Heavy cable automatic traction butt joint system and use method thereof

Abstract

The invention discloses a heavy cable automatic traction docking system and a use method thereof, and belongs to the technical field of mechanical engineering, the heavy cable automatic traction docking system comprises a visual traction system, an unfolding and folding system, an output end switching module, a receiving end switching module and a plugging mechanism, the visual traction system calculates the deviation between a current position and a target position, and guides the unfolding and folding system to move; the output end switching module arrives at a designated position, the plugging mechanism guides and provides a plugging force to realize the opposite plugging of the output end switching module and the receiving end switching module, and the simultaneous plugging of a plurality of connectors is realized; the unfolding and folding system realizes the laying and the recovery of the cable through the unfolding and folding movement of a folding arm; the output end switching module is mounted at the end part of the tail end support arm; the receiving end switching module is fixed on an electric equipment vehicle, and the plugging mechanism guides and provides plugging force. And the cable laying time among a plurality of transportation units of the equipment is greatly shortened, and the maneuverability of the equipment is finally improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical engineering, in particular to a heavy-duty cable automatic traction and docking system and a use method thereof. Background Art

[0002] Large-scale highly mobile electronic equipment (radar, electronic countermeasure system, etc.) has the characteristics of high power consumption and high mobility requirements. For the convenience of transportation, it is often divided into multiple transportation units such as electric vehicles and power supply vehicles. The power supply vehicle transmits power to the electric vehicle through cables. Its power supply cables are usually large in number, large in outer diameter, high in hardness, and heavy in weight. During the installation and withdrawal process, the laying, connector docking, and recovery of cables between the power supply vehicle (power station, distribution equipment) and the power equipment are important links that affect the mobility of the equipment.

[0003] At present, electric cable reels are widely used in the process of cable laying and recycling to improve the efficiency of cable connection. Although the electric cable reel solution can improve the efficiency of cable laying and reduce the time of equipment installation to a certain extent, there are several problems to be solved in the application process, especially for the laying and connection of heavy multi-beam cables: During the cable laying process, the cable drum can only play an auxiliary role, and manpower is still needed to drag the cable into place. However, the dragging of heavy cables requires more personnel, and it is even difficult to move them into place by manpower. After the cables are in place, the connectors can only be docked manually for each cable individually. It is laborious to manually dock heavy cables, and it is very time-consuming to serially dock multiple cables, which makes it difficult to meet the time requirements for the installation and withdrawal of high-mobility equipment. When installing large-scale, highly mobile electronic equipment, human resources are often tight, and it is necessary to reduce the number of operators as much as possible, increase the degree of automation, and minimize personnel requirements.

[0004] Therefore, it is necessary to design a heavy-duty cable automatic traction and docking system to meet the needs of rapid installation and withdrawal of large and highly mobile electronic equipment. Summary of the invention

[0005] In view of the characteristics of large-scale highly mobile electronic equipment with a large number of cables and heavy weight between multiple transport units, in order to solve the problems of automatic laying, docking and recovery of cables during the installation and withdrawal process, the present invention provides an automatic traction and docking system for heavy cables of highly mobile electronic equipment and a method of using the system, which can realize the automatic traction, laying, automatic docking and recovery of heavy-duty multi-bundle cables, solve the problems existing in the traditional electric cable reel solution in the cable laying process, greatly improve the efficiency of cable laying, docking and recovery, increase the degree of automation, reduce the number of operators, and improve the mobility of equipment.

[0006] A heavy-duty cable automatic traction and docking system comprises a visual traction system, an extension and retraction system, an output-end adapter module, a receiving-end adapter module and a plug-in mechanism, wherein the visual traction system calculates the deviation between the current position and the target position, guides the extension and retraction system to move, and enables the output-end adapter module to reach the specified position, and guides and provides plug-in and pull-out force through the plug-in and pull-out mechanism to achieve plug-in between the output-end adapter module and the receiving-end adapter module, thereby achieving simultaneous plug-in and pull-out of several connectors; the extension and retraction system comprises a folding arm, and the cable is installed inside the folding arm, and the laying and recovery of the cable are achieved through the expansion and folding movement of the folding arm; the output-end adapter module is installed at the end of the terminal support arm; the receiving-end adapter module is fixed on an electric equipment vehicle and is equipped with a receiving-end connector; the plug-in and pull-out mechanism guides and provides plug-in and pull-out force to achieve plug-in between the output-end adapter module and the receiving-end adapter module, thereby introducing the current at the power supply device end into the electric equipment.

[0007] Furthermore, the visual traction system includes a light source target and a binocular camera, wherein the light source target is installed at the receiving end adapter module to mark the relative position of the receiving end, and the binocular camera is installed at the output end adapter module to identify the target position.

[0008] Furthermore, the binocular camera communicates with the servo master via the TCP protocol.

[0009] Furthermore, the deployment and retraction system includes a fixed seat, arm section 1, arm section 2, arm section 3, an electric push rod universal support wheel, electric push rod 1, electric push rod 2, and electric push rod 3; the arm section is controlled by the corresponding electric push rod, arm section 1 can be controlled by the electric push rod to rotate around the rotating axis of the root fixed seat, arm section 2 can rotate around the rotating axis between arm section 1 and arm section 2, and arm section 3 can rotate around the rotating axis between arm section 2 and arm section 3. The folding arm can be freely folded and unfolded in two-dimensional space.

[0010] Furthermore, the end support arm is equipped with a universal support wheel controlled by an electric push rod, and the height of the end support arm from the ground is adjusted by the extension length of the electric push rod.

[0011] Furthermore, the electric push rod is a servo electric push rod, which controls the output end adapter module to a specified position in three-dimensional space.

[0012] Furthermore, the output-end adapter module includes an adapter plate, an output-end connector and a guide shaft, and the receiving-end adapter module includes a corresponding adapter plate and a receiving-end connector.

[0013] Furthermore, the plug-in mechanism includes a motor reducer and a slotted cam, the cam opening grabs the guide shaft of the output end adapter module and moves along the slot to provide plug-in force for the connector, and the output end adapter module follows to complete automatic plug-in.

[0014] A method for using a heavy-duty cable automatic traction and docking system: the heavy-duty cable automatic traction and docking system comprises a visual traction system, an exhibition and collection system, an output end adapter module, a receiving end adapter module, and a plug-in and pull-out mechanism. (1) In the transport state, the folding arm is stored on one side of the power supply equipment vehicle, and the receiving end adapter module is fixed on the power consumption equipment vehicle; (2) During installation, the power supply equipment vehicle and the power consumption equipment vehicle are parked as required, the traction docking system is started, and the binocular camera calculates the extension and retraction amount of each push rod in the deployment and retraction system according to the relative position relationship with the light source target, thereby guiding the folding arm section to rotate relatively and the universal support wheel to rise and fall longitudinally, and the output end adapter module is towed to the receiving end adapter module of the power consumption equipment vehicle and fine-tuned. After alignment, the motor reducer of the automatic plug-in mechanism drives the grooved cam to rotate, and the cam opening grabs the guide shaft of the output end adapter module and moves along the slot to provide plug-in force for the connector. The output end adapter module follows and completes automatic plug-in, completing the installation to the working state. (3) When withdrawing, the motor reducer of the automatic plug-in and unplug mechanism drives the grooved cam to rotate in the opposite direction, providing plug-in and unplug force for the connector separation. The guide shaft moves in the opposite direction along the slot, and the output end adapter module follows to complete automatic separation. Then the deployment system is folded back to the side of the power supply equipment vehicle and withdrawn to the transportation state.

[0015] The present invention aims at the rapid laying, docking and recovery of heavy-duty multi-bundle cables for highly mobile electronic equipment, and proposes a heavy-duty cable automatic traction and docking system. Using visual guidance, the cables are automatically and quickly extended to the power-consuming equipment, and the multi-plugs of the power supply equipment and the power-consuming equipment are automatically and quickly interconnected through the plug-in mechanism, which greatly shortens the cable laying time between multiple transport units of the equipment, and ultimately improves the mobility of the equipment. This patent can make up for some of the shortcomings of the traditional electric cable reel solution, improve the degree of automation, reduce the number of operators and improve reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the overall structural diagram of a heavy-duty cable automatic traction and docking system of the present invention; In the figure: 1- visual traction system, 2- exhibition and collection system, 3- output end adapter module, 4- receiving end adapter module, 5- plug-in mechanism; Figure 2 This is the structure diagram of the visual traction system; In the figure: 11-binocular camera, 12-light source target; Figure 3 To display the system structure diagram; In the figure: 21-fixed seat, 22-arm section 1, 23-arm section 2, 24-arm section 3, 25-electric push rod universal support wheel, 26-electric push rod 1, 27-electric push rod 2, 28-electric push rod 3; Figure 4 This is the structure diagram of the output end transfer module; In the figure: 31-adapter plate, 32-output terminal connector, 33-guide shaft; Figure 5 This is the structure diagram of the receiving end transfer module; In the figure: 41-adapter board, 42-receiving end connector; Figure 6 It is the structural diagram of the plug-in mechanism; In the figure: 51-motor reducer, 52-groove cam; Figure 7 Heavy-duty cable automatic traction and docking system transportation and collection status diagram; Figure 8 Working status diagram of heavy-duty cable automatic traction and docking system; Fig. 9 Schematic diagram of automatic simultaneous plugging and unplugging of multiple connectors; DETAILED DESCRIPTION

[0017] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings.

[0018] The following is an example description with reference to the accompanying drawings. This implementation is carried out on the premise of the scheme of the present invention, and a detailed implementation method and specific implementation process are given, but this cannot be used to limit the protection scope of the present invention.

[0019] The present invention provides a heavy-duty cable automatic traction and docking system, such as Figure 1 As shown, it includes a visual traction system 1, an unfolding and collecting system 2, an output end adapter module 3, a receiving end adapter module 4 and a plug-in mechanism 5. The visual traction system 1 calculates the deviation between the current position and the target position, guides the unfolding and collecting system 2 to move, so that the output end adapter module 3 reaches the specified position, and the plug-in mechanism 5 guides and provides plug-in force to achieve the output end adapter module 3 and the receiving end adapter module 4 to achieve simultaneous plug-in and pull-out of several connectors; the unfolding and collecting system 1 includes a folding arm, and the cable is installed inside the folding arm. The laying and recovery of the cable are achieved by the unfolding and folding movement of the folding arm; the output end adapter module 3 is installed at the end of the terminal support arm; as shown Figure 5 As shown, the receiving end adapter module 4 is fixed on the power-consuming equipment vehicle and is installed with a receiving end connector 42; the plug-in mechanism 5 guides and provides plug-in force to achieve the plug-in between the output end adapter module 3 and the receiving end adapter module 4, thereby introducing the current at the power supply device end into the power-consuming equipment.

[0020] like Figure 2As shown, the visual traction system 1 includes a light source target 12 and a binocular camera 11. The light source target 12 is installed at the receiving end adapter module 4 to mark the relative position of the receiving end, and the binocular camera 11 is installed at the output end adapter module 3 to identify the target position. The binocular camera 11 communicates with the servo master through the TCP protocol.

[0021] like Figure 3 As shown, the unfolding and stowing system 2 includes a fixing seat 21, an arm section 1 22, an arm section 2 23, an arm section 3 24, an electric push rod universal support wheel 25, an electric push rod 1 26, an electric push rod 2 27, and an electric push rod 3 28; the arm sections are controlled by corresponding electric push rods, the arm section 1 26 can be controlled by the electric push rod to rotate around the rotating shaft of the root fixing seat, the arm section 2 27 can rotate around the rotating shaft between the arm sections 1 26 and 2 27, and the arm section 3 28 can rotate around the rotating shaft between the arm sections 2 27 and 3 28, and the folding arm can be freely folded and unfolded in a two-dimensional space.

[0022] The end support arm is equipped with a universal support wheel 25 controlled by an electric push rod, and the height of the end support arm from the ground is adjusted by the extension length of the electric push rod. The electric push rod is a servo electric push rod, which controls the output end adapter module 3 to a specified position in three-dimensional space.

[0023] like Figure 4 As shown, the output end adapter module 3 includes an adapter plate, an output end connector 32 and a guide shaft 33, and the receiving end adapter module includes a corresponding adapter plate and a receiving end connector.

[0024] like Figure 5 , 6 As shown in FIG. 9 , the plug-in mechanism includes a motor reducer 51 and a grooved cam 52. The cam 42 opens to grab the guide shaft 33 of the output-end adapter module 3 and moves along the slot to provide a plug-in force for the connectors. The output-end adapter module 3 follows and automatically completes the plug-in.

[0025] This embodiment adopts visual guidance to control the servo electric push rod to pull the folding arm to move to the specified position, thereby realizing the automatic transportation and storage of heavy-duty multi-bundle power supply cables, and the automatic and rapid laying of cables during the racking and removal process; this embodiment adopts an automatic plug-in and unplug mechanism to realize the automatic docking and separation of multiple connectors of power supply equipment and power-consuming equipment at the same time.

[0026] The present invention provides a heavy-duty cable automatic traction and docking system, which is composed of a visual traction system 1, a display and collection system 2, an output end adapter module 3, a receiving end adapter module 4, a plug-in mechanism 5, etc., and its structure is as shown in the attached figure. Figure 1 shown.

[0027] Shipping status In the transport state, the folding arm is stored on the side of the power supply equipment vehicle. Figure 5 The receiving end adapter module is fixed on the electric equipment vehicle.

[0028] Erection The detailed installation steps are as follows: During operation, the power supply equipment vehicle and the power consumption equipment vehicle are parked as required, and the operator starts the automatic traction and docking system. The binocular camera 11 calculates the extension and retraction amount of each push rod 26 / 27 / 28 in the deployment and retraction system according to the relative position relationship with the light source target 12, thereby guiding the folding arm sections 22 / 23 / 24 to rotate relative to each other and the support wheel 25 to rise and fall longitudinally, and the output end adapter module 3 is towed to the receiving end adapter module 4 of the power consumption equipment vehicle and fine-tuned and aligned. After alignment, the motor reducer 51 of the automatic plug-in mechanism 5 drives the grooved cam 52 to rotate, and the cam 52 opens to grab the guide shaft 33 of the output end adapter module 3 and moves along the slot, providing plug-in and pull-out force for the connector 32 / 42, and the output end adapter module 3 follows to complete the automatic plug-in. After the installation is completed to the working state, as shown in the attached figure. Figure 6 Shown Withdraw The withdrawal process is the opposite of the erection process. First, the motor reducer 51 of the automatic plug-in mechanism 5 drives the grooved cam 52 to rotate in the opposite direction, providing plug-in force for the connector 32 / 42 to separate. The guide shaft 33 moves in the opposite direction along the slot, and the output end adapter module 3 follows to complete the automatic separation. Then the deployment system 2 is automatically folded and retracted to the side of the power supply equipment vehicle. It is withdrawn to the transportation state.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. It should be pointed out that, for those skilled in the art, without departing from the principle of the present invention, several improvements and changes can be made, and these improvements and changes should also be regarded as the protection scope of the appended claims of the present invention.

Claims

1. A heavy-duty cable automatic traction and docking system, characterized in that: It includes a visual traction system, an unfolding and retracting system, an output-end adapter module, a receiving-end adapter module and a plug-in mechanism. The visual traction system calculates the deviation between the current position and the target position, guides the unfolding and retracting system to move, and makes the output-end adapter module reach the specified position. The plug-in mechanism guides and provides plug-in force to achieve the plug-in of the output-end adapter module and the receiving-end adapter module, and achieves simultaneous plug-in and pull-out of several connectors. The unfolding and folding movement of the folding arm realizes the laying and recovery of the cable. The output-end adapter module is installed at the end of the terminal support arm. The receiving-end adapter module is fixed on the electric equipment vehicle and is equipped with a receiving-end connector. The plug-in mechanism guides and provides plug-in force to enable the output-end adapter module to be plugged in with the receiving-end adapter module, thereby directing the current from the power supply device end to the power-consuming device.

2. The heavy-duty cable automatic traction and docking system according to claim 1 is characterized in that: The visual traction system includes a light source target and a binocular camera. The light source target is installed at the receiving end adapter module to mark the relative position of the receiving end, and the binocular camera is installed at the output end adapter module to identify the target position.

3. The heavy-duty cable automatic traction and docking system according to claim 2 is characterized in that: The binocular camera communicates with the servo master via the TCP protocol.

4. The heavy-duty cable automatic traction and docking system according to claim 1 is characterized in that: The unfolding and stowing system includes a fixed seat, arm section 1, arm section 2, arm section 3, an electric push rod universal support wheel, electric push rod 1, electric push rod 2, and electric push rod 3; the arm section is controlled by the corresponding electric push rod, and the arm section 1 can be controlled by the electric push rod to rotate around the rotating shaft of the root fixed seat, the arm section 2 can rotate around the rotating shaft between the arm section 1 and the arm section 2, and the arm section 3 can rotate around the rotating shaft between the arm section 2 and the arm section 3. The folding arm can be freely folded and unfolded in a two-dimensional space.

5. The heavy-duty cable automatic traction and docking system according to claim 1 is characterized in that: The end support arm is equipped with a universal support wheel controlled by an electric push rod, and the height of the end support arm from the ground is adjusted by the extension length of the electric push rod.

6. The heavy-duty cable automatic traction and docking system according to claim 4 or 5, characterized in that: The electric push rod is a servo electric push rod, which controls the output end adapter module to a specified position in three-dimensional space.

7. The heavy-duty cable automatic traction and docking system according to claim 1, characterized in that: The output end adapter module includes an adapter plate, an output end connector and a guide shaft, and the receiving end adapter module includes a corresponding adapter plate and a receiving end connector.

8. The heavy-duty cable automatic traction and docking system according to claim 1, characterized in that: The plug-in mechanism includes a motor reducer and a slotted cam. The cam opening grabs the guide shaft of the output end adapter module and moves along the slot to provide plug-in force for the connector. The output end adapter module follows and completes automatic plug-in.

9. A method for using a heavy-duty cable automatic traction and docking system: characterized in that: The heavy-duty cable automatic traction and docking system includes a visual traction system, an unfolding and receiving system, an output end adapter module, a receiving end adapter module, and a plug-in and pull-out mechanism. (1) In the transport state, the folding arm is stored on one side of the power supply equipment vehicle, and the receiving end adapter module is fixed on the power consumption equipment vehicle; (2) During installation, the power supply equipment vehicle and the power consumption equipment vehicle are parked as required, the traction docking system is started, and the binocular camera calculates the extension and retraction amount of each push rod in the deployment and retraction system according to the relative position relationship with the light source target, thereby guiding the folding arm section to rotate relatively and the universal support wheel to rise and fall longitudinally, and the output end adapter module is towed to the receiving end adapter module of the power consumption equipment vehicle and fine-tuned. After alignment, the motor reducer of the automatic plug-in mechanism drives the grooved cam to rotate, and the cam opening grabs the guide shaft of the output end adapter module and moves along the slot to provide plug-in force for the connector. The output end adapter module follows and completes automatic plug-in, completing the installation to the working state. (3) When withdrawing, the motor reducer of the automatic plug-in and unplug mechanism drives the grooved cam to rotate in the opposite direction, providing plug-in and unplug force for the connector separation. The guide shaft moves in the opposite direction along the slot, and the output end adapter module follows to complete automatic separation. Then the deployment system is folded back to the side of the power supply equipment vehicle and withdrawn to the transportation state.

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