A cable traction system and a cable traction laying method

Abstract

This application discloses a cable traction system and a cable traction laying method. The cable traction machine can electrically traction the traction rope and detect the traction force in real time. When a sudden change in traction force is detected, the cable winding mechanism can be controlled to reduce the winding speed, allowing the traction rope wound on the traction wheel to loosen appropriately, so that the traction force gradually returns to a stable state. At the same time, the cable winding mechanism automatically adjusts the winding speed based on the extrusion pressure data fed back by the pressure detection component, ensuring that the extrusion pressure is always maintained within the preset parameter range. The embodiments of this application innovatively combine extrusion pressure and traction force to comprehensively control the winding speed of the cable winding mechanism. Through this intelligent control method, it is ensured that the cable traction system is always within a reasonable working range during the traction and winding of the traction rope, successfully realizing automatic traction and automatic winding of traction ropes such as wire ropes, thereby achieving automated traction operation of cables connected to the traction rope.

Description

Technical Field

[0001] This application relates to the field of cable equipment, and in particular to a cable traction system and a cable traction laying method. Background Technology

[0002] In the cable laying process, steel wire ropes must first be manually pulled from the traction equipment installation location through the duct or tunnel until they reach the duct or tunnel end where the cable reel is located. Then, a cable pulling head is used to connect the wire rope to the cable, and finally, the traction equipment pulls the wire rope to complete the cable laying operation. During this process, excess wire rope must be collected and organized to prepare for subsequent recycling and reuse. However, the current problem is that all types of traction and winding equipment rely on manual operation to complete the traction and winding operations. Once manual intervention is removed, it is difficult to autonomously complete the cable traction work. This manual control mode not only increases construction labor costs but may also affect construction efficiency and safety due to human error. There is an urgent need to upgrade to automation technology to improve the existing operation mode. Summary of the Invention

[0003] This application aims to provide a cable traction system and a cable traction laying method that can realize automatic cable traction.

[0004] The cable traction system according to a first aspect embodiment of this application includes:

[0005] At least one cable conveying device for actively conveying a cable, wherein the cable end is provided with a traction rope;

[0006] A cable pulling machine includes a traction controller, a traction drive system, and a traction wheel. The traction controller controls the traction drive system to drive the traction wheel to pull the traction rope, wherein the traction rope is wound around the traction wheel at least once. The traction controller has a built-in traction force detection unit for detecting the traction force of the cable pulling machine pulling the traction rope.

[0007] A cable winding and unwinding mechanism includes a cable winding base, a cable winding and unwinding device slidably disposed on the cable winding base, a cable winding and unwinding controller, and a pressure detection component disposed on the cable winding base; the cable winding and unwinding device, when sliding, applies pressure to the pressure detection component; the cable winding and unwinding device is used to wind up the traction rope transmitted by the traction wheel; the cable winding and unwinding controller is used to adjust the winding speed of the cable winding and unwinding device on the traction rope according to the pressure detection component and the traction force detected by the traction force detection unit.

[0008] The change in the extrusion pressure is negatively correlated with the change in the winding speed, so that the extrusion pressure is maintained at a preset pressure parameter; if the traction force increases beyond a preset allowable value within a preset abrupt change time, the winding speed is reduced until the traction force is reduced to a preset stable force value, which is lower than or equal to a preset high traction threshold.

[0009] The cable traction and laying method according to the second aspect embodiment of this application, applied to the cable traction system of the first aspect embodiment, includes:

[0010] Acquire the extrusion pressure collected by the pressure detection component;

[0011] Based on the preset pressure parameters and the extrusion force, the winding speed of the cable winding mechanism on the traction rope is adjusted so that the extrusion force is maintained at the preset pressure parameters; wherein, the change in the extrusion force is negatively correlated with the change in the winding speed.

[0012] In response to a sudden traction command, the cable winding mechanism is controlled to reduce the winding speed of the traction rope until the traction force detected by the traction force detection unit is reduced to a preset stable force value, which is lower than or equal to a preset high traction threshold.

[0013] The traction mutation command is generated by the traction controller when the traction force detected by the traction force detection unit increases beyond a preset mutation allowable value within a preset mutation time.

[0014] The cable traction system and cable traction laying method of this application embodiment enable the cable traction machine to electrically traction the traction rope and detect the traction force in real time. When a sudden change in traction force is detected, the cable winding mechanism can be controlled to reduce the winding speed, allowing the traction rope wound on the traction wheel to loosen appropriately, so that the traction force gradually returns to a stable state. At the same time, the cable winding mechanism automatically adjusts the winding speed based on the extrusion pressure data fed back by the pressure detection component, ensuring that the extrusion pressure is always maintained within the preset parameter range. This application embodiment innovatively combines extrusion pressure and traction force to comprehensively control the winding speed of the cable winding mechanism. Through this intelligent control method, it ensures that the cable traction system is always within a reasonable working range during the traction and winding of the traction rope, successfully realizing automatic traction and automatic winding of traction ropes such as wire ropes, thereby achieving automated traction operation of cables connected to the traction rope, effectively improving the intelligence and safety of cable laying construction.

[0015] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 A top view of the cable pulling machine provided in an embodiment of this application;

[0018] Figure 2 This is a front view of a cable pulling machine provided in an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the wire take-up and untake-down system provided in the embodiments of this application;

[0020] Figure 4 This is a partial structural schematic diagram of the wire take-up and untake-down system provided in an embodiment of this application;

[0021] Figure 5 This is a schematic diagram of the wire take-up and take-down reel provided in an embodiment of this application;

[0022] Figure 6 A schematic diagram of the retraction / extraction drive, the first transmission wheel, and the second transmission wheel provided in an embodiment of this application;

[0023] Figure 7 This is a schematic diagram of the structure of the cabling device provided in the embodiments of this application;

[0024] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0025] Figure 9 A side view of the cable laying assembly provided in an embodiment of this application;

[0026] Figure 10 An isometric view of the cable laying assembly provided in the embodiments of this application;

[0027] Figure 11 An isometric view of the cable conveying device provided in the embodiments of this application;

[0028] Figure 12 This is a schematic diagram of the cable traction system provided in the embodiments of this application;

[0029] Figure 13 A schematic diagram illustrating the use of a cable pulling machine and a cable winding mechanism in an embodiment of this application;

[0030] Figure 14 A flowchart of a cable traction laying method provided in an embodiment of this application.

[0031] Figure label:

[0032] 1000 tonne rope;

[0033] Cable pulling machine 2000; traction controller 2210; traction drive system 2220; traction base 2221; servo motor 2222; gearbox 2223; output shaft 2224; hoisting structure 2225; traction wheel 2230;

[0034] Cable take-up base 3100; guide rail 3110; cable take-up and undo device 3200; mounting base 3210; slider 3211; take-up drive mounting base 3212; cable take-up and undo wheel 3220; first connecting part 3221; take-up and undo drive 3230; first transmission wheel 3241; second transmission wheel 3242; second connecting part 3243; cable laying device 3300; support bracket 3310; wire mechanism 3320; mounting frame 3321; first guide assembly 3322; first guide component 33221; second guide assembly 3323; second guide component 33231; nut 3324; drive mechanism 3330; guide shaft 3331; drive component 33321; lead screw 33322; limit switch 3340; elastic buffer 3400; pressure sensor 3500; cable take-up and undo controller 3600;

[0035] Conveying base 4100; slot structure 4110; main lifting arm 4200; rotation adjustment limit part 4210; lifting component 4220; roller mechanism 4300; telescopic device 4400; lifting cylinder 4410; hydraulic drive system 4420; top rod structure 4510; limit structure 4520; cable reel protective frame 4600; protective bracket 4610; protective wheel 4620; drive device 4700; cable reel 4800; conveying controller 4900; position and posture detection unit 4910; connecting rod 41000. Detailed Implementation

[0036] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0037] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0038] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0039] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0040] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0041] See Figures 1 to 13 As shown, one embodiment of this application provides a cable traction system, which includes:

[0042] At least one cable conveying device for actively conveying a cable, wherein the cable end is provided with a traction rope 1000;

[0043] The cable pulling machine 2000 includes a traction controller 2210, a traction drive system 2220, and a traction wheel 2230. The traction controller 2210 controls the traction drive system 2220 to drive the traction wheel 2230 to pull the traction rope 1000, wherein the traction rope 1000 is wound around the traction wheel 2230 at least once. The traction controller 2210 has a built-in traction force detection unit, which is used to detect the traction force of the cable pulling machine 2000 pulling the traction rope 1000.

[0044] The cable winding and unwinding mechanism includes a cable winding base 3100, a cable winding and unwinding device 3200 slidably disposed on the cable winding base 3100, a cable winding and unwinding controller 3600, and a pressure detection component disposed on the cable winding base 3100. When the cable winding and unwinding device 3200 slides, it applies pressure to the pressure detection component. The cable winding and unwinding device 3200 is used to wind up the traction rope 1000 transmitted by the traction wheel 2230. The cable winding and unwinding controller 3600 is used to adjust the winding speed of the cable winding and unwinding device 3200 on the traction rope 1000 according to the pressure detected by the pressure detection component and the traction force detected by the traction force detection unit.

[0045] Among them, the change of extrusion pressure is negatively correlated with the change of winding speed, so that the extrusion pressure is maintained at the preset pressure parameter; if the traction force increases beyond the preset allowable value of the preset change within the preset change time, the winding speed is reduced until the traction force is reduced to the preset stable force value, which is lower than or equal to the preset high traction threshold.

[0046] In this embodiment, the cable traction machine 2000 can electrically traction the traction rope 1000 and detect the traction force in real time. When a sudden change in traction force is detected, the cable winding mechanism can be controlled to reduce the winding speed, allowing the traction rope 1000 wound on the traction wheel 2230 to loosen appropriately, so that the traction force gradually returns to a stable state. At the same time, the cable winding mechanism automatically adjusts the winding speed based on the extrusion pressure data fed back by the pressure detection component, ensuring that the extrusion pressure is always maintained within the preset parameter range. This embodiment innovatively combines extrusion pressure and traction force to comprehensively control the winding speed of the cable winding mechanism. Through this intelligent control method, it ensures that the cable traction system is always within a reasonable working range during the traction and winding of the traction rope 1000, successfully realizing automatic traction and automatic winding of the traction rope 1000 such as steel wire rope, thereby achieving automated traction operation of the cable connected to the traction rope 1000, effectively improving the intelligence and safety of cable laying construction.

[0047] The aforementioned cable conveying device can be a cable laying device or a cable conveying device, such as a cable reel laying device or a cable conveyor.

[0048] The aforementioned traction rope 1000 can be a steel wire rope or a cable of other materials that has the capability of traction cable.

[0049] After the aforementioned traction rope 1000 is connected to the end of the cable to be pulled, the traction controller 2210 can be used to pull the traction rope 1000, thereby completing the pulling of the cable.

[0050] The above-mentioned increase exceeding the preset allowable value within the preset mutation time can be understood as a large increase in traction force in a short period of time. That is, the traction speed of the cable traction machine 2000 is much higher than the conveying speed of the cable conveying device, and the cable conveying device pulls the cable traction machine 2000 in the opposite direction.

[0051] The aforementioned preset stabilizing force value can be understood as a relatively stable traction force of the cable traction machine 2000. When this stable traction force is output, the cable traction machine 2000 can maintain a state of high efficiency, stability and long-term output.

[0052] The aforementioned preset high traction threshold can be understood as the allowable upper limit of the output of the cable traction machine 2000. Exceeding this threshold will cause the cable traction machine 2000 to overload, resulting in equipment damage or even safety accidents. Correspondingly, a preset low traction threshold can be set. When the output force of the cable traction machine 2000 is controlled between the preset low traction threshold and the preset high traction threshold, the cable traction machine 2000 can maintain a relatively ideal state. The preset stable force value can be understood as the optimal position within the range constrained by the preset low traction threshold and the preset high traction threshold, allowing the cable traction machine 2000 to maintain a most or even more ideal state.

[0053] The aforementioned traction drive system 2220 includes an output shaft 2224, which can rotate around its own axis. By mounting the traction wheel 2230 on the output shaft 2224, the rotation of the traction wheel 2230 can be controlled. In actual operation, by winding the traction rope 1000, such as a wire rope, around the traction wheel 2230 at least once, typically three to four times, the traction wheel 2230 gains the ability to traction the wire rope, thereby achieving the traction of the wire rope.

[0054] The aforementioned traction wheel 2230 can be a hinged wheel.

[0055] The aforementioned traction controller 2210 can be configured as a traction control box. The traction control box can be equipped with a power supply unit, a drive control module, and a communication module. The power supply unit can supply power to the traction drive system 2220. The drive control module can control the speed of the drive wheels. The communication module can establish a communication connection with the cable take-up and release controller 3600 to achieve joint control.

[0056] The aforementioned traction controller 2210 can also acquire the operating current of the traction drive system 2220, and issue an overload alarm when the operating current exceeds the high current threshold.

[0057] The aforementioned traction controller 2210 can also issue an alarm when the detected traction force exceeds the traction overload alarm threshold. The traction overload alarm threshold is greater than a preset traction high threshold.

[0058] The aforementioned traction controller 2210 is also equipped with an operation panel, through which the working mode of the traction drive system 2220 can be manually adjusted, such as changing the traction direction, traction mode, etc.

[0059] The aforementioned traction controller 2210 can also store the collected operating data in a storage unit for use in subsequent maintenance, traceability, and other needs.

[0060] Both the aforementioned cable conveying device and the traction drive system 2220 are active devices, and there can be a mismatch in cable conveying speed between them. When the speed at which the traction drive system 2220 pulls the cable is greater than the speed at which the cable conveying device conveys the cable, the traction drive system 2220 needs to exert additional traction force when pulling the cable. This causes a sharp increase in the traction force value detected by the traction force detection unit. However, due to the complex on-site environment and the fact that the cable conveying device and the cable traction machine 2000 are usually far apart, the cable traction machine 2000 cannot feed back the information about the excessively high traction force to the cable conveying device. In this embodiment, the winding speed of the cable winding mechanism is reduced. This allows the traction rope 1000, such as the wire rope wrapped around the drive wheel, to be loosened to a certain extent, thereby reducing the traction force of the cable traction machine 2000.

[0061] After the aforementioned traction controller 2210 is started, it can control the output shaft 2224 to rotate at a preset speed. When the traction force increases, the winding speed can be reduced by controlling the wire winding and unwinding device 3200 to reduce the winding speed, thereby achieving the effect of reducing the traction force.

[0062] The aforementioned traction force detection unit can be configured as a current detection unit, which derives the traction force by detecting the drive current of the servo motor 2222 in the traction drive system 2220. It is understood that there is a positive correlation between the drive current of the servo motor 2222 and the traction force.

[0063] The aforementioned traction force detection unit can also be configured as another sensor that can directly detect the torque of the traction wheel 2230 or the output shaft 2224 that drives the traction wheel 2230 to rotate, and determine the traction force through direct detection.

[0064] The aforementioned cable winding and unwinding device 3200 can adopt a wheel-type winding structure to achieve cable winding.

[0065] The aforementioned cable winding and unwinding device 3200 can slide along the cable winding base 3100, with the sliding direction parallel to the cable pulling direction.

[0066] The cable take-up base 3100 is equipped with a pressure detection component. When the cable take-up device 3200 slides toward the cable traction machine 2000 due to the force of the traction rope 1000, the squeezing force of the cable take-up device 3200 on the pressure detection component can be detected.

[0067] Specifically, during normal operation of the cable winding and unwinding mechanism, the traction rope 1000 between the mechanism and the cable traction machine 2000 needs to be kept in a state that is neither too slack nor too taut. Due to the force exerted by the traction rope 1000, the cable winding and unwinding device 3200 will compress the pressure detection component. Therefore, it can be understood that the compressive pressure needs to be maintained within a preset pressure parameter. That is, if the compressive pressure increases, it can be understood that the tension in the traction rope 1000 between the mechanism and the traction machine 2000 is too high, requiring a reduction in tension. This can be achieved by controlling the winding and unwinding mechanism to reduce the winding speed, thus reducing the compressive pressure accordingly. Conversely, if the compressive pressure decreases, it can be understood that the tension in the traction rope 1000 between the mechanism and the traction machine 2000 is too low, requiring an increase in tension. This can be achieved by controlling the winding and unwinding mechanism to increase the winding speed, thus increasing the compressive pressure accordingly.

[0068] The above preset pressure parameters can be understood as the range of extrusion pressure or as an extrusion pressure threshold.

[0069] The aforementioned pressure detection component may include an elastic buffer 3400 disposed on the cable take-up base 3100 and a pressure sensor 3500 disposed on the cable take-up and release device 3200 facing the elastic buffer 3400. Under the traction of the traction rope 1000, the cable take-up and release device 3200 will drive the pressure sensor 3500 to move synchronously, so that the pressure sensor 3500 abuts and squeezes the elastic buffer 3400, thereby detecting the squeezing force.

[0070] The aforementioned pressure detection component may include a pressure sensor 3500 disposed on the cable take-up base 3100 and an elastic buffer 3400 disposed on the cable take-up and release device 3200 facing the pressure sensor 3500. Under the traction of the traction rope 1000, the cable take-up and release device 3200 will drive the elastic buffer 3400 to move synchronously, so that the pressure sensor 3500 and the elastic buffer 3400 come into contact and squeeze, thereby detecting the squeezing force.

[0071] The aforementioned cable reel-in / deel-out controller 3600 can be configured as a cable reel-in control box. The cable reel-in control box can be equipped with a power supply unit, a drive control module, and a communication module. The power supply unit can supply power to the cable reel-in / deel-out device 3200. The drive control module can control the reel-in of the cable reel-in / deel-out device 3200. The communication module can establish a communication connection with the traction controller to achieve joint control.

[0072] The aforementioned cable retraction controller 3600 can also be connected to a display unit, through which the working status of the cable retraction mechanism can be viewed.

[0073] In some embodiments, the traction rope 1000 is wound three to four times around the traction wheel 2230.

[0074] In this embodiment, by winding the rope around the traction wheel 2230 three to four times, the traction rope 1000 can be effectively pulled while reducing the probability of the traction rope 1000 overlapping, thus improving the stability of the traction.

[0075] In some embodiments, the cable delivery device includes:

[0076] Four cable laying assemblies are provided. Each cable laying assembly includes a conveying base 4100, a main lifting arm 4200, a roller mechanism 4300, and a telescopic device 4400. The main lifting arm 4200 is rotatably mounted on the conveying base 4100, and its plane of rotation is perpendicular to the plane of the conveying base 4100. The roller mechanism 4300 is mounted on the main lifting arm 4200, and its plane of rotation is parallel to the plane of rotation of the main lifting arm 4200. The telescopic device 4400 is mounted on the conveying base 4100 and is used to adjust the rotation angle of the main lifting arm 4200 to adjust the height of the roller mechanism 4300. At least one cable laying assembly also includes a drive device 4700, which is mounted on the main lifting arm 4200 and is used to drive the roller mechanism 4300 to rotate.

[0077] The pose detection unit 4910 is mounted on the cable reel 4800 and is used to detect the pose information of the cable reel 4800.

[0078] The conveying controller 4900 is electrically connected to the drive unit 4700, the pose detection unit 4910, and the four telescopic devices 4400.

[0079] In this embodiment, the lifting and lowering control of the roller mechanism 4300 can be achieved. Using four cable laying components, the lifting, lowering, and rotational support of the entire cable reel 4800 can be jointly realized. Furthermore, based on the attitude information obtained by the posture detection unit 4910, the attitude control of the cable reel 4800 during lifting can be achieved, ensuring that the cable reel 4800 is always in or near a horizontal state. Finally, the drive device 4700 can drive the cable reel 4800 to complete the cable laying and winding operation. Because this embodiment uses a component collaborative working logic, an integrated cable reel laying device is no longer needed, greatly facilitating transportation. Simultaneously, because the cable reel 4800 can be lifted from the ground, the reliance on cranes is eliminated, making it better adaptable to laying in complex terrain and space-constrained areas.

[0080] The aforementioned conveyor base 4100 can be placed horizontally on the ground. The conveyor base 4100 can be equipped with components for transport by forklifts or other transfer equipment, allowing for flexible transport. Specifically, it can be designed for direct lifting by forklifts, or for lifting using small lifting tools such as hoists, or a combination of multiple structures to improve applicability.

[0081] The aforementioned main lifting arm 4200 rotates in the direction of approaching and moving away from the conveying base 4100, which is intended to allow the roller mechanism 4300 to be height-adjusted to achieve lifting and rotational support for the cable reel 4800.

[0082] The roller mechanism 4300 described above may include rollers and bearings supporting the rollers, with the bearings mounted on the main lifting arm 4200. It is understood that the rollers need to maintain sufficient width so that the rim of the cable reel 4800 can be placed on the rollers.

[0083] The aforementioned telescopic device 4400 is positioned between the conveying base 4100 and the main lifting arm 4200, enabling it to extend and retract, thus allowing the main lifting arm 4200 to rotate and adjust the height of the rollers. The telescopic device 4400 can be implemented in various ways; for example, it can be an electric telescopic device or a hydraulic telescopic device, etc. Many devices are available to achieve telescopic movement, allowing for flexible selection based on actual needs.

[0084] The aforementioned drive unit 4700 allows the cable laying assembly to transform from a passive rotation support to an actively driven rotation structure, enabling the cable reel 4800 to rotate without the need for an external drive device. In the case of four cable laying assemblies operating collaboratively, the drive unit 4700 is typically configured on two cable laying assemblies located on the same side.

[0085] The aforementioned drive device 4700 can take various forms. For example, it can use a hydraulic drive system 4420 or an electric drive system. The specific drive method can be flexibly selected, as long as it can drive the cable reel 4800. When the aforementioned drive device 4700 uses a drive motor, the control method is simpler and more accurate control precision can be provided.

[0086] The aforementioned pose detection unit 4910 may include any of the following sensors: tilt sensor, distance sensor, etc. The specific selection is not limited. It can use the detected data to determine whether the cable reel 4800 has tilted in the horizontal direction due to excessive or insufficient lifting distance of a certain cable laying component.

[0087] In some implementations, the pose detection unit 4910 can directly use a tilt sensor. Compared with other methods that require conversion, directly using a tilt sensor to obtain tilt data can effectively reduce the amount of computation and reduce the requirements on the core controller of the transport controller 4900.

[0088] The aforementioned pose detection unit 4910 can be installed on a support surface selected at the central axis position of the cable reel 4800.

[0089] The core controller of the aforementioned conveyor controller 4900 can be a microcontroller, DSP, PLC, etc. The specific choice can be made according to actual needs. For example, a Siemens S7 series PLC or an STM32 series processor can be selected.

[0090] The aforementioned cable laying assembly requires four components to be used in combination. The four cable laying assemblies are used to lift the flange of the cable reel 4800, thereby completing the lifting and rotation support of the cable reel 4800.

[0091] For details, please refer to Figures 9 to 11 When the cable laying assembly is needed, it can be transferred to the rim of the cable reel 4800 and abut against the rim. The roller mechanism 4300 is perpendicular to the rim. The four cable laying assemblies abut against the rims on both sides of the cable reel 4800, with two cable laying assemblies on the same side facing each other. Then, the four telescopic devices 4400 are controlled to lift synchronously. Figure 11 As shown, during the lifting process, the attitude information detected by the attitude detection unit is used as a feedback parameter for adjustment, ensuring that the flange height of the cable laying assembly on the lifted side remains balanced with the other side, preventing significant tilting. After the cable reel 4800 is lifted to the preset laying height and is in a relatively horizontal state, driving the cable reel 4800 to rotate enables the cable laying and winding operation.

[0092] The height at which the cable reel 4800 is lifted to the preset cable laying height can be indirectly determined by directly controlling the telescopic distance of the telescopic device 4400, or it can be directly detected by setting a height detection sensor on the cable reel 4800. There are many types of sensors that can achieve height detection, and no specific limitation is made here.

[0093] In some implementations, reference Figure 11 The cable conveying device also includes:

[0094] Four sets of connecting rods 41000 are used to connect the conveyor bases 4100 of two adjacent cable laying assemblies when the roller mechanism 4300 of the four cable laying assemblies abuts against the rim of the cable reel 4800.

[0095] In this embodiment, to prevent movement when the four cable laying assemblies work together, a connecting rod 41000 can be provided between the four cable laying assemblies. The connecting rod 41000 can be provided after all four cable laying assemblies have abutted against their respective wheel flanges.

[0096] In some implementations, reference Figure 11 Each of the 41000 connecting rods is designed to be an adjustable length rod.

[0097] In this embodiment, all connecting rods 41000 are configured as adjustable length connecting rods, eliminating the need to set different connecting rods 41000 for different specifications of cable reels 4800. This can improve the reusability of connecting rods 41000, reduce costs, and make them easier to carry.

[0098] In some implementations, reference Figure 11 The adjustable length link includes a first link and a second link. Both the first link and the second link are provided with multiple length adjustment through holes along the length direction. The length of the first link and the second link is adjusted through the multiple length adjustment through holes.

[0099] The first connecting rod can be made of tubing, and the second connecting rod can extend into the tubing to improve the connection strength between the first and second connecting rods. The second connecting rod can also be made of tubing, which can further improve its strength while reducing the overall weight of the connecting rod 41000.

[0100] The aforementioned conveying base 4100 is provided with a combined connecting part that cooperates with the connecting rod 41000. The combined connecting part is used to connect two adjacent cable laying assemblies through the connecting rod 41000.

[0101] The above-mentioned combined connection part can be configured with multiple connection holes, and the two ends of the connecting rod 41000 are provided with corresponding through holes so that the connection between the conveying base 4100 and the connecting rod 41000 can be completed by using bolt fasteners.

[0102] In some implementations, reference Figure 9 , Figure 10 Telescopic device 4400, including:

[0103] The lifting cylinder 4410 has one end rotatably mounted on the conveying base 4100 and the other end rotatably connected to the main lifting arm 4200. The rotation plane of the lifting cylinder 4410 is parallel to the rotation plane of the main lifting arm 4200.

[0104] A hydraulic drive system 4420, electrically connected to the conveyor controller 4900, is mounted on the conveyor base 4100 and is used to drive the lifting cylinder 4410 to extend and retract.

[0105] The aforementioned lifting cylinder 4410 needs to be rotatably connected to the conveying base 4100 and to the main lifting arm 4200 in order to cooperate with the rotation operation of the main lifting arm 4200.

[0106] Specifically, one side of the lifting cylinder 4410 can be rotatably connected to the conveying base 4100, and the piston rod can be rotatably connected to the main lifting arm 4200, so that the rotation of the main lifting arm 4200 can be completed by extending and retracting the piston rod. Furthermore, by adopting the configuration of the cylinder body below and the piston rod above, the center of gravity of the entire cable laying assembly can be lowered to a certain extent. It is understandable that inverting the lifting cylinder 4410 could also achieve the rotation of the main lifting arm 4200, but this arrangement would raise the center of gravity.

[0107] The aforementioned hydraulic drive system 4420 primarily provides a hydraulic power source to drive the lifting cylinder 4410 to complete its extension and retraction. Specifically, the hydraulic drive system 4420 may include an electric hydraulic pump, electrically controlled valves, etc. The electric hydraulic pump can be started and stopped under the control of the conveying controller 4900, and the electrically controlled valves can be used to inject oil into the rod chamber and rodless chamber of the lifting cylinder 4410 under the operation of the conveying controller 4900, thereby realizing the extension and retraction of the piston rod.

[0108] In some embodiments, the telescopic device 4400 further includes:

[0109] The pressure detection unit, connected to the conveying controller 4900, is used to detect the pressure of the lifting cylinder 4410.

[0110] In this embodiment, the pressure detection unit is provided so that the conveying controller 4900 can better control the lifting and lowering of the cable reel 4800 when it obtains the pressure data detected by the pressure detection unit. That is, it can reduce the occurrence of excessive oil pressure in a single cable laying assembly and make the oil pressure as balanced as possible.

[0111] In some implementations, reference Figure 9 , Figure 10 The main lifting arm 4200 is configured as a “7” shaped support arm. One end of the main lifting arm 4200 is hinged to the conveying base 4100, and the lifting cylinder 4410 is located inside the main lifting arm 4200.

[0112] In this embodiment, the use of a "7"-shaped support arm allows the entire cable laying assembly to effectively reduce its overall size while providing heavy-duty support, thus achieving a lightweight design. Furthermore, the "7"-shaped support arm facilitates the telescopic operation of the telescopic device 4400 and also better supports the main lifting arm 4200.

[0113] In some implementations, reference Figure 9 , Figure 10The conveyor base 4100 is provided with two parallel slot structures 4110.

[0114] In this embodiment, by setting two parallel slot structures 4110, a basis for forklift equipment to insert, pick up, and transfer is provided, making it easier for operators to quickly complete the transfer operation.

[0115] In some implementations, reference Figure 9 , Figure 10 Two slot structures 4110 are located on both sides of the conveying base 4100 and are arranged perpendicularly to the roller mechanism 4300.

[0116] In this embodiment, the two slot structures 4110 are arranged on both sides of the conveying base 4100 and perpendicular to the roller mechanism 4300. This allows the operator to better keep the center of the entire cable laying assembly in a straight line when transferring the cable laying assembly, and thus better realize the contact operation between the roller mechanism 4300 and the rim of the cable reel 4800 in the cable laying assembly.

[0117] In some implementations, reference Figure 9 , Figure 10 A limiting structure 4520 is provided on the conveying base 4100, and a top rod structure 4510 is provided on the main lifting arm 4200. The top rod structure 4510 is arranged in the direction of the limiting structure 4520. The limiting structure 4520 is used to restrict the movement of the top rod structure 4510 after it comes into contact with the limiting structure 4520.

[0118] The aforementioned top rod structure 4510 is positioned toward the limiting structure 4520 on the conveying base 4100, thereby enabling support for the main lifting arm 4200 when the telescopic device 4400 supporting the main lifting arm 4200 malfunctions. In other words, due to the presence of the top rod structure 4510 and the limiting structure 4520, the main lifting arm 4200 can be supported when it suddenly drops, preventing accidents such as the cable reel 4800 tipping over.

[0119] The aforementioned top rod structure 4510 is rotatably connected to the main lifting arm 4200 and is equipped with a state limiting structure. That is, the state limiting structure can limit the top rod structure 4510 to a certain rotation angle, or to whether it is facing the limiting structure 4520 or away from the limiting structure 4520, so as to better balance the lifting operation and the fall prevention operation.

[0120] The aforementioned state restriction structure can be configured with limiting components such as pins. By opening multiple through holes in the main lifting arm 4200 and the top rod structure 4510, pins can be used to restrict the top rod structure 4510 to different angles. Alternatively, a rotation damper can be directly selected. By arranging a damper at the rotation center of the top rod structure 4510, damped rotational support for the top rod structure 4510 can be achieved. A torsion spring structure can also be directly used to restrict the top rod structure 4510. For example, when the torsion spring is normally deployed, the top rod structure 4510 can face the limiting structure 4520, and when twisted, it can move away from the limiting structure 4520.

[0121] The aforementioned limiting structure 4520 can be configured as multiple consecutive limiting grooves to better limit the top rod structure 4510.

[0122] In some implementations, reference Figure 9 , Figure 10 The main lifting arm 4200 is configured as a “7” shaped support arm, and the top rod structure 4510 is located on the inner side of the main lifting arm 4200.

[0123] In this embodiment, when the main lifting arm 4200 is configured as a "7"-shaped support arm, placing the top rod structure 4510 on the inner side of the main lifting arm 4200 can better enable the top rod structure 4510 to perform emergency support operations.

[0124] In some implementations, reference Figure 9 , Figure 10 The main lifting arm 4200 is equipped with a cable reel protective frame.

[0125] In this embodiment, adding a cable reel protective frame can improve safety during the deployment process to a certain extent.

[0126] In some implementations, reference Figure 9 , Figure 10 The cable reel protective frame includes:

[0127] The protective bracket 4610 is installed on the main lifting arm 4200;

[0128] The protective wheel 4620 is mounted on the protective bracket 4610 and located above the main lifting arm 4200.

[0129] The aforementioned protective bracket 4610 is mainly used to support the protective wheel 4620. After the protective bracket 4610 is deployed, the protective wheel 4620 will be located above the roller mechanism 4300 and further away from the rim of the cable reel 4800 than the roller mechanism 4300, so as to achieve the purpose of protection.

[0130] In some implementations, reference Figure 9, Figure 10 The protective bracket 4610 is rotatably mounted on the main lifting arm 4200, and the plane of rotation is parallel to the plane of rotation of the main lifting arm 4200. The main lifting arm 4200 is provided with a rotation adjustment limit part 4210, which is used to limit the protective bracket 4610 to different rotation angles.

[0131] The aforementioned rotation adjustment limit part 4210 can adjust the rotation angle of the protective bracket 4610, thereby allowing the protective bracket 4610 to better adapt to cable reels 4800 of different specifications.

[0132] In some implementations, reference Figure 9 , Figure 10 The rotation adjustment limit part 4210 includes a plurality of first limit through holes provided on the main lifting arm 4200, and the protective bracket 4610 is provided with at least one second limit through hole that matches the first limit through hole.

[0133] The aforementioned plurality of first limiting through holes can be arranged in a fan shape, and the geometric center of the fan shape can coincide with the rotation center of the rotation adjustment limiting part 4210. Then, the second limiting through hole and any one of the first limiting through holes can be fixed by a pin to complete the adjustment of the rotation angle of the rotation adjustment limiting part 4210.

[0134] In some implementations, reference Figure 9 , Figure 10 The cable laying assembly also includes a hoisting component 4220 mounted on the main lifting arm 4200.

[0135] In this embodiment, considering that some transport vehicles are too high to be directly transported using forklift equipment, the cable laying assembly can be hoisted to the ground first using the lifting component 4220, and then transported by forklift equipment.

[0136] In some implementations, reference Figure 9 , Figure 10 The lifting component 4220 is set as a lifting ring.

[0137] In this embodiment, a lifting ring structure is directly used for hoisting. The lifting ring structure is simple and easy to attach to hoisting equipment, and can adapt to hoisting needs in more scenarios.

[0138] In some implementations, reference Figure 1 , Figure 2 traction drive system 2220, including:

[0139] Traction base 2221;

[0140] Servo motor 2222 is mounted on traction base 2221;

[0141] The gearbox 2223 is connected to the servo motor 2222 at its input end.

[0142] The output shaft 2224 is connected to the output end of the gearbox 2223; the traction wheel 2230 is sleeved on the output shaft 2224.

[0143] In this embodiment, a combination of servo motor 2222 and gearbox 2223 is used to drive and control the output shaft 2224, which can provide sufficient driving force and effectively control the speed of the output shaft 2224.

[0144] In some implementations, reference Figure 1 , Figure 2 The traction wheel 2230 is configured as a hinge wheel, which is mounted on the output shaft 2224 and coaxially mounted with the output shaft 2224, and is used to pull the traction rope 1000 conveyed by the cable output device.

[0145] In this embodiment, the traction of the traction rope 1000 can be achieved at low cost by using a hinge wheel.

[0146] In some implementations, reference Figure 1 , Figure 2 The traction base 2221 is also equipped with a hoisting structure 2225.

[0147] In this embodiment, by providing a hoisting structure 2225 on the traction base 2221, the cable traction machine 2000 can be hoisted more easily.

[0148] In some embodiments, the cable take-up and take-down device 3200 includes a mounting base 3210 movably disposed on the take-up base 3100, a cable take-up and take-down wheel 3220 disposed on the mounting base 3210, and a take-up and take-down drive member 3230 for driving the cable take-up and take-down wheel 3220 to rotate.

[0149] The aforementioned mounting base 3210 is mounted on the cable take-up base 3100 and can move back and forth; the cable take-up and un take-up wheel 3220 is used for winding the cable; the take-up and un take-up drive 3230 is used to drive the cable take-up and un take-up wheel 3220 to rotate, thereby achieving the purpose of take-up and un take-up of the cable.

[0150] The cable retrieval base 3100 is provided with a guide rail 3110 extending in the front-to-back direction, and the mounting base 3210 is provided with a slider 3211 slidably connected to the guide rail 3110. In this way, the mounting base 3210 can slide in the front-to-back direction, and under the guidance of the guide rail 3110, the movement path of the mounting base 3210 is more accurate.

[0151] Furthermore, the mounting base 3210 is provided with a take-up drive mounting base 3212, and a take-up drive 3230 is disposed on the take-up drive mounting base 3212. The take-up drive 3230 is a motor, connected to a first transmission wheel 3241, which is connected to a second transmission wheel 3242. The second transmission wheel 3242 is connected to a second connecting part 3243. The wire take-up / delivery wheel 3220 is rotatably disposed on the mounting base 3210, and has a first connecting part 3221 connected to the second connecting part 3243. When the take-up drive 3230 is activated, the first transmission wheel 3241 and the second transmission wheel 3242 can drive the wire take-up / delivery wheel 3220 to rotate forward or reverse.

[0152] Both the first transmission wheel 3241 and the second transmission wheel 3242 are gears.

[0153] In some embodiments, the cable retraction mechanism further includes:

[0154] The cable laying device 3300 is located in front of the cable take-up and unwinding device 3200. The cable laying device 3300 includes a support bracket 3310, a wire guide mechanism 3320 movably mounted on the support bracket 3310, and a drive mechanism 3330 for driving the wire guide mechanism 3320 to move back and forth along a preset path. The preset path is parallel to the rotation axis of the cable take-up and unwinding wheel 3220.

[0155] It should be noted that the cable laying device 3300 can be installed together with the cable winding and unwinding device 3200 on the cable winding base 3100.

[0156] The aforementioned drive mechanism 3330 can drive the wire guide mechanism 3320 to move along a first direction or along a second direction opposite to the first direction. Both the first and second directions are parallel to the rotation axis of the wire take-up / unwinding wheel 3220. Thus, under the driving action of the drive mechanism 3330, the wire guide mechanism 3320 can move back and forth along a preset path. The wire guide mechanism 3320 can guide and limit the wire during the winding or unwinding process, preventing the wire from detaching. Furthermore, during the rotation of the wire take-up / unwinding device 3200, the drive mechanism 3330 can drive the wire guide mechanism 3320 to move along either the first or second direction, so that the wire is more evenly distributed on the wire take-up / unwinding device 3200, avoiding wire accumulation.

[0157] In some embodiments, a resilient buffer 3400 is provided on the cable take-up base 3100, and a pressure sensor 3500 is provided on the mounting base 3210. The resilient buffer 3400 is located in front of the pressure sensor 3500 and on the moving path of the pressure sensor 3500. The pressure sensor 3500 and the take-up / release drive 3230 are both electrically connected to the take-up / release controller 3600.

[0158] Understandably, the elastic buffer 3400 is fixed to the take-up base 3100, and the pressure sensor 3500 is fixed to the front side of the mounting base 3210. When the mounting base 3210 moves forward, the pressure sensor 3500 will press against the elastic buffer 3400. After the pressure sensor 3500 presses against the elastic buffer 3400, the take-up / delivery controller 3600 will receive a signal from the pressure sensor 3500, thereby controlling the take-up / delivery drive 3230 and adjusting the rotation speed of the cable take-up / delivery reel 3220.

[0159] It should be noted that the elastic buffer 3400 has its own elasticity. When the pressure sensor 3500 is pressed against the elastic buffer 3400 and the pressure sensor 3500 loses the external force, the elastic buffer 3400 can spring the pressure sensor 3500 away.

[0160] Specifically, the elastic buffer 3400 includes a spring and a buffer head disposed at the end of the spring. The buffer head is located on the side of the spring closer to the pressure sensor 3500, and the end of the spring away from the buffer head is limited and fixed. When the pressure sensor 3500 is squeezed against the buffer head and the pressure sensor 3500 loses external force, the spring can spring the pressure sensor 3500 away.

[0161] In some embodiments, a pressure sensor 3500 is provided on the take-up base 3100, and an elastic buffer 3400 is provided on the mounting base 3210. The pressure sensor 3500 is located in front of the elastic buffer 3400 and on the moving path of the elastic buffer 3400. Both the pressure sensor 3500 and the take-up / release drive 3230 are electrically connected to the take-up / release controller 3600.

[0162] In some implementations, reference Figure 7 , Figure 8The wire guide mechanism 3320 includes a mounting frame 3321 movably mounted on a support bracket 3310, a first guide assembly 3322 mounted on the mounting frame 3321, and a second guide assembly 3323 mounted on the mounting frame 3321. The first guide assembly 3322 includes two first guide members 33221 spaced apart in a horizontal direction, and the second guide assembly 3323 includes two second guide members 33231 spaced apart in a vertical direction. The first space between the two first guide members 33221 and the second space between the two second guide members 33231 are opposite to each other. The spacing direction of the two first guide members 33221 is parallel to the rotation axis of the wire take-up and take-down wheel 3220.

[0163] Specifically, two first guide members 33221 are spaced apart horizontally, forming a first space between them; two second guide members 33231 are spaced apart vertically, forming a second space between them; and the first and second spaces are positioned opposite each other. In this way, the wire can pass through both the first and second spaces simultaneously. Furthermore, during the winding or unwinding of the wire, each of the first and second guide members 33221 and 33231 can guide and limit the wire, preventing it from detaching from the conductor mechanism 3320.

[0164] It should be noted that the cable laying device 3300 is located in front of the cable take-up and unwinding device 3200. The second guide component 3323 can be set on the side of the first guide component 3322 away from the cable take-up and unwinding device 3200, or it can be set on the side of the first guide component 3322 away from the cable take-up and unwinding device 3200. It is only necessary to ensure that the first space between the two first guide components 33221 is opposite to the second space between the two second guide components 33231.

[0165] In some embodiments, both first guide members 33221 are rotatably mounted on the support bracket 3310, and the rotation axes of the two first guide members 33221 are perpendicular to the horizontal plane.

[0166] Understandably, when the wire is threaded through the first space between the two first guide members 33221, as the wire guide mechanism 3320 moves along the preset path, the wire will come into contact with one of the first guide members 33221, so that both first guide members 33221 are rotatably mounted on the support bracket 3310. This can keep the friction between the wire and the first guide member 33221 as rolling friction, which can reduce the risk of wear and tear on the wire and the first guide member 33221.

[0167] The first guide component 33221 is a bearing, roller, or shaft.

[0168] In this specific embodiment, the first guide member 33221 is a bearing, which can be rotatably connected to the mounting bracket 3321 by a pin.

[0169] Furthermore, in the two second guide members 33231: the lower second guide member 33231 is rotatably mounted on the support bracket 3310, and its rotation axis is parallel to the rotation axis of the wire take-up and untake-down reel 3220.

[0170] Understandably, when the wire is threaded through the second space between the two second guide members 33231, under the action of gravity, the wire is in contact with the lower second guide member 33231 most of the time, causing the lower second guide member 33231 to rotate and be mounted on the support bracket 3310. This can keep the friction between the wire and the lower second guide member 33231 as rolling friction, which can reduce the risk of wear and tear on the wire and the lower second guide member 33231.

[0171] Among the two second guide members 33231: the lower second guide member 33231 is a bearing, a roller or a shaft.

[0172] Specifically, in this embodiment, among the two second guide members 33231: the lower second guide member 33231 is a bearing, which can be rotatably connected to the mounting bracket 3321 via a pin. And among the two second guide members 33231: the upper second guide member 33231 can be a pin, or it can be a bearing, a roller, or a shaft.

[0173] Combination Figure 7 and Figure 8 In some embodiments, the drive mechanism 3330 includes a drive component and a guide shaft 3331. The length direction of the guide shaft 3331 is parallel to a preset path. The wire guide mechanism 3320 is movably disposed on the guide shaft 3331. The drive component is drivenly connected to the wire guide mechanism 3320.

[0174] It is understandable that the drive component is used to drive the wire guide mechanism 3320 to move along the guide shaft 3331, thereby causing the wire guide mechanism 3320 to move along a preset path. The guide shaft 3331 can guide the wire guide mechanism 3320 and improve the accuracy of the moving path of the wire guide mechanism 3320.

[0175] Specifically, the mounting bracket 3321 is provided with a guide hole, and the guide shaft 3331 passes through the guide hole, so that the mounting bracket 3321 and the guide shaft 3331 are guided and engaged.

[0176] The driving assembly includes a driving component 33321 and a lead screw 33322 driven by the driving component 33321. The driving component 33321 drives the lead screw 33322 to rotate. The lead screw 33322 and the guide shaft 3331 are arranged side by side and spaced apart. A nut 3324 is fixedly connected to the wire guide mechanism 3320 and is sleeved on the lead screw 33322. When the driving component 33321 drives the lead screw 33322 to rotate, it can drive the nut 3324 to move along the lead screw 33322, thereby realizing the movement of the wire guide mechanism 3320 along a preset path.

[0177] Among them, the driving component 33321 is a motor, which can rotate forward and reverse, thereby causing the lead screw 33322 to rotate forward and reverse, thereby causing the wire guide mechanism 3320 to move along the first direction or the second direction.

[0178] Combination Figure 7 and Figure 8 In some embodiments, a limit switch 3340 is provided on the support bracket 3310. The limit switch 3340 is disposed opposite to the wire guide mechanism 3320. The limit switch 3340 is located on the moving path of the wire guide mechanism 3320. The limit switch 3340 and the drive mechanism 3330 are both electrically connected to the cable take-up and release controller 3600.

[0179] Understandably, the limit switch 3340 is used to limit one of the extreme positions of the conductor mechanism 3320, such as the right extreme position in this embodiment. When the conductor mechanism 3320 moves to the right extreme position and comes into contact with the limit switch 3340, the take-up and release controller 3600 can control the drive mechanism 3330 to reverse, thereby causing the conductor mechanism 3320 to move in the opposite direction. When the conductor mechanism 3320 moves to the left extreme position, the take-up and release controller 3600 can control the drive mechanism 3330 to reverse further, thereby causing the conductor mechanism 3320 to move in the opposite direction further.

[0180] It should be noted that, under the action of the limit switch 3340, the right limit position of the conductor mechanism 3320 can be located, that is, the right limit position of the conductor mechanism 3320 can be determined as the initial position, while the left limit position of the conductor mechanism 3320 can be confirmed by the travel parameters set by the cable reel controller 3600. Thus, under the combined action of the limit switch 3340 and the cable reel controller 3600, the left and right limit positions of the conductor mechanism 3320 can be confirmed.

[0181] See Figure 14 As shown, Figure 14 This is a flowchart of a cable traction and laying method provided in one embodiment of this application. The cable traction and laying method is used to control the above-mentioned cable traction system, including steps S100 to S300.

[0182] S100, acquire the extrusion pressure collected by the pressure detection component;

[0183] S200, according to the preset pressure parameters and extrusion pressure, adjusts the winding speed of the cable winding mechanism on the traction rope 1000 so that the extrusion pressure is maintained at the preset pressure parameters; wherein, the change in extrusion pressure is negatively correlated with the change in winding speed;

[0184] S300, in response to the traction change command, controls the cable winding mechanism to reduce the winding speed of the traction rope 1000 until the traction force detected by the traction force detection unit is reduced to the preset stable force value, which is lower than or equal to the preset traction high threshold.

[0185] The traction mutation command is generated by the traction controller 2210 when the traction force detected by the traction force detection unit increases beyond the preset mutation allowable value within a preset mutation time.

[0186] The cable traction and laying method in this application embodiment can be applied to the cable winding and unwinding controller of the cable winding and unwinding mechanism.

[0187] The cable traction laying method in this application embodiment is based on the cable traction system described above. The cable traction system has been described in detail above and will not be repeated here.

[0188] The aforementioned preset pressure parameters can be understood as a range of compressive force constraints. Within this range, the tension of the traction rope 1000 between the cable winding and unwinding mechanism and the cable traction machine 2000 will not be too large or too small, thereby reducing the impact of tension on the winding traction rope 1000.

[0189] The changes in the aforementioned extrusion pressure are negatively correlated with the changes in the winding speed. This can be understood as follows: when the pressure is below the extrusion pressure constraint range, the tension of the traction rope 1000 between the cable winding / unwinding mechanism and the cable traction machine 2000 is too small, requiring a timely increase in the winding speed to increase the tension. The greater the pressure is below the extrusion pressure constraint range, the greater the increase in the winding speed is required. Conversely, when the pressure is above the extrusion pressure constraint range, the tension of the traction rope 1000 between the cable winding / unwinding mechanism and the cable traction machine 2000 is too large, requiring a timely decrease in the winding speed to reduce the tension. The greater the pressure is above the extrusion pressure constraint range, the greater the decrease in the winding speed is required.

[0190] The aforementioned traction change command is generated by the traction controller 2210. If the traction force detected by the traction force detection unit in the traction controller 2210 increases beyond the preset change allowable value within the preset change time, it indicates that a change in traction force has occurred. At this time, it is necessary to reduce the traction force, which will generate a traction change command and transmit it to the cable take-up and release mechanism. After receiving the command, the cable take-up and release mechanism can reduce the take-up speed in time to reduce the traction force until it is reduced to the preset stable force value.

[0191] In some embodiments, the cable pulling and laying method further includes:

[0192] Acquire the traction force detected by the traction force detection unit;

[0193] When the traction force is lower than the preset low traction threshold, the traction drive system 2220 is controlled to increase the traction speed of the traction wheel 2230 until the traction force detected by the traction force detection unit rises to the preset stable force value, which is higher than or equal to the preset low traction threshold.

[0194] In this embodiment, it is further considered that if the speed of the cable conveying device is higher than that of the cable traction machine 2000 for an extended period, the traction force will fall below the preset low traction threshold. To prevent the traction force from remaining below the preset low traction threshold for an extended period, the speed of the cable traction machine 2000 can be increased, thereby improving the traction force. The method of increasing traction force in this embodiment does not require coordination with the cable conveying equipment, effectively reducing communication costs even in complex environments such as underground mines.

[0195] The speed increase of the aforementioned control cable traction machine 2000 can be understood as adjusting the preset set speed. That is, after the speed increase is completed under the above environment, the speed will not decrease directly after the traction force returns to the preset stable force value.

[0196] In some implementations, the preset pressure parameters include the allowable range of extrusion pressure;

[0197] Based on preset pressure parameters and compressive force, adjust the winding speed of the cable winding mechanism on the traction rope 1000, including:

[0198] If the extrusion pressure exceeds the upper limit of the allowable extrusion pressure range, control the cable winding mechanism to reduce the winding speed of the traction rope 1000 until the extrusion pressure is lower than the upper limit of the allowable extrusion pressure range.

[0199] If the compressive pressure is lower than the lower limit of the allowable compressive pressure range, the cable winding mechanism is controlled to increase the winding speed of the traction rope 1000 until the compressive pressure is higher than the lower limit of the allowable compressive pressure range.

[0200] In this embodiment, the preset pressure parameter is defined as the allowable range of extrusion pressure. This allows for timely deceleration when the pressure exceeds the upper limit of the allowable range and timely acceleration when the pressure falls below the lower limit of the allowable range. This ensures that the extrusion pressure is controlled within a suitable range, guaranteeing that the tension of the traction rope 1000 between the cable winding mechanism and the cable traction machine 2000 is within a suitable range.

[0201] When reducing or increasing the winding speed, a preset winding speed can be added. The preset winding speed is located in the middle range of the allowable extrusion pressure, which can reduce the frequency of adjusting the winding speed.

[0202] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A cable traction system, characterized in that, include: At least one cable conveying device for actively conveying a cable, wherein the cable end is provided with a traction rope; A cable pulling machine includes a traction controller, a traction drive system, and a traction wheel. The traction controller controls the traction drive system to drive the traction wheel to pull the traction rope, wherein the traction rope is wound around the traction wheel at least once. The traction controller has a built-in traction force detection unit for detecting the traction force of the cable pulling machine pulling the traction rope. A cable winding and unwinding mechanism includes a cable winding base, a cable winding and unwinding device slidably disposed on the cable winding base, a cable winding and unwinding controller, and a pressure detection component disposed on the cable winding base; the cable winding and unwinding device, when sliding, applies pressure to the pressure detection component; the cable winding and unwinding device is used to wind up the traction rope transmitted by the traction wheel; the cable winding and unwinding controller is used to adjust the winding speed of the cable winding and unwinding device on the traction rope according to the pressure detection component and the traction force detected by the traction force detection unit. Wherein, the change of the extrusion pressure is negatively correlated with the change of the winding speed, so that the extrusion pressure is maintained at a preset pressure parameter; if the traction force increases beyond a preset allowable value within a preset abrupt change time, the winding speed is reduced until the traction force is reduced to a preset stable force value, the preset stable force value being lower than or equal to a preset high traction threshold. The cable conveying device includes: Four cable laying assemblies are provided, each comprising a conveying base, a main lifting arm, a roller mechanism, and a telescopic device. The main lifting arm is rotatably mounted on the conveying base, and its plane of rotation is perpendicular to the plane of the conveying base. The roller mechanism is mounted on the main lifting arm, and its plane of rotation is parallel to the plane of rotation of the main lifting arm. The telescopic device is mounted on the conveying base and is used to adjust the rotation angle of the main lifting arm to adjust the height of the roller mechanism. At least one cable laying assembly further comprises a driving device mounted on the main lifting arm for driving the roller mechanism to rotate. The pose detection unit is mounted on the cable reel and is used to detect the pose information of the cable reel. The delivery controller is electrically connected to the drive unit, the pose detection unit, and the four telescopic devices.

2. The cable traction system according to claim 1, characterized in that, The delivery base is provided with two parallel slot structures.

3. The cable traction system according to claim 1, characterized in that, The traction drive system includes: Traction base; A servo motor is mounted on the traction base; The gearbox has its input end connected to the servo motor drive. The output shaft is connected to the output end of the gearbox; the traction wheel is sleeved on the output shaft.

4. The cable traction system according to claim 3, characterized in that, The traction base is also equipped with a hoisting structure.

5. The cable traction system according to claim 1, characterized in that, The cable take-up and take-down device includes a mounting base movably disposed on the take-up base, a cable take-up and take-down wheel disposed on the mounting base, and a take-up and take-down drive component for driving the cable take-up and take-down wheel to rotate.

6. The cable traction system according to claim 5, characterized in that, The cable take-up and take-down mechanism further includes: A cable routing device is disposed in front of the cable take-up and undoing device. The cable routing device includes a support bracket, a wire guide mechanism movably disposed on the support bracket, and a drive mechanism for driving the wire guide mechanism to move back and forth along a preset path. The preset path is parallel to the rotation axis of the cable take-up and undoing wheel.

7. A method for cable traction and laying, characterized in that, The cable pulling and laying method, applied to the cable pulling system as described in any one of claims 1 to 6, comprises: Acquire the extrusion pressure collected by the pressure detection component; Based on the preset pressure parameters and the extrusion force, the winding speed of the cable winding mechanism on the traction rope is adjusted so that the extrusion force is maintained at the preset pressure parameters; wherein, the change in the extrusion force is negatively correlated with the change in the winding speed. In response to a sudden traction command, the cable winding mechanism is controlled to reduce the winding speed of the traction rope until the traction force detected by the traction force detection unit is reduced to a preset stable force value, which is lower than or equal to a preset high traction threshold. The traction mutation command is generated by the traction controller when the traction force detected by the traction force detection unit increases beyond a preset mutation allowable value within a preset mutation time.

8. The cable traction and laying method according to claim 7, characterized in that, The cable pulling and laying method further includes: Obtain the traction force detected by the traction force detection unit; When the traction force is lower than the preset low traction threshold, the traction drive system is controlled to increase the traction speed of the traction wheel until the traction force detected by the traction force detection unit rises to the preset stable force value, which is higher than or equal to the preset low traction threshold.

9. The cable traction and laying method according to claim 7, characterized in that, The preset pressure parameters include the allowable range of extrusion pressure; The step of adjusting the winding speed of the cable winding mechanism on the traction rope according to the preset pressure parameters and the extrusion force includes: If the compressive force is higher than the upper limit of the allowable compressive force range, the cable winding mechanism is controlled to reduce the winding speed of the traction rope until the compressive force is lower than the upper limit of the allowable compressive force range. If the compressive force is lower than the lower limit of the allowable compressive force range, the cable winding mechanism is controlled to increase the winding speed of the traction rope until the compressive force is higher than the lower limit of the allowable compressive force range.

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