Cable laying tractor and cable laying system

Abstract

The invention belongs to the technical field of cable laying, and particularly relates to a cable laying traction machine and a cable laying system.The cable laying traction machine comprises a base, a sliding installation frame arranged on the base, a plurality of traction wheel sets arranged on the sliding installation frame, a plurality of first cable guiding pieces arranged on the sliding installation frame and a control system; certain back tension can be provided through the cable laying traction machine, the cables are prevented from falling off from the drum wheel cable laying machine, the cable laying traction machine can transversely move and adjust the positions, entering or leaving the drum wheel cable laying machine, of the cables so that the cables can be aligned, in addition, the cable laying traction machine can transversely move and adjust the positions, leaving or entering the drum wheel cable laying machine, of the cables through the cable fair-lead, and the cable laying efficiency is improved. Cables are aligned, and cross winding of the cables on a drum wheel cable laying machine is avoided; the cable laying system adopts a frequency converter and a computer system, real-time calculation and analysis are carried out through an industrial computer, mutual matching, real-time adjustment and automatic operation of operation of the cable laying system with ship motion, sea conditions and submarine topography are achieved, and the operation efficiency of cable laying is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of cable laying, and in particular relates to a cable laying traction machine and a cable laying system. Background Art

[0002] Modern cable laying operations have put forward higher requirements for the laying and burial of cables. For example, the laying path of cables is specified, and cables cannot be circled or suspended on the seabed. Therefore, it is necessary to control the laying path, tension, touchdown point, etc. of the cables, so that the laying speed of the cables matches the speed and direction of the ship, so that the cables can be laid safely and effectively on the seabed. An automatic cable laying machine system is required to control the laying and recovery of cables in accordance with the speed and direction of the ship, the current and sea conditions, the seabed topography, etc., so that the cables can be laid to the predetermined location with appropriate tension and speed.

[0003] The current cable laying equipment mainly includes drum cable laying machines and tire cable laying tractors. Among them, the current tire cable laying tractors are connected to the tires on both sides through an intermediate rotating shaft and a scissors frame structure. The linkage of the scissors frame will cause one set of tire pairs to open while the other tire pair is closed, which is not conducive to the passage of longer and larger joints. In addition, during the cable laying process, it is difficult to adjust the cable entrance and exit positions, cable laying speed and cable net tension in time according to actual conditions, which can easily cause cable damage and affect work efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a cable laying traction machine and a cable laying system, which can control the entry and exit positions, input and output tensions and retraction and release speeds of cables, thereby improving the operating efficiency.

[0005] The present invention provides a cable laying traction machine, comprising: A base, wherein a linear drive is provided on the base, and a plurality of force measuring pins are provided at the connection between the base and the carrier; A sliding mounting frame is arranged on the base, and the linear drive is used to adjust the position of the sliding mounting frame on the base laterally; A plurality of traction wheel groups are arranged on the sliding mounting frame, wherein the traction wheel groups include at least one pair of two driving wheels arranged up and down for traction of cables; A plurality of cable guide members 1 are arranged on the sliding mounting frame, wherein the cable guide members 1 are located at the ends of the traction wheel group; and A control system, wherein the control system includes a controller, wherein the controller is communicatively connected with a force measuring shaft pin 1 and a traction wheel group, and the control system controls the speed of the traction cable of the traction wheel group according to information fed back by the force measuring shaft pin 1, and controls a linear drive 1 to adjust a sliding mounting frame.

[0006] Optionally, the traction wheel group also includes: a motor 1 connected to the driving wheel, a mechanical arm for installing the motor 1, and a linear drive 2 hinged to the upper and lower mechanical arms, the mechanical arm is hinged to the sliding mounting frame, and the linear drive 2 is used to drive the two mechanical arms to open and close, and control the squeezing force of the two driving wheels on the cable.

[0007] Optionally, the second linear drive is a hydraulic cylinder, an electric cylinder or a pneumatic cylinder; when the second linear drive is a hydraulic cylinder, the cable laying traction machine also includes an accumulator, which is connected to the rod chamber of the hydraulic cylinder through an air circuit, and the rodless chamber of the hydraulic cylinder is connected to the high-pressure oil circuit. The gas pressure inside the accumulator causes the oil cylinder to retract, so that the two driving wheels arranged upper and lower are automatically closed, thereby continuously squeezing the cable.

[0008] Optionally, the cable guide member 1 includes two relatively arranged limit members 1 and a linear driver 3 connected between the two limit members 1, the two limit members 1 are used to limit the swing of the passing cable, and the limit member 1 is hinged to the sliding mounting frame.

[0009] Optionally, the cable laying traction machine further comprises a plurality of cable guide members 2, wherein the cable guide members 2 are fixed on the sliding mounting frame, and the limiting portion of the cable guide members 2 is located between the two driving wheels of the traction wheel group.

[0010] Optionally, the cable guide member 2 includes two relatively arranged limit members 2, which are used to limit the cable within the traction wheel group. The outer side of the limit member 2 is connected to a connecting rod, and the connecting rod is screwed with a support rod. The support rod is fixed on the sliding mounting frame, and the connecting rod is fastened to the support rod by bolts and nuts.

[0011] A cable laying system comprises the cable laying traction machine, a drum cable laying machine and a fairlead as described above, wherein the drum cable laying machine and the fairlead are controlled by a control system.

[0012] Optionally, the drum cable laying machine includes a mounting support, a plurality of motor twos, a plurality of motor threes, a rotating drum, a plurality of sliding cable arrangement components and a rotating wheel. The motor two and the motor three are fixed on the mounting support and are drivingly connected to the inner ring of the rotating drum. The plurality of sliding cable arrangement components are arranged on the outer periphery of the rotating drum. The motor three is drivingly connected to the rotating wheel. The circumference of the rotating wheel undulates and bends along the axial direction. The axial end surfaces of the rotating wheel can push the sliding cable arrangement components to reciprocate along the axial direction of the rotating drum.

[0013] Optionally, the portion of the sliding cable arrangement member extending out of the rotating drum is provided with two driven wheels, and the driven wheels are in rolling engagement with both axial end surfaces of the rotating wheel.

[0014] Optionally, the motor 2 and the motor 3 are communicatively connected to a control system.

[0015] The beneficial effect of the present invention is that the cable laying traction machine provided by the present invention always clamps the cable through a plurality of traction wheel groups fixed on the sliding mounting frame, and enables the cable to be continuously output forward, and ensures the linear input and output of the cable through the cable guide member 1, and adjusts the tension of the cable input and output by setting different numbers of traction wheel groups or working different numbers of traction wheel groups; in the field of submarine cable laying, when the cable is at a certain output speed, due to the large fluctuation of the seabed, a plurality of force measuring shaft pins 1 installed at the connection of the base will detect the change of force, in order to make the cable better contact the seabed without suspension and excessive bending, the control system controls the movement speed of the traction wheel group according to the information fed back by the force measuring shaft pin 1, and then adjusts the speed of the cable input and output; through the action of the linear drive 1 installed on the base, the sliding mounting frame is moved laterally, so that the sliding mounting frame can adjust its position perpendicular to the cable output direction, so as to control the entry and exit position of the cable to adapt to the swaying of the carrier ship on the water surface, so that the laid cable is not easy to deviate from the preset path, and the time for adjusting the cable position is reduced, thereby improving the working efficiency; The cable pulling machine of the present invention can provide a certain back tension to prevent the cable from falling off the drum cable laying machine, and can move laterally to adjust the position where the cable enters or leaves the drum cable laying machine to align the cables. In addition, the cable guide can move laterally to adjust the position where the cable leaves or enters the drum cable laying machine to align the cables and avoid cross-entanglement in the drum cable laying machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the three-dimensional structure of the cable laying traction machine provided by the present invention; Figure 2 A schematic diagram of the back structure of the cable laying traction machine provided by the present invention; Figure 3 for Figure 2 AA section view; Figure 4 A schematic diagram of the three-dimensional structure of the cabling system provided by the present invention; Figure 5 A schematic diagram of the three-dimensional structure of the drum cable laying machine provided by the present invention; Figure 6 A cross-sectional view of the drum cable laying machine provided by the present invention; Figure 7 A partial exploded view of the drum cable laying machine provided by the present invention; Figure 8 This is a working principle diagram of the control system provided by the present invention.

[0017] In the figure: 10, cable traction machine; 11, base; 111, linear drive 1; 112, force measuring shaft pin 1; 12, sliding mounting frame; 13, traction wheel group; 131, driving wheel; 132, motor 1; 133, mechanical arm; 134, linear drive 2; 14, cable guide 1; 141, limiter 1; 142, linear drive 3; 15, cable guide 2; 151, connecting rod; 152, support rod; 16, measuring wheel; 161, cantilever; 162, linear drive 4; 20, drum cable laying machine; 21, mounting support; 22, motor 2; 221, gear box 1; 23, motor 3; 231, gear box 2; 24, drum; 25, sliding cable arrangement member; 26, rotating wheel; 27, force measuring shaft pin 2; 30, cable guide; 40, cable. DETAILED DESCRIPTION

[0018] like Figure 1-3 As shown, an embodiment of the present invention provides a cable traction machine 10, including: a base 11, a sliding mounting frame 12 arranged on the base 11, a plurality of traction wheel groups 13 arranged on the sliding mounting frame 12, a plurality of cable guides 14 arranged on the sliding mounting frame 12 and a control system, a linear driver 111 is provided on the base 11, and a plurality of force measuring pins 112 are provided at the connection between the base 11 and the carrier; the linear driver 111 is used for laterally adjusting the position of the sliding mounting frame 12 on the base 11; the traction wheel group 13 includes at least one pair of two driving wheels 131 arranged up and down, which are used for pulling cables 40; the cable guide 14 is located at the end of the traction wheel group 13; the control system includes a controller, which is in communication connection with the force measuring pin 112 and the traction wheel group 13, and the control system controls the speed of the traction wheel group 13 pulling the cable 40 according to the information fed back by the force measuring pin 112, and controls the linear driver 111 to adjust the sliding mounting frame 12.

[0019] Compared with the prior art, the cable laying traction machine 10 provided by the present invention always clamps the cable 40 through a plurality of traction wheel groups 13 fixed on the sliding mounting frame 12, and enables the cable 40 to be continuously output forward, and ensures the straight input and output of the cable 40 through the cable guide 14, and adjusts the input and output tension of the cable 40 by setting different numbers of traction wheel groups 13 or different numbers of traction wheel groups 13 working; in the field of laying submarine cables 40, when the cable 40 is at a certain output speed, due to the large fluctuation of the seabed, a plurality of force measuring shaft pins 112 installed at the connection of the base 11 will detect the change of force, so as to make The cable 40 contacts the seabed better without suspension and excessive bending. The control system controls the movement speed of the traction wheel group 13 according to the information fed back by the force measuring shaft pin 112, thereby adjusting the input and output speed of the cable 40; through the action of the linear drive 111 installed on the base 11, the sliding mounting frame 12 is moved laterally, so that the sliding mounting frame 12 can adjust the position perpendicular to the output direction of the cable 40, thereby being able to control the entry and exit positions of the cable 40 to adapt to the swaying of the carrier ship on the water surface, so that the laid cable 40 is not easy to deviate from the preset path, reducing the time for adjusting the position of the cable 40, thereby improving the working efficiency.

[0020] In this embodiment, the traction wheel group 13 also includes: a motor 132 connected to the driving wheel 131, a mechanical arm 133 for installing the motor 132, and a linear driver 134 hinged to the upper and lower mechanical arms 133, the mechanical arms 133 are hinged to the sliding mounting frame 12, and the linear driver 134 is used to drive the two mechanical arms 133 to open and close, and control the squeezing force of the two driving wheels 131 on the cable 40.

[0021] Specifically, the two robotic arms 133 are distributed up and down and symmetrically hinged on the sliding mounting frame 12, the two motors 132 are fixed to the robotic arms 133 by screws, and the robotic arms 133 are provided with through holes through which the output shafts of the motors pass, and the two ends of the linear drive 111 are hinged to the two robotic arms 133, respectively. The opening and closing of the two robotic arms 133 are controlled by the action of the linear drive 111, so that the two driving wheels 131 contact the cable 40, or separate from the cable 40. When encountering a longer and larger joint or device, the spacing between the two individual driving wheels 131 can be adjusted so that the two driving wheels 131 can pull the joint or device through smoothly.

[0022] In this embodiment, the driving wheel 131 is a rubber tire, so that there is no direct hard contact with the cable 40 during the cable laying process, and the cable 40 is fully protected.

[0023] In this embodiment, the linear drive 2 134 is a hydraulic cylinder, an electric cylinder or a gas cylinder; when the linear drive 2 134 is a hydraulic cylinder, the cable laying traction machine 10 also includes an accumulator, which is connected to the rod chamber of the hydraulic cylinder through an air circuit, and the rodless chamber of the hydraulic cylinder is connected to the high-pressure oil circuit. The gas pressure inside the accumulator causes the oil cylinder to retract, so that the two driving wheels 131 arranged upper and lower are automatically closed, thereby continuously squeezing the cable 40.

[0024] Specifically, the mechanical arm 133 is driven by the hydraulic power of the linear drive 134, and the spring pressure of the gas in the accumulator provides continuous squeezing, so that the drive wheel 131 always clamps the cable 40. When a large object passes by, the drive wheel 131 is actively squeezed to open outward. After the large object passes, it is actively closed and clamped. Adjusting the hydraulic pressure of the linear drive 134 on the mechanical arm 133 can change the squeezing force of the traction wheel group 13 on the cable 40, thereby adjusting the pulling force applied to the cable 40 by a single tire group.

[0025] In this embodiment, the cable guide member 14 includes two relatively arranged limit members 141 and a linear driver 3 142 connected between the two limit members 141. The two limit members 141 are used to limit the swing of the cable 40 passing through. The limit members 141 are hinged to the sliding mounting frame 12.

[0026] Specifically, both ends of the traction wheel group 13 are provided with a cable guide 14, the purpose of which is to make the cable 40 in the cable traction machine 10 in a relatively straight state, and the cable 40 can be input and output straightly; wherein, in the cable guide 14, the opposing surfaces of the two limit members are relatively smooth, and the cable 40 is used to pass between the two, and the cable 40 is in sliding contact with the limit members, and the outer side of the limit members extends downward and is hinged with the sliding mounting frame 12 to form a swing arm structure, and the channel width of the two limit members can be adjusted in real time through the linear drive three 142, so as to adapt to cables 40 of different specifications, as well as to pass through joints and devices; and the linear drive three 142 adopts a damping hydraulic cylinder or a damping air cylinder, and the joints and devices can squeeze the cable guide 14 and pass smoothly.

[0027] In this embodiment, the cable laying traction machine 10 also includes a plurality of cable guide members 15, which are fixed on the sliding mounting frame 12. In order not to interfere with the driving wheel 131, the limiting portion of the cable guide member 15 is located between the two driving wheels 131 of the traction wheel group 13, wherein two cable guide members 15 form a group, and the space between the two cable guide members 15 is used for passing the cable 40, thereby further improving the straightness of the cable 40 in the cable laying traction machine 10, and enabling the cable 40 to be input and output more smoothly.

[0028] Specifically, the cable guide member 15 includes two relatively arranged limit members 15 for limiting the cable 40 in the traction wheel group 13. The outer side of the limit member 15 is connected with a connecting rod 151, and the connecting rod 151 is screwed with a support rod 152. The support rod 152 is fixed to the sliding mounting frame 12, and the connecting rod 151 is fastened with the support rod 152 by bolts and nuts. Among them, the limit member 15 is a narrow long plate, and the side close to the cable 40 is relatively smooth, which can reduce the wear of the cable 40. One end of the connecting rod 151 is welded or screwed with the outer side of the limit member. One or more connecting rods 151 can be connected to one limit member. The other end of the connecting rod 151 is provided with an external thread. The connecting rod 151 and the support rod 152 are fastened by screwing nuts. In this way, the channel width of the cable guide member 15 can be adjusted by adjusting the relative position of the connecting rod 151 and the support rod 152. In addition, when the connecting rod 151 adopts a spring rod, the joints and devices can squeeze the cable guide 15 and pass smoothly without setting the channel width of the cable guide 15 to be very large, which will further improve the straightness of the cable 40 in the cable laying traction machine 10.

[0029] In this embodiment, a plurality of measuring wheels 16 with encoders are provided on the sliding mounting frame 12. The measuring wheels 16 rotate in contact with the cable 40. A group of measuring wheels 16 are arranged vertically in the middle of the cable laying traction machine 10, and the cable 40 is always clamped. The length and speed of the movement of the cable 40 are recorded by the rotation of the encoder. There is also a measuring wheel 16 with an encoder at the tail of the cable laying traction machine 10 for length redundancy detection. The encoders of all measuring wheels 16 are communicatively connected to the control system, so that the working state of the cable laying traction machine 10 can be adjusted more accurately and timely.

[0030] In one embodiment, the measuring wheel 16 is rotatably connected to a cantilever 161, and the cantilever 161 is hinged to a linear drive 162, wherein the cantilever 161 is hinged to the sliding mounting frame 12, and the other end of the linear drive is hinged to the sliding mounting frame 12. Further, the linear drive 162 is a damping hydraulic cylinder or a damping air cylinder, which can be squeezed open by the joints and devices on the cable 40 to pass smoothly.

[0031] like Figure 4-8 As shown, a cable laying system comprises the cable laying traction machine 10, the drum cable laying machine 20 and the fairlead 30, and the drum cable laying machine 20 and the fairlead 30 are controlled by a control system.

[0032] Specifically, the cable tractor 10 is a linear cable tractor with a plurality of traction wheel groups 13, which is located between the drum cable tractor 20 and the cable 40 compartment, and the two are used in conjunction with each other under the action of the control system; when laying the cable 40, the drum cable tractor 20 guides and the cable tractor 10 follows; when the cable 40 is recovered, the cable tractor 10 guides and the drum cable tractor 20 follows; the cable 40 between the cable tractor 10 and the drum cable tractor 20 always maintains a certain tension; the fairlead 30 is a cable guide channel that can move laterally, and is located at the stern of the ship; when laying the cable, it is used to guide the cable 40 to enter the stern pulley at the stern of the ship, and when recovering the cable 40, it guides the cable 40 to enter the drum cable tractor 20 from a suitable position.

[0033] The cable pulling machine 10 of the present invention can provide a certain back tension to prevent the cable 40 from falling off the drum cable laying machine 20, and can move laterally to adjust the position of the cable 40 entering or leaving the drum cable laying machine 20 to align the cable 40. In addition, the cable guide 30 can move laterally to adjust the position of the cable 40 leaving or entering the drum cable laying machine 20 to align the cable 40 and avoid cross-entanglement in the drum cable laying machine 20.

[0034] Furthermore, the drum cable laying machine 20 includes a mounting support 21, a plurality of motor twos 22, a plurality of motor threes 23, a rotating drum 24, a plurality of sliding cable arrangement components 25 and a rotating wheel 26. The motor two 22 and the motor three 23 are fixed on the mounting support 21 and are drivingly connected to the inner ring of the rotating drum 24. The plurality of sliding cable arrangement components 25 are arranged on the outer periphery of the rotating drum 24. The motor three 23 is drivingly connected to the rotating wheel 26. The periphery of the rotating wheel 26 undulates and bends along the axial direction. The axial end surfaces of the rotating wheel 26 can push the sliding cable arrangement components 25 to reciprocate along the axial direction of the rotating drum 24.

[0035] In this embodiment, a plurality of force measuring pins 27 are provided at the connection between the mounting support 21 and the deck (carrier) for setting the horizontal force on the drum cable laying machine 20 .

[0036] The cable drum machine 20 of the present invention is located on the stern deck, and the cable 40 can enter and exit from the top or the bottom, and is arranged according to the conditions of the deck and the cabin.

[0037] When the cable drum machine 20 is working, the cable 40 enters the cable drum machine 20 with a relatively low tension, winds several turns in the axial direction, and leaves the cable drum machine with a relatively high tension. After stable operation, the cables 40 are automatically arranged in sequence in the axial direction to prevent the cables 40 from accumulating on one side of the input end; the cable drum machine drives the outer rotating drum 24 through a plurality of motors 22 and a gear box 1 221. The outer periphery of the rotating drum 24 has a plurality of sliding cable arrangement members 25 that move in the axial direction. There is a rotating wheel 26 on the inner side of the drum. Driven by a plurality of motors 3 23 and a gear box 2 231, the rotating wheel 26 rotates independently with the rotating drum 24. The rotating wheel 26 drives the sliding cable arrangement member 25 to reciprocate, and the sliding cable arrangement member 25 drives the cables 40 to be arranged in the axial direction. The rotating wheel 26 rotates in a direction and a speed relative to the rotating drum 24. The degree determines the reciprocating direction and speed of the sliding cable arrangement member 25, and further determines the axial arrangement spacing of the cables 40; if the rotation of the wheel 26 lags behind the drum 24, and the relative rotation speed increases, the arrangement spacing of the cables 40 becomes larger; the relative rotation of the wheel 26 and the drum 24 is zero, and there is no cable arrangement effect; if the rotation of the wheel 26 is ahead of the drum 24, and the relative rotation speed increases, the arrangement spacing of the cables 40 becomes smaller; during normal cable retraction and release, the cable arrangement spacing remains unchanged and does not need to be adjusted. When passing through a large joint, the cable arrangement spacing can be manually increased so that the joint automatically passes through the drum 24 to protect the joint and the cable 40. By controlling the relative rotation speed of the drum 24 and the wheel 26, the cable arrangement spacing of the cable 40 can be adjusted, which is of great significance for cables 40 and cable 40 joints and repeaters with different diameters.

[0038] Furthermore, the portion of the sliding cable member 25 extending out of the rotating drum 24 is provided with two driven wheels, and the driven wheels are in rolling cooperation with the axial end surfaces of the rotating wheel 26. Specifically, the circumference of the rotating wheel 26 is located between the two driven wheels, and when the rotating wheel 26 rotates, the circumference of the rotating wheel 26 at the same sliding cable member 25 fluctuates, thereby being able to drive the sliding cable member 25 to reciprocate, and providing two driven wheels can reduce friction.

[0039] Furthermore, motor two 22 and motor three 23 are communicatively connected to the control system.

[0040] The control system also includes: an industrial computer connected to the controller (PLC), an operating terminal connected to the industrial computer, a display device connected to the controller, a plurality of frequency converters connected to the controller, and a resistor connected to the frequency converter, wherein the operating terminal includes a central control room of the ship bridge and a cable laying machine control console, and the cable laying machine control console can also be connected to a wireless control box, and motor 1 132, motor 2 22 and motor 3 23 are all electrically connected to the frequency converter, and the frequency converter is powered by a distribution cabinet or a transformer.

[0041] The working principle of the control system is as follows: the frequency converter controls and drives all the driving motors (motor one 132, motor two 22 and motor three 23) on the cable drum machine 20 and the cable traction machine 10. Each motor is equipped with an independent encoder for closed-loop control to prevent overspeed. The frequency converter is connected to a braking resistor to absorb the regenerative electrical energy during the passive movement of the motor. The ship's motion and position information and seabed topography information are transmitted from the ship's bridge control room to the industrial computer, which has real-time cable laying calculation software. The industrial computer receives the controller's signal, integrates various information, calculates the current laying length of the cable 40 and the required laying speed and laying tension, and automatically controls the inverter output, adjusts the motor's speed and torque, etc., so that the current cable retracting and releasing speed and tension match the ship's speed. The force measuring pin 112, force measuring pin 27 and encoder on the cable tractor 10 and the drum cable tractor 20 feed back information to the controller, which compares the actual tension and speed of the cable 40 with the theoretical speed and tension calculated by the industrial computer, and adjusts the speed and torque of the motor in real time through the frequency converter. The controller is connected to the cable machine console, receives the operator's information input, and realizes active intervention control to drive the drum cable tractor 20 and the cable tractor 10; the wireless control box, as an extension of the local console, is convenient for the operator to flexibly observe and control on the deck; The cable laying machine control console has settings for the cable laying machine's working mode, motor start and stop control, cable retracting and releasing speed and tension control for the cable laying drum machine 20 and the cable laying traction machine 10, cable arrangement spacing control, etc. The display device is a pure display unit such as various display screens on the deck and in the cabin, which is used to display the working status, speed and tension of the cable laying machine.

[0042] By using independently controlled frequency converters and computer systems, and through real-time calculation and analysis by industrial computers, the operation of the cable laying system can be matched with the ship's movement, sea conditions, and seabed topography, and can be adjusted in real time and run automatically to improve the efficiency of cable laying operations.

[0043] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0044] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A cable laying traction machine, characterized in that: include: A base (11), wherein a linear drive (111) is provided on the base (11), and a plurality of force measuring shaft pins (112) are provided at a connection between the base (11) and the carrier; A sliding mounting frame (12) is arranged on the base (11), wherein the first linear drive (111) is used to laterally adjust the position of the sliding mounting frame (12) on the base (11); A plurality of traction wheel groups (13) disposed on the sliding mounting frame (12), the traction wheel groups (13) comprising at least one pair of two driving wheels (131) disposed up and down and used for traction of the cables (40); A plurality of cable guide members (14) are provided on the sliding mounting frame (12), wherein the cable guide members (14) are located at the ends of the traction wheel group (13); and A control system, the control system comprising a controller, the controller being communicatively connected to a force measuring shaft pin 1 (112) and a traction wheel group (13), the control system controlling the speed of the traction cable (40) of the traction wheel group (13) and controlling a linear drive 1 (111) to adjust a sliding mounting frame (12) based on information fed back by the force measuring shaft pin 1 (112).

2. The cable laying traction machine according to claim 1, characterized in that: The traction wheel assembly (13) further comprises: a motor 1 (132) connected to the driving wheel (131), a mechanical arm (133) for mounting the motor 1 (132), and a linear drive 2 (134) hinged to the upper and lower mechanical arms (133), the mechanical arms (133) being hinged to the sliding mounting frame (12), and the linear drive 2 (134) being used to drive the two mechanical arms (133) to open and close, thereby controlling the squeezing force of the two driving wheels (131) on the cable (40).

3. The cable laying traction machine according to claim 2, characterized in that: The second linear drive (134) is a hydraulic cylinder, an electric cylinder or a gas cylinder; when the second linear drive (134) is a hydraulic cylinder, the cable laying traction machine (10) further includes an accumulator, the accumulator is connected to the rod chamber of the hydraulic cylinder through an air circuit, and the rodless chamber of the hydraulic cylinder is connected to the high-pressure oil circuit, and the gas pressure inside the accumulator causes the oil cylinder to retract, so that the two upper and lower drive wheels (131) are automatically closed, and the cable (40) is continuously squeezed.

4. The cable laying traction machine according to claim 1, characterized in that: The cable guide member 1 (14) comprises two relatively arranged limit members 1 (141) and a linear drive 3 (142) connected between the two limit members 1 (141), the two limit members 1 (141) being used to limit the swing of the passing cable (40), and the limit member 1 (141) being hinged to the sliding mounting frame (12).

5. The cable laying traction machine according to claim 1, characterized in that: It also includes a plurality of cable guide members (15) which are fixed on the sliding mounting frame (12), and a limiting portion of the cable guide members (15) is located between two driving wheels (131) of the traction wheel group (13).

6. The cable laying traction machine according to claim 5, characterized in that: The cable guide member 2 (15) comprises two limiting members 2 arranged opposite to each other and used for limiting the cable (40) within the traction wheel group (13); a connecting rod (151) is connected to the outer side of the limiting member 2; a support rod (152) is screwed to the connecting rod (151); the support rod (152) is fixed to the sliding mounting frame (12); and the connecting rod (151) is fastened to the support rod (152) by bolts and nuts.

7. A cabling system, characterized in that: It comprises a cable traction machine (10), a drum cable laying machine (20) and a fairlead (30) according to any one of claims 1 to 6, wherein the drum cable laying machine (20) and the fairlead (30) are controlled by a control system.

8. The cabling system according to claim 7, characterized in that: The drum cable laying machine (20) comprises a mounting support (21), a plurality of motor twos (22), a plurality of motor threes (23), a rotating drum (24), a plurality of sliding cable arrangement components (25) and a rotating wheel (26). The motor twos (22) and the motor three (23) are fixed on the mounting support (21) and are drivingly connected to the inner ring of the rotating drum (24). The plurality of sliding cable arrangement components (25) are arranged on the outer circumference of the rotating drum (24). The motor three (23) is drivingly connected to the rotating wheel (26). The circumference of the rotating wheel (26) is undulating and curved along the axial direction. The axial end surfaces of the rotating wheel (26) can push the sliding cable arrangement components (25) to reciprocate along the axial direction of the rotating drum (24).

9. The cabling system according to claim 8, characterized in that: The portion of the sliding cable arrangement member (25) extending out of the rotating drum (24) is provided with two driven wheels, and the driven wheels are in rolling engagement with the axial end surfaces of the rotating wheel (26).

10. The cabling system according to claim 8, characterized in that: The motor 2 (22) and the motor 3 (23) are communicatively connected to the control system.

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