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

Abstract

The application provides a multi-specification cable automatic winding, arranging and feeding integrated vehicle, and belongs to the technical field of underground coal mine operation vehicles, and comprises a wheeled operation vehicle, a cable drum lifting mechanism, a cable arranging mechanism, a cable pressing mechanism and a cable drum. Through orderly and coordinated control of machines, electricity, liquid and gas, the underground cable of different specifications and diameters can be mechanically and automatically arranged, fed, wound and recovered, and remotely controlled, so that the labor intensity of workers is greatly reduced, the safety of cable use is improved, the efficiency of cable transfer, recovery and feeding in the underground is improved, and technical support can be provided for an intelligent trackless auxiliary transportation system combined with automatic equipment.

Description

Technical Field

[0001] This invention belongs to the technical field of underground coal mine operation vehicles, and specifically discloses an integrated vehicle for automatic winding, unwinding and conveying of multi-specification cables. Background Technology

[0002] With the rapid development of coal mining technology and equipment, how to improve the efficiency of auxiliary transportation operations and effectively ensure efficient coal mine production has become an urgent problem to be solved for auxiliary transportation equipment. Cables are the main power supply system for underground coal mining equipment. Currently, the transfer, retrieval, and laying of cables are basically done manually, which is not only inefficient and labor-intensive, but also poses certain safety hazards. Summary of the Invention

[0003] This invention provides an integrated vehicle for automatic winding, laying, and conveying of cables of different specifications, realizing the mechanization and automation of laying, conveying, winding, recycling, and laying of cables of different diameters in underground mines.

[0004] The aforementioned multi-specification automatic cable winding, unwinding, and conveying integrated vehicle includes a wheeled work vehicle, a cable reel lifting mechanism, a cable unwinding mechanism, a cable pressing mechanism, and a cable reel. The cable reel lifting mechanism includes a cable reel bracket, a cable reel lifting cylinder, a clamping mechanism, and a cable reel drive motor. The cable reel bracket is hinged to the frame of the wheeled work vehicle. The two ends of the cable reel lifting cylinder are respectively hinged to the frame and the cable reel bracket, used to drive the cable reel bracket to rotate around the hinge point between the frame and the cable reel bracket. Two clamping mechanisms are mounted opposite each other on the cable reel bracket for clamping the cable reel; the clamping mechanisms are driven to rotate by the cable reel drive motor. The cable unwinding mechanism includes a cable unwinding bracket, a cable unwinding lifting cylinder, a sliding guide rail, a sliding block, a cable feeder, and a linear motor. The cable unwinding bracket is hinged to the cable reel bracket. The lifting cylinder is hinged at both ends to the cable reel support and the cable laying support, respectively, to drive the cable laying support to rotate around the hinge point of the cable reel support and the cable laying support; the sliding guide rail is fixedly installed on the cable laying 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 a 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 cylinder, and a cable pressing roller; the cable pressing support is hinged to the cable reel support; the two ends of the cable pressing cylinder are hinged to the cable reel support and the cable pressing support, respectively, 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 post that cooperates with the clamping mechanism is provided at the center of the cable reel.

[0005] In the aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle, the cable drum lifting mechanism also includes a support column; the support column includes a lower fixed column, a support cylinder, an upper telescopic column, a locking buckle, and a buffer rubber pad; the bottom end of the lower fixed column is fixed to the vehicle frame; the bottom end of the support 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 locking buckle is connected to the top end of the lower fixed column via a hinge; the buffer rubber pad is fixedly installed on the top end of the upper telescopic column.

[0006] In the aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle, a sealing plate is fixedly installed on the output end of the cable reel drive 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, with a locking hole I at its first end and a second end hinged to the first end of the baffle; the baffle is provided with a limit hole, connecting ears, and a locking pin mounting seat, the limit hole penetrates the baffle, two connecting ears are located on both sides of the limit hole, and a locking hole II is 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 rotates to make the limit hole fit onto 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 aforementioned multi-specification cable automatic winding, laying, and conveying integrated vehicle, the cable reel bracket is equipped with a lower limit position for the cable laying bracket.

[0008] In the aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle, the cable conveyor includes a cable conveying base, cable conveying rubber track I, rotary motor I, cable conveying rubber track II, rotary motor II, cable conveying guide rail, and cable conveying cylinder. The cable conveying base is fixedly mounted on a sliding block. Cable conveying rubber track I is fixedly mounted on the cable conveying base via track frame I, perpendicular to the central axis of the cable reel. The cable conveying guide rail is fixed on the cable conveying base, parallel to the central axis of the cable reel. Cable conveying rubber track II is slidably mounted on the cable conveying guide rail via track frame II, opposite to cable conveying rubber track I. The area between cable conveying rubber track I and cable conveying rubber track II is the cable conveying area. Cable conveying rubber track I and cable conveying rubber track II are driven to rotate synchronously by rotary motor I and rotary motor II, respectively. The cylinder body of the cable conveying cylinder is connected to the cable conveying base, and the piston rod is connected to track frame II.

[0009] In the aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle, the cable conveyor also includes a mechanical rocker arm; the cable conveyor base is provided with a threaded hole; the mechanical rocker arm is provided with a threaded section, which passes through the threaded hole of the cable conveyor base; the first end of the mechanical rocker arm is rotatably connected to the track frame II, and the second end is provided with a crank handle.

[0010] In the aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle, the cable conveyor also 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 conveying base, located 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 cable conveying force.

[0011] In the aforementioned multi-specification cable automatic winding, unwinding, and conveying vehicle, an angular stroke 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 aforementioned automatic cable winding, unwinding, and conveying vehicle for multiple specifications of cables, a speed sensor is fixedly installed on the cable drum, and a cable fastening mechanism is fixedly installed on the inner wall; a load-bearing pressure sensor is fixedly installed on the clamping column.

[0013] The aforementioned automatic cable winding, unwinding, and conveying vehicle for multiple cable specifications also includes a gear pump, a pneumatic on / off valve, a filling valve, an accumulator, a foot brake valve, wheel-side brakes, a pneumatic directional valve, a parking brake, a parking brake valve, an air tank, solenoid directional valve I, a two-way hydraulic lock, solenoid directional valve II, solenoid directional valve III, balance valve I, solenoid directional valve IV, an electronically controlled proportional valve, balance valve II, solenoid directional valve V, solenoid directional valve VI, and an electronic control processing unit. The oil outlet of the gear pump is connected to the P port of the pneumatic on / off valve and the P port of the filling valve, respectively. The A port of the filling valve is connected to the accumulator, and the T port and O port of the return oil are connected back to the hydraulic oil tank. The P port of the foot brake valve is connected to the accumulator, and the A port is connected to the wheel-side brake. Connect the following: Port T connects to the hydraulic oil tank; Port P of the pneumatic directional valve connects to the accumulator, Port A connects to the parking brake, and Port T connects back to the hydraulic oil tank; Port P of the parking brake valve connects to the air outlet of the air tank, Port A connects to the control ports of the pneumatic on / off valve and the pneumatic directional valve respectively, and Port T is open; Port P of solenoid directional valve I connects to Port A of the pneumatic on / off valve, Port A connects to Port A' of the two-way hydraulic lock, Port B connects to Port B' of the two-way hydraulic lock, and Port T connects back to the hydraulic oil tank; Port A of the two-way hydraulic lock connects to the rodless chamber of the cable reel lifting cylinder, and Port B connects to the rod-side chamber of the cable reel lifting cylinder; Port P of solenoid directional valve II connects to Port A of the pneumatic on / off valve, and Port A connects to the support oil... The rodless chamber of the cylinder is connected, port B is connected to the rod chamber of the support cylinder, and port T is connected back to the hydraulic oil tank; port P of solenoid directional valve III is connected to port A of the pneumatic on / off valve, port A is connected to port A' of balance valve I, port B is connected to port B' of balance valve I, and port T is connected back to the hydraulic oil tank; port A of balance valve I is connected to the rodless chamber of the cable lifting cylinder, and port B is connected to the rod chamber of the cable lifting cylinder; port P of solenoid directional valve IV is connected to port A of the pneumatic on / off valve, port A is connected to the rodless chamber of the cable pressing cylinder, and port B is connected to the rod chamber of the cable pressing cylinder; port P of the electro-proportional valve is connected to port A of the pneumatic on / off valve, port A is connected to port A' of balance valve II, port B is connected to port B' of balance valve II, and port T is connected back to the hydraulic oil tank. Hydraulic oil tank; port A of balance valve II is connected to port A of cable reel drive motor, and port B is connected to port B of cable reel drive motor; port P of solenoid directional valve V is connected to port A of pneumatic on / off valve, port A is connected to the brake of cable reel drive motor, port B is blocked, and port T is connected back to hydraulic oil tank; port P of solenoid directional valve VI is connected to the air outlet of air tank, port A is connected to the rodless chamber of cable conveying cylinder, port B is connected to the rod chamber of cable conveying cylinder, and port T is open; linear motor, rotary motor, 3D scanner, cleaning mechanism, tension sensor, angular stroke sensor, cable pressing pressure sensor, speed sensor, load bearing pressure sensor, solenoid directional valve, and electronically controlled 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 aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle has flexible transportation capabilities. Through orderly and coordinated control of mechanics, electricity, hydraulics, and pneumatics, it can realize the mechanization, automation, and remote control operation of cable laying, conveying, winding, and unwinding of cables of different diameters in underground mines. This greatly reduces the labor intensity of workers, improves the safety of cable use, and enhances the efficiency of underground cable transfer, retrieval, winding, and conveying. It can also provide technical support for intelligent trackless auxiliary transportation systems combined with automated equipment. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a multi-specification cable automatic winding, stacking, and conveying vehicle;

[0018] Figure 2 This is a schematic diagram of the cable reel lifting mechanism;

[0019] Figure 3 This is a structural diagram of the supporting column;

[0020] Figure 4 This is a schematic diagram of the cable laying mechanism;

[0021] Figure 5 This is a schematic diagram of the cable transmission device.

[0022] Figure 6 This is a schematic diagram of the cable clamping mechanism;

[0023] Figure 7 This is a schematic diagram of the cable reel structure;

[0024] Figure 8 This is the control principle diagram for an integrated vehicle for automatic winding, stacking, and conveying of multi-specification cables.

[0025] In the diagram: 1-Cable reel lifting mechanism; 1.1-Cable reel bracket; 1.2-Cable reel lifting cylinder; 1.3-Support column; 1.3.1-Lower fixed column; 1.3.2-Support 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 laying bracket;

[0026] 2-Cable laying mechanism; 2.1-Cable laying bracket; 2.2-Cable laying lifting cylinder; 2.3-Sliding guide rail; 2.4-Sliding block; 2.5-Cable feeder; 2.5.1-Cable feeder base; 2.5.2-Cable feeder rubber track I; 2.5.3-Rotary motor I (M2); 2.5.4-Cable feeder rubber track II; 2.5.5-Rotary motor II (M3); 2.5.6-Cable feeder guide rail; 2.5.7-Cable feeder cylinder; 2.5.8-Mechanical rocker arm; 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 bracket; 3.2-Cable pressing cylinder; 3.3-Cable pressing roller; 3.4-Cable pressing pressure sensor DT (YLYL); 3.5-Angular stroke sensor DT (JXC);

[0028] 4-Cable reel; 4.1-Clamping post; 4.2-Speed ​​sensor DT(ZS); 4.3-Cable fastening mechanism; 4.4-Pressure sensor DT(CZYL);

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

[0030] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] This embodiment provides an integrated vehicle for automatic cable winding, unwinding, and conveying of multiple specifications of cables, including a wheeled work vehicle, a cable reel lifting mechanism 1, a cable unwinding 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 on / off valve 9, a filling valve 10, an accumulator 11, a foot brake valve 12, a wheel-side brake 13, a pneumatic directional valve 14, a parking brake 15, a parking brake valve 16, an air tank 17, an electromagnetic directional valve I 18, a two-way hydraulic lock 19, an electromagnetic directional valve II 20, an electromagnetic directional valve III 21, a balance valve I 22, an electromagnetic directional valve IV 23, an electrically controlled proportional valve 24, a balance valve II 25, an electromagnetic directional valve V 26, an electromagnetic directional valve VI 27, an electronic control processing unit 28, a power supply 29, an air compressor 30, a one-way 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 its transport with the vehicle, lowering to the ground, and disassembly. Simultaneously, it integrates the cable laying mechanism 2, the cable pressing mechanism 3, and the cable reel 4 with the frame of the wheeled work vehicle to achieve various functions. The cable laying mechanism 2 can arrange the cables sequentially on the cable reel 4; the cable pressing mechanism 3 can stably press the laid cables onto the cable reel 4, while also providing full-load protection; the cable reel 4 is used for cable winding.

[0033] The cable reel lifting mechanism 1 includes a cable reel bracket 1.1, a cable reel lifting cylinder 1.2, a support column 1.3, a clamping mechanism 1.4, a cable reel drive motor 1.5, and a lower limit position for the cable laying bracket 1.6. The cable reel bracket 1.1 includes a crossbeam, longitudinal beams on both sides of the crossbeam, and a vertical beam below the crossbeam. The vertical beam is hinged to the frame of the wheeled work vehicle. The two ends of the cable reel lifting cylinder 1.2 are hinged to the frame and the cable reel bracket 1.1, respectively, and are used to drive the cable reel bracket 1.1 to rotate around the frame and the hinge of the cable reel bracket 1.1. The contact point rotates; the support column 1.3 has a telescopic function, which can bear the load when the cable reel support 1.1 is lifted by the cable reel lifting cylinder 1.2, preventing the cable reel support 1.1 from falling due to pressure loss of the cable reel lifting cylinder 1.2; two clamping mechanisms 1.4 are installed opposite to each other on the cable reel support 1.1 for clamping the cable reel 4, and the clamping mechanism 1.4 is driven to rotate by the cable reel drive motor 1.5; the lower limit 1.6 of the cable laying support is set on the cable reel support 1.1 for supporting the cable laying support 2.1.

[0034] The support column 1.3 includes a lower fixed column 1.3.1, a support cylinder 1.3.2, an upper telescopic column 1.3.3, a latch 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 frame with bolts. The bottom end of the support cylinder 1.3.2 is located inside and connected to the lower fixed column 1.3.1, and the top end is located inside and connected to the upper telescopic column 1.3.3. The latch 1.3.5 is connected to the top end of the lower fixed column 1.3.1 via a hinge. The buffer rubber pad 1.3.4 is fixedly installed on the top end of the upper telescopic column 1.3.3 with countersunk screws.

[0035] A sealing plate is fixedly installed on the output end of the cable reel drive 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 on the sealing plate, with a locking hole I at the first end and the second end 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, two connecting ears are located on both sides of the limit hole, and a locking hole II is provided on the connecting ears, 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 make the limit hole fit over 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 laying mechanism 2 includes a cable laying bracket 2.1, a cable laying lifting cylinder 2.2, a sliding guide rail 2.3, a sliding block 2.4, a cable feeder 2.5, and a linear motor 2.6. The cable laying bracket 2.1 is hinged to the cable reel bracket 1.1. The two ends of the cable laying lifting cylinder 2.2 are respectively hinged to the cable reel bracket 1.1 and the cable laying bracket 2.1, and are used to drive the cable laying bracket 2.1 to rotate around the hinge point of the cable reel bracket 1.1 and the cable laying bracket 2.1. The sliding guide rail 2.3 is fixedly installed on the cable laying bracket 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 feeder 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 cables 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 rotary motor I 2.5.3, a cable conveyor rubber track II 2.5.4, a rotary motor II 2.5.5, a cable conveyor guide rail 2.5.6, a cable conveyor cylinder 2.5.7, a mechanical rocker arm 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 mounted on the sliding block 2.4. The cable conveyor rubber track I 2.5.2 is fixedly mounted on the cable conveyor base 2.5.1 via the track frame I, and is aligned with the center of the cable reel 4. The axis is vertical; the cable guide rail 2.5.6 is fixed on the cable base 2.5.1 and parallel to the central axis of the cable reel 4; the cable rubber track II 2.5.4 is slidably mounted on the cable guide rail 2.5.6 through the track frame II, and is opposite to the cable rubber track I 2.5.2; the area between the cable rubber tracks I 2.5.2 and II 2.5.4 is the cable transmission area, and the cable rubber tracks I 2.5.2 and II 2.5.4 are driven to rotate synchronously by rotary motors I 2.5.3 and II 2.5.5 respectively; the cylinder of the cable transmission cylinder 2.5.7... The body is connected to the cable base 2.5.1, and the piston rod is connected to the track frame II; the cable base 2.5.1 is provided with a threaded hole; the mechanical rocker arm 2.5.8 is provided with a threaded section, which passes through the threaded hole of the cable base 2.5.1; the first end of the mechanical rocker arm 2.5.8 is rotatably connected to the track frame II, and the second end is provided with a crank handle; the cable rubber track II 2.5.4 can move in opposite directions or in parallel with the cable rubber track I 2.5.2 along the cable guide rail 2.5.6 under the action of the cable cylinder 2.5.7 or the mechanical rocker arm 2.5.8, thereby realizing the pressure application and pressure relief of the cable; Both the 3D scanner 2.5.9 and the decontamination mechanism 2.5.10 are fixedly installed on the cable base 2.5.1, located on either side or the same side of the cable transmission area. The decontamination mechanism 2.5.10 can remove impurities and dirt adhering to the cable during cable winding operations. The 3D scanner 2.5.9 can feed back the geometric parameters of the wound cable to the electrical control processing unit 28 to adjust the cable laying speed during multi-specification cable winding operations. The tension sensor 2.5.11 is used to monitor the cable conveying force. If the limit is exceeded, the cable winding operation must be stopped, and the ground unwound cable must be checked for jamming.

[0038] The cable pressing mechanism 3 includes a cable pressing bracket 3.1, a cable pressing cylinder 3.2, a cable pressing roller 3.3, a cable pressing pressure sensor 3.4, and an angular stroke sensor 3.5. The cable pressing bracket 3.1 is hinged to the cable reel bracket 1.1. The two ends of the cable pressing 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 mounted 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 mounted on the cable pressing roller 3.3, which can provide real-time feedback on the pressure value of the cable pressing mechanism 3 on the cable. An angular stroke sensor 3.5 is installed between the cable pressing bracket 3.1 and the cable reel bracket 1.1, which can provide feedback on the relative angle between the two.

[0039] A clamping post 4.1, which cooperates with the clamping mechanism 1.4, is provided at the center of the cable reel 4. In this embodiment, the clamping post 4.1 is a triangular clamping post that cooperates with the triangular clamping area. A 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 beginning and end of the cable on the cable reel 4, which facilitates cable winding and transportation operations. A load-bearing pressure sensor 4.4 is fixedly installed on the clamping post 4.1. When the weight of the reel exceeds a set value, it can send a feedback signal to stop the cable winding operation, realizing full cable protection.

[0040] The inlet of gear pump 6 is connected to hydraulic oil tank 5 via filter 7. The outlet of gear pump 6 is connected to the inlet of safety valve I 8, the P port of pneumatic on / off valve 9, and the P port of filling valve 10, respectively. The outlet of safety valve I 8 is connected back to hydraulic oil tank 5. The A port of filling valve 10 is connected to accumulator 11, and the T port and O port of return are connected back to hydraulic oil tank 5. The P port of foot brake valve 12 is connected to accumulator 11, the A port is connected to wheel-side brake 13, and the T port is connected back to hydraulic oil tank 5. The inlet of check valve I is connected to accumulator 11. The P port of pneumatic directional valve 14 is connected to the outlet of check valve I, the A port is connected to parking brake 15, and the T port is connected back to hydraulic oil tank 5. The P port of parking brake valve 16 is connected to the outlet of air tank 17. Port A is connected to the control port of pneumatic on / off valve 9 and the control port of pneumatic directional valve 14 respectively, and port T is open; port P of solenoid directional valve I 18 is connected to port A of pneumatic on / off valve 9, port A is connected to port A' of bidirectional hydraulic lock 19, port B is connected to port B' of bidirectional hydraulic lock 19, and port T is connected back to hydraulic oil tank 5; port A of bidirectional hydraulic lock 19 is connected to the rodless chamber of cable reel lifting cylinder 1.2, and port B is connected to the rod chamber of cable reel lifting cylinder 1.2; port P of solenoid directional valve II 20 is connected to port A of pneumatic on / off valve 9, port A is connected to the rodless chamber of support cylinder 1.3.2, port B is connected to the rod chamber of support cylinder 1.3.2, and port T is connected back to hydraulic oil tank 5; port P of solenoid directional valve III 21 ... The pneumatic on / off valve 9 is connected to port A, which is connected to port A' of balance valve I 22. Port B is connected to port B' of balance valve I 22, and port T is connected back to hydraulic oil tank 5. Port A of balance valve I 22 is connected to the rodless chamber of cable lifting cylinder 2.2, and port B is connected to the rod chamber of cable lifting cylinder 2.2. The solenoid directional valve IV 23 is connected to port A of pneumatic on / off valve 9, which is connected to the rodless chamber of cable pressing cylinder 3.2, and port B is connected to the rod chamber of cable pressing cylinder 3.2. The electro-pneumatic proportional valve 24 is connected to port A of pneumatic on / off valve 9, which is connected to port A' of balance valve II 25, and port B is connected to port B' of balance valve II 25. Port T is connected back to hydraulic oil tank 5. The balance valve II 25 is connected to the cable reel drive motor. 1.5's A port is connected, and its B port is connected to the B port of the cable reel drive motor 1.5; the P port of the electromagnetic reversing valve V26 is connected to the A port of the pneumatic on / off valve 9, and its A port is connected to the brake of the cable reel drive motor 1.5, its B port is blocked, and its T port is connected back to the hydraulic oil tank 5; the P port of the electromagnetic reversing valve VI27 is connected to the air outlet of the air tank 17, its A port is connected to the rodless chamber of the cable conveying cylinder 2.5.7, its B port is connected to the rod chamber of the cable conveying cylinder 2.5.7, and its T port is open; linear motor 2.6, rotary motor, 3D scanner 2.5.9, cleaning mechanism 2.5.10, tension sensor 2.5.11, angular stroke sensor 3.5, cable pressing pressure sensor 3.4, speed sensor 4.2, and load-bearing pressure sensor 4.4. Both the electromagnetic directional valve and the electronically controlled proportional valve 24 are connected to the electronic control processing unit 28, which is powered by the power supply 29.

[0041] The air compressor 30 is connected to the air inlet of the one-way valve II 31, and the air outlet of the one-way valve II 31 is connected to the air inlet of the air tank 17. The air tank 17 is equipped with a safety valve II 32 and a ball valve 33.

[0042] The coordination principle of each module used in cable reeling and cable delivery is the same. This embodiment takes cable reeling as an example to introduce the specific implementation method in detail.

[0043] When the aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle is in operation, the vehicle must be stationary. The driver depresses the foot brake valve 12 to connect port P and port A. The hydraulic oil in the accumulator 11 reaches the wheel-side brakes 13 through the foot brake valve 12, achieving the service brake. Pulling up the parking brake valve 16 connects port P and port A. The pneumatic reversing valve 14 and the pneumatic on / off valve 9 are pneumatically reversed to connect port P and port A. The hydraulic oil in the accumulator 11 reaches the parking brake 15 through the pneumatic reversing valve 14, achieving the parking brake and ensuring the vehicle is in a stable stopped state.

[0044] The electromagnetic directional valve III 21 is switched by the electronic control processing unit 28 via remote control or manual operation, connecting ports P and A. The hydraulic oil output from the gear pump 6 passes through the pneumatic on / off valve 9, the electromagnetic directional valve III 21, and the balance valve I 22 to reach the rodless chamber of the cable lifting cylinder 2.2, causing the piston rod of the cable lifting cylinder 2.2 to extend. The cable support 2.1 starts to rotate upward from the lower limit 1.6 of the cable support until the cable lifting cylinder 2.2 reaches the upper limit and stops, maintaining the lifted state under the action of the balance valve I 22. At this time, the cable support 2.1 is higher than the maximum height of the cable reel 4, allowing the cable reel 4 to pass under the cable support 2.1 and connect to the cable reel support 1.1. The cable reel 4 is connected to the clamping mechanism 1.4 via the clamping column 4.1. The clamping mechanism 1.4 can rotate under the drive of the cable reel drive motor 1.5, thereby realizing the rotation of the cable reel 4. After the cable reel 4 is connected to the cable reel bracket 1.1, the electromagnetic reversing valve Ⅲ21 is switched by the electronic control processing unit 28 to make the P port and B port connected. The cable laying lifting cylinder 2.2 lowers the cable laying bracket 2.1 to the lower limit 1.6 of the cable laying bracket and returns it to the initial position.

[0045] The electromagnetic directional valve I18 is controlled by the electronic control processing unit 28 via remote control or manual operation, 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, the electromagnetic directional valve I18 and the two-way hydraulic lock 19 to the rodless chamber of the cable reel lifting cylinder 1.2, so that the piston rod of the cable reel lifting cylinder 1.2 extends and the cable reel support 1.1 rotates upward until the cable reel lifting cylinder 1.2 reaches the upper limit position and stops. Under the action of the two-way hydraulic lock 19, it remains stationary. At this time, the crossbeam of the cable reel support 1.1 is parallel to the frame. Meanwhile, to prevent damage to the cable reel lifting cylinder 1.2 caused by impacts from bumps during vehicle transportation, the electrical control processing unit 28 controls the solenoid directional valve II 20 to switch, connecting port P and port A. The hydraulic oil output by gear pump 6 passes through pneumatic on / off valve 9 and solenoid directional valve II 20 to reach the rodless chamber of support cylinder 1.3.2, causing the piston rod of support cylinder 1.3.2 to extend, lifting the upper telescopic column 1.3.3 to connect with the buffer rubber pad 1.3.4 and the longitudinal beams on both sides of cable reel bracket 1.1. After reaching the support position, the latch 1.3.5 is flipped between the upper telescopic column 1.3.3 and the lower fixed column 1.3.1 via the hinge, achieving a reliable locking effect.

[0046] The cable is passed through the cable delivery area of ​​the cable delivery device 2.5, and the end is fixed to the cable reel 4 by the cable fastening mechanism 4.3. The electromagnetic reversing valve VI 27 is controlled by the electronic control processing unit 28 via remote control or manual operation to connect the P port and the A port. The gas in the gas tank 17 enters the rodless chamber of the cable delivery cylinder 2.5.7 through the electromagnetic reversing valve VI 27, causing the piston rod of the cable delivery cylinder 2.5.7 to extend and push the cable delivery rubber track II 2.5.4 to move parallel to the cable delivery rubber track I 2.5.2 along the cable delivery guide rail 2.5.6, thus pressing the cable. In addition, if necessary, the cable delivery rubber track II 2.5.4 can also be pressed by pushing the mechanical rocker 2.5.8. The electrical control processing unit 28 starts the rotary motors I 2.5.3 and II 2.5.5 to operate synchronously, driving the cable conveying rubber tracks I 2.5.2 and II 2.5.4 to transport the clamped cable to the cable reel 4. The electrical control processing unit 28 controls the solenoid directional valve V 26 and the electro-pneumatic proportional valve 24 to switch directions, making port P and port A connected. The hydraulic oil output from the gear pump 6 releases the brake on the cable reel drive motor 1.5 through the pneumatic on / off valve 9 and the solenoid directional valve V 26. The hydraulic oil output from the gear pump 6 enters port A of the cable reel drive motor 1.5 through the pneumatic on / off valve 9, the electro-pneumatic proportional valve 24 and the balance valve II 25, causing the cable reel drive motor 1.5 to rotate forward and wind the cable. Simultaneously, the electronic control processing unit 28 determines the cable laying stroke and speed based on the cable diameter parameters fed back by the 3D scanner 2.5.9 and the width of the cable reel 4. That is, the movement 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 back its speed signal to the electronic control processing unit 28. The electronic control processing unit 28 dynamically adjusts the opening amount of the proportional valve 24 to ensure that the cable winding speed and the cable laying speed are coordinated, thereby achieving the orderly arrangement of the cable.

[0047] During the cable winding process, the electrical control unit 28 controls the cable pressing cylinder 3.2 and the cable pressing bracket 3.1 to press the cable in real time via the electromagnetic reversing valve Ⅳ23, preventing the cable from becoming loose and messy during winding. Among them, the cable pressing cylinder 3.2 has a follow-up function, which can adjust the stroke according to the change of the outer diameter of the cable reel.

[0048] The aforementioned multi-specification cable automatic winding, unwinding, and conveying integrated vehicle has safety protection functions: the electronic control processing unit 28 receives the signal value of the angular stroke sensor 3.5 in real time. When the angular stroke of the cable pressing bracket 3.1 reaches the maximum set value, the cable winding operation stops, and a prompt is issued through the voice alarm device to prevent the cable height from exceeding the cable reel height of the cable drum 4, i.e., physical full cable protection; the electronic control processing unit 28 receives the signal value of the load-bearing pressure sensor 4.4 in real time. When the maximum set pressure value is reached, it indicates that the cable weight has reached the specified load, the cable winding operation stops, and a prompt is issued through the voice alarm device to prevent special high-density cables from exceeding the set load-bearing capacity and causing damage to the cable drum lifting mechanism 1 and the cable drum 4, i.e., load-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 winding operation stops, and a prompt is issued through the voice alarm device to check whether there is any jamming of the unretracted cable on the ground, 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-specification cable automatic winding, stacking, and conveying integrated vehicle, characterized in that, It includes a wheeled work vehicle, a cable reel lifting mechanism, a cable laying mechanism, a cable pressing mechanism, a cable reel, a pneumatic on / off valve, a solenoid directional valve I, a two-way hydraulic lock, a solenoid directional valve III, a balance valve I, a solenoid directional valve IV, an electrically controlled proportional valve, a solenoid directional valve V, and an electrical control processing unit. The cable reel lifting mechanism includes a cable reel support, a cable reel lifting cylinder, a clamping mechanism, and a cable reel drive motor. The cable reel bracket is hinged to the frame of the wheeled work vehicle; The two ends of the cable reel lifting cylinder are respectively hinged to the vehicle frame and the cable reel bracket, and are used to drive the cable reel bracket to rotate around the hinge point of the vehicle frame and the cable reel bracket. Two clamping mechanisms are mounted opposite each other on the cable reel bracket for clamping the cable reel. The clamping mechanisms are driven to rotate by the cable reel drive motor. The cable laying mechanism includes a cable laying bracket, a cable laying lifting cylinder, a sliding guide rail, a sliding block, a cable feeder, and a linear motor; The cable tray support is hinged to the cable reel support; The two ends of the cable laying lifting cylinder are respectively hinged to the cable reel bracket and the cable laying bracket, and are used to drive the cable laying bracket to rotate around the hinge point of the cable reel bracket and the cable laying bracket. The sliding guide rail is fixedly installed on the cable tray support and is parallel to the central axis of the cable reel. The sliding block is slidably mounted on the sliding guide rail and is driven by a linear motor to slide along the sliding guide rail; The cable transmitter is fixedly mounted on the sliding block; The cable pressing mechanism includes a cable pressing bracket, a cable pressing cylinder, and a cable pressing roller; The cable clamping bracket is hinged to the cable reel bracket; The two ends of the cable pressing cylinder are respectively hinged to the cable reel bracket and the cable pressing bracket, and are used to drive the cable pressing bracket to rotate around the hinge point of the cable reel bracket and the cable pressing bracket. The cable pressing roller is rotatably mounted on the cable pressing bracket and is parallel to the central axis of the cable reel. The cable reel is provided with a clamping post at its center position that cooperates with the clamping mechanism; The P port of the electromagnetic reversing valve I is connected to the A port of the pneumatic 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 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 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 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 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 reel drive motor. The B port is blocked, and the T port is connected back to the hydraulic oil tank. The linear motor and the solenoid directional valve are both connected to the electronic control processing unit.

2. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 1, characterized in that, The cable reel lifting mechanism also includes a support column; The support column includes a lower fixed column, a support cylinder, an upper telescopic column, a locking buckle, and a buffer rubber pad; The bottom end of the lower fixing column is fixed to the vehicle frame; The bottom end of the support 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 latch is connected to the top of the lower fixed post via a hinge; The buffer rubber pad is fixedly installed at the top of the upper telescopic column.

3. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 1, characterized in that, A sealing plate is fixedly installed on the output end of the cable reel drive motor; The clamping mechanism includes a V-plate, a baffle, and a locking pin; The V-shaped plate is fixed on the sealing plate, with a locking hole I at the first end and the second end hinged to the first end of the baffle. The baffle is provided with a limiting hole, a connecting ear and a locking pin mounting seat. The limiting hole penetrates the baffle, and two connecting ears are located on both sides of the limiting hole. The connecting ears are provided with locking holes II. The locking pin is slidably mounted on the locking pin mounting seat and aligned with the locking holes II. The baffle rotates to allow the limiting hole to be fitted onto 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 post is a triangular clamping post, which cooperates with the triangular clamping area.

4. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 1, characterized in that, The cable reel support is equipped with a lower limit for the cable laying support.

5. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 2, characterized in that, The cable conveyor includes a cable conveyor base, cable conveyor rubber track I, rotary motor I, cable conveyor rubber track II, rotary motor II, cable conveyor guide rail, and cable conveyor cylinder; The cable base is fixedly mounted on the sliding block; The cable transmission rubber track I is fixedly installed on the cable transmission base via track frame I, and is perpendicular to the central axis of the cable reel; The cable guide rail is fixed on the cable base and is parallel to the central axis of the cable reel. The cable transmission rubber track II is slidably mounted on the cable transmission guide rail via track frame II, and is positioned opposite to the cable transmission rubber track I; The area between the cable transmission rubber track I and the cable transmission rubber track II is the cable transmission area. The cable transmission rubber track I and the cable transmission rubber track II are driven to rotate synchronously by rotary motor I and rotary motor II, respectively. The cylinder body of the cable-carrying cylinder is connected to the cable-carrying base, and the piston rod is connected to the track frame II.

6. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 5, characterized in that, The cable-transmitting device also includes a mechanical rocker arm; The cable base is provided with threaded holes; The mechanical rocker arm is provided with a threaded section, which passes through the threaded hole of the cable base; The first end of the mechanical rocker arm is rotatably connected to the track frame II, and the second end is provided with a crank handle.

7. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 6, characterized in that, The cable delivery system also 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 transmission base, 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, stacking, and conveying integrated vehicle according to claim 7, characterized in that, An angular travel sensor is installed between the cable clamping bracket and the cable reel bracket; A cable pressure sensor is fixedly installed on the cable pressing roller.

9. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 8, characterized in that, A speed sensor is fixedly installed on the cable reel, and a cable fastening mechanism is fixedly installed on the inner wall; A load-bearing pressure sensor is fixedly installed on the clamping column.

10. The multi-specification cable automatic winding, stacking, and conveying integrated vehicle according to claim 9, characterized in that, It also includes gear pumps, filling valves, accumulators, foot brake valves, wheel-side brakes, pneumatic directional valves, parking brakes, parking brake valves, air tanks, solenoid directional valve II, balance valve II, and solenoid directional valve VI; The oil outlet of the gear pump is connected to the P port of the pneumatic on / off valve and the P port of the filling valve, respectively. The A port of the filling valve is connected to the accumulator, and the T port and O port of the return oil are connected back to the hydraulic oil tank. The foot brake valve's P port is connected to the accumulator, its A port is connected to the wheel-side brake, and its T port is connected back to the hydraulic oil tank. The P port of the pneumatic 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 parking brake valve's P port is connected to the air outlet of the air tank, its A port is connected to the control port of the pneumatic on / off valve and the control port of the pneumatic reversing valve respectively, and its T port is open. The A port of the two-way hydraulic lock is connected to the rodless chamber of the cable reel lifting cylinder, and the B port is connected to the rod chamber of the cable reel 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 chamber of the support cylinder, the B port is connected to the rod chamber of the support cylinder, 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 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 electronically controlled 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 drive motor, and the B port is connected to the B port of the cable reel drive motor. The P port of the electromagnetic reversing valve VI is connected to the air 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 rotary motor, 3D scanner, cleaning mechanism, tension sensor, angular stroke sensor, cable pressure sensor, speed sensor, load pressure sensor, electromagnetic directional valve II, electromagnetic directional valve VI, and electronically controlled proportional valve are all connected to the electronic control processing unit.

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