Indoor and outdoor narrow cable groove pipe gallery wiring equipment

Abstract

The invention discloses indoor and outdoor narrow cable groove pipe gallery wiring equipment. The device comprises a power control unit which is provided with a mechanical arm capable of being independently controlled, and the mechanical arm changes the posture by adjusting the rotation angle of a speed reducer and is used for achieving the simulated step crossing action and posture adjustment of the device; power control units are arranged on the two sides of the deformation guide part, telescopic driving wheels are connected to the two ends of the deformation guide part, belt supporting wheels are connected to the periphery of the deformation guide part through belt supporting wheel connecting ends, the length and the swing angle of the telescopic driving wheels and the belt supporting wheels are adjusted through the transmission ratio, and therefore the outer shape of the flexible driving wheel is changed; through the synergistic effect of the power control unit and the deformation guide part, the shape of the cable pay-off device can be changed to adapt to different wiring environments including narrow cable trenches, pipe galleries and long and narrow pipelines, and accurate pay-off control over cables is achieved through autorotation of the flexible driving wheels.

Description

Technical Field

[0001] The present invention relates to the technical field of cable wiring equipment, and specifically to a wiring equipment for narrow cable trenches, cable troughs, and pipe galleries indoors and outdoors. Background Art

[0002] There is a large demand for data transmission wiring in substations and other industrial factory areas. Indoors and outdoors, there are infrastructure environments such as cable trenches, wiring troughs, and pipe galleries. In narrow and low environments, manual wiring is mostly used in combination with manual wire threading and leading devices for construction.

[0003] At the cable trench working site, it is necessary to flip precast slabs. The concrete precast slabs are particularly heavy, consuming a lot of manpower and resulting in slow construction. Construction workers cannot enter the narrow trench and pipe gallery, making the construction difficult. Existing equipment generally can only be used for construction in wide trench and pipe galleries. And due to the limitation of the equipment's own volume and the fixed shape of the wire reel, it cannot pass through the narrow intervals of cable trenches and pipe galleries. For wiring conditions such as pipes and wiring troughs, only small traction equipment can be used to pull the cable for wiring, increasing the risk of damaging the cable. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention proposes a wiring equipment that can cross obstacles by changing its own shape.

[0005] The present invention includes: A power control unit, which has an independently controllable robotic arm. The robotic arm changes its posture by adjusting the rotation angle of the reducer, and is used to achieve the pseudo-step crossing action and posture adjustment of the equipment; A deformation guiding component, with power control units arranged on both sides. Both ends of the deformation guiding component are connected with telescopic driving wheels, and the periphery is connected with supporting wheels through the connecting ends of the supporting wheels. The telescopic driving wheels and the supporting wheels adjust the length and swing angle through the transmission ratio, thereby changing the external shape of the flexible driving wheel; A flexible driving wheel, which is nested on the supporting contour formed by the telescopic driving wheels and the supporting wheels. The flexible driving wheel realizes the wire releasing and rewinding actions of the cable through its own rotation. At the same time, its outer cylindrical surface can fit with the top or bottom of the cable trench and pipe gallery to provide auxiliary power for crossing; A flexible wire storage chamber, which is jointly formed by the wire storage chambers of the telescopic driving wheels, the wire storage chambers of the supporting wheels, and the flexible wire storage chamber of the flexible driving wheel, and is used to store and guide the winding and release of the cable; Through the coordinated action of the power control unit and the deformation guiding component, the equipment can change its own shape to adapt to different wiring environments, including narrow cable trenches, pipe galleries, and long and narrow pipes, and realize precise wire releasing control of the cable through the rotation of the flexible driving wheel.

[0006] Advantages of the Present Invention 1. Efficient wiring and improved construction efficiency Automated operation: The automatic wiring device of the present invention realizes the automation of the wiring process through the coordinated work of the robotic arm and the flexible drive wheel, eliminating the need for manual threading, thus greatly reducing the construction time and labor costs.

[0007] Quickly passing through complex environments: The device can automatically adjust its shape according to the shape and size of narrow spaces such as cable trenches and pipe galleries, quickly passing through obstacles, avoiding the construction difficulties and low efficiency caused by space limitations in traditional wiring methods.

[0008] 2. Strong adaptability and wide application range Multi-environment adaptability: This device is not only applicable to narrow spaces such as indoor and outdoor cable trenches, wiring troughs, and pipe galleries, but can also adjust its posture to adapt to different wiring scenarios, such as long and narrow pipelines and low trenches, with extremely high versatility.

[0009] Flexible shape adjustment: Through the coordinated action of the telescopic drive wheel, the supporting belt wheel, and the flexible drive wheel, the device can change its own shape to adapt to the shape of different wiring channels, breaking through the bottleneck that traditional wiring devices cannot be used in narrow spaces due to volume and shape limitations.

[0010] 3. Precise wiring and resource optimization Precise wire laying control: The self-rotation function of the flexible drive wheel is similar to that of a caterpillar track, enabling the cable to rotate equidistantly during the movement of the device, achieving precise wire laying, avoiding cable loosening or excessive stretching, and ensuring the wiring quality.

[0011] Optimal utilization of resources: The device can automatically adjust its posture and actions according to the wiring environment, reducing cable damage and waste caused by improper construction, and improving the utilization rate of cable resources.

[0012] 4. Improvement in safety and reliability Reduction of manual intervention: In traditional wiring construction, personnel need to frequently enter narrow and low cable trenches and pipe galleries, posing safety hazards. This device reduces the frequency of manual entry into dangerous areas through automated operation, significantly improving construction safety.

[0013] Real-time monitoring and auxiliary functions: The device is equipped with lighting equipment, ranging sensors, and functional robotic arms, which can monitor the wiring environment in real time and assist operators in precise wiring, further enhancing the safety and reliability of construction. Description of the drawings

[0014] Figure 1 is a schematic structural diagram of an embodiment of the present application; Figure 2 is Figure 1 the top view of; Figure 3 is Figure 1Side view; Figure 4 is Figure 3 View A-A of Figure 5 Schematic diagram of the reducer robotic arm structure; Figure 6 Schematic diagram of the power control unit structure; Figure 7 Schematic diagram of the deformation guiding component structure; Figure 8 Assembly schematic diagram of the power control unit, reducer robotic arm, deformation guiding component and telescopic driving wheel; Figure 9 is Figure 1 Exploded view of Figure 10 Schematic diagram of the structure of another embodiment of the present application; Figure 11 Schematic diagram of the structure of yet another embodiment of the present application; Figure 12 is Figure 1 Deformation schematic diagram of the embodiment; Figure 13 Internal isometric view of the wiring cable trench of the present application; Figure 14 Schematic diagram of the wiring penetration of the present application in the cable trench; Figure 15 Deformation schematic diagram of the present application in a narrow pipeline. Detailed implementation manners

[0015] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention fall within the scope of protection of the present invention.

[0016] Such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 and Figure 12As shown in the figure, the automatic wiring device provided by the embodiment of the present application includes a power control unit 1, the power control unit 1 is located on both sides of the deformation guiding component 2, the robotic arm connection driving end 11 of the power control unit 1 is equipped with a reducer robotic arm 3, the middle of the deformation guiding component 2 is a control connection end 23 for connecting the power control unit 1, and telescopic driving wheel connection ends 21 at both ends of the deformation guiding component 2 are equipped with telescopic driving wheels 4. The periphery of the deformation guiding component 2 is connected to the carrying wheels 5 through the carrying wheel connection ends 22. The flexible driving wheel 6 is nested on the support profile formed by the telescopic driving wheels 4 and the carrying wheels 5. The wire winding bin 42 of the telescopic driving wheel 4, the wire winding bin 53 of the carrying wheel 5, and the flexible wire winding bin 61 of the flexible driving wheel 6 together form a space that follows the deformation of the flexible driving wheel, namely the flexible wire winding bin chamber 7.

[0017] As Figure 8 and Figure 9 shown, in a certain embodiment, the telescopic driving wheel 4 is connected to the connection end 22 of the deformation guiding component 2 through a telescopic rod 43, and the distance between the two ends of the telescopic driving wheel 4 and the axis of the deformation guiding component 2 is controlled by internal worm and worm gear or hydraulic drive.

[0018] As Figure 4 and Figure 9 shown, in a certain embodiment, the carrying wheels 5 are distributed and fixed around the central axis of the deformation guiding component 3 through the swing arms 51, and swing actions are formed by internal worm and worm gear or hydraulic drive to drive the swing arms 51, and the piston type assist rod 52 provides support force to reduce the swing resistance.

[0019] As Figure 9 and Figure 10 shown, in a certain embodiment, the telescopic driving wheel 4 and the carrying wheel 5 adjust the required length and swing angle through the transmission ratio, and in this way, the external shape of the flexible driving wheel 6 is changed. The outer contour perimeter of the flexible driving wheel 6 is fixed, and while the shape changes, the shape of the flexible wire winding bin chamber 7 is also changed.

[0020] As Figure 5 and Figure 6 shown, in a certain embodiment, the robotic arm connection driving end 11 of the power control unit 1 is equipped with a reducer robotic arm 3, and each reducer robotic arm 3 can be controlled independently. By adjusting the rotation angles of the reducers in each component of the parallel shaft reducer main arm 31, the cross-axis reducer joint 32, and the cross-axis reducer extension arm 33, the posture is changed. Each of the front and rear reducer machines 3 adjusts the start sequence of the reducer angles respectively to complete the quasi-step crossing action.

[0021] Further, the telescopic drive wheel 4 drives the flexible drive wheel 6 to rotate self - sufficiently, and the cable wire wound around the flexible wire storage chamber 7 rotates with the flexible drive wheel 6 to complete the wire releasing and winding actions. Driving the flexible drive wheel 6 to rotate self - sufficiently is equivalent to the function of a caterpillar track. By changing the shape of the flexible drive wheel 6, the outer circumferential surface of the flexible drive wheel 6 is made to fit the top or bottom of the cable trench or pipe gallery, providing auxiliary power for crossing. The cable wire rotates equidistantly along with the outer circumferential surface of the flexible drive wheel 6 and rolls equidistantly along with the contact surface between the outer circumferential surface of the flexible drive wheel 6 and the traveling route, realizing precise wire releasing and length control.

[0022] Furthermore, the function expansion drive end 12 of the power control unit 1 can be extended to install a functional robotic arm 9, as shown in Figure 10 ., and the grasping function accessory group realizes actions such as cable hanging and obstacle moving, and can be extended with other functions such as ranging and real - time monitoring.

[0023] Such as Figure 13 and Figure 14 shown, the wiring method of the external shape and posture for crossing the cable trench and pipe gallery in Embodiment 1.

[0024] Each reducer robotic arm 3 can be independently controlled. By adjusting the rotation angles of the reducers in each component of the parallel - axis reducer main arm 31, cross - axis reducer joint 32, and cross - axis reducer extension arm 33, the posture is changed. The reducer robotic arm 3 adjusts the reducer angle to form a four - legged standing external shape or lower the front - and - back position to form a lying - down external shape posture. The telescopic drive wheel 4 and the supporting wheel 5 adjust the required length and swing angle through the transmission ratio, change the external shape of the flexible drive wheel 6, and make the outer circumferential surface of the flexible drive wheel 6 fit the top of the cable trench, providing auxiliary power for crossing.

[0025] Further, the front and rear pairs of reducer robotic arms 3 can be replaced with double - arm single - foot reducer robotic arms 8 to realize the advantages of simple operation for large loads and meet the requirements of more working environments, as shown in Figure 11 .

[0026] The cable conducts wiring operations in a self - winding or short - distance traction manner. There are the same flexible wire storage bins on both sides of the fuselage, which can change shape following the fuselage, keep the outer contour perimeter unchanged, and prevent the carried cable from becoming loose.

[0027] The functional robotic arm 9, through the grasping function accessory group, completes actions such as cable hanging and obstacle moving. It can be handheld and remotely controlled, and can observe the environment through real - time video and make corresponding adjustments. Further, lighting devices, ranging sensors, etc. are installed around the equipment host to assist the operation and remind of distance changes in real - time.

[0028] The reduction gear manipulators 3 each adjust the starting sequence of the reduction gear angles to complete the pseudo-step spanning action. They can also flip the angles so that the flexible drive wheels 6 fall on the inner ground of the cable trench, and the reduction gear manipulators 3 are placed on the top surface of the cable trench cover to assist in balancing. Drive the flexible drive wheels 6 to pass through the narrow positions on the inner ground of the cable trench.

[0029] As Figure 15 shown, in Embodiment 2, the wiring method for the shape and posture of shuttling through a long and narrow pipeline.

[0030] For each front and rear reduction gear manipulator 3, it is adjusted to the horizontal direction, and the ball wheel functional component 34 is perpendicular to the passing surface to provide auxiliary support. The telescopic drive wheel 4 is adjusted to the optimal length position, and the swing angle of the supporting wheel 5 is parallel to the reduction gear manipulator 3. The main body shape of the automatic cable trench wiring device changes to suit the shape of passing through a long and narrow pipeline.

[0031] In summary, through the organic combination of the power control unit, the deformation guiding component, and the flexible drive wheel, the present invention realizes the flexible movement and precise wiring of the device in a complex environment. Moreover, the power control unit of the device has a function expansion drive end, on which a grasping manipulator, a ranging sensor, a real-time monitoring device, etc. can be installed, and it can realize various functions such as cable hanging and obstacle moving, meeting more construction requirements.

[0032] This device can operate stably in complex environments such as humid, narrow, and low spaces. Its mechanical structure and drive system are optimized, with good durability and reliability. In addition, through automated operation, the wear of the device is reduced, the maintenance frequency and cost are lowered, and at the same time, the service life of the device is increased.

[0033] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An automatic wiring device, characterized in that, Comprising: A power control unit having an independently controllable robotic arm that changes its attitude by adjusting the rotation angle of a speed reducer, for implementing the pseudo-step crossing action and attitude adjustment of the device; A deformation guiding component with power control units arranged on both sides thereof. Both ends of the deformation guiding component are connected with telescopic driving wheels, and the periphery is connected with carrying wheels through connecting ends of the carrying wheels. The telescopic driving wheels and the carrying wheels adjust the length and swing angle through a transmission ratio, thereby changing the external shape of the flexible driving wheel; A flexible driving wheel nested on the support contour formed by the telescopic driving wheels and the carrying wheels. The flexible driving wheel realizes the pay-out and take-up actions of the cable through self-rotation, and at the same time, its outer cylindrical surface can fit with the top or bottom of the cable trench pipe gallery to provide auxiliary power for crossing; A flexible wire winding chamber jointly formed by the wire winding chambers of the telescopic driving wheels, the wire winding chambers of the carrying wheels, and the flexible wire winding chamber of the flexible driving wheel, for storing and guiding the winding and release of the cable; Through the coordinated action of the power control unit and the deformation guiding component, the device can change its own form to adapt to different wiring environments, including narrow cable trenches, pipe galleries, and long and narrow pipelines, and realizes precise cable pay-out control through the self-rotation of the flexible driving wheel.

2. The automatic wiring device according to claim 1, wherein The telescopic driving wheel is connected to the deformation guiding component through a telescopic rod, and its telescopic action is controlled by a worm and gear or hydraulic drive, for adjusting the axial distance between the telescopic driving wheel and the deformation guiding component.

3. The automatic wiring device according to claim 1, wherein, The carrying wheels are supported and distributed around the central axis of the deformation guiding component through swing arms. Their swinging actions are controlled by a worm and gear or hydraulic drive, and a piston-type assist rod provides a supporting force to reduce the swinging resistance.

4. The automatic wiring device according to any one of claims 1 to 3, characterized in that The outer contour circumference of the flexible driving wheel is fixed, and when its shape changes, it can drive the shape of the flexible wire winding chamber to change, so as to adapt to different wiring channel shapes and sizes.

5. The automatic wiring device according to claim 1, wherein The robotic arm of the power control unit includes a parallel-axis speed reducer main arm, a cross-axis speed reducer joint, and a cross-axis speed reducer extension arm. Each component realizes the attitude adjustment and pseudo-step crossing action of the device by independently controlling the rotation angle of the speed reducer.

6. The automatic wiring device according to claim 1 or 5, characterized in that It also includes a function expansion driving end arranged on the power control unit for expanding and installing a functional robotic arm. The functional robotic arm realizes cable hanging and placing, and obstacle moving by grasping a functional accessory group, and can expand ranging and real-time monitoring functions.

7. The automatic wiring device according to claim 6, characterized in that, Lighting devices and ranging sensors are installed around the device host, for assisting in the operation and reminding of the distance change in real time, so as to improve the safety and accuracy of the wiring operation.

8. The automatic wiring device according to claim 1, characterized in that The transmission ratio of the telescopic driving wheel and the carrying wheel can be adjusted according to the requirements of the wiring environment, so as to optimize the external shape of the flexible driving wheel and the crossing ability of the device.

9. The automatic wiring device according to claim 1 or 8, characterized in that, The self-rotation function of the flexible driving wheel is equivalent to the function of a crawler, and can make the cable wire rotate equidistantly along the outer cylindrical surface of the flexible driving wheel, realizing precise pay-out control of the length.

10. The automatic wiring device according to claim 1, characterized in that, The device also includes a replaceable double-arm single-foot speed reducer robotic arm for realizing large-load operations and meeting the requirements of more working environments.

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