Cable pipeline excavation and laying all-in-one machine, control method and construction method

Abstract

The invention discloses a cable duct excavation and laying all-in-one machine, which comprises a wheel-track integrated chassis and a slewing mechanism, and is characterized in that the slewing mechanism is connected with the wheel-track integrated chassis and a slewing platform assembly to realize the slewing of the slewing platform assembly and a multifunctional mechanical arm above the slewing platform assembly; the rotary platform assembly is provided with a cab and a power device, and the end part of the multifunctional mechanical arm is provided with an excavator bucket, a special gripping apparatus for a cable pipe or a compaction device; and a groove excavation device or a push shovel device is arranged at the end part of the wheel-track integrated chassis. The invention further discloses a corresponding control method and a corresponding construction method. The robot has the functions of wheel-crawler walking, excavation, trench excavation, cable pipe laying, cable pipe connection, backfilling, compaction and the like at the same time, and can meet the requirements of excavation, backfilling and compaction operation of 10 kilovolt and below cable pipes and connection and laying construction of 4 * 4 rows of cable pipes; repeated entry of large machinery is avoided, construction cost is reduced, efficiency is improved, and construction time is shortened.

Description

Technical Field

[0001] The present invention relates to the field of engineering machinery and power grid construction, and in particular to an integrated cable pipeline excavation and laying machine, a control method and a construction method. Background Art

[0002] During the construction of power grids, the following problems exist in the construction of 10 kV and below cable projects:

[0003] Problem 1: Traditional cable channels and pipelines are laid using excavators and manual laying. Large machinery is repeatedly brought into the site, resulting in high construction costs and low efficiency, which affects the progress of the project. Problem 2: Traditional cable channels and pipelines are laid, and machinery, personnel, and materials are basically brought into the site in batches, which is not smooth and time-consuming. If the construction of power projects in cities and towns takes a long time, it will face problems such as difficulty in approval by municipal management departments, resulting in delayed project progress.

[0004] Therefore, it is necessary to develop new integrated technologies for cable duct excavation and laying to overcome the above problems. Summary of the invention

[0005] Purpose of the invention: In view of the shortcomings and defects of the prior art, the present invention provides an all-in-one cable duct excavation and laying machine, a control method and a construction method, which has the functions of wheel walking, excavation, trench excavation, cable duct laying, cable duct connection, backfilling and compaction, etc., which can meet the needs of excavation, backfilling and compaction of 10 kV and below cable ducts, as well as 4X4 row cable duct connection and laying construction; avoid repeated entry of large machinery, reduce construction costs, improve efficiency and shorten construction time.

[0006] Technical solution: The present invention is an integrated cable duct excavation and laying machine, which is characterized by: comprising a wheel-track integrated chassis and a slewing mechanism, the slewing mechanism is connected to the wheel-track integrated chassis and the slewing platform assembly to realize the rotation of the slewing platform assembly and the multifunctional mechanical arm thereon; the slewing platform assembly is provided with a cab and a power device, the end of the multifunctional mechanical arm is provided with a bucket, a special gripper for cable pipes or a compacting device; the end of the wheel-track integrated chassis is provided with a trench excavation device or a push shovel device.

[0007] The wheel-track integrated chassis includes a track travel assembly, which is installed on both sides of the chassis frame. The front and rear ends of the chassis frame are provided with wheel-track conversion brackets, which include several groups of connecting arms, and the two ends of the connecting arms are respectively hinged with the chassis frame and the wheel travel assembly. The wheel-track integrated chassis is used to carry the integrated machine upper body and realize the travel of the integrated machine. The rotary platform assembly is provided with a cab and a power device to provide power for other mechanisms and is used to install the main multifunctional mechanical arm.

[0008] Wherein, a hoisting cylinder for controlling the rotation angle of the connecting arm is hinged between the chassis frame and the connecting arm, and by adjusting the stroke of the hoisting cylinder, the conversion between crawler travel and wheeled travel is realized. The wheeled travel assembly can use tires for road travel and can adapt to different construction environments such as mountains, roads, and farmlands.

[0009] Wherein, the trench excavation device includes a cutting machine frame installed at the rear end of the chassis frame for carrying other devices. The cutting machine frame is connected to a sliding device for adjusting the lateral position of the cutting device, and a conveying device is provided on the cutting machine frame and the sliding device for conveying the soil generated by grooving.

[0010] Wherein, the cutting machine frame is hinged to the cutting device, and a hydraulic cylinder for controlling the rotation angle of the cutting device is hinged between the cutting machine frame and the cutting device. By adjusting the stroke of the hydraulic cylinder, the adjustment of the grooving depth is realized.

[0011] Wherein, the special cable pipe gripper is installed on the hydraulic quick-change device at the end of the multi-functional robotic arm. The special cable pipe gripper includes a connecting frame connected to the hydraulic quick-change device, and the mechanical and hydraulic connections between the special cable pipe gripper and the hydraulic quick-change device are realized through the connecting frame.

[0012] Wherein, a slewing mechanism for the slewing operation of the gripping mechanism and the splicing device is provided below the connecting frame. The gripping mechanism has an opening and closing function for gripping the cable pipe, and the splicing device has a front and back stretching function for the splicing of the cable pipe.

[0013] Wherein, the multi-functional robotic arm is connected to the slewing platform assembly through a pin shaft, realizing various operations such as excavation, cable pipe gripping, and compaction.

[0014] A control method for cable pipeline excavation and laying, characterized by comprising the following steps:

[0015] 1) Control the wheel-track conversion bracket to select a travel mode to adapt to different scenarios of short-distance transfer and construction operations;

[0016] 2) Transversely move the trench excavation device to the cable pipeline excavation position, adjust the excavation width and depth, and control the extending direction of the conveying device;

[0017] 3) Control the multi-functional robotic arm to grip the 4X4 column cable pipes and complete laying and splicing;

[0018] 4) Control the angle of the push shovel device to backfill and level the buffer layer and the surface layer of the trench;

[0019] 5) Control the multi-functional robotic arm to press down the compaction device to complete the compaction of the surface layer.

[0020] A construction method for cable pipeline excavation and laying, characterized by comprising the following steps:

[0021] 1) Move the trench excavation device laterally to the cable duct excavation position, adjust the excavation depth, and perform grooving operations;

[0022] 2) The multi-functional robotic arm grabs a 4X4 column of cable ducts, lays and joins the cable ducts;

[0023] 3) Replace the push shovel device, and backfill and level the buffer layer and the surface layer of the trench;

[0024] 4) The multi-functional robotic arm replaces the compaction device to complete the compaction of the surface layer.

[0025] Beneficial effects: Compared with the prior art, the present invention has the following remarkable advantages: By installing a wheeled travel assembly, the present invention has a dual-mode of caterpillar travel and wheeled travel, which can adapt to different construction environments such as mountains, roads, and farmlands; The rear wheeled travel mechanism can be quickly disassembled for installing the trench excavation device and the push shovel device to meet different construction requirements; By controlling the left and right positions of the trench excavation device and the crawler frame, safe construction under limited conditions such as narrow spaces or roadside can be achieved. The multi-functional robotic arm of the present invention is equipped with a hydraulic quick-change device, which can realize the switching of tools such as special cable duct grippers and compaction devices, achieve rapid conversion of multiple uses, reduce the repeated entry of large machinery, lower construction costs, and improve work efficiency. Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of the travel state of the present invention;

[0027] Figure 2 It is a schematic structural diagram of the grooving and cable duct laying state of the present invention Figure 1 ;

[0028] Figure 3 It is a schematic structural diagram of the grooving and cable duct laying state of the present invention Figure 2 ;

[0029] Figure 4 It is a schematic structural diagram of the backfilling and compaction state of the present invention;

[0030] Figure 5 It is a schematic structural diagram of the special cable duct gripper of the present invention Figure 1 ;

[0031] Figure 6 It is a schematic structural diagram of the special cable duct gripper of the present invention Figure 2 ;

[0032] Figure 7 It is a flowchart of the control method of the present invention;

[0033] Figure 8 It is a flowchart of the construction method of the present invention;

[0034] In the figure, 1 is an integrated wheel-track chassis; 11 is a chassis frame; 12 is a track running assembly; 13 is a wheel-track conversion bracket; 14 is a wheeled running assembly; 2 is a slewing mechanism; 3 is a slewing platform assembly; 4 is a multi-functional robotic arm; 5 is a bucket; 6 is a trench excavation device; 61 is a cutting frame; 62 is a sliding device; 63 is a cutting device; 64 is a conveying device; 7 is a special cable pipe gripper; 71 is a connecting frame; 72 is a slewing mechanism; 73 is a gripping mechanism; 74 is a connecting device; 8 is a bulldozing device; 9 is a compaction device. Specific embodiments

[0035] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0036] In one aspect of the present invention, there is provided an integrated machine for cable pipeline excavation and laying, including a chassis frame with track running assemblies on both sides. The front and rear ends of the chassis frame are respectively connected with wheeled running assemblies through wheel-track conversion brackets, and the wheel-track conversion brackets are used to control the track running assemblies to contact or disengage from the ground; the chassis frame is connected to a slewing platform assembly through a slewing mechanism, and a multi-functional robotic arm is installed on the slewing platform assembly. The multi-functional robotic arm includes a boom hinged on the slewing platform assembly, a boom cylinder hinged to the boom for controlling the rotation amplitude of the boom, a dipperstick hinged at the end of the boom, a dipperstick cylinder for controlling the rotation amplitude of the dipperstick, a hydraulic quick coupler hinged at the end of the dipperstick, and a quick coupler adjustment cylinder for controlling the rotation angle of the hydraulic quick coupler. The wheeled running assembly includes wheel-track conversion brackets provided at the front and rear ends of the chassis frame, and the rear wheel-track conversion bracket together with the running device can be quickly removed for installing trench excavation devices, bulldozing devices, etc. A hydraulic quick coupler device is installed at the end of the dipperstick of the multi-functional robotic arm for quickly replacing the bucket, the special cable pipe gripper, the compaction device.

[0037] Preferably, the wheel-track conversion bracket includes several groups of connecting arms. The two ends of the connecting arms are respectively hinged to the chassis frame and the wheeled running assembly, trench excavation device, bulldozing device. A hydraulic cylinder for controlling the rotation angle of the connecting arm is also hinged between the chassis frame and the connecting arm. The hydraulic quick coupler can be quickly installed or replaced with a bucket, a special cable pipe gripper, a compaction device, a forklift device, etc. according to the construction operation requirements. The trench excavation device has a lateral sliding function and conveying devices installed in different directions. The special cable pipe gripper not only has the function of gripping 4X4 column cable pipes, but also is equipped with a two-way pulling mechanism, which can realize the connection of segmented cable pipes.

[0038] Further, a length sensor for sensing the slipping position is provided on the trench excavation device, and an encoder for sensing the movement angle / displacement of its own joints is provided; an encoder for sensing the movement angle / displacement of its own joints and a visual system are provided on the special cable pipe gripper; the visual system, the encoder, and the length sensor are all connected to the display and control terminal.

[0039] Another aspect of the present invention provides a control method for cable pipeline excavation and laying, including the following steps:

[0040] 1) Control the wheel-track conversion bracket to select a traveling mode to adapt to different scenarios of short-distance transfer and construction operations;

[0041] 2) Transversely move the trench excavation device to the cable pipeline excavation position, adjust the excavation width and depth, and control the extending direction of the conveying device;

[0042] 3) Control the multi-functional robotic arm to grab 4X4 columns of cable pipes and complete laying and splicing;

[0043] 4) Control the angle of the push shovel device to backfill and level the buffer layer and the surface layer of the trench;

[0044] 5) Control the multi-functional robotic arm to press down the compaction device to complete the compaction of the surface layer.

[0045] Preferably, through the display and control terminal in the integrated machine cab, the depth and verticality of the grooving can be detected in real time, and the states of cable pipe laying and splicing can be displayed, etc.

[0046] Another aspect of the present invention provides a construction method for cable pipeline excavation and laying, including the following steps:

[0047] 1) Transversely move the trench excavation device to the cable pipeline excavation position, adjust the excavation depth, and perform grooving operations;

[0048] 2) The multi-functional robotic arm grabs 4X4 columns of cable pipes and lays and splices the cable pipes;

[0049] 3) Replace the push shovel device to backfill and level the buffer layer and the surface layer of the trench;

[0050] 4) The multi-functional robotic arm replaces the compaction device to complete the compaction of the surface layer.

[0051] Preferably, multiple integrated machines are respectively installed with different devices and tools for combined long-distance construction operations, etc.

[0052] Example:

[0053] As Figures 1 to 4A cable duct excavation and laying integrated machine includes a wheel-track integrated chassis 1, a slewing mechanism 2, a slewing platform assembly 3, a multifunctional mechanical arm 4, a bucket 5, a trench excavation device 6, a special gripper for cable pipes 7, a shovel device 8, and a compaction device 9. The wheel-track integrated chassis 1 is used to carry the integrated machine upper body and realize the movement of the integrated machine. The slewing mechanism 2 is respectively connected to the wheel-track integrated chassis 1 and the slewing platform assembly 3 to realize the rotation of the slewing platform assembly 3 and the multifunctional mechanical arm 4. The slewing platform assembly 3 is equipped with a cab, a power device, etc., which provides power for other mechanisms and is used to install the main multifunctional mechanical arm 4. The multifunctional mechanical arm 4 is rotatably connected to the slewing platform assembly 3 through a pin shaft to realize various operations such as excavation, cable pipe grabbing, and compaction.

[0054] like Figure 1 The wheel-track integrated chassis 1 includes a chassis frame 11, a crawler traveling assembly 12, a wheel-track conversion bracket 13 and a wheeled traveling assembly 14; the crawler traveling assembly 12 is installed on both sides of the chassis frame 11, the wheel-track conversion bracket 13 is installed at the front and rear ends of the chassis frame 11, and the wheeled traveling assembly 14 is installed on the wheel-track conversion bracket 13; the wheel-track conversion bracket 13 includes a plurality of groups of connecting arms, and the two ends of the connecting arms are respectively hinged to the chassis frame 11 and the wheeled traveling assembly 14, and a lifting cylinder for controlling the rotation angle of the connecting arm is also hinged between the chassis frame 11 and the connecting arm. By adjusting the stroke of the lifting cylinder, the conversion between crawler traveling and wheeled traveling can be realized; the wheeled traveling assembly 14 can use tires for road traveling, and can adapt to different construction environments such as mountains, roads, and farmlands.

[0055] like Figure 2 and Figure 3 The trenching device 6 includes a cutting frame 61, a sliding device 62, a cutting device 63, and a conveying device 64; the cutting frame 61 is installed at the rear end of the chassis frame 11 for carrying other devices; the sliding device 62 is connected to the cutting frame 61 for adjusting the lateral position of the cutting device 63; the cutting device 63 is hinged to the cutting frame 61, and is also hinged with a hydraulic cylinder for controlling the rotation angle of the cutting device 63. By adjusting the stroke of the hydraulic cylinder, the groove depth can be adjusted; the conveying device 64 is installed on the cutting frame 61 and the sliding device 62, and is used to convey the soil produced by the groove.

[0056] like Figure 5 and Figure 6, the special cable pipe gripper 7 is installed on the hydraulic quick-change device at the end of the multi-functional robotic arm 4, and includes a connecting frame 71, a slewing mechanism 72, a grasping mechanism 73, and a connection device 74; the connecting frame 71 is connected to the hydraulic quick-change device to achieve the mechanical and hydraulic connection between the special cable pipe gripper 7 and the hydraulic quick-change device; the slewing mechanism 72 is installed under the connecting frame 71 and is used for the slewing operation of the grasping mechanism 73 and the connection device 74; the grasping mechanism 73 has an opening and closing function and is used for grasping the cable pipe; the connection device 74 has a front and rear stretching function and is used for the connection of the cable pipe.

[0057] By installing a wheeled traveling assembly, the present invention has a dual mode of caterpillar traveling and wheeled traveling, and can adapt to different construction environments such as mountains, roads, and farmlands; the rear wheeled traveling mechanism can be quickly disassembled and is used for installing a trench excavation device and a push shovel device to meet different construction requirements; matching the trench excavation device, the push shovel device, the compaction device, the special cable pipe gripper, etc., can complete integrated operations such as trench excavation, laying, connection, and backfilling; by controlling the left and right positions of the trench excavation device and the crawler frame, the safe construction of limited working conditions such as narrow spaces or roadside can be satisfied; the multi-functional robotic arm is installed with a hydraulic quick-change device, which can realize the switching of tools such as the special cable pipe gripper and the compaction device, achieve the rapid conversion of multiple uses, reduce the repeated entry of large machinery, reduce the construction cost, and improve the operation efficiency.

Claims

1. An integrated machine for excavating and laying cable ducts, characterized in that: It includes an integrated wheel-track chassis (1) and a slewing mechanism (2). The slewing mechanism (2) is connected to the integrated wheel-track chassis (1) and the slewing platform assembly (3) to realize the slewing of the slewing platform assembly (3) and the multi-functional robotic arm (4) above it. A cab and a power device are provided on the slewing platform assembly (3). A bucket (5), a special cable pipe gripper (7), or a compaction device (9) is provided at the end of the multi-functional robotic arm (4). A trench excavation device (6) or a bulldozer blade device (8) is provided at the end of the integrated wheel-track chassis (1).

2. The cable duct excavation and laying integrated machine according to claim 1, wherein: The integrated wheel-track chassis (1) includes a track running assembly (12). The track running assembly (12) is installed on both sides of the chassis frame (11). Wheel-track conversion brackets (13) are provided at the front and rear ends of the chassis frame (11). The wheel-track conversion brackets (13) include several groups of connecting arms. The two ends of the connecting arms are respectively hinged to the chassis frame (11) and the wheeled walking assembly (14).

3. The cable duct excavation and laying integrated machine according to claim 2, characterized in that: A lifting cylinder for controlling the rotation angle of the connecting arm is hinged between the chassis frame (11) and the connecting arm. By adjusting the stroke of the lifting cylinder, the conversion between track running and wheeled running is realized.

4. The cable duct excavation and laying integrated machine according to claim 1, characterized in that: The trench excavation device (6) includes a cutting frame (61) installed at the rear end of the chassis frame (11). The cutting frame (61) is connected to a sliding device (62) for adjusting the lateral position of the cutting device (63). A conveying device (64) is provided on the cutting frame (61) and the sliding device (62) for conveying the soil generated by slotting.

5. The cable duct excavation and laying integrated machine according to claim 4, wherein: The cutting frame (61) is hinged to the cutting device (63). A hydraulic cylinder for controlling the rotation angle of the cutting device (63) is hinged between the cutting frame (61) and the cutting device (63). By adjusting the stroke of the hydraulic cylinder, the adjustment of the slotting depth is realized.

6. The cable duct excavation and laying integrated machine according to claim 1, characterized in that: The special cable pipe gripper (7) is installed on the hydraulic quick-change device at the end of the multi-functional robotic arm (4). The special cable pipe gripper (7) includes a connecting frame (71) connected to the hydraulic quick-change device. Through the connecting frame (71), the mechanical and hydraulic connection between the special cable pipe gripper (7) and the hydraulic quick-change device is realized.

7. The cable duct excavation and laying integrated machine according to claim 6, wherein: A slewing mechanism (72) for the slewing operation of the gripping mechanism (73) and the connection device (74) is provided below the connecting frame (71). The gripping mechanism (73) has an opening and closing function for gripping cable pipes. The connection device (74) has a front and rear stretching function for the connection of cable pipes.

8. The cable duct excavation and laying integrated machine according to claim 1, wherein: The multi-functional robotic arm (4) is connected to the slewing platform assembly (3) by a pin shaft.

9. A control method for cable pipeline excavation and laying, characterized in that: It includes the following steps: 1) Control the wheel-track conversion bracket to select a running mode to adapt to different scenarios of short-distance transfer and construction operations; 2) Transversely move the trench excavation device to the cable pipeline excavation position, adjust the excavation width and depth, and control the extending direction of the conveying device; 3) Control the multi-functional robotic arm to grip the 4X4 column cable pipes and complete laying and connection; 4) Control the angle of the bulldozer blade device to backfill and level the buffer layer and the surface layer of the trench; 5) Control the multi-functional robotic arm to press down the compaction device to complete the compaction of the surface layer.

10. A construction method for trench laying of cable ducts, characterized in that: It includes the following steps: 1) Transversely move the trench excavation device to the cable pipeline excavation position, adjust the excavation depth, and perform slotting operation; 2) The multi-functional robotic arm grabs the 4X4 column cable ducts, lays and joins the cable ducts; 3) Replace the push shovel device to backfill and level the buffer layer and the surface layer of the trench; 4) The multi-functional robotic arm replaces the compaction device to complete the compaction of the surface layer.

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