A smart cabling robot system for signal control rooms

Abstract

This invention belongs to the field of robotics technology and discloses an intelligent cabling robot system for signal control rooms. It includes a wheel-rail mobile platform, a cabling operation device, and an auxiliary track. The wheel-rail mobile platform includes a vehicle body capable of moving along the auxiliary track. The cabling operation device includes a support platform, a cable reel support frame, a cable feeding device, and a cable pressing device. The support platform is connected to the vehicle body above a first opening. The cable feeding device includes a cable feeding fixing frame, a cable feeding rotating shaft, and a cable feeding drive structure. The cable feeding rotating shaft is rotatably connected to the cable feeding fixing frame. The cable pressing device includes a cable pressing fixing plate, a connecting member, a wheel frame, and a pressure roller. The cable pressing fixing plate is connected to the lower surface of the support platform. The first end of the connecting member is connected to the cable pressing fixing plate, and the second end of the connecting member is connected to the wheel frame. The pressure roller is connected to the wheel frame. The cable on the cable reel is supported and transported by the cable feeding rotating shaft and then passes around the pressure roller for laying. This invention enables automated cable laying in signal control rooms, improving cabling efficiency.

Description

Technical Field

[0001] This invention belongs to the field of robot-related technology, and more specifically, relates to an intelligent cabling robot system for signal control rooms. Background Technology

[0002] The signaling system is primarily responsible for the scheduling and interaction of railway transportation, playing a vital role in the operation. Therefore, signal rooms are required at regular intervals between railway stations. Each signal room contains rows of electrical control boxes, and each row needs to connect numerous signal cables. Consequently, the signal room contains a large amount of spatially complex track circuitry used for signal transmission and power supply to the aforementioned equipment. This track circuitry is mainly divided into ground track circuits laid in trenches and cabinet-top track circuits laid on top of the equipment racks. Furthermore, to effectively identify the signal function of different cables, each cable is clearly labeled.

[0003] When constructing a signal control room, it is usually necessary to manually lay and fix each cable according to the design based on the markings, and finally connect it to the designated position on the electrical control box. The lines are intricate and complex, so the wiring task is difficult. In order to prevent the connection lines from becoming messy and incorrect, the wiring is usually mainly done by one worker, with other workers assisting that worker. Therefore, the reliance on manual operation results in very low wiring efficiency. It usually takes several months to complete the track laying for a signal control room. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an intelligent cabling robot system for signal control rooms, which solves the problem of low cabling efficiency due to high reliance on manual labor in existing signal control room cabling operations.

[0005] To achieve the above objectives, according to the present invention, an intelligent cabling robot system for signal control rooms is provided, comprising a wheel-rail mobile platform, a cabling operation device, and an auxiliary track. The auxiliary track is laid on both sides of the area to be cabled in the signal control room. The wheel-rail mobile platform includes a vehicle body and wheels located at the bottom of the vehicle body. The wheels cooperate with the auxiliary track to enable the vehicle body to move along the auxiliary track.

[0006] The wiring operation device includes a support platform, a wire reel support frame, a wire feeding device, and a wire pressing device. The vehicle body has a first opening, and the support platform is connected to the vehicle body above the first opening. Two wire reel support frames are arranged opposite each other on the upper surface of the support platform, and multiple wire reels are rotatably arranged between the two wire reel support frames.

[0007] The wire feeding device includes a wire feeding fixing frame, a wire feeding rotating shaft, and a wire feeding drive structure. The wire feeding fixing frame is mounted on the upper surface of the support platform. The wire feeding rotating shaft is rotatably connected to the wire feeding fixing frame. The wire feeding drive structure is used to drive the wire feeding rotating shaft to rotate. The wire pressing device includes a wire pressing fixing plate, a connecting member, a wheel frame, and a pressure roller. The wire pressing fixing plate is connected to the lower surface of the support platform. The first end of the connecting member is connected to the wire pressing fixing plate, and the second end of the connecting member is connected to the wheel frame. The pressure roller is rotatably connected to the wheel frame. The first end of the connecting member is rotatably connected to the wire pressing fixing plate, and / or the connecting member is designed as a telescopic structure. The cable on the spool is supported and transported by the wire feeding rotating shaft and laid around the pressure roller.

[0008] Overall, compared with the prior art, the intelligent cabling robot system for signal rooms provided by this invention offers the following advantages:

[0009] 1. The intelligent cabling robot using the structure of this invention moves along an auxiliary track using a wheel-rail mobile platform. At the same time, the cable on the cable reel is supported and transported by the cable laying device and then passes around the pressure roller of the pressing device. The pressing device presses the cable to lay it, which can realize automated cable laying in the signal room, greatly reducing the dependence on manual labor. It can effectively avoid the problems caused by manual cabling. Moreover, the automated cabling can always maintain a stable and efficient cable laying and cabling efficiency, and will not decrease in efficiency over time, thus greatly improving the cabling efficiency.

[0010] 2. The provided auxiliary track intersection setting structure, as well as the setting structure of the supporting bridge arm device and recyclable track section on the wheel-rail mobile platform, enable the vehicle to pass through intersections and turn without interfering with the wiring.

[0011] 3. The specific configuration structure of the provided cable laying device, pitch adjustment device, pressure plate device and tightening device can realize the cable laying, pitch adjustment, cable fastener placement and tightening operations during the wiring process. It has multiple functions and a high degree of intelligence and can complete the wiring task of the system.

[0012] 4. The wheel-rail mobile platform can move quickly along the laid track, turn at right-angle intersections of the track, and use a hoist to assist in the transition between ground wiring and cabinet top wiring at fixed positions. During the movement, it automatically completes the laying and fixing of cables, and can achieve differential laying of adjacent cables at turns without manual intervention, maintaining high and stable laying and fixing efficiency at all times. Attached Figure Description

[0013] Figure 1 This is a slanted schematic diagram of the working scene of the intelligent cabling robot in the signal room;

[0014] Figure 2 This is a forward schematic diagram of the intelligent cabling robot working in the signal room;

[0015] Figure 3 This is an overall schematic diagram of the intelligent cabling robot in the signal control room;

[0016] Figure 4 This is an overall schematic diagram of the intelligent cabling robot in the signal control room.

[0017] Figure 5 This is a schematic diagram of the entire wheel-rail mobile platform from above;

[0018] Figure 6 This is a schematic diagram of the overall bottom of the rail-mounted mobile platform;

[0019] Figure 7 This is a schematic diagram of the auxiliary positioning structure layout at a right-angle intersection;

[0020] Figure 8 This is a schematic diagram of the front of the wiring operation device;

[0021] Figure 9 This is a schematic diagram of the rear of the wiring operation device.

[0022] Figure 10 This is a schematic diagram of the overall wire feeding device;

[0023] Figure 11 This is a schematic diagram of the inside of the wire feeding device;

[0024] Figure 12 This is a schematic diagram of the guide mechanism structure;

[0025] Figure 13 This is a schematic diagram of the overall pitch control device;

[0026] Figure 14 This is a schematic diagram of the internal structure of the pitch converter;

[0027] Figure 15 This is a schematic diagram of the overall pressure plate device;

[0028] Figure 16 This is a schematic diagram of the cable tie push plate;

[0029] Figure 17 This is a schematic diagram showing the connection between the cable tie and the cable tie clamp plate.

[0030] Figure 18 This is a schematic diagram of the left side of the tightening device.

[0031] Figure 19 This is a schematic diagram of the right side of the tightening device as a whole;

[0032] Figure 20 This is a schematic diagram of the bottom switch structure of the bolt bundle in the tightening device;

[0033] Figure 21 This is a schematic diagram of the overall wiring device;

[0034] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0035] 1-Wheel-rail mobile platform, 2-Cable handling device, 3-Auxiliary rail, 4-Cabinet, 5-Car body, 6-Eccentric steering wheel, 7-Supporting bridge arm device, 8-Railway retraction device, 9-Retrievable rail section, 10-Turntable, 11-Cable feeding device, 12-Guide mechanism, 13-Pitch changing device, 14-Pressure plate device, 15-Tightening device, 16-Cable reel, 17-Cable reel support frame, 18-Cable pressing device, 19-Cable, 2 0-Support platform, 21-Rotary motor, 22-Rotary reducer, 23-Wire feeding fixing frame, 24-Clamping device, 25-Wire feeding motor, 26-Wire feeding reducer, 27-Large gear, 28-Large gear, 29-Small gear, 30-Auxiliary support shaft, 31-Bearing, 32-Pressure plate, 33-Wire feeding shaft, 34-Indexing and centering shaft, 35-Fixed shaft, 36-Variable pitch electric cylinder, 37-Moving retaining ring, 38-Variable pitch plate 39-Variable pitch fixing frame, 40-Variable pitch stake, 41-Variable pitch clamp, 42-Variable pitch guide shaft, 43-Hopper, 44-Hopper support plate, 45-Feeding electric cylinder, 46-Pressing electric cylinder, 47-Wire fastener pressure plate, 48-Pressure plate fixing frame, 49-Wire fastener, 50-Wire fastener push plate, 51-Horizontal moving electric cylinder, 52-Tightening guide shaft, 53-Tightening fixing plate, 54-Up and down moving electric cylinder, 55-Sliding rail, 56- Electric cylinder mounting bracket, 57-tightening mounting plate, 58-tightening machine, 59-tightening bolt, 60-bolt hopper, 61-arc rail, 62-camera, 63-push electric cylinder, 64-feeding push block, 641-feeding trough; 65-linear module, 66-line fixing plate, 67-joint motor, 68-telescopic electric cylinder, 69-motor fixing component, 70-rotating motor, 71-wheel frame, 72-pressure roller, 73-auxiliary positioning structure. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0037] Please see Figure 1 and Figure 2This embodiment provides an intelligent cabling robot system for signal control rooms. The robot system includes a wheel-rail mobile platform 1, a cabling operation device 2, and an auxiliary track 3. The auxiliary track 3 is laid on both sides of the area to be cabled in the signal control room. The wheel-rail mobile platform 2 includes a vehicle body 5 and wheels located at the bottom of the vehicle body. The wheels cooperate with the auxiliary track 3 to enable the vehicle body 5 to move along the auxiliary track 3.

[0038] The wiring operation device 2 includes a support platform 20, a wire reel support frame 17, a wire feeding device 11, and a wire pressing device 18. The vehicle body 5 is provided with a first opening. The support platform 20 is connected to the vehicle body 5 above the first opening. Two wire reel support frames 17 are provided opposite to each other on the upper surface of the support platform 20. Multiple wire reels 16 are rotatably provided between the two wire reel support frames 17.

[0039] The wire feeding device 11 includes a wire feeding fixing frame 23, a wire feeding rotating shaft 33, and a wire feeding drive structure. The wire feeding fixing frame 23 is disposed on the upper surface of the support platform 20. The wire feeding rotating shaft 33 is rotatably connected to the wire feeding fixing frame 23. The wire feeding drive structure is used to drive the wire feeding rotating shaft 33 to rotate. The wire pressing device 18 includes a wire pressing fixing plate 66, a connecting member, a wheel frame 71, and a pressure roller 72. The wire pressing fixing plate 66 is connected to the lower surface of the support platform 20. The first end of the connecting member is connected to the wire pressing fixing plate 66, and the second end of the connecting member is connected to the wheel frame 71. The pressure roller 72 is rotatably connected to the wheel frame 71. The first end of the connecting member is rotatably connected to the wire pressing fixing plate 66, and / or the connecting member is designed as a telescopic structure. The connecting member can be tilted relative to the horizontal plane so that the cable 19 can be pressed downward by the pressure roller 72.

[0040] refer to Figure 2 and Figure 3 The cable on the reel 16 is supported and transported by the cable feeding shaft 33, passes through the first opening to the bottom of the vehicle body 5, and is laid around the pressure roller 72; as the vehicle body 5 moves along the auxiliary track 3, the pressure roller 72 presses the cable 19 to the part to be laid and lays it along the preset path, while the cable feeding shaft 33 rotates to support and transport the cable 19, and the reel 16 rotates to feed the cable.

[0041] Specifically, refer to Figure 1The auxiliary track 3 consists of two tracks supported by a support structure. These tracks are located on either side of the area to be cabled, typically between two rows and / or two columns of cabinets 4 inside the signal room. They provide support points for the wheel-rail mobile platform 1 during movement, preventing the intelligent cabling robot in the signal room from needing to avoid obstacles while performing cabling tasks. The support structure includes diagonal supports on the outer sides of the double tracks to prevent the cabling robot from swaying or tipping over while moving on the tracks, ensuring stable movement. Below the diagonal supports is a bottom support that contacts the ground and connects to the double tracks, providing sufficient support surface to distribute the support force required by the cabling robot. The auxiliary track, based on the above structure, possesses good strength and rigidity.

[0042] The intelligent cabling robot system for signal control rooms also includes an auxiliary lift. The signal control room has multiple layers of auxiliary tracks, with the auxiliary lift positioned on one side of each track 3. This lift is used to elevate the wheel-rail mobile platform 1 and the cabling operation device 2, enabling cabling to be performed on the multiple auxiliary tracks. For example, one layer of auxiliary tracks 3 can be installed on the ground, and another layer can be installed on top of the cabinet 4. A frame can be erected to secure the auxiliary tracks 3. The auxiliary lift is positioned at a fixed location within the signal control room, allowing it to lift the wheel-rail mobile platform 1 from the auxiliary tracks 3 to the top of the cabinet 4. Alternatively, the auxiliary lift can be powered by a power source, and a support arm can hold the intelligent cabling robot from the ground track, using a transmission mechanism to stably lift the robot to a certain height.

[0043] Furthermore, the auxiliary track 3 includes at least one row and at least one column. The auxiliary track 3 is disconnected at the row and column intersection, that is, the auxiliary track 3 extending along the row and the auxiliary track 3 extending along the column are both disconnected at the row and column intersection, that is, there is no auxiliary track 3 in the intersection, so as to prevent interference with the cabling. The auxiliary track 3 extending along the row can be set between two adjacent rows of cabinets 4, and the auxiliary track 3 extending along the column can be set between two adjacent columns of cabinets 4.

[0044] Accordingly, refer to Figure 4 and Figure 5 The vehicle body 5 is rotatably connected to a support bridge arm device 7 on a first side and an opposite second side. The end of the support bridge arm device 7 furthest from the vehicle body 5 is equipped with a support wheel. The distance between the support wheel and the adjacent traveling wheel is greater than the width of the auxiliary track 3. The support bridge arm device 7 can move in pitch around its connection point, and its length should ensure that it can reach the opposite side of the intersection. This is for reference. Figure 1When vehicle body 5 needs to go straight through an intersection and the first side of vehicle body 5 is ahead, the first side support bridge arm device 7 can be rotated and lowered so that the support wheel rests on the track opposite the intersection. At the same time, the second side support bridge arm device 7 can be rotated and lowered so that the support wheel rests on the track behind. At this time, the support wheel can be used to drive vehicle body 5 forward. When the second side travel wheel reaches the track opposite the intersection, vehicle body 5 has passed through the intersection. The support bridge arm devices 7 on both sides can be retracted and the vehicle body 5 can move normally by traveling wheels.

[0045] Accordingly, refer to Figure 5 and Figure 6 The traveling wheels are rotatably connected to the vehicle body 5 around a vertical axis, and the traveling wheels are offset from the vertical axis, so that the traveling wheels can switch above the rows of the auxiliary tracks 3 when rotating around the vertical axis; the vehicle body 5 is also provided with track retraction devices 8 on the first and second sides respectively. The track retraction device 8 is a telescopic structure and a retrievable track section 9 is detachably connected to the bottom. The top of the track retraction device 8 is movably connected to the vehicle body 5 along the length direction of the retrievable track section 9. The length of the retrievable track section 9 is the same as the width of the auxiliary tracks 3.

[0046] In this embodiment, the traveling wheels are equipped with a drive structure that is an active wheel. The traveling wheels are configured as eccentric steering wheels 6, located at the four corners of the vehicle body 5: right front, left front, right rear, and left rear. Each eccentric steering wheel 6 includes a motor and a steering wheel. The motor drives the steering wheel to rotate. The motor can be mounted on a mounting plate, which is rotatably connected to the vehicle body 5 around a vertical axis. A motor and transmission components, such as gear assemblies, can be used to drive the mounting plate to rotate around the vertical axis, thereby changing the direction of the traveling wheels. This configuration is used to facilitate turning at right-angle intersections in conjunction with the deployment and retraction of the retractable track section. The steering wheel may have a protruding rim, with the traveling wheel and its rim contacting the front and side of the track, respectively.

[0047] The retractable track segment 9 is a section of track that can also cooperate with the wheels to enable the vehicle body 5 to move. The retractable track segment 9 is connected to the bottom of the track deployment and retraction device 8. The track deployment and retraction device 8 can extend to lower the retractable track segment 9 and can be detached from the retractable track segment 9 through a detachable structure. The track deployment and retraction device 8 can also be reconnected to the retractable track segment 9 through a detachable structure, and the retractable track segment 9 can be retracted into the vehicle body 5 by shortening. The track deployment and retraction device 8 can also extend and retract from the side of the vehicle body 5.

[0048] For example, when the vehicle body 5 needs to turn at an intersection while traveling along an auxiliary track 3, the support bridge arm device 7 can be used to move the vehicle body 5 forward to directly above the intersection and support the vehicle body 5. Then, the track retraction device 8 on both sides can be controlled to lower the retrievable track section 9 and disconnect it from the retrievable track section 9, making the row of auxiliary tracks 3 that needs to be turned continuous. Then, the four eccentric steering wheels 6 can be controlled to rotate around the vertical axis, so that the eccentric steering wheels 6 change direction and switch position to the intersecting row of auxiliary tracks. After that, the support bridge arm device 7 is retracted, and the traveling wheels are controlled to drive the vehicle body 5 along the auxiliary track 3. When all the traveling wheels are on the auxiliary track 3, the track retraction device 8 is controlled to extend from the side of the vehicle body to retrieve the retrievable track section 9 and return it to the inside of the vehicle body 5.

[0049] By setting up a supporting bridge arm device 7, a track retraction device 8, a retrievable track section 9, a rotatable eccentric steering wheel 6, and a structure in which the track retraction device 8 can extend from the side of the vehicle body 5, as well as a detachable structure with the retrievable track section 9, the vehicle body 5 can travel straight and turn at intersections without affecting the wiring operation.

[0050] Furthermore, the top of the track deployment / retraction device 8 is slidably connected to the vehicle body 5 along the length of the retrievable track section 9, and is equipped with a drive structure such as an electric cylinder, a gear and rack structure, or a friction pair structure to enable the track deployment / retraction device 8 to extend from either side of the vehicle body 5; here it is a linear drive structure, that is, a structure that can provide linear reciprocating movement, and the specific structure is not limited. The bottom of the track deployment / retraction device 8 is equipped with an up-and-down telescopic structure to drive the retrievable track section 9 to move up and down. The up-and-down telescopic structure can be an electric cylinder, a quadrilateral linkage structure (such as... Figure 6 (As shown) or other structures capable of vertical telescopic movement, the specifics are not limited. The detachable connection structure between the bottom of the track deployment device 8 and the retrievable track section 9 can be a magnetic structure, a gripper cylinder structure, or a snap-fit ​​structure, etc., for the purpose of achieving a detachable connection and facilitating control, the specifics are not limited. The retrievable track section 9 can be equipped with corresponding matching structures, the specifics are not limited. The vehicle body 5 can be a hollow structure with a first opening on the top surface, an opening on the bottom surface, and clearance openings on the sides, for the purpose of smoothly achieving wiring operations without affecting the movement of other structures, the specific opening settings are not limited.

[0051] refer to Figure 7 The auxiliary track 3 is connected to an auxiliary positioning structure 73 at the intersection of rows and columns, which is used to support and place the recyclable track segment 9. The auxiliary positioning structure 73 is located at the right-angle intersection of the auxiliary track 3 to assist the wheel-rail mobile platform 1 in passing smoothly through the right-angle intersection of the auxiliary track 3.

[0052] In some specific embodiments, reference is made to Figure 8 and Figure 9The cabling operation device 2 includes a support platform 20, a cable laying device 11, a guide mechanism 12, a pitch changing device 13, a pressure plate device 14, a tightening device 15, multiple cable reels 16 and a cable reel support frame 17, as well as a turntable 10 and a cable pressing device 28 located under the support platform 20. It can realize the laying, wiring and fixing of multiple cables, and realize differential cable laying when turning at right-angle intersections to ensure the arc length relationship of the inner and outer layers of multiple cables with arc trajectories. A wire feeding device 11 is located at one edge of the platform; a guide mechanism 12 can be installed immediately after the wire output side of the wire feeding device 11; a pitch changing device 13 is installed immediately after the guide mechanism 12, and the guide mechanism 12 and the pitch changing device 13 are located in the middle of the platform; wire reel support frames 17 are installed on both sides of the middle of the platform; multiple wire reels 16 are installed on the upper part of the wire reel support frame 17, and the wire reels 16 are located between two wire reel support frames 17. Each wire reel 16 can be connected in series laterally via a shaft, and the wire reels 16 are located directly above the guide mechanism 12 and the pitch changing device 13; a pressure plate device 14 is installed behind the pitch changing device 13; a tightening device 15 is installed immediately after the pressure plate device 14; a rotary motor 21 and a rotary reducer 22 are installed behind the tightening device 15. A wire pressing device 18 is located directly below the support platform 20, and also below the upper surface of the wheel-rail type moving platform 1, and is fixedly connected to the support platform 20.

[0053] The support platform 20 is rotatably connected to the vehicle body 5 via a bearing structure. This bearing structure is connected to a rotary drive structure, enabling the support platform 20 to rotate under the drive of the rotary drive structure to accommodate wiring in different directions. Specifically, the wiring operation device 2 is located above the wheel-rail mobile platform 1 and is integrated with it. The wiring operation device 2 can rotate relative to the wheel-rail mobile platform 1 along a vertical axis, for example, through a turntable 10. The turntable 10 is located directly below the support platform 20 and includes an inner ring and an outer ring. Ball bearings fill the space between the inner and outer rings, allowing them to rotate concentrically relative to each other. The upper surface of the inner ring is fixed to the lower surface of the support platform 20, and the lower surface of the outer ring is fixed to the upper surface of the wheel-rail mobile platform 1. The output shaft of the rotary reducer 22 can be connected to a gear, and a ring of gears can also be installed around the outer ring. The two gears mesh, allowing the support platform 20 to rotate vertically when the vehicle body 5 is fixed to the auxiliary rail 3 and cannot rotate. This is achieved by driving the rotary motor 21 and the rotary reducer 22.

[0054] Specifically, refer to Figure 10The wire feeding device 11 further includes a clamping device 24 and an auxiliary support shaft 30. The wire feeding drive structure includes three gears, a wire feeding motor 25, and a wire feeding reducer 26. The wire feeding fixing frame 23 includes two wire feeding fixing plates arranged opposite each other. The two ends of the wire feeding rotating shaft 33 are rotatably connected to the two wire feeding fixing plates. The two wire feeding rotating shafts 33 are horizontally flush between the two wire feeding fixing plates. The wire feeding fixing frame 23 has two front and rear wire feeding rotating shafts 33 in the middle of its vertical direction. The two front and rear wire feeding rotating shafts 33 are located on the same horizontal plane. A gear, namely a large gear 27 and a large gear 28, is connected to the same end of the wire-feeding shaft 33. The large gears 27 and 28 are located on the same plane but do not contact each other. The gears connected to the two wire-feeding shafts 33 mesh with the remaining gear, namely a small gear 29. The wire-feeding motor 25 is connected to the remaining gear, namely the small gear 29, through the wire-feeding reducer 26. The upper part of the wire-feeding fixing frame 23 is provided with a flange connected to the wire-feeding reducer 26. The wire-feeding reducer 26 is fixedly connected to the wire-feeding motor 25. The wire-feeding reducer 26 and the small gear 29 are connected through a shaft hole.

[0055] Each of the two wire feeding fixing plates is connected to a fixing shaft 35 above each wire feeding shaft 33. A plurality of clamping devices 24 are distributed and connected to the two fixing shafts 35 and are arranged one-to-one with the cables 19 on the wire feeding shaft 33. The cables 19 pass between the wire feeding shaft 33 and the clamping devices 24. At least one auxiliary support shaft 30 is also connected between the two wire feeding fixing plates to support the cables 19.

[0056] Specifically, refer to Figure 11 The wire-laying shaft 33 has bearings 31 at both ends, and the bearings 31 are placed in the semi-circular holes of the wire-laying fixing plate. A pressure plate 32 is also connected to the side of the wire-laying fixing plate with the semi-circular holes. The pressure plate 32 is connected to the wire-laying fixing plate by bolts. Each of the two has a semi-circular hole that can fix the bearing 31 together. An auxiliary support shaft is connected between the pressure plates on the same side of the two wire-laying fixing plates.

[0057] Furthermore, the surfaces of the wire feeding shaft 33 and / or the pressure roller 72 are provided with a plurality of annular grooves along the axial direction, and the cable 19 is placed inside the annular grooves. (Reference) Figure 11 The bottom of the annular groove on the surface of the wire feeding shaft 33 is arc-shaped, or the wire feeding shaft 33 is composed of multiple concave arc-shaped cylinders connected in series, which can better accommodate the cable 19.

[0058] Furthermore, an indexing centering shaft 34 is rotatably connected between the two wire feeding fixing plates. The indexing centering shaft 34 is located between the two fixing shafts 35. The surface of the indexing centering shaft 34 is provided with multiple guide grooves along the axial direction. Each guide groove is inclined, for example, it can be spiral along the surface of the indexing centering shaft 34. Each clamping device 24 is provided with an adjusting clip. Each adjusting clip is inserted into one of the guide grooves. The spacing between the clamping devices 24 is adjusted by rotating the indexing centering shaft 34 to accommodate different cable diameters.

[0059] Specifically, the front / rear wire feeding shaft 33 is equipped with cables 19, for example, five cables arranged in parallel, respectively located on five concave arc surfaces of the wire feeding shaft 33. The cables 19 originate from the wire reel 16. Above the cables 19 are five staggered parallel clamping devices 24, which are respectively located on a fixed shaft 35 directly above the front / rear wire feeding shaft 33. The five clamping devices 24 are staggered and fixed and constrained by the indexing centering shaft 34 and the fixed shaft 35. When the motor starts and drives the wire feeding shaft 33 to rotate, the clamping devices 24 cause the cables to contact the concave arc surfaces of the friction wheels on the shaft with a certain pressure. The friction force drives the cable feed movement, completing the wire feeding.

[0060] refer to Figure 12 The wiring operation device also includes a guide mechanism 12 located on the cable outlet side of the cable laying device. The guide mechanism 12 includes a plurality of guide posts arranged at intervals, and the cable 19 passes through the space between two adjacent guide posts.

[0061] refer to Figure 13 and Figure 14 The wiring operation device 2 further includes a pitch-changing device 13 located on the output side of the cable laying device 11. The pitch-changing device 13 includes a pitch-changing electric cylinder 36, a pitch-changing plate 38, a pitch-changing fixing frame 39, a pitch-changing stake 40, a pitch-changing clamp 41, and a pitch-changing guide shaft 42. The pitch-changing fixing frame 39 includes two pitch-changing fixing plates arranged opposite each other and a connecting plate connected above the two pitch-changing fixing plates. The pitch-changing electric cylinder 36 is mounted on the connecting plate and its moving end is connected to the pitch-changing plate 38. The pitch-changing plate 38 is slidably connected to the pitch-changing fixing plate. The telescopic rod end of the pitch-changing electric cylinder 36 is provided with a movable retaining ring 37 fixed thereto. The pitch-changing plate 38 is located below the movable retaining ring 37. The two sides of the pitch-changing plate 38 respectively cooperate with the slide rails on the pitch-changing fixing plate and can move up and down along the pitch-changing fixing frame 39.

[0062] The pitch-changing plate 38 has multiple horizontally arranged grooves, which are symmetrically distributed. The grooves near the edges have a larger angle with the vertical direction than the grooves in the middle. Each groove has a slidable pitch-changing clip 41 inside. A pitch-changing guide shaft 42 connects two pitch-changing fixing plates. Multiple pitch-changing posts 40 are slidably mounted on the pitch-changing guide shaft 42. Each pitch-changing post 40 is connected to a pitch-changing clip 41 in a one-to-one correspondence. The cable 19 passes between two adjacent pitch-changing posts 40. Multiple pitch-changing guide shafts 42 can be arranged in parallel, and the specific arrangement is not limited.

[0063] For example, when laying five cables at a time, the pitch plate 38 has six symmetrical slots in different directions, and the pitch fixing frame 39 has six pitch posts 40 in the middle. The six pitch posts 40 are arranged in parallel and are engaged with two pitch guide shafts 42 through shaft holes, allowing them to move along the direction of the guide shafts. Six pitch clips 41 are respectively set in the six slots of the pitch plate 38 and can move along the direction of the slots, so that the pitch device 13 can adjust the pitch to accommodate cables of different diameters. The support platform 20 may have a second opening, from which the pitch posts 40 extend downward to guide the cables below the vehicle body 5.

[0064] In some specific embodiments, reference is made to Figure 15 and Figure 16 The wiring operation device 2 further includes a pressure plate device 14 for setting the wire fastener 49 to the part to be laid. The pressure plate device 14 includes a hopper 43, a hopper support plate 44, a wire fastener push plate 50, a feeding electric cylinder 45, a pressing drive structure, a wire fastener pressure plate 47, and a pressure plate fixing frame 48. The support platform 20 is provided with a second opening. The wire fastener push plate 50 is connected to the feeding electric cylinder 45 and its two ends are respectively slidably connected to the support platform 20. The middle part of the wire fastener push plate 50 is located in the second opening and is stepped with a higher support surface and a lower receiving surface. The hopper support plate 44 passes over the end of the wire fastener push plate 50 from above and is connected to the support platform 20.

[0065] The hopper 43 is connected to the hopper support plate 44. Multiple wire fasteners 49 are stacked inside the hopper 43. The bottom of the hopper 43 is open. In the initial position, the wire fasteners 49 inside the hopper 43 are supported on the support surface. The height difference between the support surface and the receiving surface is the same as the height of the wire fastener. When the wire fastener push plate 50 slides, the wire fastener falls on the receiving surface when the receiving surface is below the hopper. At this time, it is in the unloading position. The feeding electric cylinder 45 is fixed to the support platform 20 by bolts. The end of its telescopic rod is fixed to the wire fastener push plate 50.

[0066] The pressure plate fixing frame 48 is located on the side of the wire fastener push plate 50 where the receiving surface is located. Both sides of the pressure plate fixing frame 48 are slidably connected to the support platform 20. The middle part of the pressure plate fixing frame 48 corresponds to the second opening. The downward pressure driving structure is connected to the pressure plate fixing frame 48. The wire fastener pressure plate 47 is connected to the downward pressure driving structure. The wire fastener pressure plate 47 has a fixing post on the side facing the wire fastener push plate 50. The wire fastener 49 has a fixing hole. When the wire fastener push plate 50 slides from the feeding position to the initial position, the fixing post is inserted into the fixing hole of the wire fastener 49 located on the receiving surface. Figure 17 As shown;

[0067] The pressure plate fixing bracket 48 is used to slide after the fixing hole and the fixing column are connected, so that the wire fastener 49 leaves the receiving surface. The downward driving structure is used to drive the wire fastener pressure plate 47 and the wire fastener 49 downward after the wire fastener 49 leaves the receiving surface, so that the wire fastener 49 is placed in the part to be laid.

[0068] A lower pressure plate is also connected to the side of the cable fastener pressure plate 47 facing the cable fastener push plate 50. When the fixing hole of the cable fastener 49 is connected with the fixing post, the lower pressure plate is located above the cable fastener 49. At this time, the lower pressure plate above the two protruding small cylinders of the cable fastener pressure plate 47 is in contact with the upper surface of the cable fastener 49; the protruding small cylinders of the cable fastener pressure plate 47 hold the cable fastener 49 to prevent it from falling due to gravity, and the protruding lower pressure plate of the cable fastener pressure plate 47 completes the downward pressure on the cable fastener 49.

[0069] Two symmetrically arranged hopper support plates 44 can be configured; a hopper 43 is located between the two hopper support plates 44, and the hopper support plates 44 can support the bottom of the hopper 43 and clamp and fix the hopper 43; the wire fastener push plate 50 is located on the support platform 20, between the two hopper support plates 44, and there are slight gaps between it and the hopper 43, the hopper support plates 44, and the support platform 20; the wire fastener push plate 50 can reciprocate between the initial position and the unloading position under the drive of the feeding electric cylinder 45. The downward driving structure can be a downward electric cylinder 46, a vertical slide table, or other structures that can provide vertical linear reciprocating movement, and the specific design is not limited.

[0070] In some specific embodiments, reference is made to Figure 18 and Figure 19The wiring operation device 2 further includes a tightening device 15, which includes a tightening mounting plate 57, a tightening machine 58, a bolt hopper 60, and an arc-shaped rail 61. The tightening mounting plate 57 is movably connected to the pressure plate fixing frame 48 or the downward driving structure in both horizontal and vertical directions. The tightening machine 58 and the bolt hopper 60 are respectively connected to the tightening mounting plate 57. The bolt hopper 60 is located on one side of the tightening machine 58 and has multiple tightening bolts 59 arranged vertically inside. The bottom of the bolt hopper 60 is connected to one end of the arc-shaped rail 61, and a switch structure is provided between them. The switch structure is used to control the tightening bolts 59 inside the bolt hopper 60 to enter the arc-shaped rail 61 one at a time. The bottom of the arc-shaped rail 61 has a drop hole with a diameter larger than the diameter of the tightening bolts 59, and the drop hole corresponds to the bottom of the tightening machine 58.

[0071] Bolt holes are provided on both sides of the cable fastener 49. The drop hole is located directly above one of the bolt holes. The switch structure is used to release the tightening bolt 59 after the cable fastener 49 is placed at the location where the cable is to be laid. The tightening bolt 59 falls into the bolt hole along the arc-shaped rail through the drop hole. The tightening machine 58 is used to tighten the bolt to fix the cable fastener.

[0072] Specifically, the tightening device 15 further includes a horizontal moving electric cylinder 51, a tightening guide shaft 52, a tightening fixing plate 53, a vertical moving electric cylinder 54, and a sliding rail 55. The tightening guide shaft 52 is horizontally connected to the pressure plate fixing frame 48, and the tightening fixing plate 53 is slidably connected to the tightening guide shaft 52. The horizontal moving electric cylinder 51 is mounted on the pressure plate fixing frame 48 via an electric cylinder fixing frame 56, and its moving end is connected to the tightening fixing plate 53. A sliding rail 55 is provided vertically on the tightening fixing plate 53, and a tightening mounting plate 57 is slidably connected to the sliding rail 55. The vertical moving electric cylinder 54 is mounted on the tightening fixing plate 53 via an electric cylinder fixing frame 56, and its moving end is connected to the tightening mounting plate 57, thereby achieving two-dimensional movement of the tightening mounting plate 57. The tightening fixing plate 53 can also be horizontally movably connected to the downward driving structure, which drives the cable fastener pressure plate 47 and the tightening device 15 to move up and down synchronously, thereby reducing the stroke of the vertical moving electric cylinder 54. The electric cylinder mounting bracket 56 and the pressure plate mounting bracket 48 are connected by bolts.

[0073] Specifically, refer to Figure 20The switch structure includes a push cylinder 63 and a feeding push block 64. The bottom of the bolt hopper 60 and the top of the arc-shaped rail 61 are connected to the adapter block and are staggered. The adapter block has a slide rail inside. The feeding push block 64 is slidably disposed in the slide rail and connected to the push cylinder 63. The feeding push block 64 has a feeding groove 641. As the feeding push block 64 slides, the feeding groove 641 has a receiving position that connects with the bolt hopper 60 and a feeding position that connects with the arc-shaped rail 61.

[0074] The arc-shaped rail 61 has an angle of 90 degrees; a bolt hopper 60 is located above the arc-shaped rail 61; a feeding pusher 64 is located at the connection between the arc-shaped rail 61 and the bolt hopper 60, which can push a single tightening bolt 59 from the bolt hopper 60 into the arc-shaped rail 61; the tightening machine 58 is bolted to the tightening mounting plate 57 via a flange, and its telescopic rod passes through the lower part of the arc-shaped rail 61. When the feeding pusher 64 pushes the bottom tightening bolt 59 of the hopper into the arc-shaped rail 61, the arc-shaped rail 61 locks the nut, causing the bolt to move along the arc under the action of gravity. The curved rail slides down to directly below the tightening machine 58. At this time, the distance between the bottom of the curved rail 61 and the wire fastener 49 is controlled by the up-and-down moving electric cylinder 54 so that it can just fall into the threaded hole of the wire fastener 49, and the tightening machine 58 completes the tightening operation. Alternatively, a detachable structure such as a magnetic suction can be set at the bottom of the curved rail 61. The tightening bolt 59 that has fallen to the bottom can be fixed by the detachable structure first, and then the up-and-down moving electric cylinder 54 can be moved to loosen the tightening bolt 59 when it corresponds to the threaded hole on the wire fastener 49, so that it falls into the threaded hole.

[0075] The initial drop hole can be located above a bolt hole on the cable fastener 49. Then, the cable fastener pressure plate 47 moves downward under the drive of the downward pressure drive structure and is placed in the preset position. The tightening mounting plate 57 moves downward under the drive of its corresponding vertical drive structure (such as the downward pressure drive structure or the up-down moving electric cylinder 54 or other structures). When it moves to a preset distance (such as the length of a tightening bolt 59) between itself and the cable fastener 49, a bolt can be dropped and tightened. Afterward, the tightening mounting plate 57 can be moved to the bolt hole on the other side of the cable fastener 49 by the horizontal moving electric cylinder 51 to tighten the bolt hole.

[0076] Furthermore, a camera 62 may be provided at the bottom of the tightening mounting plate 57 for identifying and positioning the cable fastener 49; the specific function of which will not be elaborated further. Two bolt holes may be provided on either side of the cable fastener 49, i.e., two pairs of four bolt holes are provided on both sides, one pair for connecting the lower cable fastener 49 and the other pair for connecting the upper cable fastener 49.

[0077] Further, refer to Figure 21The pressing device 18 further includes a linear module 65, which is connected to the lower surface of the support platform 20. The pressing fixing plate 66 is connected to the linear module 65. The pressing fixing plate 66 is fixedly connected to the movable slide of the linear module 65 by bolts. A joint motor 67 may be provided on the pressing fixing plate 66. The joint motor 67 is fixedly connected to the pressing fixing plate 66 by bolts. Its output shaft and the connecting part may be fixedly connected to the tail of a telescopic electric cylinder 68, for example. A motor fixing part 69 is provided at the end of the telescopic rod of the telescopic electric cylinder 68. The front part of the motor fixing part 69 is fixedly connected to the end of the telescopic rod of the telescopic electric cylinder 68, and the rear part is fixedly connected to a rotary motor 70. A wheel frame 71 is provided at the end of the output shaft of the rotary motor 70. The upper side of the wheel frame 71 is fixedly connected to the end of the output shaft of the rotary motor 70. A pressure roller 72 is provided in the middle below the wheel frame 71. The pressure roller 72 is fixed inside the wheel frame 71 by a shaft. The pressure roller 72 contains a bearing and can rotate around the shaft.

[0078] During cabling operations, for a cabling path, it is usually necessary to first install cable fasteners 49 along the path before laying the cable. When installing cable fasteners 49, the cable-laying device 18 can be moved to one side through the straight module 65 to avoid interference.

[0079] The intelligent cabling robot for signal control rooms can travel and lay cables simultaneously along the lower-rail auxiliary track 3 on straight sections, maintaining a consistent cable laying speed with its travel speed. It can smoothly pass through right-angle intersections on the track and achieve differential cable laying, ensuring a consistent arc length relationship between the inner and outer loops of the cable with its curved trajectory. During the entire cabling process, the intelligent cabling robot fixes the laid cables after traveling a certain distance to prevent them from becoming tangled. With the assistance of an auxiliary lifting machine, the intelligent cabling robot can rise from the ground to a certain height to the top of the cabinet to perform cabling tasks at the top of the cabinet.

[0080] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A smart cabling robot system for signal control rooms, characterized in that, The system includes a wheel-rail mobile platform, a cabling operation device, and an auxiliary track. The auxiliary track is laid on both sides of the area to be cabled in the signal room. The wheel-rail mobile platform includes a vehicle body and wheels located at the bottom of the vehicle body. The wheels cooperate with the auxiliary track to enable the vehicle body to move along the auxiliary track. The wiring operation device includes a support platform, a wire reel support frame, a wire feeding device, and a wire pressing device. The vehicle body has a first opening, and the support platform is connected to the vehicle body above the first opening. Two wire reel support frames are arranged opposite each other on the upper surface of the support platform, and multiple wire reels are rotatably arranged between the two wire reel support frames. The wire feeding device includes a wire feeding fixing frame, a wire feeding rotating shaft, and a wire feeding drive structure. The wire feeding fixing frame is mounted on the upper surface of the support platform. The wire feeding rotating shaft is rotatably connected to the wire feeding fixing frame. The wire feeding drive structure is used to drive the wire feeding rotating shaft to rotate. The wire pressing device includes a wire pressing fixing plate, a connecting member, a wheel frame, and a pressure roller. The wire pressing fixing plate is connected to the lower surface of the support platform. The first end of the connecting member is connected to the wire pressing fixing plate, and the second end of the connecting member is connected to the wheel frame. The pressure roller is rotatably connected to the wheel frame. The first end of the connecting member is rotatably connected to the wire pressing fixing plate, and / or the connecting member is designed as a telescopic structure. The cable on the wire reel is supported and transported by the wire feeding rotating shaft and laid around the pressure roller. The wire feeding device further includes a clamping device and an auxiliary support shaft. The wire feeding fixing frame includes two wire feeding fixing plates arranged opposite each other. The two ends of the wire feeding rotating shaft are rotatably connected to the two wire feeding fixing plates. The two wire feeding rotating shafts are horizontally flush between the two wire feeding fixing plates. A fixing shaft is connected above each wire feeding rotating shaft between the two wire feeding fixing plates. Multiple clamping devices are distributed and connected to the two fixing shafts and are arranged one-to-one with the cables on the wire feeding rotating shafts. The cables pass between the wire feeding rotating shafts and the clamping devices. At least one auxiliary support shaft is also connected between the two wire feeding fixing plates to support the cables. A dividing centering shaft is rotatably connected between the two wire feeding fixing plates. The dividing centering shaft is located between the two fixing shafts. The surface of the dividing centering shaft is provided with multiple guide grooves along the axial direction. Each guide groove is inclined. Each clamping device is provided with an adjusting clip. Each adjusting clip is inserted into one of the guide grooves. The spacing between the clamping devices is adjusted by rotating the dividing centering shaft to accommodate different cable diameters.

2. The intelligent cabling robot system for signal control rooms as described in claim 1, characterized in that, The auxiliary track includes at least one row and at least one column, and the row and column are disconnected at the intersection of the auxiliary track; the vehicle body is rotatably connected to a support bridge arm device on a first side and an opposite second side, and a support wheel is provided at the end of the support bridge arm device away from the vehicle body, and the distance between the support wheel and the adjacent travel wheel is greater than the width of the auxiliary track; The traveling wheels are rotatably connected to the vehicle body around a vertical axis, and the traveling wheels are offset from the vertical axis, so that the traveling wheels can switch above the rows and columns of the auxiliary track when rotating around the vertical axis; the vehicle body is also provided with a track retraction device on the first and second sides respectively. The track retraction device is a telescopic structure and its bottom is detachably connected to a retrievable track section. The top of the track retraction device is movably connected to the vehicle body along the length of the retrievable track section. The length of the retrievable track section is the same as the width of the auxiliary track; the auxiliary track is connected to an auxiliary positioning structure at the intersection of rows and columns to support and place the retrievable track section; the support platform is rotatably connected to the vehicle body through a bearing structure.

3. The intelligent cabling robot system for signal control rooms as described in claim 1, characterized in that, The wire feeding drive structure includes three gears, a wire feeding motor, and a wire feeding reducer. A gear is connected to the same end of each of the two wire feeding shafts. The gears connected to the two wire feeding shafts mesh with the remaining gear. The wire feeding motor is connected to the remaining gear through the wire feeding reducer.

4. The intelligent cabling robot system for signal control rooms as described in claim 3, characterized in that, The surface of the wire feeding shaft and / or the pressure roller is provided with a plurality of annular grooves along the axial direction, and the cable is placed inside the annular grooves; The pressing device further includes a linear module, which is connected to the lower surface of the support platform, and the pressing fixing plate is connected to the linear module.

5. The intelligent cabling robot system for signal control rooms as described in any one of claims 1-4, characterized in that, The wiring operation device also includes a pitch changing device disposed on the output side of the cable laying device. The pitch changing device includes a pitch changing electric cylinder, a pitch changing plate, a pitch changing fixing frame, a pitch changing stake, a pitch changing clamp, and a pitch changing guide shaft. The pitch changing fixing frame includes two pitch changing fixing plates arranged opposite to each other and a connecting plate connected above the two pitch changing fixing plates. The pitch changing electric cylinder is installed on the connecting plate and its moving end is connected to the pitch changing plate. The pitch changing plate and the pitch changing fixing plate are slidably connected vertically. The pitch plate is provided with multiple horizontally arranged sliding grooves. The multiple sliding grooves are symmetrically distributed, and the angle between the sliding grooves near the edge and the vertical direction is greater than the angle between the sliding grooves in the middle and the vertical direction. A pitch clip is slidably provided inside each sliding groove. A pitch guide shaft is also connected between two pitch fixing plates. Multiple pitch posts are slidably sleeved on the pitch guide shaft. The pitch posts are connected to the pitch clips one by one. The cable passes through the space between two adjacent pitch posts.

6. The intelligent cabling robot system for signal control rooms as described in any one of claims 1-4, characterized in that, The wiring operation device further includes a pressure plate device for setting wire fasteners at the location to be wired. The pressure plate device includes a hopper, a hopper support plate, a wire fastener push plate, a feeding electric cylinder, a pressing drive structure, a wire fastener pressure plate, and a pressure plate fixing frame. The support platform has a second opening. The wire fastener push plate is connected to the feeding electric cylinder and its two ends are slidably connected to the support platform. The middle part of the wire fastener push plate is located in the second opening and is stepped with a higher support surface and a lower receiving surface. The hopper support plate passes over the end of the wire fastener push plate and is connected to the support platform. The hopper is connected to the hopper support plate. Multiple wire fasteners are stacked inside the hopper. The bottom of the hopper is open. In the initial position, the wire fasteners inside the hopper are supported on the support surface. The height difference between the support surface and the receiving surface is the same as the height of the wire fastener. When the wire fastener push plate slides so that the receiving surface is below the hopper, the wire fastener falls on the receiving surface, which is the unloading position. The pressure plate fixing frame is mounted on one side of the wire fastener push plate where the receiving surface is located. The two sides of the pressure plate fixing frame are slidably connected to the support platform. The middle part of the pressure plate fixing frame corresponds to the second opening. The downward pressure driving structure is connected to the pressure plate fixing frame. The wire fastener pressure plate is connected to the downward pressure driving structure. The side of the wire fastener pressure plate facing the wire fastener push plate is provided with a fixing post. The wire fastener is provided with a fixing hole. When the wire fastener push plate slides from the feeding position to the initial position, the fixing post is inserted into the fixing hole of the wire fastener located on the receiving surface. The pressure plate fixing frame is used to slide after the fixing hole and the fixing post are connected to each other, so that the wire fastener leaves the receiving surface. The downward pressure driving structure is used to drive the wire fastener pressure plate and the wire fastener downward after the wire fastener leaves the receiving surface, so that the wire fastener is placed at the part to be laid.

7. The intelligent cabling robot system for signal control rooms as described in claim 6, characterized in that, The wiring operation device also includes a tightening device, which includes a tightening mounting plate, a tightening machine, a bolt hopper, and an arc-shaped rail. The tightening mounting plate is movably connected to the pressure plate fixing frame or the downward driving structure in both horizontal and vertical directions. The tightening machine and the bolt hopper are respectively connected to the tightening mounting plate. The bolt hopper is located on one side of the tightening machine and contains multiple tightening bolts arranged vertically inside. The bottom of the bolt hopper is connected to one end of the arc-shaped rail, and a switch structure is provided between them. The switch structure is used to control the tightening bolts inside the bolt hopper to enter the arc-shaped rail one at a time. The bottom of the arc-shaped rail is provided with a drop hole. The diameter of the drop hole is larger than the diameter of the tightening bolt, and the drop hole corresponds to the bottom of the tightening machine. The cable fastener has bolt holes on both sides, and the drop hole is located directly above one of the bolt holes. The switch structure is used to release the tightening bolt after the cable fastener is placed at the location where the cable is to be laid. The tightening bolt falls into the bolt hole along the arc-shaped rail through the drop hole. The tightening machine is used to tighten the bolt to fix the cable fastener.

8. The intelligent cabling robot system for signal control rooms as described in claim 7, characterized in that, The switch structure includes a push cylinder and a feeding push block. The bottom of the bolt hopper and the top of the arc-shaped rail are connected to the adapter block and are staggered. The adapter block has a slide rail inside. The feeding push block is slidably disposed in the slide rail and connected to the push cylinder. The feeding push block has a feeding groove. As the feeding push block slides, the feeding groove has a receiving position that connects with the bolt hopper and a feeding position that connects with the arc-shaped rail.

9. The intelligent cabling robot system for signal control rooms as described in any one of claims 1-4, characterized in that, The wiring operation device further includes a guide mechanism disposed on the cable outlet side of the cable delivery device. The guide mechanism includes a plurality of guide posts arranged at intervals, and the cable passes through the space between two adjacent guide posts. And / or, it also includes an auxiliary lifting machine, wherein the signal room is provided with multiple layers of the auxiliary tracks, and the auxiliary lifting machine is located on one side of the auxiliary tracks, for lifting the wheel-rail mobile platform and the wiring operation device to realize wiring on the multiple layers of the auxiliary tracks.

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