a horizontal rotation joint, two superimposed lifting arms, a telescopic arm, and two vertically superimposed rotation joints.

[0013] Furthermore, the lowest part of the multi-degree-of-freedom manipulator is a turntable base. Inside the turntable base are a turntable lifting device and a turntable spindle. The turntable lifting device and the turntable spindle are fixedly connected and can drive the turntable to rise / fall. Inside the turntable is a turntable drive. The turntable drive can drive a fixed gear ring inside the turntable, thereby making the turntable move in a circle around the spindle. A large arm is installed on top of the turntable. The large arm is connected to the turntable through hydraulic cylinder II, so that the large arm can perform pitching motion. The large arm is connected to a square arm through hydraulic cylinder I. Under the action of hydraulic cylinder I, the square arm can perform pitching motion relative to the large arm. The telescopic arm is located inside the square arm and can extend / retract relative to the square arm. Two rotary motors, rotary motor I and rotary motor II, are hinged in sequence at the front end of the telescopic arm. Rotary motor I realizes horizontal rotation, and rotary motor II realizes vertical rotation. The hook gripping device is hinged to rotary motor II and is located at the front end of the hook grabbing device.

[0014] Furthermore, the lower part of the work platform is a tracked walking device.

[0015] Compared with the prior art, the advantages of the present invention are:

[0016] This underground cable laying device, through a unique structural design that combines a hook-retrieval device and a storage and transportation device, enables mechanical laying of underground cables, effectively solving the problems of high labor intensity and safety hazards associated with manual labor. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the present invention;

[0018] Figure 2 This is a structural diagram of the hook-retrieving device;

[0019] Figure 3 This is a structural diagram of the hook gripping device;

[0020] Figure 4 This is a structural diagram of the sensor-operated opening / closing device;

[0021] Figure 5 Axonometric drawing of the storage and transportation unit;

[0022] Figure 6 This is a front view of the storage and transportation equipment;

[0023] Figure 7 This is a side view of the storage and transportation equipment;

[0024] Figure 8 Operational diagram for the coordinated operation of the hook-removing device and the storage and transportation device;

[0025] In the diagram: 1-Walking device; 2-Working platform; 3-Cable storage device; 301-Cable No. 1; 302-Cable No. 2; 303-Cable No. 3; 4-Hook retrieval device; 41-Multi-degree-of-freedom manipulator; 4101-Turntable base; 4102-Lifting device; 4103-Turntable drive; 4104-Main spindle; 4105-Turntable; 4106-Gear ring; 4107-Large arm; 4108-Hydraulic cylinder II; 4109-Square arm; 4110-Hydraulic cylinder I; 4111-Telescopic arm; 4112-Rotary motor I; 4113-Rotary motor II; 42-Hook gripping device; 4201-Support frame; 4202-Support rod; 420401-Contact; 420402-Spring; 42 0403-Sensor; 4203-Support pin; 4204-Induction opener / closer; 4205-Distance sensor; 5-Storage and transportation device; 51-Hook storage bin; 5101-Vertical plate; 5102-Horizontal plate; 5103-Pushing mechanism; 52-Cable guide device; 5201-Guide frame; 50202-Rotating roller; 5203-Adjusting roller; 5204-Long trough; 53-Hook conveying device; 5301-Conveying frame; 5302-Conveying trough; 5303-Lifting shaft; 5304-Lifting chain; 5305-Guide wheel; 5306-Lifting drive; 5307-Groove; 5308-Hook; 530801-Arc-shaped lifter; 530802-Hook head; 6-Anchor net. Detailed Implementation

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] like Figures 1 to 8As shown: A downhole cable laying device comprises a traveling device 1, a working platform 2, a cable storage device 3, a hook retrieval device 4, a storage and transportation device 5, and an anchor net 6. The cable storage and transportation device 3 pre-sets three types of cables: cables 301, 302, and 303. The hook retrieval device 4 includes a multi-degree-of-freedom manipulator 41 and a hook gripping device 42. The multi-degree-of-freedom manipulator 41 includes a turntable base 4101, a lifting device 4102, a turntable drive 4103, a main shaft 4104, a turntable 4105, a gear ring 4106, a boom 4107, a hydraulic cylinder II 4108, a square arm 4109, a hydraulic cylinder I 4110, a telescopic arm 4111, a rotary motor I 4112, and a rotary motor II 4113. The hook gripping device 42 includes a support frame 4201, a support rod 4202, a support pin 4203, and a sensor-operated opening / closing device 4. 204, distance sensor 4205, sensing opener 4204 includes contact 420401, spring 420402 and sensor 420403; storage and transportation device 5 includes hook storage bin 51, cable guide device 52 and hook conveying device 53, wherein hook storage bin 51 includes longitudinal plate 5101, transverse plate 5102 and pushing mechanism 5103, cable guide device 52 includes guide frame 5201, rotating idler roller 5202, adjusting idler roller 5203 and long trough 5204, hook conveying device 53 includes conveying frame 5301, conveying trough 5302, lifting shaft 5303, lifting chain 5304, guide wheel 5305, lifting drive 5306, groove 5307, hook 5308, hook 5308 is provided with 3 arc-shaped lifting 530801 and hook head 530802.

[0028] This device is described from bottom to top, and its positional and connection relationships are presented together. For example... Figure 1 As shown: Located at the bottom of the device is the walking device 1, which provides the power source for the device's movement. This device can also be mounted on other mobile devices or platforms. Above the walking device is the working platform 2, which provides support for the rest of the device. The upper part of the working platform 2 is equipped with a cable storage device 3, a hook retrieval device 4, and a storage and transportation device 5. The cable storage device 3 is located at the head of the working platform 2, and its function is to store / supply different types of cables required for the underground roadway. It can be stored in rolls or other storage methods. In this embodiment, three types of cables are shown: cable number 1 301, cable number 2 302, and cable number 3 303. Behind the cable storage device 3, i.e., at the rear of the working platform 2, are the hook retrieval device 4 and the storage and transportation device 5 arranged at a certain angle. This angle is a calculated angle, allowing the hook retrieval device 4 to accurately retrieve the hook 5308 on the storage and transportation device 5.

[0029] like Figure 2As shown: The main function of the hook-grabbing device 4 is to accurately grasp the hook 5308 provided by the storage and transportation device 5. It mainly includes a multi-degree-of-freedom manipulator 41 and a hook-grabbing device 42. The multi-degree-of-freedom manipulator 41 includes a turntable base 4101, a lifting device 4102, a turntable drive 4103, a main shaft 4104, a turntable 4105, a gear ring 4106, a large arm 4107, hydraulic cylinder II 4108, a square arm 4109, hydraulic cylinder I 4110, a telescopic arm 4111, a rotary motor I 4112, and a rotary motor II 4113. The lowest point of the multi-degree-of-freedom manipulator 41 is the turntable base 4101. The turntable base 4101 contains the turntable lifting device 4102, which is fixedly connected to the turntable main shaft 4104 and can drive the turntable 4105 to rise / fall. The turntable 4105 contains the turntable drive 4103. The stage drive 4103 can drive the gear ring 4106 fixed inside the turntable 4105 to make the turntable 4105 rotate around the main shaft 4104. The turntable 4105 is mounted on the top of the turntable 4105. The turntable 4107 is connected to the turntable 4105 through the hydraulic cylinder II 4108, so that the turntable 4107 can perform pitching motion. The turntable 4107 is connected to the square arm 4109 through the hydraulic cylinder I 4110. The square arm 4109 can perform pitching motion relative to the turntable 4107 under the action of the hydraulic cylinder I 4110. The telescopic arm 4111 is located inside the square arm 4109 and can extend / retract relative to the square arm. The front end of the telescopic arm 4111 is hinged to two rotary motors, namely rotary motor I 4112 and rotary motor II 4113. Rotary motor I 4112 realizes horizontal rotation, and rotary motor II 4113 realizes longitudinal rotation.

[0030] like Figure 3 , Figure 4As shown: The hook gripping device 42 and the rotary motor II 4113 are hinged and located at the foremost end of the hook taking device 4. The hook gripping device 42 includes a support frame 4201, a support rod 4202, a support pin 4203, a sensor opening and closing device 4204, and a distance sensor 4205. The sensor opening and closing device 4204 includes a contact 420401, a spring 420402, and a sensor 420403. The main structure of the hook gripping device 42 is a support frame 4201. Three sets of support rods 4202 are arranged obliquely on the support frame 4201. Each set of support rods 4202 consists of two rods arranged opposite each other. A support pin 4203 is provided between each set of support rods 4202. The support pin 4203 is located at the end of the support rod 4202. The lowest set of support rods 4202 is equipped with a sensor opening and closing device 4204. The sensor opening and closing device 4204 includes a contact 420401, a spring 420402, and a sensor 420403. The two symmetrically arranged contacts 420401 are in contact under the action of the spring 420402. The sensor 420403 can control the extension and retraction of the spring 420402 to realize the contact and separation of the contacts 420401. The three arc-shaped supports 530801 of the hook 5308 can be placed in the support space formed by the three sets of support rods 4202 and support pins 4203 on the hook gripping device 42. At this time, the two contacts of the induction opener 4204 are closed to prevent the hook 5308 from falling off.

[0031] like Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown: The function of the storage and transportation device 5 is to store and transport hooks 5308. The storage and transportation device 5 includes a hook storage bin 51, a cable guide device 52, and a hook conveying device 53. The hook storage bin 51 includes a longitudinal plate 5101, a transverse plate 5102, and a pushing mechanism 5103. The cable guide device 52 includes a guide frame 5201, a rotating idler roller 5202, an adjusting idler roller 5203, and a long trough 5204. The hook conveying device 53 includes a conveying frame 5301, a conveying trough 5302, a lifting shaft 5303, a lifting chain 5304, a guide wheel 5305, a lifting drive 5306, a groove 5307, and hooks 5308. The hooks 5308 are provided with three arc-shaped supports 530801 and hook heads 530802. The hook storage bin 51 and the hook conveying device 53 are arranged in parallel and connected. The hook storage bin 51 is provided with a longitudinal plate 5101 and a transverse plate 5102. The longitudinal plate 5101 can hold a number of hooks 5308, and the transverse plate 5102 supports the hooks 5308. A pushing mechanism 5103 is provided on the outside of the hook storage bin, which can push the hooks 5308 horizontally.

[0032] The main structure of the hook conveying device 53 is a conveying frame 5301. The lower part of the conveying frame 5301 is connected side by side to the hook storage bin 51. A conveying groove 5302 is opened in the middle of the conveying frame 5301. The conveying groove 5302 serves as a vertical conveying guide channel for the hooks 5308. A lifting shaft 5303 and a lifting chain 5304 are arranged inside the conveying groove 5302. The lifting shaft 5303 is horizontally held on the lifting chain 5304, with one end suspended, for receiving the hooks 5308. It is located in the hook storage bin 51. The hook 5308 can be moved horizontally into the conveying groove 5302 and suspended on the lifting shaft 5303. Under the action of the lifting drive 5306, the lifting chain 5304 can be lifted vertically around the guide wheel 5305 located at the top of the conveying device 53, thereby realizing the lifting of the hook 5308. Three grooves 5307 are vertically distributed on both sides of the upper end of the conveying groove 5302 of the conveying frame 5301. The grooves 5307 are mainly used for positioning the hook 5308 and facilitating the hook gripping device 42 to grip the hook.

[0033] The cable guide device 52 is fixedly installed on the upper part of the hook conveyor 53 and is arranged at a right angle to the hook conveyor 53, so that the cable passing through the cable guide device 52 can pass through the arc-shaped support 530801 of the hook 5308. The cable guide device 52 includes a guide frame 5201, a rotating idler roller 5202, an adjusting idler roller 5203, and a long groove 5204. The rotating idler roller 5202 and the adjusting idler roller 5203 are arranged at intervals inside the cable guide frame 5201. In this example, three sets are arranged. The rotating idler roller 5202 can rotate relative to the guide frame 5201, which plays the role of rolling and transmitting the cable and reducing resistance. The adjusting idler roller 5203 can be vertically adjusted in the long groove 5204 on the guide frame 5201, thereby realizing the adjustment of its spacing relative to the rotating idler roller 5202. This adjustment is adjusted according to the thickness of the cable. The anchor net 6 is suspended on the coal wall of the underground roadway, and the cable is finally suspended on the anchor net 6 through the hook 5308. The hook head of the hook 5308 can be suspended on the grid of the anchor net 6.

[0034] Workflow:

[0035] An underground cable laying device enters the roadway where cables need to be laid via a traveling device 1. The cables are provided by a cable storage device 3. The number and type of cables can be designed as needed. In this example, there are 3 cables. One end of the cable is located on the cable storage device, and the other end is suspended and fixed on the anchor net or connected to the electrical equipment. The cable needs to pass between the rotating roller and the adjusting roller of the cable guiding device 52. The specific implementation process of the cable laying device is described below.

[0036] The hooks 5308 in the hook storage bin 51 are driven by a hydraulic cylinder or motor through a pushing mechanism 5103. This pushes the hooks, which are suspended side by side in the bin, horizontally a certain distance into the conveying groove 5302 of the hook conveying device 53. The hooks 5308 are suspended by a lifting shaft 5303 arranged in a groove through a hook head 530802. Under the action of the lifting drive 5306, the lifting shaft 5303 is pulled by the lifting chain 5304 to the upper part of the hook conveying device 53 until the three arc-shaped supports 530801 of the hooks 5308 are respectively located in the three grooves 5307 of the hook conveying device 53. At this time, the arc-shaped supports 530801 of the hooks 5308 also correspond to the three sets of spacing formed by the rotating roller 5202 and the adjusting roller 5203 of the cable guide device 52. The spacing between the rotating roller 5202 and the adjusting roller 5203 can be adjusted according to the thickness of the cable. This completes the transportation of the hooks 5308.

[0037] The multi-degree-of-freedom manipulator 41 of the hook-retrieving device 4 can rotate relative to the working platform 2 under the action of the turntable. The main arm and the square arm achieve pitch movement under the action of the hydraulic cylinder. The square extension can realize the length adjustment of the manipulator. Two rotary motors realize the rotational movement of the gripping device 42 in the horizontal and vertical planes. Through the combination of the above actions, the hook-retrieving device achieves precise hook picking / releasing. The hook-retrieving device 4 is driven by the above combination to make the hook gripping device 42 face the cable guide device 52. The hook-retrieving device 4 senses the position of the guide device 52 through the distance sensor 4205 to avoid misalignment or non-alignment. At this time, the support space formed by the three sets of support rods 4202 and the support pin 4203 on the hook gripping device 42 is placed into the three arc-shaped supports 530801 of the hook 5308, and the contact of the induction opening and closing device 4204 is closed to prevent the hook 5308 from falling off. At this time, the cable is located in the triangular space formed by the hook and the hook-retrieving device 42. The hook-grabbing device 42 continues to move upward, causing the hook 5308 to disengage from the lifting shaft 5303 and move along the cable arrangement device until it reaches a suitable position on the anchor net 6. The distance sensor 4205 senses the distance between the hook-grabbing device and the anchor net, and finally hooks the hook head 530808 onto the anchor net. At this time, the contact of the induction opener 4204 is opened and the hook-grabbing device 42 is moved downward, completing the arrangement of one hook and proceeding to the arrangement of the next hook. The above process is repeated to realize the arrangement of the cable in the tunnel.

[0038] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device for laying underground cables, characterized in that: Includes a cable storage device (3), a hook retrieval device (4), and a storage and transportation device (5) mounted on a mobile work platform (2). Along the working direction of the work platform (2), the cable storage device (3) is in front, the hook retrieval device (4) and the storage and transportation device (5) are behind, and the storage and transportation device (5) is close to the cable hanging on the side of the alley. The storage and transportation device (5) includes a hook storage bin (51), a cable guide device (52), and a hook conveying device (53). The hook conveying device (53) is used to output the hooks (5308) in the hook storage bin (51) one by one. Several arc-shaped supports (530801) are distributed from bottom to top on one side of the hook (5308), and a hook head (530802) is provided on the top of the opposite side. The cable guide device (52) is located between the cable storage device (3) and the outlet of the hook conveying device (53). The cable pulled out from the cable storage device (3) passes through the guide channel corresponding to each other on the cable guide device (52) and then passes through the outlet of the hook conveying device (53). When the hook conveying device (53) outputs the hook (5308), the arc-shaped supports (530801) of the hook (5308) lift the cable guided and arranged by the cable guide device (52). The hook-grabbing device (4) is used to grab the hook (5308) supplied by the storage and transportation device (5) and hang it on the anchor net (6) of the roadway side. It includes a multi-degree-of-freedom manipulator (41) and a hook-grabbing device (42). The fixed end of the multi-degree-of-freedom manipulator (41) is connected to the working platform (2), and the motion end is connected to the hook-grabbing device (42). The hook-grabbing device (42) has a groove for accommodating the hook (5308). The groove is distributed with support pins (4203) for supporting each arc-shaped lift (530801) of the hook (5308) and induction opener (4204) of the lowest arc-shaped lift (530801) of the hook lock.

2. The underground cable laying device according to claim 1, characterized in that: The main structure of the hook conveying device (53) is a conveying frame (5301). The lower part of the conveying frame (5301) is connected side by side with the hook storage bin (51). A conveying groove (5302) is opened in the middle of the conveying frame (5301). The conveying groove (5302) serves as a vertical conveying guide channel for the hooks (5308). A lifting shaft (5303) and a lifting chain (5304) are arranged inside the conveying groove (5302). The lifting shaft (5303) is horizontally held on the lifting chain (5304) with one end suspended in the air to receive the hooks (5308). The hooks (5308) located in the hook storage bin (51) are... 8) It can be moved horizontally into the conveying trough (5302) and suspended on the lifting shaft (5303). The lifting chain (5304) can be lifted vertically around the guide wheel (5305) located at the top of the conveying device (53) under the action of the lifting drive (5306), thereby realizing the lifting of the hook (5308). On both sides of the upper end of the conveying trough (5302) of the conveying frame (5301), there are grooves (5307) that correspond to the arc-shaped support (530801) of the hook (5308). The grooves (5307) are used for positioning the hook (5308) and to facilitate the hook gripping device (42) to grip the hook.

3. The underground cable laying device according to claim 2, characterized in that: The hook storage compartment (51) is provided with a vertical plate (5101) and a horizontal plate (5102). The vertical plate (5101) can hold a number of hooks (5308), and the horizontal plate (5102) supports the hooks (5308). The hook head (530802) of the hook (5308) is hung on the vertical plate (5101), and the arc-shaped support (530801) part is backed against the horizontal plate (5102). A pushing mechanism (5103) is provided on the outside of the hook storage compartment (51). The pushing mechanism (5103) pushes the hooks (5308) one by one into the conveying frame (5301).

4. A downhole cable laying device according to claim 2 or 3, characterized in that: The hook gripping device (42) includes a support frame (4201), support rods (4202), support pins (4203), a sensor opening / closing device (4204), and a distance sensor (4205). The main structure of the hook gripping device (42) is the support frame (4201), on which n sets of support rods (4202) are arranged at an angle, where n is equal to the number of arc-shaped supports (530801) of the hook (5308). Each set of support rods (4202) consists of two rods arranged opposite to each other. 02) Each of them is provided with a support pin (4203). The support pin (4203) is located at the end of the support rod (4202). The sensor opening and closing device (4204) is arranged on the support rod (4202) at the bottom. The several arc-shaped supports (530801) of the hook (5308) can be placed in the support space formed by the n sets of support rods (4202) and support pin (4203) on the hook gripping device (42). At this time, the sensor opening and closing device (4204) closes to prevent the hook (5308) from falling off.

5. The underground cable laying device according to claim 4, characterized in that: The aforementioned inductive opener (4204) includes a contact (420401), a spring (420402), and a sensor (420403). The two symmetrically arranged contacts (420401) are in contact under the action of the spring (420402), and the sensor (420403) can control the extension and retraction of the spring (420402) to realize the contact and separation of the contacts (420401).

6. The underground cable laying device according to claim 2, characterized in that: The cable guide device (52) is fixedly installed on the upper part of the hook conveying device (53) and is arranged at a right angle to the hook conveying device (53), so that the cable passing through the cable guide device (52) can pass through the arc-shaped support (530801) of the hook (5308); the cable guide device (52) includes a guide frame (5201), a rotating idler (5202), and an adjusting idler (5203). The rotating idler (5202) and the adjusting idler (5203) are arranged at intervals inside the cable guide frame (5201). The rotating idler (5202) can rotate relative to the guide frame (5201) and play the role of rolling and transmitting the cable. The adjusting idler (5203) can be vertically adjusted in the long groove (5204) on the guide frame (5201), thereby realizing the adjustment of its distance relative to the rotating idler (5202).

7. The underground cable laying device according to claim 1, characterized in that: The multi-degree-of-freedom manipulator (41) includes, from the connection end with the work platform (2) to the connection end with the hook gripping device (42), a lifting joint, a horizontal rotation joint, two overlapping lifting arms, a telescopic arm, and two overlapping rotation joints in a vertical direction.

8. The underground cable laying device according to claim 7, characterized in that: The lowest part of the multi-degree-of-freedom manipulator (41) is a turntable base (4101). Inside the turntable base (4101) are a turntable lifting device (4102) and a turntable spindle (4104). The turntable lifting device (4102) and the turntable spindle (4104) are fixedly connected and can drive the turntable (4105) to rise / fall. Inside the turntable (4105) is a turntable drive (4103). The turntable drive (4103) can drive a fixed gear ring (4106) inside the turntable (4105), causing the turntable (4105) to move in a circular motion around the spindle (4104). A large arm (4107) is mounted above the turntable (4105). The large arm (4107) is connected to the turntable (4105) via a hydraulic cylinder II (4108), enabling... The boom (4107) can perform pitching motion; the boom (4107) is connected to the square arm (4109) through the hydraulic cylinder I (4110). The square arm (4109) can perform pitching motion relative to the boom (4107) under the action of the hydraulic cylinder I (4110). The telescopic arm (4111) is located inside the square arm (4109) and can extend / retract relative to the square arm. The front end of the telescopic arm (4111) is hinged with two rotary motors, namely rotary motor I (4112) and rotary motor II (4113). Rotary motor I (4112) realizes horizontal rotation, and rotary motor II (4113) realizes longitudinal rotation. The hook gripping device (42) and rotary motor II (4113) are hinged and located at the front end of the hook taking device (4).

9. The underground cable laying device according to claim 1, characterized in that: The lower part of the work platform (2) is a tracked walking device (1).

Images