Cable laying device and cable laying control method

Abstract

The invention relates to the field of power equipment, and discloses a cable laying device and a cable laying control method.The cable laying device comprises a positioning device, a detection device and a carrying device, the positioning device comprises positioning racks, a positioning station is formed between the two positioning racks, and the positioning racks are provided with positioning mechanisms; the positioning mechanism is used for driving the positioning table and the centering rod to move; the detection device is used for detecting the position of a cable reel center main hole. The carrying device is used for carrying the cable tray into the positioning station; the position of the center main hole of the cable reel is confirmed through the camera shooting assembly, then the position of the centering rod is automatically adjusted through the first driving unit and the positioning rack, the centering rod can be rapidly and accurately inserted into the center main hole of the cable reel, and compared with a traditional scheme, the cable reel positioning device is more accurate in cable reel positioning, higher in carrying efficiency and higher in practicability. And the whole carrying process is safer and more reliable.

Description

Technical Field

[0001] The present invention relates to the field of power equipment, and particularly to a cable laying device and a cable laying control method. Background Art

[0002] The cable reel is one of the important consumable materials in power supplies. It has a high unit value, large weight and volume, and diverse specifications, and has always been the key point and difficulty in the control of power supplies.

[0003] Currently, the operation process of the cable laying device mainly relies on manual operation. In this process, 2-3 operators are required to work together to push the cable reel to the cable laying station during the handling and positioning process of the cable reel. During this process, the operator needs to visually judge the alignment of the main hole in the center of the cable reel with the axis of the cable laying station and achieve centering through manual fine-tuning. This operation method not only has low efficiency but also is difficult to guarantee accuracy. In addition, the existing cable laying device has a limited support range for cable reels and cannot adapt to all types of cable reels, which limits its application in the integration of the intelligent cable cutting production line system. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to improve the efficiency of handling and positioning of the cable reel. To solve the above technical problem, the present invention provides a cable laying device and a cable laying control method, including:

[0005] A positioning device, the positioning device includes two positioning racks arranged in parallel along the first direction, a positioning station is formed between the two positioning racks, and both of the two positioning racks can move along the first direction; the positioning rack is provided with a positioning mechanism, and the two positioning mechanisms are arranged opposite to each other;

[0006] The positioning mechanism includes a first driving unit and a positioning table, the first driving unit is fixedly connected to the positioning rack, and the first driving unit is configured to drive the positioning table to move along the third direction;

[0007] The positioning table is provided with a centering rod, the centering rod extends along the first direction towards the other positioning table; the shaft diameter of at least one centering rod gradually decreases along the extending direction;

[0008] A detection device, the detection device includes a camera assembly, the camera assembly is fixedly arranged on the positioning rack, and the camera assembly is used to detect and confirm the relative position of the main hole in the center of the cable reel within the positioning station;

[0009] A handling device, the handling device includes a handling vehicle, the handling vehicle clamps and fixes the cable reel, and the handling vehicle is configured to move along the second direction to carry the cable reel into the positioning station.

[0010] Preferably, the first driving unit includes a first driving motor fixedly arranged on the positioning frame. The first driving motor is drivingly connected with a driving lead screw, and the driving lead screw is drivingly connected with the positioning table.

[0011] The positioning frame is provided with a first sliding groove, and the bottom of the positioning table is provided with a limiting protrusion which is arranged in the first sliding groove.

[0012] Preferably, at least one of the positioning tables is provided with a second driving unit. The second driving unit is drivingly connected with a power shaft, and the second driving unit is configured to drive the power shaft to rotate around the axis of the centering rod.

[0013] Preferably, the second driving unit is drivingly connected with the centering rod to drive the centering rod to rotate. The centering rod is fixedly connected with a fixing plate which extends along the radial direction of the centering rod.

[0014] The fixing plate is provided with a first driving structure which is drivingly connected with the power shaft, and the first driving structure is used to drive the power shaft to move or extend along the first direction.

[0015] Preferably, the fixing plate is provided with a second sliding groove, the power shaft is arranged in the second sliding groove, and the fixing plate is provided with a second driving structure which is used to drive the power shaft to slide in the second sliding groove.

[0016] Preferably, the camera assembly includes a lifting mechanism, a camera and a light source. The lifting mechanism is fixedly arranged on one side of the positioning frame, and one end of the lifting mechanism far away from the positioning frame is fixedly connected with the camera and the light source. The lifting mechanism is used to adjust the position of the camera in the positioning station.

[0017] Preferably, it includes a first sliding rail and a telescopic rod extending along the first direction. The first sliding rail is arranged at the bottom of the positioning frame, and the positioning frame is provided with a third driving unit which is used to drive the positioning frame to move along the first sliding rail.

[0018] The telescopic rod is arranged between the two positioning frames, and both ends of the telescopic rod are respectively fixedly connected with the positioning frames.

[0019] Preferably, the transporter includes a vehicle body which is provided with a fourth driving unit and a centering mechanism. There are two centering mechanisms arranged on the vehicle body, and the two centering mechanisms are arranged oppositely along the second direction.

[0020] The fourth driving unit is used to drive the vehicle body to move away from or close to the positioning station along the second direction;

[0021] The centering mechanism includes a centering bracket and a third driving structure. The third driving structure is used to drive the centering bracket to move along the second direction on the vehicle body, so as to push the cable reel to move on the vehicle body. The two centering brackets are arranged oppositely to clamp the cable reel and fix the relative position of the cable reel on the vehicle body.

[0022] The present invention also provides a cable laying control method, including the following steps:

[0023] S1. Move the two positioning racks along the first direction to the cable reel receiving waiting area, and adjust the distance between the two positioning racks to increase the space size of the positioning station; meanwhile, fix the cable reel on the transport vehicle and ensure that the cable reel is located at the center position of the transport vehicle;

[0024] S2. The transport vehicle moves to the central axis position of the positioning station;

[0025] S3. The camera assembly takes a photo of the cable reel to obtain a photo of the cable reel, and through image processing of the photo, identifies and locates the central main hole of the cable reel, obtains the spatial coordinates of the central main hole of the cable reel, and locates the position of the center of the central main hole;

[0026] S4. The first driving unit drives the positioning table to move along the third direction to adjust the position of the centering rod, so that the centering rod moves to a position corresponding to the central main hole of the cable reel;

[0027] S5. The two centering brackets approach each other to adjust and reduce the width of the positioning station, and insert the centering rod into the central main hole of the cable reel;

[0028] S6. The first driving unit drives the positioning table to move upward along the third direction to lift the cable reel; meanwhile, the transport vehicle leaves the positioning station;

[0029] S7. The two positioning racks move synchronously to drive the cable reel to the working area.

[0030] Preferably, the following steps are further included between step S4 and step S5:

[0031] S41. The camera assembly takes a photo of the cable reel to obtain a photo of the cable reel, and through image processing of the photo, identifies and locates the auxiliary power hole of the cable reel, obtains the spatial coordinates of the auxiliary power hole, and locates the position of the auxiliary power hole;

[0032] S42. The second driving unit drives the power shaft to rotate around the axis of the centering rod, and drives the power shaft to slide in the second chute through the second driving structure, so that the power shaft moves to a position corresponding to the auxiliary power hole of the cable reel;

[0033] S43. The first driving structure drives the power shaft to extend into the auxiliary power hole.

[0034] In the embodiments of the present invention, a cable laying device and a cable laying control method provided therein have the following beneficial effects compared with the prior art:

[0035] In the present invention, first, the cable reel clamped and fixed on the handling vehicle is moved to the positioning station between the two positioning racks by the handling vehicle. Subsequently, the imaging component determines the position of the central main hole of the cable reel. Then, the first driving unit drives the positioning table to move so that the centering rod is disposed opposite to the central main hole. Finally, by moving the positioning racks, the width of the positioning station is adjusted so that the centering rod is inserted into the central main hole. The first driving unit then drives the positioning table and the centering rod to move upward along the third direction, thereby lifting the cable reel from the handling vehicle, facilitating the subsequent transfer of the cable reel to the operation area. The present invention confirms the position of the central main hole of the cable reel through the imaging component, and then automatically adjusts the position of the centering rod through the first driving unit and the positioning racks, enabling the centering rod to be quickly and accurately inserted into the central main hole of the cable reel. Compared with the traditional solution, the positioning of the cable reel is more accurate, the handling efficiency is higher, and the entire handling process is also safer and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a perspective view of the present invention;

[0037] Figure 2 is a front view of the present invention;

[0038] Figure 3 is of the present invention Figure 2 cross-sectional structure schematic diagram at A-A in;

[0039] Figure 4 is a structure schematic diagram of the third driving unit of the present invention.

[0040] In the figure: 1, positioning rack; 11, first chute; 12, telescopic rod; 13, third driving unit;

[0041] 2, positioning mechanism; 21, first driving unit; 211, first driving motor; 212, driving lead screw; 22, positioning table; 221, limit projection; 23, centering rod; 24, second driving unit; 25, power shaft; 26, fixing plate; 261, second chute; 262, first driving structure; 263, second driving structure;

[0042] 3, imaging component; 31, camera; 32, light source; 33, lifting mechanism;

[0043] 4. Cable reel carrier; 41. Vehicle body; 42. Fourth drive unit; 43. Centering mechanism; 431. Centering bracket; 432. Third drive structure;

[0044] 5. Cable reel; 51. Central main hole;

[0045] 6. First slide rail. Detailed implementation manners

[0046] The following combines the accompanying drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0047] As Figures 1 to 4 shown, a cable unreeling device and a cable unreeling control method provided by a preferred embodiment of the present invention include: a positioning device, a detection device, and a handling device;

[0048] The positioning device includes two positioning racks 1 arranged in parallel along the first direction. A positioning station is formed between the two positioning racks 1, and both positioning racks 1 can move along the first direction; the positioning rack 1 is provided with a positioning mechanism 2, and the two positioning mechanisms 2 are arranged oppositely;

[0049] The positioning mechanism 2 includes a first drive unit 21 and a positioning table 22. The first drive unit 21 is fixedly connected to the positioning rack 1, and the first drive unit 21 is configured to drive the positioning table 22 to move along the third direction;

[0050] The positioning table 22 is provided with a centering rod 23. The centering rod 23 extends along the first direction toward the other positioning table 22; the shaft diameter of at least one centering rod 23 gradually decreases along the extension direction;

[0051] The detection device includes a camera assembly 3. The camera assembly 3 is fixedly arranged on the positioning rack 1, and the camera assembly 3 is used to detect and confirm the relative position of the central main hole 51 of the cable reel 5 within the positioning station;

[0052] The handling device includes a cable reel carrier 4. The cable reel carrier 4 holds and fixes the cable reel 5, and the cable reel carrier 4 is configured to move along the second direction to carry the cable reel 5 into the positioning station.

[0053] Wherein, the first direction is defined as X, the second direction is defined as Y, and the third direction is defined as Z.

[0054] Specifically, when positioning and installing the cable reel 5 in the traditional solution, the operator needs to visually judge the alignment between the central main hole 51 of the cable reel 5 and the top centering rod 23, and then manually fine-tune to achieve the centering of the cable reel 5, so as to facilitate subsequent operations. This makes the positioning efficiency and positioning accuracy of the cable reel 5 relatively low. In addition, the external dimensions of the centering rod 23 in the existing equipment are relatively fixed. When facing different cable reels 5, different centering rods 23 need to be replaced according to the specifications and dimensions of the cable reel 5, further reducing the positioning and handling efficiency of the cable, and it is difficult to adapt to the use of more types of cable reels 5. In this embodiment, the two positioning racks 1 in the positioning device are arranged in parallel and can both move along the first direction, so as to adjust the width of the positioning station between the two positioning racks 1, and then adapt to the positioning requirements of different-sized cable reels 5; subsequently, the transport vehicle 4 can accurately move to the central axis of the positioning station under program control, that is, make the axis of the camera assembly 3, the axis of the central main hole 51 of the cable reel 5, and the axis of the centering rod 23 be in the same vertical horizontal plane; subsequently, the camera assembly 3 takes a picture and determines the spatial position coordinates of the central main hole 51 of the cable reel 5 in the positioning station through image processing technology, that is, the position of the central main hole 51 in the positioning station. Among them, image processing technology is relatively common in the industrial field and belongs to the prior art, so the details and principles will not be described in too much detail here; finally, according to the position of the central main hole 51 of the cable reel 5 in the positioning station, the first driving unit 21 drives the positioning table 22 and the centering rod 23 to move up and down along the third direction, so that the position of the centering rod 23 corresponds to the position of the central main hole 51 of the cable reel 5. The positioning rack 1 then moves along the first direction, so that the centering rod 23 can be inserted into the central main hole 51 of the cable reel 5. The first driving unit 21 then drives the positioning table 22 to move upward along the third direction, so as to lift the cable reel 5 from the transport vehicle 4 and complete the positioning and handling of the cable reel 5. During the entire positioning and handling process, the position of the central main hole 51 of the cable reel 5 is determined by the camera assembly 3, and the first driving unit 21 then adjusts the position of the centering rod 23 according to the determined position of the central main hole 51 of the cable reel 5. Compared with the visual solution, it not only has higher precision, more accurate and reliable positioning, but also the entire positioning process is faster. And in the subsequent process, the centering rod 23 is also inserted into the central main hole 51 of the cable reel 5 under the drive of the positioning rack 1, further improving the positioning efficiency and handling efficiency of the entire cable reel 5.

[0055] In addition, the shaft diameter of the centering rod 23 gradually decreases along its extending direction, so that it can adapt to the positioning requirements of more cable reels 5 with different sizes. For the cable reel 5 with a smaller inner diameter of the central main hole 51, when the top end of the centering rod 23 is inserted, the centering and supporting of the cable reel 5 can be realized. For the cable reel 5 with a larger inner diameter of the central main hole 51, the shaft diameter of the top end of the centering rod 23 is smaller than the inner diameter of the cable reel 5, so the centering rod 23 directly penetrates deeper into the central main hole 51 until the part with a larger shaft diameter of the centering rod 23 contacts the inside of the central main hole 51 of the cable reel 5, thereby realizing the centering and supporting of the cable reel 5, and further realizing the flexible adaptation to cable reels 5 of multiple models. In a specific embodiment, the centering rod 23 is a multi-section tapered rod structure, which includes a plurality of tapered rod bodies, the shaft diameters of each rod body are different, and the end face of each rod body can better abut against the cable reel 5, so as to better stabilize the state of the cable reel 5 after being lifted.

[0056] In some embodiments, the first driving unit 21 includes a first driving motor 211 fixedly arranged on the positioning frame 1. The first driving motor 211 is drivingly connected with a driving lead screw 212, and the driving lead screw 212 is drivingly connected with the positioning table 22.

[0057] The positioning frame 1 is provided with a first sliding groove 11, and the bottom of the positioning table 22 is provided with a limiting protrusion 221, and the limiting protrusion 221 is arranged in the first sliding groove 11.

[0058] Specifically, in this embodiment, the first sliding groove 11 extends along the third direction. The positioning table 22 can move up and down along the third direction on the positioning frame 1 through the cooperation with the first sliding groove 11. In this implementation, the first driving electrolysis cooperates with the driving lead screw 212 to provide power for the positioning table 22, so that the positioning table 22 can move along the third direction. In some other embodiments, the first driving unit 21 can adopt a hydraulic cylinder or a cylinder and other structures, and the positioning table 22 is driven to slide along the first sliding groove 11 through the hydraulic cylinder and other structures. The preferred driving lead screw 212 transmission structure in this embodiment makes the movement of the positioning table 22 more stable and accurate. The position of the positioning table 22 is not likely to fluctuate due to external factors during movement, so that the position movement of the centering rod 23 is more accurate and reliable, and the centering rod 23 can more accurately correspond to the position of the central main hole 51 of the cable reel 5, which is convenient for the subsequent insertion of the centering rod 23 into the central main hole 51.

[0059] In some embodiments, at least one positioning table 22 is provided with a second driving unit 24. The second driving unit 24 is drivingly connected with a power shaft 25, and the second driving unit 24 is configured to drive the power shaft 25 to rotate around the axis of the centering rod 23.

[0060] Specifically, in the existing cable reel 5, in addition to the central main hole 51, an auxiliary power hole is also provided. According to the type and specification size of the cable reel 5, the position of the auxiliary power hole is different. When the power shaft 25 is inserted into the auxiliary power hole, it can cooperate with the centering rod 23 to lift the cable reel 5 off the transport vehicle 4 more stably, making the handling and transfer of the cable reel 5 more stable and reliable. During the actual handling process of the cable reel 5, after the position of the centering rod 23 corresponds to the central main hole 51, it is also necessary to further adjust the position of the rotary adjustment power shaft 25 so that the position of the power shaft 25 corresponds to the auxiliary power hole, so as to facilitate the subsequent stable and accurate insertion of the power shaft 25 into the auxiliary power hole. After the power shaft 25 is inserted into the auxiliary power hole, the positioning frame 1 can be driven to make the centering rod 23 stably inserted into the central main hole 51.

[0061] In some embodiments, the second driving unit 24 is drivingly connected to the centering rod 23 to drive the centering rod 23 to rotate; the centering rod 23 is fixedly connected with a fixing plate 26, and the fixing plate 26 extends along the radial direction of the centering rod 23;

[0062] The fixing plate 26 is provided with a first driving structure 262, the first driving structure 262 is drivingly connected with a power shaft 25, and the first driving structure 262 is used to drive the power shaft 25 to move or extend along a first direction.

[0063] Specifically, in some other embodiments, the second driving unit 24 drives the power shaft 25 to rotate around the centering rod 23 alone, rather than driving the centering rod 23 to rotate to drive the power shaft 25 to rotate. In this embodiment, when the cable reel 5 is clamped and fixed on the transport vehicle 4, due to installation and other reasons, the position of the auxiliary power hole is not fixed. Therefore, it is necessary for the second driving unit 24 to drive the centering rod 23 to drive the fixing plate 26 to rotate, so as to adjust the position of the power shaft 25 relative to the centering rod 23 in space, cooperate with the imaging assembly 3 to determine the position coordinates of the auxiliary power hole in space, and make the power shaft 25 align with the auxiliary power hole through rotation. When the power shaft 25 is adjusted in place, the first driving structure 262 can drive the power shaft 25 to extend and retract, so that the power shaft 25 is inserted into the auxiliary power hole, thus facilitating the subsequent insertion of the centering rod 23 into the central main hole 51, and the power shaft 25 can also provide power for the subsequent lifting of the cable reel 5. In this embodiment, the first driving structure 262 adopts cylinder power, and the cylinder provides power to push the power shaft 25 to extend and retract. Of course, in other embodiments, a hydraulic cylinder or other power structures can also be used to drive the power shaft 25 to extend and retract.

[0064] In addition, in this embodiment, the second driving unit 24 includes a motor, a speed reducer, and a gear transmission structure, so as to smoothly drive the centering rod 23 and the fixing plate 26 to rotate. The specific gear transmission structure and speed reducer and other structures inside the second driving unit 24 belong to common knowledge. Those skilled in the art can design the transmission structure according to technologies such as mechanical design engineering, as long as it can drive the fixing plate 26 to rotate, so it will not be elaborated here.

[0065] In some embodiments, the fixing plate 26 is provided with a second sliding groove 261, the power shaft 25 is arranged in the second sliding groove 261, the fixing plate 26 is provided with a second driving structure 263, and the second driving structure 263 is used to drive the power shaft 25 to slide in the second sliding groove 261.

[0066] Specifically, due to the different categories of the cable reels 5, the distances between the auxiliary power holes in the cable reels 5 and the central main hole 51 are also different. The second driving unit 24 can only drive the power shaft 25 to rotate around the centering rod 23, but cannot adjust the distance between the power shaft 25 and the centering rod 23. Therefore, a second sliding groove 261 and a second driving structure 263 are additionally arranged on the fixing plate 26. The second driving structure 263 drives the power shaft 25 to move in the second sliding groove 261, so as to adjust the distance between the power shaft 25 and the centering rod 23, and further adapt to the use of different categories of cable reels 5. The second driving structure 263 can adopt a cylinder, a hydraulic cylinder or a linear motor structure, etc.

[0067] In some embodiments, the imaging assembly 3 includes a lifting mechanism 33, a camera 31, and a light source 32. The lifting mechanism 33 is fixedly arranged on one side positioning frame 1. One end of the lifting mechanism 33 away from the positioning frame 1 is fixedly connected with the camera 31 and the light source 32, and the lifting mechanism 33 is used to adjust the position of the camera 31 in the positioning station.

[0068] Specifically, the camera 31 is arranged in the middle of the positioning space. The position of the camera 31 is adjusted by the lifting mechanism 33 so that the camera 31 can be aligned with the central main hole 51 on the side of the cable reel 5. The light source 32 adopts an annular light source 32 or a diffused light source 32, which can ensure uniform illumination, reduce interference, enable the camera 31 to completely monitor the cable reel 5, and can also more stably and accurately determine the spatial position of the central main hole 51 of the cable reel 5 in the positioning station.

[0069] In some embodiments, it includes a first sliding rail 6 and a telescopic rod 12 extending along the first direction; the first sliding rail 6 is arranged at the bottom of the positioning frame 1, and the positioning frame 1 is provided with a third driving unit 13, and the third driving unit 13 is used to drive the positioning frame 1 to move along the first sliding rail 6;

[0070] The telescopic rod 12 is arranged between the two positioning racks 1, and both ends of the telescopic rod 12 are fixedly connected to the positioning racks 1 respectively.

[0071] Specifically, as described above, the positioning rack 1 can move along the first direction to adjust the distance between the two positioning racks 1, that is, the width of the positioning station, so as to facilitate the entry of the transport vehicle 4 into the positioning station and also facilitate the subsequent handling and transfer of the cable reel 5. In this embodiment, a first slide rail 6 is provided on the top of the positioning rack 1. The first slide rail 6 is fixedly arranged on the bottom surface and the platform of the working area. The positioning rack 1 is driven by the third driving unit 13 to move on the first slide rail 6, so as to adjust the distance between the two positioning racks 1. In addition, the two positioning racks 1 can be moved synchronously, so as to transfer the cable reel 5 to the working area more quickly and stably. In a specific embodiment, the third driving unit 13 adopts a chain drive structure to drive the positioning rack 1 to move. Of course, in some other embodiments, other driving structures can also be used to drive the positioning rack 1 to move along the first slide rail 6. The specific driving structure can adopt some existing slide rail drive structures, which will not be elaborated here.

[0072] In some embodiments, the transport vehicle 4 includes a vehicle body 41, and the vehicle body 41 is provided with a fourth driving unit 42 and a centering mechanism 43; there are two centering mechanisms 43 arranged on the vehicle body 41, and the two centering mechanisms 43 are arranged oppositely along the second direction;

[0073] The fourth driving unit 42 is used to drive the vehicle body 41 to move away from or close to the positioning station along the second direction;

[0074] The centering mechanism 43 includes a centering bracket 431 and a third driving structure 432. The third driving structure 432 is used to drive the centering bracket 431 to move along the second direction on the vehicle body 41, so as to push the cable reel 5 to move on the vehicle body 41. The two centering brackets 431 are arranged oppositely to clamp the cable reel 5 and fix the relative position of the cable reel 5 on the vehicle body 41.

[0075] Specifically, in this embodiment, a second slide rail can also be provided, and the carrier vehicle 4 moves along the second slide rail. By means of structures such as sensors on the second slide rail and in cooperation with software programs, the moving distance of the carrier vehicle 4 can be accurately controlled, so as to accurately control the positions of the carrier vehicle 4 and the cable reel 5 thereon in the positioning station, and make the axis of the central main hole 51 of the cable reel 5 and the axis of the centering rod 23 lie in the same vertical plane. Of course, before the carrier vehicle 4 moves to the positioning station through the fourth driving unit 42, the cable reel 5 needs to be fixed on the carrier vehicle 4 first. After the cable reel 5 is placed on the carrier vehicle 4, the third driving structure 432 can drive the centering bracket 431 to move towards the center of the carrier vehicle 4, so as to abut against and push the cable reel 5 to move on the vehicle body 41 until the cable reel 5 abuts against another centering bracket 431. The two centering brackets 431 can well limit the position of the cable reel 5 on the vehicle body 41 and control the cable reel 5 to stably be in the middle position of the vehicle body 41.

[0076] The present invention also provides a cable laying control method, including the following steps:

[0077] S1. Move the two positioning racks 1 in the first direction to the cable reel receiving waiting area, and adjust the distance between the two positioning racks 1 to increase the space size of the positioning station; at the same time, fix the cable reel 5 on the carrier vehicle 4 and ensure that the cable reel 5 is located at the center position of the carrier vehicle 4;

[0078] S2. The carrier vehicle 4 moves to the central axis position of the positioning station;

[0079] S3. The camera assembly 3 takes a photo of the cable reel 5 to obtain a photo of the cable reel 5, performs image processing on the photo to identify and locate the central main hole 51 of the cable reel 5, and obtains the spatial coordinates of the central main hole 51 of the cable reel 5 to locate the position of the center of the central main hole 51;

[0080] S4. The first driving unit 21 drives the positioning table 22 to move in the third direction to adjust the position of the centering rod 23 so that the centering rod 23 moves to a position corresponding to the central main hole 51 of the cable reel 5;

[0081] S5. The two positioning brackets approach each other to adjust and reduce the width of the positioning station, and insert the centering rod 23 into the central main hole 51 of the cable reel 5;

[0082] S6. The first driving unit 21 drives the positioning table 22 to move upward in the third direction to lift the cable reel 5; at the same time, the carrier vehicle 4 leaves the positioning station;

[0083] S7. The two positioning racks 1 move synchronously to drive the cable reel 5 to the operation area.

[0084] In this embodiment, the two positioning racks 1 are not in the cable reel 5 waiting to be received area at the beginning. The two positioning racks 1 need to be driven by the third driving unit 13 under program control to move to the cable reel 5 waiting to be received area along the first slide rail 6, and then the two positioning racks 1 are unfolded to form a positioning station; at the same time, the cable reel 5 located on the transport vehicle 4 is also stably fixed in the center position of the vehicle body 41 under the action of two centering mechanisms 43, and then the program controls the transport vehicle 4 to move to the positioning station under the action of the fourth driving unit 42, and ensures that the cable reel 5 is located in the center of the positioning station, so that the central main hole 51 of the cable reel 5 and the centering rod 23 are in the same vertical plane, and the program cooperates with the operating parameters of the sensor and the driving unit to stably and accurately control the position of the transport vehicle 4 in the positioning station. After the transport vehicle 4 moves to the preset position, the camera 31 in the camera assembly 3 will start to take pictures of the cable reel 5, and determine the position of the central main hole 51 of the cable reel 5 through image processing technology, and then the first driving unit 21 drives the positioning platform 22 to move along the third direction, so that the position of the centering rod 23 corresponds to the position of the central main hole 51 of the cable reel 5. When the position of the centering rod 23 is adjusted to the right position, the positioning frames 1 on both sides begin to move toward each other, so as to insert the centering rod 23 into the central main hole 51 of the cable reel 5. According to the different inner diameters of the central main hole 51 of the cable reel 5, the depth of the centering rod 23 inserted into the central main hole 51 is also different, so that the outer wall of the centering rod 23 can fit tightly with the inner wall of the central main hole 51. The setting of the centering rod 23 can meet the use of cable reels 5 of various specifications and sizes. When the centering rod 23 is stably inserted into the central main hole 51 of the cable drum 5, the first driving unit 21 drives the positioning platform 22 to move upward, so that the cable drum 5 can be lifted to separate from the transport vehicle 4. It is best that the two positioning frames 1 move synchronously to transfer the cable drum 5 to the working area.

[0085] In some embodiments, the following steps are further included between step S4 and step S5:

[0086] S41, the camera assembly 3 takes a photo of the cable drum 5 to obtain a photo of the cable drum 5, performs image processing on the photo to identify and locate the auxiliary power hole of the cable drum 5, obtains the spatial coordinates of the auxiliary power hole, and locates the position of the auxiliary power hole;

[0087] S42, the second driving unit 24 drives the power shaft 25 to rotate around the axis of the centering rod 23, and drives the power shaft 25 to slide in the second slide groove 261 through the second driving structure 263, so that the power shaft 25 moves to a position corresponding to the auxiliary power hole of the cable drum 5;

[0088] S43, the first driving structure 262 drives the power shaft 25 to extend and retract into the auxiliary power hole.

[0089] Among them, the camera 31 can convert and obtain the spatial coordinate position of the auxiliary power hole of the cable reel 5 through photo and image processing technologies. Then, the second driving unit 24 can drive the power shaft 25 to rotate according to the position data of the auxiliary power hole. After the power shaft 25 rotates in place, the second driving structure 263 drives the power shaft 25 to move in the second chute 261, so that the power shaft 25 can be aligned with the auxiliary power hole. Finally, the first driving structure 262 drives the power shaft 25 to extend and retract, so that the power shaft 25 is inserted into the auxiliary power hole.

[0090] In summary, the embodiment of the present invention provides a cable releasing device and a cable releasing control method. Through the carrier vehicle 4, the cable reel 5 can be accurately moved to the positioning station. The camera 31 takes pictures of the cable reel 5, and the spatial positions of the central main hole 51 and the auxiliary power hole of the cable reel 5 are accurately obtained through image processing technology. On this basis, the first driving unit 21 drives the positioning table 22 to move in the third direction, so that the centering rod 23 corresponds to the central main hole 51. Subsequently, the power shaft 25 rotates to correspond to the auxiliary power hole, and the centering rod 23 and the power shaft 25 are respectively inserted into the central main hole 51 and the auxiliary power hole to lift the cable reel 5. Then, the positioning frame 1 can move the cable reel 5 to the working area, greatly improving the efficiency of positioning and handling the cable reel 5, making the positioning of the cable reel 5 more accurate and stable, and capable of adapting to the positioning and handling of more cable reels 5.

[0091] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and replacements can be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A cable laying device has a first direction, a second direction and a third direction that intersect pairwise, and is characterized in that, Comprising: A positioning device, which includes two positioning racks arranged in parallel along the first direction. A positioning station is formed between the two positioning racks, and both of the two positioning racks can move along the first direction. The positioning rack is provided with a positioning mechanism, and the two positioning mechanisms are arranged oppositely; The positioning mechanism includes a first driving unit and a positioning table. The first driving unit is fixedly connected to the positioning rack, and the first driving unit is configured to drive the positioning table to move along the third direction; The positioning table is provided with a centering rod, and the centering rod extends along the first direction towards the other positioning table; the shaft diameter of at least one centering rod gradually decreases along the extension direction; A detection device, which includes a camera assembly. The camera assembly is fixedly arranged on the positioning rack, and the camera assembly is used to detect and confirm the relative position of the central main hole of the cable reel within the positioning station; A handling device, which includes a handling cart. The handling cart clamps and fixes the cable reel, and the handling cart is configured to move along the second direction to transport the cable reel into the positioning station.

2. The cable laying device according to claim 1, characterized in that, The first driving unit includes a first driving motor fixedly arranged on the positioning rack. The first driving motor is in transmission connection with a driving lead screw, and the driving lead screw is in transmission connection with the positioning table; The positioning rack is provided with a first sliding groove, and a limiting protrusion is arranged at the bottom of the positioning table. The limiting protrusion is arranged within the first sliding groove.

3. The cable laying device according to claim 1, characterized in that, At least one of the positioning tables is provided with a second driving unit. The second driving unit is in transmission connection with a power shaft, and the second driving unit is configured to drive the power shaft to rotate around the axis of the centering rod.

4. The cable laying device according to claim 3, characterized in that, The second driving unit is in transmission connection with the centering rod to drive the centering rod to rotate; the centering rod is fixedly connected with a fixing plate, and the fixing plate extends along the radial direction of the centering rod; The fixing plate is provided with a first driving structure. The first driving structure is in transmission connection with the power shaft, and the first driving structure is used to drive the power shaft to move or extend along the first direction.

5. The cable laying device according to claim 4, characterized in that, The fixing plate is provided with a second sliding groove, the power shaft is arranged within the second sliding groove, and the fixing plate is provided with a second driving structure. The second driving structure is used to drive the power shaft to slide within the second sliding groove.

6. The cable laying device according to claim 1, characterized in that, The camera assembly includes a lifting mechanism, a camera, and a light source. The lifting mechanism is fixedly arranged on one side of the positioning rack. The end of the lifting mechanism far away from the positioning rack is fixedly connected with the camera and the light source, and the lifting mechanism is used to adjust the position of the camera within the positioning station.

7. The cable laying device according to claim 1, characterized in that, Including a first sliding rail and a telescopic rod extending along the first direction; the first sliding rail is arranged at the bottom of the positioning rack, and the positioning rack is provided with a third driving unit, and the third driving unit is used to drive the positioning rack to move along the first sliding rail; The telescopic rod is arranged between the two positioning racks, and the two ends of the telescopic rod are respectively fixedly connected with the positioning racks.

8. The cable laying device according to claim 1, characterized in that, The carrier vehicle includes a vehicle body, and the vehicle body is provided with a fourth drive unit and a centering mechanism; there are two centering mechanisms arranged on the vehicle body, and the two centering mechanisms are arranged opposite to each other along the second direction; The fourth drive unit is used to drive the vehicle body to move away from or close to the positioning station along the second direction; The centering mechanism includes a centering bracket and a third drive structure. The third drive structure is used to drive the centering bracket to move along the second direction on the vehicle body, so as to push the cable reel to move on the vehicle body. The two centering brackets are arranged opposite to each other to clamp the cable reel and fix the relative position of the cable reel on the vehicle body.

9. A cable laying control method, using the cable laying device according to any one of claims 1 to 8, characterized in that, It includes the following steps: S1. Move the two positioning racks along the first direction to the cable reel receiving waiting area, and adjust the distance between the two positioning racks to increase the space size of the positioning station; at the same time, fix the cable reel on the carrier vehicle and ensure that the cable reel is located at the center position of the carrier vehicle; S2. The carrier vehicle moves to the central axis position of the positioning station; S3. The camera assembly takes a photo of the cable reel to obtain a photo of the cable reel. By performing image processing on the photo, the central main hole of the cable reel is identified, the spatial coordinates of the central main hole of the cable reel are obtained, and the position of the central main hole is positioned; S4. The first drive unit drives the positioning table to move along the third direction to adjust the position of the centering rod so that the centering rod moves to a position corresponding to the central main hole of the cable reel; S5. The two positioning brackets approach each other to adjust and reduce the width of the positioning station, and the centering rod is inserted into the central main hole of the cable reel; S6. The first drive unit drives the positioning table to move upward along the third direction to lift the cable reel; at the same time, the carrier vehicle leaves the positioning station; S7. The two positioning racks move synchronously to drive the cable reel to the operation area.

10. The cable laying control method according to claim 9, wherein, The following steps are also included between step S4 and step S5: S41. The camera assembly takes a photo of the cable reel to obtain a photo of the cable reel. By performing image processing on the photo, the auxiliary power hole of the cable reel is identified, the spatial coordinates of the auxiliary power hole are obtained, and the position of the auxiliary power hole is positioned; S42. The second drive unit drives the power shaft to rotate around the axis of the centering rod, and drives the power shaft to slide in the second chute through the second drive structure, so that the power shaft moves to a position corresponding to the auxiliary power hole of the cable reel; S43. The first drive structure drives the power shaft to extend and retract into the auxiliary power hole.

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