Cable laying equipment and method

Abstract

The invention belongs to the technical field of cable laying engineering, and particularly relates to a cable laying device and method.The cable laying device comprises a cable drum for winding a cable, the outer surface of the cable wound by the cable drum is provided with three material pressing rubber sleeves distributed in an annular array, one side of the cable drum is provided with a shrinking mechanism connected with the material pressing rubber sleeves, and the shrinking mechanism is connected with the material pressing rubber sleeves. An expansion mechanism is arranged in the material pressing rubber sleeve, and a wire pulling mechanism is arranged on the other side of the cable drum. According to the cable laying equipment and method, a transmission motor works to control three transmission gears to rotate under the transmission of a belt pulley assembly, and a rack rod meshed with the transmission gears drives a connecting guide block on one side of the rack rod to linearly move on the inner surface of a fixed supporting sliding block; therefore, the material pressing rubber sleeve moves downwards in the moving groove along with the connecting rod so as to keep material pressing treatment on the outer surface of the cable.

Description

Technical Field

[0001] The present invention relates to the technical field of cable laying engineering, and in particular to a cable laying device and method. Background Art

[0002] Cable laying is a very important part in the power system. The wires used in the power system mainly include overhead bare wires, busbars, rubber-sheathed cables, overhead insulated cables, branch cables, electromagnetic wires, and electrical equipment wires and cables for power equipment. Therefore, a cable drum is needed to reel the cables. During the laying process, the cable needs to be pulled along the laying direction of the cable, causing the cable drum to rotate and unwind.

[0003] The existing cable drum reels all have fixed guide frames to guide the cables during the unwinding process. However, the cables are unwound during laying, so that the radius of the reeled cables on the outer surface of the cable drum gradually decreases, causing the reeled cables to become loose, resulting in reduced laying accuracy or cable entanglement. In addition, depending on the laying environment, the laying height of the cables should be adjusted to achieve smooth laying of the cables. However, the existing cable laying height adjustment is performed by pressing down or raising the cables with tools at a later stage. Therefore, the present invention solves the shortcomings of the above technical problems. Summary of the Invention

[0004] Based on the above-mentioned existing technical problems, the present invention proposes a cable laying device and method.

[0005] The present invention proposes a cable laying device, including a cable drum for winding up the cable, wherein the outer surface of the cable wound up by the cable drum is provided with three pressing rubber sleeves distributed in a ring array, a contraction mechanism connected to the pressing rubber sleeve is provided on one side of the cable drum, an expansion mechanism is provided inside the pressing rubber sleeve, and a wire pulling mechanism is provided on the other side of the cable drum.

[0006] The shrinking mechanism drives the three pressing rubber sleeves to move synchronously toward the center of the cable drum, so that the pressing rubber sleeves maintain the pressing treatment on the outer surface of the cable as the cable is unwound.

[0007] The expansion mechanism is arranged inside the three pressing rubber sleeves, and expands the radius of the rubber sleeves when the contraction mechanism cannot contract, so that the pressing rubber sleeves continue to press the cables.

[0008] The pulling mechanism grabs the unwound cable, pulls the cable during the unwinding process, and changes the laying height of the cable according to the laying environment.

[0009] Preferably, the retraction mechanism includes an L-shaped connecting rod fixedly connected to the side surface of the pressing rubber sleeve, and the surface of the disc on one side of the cable drum is provided with movable grooves distributed in a circular array, and the outer surface of the connecting rod is slidably connected to the inner wall of the movable groove.

[0010] Through the above technical solution, the cable is unwound during laying, so that the radius of the wound cable on the outer surface of the cable drum gradually decreases. In order to avoid the loosening of the wound cable, which may lead to reduced laying accuracy or cable entanglement, as the cable is unwound, the pressing rubber sleeve moves downward in the movable groove with the connecting rod to maintain the pressing treatment on the outer surface of the cable.

[0011] Preferably, the retraction mechanism also includes a rack rod fixedly connected to one side surface of the connecting rod, one side surface of the rack rod is fixedly connected to a connecting guide block, and one side disc surface of the cable drum is fixedly connected to a supporting slider distributed in a circular array, and the inner wall of the slide groove of the supporting slider is slidably engaged with the outer surface of the connecting guide block at the corresponding position.

[0012] Through the above technical solution, in order to support the pressing rubber sleeve and control the simultaneous movement of the three pressing rubber sleeves, the connecting guide block on one side of the rack rod moves linearly on the inner surface of the fixed supporting slider, thereby realizing the shrinkage of the pressing rubber sleeve.

[0013] Preferably, the retraction mechanism also includes a transmission gear rotatably connected to the surface of a disc on one side of the cable drum through a connecting shaft, the transmission gear is engaged with the rack rod at the corresponding position, the outer surfaces of the connecting shafts of the three transmission gears are transmission-connected with a pulley assembly, the surface of the disc on one side of the cable drum is fixedly connected to a transmission motor through a mounting block, and the outer surface of the output shaft of the transmission motor drives one of the transmission gears to rotate through a coupling.

[0014] Through the above technical solution, in order to achieve the synchronous linear movement of the three rack rods, the transmission motor installed through the mounting block is operated to control the rotation of the three transmission gears under the transmission of the pulley assembly, and then the rack rod engaged with it can drive the pressing rubber sleeve to shrink.

[0015] Preferably, the expansion mechanism includes a mounting rod fixedly connected to the surface of one side of the connecting rod, a mounting plate in the shape of a five-pointed star fixedly sleeved on the middle outer surface of the mounting rod, and movable grooves are provided on the five corner surfaces of the mounting plate. The inner wall of the movable groove is slidably connected with a telescopic rod, and the outer surface of one end of the telescopic rod is fixedly connected to an expansion plate, and the outer surface of the expansion plate is fixedly connected to the inner surface of the pressing rubber sleeve.

[0016] Through the above technical solution, when the cable is almost unwound, the connecting rod can no longer move in the movable groove. At this time, the cable needs to be pressed. In order to expand the radius of the pressing sleeve, the five telescopic rods can be controlled to slide synchronously in the movable slide groove and extend outward, so that the pressing sleeve can be expanded through the expansion plate, so that the radius of the pressing sleeve increases and the cable is pressed.

[0017] Preferably, the expansion mechanism also includes a gear plate rotatably sleeved on the outer surface of the mounting rod, the outer surface of the gear plate is distributed in a ring array and is provided with arc-shaped track grooves, the inner wall of the track groove is slidably sleeved with a drive rod, and one end of the drive rod is fixedly connected to one side surface of the telescopic rod.

[0018] Through the above technical solution, in order to drive the five telescopic rods to extend and retract synchronously, the gear plate is controlled to rotate at a uniform speed on the outer surface of the mounting rod, so that the driving rod moves along the track of the track groove, and then drives the telescopic rod to extend outward, thereby realizing the expansion of the pressing rubber sleeve by the expansion plate.

[0019] Preferably, the expansion mechanism further comprises a driving gear rotatably connected to one side surface of the mounting plate, the driving gear meshing with the gear plate, and a driving motor for driving the driving gear to rotate is fixedly mounted on the other side surface of the mounting plate.

[0020] Through the above technical solution, in order to drive the gear plate to rotate, the driving motor is operated to drive the driving gear to rotate, thereby rotating the gear plate meshing with the driving motor to achieve the extension and retraction of the telescopic rod.

[0021] Preferably, the wire pulling mechanism includes a bionic manipulator arranged on one side of the cable wound by the cable drum, and drag-reducing balls are distributed on the surface of the bionic manipulator. A threaded sleeve is fixedly connected to the wrist of the bionic manipulator, and an adjusting screw is threadedly sleeved on the inner wall of the threaded sleeve.

[0022] Through the above technical solution, in order to pull the unwound cable and avoid its entanglement, the bionic manipulator grabs the cable, so that the cable slides from the palm of the bionic manipulator when unwinding, thereby limiting the range of movement of the cable unwinding and controlling the laying speed at the same time. The drag-reducing balls on the palm surface of the bionic manipulator can reduce the resistance of the cable sliding. At the same time, in order to make the bionic manipulator follow the unwinding direction and avoid cable deflection and damage to the wire core, when the cable is unwound, as the adjusting screw rotates back and forth, the threaded sleeve drives the bionic manipulator to move back and forth horizontally, so that it adapts to the unwinding direction.

[0023] Preferably, the pulling mechanism also includes a rotating ring rotatably connected to the surface of the disc on the other side of the cable drum through a bearing, one end of the adjusting screw is rotatably connected to the surface of the rotating ring, the surface of the rotating ring is fixedly connected to an adjusting motor that drives the adjusting screw to rotate, one side surface of the rotating ring is fixedly connected to a bevel gear ring, the center surface of the disc on the other side of the cable drum is fixedly connected to a servo motor, the outer surface of the output shaft of the servo motor is fixedly connected to an active bevel gear meshing with the bevel gear ring through a coupling, the outer surface of the housing of the servo motor and the center surface of one side disc of the cable drum are respectively fixedly connected to winding rollers, and the outer surfaces of the two winding rollers are rotatably connected to support frames.

[0024] Through the above technical solution, in order to adjust the height of the cable during laying so that it adapts to the environment during laying, the adjusting screw is connected to the surface of the rotating ring, and the active bevel gear is driven to rotate by the servo motor, so that the bevel gear ring engaged with it drives the rotating ring to rotate, so that the bionic manipulator connected to one side of the threaded sleeve can achieve height adjustment on the arc, and then the laying height of the cable can be adjusted.

[0025] The present invention provides a method for laying a cable laying device, comprising the following steps:

[0026] S1. The cable drum is mounted on the surface of the support frame through a winding roller. When the cable is unwinding, the bionic manipulator grabs the cable, so that the cable slides through the drag-reducing balls in the palm of the bionic manipulator when unwinding.

[0027] S2. Changing the laying height of the cable according to the laying environment. At this time, the servo motor drives the active bevel gear to rotate, and the meshing bevel gear ring drives the rotating ring to rotate, so that the bionic manipulator connected to one side of the threaded sleeve can achieve height adjustment on the arc, thereby adjusting the laying height of the cable;

[0028] S3. As the cable is unwound, the adjusting motor drives the adjusting screw to rotate back and forth, so that the threaded sleeve can move back and forth horizontally on the outer surface of the adjusting screw, thereby making the pulled cable adapt to the unwinding direction;

[0029] S4. The cable is unwound during laying, so that the radius of the cable wound on the outer surface of the cable drum gradually decreases. At this time, the transmission motor installed through the mounting block works, so that it controls the rotation of the three transmission gears under the drive of the pulley assembly. The rack rod engaged with it drives the connecting guide block on one side to move linearly on the inner surface of the fixed support slider, so that the pressing rubber sleeve keeps pressing the outer surface of the cable as the connecting rod moves downward in the moving groove, thereby preventing the cable from being slack and tangled.

[0030] S5. When the cable is almost unwound, the connecting rod can no longer move in the moving groove. At this time, the cable needs to be pressed. The driving motor is driven to drive the driving gear to rotate, so that the driving rod moves along the track of the track groove, thereby driving the telescopic rod to extend outward. The five telescopic rods slide synchronously in the moving slide groove and extend outward, so that the pressing rubber sleeve can be expanded by the expansion plate, so that the radius of the pressing rubber sleeve is increased and the cable is kept pressed, thereby realizing the tangle-free laying of the cable.

[0031] The beneficial effects of the present invention are:

[0032] 1. By setting up a retraction mechanism, the outer surface of the rolled cable with a gradually decreasing radius can be pressed. During the adjustment process, the transmission motor installed by the mounting block works to control the rotation of the three transmission gears under the drive of the pulley assembly. The rack rod engaged with it drives the connecting guide block on one side to move linearly on the inner surface of the fixed support slider, so that the pressing rubber sleeve keeps pressing the outer surface of the cable as the connecting rod moves downward in the moving groove, thereby avoiding the cable from being slack and entangled.

[0033] 2. By setting up an expansion mechanism, the outer surface of the cable that has been quickly unwound can be kept pressed. During the adjustment process, the driving motor is driven to drive the driving gear to rotate, so that the driving rod moves along the track of the track groove, and then drives the telescopic rod to extend outward. The five telescopic rods slide synchronously in the moving slide groove and extend outward, so that the pressing rubber sleeve can be expanded through the expansion plate, so that the radius of the pressing rubber sleeve is increased and the cable is kept pressed, thereby realizing the tangle-free laying of the cable.

[0034] 3. By setting up a pulling mechanism, the cable can be pulled during the unwinding process, and the laying height of the cable can be changed according to the laying environment. During the adjustment process, the servo motor drives the active bevel gear to rotate, and the bevel gear ring engaged with it drives the rotating ring to rotate, so that the bionic manipulator connected to one side of the threaded sleeve can achieve height adjustment on the arc, and then adjust the laying height of the cable. By adjusting the motor to drive the adjusting screw to rotate back and forth, the threaded sleeve can be moved back and forth horizontally on the outer surface of the adjusting screw, so that the pulled cable can adapt to the unwinding direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a cable laying device and method proposed in the present invention;

[0036] Figure 2 A perspective view of the cable drum structure of a cable laying device and method proposed in the present invention;

[0037] Figure 3A three-dimensional diagram of the rack rod structure of a cable laying device and method proposed in the present invention;

[0038] Figure 4 A three-dimensional diagram of the supporting slider structure of a cable laying device and method proposed in the present invention;

[0039] Figure 5 A three-dimensional diagram of the connecting guide block structure of a cable laying device and method proposed in the present invention;

[0040] Figure 6 A perspective view of the gear plate structure of a cable laying device and method proposed in the present invention;

[0041] Figure 7 A three-dimensional diagram of the mounting plate structure of a cable laying device and method proposed in the present invention;

[0042] Figure 8 A three-dimensional diagram of the bevel gear ring structure of a cable laying device and method proposed in the present invention;

[0043] Figure 9 A three-dimensional diagram of the adjusting screw structure of the cable laying device and method proposed in the present invention;

[0044] Figure 10 This is a three-dimensional diagram of the drag-reducing ball structure of the cable laying equipment and method proposed by the present invention.

[0045] In the figure: 1. Cable drum; 2. Pressing rubber sleeve; 3. Retraction mechanism; 31. Connecting rod; 32. Moving groove; 33. Rack rod; 34. Connecting guide block; 35. Support slider; 36. Transmission gear; 37. Pulley assembly; 38. Transmission motor; 4. Expansion mechanism; 41. Mounting rod; 42. Mounting plate; 43. Moving slide; 44. Telescopic rod; 45. Expansion plate; 46. Gear plate; 47. Track groove; 48. Driving rod; 49. Driving gear; 50. Driving motor; 6. Wire pulling mechanism; 61. Bionic manipulator; 62. Drag reduction ball; 63. Threaded sleeve; 64. Adjusting screw; 65. Rotating ring; 66. Adjusting motor; 67. Bevel gear ring; 68. Servo motor; 69. Active bevel gear; 70. Winding roller; 71. Support frame. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0047] Reference Figures 1-10A cable laying device includes a cable drum 1 for winding up the cable, and the outer surface of the cable wound by the cable drum 1 is provided with three pressing rubber sleeves 2 distributed in a ring array, a contraction mechanism 3 connected to the pressing rubber sleeve 2 is provided on one side of the cable drum 1, an expansion mechanism 4 is provided inside the pressing rubber sleeve 2, and a wire pulling mechanism 6 is provided on the other side of the cable drum 1.

[0048] The retraction mechanism 3 drives the three pressing rubber sleeves 2 to move synchronously toward the center of the cable drum 1, so that the pressing rubber sleeves 2 maintain pressing processing on the outer surface of the cable as the cable is unwound.

[0049] The cable is unwound during laying, so that the radius of the wound cable on the outer surface of the cable drum 1 gradually decreases. In order to prevent the wound cable from loosening and causing a decrease in laying accuracy or cable entanglement, the retraction mechanism 3 includes an L-shaped connecting rod 31 fixedly connected to the one side surface of the pressing rubber sleeve 2. The disc surface on one side of the cable drum 1 is distributed in an annular array with movable grooves 32. The outer surface of the connecting rod 31 is slidably connected to the inner wall of the movable groove 32. As the cable is unwound, the pressing rubber sleeve 2 moves downward in the movable groove 32 with the connecting rod 31 to maintain the pressing treatment on the outer surface of the cable.

[0050] In order to support the pressing rubber sleeve 2 and control the simultaneous movement of the three pressing rubber sleeves 2, the contraction mechanism 3 also includes a rack rod 33 fixedly connected to the side surface of the connecting rod 31, and a connecting guide block 34 is fixedly connected to the side surface of the rack rod 33. The disc surface on one side of the cable drum 1 is distributed in an annular array and fixedly connected to the supporting slider 35. The inner wall of the slide groove of the supporting slider 35 is slidably engaged with the outer surface of the connecting guide block 34 at the corresponding position. As the connecting guide block 34 on one side of the rack rod 33 moves linearly on the inner surface of the fixed supporting slider 35, the contraction of the pressing rubber sleeve 2 can be achieved.

[0051] In order to realize the synchronous linear movement of the three rack rods 33, the retraction mechanism 3 also includes a transmission gear 36 which is rotatably connected to the surface of a disc on one side of the cable drum 1 through a connecting shaft. The transmission gear 36 is engaged with the rack rod 33 at the corresponding position. The outer surface of the connecting shaft of the three transmission gears 36 is connected to the pulley assembly 37 for transmission. The surface of the disc on one side of the cable drum 1 is fixedly connected to a transmission motor 38 through a mounting block. The outer surface of the output shaft of the transmission motor 38 drives one of the transmission gears 36 to rotate through a coupling. The transmission motor 38 installed through the mounting block works to control the rotation of the three transmission gears 36 under the drive of the pulley assembly 37, and then the rack rod 33 engaged therewith can drive the pressing rubber sleeve 2 to shrink.

[0052] By setting up the retraction mechanism 3, the outer surface of the rolled cable with a gradually decreasing radius can be pressed. During the adjustment process, the transmission motor 38 installed by the mounting block works to control the rotation of the three transmission gears 36 under the drive of the pulley assembly 37. The rack rod 33 engaged with it drives the connecting guide block 34 on one side to move linearly on the inner surface of the fixed support slider 35, so that the pressing rubber sleeve 2 keeps pressing the outer surface of the cable as the connecting rod 31 moves downward in the movable groove 32, thereby avoiding the cable from being loosened and entangled.

[0053] The expansion mechanism 4 is arranged inside the three pressing rubber sleeves 2, and expands the radius of the rubber sleeves when the contraction mechanism 3 cannot contract, so that the pressing rubber sleeves 2 continue to maintain the pressing process on the cable.

[0054] When the cable is almost unwound, the connecting rod 31 can no longer move in the movable groove 32. At this time, the cable pressing treatment must be maintained. In order to achieve the radius expansion of the pressing rubber sleeve 2, the expansion mechanism 4 includes a mounting rod 41 fixedly connected to the surface of one side of the connecting rod 31. The middle outer surface of the mounting rod 41 is fixedly sleeved with a mounting plate 42 in the shape of a five-pointed star. The five corner surfaces of the mounting plate 42 are provided with a movable slide groove 43. The inner wall of the movable slide groove 43 is slidably clamped with a telescopic rod 44. The outer surface of one end of the telescopic rod 44 is fixedly connected with an expansion plate 45. The outer surface of the expansion plate 45 is fixedly connected to the inner surface of the pressing rubber sleeve 2, and the five telescopic rods 44 are controlled to slide synchronously in the movable slide groove 43 and extend outward, so that the pressing rubber sleeve 2 can be expanded by the expansion plate 45, so that the radius of the pressing rubber sleeve 2 is increased and the cable pressing treatment is maintained.

[0055] In order to drive the five telescopic rods 44 to extend and retract synchronously, the expansion mechanism 4 also includes a gear plate 46 rotatably sleeved on the outer surface of the mounting rod 41. The outer surface of the gear plate 46 is distributed in a ring array and is penetrated by an arc-shaped track groove 47. The inner wall of the track groove 47 is slidably sleeved with a driving rod 48. One end of the driving rod 48 is fixedly connected to the side surface of the telescopic rod 44. The gear plate 46 is controlled to rotate at a uniform speed on the outer surface of the mounting rod 41, so that the driving rod 48 moves along the track of the track groove 47, and then drives the telescopic rod 44 to extend outward, thereby realizing the expansion of the pressing rubber sleeve 2 by the expansion plate 45.

[0056] In order to drive the rotation of the gear 49 and the disk 46, the expansion mechanism 4 also includes a driving gear 49 rotatably connected to the surface of one side of the mounting plate 42. The driving gear 49 is engaged with the gear disk 46. The other side surface of the mounting plate 42 is fixedly mounted with a driving motor 50 that drives the driving gear 49 to rotate. When the driving motor 50 works, it drives the driving gear 49 to rotate, thereby rotating the gear disk 46 engaged therewith to realize the extension and retraction of the telescopic rod 44.

[0057] By setting up the expansion mechanism 4, the outer surface of the cable that has been quickly unwound can be kept pressed. During the adjustment process, the driving motor 50 is driven to drive the driving gear 49 to rotate, so that the driving rod 48 moves along the track of the track groove 47, and then drives the telescopic rod 44 to extend outward. The five telescopic rods 44 slide synchronously in the moving slide groove 43 and extend outward, so that the pressing rubber sleeve 2 can be expanded by the expansion plate 45, so that the radius of the pressing rubber sleeve 2 is increased and the pressing treatment of the cable is maintained, thereby realizing the entanglement-free laying of the cable.

[0058] The pulling mechanism 6 grabs the unwound cable, pulls the cable during the unwinding process, and changes the laying height of the cable according to the laying environment.

[0059] In order to pull the unwound cable and avoid its entanglement, the pulling mechanism 6 includes a bionic manipulator 61 arranged on the side of the cable wound by the cable drum 1, and drag-reducing balls 62 are distributed on the surface of the bionic manipulator 61. A threaded sleeve 63 is fixedly connected to the wrist of the bionic manipulator 61, and an adjusting screw 64 is threaded on the inner wall of the threaded sleeve 63. The bionic manipulator 61 grabs the cable so that the cable slides from the palm of the bionic manipulator 61 when unwinding, thereby limiting the range of movement of the cable unwinding and controlling the laying speed at the same time. The drag-reducing balls 62 on the palm surface of the bionic manipulator 61 can reduce the resistance of the cable sliding. At the same time, in order to make the bionic manipulator 61 follow the unwinding direction and avoid cable deflection and damage to the wire core, when the cable is unwound, as the adjusting screw 64 rotates back and forth, the threaded sleeve 63 drives the bionic manipulator 61 to move back and forth horizontally, so that it adapts to the unwinding direction.

[0060] In order to adjust the height of the cable during laying and adapt it to the environment during laying, the pulling mechanism 6 also includes a rotating ring 65 rotatably connected to the surface of the disc on the other side of the cable drum 1 through a bearing, one end of the adjusting screw 64 is rotatably connected to the surface of the rotating ring 65, and the surface of the rotating ring 65 is fixedly connected to an adjusting motor 66 that drives the adjusting screw 64 to rotate. A bevel gear ring 67 is fixedly connected to the surface of one side of the rotating ring 65, and a servo motor 68 is fixedly connected to the central surface of the disc on the other side of the cable drum 1. The outer surface of the output shaft of the servo motor 68 is fixedly connected to a gear with a gear connected to the servo motor 68 through a coupling. The bevel gear ring 67 is engaged with the active bevel gear 69, and the outer surface of the shell of the servo motor 68 and the central surface of the disk on one side of the cable drum 1 are respectively fixedly connected with the winding roller 70. The outer surfaces of the two winding rollers 70 are rotatably connected with the support frame 71. The adjusting screw 64 is connected to the surface of the rotating ring 65. The active bevel gear 69 is driven to rotate by the servo motor 68, and the bevel gear ring 67 engaged with it drives the rotating ring 65 to rotate, so that the bionic manipulator 61 connected to one side of the threaded sleeve 63 can achieve height adjustment on the arc, and then the laying height of the cable can be adjusted.

[0061] By setting up a pulling mechanism 6, the cable is pulled during the unwinding process and the laying height of the cable is changed according to the laying environment. During the adjustment process, the servo motor 68 drives the active bevel gear 69 to rotate, so that the bevel gear ring 67 engaged with it drives the rotating ring 65 to rotate, so that the bionic manipulator 61 connected to one side of the threaded sleeve 63 can achieve height adjustment on the arc, and then adjust the laying height of the cable. By driving the adjusting screw 64 to rotate back and forth by the adjusting motor 66, the threaded sleeve 63 can be moved back and forth horizontally on the outer surface of the adjusting screw 64, so that the pulled cable can adapt to the unwinding direction.

[0062] Reference Figures 1-10 A method for laying a cable laying device comprises the following steps:

[0063] S1. The cable drum 1 is mounted on the surface of the support frame 71 via the winding roller 70. When the cable drum 1 is unwinding, the bionic manipulator 61 grabs the cable, so that the cable slides from the palm of the bionic manipulator 61 through the drag-reducing ball 62 during unwinding.

[0064] S2. The laying height of the cable is changed according to the laying environment. At this time, the servo motor 68 drives the active bevel gear 69 to rotate, so that the bevel gear ring 67 engaged with it drives the rotating ring 65 to rotate, so that the bionic manipulator 61 connected to one side of the threaded sleeve 63 can achieve height adjustment on the arc, thereby adjusting the laying height of the cable;

[0065] S3. As the cable is unwound, the adjusting motor 66 drives the adjusting screw 64 to rotate back and forth, so that the threaded sleeve 63 can move back and forth horizontally on the outer surface of the adjusting screw 64, thereby making the pulled cable adapt to the unwinding direction;

[0066] S4. The cable is unwound during laying, so that the radius of the cable wound on the outer surface of the cable drum 1 gradually decreases. At this time, the transmission motor 38 installed through the mounting block works, so that it controls the rotation of the three transmission gears 36 under the drive of the pulley assembly 37. Then the rack rod 33 engaged therewith drives the connecting guide block 34 on one side thereof to move linearly on the inner surface of the fixed support slider 35, so that the pressing rubber sleeve 2 keeps pressing the outer surface of the cable as the connecting rod 31 moves downward in the moving groove 32, thereby preventing the cable from becoming loose and tangled.

[0067] S5. When the cable is almost unwound, the connecting rod 31 can no longer move in the movable groove 32. At this time, the cable needs to be pressed. The driving motor 50 is driven to drive the driving gear 49 to rotate, so that the driving rod 48 moves along the track of the track groove 47, and then drives the telescopic rod 44 to extend outward. The five telescopic rods 44 slide synchronously in the movable slide groove 43 and extend outward, so that the pressing rubber sleeve 2 can be expanded by the expansion plate 45, so that the radius of the pressing rubber sleeve 2 is increased and the cable is pressed, thereby realizing the entanglement-free laying of the cable.

[0068] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A cable laying device, comprising a cable drum (1) for winding a cable, characterized in that: The outer surface of the cable rolled up by the cable drum (1) is provided with three pressing rubber sleeves (2) distributed in a ring array, one side of the cable drum (1) is provided with a contraction mechanism (3) connected to the pressing rubber sleeve (2), the interior of the pressing rubber sleeve (2) is provided with an expansion mechanism (4), and the other side of the cable drum (1) is provided with a wire pulling mechanism (6); The retracting mechanism (3) drives the three pressing rubber sleeves (2) to move synchronously toward the center of the cable drum (1), so that the pressing rubber sleeves (2) maintain the pressing treatment on the outer surface of the cable as the cable is unwound; The expansion mechanism (4) is arranged inside the three pressing rubber sleeves (2), and expands the radius of the rubber sleeve when the contraction mechanism (3) cannot contract, so that the pressing rubber sleeve (2) continues to maintain the pressing process on the cable; The wire pulling mechanism (6) grabs the unwinding cable, pulls the cable during the unwinding process, and changes the laying height of the cable according to the laying environment.

2. A cable laying device according to claim 1, characterized in that: The retracting mechanism (3) comprises an L-shaped connecting rod (31) fixedly connected to the surface of one side of the pressing rubber sleeve (2); a circular disk surface on one side of the cable drum (1) is provided with movable grooves (32) distributed in a circular array; and the outer surface of the connecting rod (31) is slidably connected to the inner wall of the movable groove (32).

3. A cable laying device according to claim 2, characterized in that: The retracting mechanism (3) further comprises a rack rod (33) fixedly connected to a side surface of the connecting rod (31); a connecting guide block (34) is fixedly connected to a side surface of the rack rod (33); a supporting slider (35) is fixedly connected to a side disk surface of the cable drum (1) in an annular array; an inner wall of a slide groove of the supporting slider (35) is slidably engaged with an outer surface of the connecting guide block (34) at a corresponding position.

4. A cable laying device according to claim 3, characterized in that: The retracting mechanism (3) also includes a transmission gear (36) rotatably connected to the surface of a disk on one side of the cable drum (1) through a connecting shaft, the transmission gear (36) meshes with the rack rod (33) at a corresponding position, the outer surfaces of the connecting shafts of the three transmission gears (36) are transmission-connected with a pulley assembly (37), the surface of the disk on one side of the cable drum (1) is fixedly connected to a transmission motor (38) through a mounting block, and the outer surface of the output shaft of the transmission motor (38) drives one of the transmission gears (36) to rotate through a coupling.

5. A cable laying device according to claim 4, characterized in that: The expansion mechanism (4) comprises a mounting rod (41) fixedly connected to a side surface of the connecting rod (31); a mounting plate (42) in the shape of a five-pointed star is fixedly sleeved on the middle outer surface of the mounting rod (41); movable slide grooves (43) are provided on the five corner surfaces of the mounting plate (42); a telescopic rod (44) is slidably engaged with the inner wall of the movable slide groove (43); an expansion plate (45) is fixedly connected to the outer surface of one end of the telescopic rod (44); and the outer surface of the expansion plate (45) is fixedly connected to the inner surface of the pressing rubber sleeve (2).

6. A cable laying device according to claim 5, characterized in that: The expansion mechanism (4) further comprises a gear plate (46) rotatably sleeved on the outer surface of the mounting rod (41); the outer surface of the gear plate (46) is provided with arc-shaped track grooves (47) distributed in a ring array, and the inner wall of the track groove (47) is slidably sleeved with a driving rod (48); one end of the driving rod (48) is fixedly connected to a side surface of the telescopic rod (44).

7. A cable laying device according to claim 6, characterized in that: The expansion mechanism (4) also includes a driving gear (49) rotatably connected to a surface of one side of the mounting plate (42), the driving gear (49) meshing with the gear plate (46), and a driving motor (50) for driving the driving gear (49) to rotate is fixedly mounted on the other surface of the mounting plate (42).

8. A cable laying device according to claim 7, characterized in that: The wire pulling mechanism (6) comprises a bionic manipulator (61) arranged on one side of the cable wound by the cable drum (1), the surface of the bionic manipulator (61) is provided with drag-reducing balls (62), a threaded sleeve (63) is fixedly connected to the wrist of the bionic manipulator (61), and an adjusting screw (64) is threadedly sleeved on the inner wall of the threaded sleeve (63).

9. A cable laying device according to claim 8, characterized in that: The wire pulling mechanism (6) also includes a rotating ring (65) rotatably connected to the surface of the other side disk of the cable drum (1) through a bearing, one end of the adjusting screw (64) is rotatably connected to the surface of the rotating ring (65), the surface of the rotating ring (65) is fixedly connected to an adjusting motor (66) for driving the adjusting screw (64) to rotate, one side surface of the rotating ring (65) is fixedly connected to a bevel gear ring (67), the central surface of the other side disk of the cable drum (1) is fixedly connected to a servo motor (68), the outer surface of the output shaft of the servo motor (68) is fixedly connected to an active bevel gear (69) meshing with the bevel gear ring (67) through a coupling, the outer surface of the shell of the servo motor (68) and the central surface of one side disk of the cable drum (1) are respectively fixedly connected to winding rollers (70), and the outer surfaces of the two winding rollers (70) are rotatably connected to a support frame (71).

10. A laying method applied to the cable laying equipment according to claim 9, comprising the following steps: S1, the cable drum (1) is mounted on the surface of the support frame (71) via a reeling roller (70), and when the cable drum is unwinding, the cable is grabbed by the bionic manipulator (61), so that the cable slides from the palm of the bionic manipulator (61) through the drag-reducing ball (62) when unwinding; S2. The laying height of the cable is changed according to the laying environment. At this time, the driving bevel gear (69) is driven to rotate by the servo motor (68), so that the bevel gear ring (67) meshing with it drives the rotating ring (65) to rotate, so that the bionic manipulator (61) connected to one side of the threaded sleeve (63) can adjust the height on the arc, thereby adjusting the laying height of the cable; S3, as the cable is unwound, the adjusting motor (66) drives the adjusting screw (64) to reciprocate, so that the threaded sleeve (63) can reciprocate horizontally on the outer surface of the adjusting screw (64), thereby making the pulled cable adapt to the unwinding direction; S4. The cable is unwound during laying, so that the radius of the cable wound on the outer surface of the cable drum (1) gradually decreases. At this time, the transmission motor (38) installed by the mounting block works to control the three transmission gears (36) to rotate under the drive of the pulley assembly (37). Then, the rack rod (33) meshing therewith drives the connecting guide block (34) on one side thereof to move linearly on the inner surface of the fixed supporting slider (35), so that the pressing rubber sleeve (2) keeps pressing the outer surface of the cable as the connecting rod (31) moves downward in the moving groove (32), thereby preventing the cable from being loosened and entangled; S5. When the cable is almost unwound, the connecting rod (31) can no longer move in the moving groove (32). At this time, the cable needs to be pressed. The driving motor (50) is driven to drive the driving gear (49) to rotate, so that the driving rod (48) moves along the track of the track groove (47), thereby driving the telescopic rod (44) to extend outward. The five telescopic rods (44) slide synchronously in the moving slide groove (43) and extend outward. The pressing rubber sleeve (2) can be expanded by the expansion plate (45), so that the radius of the pressing rubber sleeve (2) is increased and the cable is pressed, thereby achieving the cable entanglement-free laying.

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