Multi-specification cable automatic winding, arranging and conveying integrated vehicle

Abstract

The invention provides a multi-specification cable automatic winding, arranging and conveying integrated vehicle, which belongs to the technical field of coal mine underground operation vehicles, and comprises a wheel type operation vehicle, a cable drum lifting mechanism, a cable arranging mechanism, a cable pressing mechanism and a cable drum. The device can realize mechanization, automation and long-distance remote control operation of cable laying, cable feeding, winding recovery and cable arrangement of underground cables with different specifications and diameters, so that the labor intensity of workers is greatly reduced, the use safety of the cables is improved, the efficiency of transferring, recovering, winding and cable feeding of the underground cables is improved, and the labor intensity of workers is reduced. And technical support can be provided for an intelligent trackless auxiliary transportation system combined with automatic equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground operation vehicles in coal mines, and specifically discloses an integrated vehicle for automatically coiling, discharging, and feeding multi-specification cables. Background Art

[0002] With the rapid development of coal mining and excavation technologies and equipment, how to improve the efficiency of auxiliary transportation operations and effectively ensure the high-efficiency production of coal mines has become an urgent problem for auxiliary transportation equipment. Cables are the main power supply systems for underground coal mining equipment. When the existing cables are transported, recovered, and laid and fed, manual cable coiling and laying are basically carried out by manpower, which not only has low efficiency, but also has a large labor intensity for personnel, and there are also certain safety hazards. Summary of the Invention

[0003] The present invention provides an integrated vehicle for automatically coiling, discharging, and feeding multi-specification cables, realizing the mechanization and automation of cable unreeling, feeding, winding recovery, and cable discharging for different specification diameters of cables underground.

[0004] The above-mentioned integrated vehicle for automatically coiling, discharging, and feeding multi-specification cables includes a wheeled operation vehicle, a cable reel lifting mechanism, a cable discharging mechanism, a cable pressing mechanism, and a cable reel; the cable reel lifting mechanism includes a cable reel support, a cable reel lifting oil cylinder, a clamping mechanism, and a cable reel driving motor; the cable reel support is hinged to the frame of the wheeled operation vehicle; both ends of the cable reel lifting oil cylinder are respectively hinged to the frame and the cable reel support, and are used to drive the cable reel support to rotate around the hinge point of the frame and the cable reel support; two groups of clamping mechanisms are oppositely installed on the cable reel support and are used to clamp the cable reel, and the clamping mechanism is driven by the cable reel driving motor to rotate; the cable discharging mechanism includes a cable discharging support, a cable discharging lifting oil cylinder, a sliding guide rail, a sliding block, a cable feeder, and a linear motor; the cable discharging support is hinged to the cable reel support; both ends of the cable discharging lifting oil cylinder are respectively hinged to the cable reel support and the cable discharging support, and are used to drive the cable discharging support to rotate around the hinge point of the cable reel support and the cable discharging support; the sliding guide rail is fixedly installed on the cable discharging support and is parallel to the central axis of the cable reel; the sliding block is slidably installed on the sliding guide rail and is driven by the linear motor to slide along the sliding guide rail; the cable feeder is fixedly installed on the sliding block; the cable pressing mechanism includes a cable pressing support, a cable pressing oil cylinder, and a cable pressing roller; the cable pressing support is hinged to the cable reel support; both ends of the cable pressing oil cylinder are respectively hinged to the cable reel support and the cable pressing support, and are used to drive the cable pressing support to rotate around the hinge point of the cable reel support and the cable pressing support; the cable pressing roller is rotatably installed on the cable pressing support and is parallel to the central axis of the cable reel; a clamping column for cooperating with the clamping mechanism is arranged at the central position of the cable reel.

[0005] In the above multi - specification cable automatic coiling, arranging, and feeding integrated vehicle, the cable reel lifting mechanism further includes a support column; the support column includes a lower fixed column, a support oil cylinder, an upper telescopic column, a lock catch, and a buffer rubber pad; the bottom end of the lower fixed column is fixed on the vehicle frame; the bottom end of the support oil cylinder is located inside the lower fixed column and connected to the lower fixed column, and the top end is located inside the upper telescopic column and connected to the upper telescopic column; the lock catch is connected to the top end of the lower fixed column through a hinge; the buffer rubber pad is fixedly installed at the top end of the upper telescopic column.

[0006] In the above multi - specification cable automatic coiling, arranging, and feeding integrated vehicle, a sealing plate is fixedly installed on the output end of the cable reel driving motor; the clamping mechanism includes a V - shaped plate, a baffle plate, and a locking pin; the V - shaped plate is fixed on the sealing plate, with a locking hole Ⅰ provided at the first end and the second end hinged to the first end of the baffle plate; the baffle plate is provided with a limiting hole, connecting ears, and a locking pin mounting seat, the limiting hole penetrates through the baffle plate, the two connecting ears are located on both sides of the limiting hole, and locking holes Ⅱ are provided on the connecting ears; the locking pin is slidably installed on the locking pin mounting seat and aligned with the locking hole Ⅱ; the baffle plate rotates to sleuth the limiting hole on the first end of the V - shaped plate, forming a triangular clamping area with the V - shaped plate, and the locking hole Ⅱ is aligned with the locking hole Ⅰ; the clamping column is a triangular clamping column, which cooperates with the triangular clamping area.

[0007] In the above multi - specification cable automatic coiling, arranging, and feeding integrated vehicle, a lower limit for the cable arranging support is provided on the cable reel support.

[0008] In the above multi - specification cable automatic coiling, arranging, and feeding integrated vehicle, the cable conveyor includes a cable conveyor base, a cable conveyor rubber track Ⅰ, a rotating motor Ⅰ, a cable conveyor rubber track Ⅱ, a rotating motor Ⅱ, a cable conveyor guide rail, and a cable conveyor cylinder; the cable conveyor base is fixedly installed on the sliding block; the cable conveyor rubber track Ⅰ is fixedly installed on the cable conveyor base through a track frame Ⅰ, perpendicular to the central axis of the cable reel; the cable conveyor guide rail is fixed on the cable conveyor base, parallel to the central axis of the cable reel; the cable conveyor rubber track Ⅱ is slidably installed on the cable conveyor guide rail through a track frame Ⅱ, opposite to the cable conveyor rubber track Ⅰ; the area between the cable conveyor rubber track Ⅰ and the cable conveyor rubber track Ⅱ is the cable conveying area, and the cable conveyor rubber track Ⅰ and the cable conveyor rubber track Ⅱ are respectively driven by the rotating motor Ⅰ and the rotating motor Ⅱ to rotate synchronously; the cylinder body of the cable conveyor cylinder is connected to the cable conveyor base, and the piston rod is connected to the track frame Ⅱ.

[0009] In the above multi - specification cable automatic coiling, arranging, and feeding integrated vehicle, the cable conveyor further includes a mechanical rocker; a threaded hole is provided on the cable conveyor base; a threaded section is provided on the mechanical rocker, and the threaded section passes through the threaded hole of the cable conveyor base; the first end of the mechanical rocker is rotatably connected to the track frame Ⅱ, and a crank is provided at the second end.

[0010] In the above-mentioned multi-specification cable automatic coiling, arranging and feeding integrated vehicle, the cable conveyor further includes a 3D scanner, a decontamination mechanism and a tension sensor; the 3D scanner and the decontamination mechanism are both fixedly installed on the cable conveyor base, on both sides of the cable conveying area or on the same side of the cable conveying area; the tension sensor is used to monitor the conveying force of the cable.

[0011] In the above-mentioned multi-specification cable automatic coiling, arranging and feeding integrated vehicle, an angular travel sensor is installed between the cable pressing bracket and the cable reel bracket; a cable pressing pressure sensor is fixedly installed on the cable pressing roller.

[0012] In the above-mentioned multi-specification cable automatic coiling, arranging and feeding integrated vehicle, a rotational speed sensor is fixedly installed on the cable reel, and a cable fastening mechanism is fixedly installed on the inner wall; a bearing pressure sensor is fixedly installed on the clamping column.

[0013] The above multi-specification cable automatic coiling, discharging and feeding integrated vehicle further includes a gear pump, a pneumatically controlled on-off valve, a charging valve, an accumulator, a foot brake valve, a wheel side brake, a pneumatically controlled reversing valve, a parking brake, a parking brake valve, an air tank, an electromagnetic reversing valve I, a two-way hydraulic lock, an electromagnetic reversing valve II, an electromagnetic reversing valve III, a balance valve I, an electromagnetic reversing valve IV, an electro-hydraulic proportional valve, a balance valve II, an electromagnetic reversing valve V, an electromagnetic reversing valve VI and an electronic control processing unit; the oil outlet of the gear pump is respectively connected to the P port of the pneumatically controlled on-off valve and the P port of the charging valve; the A port of the charging valve is connected to the accumulator, and the oil return port T and the oil return port O are connected back to the hydraulic oil tank; the P port of the foot brake valve is connected to the accumulator, the A port is connected to the wheel side brake, and the T port is connected back to the hydraulic oil tank; the P port of the pneumatically controlled reversing valve is connected to the accumulator, the A port is connected to the parking brake, and the T port is connected back to the hydraulic oil tank; the P port of the parking brake valve is connected to the air outlet of the air tank, the A port is respectively connected to the control port of the pneumatically controlled on-off valve and the control port of the pneumatically controlled reversing valve, and the T port is open; the P port of the electromagnetic reversing valve I is connected to the A port of the pneumatically controlled on-off valve, the A port is connected to the A' port of the two-way hydraulic lock, the B port is connected to the B' port of the two-way hydraulic lock, and the T port is connected back to the hydraulic oil tank; the A port of the two-way hydraulic lock is connected to the rodless cavity of the cable reel lifting cylinder, and the B port is connected to the rod cavity of the cable reel lifting cylinder; the P port of the electromagnetic reversing valve II is connected to the A port of the pneumatically controlled on-off valve, the A port is connected to the rodless cavity of the support cylinder, the B port is connected to the rod cavity of the support cylinder, and the T port is connected back to the hydraulic oil tank; the P port of the electromagnetic reversing valve III is connected to the A port of the pneumatically controlled on-off valve, the A port is connected to the A' port of the balance valve I, the B port is connected to the B' port of the balance valve I, and the T port is connected back to the hydraulic oil tank; the A port of the balance valve I is connected to the rodless cavity of the cable discharging lifting cylinder, and the B port is connected to the rod cavity of the cable discharging lifting cylinder; the P port of the electromagnetic reversing valve IV is connected to the A port of the pneumatically controlled on-off valve, the A port is connected to the rodless cavity of the cable pressing cylinder, and the B port is connected to the rod cavity of the cable pressing cylinder; the P port of the electro-hydraulic proportional valve is connected to the A port of the pneumatically controlled on-off valve, the A port is connected to the A' port of the balance valve II, the B port is connected to the B' port of the balance valve II, and the T port is connected back to the hydraulic oil tank; the A port of the balance valve II is connected to the A port of the cable reel driving motor, and the B port is connected to the B port of the cable reel driving motor; the P port of the electromagnetic reversing valve V is connected to the A port of the pneumatically controlled on-off valve, the A port is connected to the brake of the cable reel driving motor, the B port is blocked, and the T port is connected back to the hydraulic oil tank; the P port of the electromagnetic reversing valve VI is connected to the air outlet of the air tank, the A port is connected to the rodless cavity of the cable conveying cylinder, the B port is connected to the rod cavity of the cable conveying cylinder, and the T port is open; the linear motor, the rotary motor, the 3D scanner, the decontamination mechanism, the tension sensor, the angular travel sensor, the cable pressing pressure sensor, the rotational speed sensor, the bearing pressure sensor, the electromagnetic reversing valve, and the electro-hydraulic proportional valve are all connected to the electronic control processing unit.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The above multi-specification cable automatic winding, arranging and feeding integrated vehicle has flexible transportation ability. Through the orderly and coordinated control of machinery, electricity, hydraulics and pneumatics, it can realize the mechanization, automation and long-distance remote control operation of cable laying, feeding, winding recovery and cable arranging of different specifications and diameters of cables underground, greatly reducing the labor intensity of workers, improving the safety of cable use, enhancing the efficiency of cable transfer, recovery winding and feeding underground, and providing technical support for the intelligent trackless auxiliary transportation system combined with automation equipment. Description of the Drawings

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic structural diagram of a multi-specification cable automatic winding, arranging and feeding integrated vehicle;

[0018] Figure 2 It is a schematic structural diagram of a cable reel lifting mechanism;

[0019] Figure 3 It is a schematic structural diagram of a support column;

[0020] Figure 4 It is a schematic structural diagram of a cable arranging mechanism;

[0021] Figure 5 It is a schematic structural diagram of a cable conveyor;

[0022] Figure 6 It is a schematic structural diagram of a cable pressing mechanism;

[0023] Figure 7 It is a schematic structural diagram of a cable reel;

[0024] Figure 8 It is a schematic control principle diagram of a multi-specification cable automatic winding, arranging and feeding integrated vehicle.

[0025] In the figure: 1 - cable reel lifting mechanism; 1.1 - cable reel support; 1.2 - cable reel lifting oil cylinder; 1.3 - support column; 1.3.1 - lower fixed column; 1.3.2 - support oil cylinder; 1.3.3 - upper telescopic column; 1.3.4 - buffer rubber pad; 1.3.5 - lock; 1.4 - clamping mechanism; 1.4.1 - V-shaped plate; 1.4.2 - baffle; 1.4.3 - locking pin; 1.5 - cable reel drive motor; 1.6 - lower limit of cable arranging support;

[0026] 2 - Cable arranging mechanism; 2.1 - Cable arranging support; 2.2 - Cable arranging lifting oil cylinder; 2.3 - Sliding guide rail; 2.4 - Sliding block; 2.5 - Cable conveyor; 2.5.1 - Cable conveyor base; 2.5.2 - Cable conveyor rubber track Ⅰ; 2.5.3 - Rotating motor Ⅰ (M2); 2.5.4 - Cable conveyor rubber track Ⅱ; 2.5.5 - Rotating motor Ⅱ (M3); 2.5.6 - Cable conveyor guide rail; 2.5.7 - Cable conveyor air cylinder; 2.5.8 - Mechanical rocker; 2.5.9 - 3D scanner; 2.5.10 - Decontamination mechanism; 2.5.11 - Tension sensor DT (LL); 2.6 - Linear motor (M1);

[0027] 3 - Cable pressing mechanism; 3.1 - Cable pressing support; 3.2 - Cable pressing oil cylinder; 3.3 - Cable pressing roller; 3.4 - Cable pressing pressure sensor DT (YLYL); 3.5 - Angular travel sensor DT (JXC);

[0028] 4 - Cable reel; 4.1 - Clamping column; 4.2 - Rotational speed sensor DT (ZS); 4.3 - Cable fastening mechanism; 4.4 - Bearing pressure sensor DT (CZYL);

[0029] 5 - Hydraulic oil tank; 6 - Gear pump; 7 - Filter; 8 - Safety valve Ⅰ; 9 - Pneumatically controlled on - off valve; 10 - Charging valve; 11 - Accumulator; 12 - Foot - operated brake valve; 13 - Wheel - side brake; 14 - Pneumatically controlled directional valve; 15 - Parking brake; 16 - Parking brake valve; 17 - Air tank; 18 - Electromagnetic directional valve Ⅰ; 19 - Two - way hydraulic lock; 20 - Electromagnetic directional valve Ⅱ; 21 - Electromagnetic directional valve Ⅲ; 22 - Balance valve Ⅰ; 23 - Electromagnetic directional valve Ⅳ; 24 - Electro - controlled proportional valve; 25 - Balance valve Ⅱ; 26 - Electromagnetic directional valve Ⅴ; 27 - Electromagnetic directional valve Ⅵ; 28 - Electro - controlled processing unit; 29 - Power supply; 30 - Air compressor; 31 - Check valve Ⅱ; 32 - Safety valve Ⅱ; 33 - Ball valve. Detailed implementation manners

[0030] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] This embodiment provides an integrated vehicle for automatically winding, arranging, and feeding multi-specification cables, which includes a wheeled working vehicle, a cable reel lifting mechanism 1, a cable arranging mechanism 2, a cable pressing mechanism 3, a cable reel 4, a hydraulic oil tank 5, a gear pump 6, a filter 7, a safety valve I 8, a pneumatic control on-off valve 9, a filling valve 10, an accumulator 11, a foot brake valve 12, a wheel side brake 13, a pneumatic control reversing valve 14, a parking brake 15, a parking brake valve 16, an air tank 17, an electromagnetic reversing valve I 18, a two-way hydraulic lock 19, an electromagnetic reversing valve II 20, an electromagnetic reversing valve III 21, a balance valve I 22, an electromagnetic reversing valve IV 23, an electro-hydraulic proportional valve 24, a balance valve II 25, an electromagnetic reversing valve V 26, an electromagnetic reversing valve VI 27, an electronic control processing unit 28, a power supply 29, an air compressor 30, a check valve II 31, a safety valve II 32, and a ball valve 33.

[0032] The cable reel lifting mechanism 1 can lift the cable reel 4 off the ground, facilitating transportation with the vehicle, lowering it to the ground, and disassembling the cable reel 4. At the same time, it combines the cable arranging mechanism 2, the cable pressing mechanism 3, and the cable reel 4 with the frame of the wheeled working vehicle to achieve various functions; the cable arranging mechanism 2 can arrange the cables in sequence on the cable reel 4; the cable pressing mechanism 3 can stably press the arranged cables on the cable reel 4, and also has a full cable protection function; the cable reel 4 is used for winding and unwinding the cables.

[0033] The cable reel lifting mechanism 1 includes a cable reel support 1.1, a cable reel lifting oil cylinder 1.2, a support column 1.3, a clamping mechanism 1.4, a cable reel driving motor 1.5, and a lower limit for the cable arranging support 1.6; the cable reel support 1.1 includes a cross beam, longitudinal beams arranged on both sides of the cross beam, and a vertical beam arranged below the cross beam, and the vertical beam is hinged to the frame of the wheeled working vehicle; both ends of the cable reel lifting oil cylinder 1.2 are respectively hinged to the frame and the cable reel support 1.1, and are used to drive the cable reel support 1.1 to rotate around the hinge point between the frame and the cable reel support 1.1; the support column 1.3 has a telescopic function and can bear the weight when the cable reel support 1.1 is lifted by the cable reel lifting oil cylinder 1.2, preventing the cable reel lifting oil cylinder 1.2 from losing pressure and causing the cable reel support 1.1 to fall; two groups of clamping mechanisms 1.4 are installed opposite to each other on the cable reel support 1.1 and are used to clamp the cable reel 4, and the clamping mechanism 1.4 is driven to rotate by the cable reel driving motor 1.5; the lower limit for the cable arranging support 1.6 is arranged on the cable reel support 1.1 and is used to support the cable arranging support 2.1.

[0034] The support column 1.3 includes a lower fixed column 1.3.1, a support oil cylinder 1.3.2, an upper telescopic column 1.3.3, a lock 1.3.5 and a buffer rubber pad 1.3.4; the bottom end of the lower fixed column 1.3.1 is fixed to the vehicle frame by bolts; the bottom end of the support oil cylinder 1.3.2 is located inside the lower fixed column 1.3.1 and connected to the lower fixed column 1.3.1, and the top end is located inside the upper telescopic column 1.3.3 and connected to the upper telescopic column 1.3.3; the lock 1.3.5 is connected to the top end of the lower fixed column 1.3.1 by a hinge; the buffer rubber pad 1.3.4 is fixedly installed at the top end of the upper telescopic column 1.3.3 by countersunk head screws.

[0035] A sealing plate is fixedly installed on the output end of the cable reel driving motor 1.5; the clamping mechanism 1.4 includes a V-shaped plate 1.4.1, a baffle 1.4.2 and a locking pin 1.4.3; the V-shaped plate 1.4.1 is fixed to the sealing plate, a locking hole Ⅰ is provided at the first end, and the second end is hinged to the first end of the baffle 1.4.2; the baffle 1.4.2 is provided with a limit hole, connecting ears and a locking pin mounting seat, the limit hole penetrates through the baffle 1.4.2, the two connecting ears are located on both sides of the limit hole, locking holes Ⅱ are provided on the connecting ears, and the locking pin 1.4.3 is slidably installed on the locking pin mounting seat and aligned with the locking hole Ⅱ; the baffle 1.4.2 rotates to sleave the limit hole on the first end of the V-shaped plate 1.4.1, forming a triangular clamping area with the V-shaped plate 1.4.1, the locking hole Ⅱ is aligned with the locking hole Ⅰ, and the locking pin 1.4.3 passes through the locking hole Ⅱ and the locking hole Ⅰ to achieve locking.

[0036] The cable arranging mechanism 2 includes a cable arranging support 2.1, a cable arranging lifting oil cylinder 2.2, a sliding guide rail 2.3, a sliding block 2.4, a cable conveyor 2.5 and a linear motor 2.6; the cable arranging support 2.1 is hinged to the cable reel support 1.1; the two ends of the cable arranging lifting oil cylinder 2.2 are respectively hinged to the cable reel support 1.1 and the cable arranging support 2.1, and are used to drive the cable arranging support 2.1 to rotate around the hinge point of the cable reel support 1.1 and the cable arranging support 2.1; the sliding guide rail 2.3 is fixedly installed on the cable arranging support 2.1 and is parallel to the central axis of the cable reel 4; the sliding block 2.4 is slidably installed on the sliding guide rail 2.3 and is driven by the linear motor 2.6 to slide along the sliding guide rail 2.3; the cable conveyor 2.5 is fixedly installed on the sliding block 2.4 and moves with the sliding block 2.4 to realize the orderly arrangement of the cable on the cable reel 4.

[0037] The cable conveyor 2.5 includes a cable conveyor base 2.5.1, a cable conveyor rubber track Ⅰ 2.5.2, a rotating motor Ⅰ 2.5.3, a cable conveyor rubber track Ⅱ 2.5.4, a rotating motor Ⅱ 2.5.5, a cable conveyor guide rail 2.5.6, a cable conveyor cylinder 2.5.7, a mechanical rocker 2.5.8, a 3D scanner 2.5.9, a decontamination mechanism 2.5.10 and a tension sensor 2.5.11; the cable conveyor base 2.5.1 is fixedly installed on the sliding block 2.4; the cable conveyor rubber track Ⅰ 2.5.2 is fixedly installed on the cable conveyor base 2.5.1 through a track frame Ⅰ, perpendicular to the central axis of the cable reel 4; the cable conveyor guide rail 2.5.6 is fixed on the cable conveyor base 2.5.1, parallel to the central axis of the cable reel 4; the cable conveyor rubber track Ⅱ 2.5.4 is slidably installed on the cable conveyor guide rail 2.5.6 through a track frame Ⅱ, arranged opposite to the cable conveyor rubber track Ⅰ 2.5.2; the area between the cable conveyor rubber track Ⅰ 2.5.2 and the cable conveyor rubber track Ⅱ 2.5.4 is the cable conveyor area, and the cable conveyor rubber track Ⅰ 2.5.2 and the cable conveyor rubber track Ⅱ 2.5.4 are respectively driven by the rotating motor Ⅰ 2.5.3 and the rotating motor Ⅱ 2.5.5 to rotate synchronously; the cylinder body of the cable conveyor cylinder 2.5.7 is connected to the cable conveyor base 2.5.1, and the piston rod is connected to the track frame Ⅱ; the cable conveyor base 2.5.1 is provided with threaded holes; the mechanical rocker 2.5.8 is provided with threaded sections, and the threaded sections pass through the threaded holes of the cable conveyor base 2.5.1; the first end of the mechanical rocker 2.5.8 is rotatably connected to the track frame Ⅱ, and the second end is provided with a crank; the cable conveyor rubber track Ⅱ 2.5.4 can move in a parallel manner towards or away from the cable conveyor rubber track Ⅰ 2.5.2 along the cable conveyor guide rail 2.5.6 under the action of the cable conveyor cylinder 2.5.7 or the mechanical rocker 2.5.8, so as to apply pressure and relieve pressure on the cable; both the 3D scanner 2.5.9 and the decontamination mechanism 2.5.10 are fixedly installed on the cable conveyor base 2.5.1, on both sides or on the same side of the cable conveyor area. The decontamination mechanism 2.5.10 can remove impurities, dirt, etc. adhered to the cable during the cable winding operation, and the 3D scanner 2.5.9 can feed back the geometric parameters of the wound cable to the electronic control processing unit 28 to adjust the cable winding speed during the cable winding operation of multiple specifications of cables; the tension sensor 2.5.11 is used to monitor the conveying force of the cable. If it exceeds the limit, the cable winding operation needs to be stopped to detect whether there is any jamming of the cable not collected on the ground.

[0038] The cable pressing mechanism 3 includes a cable pressing bracket 3.1, a cable pressing oil cylinder 3.2, a cable pressing roller 3.3, a cable pressing pressure sensor 3.4 and an angular travel sensor 3.5; the cable pressing bracket 3.1 is hinged to the cable reel bracket 1.1; both ends of the cable pressing oil cylinder 3.2 are respectively hinged to the cable reel bracket 1.1 and the cable pressing bracket 3.1, and are used to drive the cable pressing bracket 3.1 to rotate around the hinge point of the cable reel bracket 1.1 and the cable pressing bracket 3.1; the cable pressing roller 3.3 is rotatably installed on the cable pressing bracket 3.1 and is parallel to the central axis of the cable reel 4; the cable pressing pressure sensor 3.4 is fixedly installed on the cable pressing roller 3.3 and can timely feedback the pressure value of the cable pressing mechanism 3 on the cable; an angular travel sensor 3.5 is installed between the cable pressing bracket 3.1 and the cable reel bracket 1.1 and can feedback the relative angle between the two.

[0039] A clamping column 4.1 that cooperates with the clamping mechanism 1.4 is arranged at the central position of the cable reel 4. In this embodiment, the clamping column 4.1 is a triangular clamping column and cooperates with the triangular clamping area. A rotational speed sensor 4.2 is fixedly installed on the cable reel 4, and a cable fastening mechanism 4.3 is fixedly installed on the inner wall. The cable fastening mechanism 4.3 can fix the starting end and the terminal end of the cable on the cable reel 4, facilitating cable winding and transportation operations; a load pressure sensor 4.4 is fixedly installed on the clamping column 4.1. When the weight of the wound cable exceeds the set value, it can feedback a signal to stop the cable winding work and achieve full cable protection.

[0040] The inlet port of the gear pump 6 is connected to the hydraulic oil tank 5 through the filter 7. The outlet port of the gear pump 6 is respectively connected to the inlet port of the safety valve I 8, the P port of the pneumatically controlled on-off valve 9, and the P port of the filling valve 10. The outlet port of the safety valve I 8 is connected back to the hydraulic oil tank 5. The A port of the filling valve 10 is connected to the accumulator 11, and the return port T and the return port O are connected back to the hydraulic oil tank 5. The P port of the foot brake valve 12 is connected to the accumulator 11, the A port is connected to the wheel side brake 13, and the T port is connected back to the hydraulic oil tank 5. The inlet port of the check valve I is connected to the accumulator 11. The P port of the pneumatically controlled directional valve 14 is connected to the outlet port of the check valve I, the A port is connected to the parking brake 15, and the T port is connected back to the hydraulic oil tank 5. The P port of the parking brake valve 16 is connected to the outlet port of the air tank 17, the A port is respectively connected to the control port of the pneumatically controlled on-off valve 9 and the control port of the pneumatically controlled directional valve 14, and the T port is open. The P port of the electromagnetic directional valve I 18 is connected to the A port of the pneumatically controlled on-off valve 9, the A port is connected to the A' port of the double hydraulic lock 19, the B port is connected to the B' port of the double hydraulic lock 19, and the T port is connected back to the hydraulic oil tank 5. The A port of the double hydraulic lock 19 is connected to the rodless cavity of the cable reel lifting oil cylinder 1.2, and the B port is connected to the rod cavity of the cable reel lifting oil cylinder 1.2. The P port of the electromagnetic directional valve II 20 is connected to the A port of the pneumatically controlled on-off valve 9, the A port is connected to the rodless cavity of the support oil cylinder 1.3.2, the B port is connected to the rod cavity of the support oil cylinder 1.3.2, and the T port is connected back to the hydraulic oil tank 5. The P port of the electromagnetic directional valve III 21 is connected to the A port of the pneumatically controlled on-off valve 9, the A port is connected to the A' port of the balance valve I 22, the B port is connected to the B' port of the balance valve I 22, and the T port is connected back to the hydraulic oil tank 5. The A port of the balance valve I 22 is connected to the rodless cavity of the cable payout and lifting oil cylinder 2.2, and the B port is connected to the rod cavity of the cable payout and lifting oil cylinder 2.2. The P port of the electromagnetic directional valve IV 23 is connected to the A port of the pneumatically controlled on-off valve 9, the A port is connected to the rodless cavity of the cable pressing oil cylinder 3.2, the B port is connected to the rod cavity of the cable pressing oil cylinder 3.2. The P port of the electro-hydraulic proportional valve 24 is connected to the A port of the pneumatically controlled on-off valve 9, the A port is connected to the A' port of the balance valve II 25, the B port is connected to the B' port of the balance valve II 25, and the T port is connected back to the hydraulic oil tank 5. The A port of the balance valve II 25 is connected to the A port of the cable reel drive motor 1.5, and the B port is connected to the B port of the cable reel drive motor 1.5. The P port of the electromagnetic directional valve V 26 is connected to the A port of the pneumatically controlled on-off valve 9, the A port is connected to the brake of the cable reel drive motor 1.5, the B port is blocked, and the T port is connected back to the hydraulic oil tank 5. The P port of the electromagnetic directional valve VI 27 is connected to the outlet port of the air tank 17, the A port is connected to the rodless cavity of the cable feeding cylinder 2.5.7, the B port is connected to the rod cavity of the cable feeding cylinder 2.5.7, and the T port is open. Linear motor 2.6, rotary motor, 3D scanner 2.5.9, decontamination mechanism 2.5.10, tension sensor 2.5.11, angular travel sensor 3.5, cable pressing pressure sensor 3.4, rotational speed sensor 4.2, load bearing pressure sensor 4.4. The electromagnetic directional control valve and the electro-hydraulic proportional valve 24 are both connected to the electronic control unit 28, which is powered by the power supply 29.

[0041] The air compressor 30 is connected to the intake port of the check valve II 31. The outlet port of the check valve II 31 is connected to the intake port of the air tank 17. A safety valve II 32 and a ball valve 33 are installed on the air tank 17.

[0042] The coordination principle of each module used in the cable coiling (retracting), cable feeding (releasing) operations is the same. In this embodiment, the coiling (retracting) operation is taken as an example to introduce the specific implementation details in detail.

[0043] When the above multi-specification cable automatic coiling, discharging and feeding integrated vehicle is working, it is required that the vehicle is in a stationary state. The driver steps on the foot brake valve 12 to make the P port and the A port communicate. The hydraulic oil in the accumulator 11 reaches the wheel side brake 13 through the foot brake valve 12, and the vehicle realizes the service brake. Pull up the parking brake valve 16 to make the P port and the A port communicate. The pneumatic directional control valve 14 and the pneumatic on-off valve 9 are pneumatically commutated to make the P port and the A port communicate. The hydraulic oil in the accumulator 11 reaches the parking brake 15 through the pneumatic directional control valve 14 to realize the parking brake and ensure that the vehicle is in a stable stop state.

[0044] By remotely controlling or manually operating the electronic control unit 28 to control the commutation of the electromagnetic directional control valve III 21, making the P port and the A port communicate. The hydraulic oil output by the gear pump 6 reaches the rodless cavity of the cable discharging and lifting oil cylinder 2.2 through the pneumatic on-off valve 9, the electromagnetic directional control valve III 21 and the balance valve I 22, so that the piston rod of the cable discharging and lifting oil cylinder 2.2 extends. The cable discharging support 2.1 rotates upward from the lower limit position 1.6 of the cable discharging support until the cable discharging and lifting oil cylinder 2.2 reaches the upper limit position and stops, and under the action of the balance valve I 22, it maintains the lifting state. At this time, the cable discharging support 2.1 is higher than the maximum height of the cable reel 4, which is convenient for the cable reel 4 to pass through below the cable discharging support 2.1 and be connected to the cable reel support 1.1. The cable reel 4 is connected to the clamping mechanism 1.4 through the clamping column 4.1. The clamping mechanism 1.4 can rotate under the drive of the cable reel drive motor 1.5, so as to realize the rotation of the cable reel 4. After the cable reel 4 is connected to the cable reel support 1.1, the electronic control unit 28 is used to control the commutation of the electromagnetic directional control valve III 21 to make the P port and the B port communicate, and the cable discharging and lifting oil cylinder 2.2 lowers the cable discharging support 2.1 to the lower limit position 1.6 of the cable discharging support, and returns to the initial position.

[0045] The electromagnetic reversing valve I 18 is controlled to reverse by remote control or manual operation of the electronic control processing unit 28, so that the P port and the A port are communicated. The hydraulic oil output by the gear pump 6 reaches the rodless cavity of the cable reel lifting oil cylinder 1.2 through the pneumatic on-off valve 9, the electromagnetic reversing valve I 18 and the double hydraulic lock 19, causing the piston rod of the cable reel lifting oil cylinder 1.2 to extend, and the cable reel bracket 1.1 to rotate upward until the cable reel lifting oil cylinder 1.2 reaches the upper limit position and stops, and remains stationary under the action of the double hydraulic lock 19. At this time, the cross beam of the cable reel bracket 1.1 is parallel to the vehicle frame. At the same time, in order to avoid damage to the cable reel lifting oil cylinder 1.2 caused by impacts such as bumps during vehicle transportation, the electronic control processing unit 28 controls the electromagnetic reversing valve II 20 to reverse, so that the P port and the A port are communicated. The hydraulic oil output by the gear pump 6 reaches the rodless cavity of the support oil cylinder 1.3.2 through the pneumatic on-off valve 9 and the electromagnetic reversing valve II 20, causing the piston rod of the support oil cylinder 1.3.2 to extend, lifting the upper telescopic column 1.3.3 until the buffer rubber pad 1.3.4 contacts the longitudinal beams on both sides of the cable reel bracket 1.1. After reaching the support position, the lock 1.3.5 is flipped through the hinge to the position between the upper telescopic column 1.3.3 and the lower fixed column 1.3.1 to play a reliable locking role.

[0046] Pass the cable through the cable conveying area of the cable conveyor 2.5, and fix the end on the cable reel 4 through the cable fastening mechanism 4.3. Control the electromagnetic directional valve VI 27 to change its direction through remote control or manual operation of the electronic control processing unit 28, so that the P port and the A port are connected. The gas in the gas tank 17 enters the rodless cavity of the cable conveying cylinder 2.5.7 through the electromagnetic directional valve VI 27, causing the piston rod of the cable conveying cylinder 2.5.7 to extend, and pushing the cable conveying rubber track II 2.5.4 to move in parallel in the opposite direction along the cable conveying guide rail 2.5.6 and the cable conveying rubber track I 2.5.2 to press the cable. In addition, if necessary, the cable conveying rubber track II 2.5.4 can also be pushed to press through the mechanical rocker 2.5.8. The electronic control processing unit 28 starts the synchronous operation of the rotating motor I 2.5.3 and the rotating motor II 2.5.5, driving the cable conveying rubber track I 2.5.2 and the cable conveying rubber track II 2.5.4 to convey the clamped cable to the cable reel 4. The electronic control processing unit 28 controls the electromagnetic directional valve V 26 and the electro-hydraulic proportional valve 24 to change their directions, so that the P port and the A port are connected. The hydraulic oil output by the gear pump 6 passes through the pneumatic on-off valve 9 and the electromagnetic directional valve V 26 to release the brake of the cable reel driving motor 1.5. The hydraulic oil output by the gear pump 6 passes through the pneumatic on-off valve 9, the electro-hydraulic proportional valve 24 and the balance valve II 25 and enters the A port of the cable reel driving motor 1.5, causing the cable reel driving motor 1.5 to rotate forward for cable winding. At the same time, the electronic control processing unit 28 determines the cable laying stroke and speed according to the cable diameter parameter fed back by the 3D scanner 2.5.9 and in combination with the width of the cable reel 4, that is, the moving stroke and speed of the sliding block 2.4 along the sliding guide rail 2.3 driven by the linear motor 2.6. The speed sensor 4.2 of the cable reel 4 feeds its speed signal back to the electronic control processing unit 28, and the electronic control processing unit 28 dynamically adjusts the opening amount of the spool of the electro-hydraulic proportional valve 24 to ensure the coordinated operation of the cable winding speed and the cable laying speed, and realize the orderly arrangement of the cable.

[0047] During the cable winding process, the electronic control processing unit 28 controls the cable pressing oil cylinder 3.2 and the cable pressing support 3.1 to press the cable in real time through the electromagnetic directional valve IV 23, avoiding the looseness and mess caused by the cable loosening during the cable winding process. Among them, the cable pressing oil cylinder 3.2 has a follow-up function and can adjust the stroke at any time according to the change of the outer diameter of the cable winding disc.

[0048] The above multi-specification cable automatic coiling, arranging and feeding integrated vehicle has a safety protection function: the electronic control processing unit 28 receives the signal value of the angular travel sensor 3.5 in real time. When the angular travel of the cable pressing bracket 3.1 reaches the maximum set value, the cable coiling operation is stopped, and a prompt is issued through the voice alarm device to prevent the cable height from exceeding the cable reel height of the cable reel 4, that is, physical full cable protection; the electronic control processing unit 28 receives the signal value of the bearing pressure sensor 4.4 in real time. When the maximum set pressure value is reached, it means that the cable weight reaches the specified load, the cable coiling operation is stopped, and a prompt is issued through the voice alarm device to prevent special high-density cables from exceeding the set bearing capacity and causing damage to the cable reel lifting mechanism 1 and the cable reel 4, that is, bearing full cable protection; the tension sensor 2.5.11 can monitor the cable conveying force of the cable conveyor 2.5 in real time. If it exceeds the set limit, the cable coiling operation is stopped, and a prompt is issued through the voice alarm device to check whether the cable not collected on the ground is stuck, so as to avoid damage to the cable conveyor 2.5.

[0049] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-specification cable automatic winding, arrangement and delivery vehicle, characterized in that: It includes a wheeled work vehicle, a cable drum lifting mechanism, a cable arrangement mechanism, a cable pressing mechanism and a cable drum; The cable drum lifting mechanism comprises a cable drum support, a cable drum lifting cylinder, a clamping mechanism and a cable drum driving motor; The cable drum support is hinged to the frame of the wheeled work vehicle; The two ends of the cable drum lifting cylinder are respectively hinged to the vehicle frame and the cable drum bracket, and are used to drive the cable drum bracket to rotate around the hinge point between the vehicle frame and the cable drum bracket; Two sets of clamping mechanisms are relatively mounted on the cable drum bracket for clamping the cable drum, and the clamping mechanisms are driven to rotate by the cable drum driving motor; The cable arrangement mechanism includes a cable arrangement bracket, a cable arrangement lifting cylinder, a sliding guide rail, a sliding block, a cable conveyor and a linear motor; The cable arrangement bracket is hinged to the cable drum bracket; The two ends of the cable row lifting cylinder are respectively hinged to the cable drum bracket and the cable row bracket, and are used to drive the cable row bracket to rotate around the hinge point of the cable drum bracket and the cable row bracket; The sliding guide rail is fixedly mounted on the cable arrangement bracket and is parallel to the central axis of the cable drum; The sliding block is slidably mounted on the sliding guide rail and driven by the linear motor to slide along the sliding guide rail; The cable conveyor is fixedly mounted on the sliding block; The cable pressing mechanism comprises a cable pressing bracket, a cable pressing cylinder and a cable pressing drum; The cable pressing bracket is hinged to the cable reel bracket; The two ends of the cable pressing oil cylinder are respectively hinged to the cable drum bracket and the cable pressing bracket, and are used to drive the cable pressing bracket to rotate around the hinge point of the cable drum bracket and the cable pressing bracket; The cable pressing drum is rotatably mounted on the cable pressing bracket and is parallel to the central axis of the cable drum; A clamping column cooperating with the clamping mechanism is arranged at the center of the cable reel.

2. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 1 is characterized in that: The cable drum lifting mechanism also includes a support column; The support column comprises a lower fixed column, a support oil cylinder, an upper telescopic column, a lock buckle and a buffer rubber pad; The bottom end of the lower fixing column is fixed on the vehicle frame; The bottom end of the support oil cylinder is located in the lower fixed column and connected to the lower fixed column, and the top end is located in the upper telescopic column and connected to the upper telescopic column; The lock buckle is connected to the top end of the lower fixing column through a hinge; The buffer rubber pad is fixedly mounted on the top end of the upper telescopic column.

3. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 1 is characterized in that: A sealing plate is fixedly installed on the output end of the cable drum driving motor; The clamping mechanism includes a V-shaped plate, a baffle and a locking pin; The V-shaped plate is fixed on the sealing plate, a locking hole I is provided at the first end, and the second end is hinged to the first end of the baffle plate; a limiting hole, a connecting ear and a locking pin mounting seat are provided on the baffle plate, the limiting hole passes through the baffle plate, two connecting ears are located on both sides of the limiting hole, a locking hole II is provided on the connecting ear, and a locking pin is slidably installed on the locking pin mounting seat and aligned with the locking hole II; The baffle plate is rotated so that the limiting hole is sleeved on the first end of the V-shaped plate, forming a triangular clamping area with the V-shaped plate, and the locking hole II is aligned with the locking hole I; The clamping column is a triangular clamping column, which cooperates with the triangular clamping area.

4. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 1 is characterized in that: A lower limit position of the cable arrangement bracket is arranged on the cable reel bracket.

5. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 2 is characterized in that: The cable conveyor includes a cable conveyor base, a cable conveyor rubber crawler I, a rotary motor I, a cable conveyor rubber crawler II, a rotary motor II, a cable conveyor guide rail and a cable conveyor cylinder; The cable transmission base is fixedly mounted on the sliding block; The cable transmission rubber crawler I is fixedly mounted on the cable transmission base through a crawler frame I and is perpendicular to the central axis of the cable drum; The cable transmission guide rail is fixed on the cable transmission base and is parallel to the central axis of the cable drum; The cable transmission rubber crawler II is slidably mounted on the cable transmission guide rail via a crawler frame II and is arranged opposite to the cable transmission rubber crawler I; The area between the cable transmission rubber crawler I and the cable transmission rubber crawler II is the cable transmission area, and the cable transmission rubber crawler I and the cable transmission rubber crawler II are driven to rotate synchronously by the rotating motor I and the rotating motor II respectively; The cylinder body of the cable transmission cylinder is connected to the cable transmission base, and the piston rod is connected to the crawler frame II.

6. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 5 is characterized in that: The cable conveyor also includes a mechanical rocker; The cable transmission base is provided with a threaded hole; The mechanical rocker is provided with a threaded section, which passes through a threaded hole of the cable transmission base; The first end of the mechanical rocker is rotatably connected to the crawler frame II, and the second end is provided with a crank.

7. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 6 is characterized in that: The cable conveyor also includes a 3D scanner, a dirt removal mechanism and a tension sensor; The 3D scanner and the dirt removal mechanism are both fixedly mounted on the cable transmission base, and are located on both sides of the cable transmission area or on the same side of the cable transmission area; The tension sensor is used to monitor the transmission force of the cable.

8. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 7 is characterized in that: An angular travel sensor is installed between the cable pressing bracket and the cable reel bracket; A cable pressing pressure sensor is fixedly installed on the cable pressing drum.

9. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 8 is characterized in that: A rotation speed sensor is fixedly installed on the cable drum, and a cable fastening mechanism is fixedly installed on the inner wall; A bearing pressure sensor is fixedly installed on the clamping column.

10. The multi-specification cable automatic winding, arrangement and delivery vehicle according to claim 9 is characterized in that: It also includes a gear pump, a pneumatic on-off valve, a charging valve, an accumulator, a foot brake valve, a wheel brake, a pneumatic reversing valve, a parking brake, a parking brake valve, a gas tank, an electromagnetic reversing valve I, a two-way hydraulic lock, an electromagnetic reversing valve II, an electromagnetic reversing valve III, a balancing valve I, an electromagnetic reversing valve IV, an electronically controlled proportional valve, a balancing valve II, an electromagnetic reversing valve V, an electromagnetic reversing valve VI and an electronic control processing unit; The oil outlet of the gear pump is connected to the P port of the air-controlled on-off valve and the P port of the filling valve respectively; The A port of the charging valve is connected to the accumulator, and the oil return port T and the oil return port O are connected back to the hydraulic oil tank; The P port of the foot brake valve is connected to the accumulator, the A port is connected to the wheel brake, and the T port is connected back to the hydraulic oil tank; the P port of the air-controlled reversing valve is connected to the accumulator, the A port is connected to the parking brake, and the T port is connected back to the hydraulic oil tank; the P port of the parking brake valve is connected to the air outlet of the gas tank, the A port is respectively connected to the control port of the air-controlled on-off valve and the control port of the air-controlled reversing valve, and the T port is open; The P port of the electromagnetic reversing valve I is connected to the A port of the air-controlled on-off valve, the A port is connected to the A' port of the two-way hydraulic lock, the B port is connected to the B' port of the two-way hydraulic lock, and the T port is connected back to the hydraulic oil tank; The A port of the bidirectional hydraulic lock is connected to the rodless cavity of the cable drum lifting cylinder, and the B port is connected to the rod cavity of the cable drum lifting cylinder; The P port of the electromagnetic reversing valve II is connected to the A port of the pneumatic on-off valve, the A port is connected to the rodless cavity of the support cylinder, the B port is connected to the rod cavity of the support cylinder, and the T port is connected back to the hydraulic oil tank; The P port of the electromagnetic reversing valve III is connected to the A port of the pneumatic on-off valve, the A port is connected to the A' port of the balancing valve I, the B port is connected to the B' port of the balancing valve I, and the T port is connected back to the hydraulic oil tank; The A port of the balancing valve I is connected to the rodless chamber of the cable lifting cylinder, and the B port is connected to the rod chamber of the cable lifting cylinder; The P port of the electromagnetic reversing valve IV is connected to the A port of the pneumatic on-off valve, the A port is connected to the rodless chamber of the cable pressing cylinder, and the B port is connected to the rod chamber of the cable pressing cylinder; The P port of the electric control proportional valve is connected to the A port of the pneumatic control on-off valve, the A port is connected to the A' port of the balance valve II, the B port is connected to the B' port of the balance valve II, and the T port is connected back to the hydraulic oil tank; The A port of the balancing valve II is connected to the A port of the cable drum driving motor, and the B port is connected to the B port of the cable drum driving motor; The P port of the electromagnetic reversing valve V is connected to the A port of the pneumatic on-off valve, the A port is connected to the brake of the cable drum driving motor, the B port is blocked, and the T port is connected back to the hydraulic oil tank; The P port of the electromagnetic reversing valve VI is connected to the gas outlet of the gas tank, the A port is connected to the rodless chamber of the cable transmission cylinder, the B port is connected to the rod chamber of the cable transmission cylinder, and the T port is open; The linear motor, the rotary motor, the 3D scanner, the dirt removal mechanism, the tension sensor, the angular travel sensor, the cable pressure sensor, the rotation speed sensor, the load-bearing pressure sensor, the electromagnetic reversing valve, and the electronically controlled proportional valve are all connected to the electronic control processing unit.

Images