A lightweight cabling system and cabling method

Abstract

This application discloses a lightweight cabling system and method, which allows for easy transport of cable laying components, cable traction equipment for cable channels, and auxiliary cabling equipment using small transport vehicles. This enables handling in confined areas or effectively reduces the difficulty of handling. Simultaneously, the four cable laying components employ a collaborative cable laying mode, allowing for individual placement of each component during the deployment phase and coordinated cable laying during operation. This effectively reduces site requirements while meeting cable laying needs. Furthermore, the cable traction equipment for cable channels features a lightweight and foldable design, enabling it to enter narrow cable channels through confined manholes to complete cable pulling operations. This application effectively reduces the need for manual labor, significantly improves laying efficiency, and reduces the possibility of accidents caused by manual operation.

Description

Technical Field

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

[0002] Traditionally, cable laying in cable tunnels involved hoisting cable reels to the ground and then manually pulling them through the tunnel. This process was labor-intensive and required the assistance of hoisting vehicles. Currently, large cable laying vehicles can be used to deploy cable reels directly, and large cable pulling equipment can be used within the cable tunnel. However, these cable laying vehicles and cable pulling equipment are large, have high requirements for site terrain, and are simply unsuitable for laying cables in narrow cable tunnels, still requiring significant manual labor. Summary of the Invention

[0003] This application aims to provide a lightweight cabling system and cabling method that can reduce the requirements for terrain, space, and auxiliary equipment during cable laying.

[0004] A lightweight cabling system according to a first aspect embodiment of this application includes:

[0005] The four cable laying assemblies each include a base, a main lifting arm, a roller mechanism, and a telescopic device; the main lifting arm is rotatably mounted on the base; the roller mechanism is mounted on the main lifting arm, and the rotation plane of the roller mechanism is perpendicular to the plane of the base; the telescopic device is mounted on the base and is used to adjust the rotation angle of the main lifting arm to adjust the height of the roller mechanism.

[0006] A cable pulling device for cable channels includes a main frame, a fixing component, a drive mechanism, a front-end support component, a spacing adjustment bracket, and a traction control system. Two first traveling mechanisms are arranged on both sides of the bottom of the main frame. The fixing component is mounted on the main frame. The drive mechanism is mounted on the main frame and drives the two first traveling mechanisms. Two second traveling mechanisms are arranged on both sides of the bottom of the front-end support component, with space between the two second traveling mechanisms and between the two first traveling mechanisms for cables to pass through. The top of the front-end support component is rotatably connected to the top of the main frame. The spacing adjustment bracket is used to adjust the angle between the front-end support component and the main frame. The traction control system is electrically connected to the drive mechanism.

[0007] Multiple auxiliary cabling devices are used to provide rolling support for the cables.

[0008] The wiring method according to a second aspect embodiment of this application is applied to the lightweight wiring system of the first aspect embodiment, the wiring method comprising:

[0009] The four cable laying assemblies are transferred to both sides of the cable reel. The roller mechanisms in the two cable laying assemblies on the same side abut against different sides of the same rim of the cable reel. The cable reel is pre-transferred to the plane to be laid.

[0010] Control the telescopic devices in the four cable laying assemblies to lift so that the cable reel reaches the preset cable laying height;

[0011] Within the cable channel to be wired, multiple auxiliary wiring devices are arranged based on a pre-planned wiring path, and the multiple auxiliary wiring devices are used at least to provide rolling support for the cable.

[0012] Adjust the spacing adjustment bracket to reduce the angle between the front support component and the main frame, so that the cable channel cable pulling device is in a folded state;

[0013] With the cable pulling device for the cable channel in a folded state, the cable pulling device for the cable channel is transported to the cable channel to be wired through the downhole channel;

[0014] Within the cable channel to be wired, the spacing adjustment bracket is adjusted to increase the angle between the front-end support component and the main frame, so that the cable channel cable pulling device is in working condition;

[0015] Adjust the orientation of the cable pulling device for the cable channel so that it is positioned on the wiring path;

[0016] Connect the cable to the fixing assembly;

[0017] Control the drive mechanism to move so that the two first walking mechanisms move along the wiring path.

[0018] The lightweight cabling system and method of this application embodiment can easily transport cable laying components, cable traction equipment for cable channels, and auxiliary cabling equipment using small transport vehicles. Compared with traditional large integrated equipment, it can be transported in more confined areas or effectively reduce the difficulty of transportation. Simultaneously, the four cable laying components adopt a collaborative cable laying mode, allowing for individual placement of each component during the deployment phase and collaborative cable laying during operation. This effectively reduces site requirements while meeting cable laying needs. Furthermore, the cable traction equipment for cable channels features a lightweight and foldable design, enabling it to enter narrow cable channels through narrow manholes to complete cable traction work. In this application embodiment, through modular and lightweight design, as well as a foldable design adapted to confined spaces, the entire lightweight cabling system can be easily transported in complex environments and easily completed in confined spaces, effectively reducing the need for manual labor, greatly improving laying efficiency, and reducing the possibility of accidents due to manual operation.

[0019] 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

[0020] 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:

[0021] Figure 1 An isometric view of the cable laying assembly provided in the embodiments of this application;

[0022] Figure 2 A front view of the cable laying assembly provided in an embodiment of this application;

[0023] Figure 3 A side view of the cable laying assembly provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram illustrating the use of the cable laying assembly provided in the embodiments of this application;

[0025] Figure 5 An isometric view of a cable pulling device for a cable channel provided in an embodiment of this application;

[0026] Figure 6 Another perspective is shown in the isometric view of the cable traction device for cable channels provided in the embodiments of this application.

[0027] Figure 7 A side view of a cable pulling device for a cable channel provided in an embodiment of this application;

[0028] Figure 8 Rear view of a cable pulling device for a cable channel provided in an embodiment of this application;

[0029] Figure 9 This is a schematic diagram of the narrow space construction of the cable pulling equipment for cable channels provided in the embodiments of this application;

[0030] Figure 10 Electrical system diagram of a lightweight cabling system provided in the embodiments of this application;

[0031] Figure 11 A flowchart illustrating the wiring method provided in an embodiment of this application.

[0032] Figure label:

[0033] Base 1100; Slot structure 1110; Connecting rod 1120;

[0034] Main lifting boom 1200; Rotation adjustment limit part 1210; Lifting component 1220;

[0035] Roller mechanism 1300;

[0036] Telescopic device 1400; Lifting cylinder 1410; Hydraulic drive system 1420;

[0037] Top rod structure 1510; limiting structure 1520;

[0038] Cable reel protective frame 1600; protective bracket 1610; protective wheels 1620;

[0039] Drive unit 1700;

[0040] Cable reel 1800; Cable 1810;

[0041] Cable deployment control system 1900; posture detection unit 1910;

[0042] Main frame 2100; First walking mechanism 2110; First frame section 2120; Second frame section 2130; First leg structure 2140;

[0043] Fixed component 2200;

[0044] Drive mechanism 2300;

[0045] Front support component 2400; second walking mechanism 2410; rotating support structure 2420; second leg structure 2430;

[0046] Spacing adjustment bracket 2500;

[0047] Handle 2600;

[0048] Display and control unit 2700;

[0049] Traction control system 2800; Traction force detection unit 2810;

[0050] 3000 auxiliary cabling devices. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] See Figures 1 to 10 As shown, one embodiment of this application provides a lightweight cabling system, which includes:

[0057] The four cable laying assemblies each include a base 1100, a main lifting arm 1200, a roller mechanism 1300, and a telescopic device 1400. The main lifting arm 1200 is rotatably mounted on the base 1100. The roller mechanism 1300 is mounted on the main lifting arm 1200, and the plane of rotation of the roller mechanism 1300 is perpendicular to the plane of the base 1100. The telescopic device 1400 is mounted on the base 1100 and is used to adjust the rotation angle of the main lifting arm 1200 to adjust the height of the roller mechanism 1300.

[0058] A cable pulling device for cable channels includes a main frame 2100, a fixing component 2200, a drive mechanism 2300, a front-end support component 2400, a spacing adjustment bracket 2500, and a traction control system 2800. Two first traveling mechanisms 2110 are arranged on both sides of the bottom of the main frame 2100. The fixing component 2200 is mounted on the main frame 2100. The drive mechanism 2300 is mounted on the main frame 2100 and is used to drive the two first traveling mechanisms 2110. Two second traveling mechanisms 2410 are arranged on both sides of the bottom of the front-end support component 2400, with space between the two second traveling mechanisms 2410 and between the two first traveling mechanisms 2110 for a cable 1810 to pass through. The top of the front-end support component 2400 is rotatably connected to the top of the main frame 2100. The spacing adjustment bracket 2500 is used to adjust the angle between the front-end support component 2400 and the main frame 2100. The traction control system 2800 is electrically connected to the drive mechanism 2300.

[0059] Multiple auxiliary cabling devices 3000 are used to provide rolling support for cable 1810.

[0060] In this embodiment, a small transport vehicle can be used to easily transport the cable laying components, cable traction equipment for cable channels, and auxiliary cabling equipment 3000. Compared to traditional large-scale integrated equipment, this allows for transport in more confined areas or effectively reduces the difficulty of transport. Simultaneously, the four cable laying components employ a collaborative cable laying mode, enabling individual deployment of each component during the layout phase and collaborative cable laying during operation. This effectively reduces site requirements while meeting cable laying needs. Furthermore, the cable traction equipment for cable channels features a lightweight and foldable design, allowing it to enter narrow cable channels through narrow manholes to complete cable traction. In this embodiment, the modular, lightweight design, along with the foldable design for confined spaces, allows the entire lightweight cabling system to be easily transported in complex environments and to easily complete cable traction and laying in confined spaces. This effectively reduces the need for manual labor, greatly improves laying efficiency, and reduces the possibility of accidents caused by manual operation.

[0061] The aforementioned base 1100 can be placed horizontally on the ground. The base 1100 can be equipped with components for transport by forklifts or other transport equipment, facilitating 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 versatility.

[0062] The aforementioned main lifting arm 1200 rotates in directions approaching and away from the base 1100, allowing the roller mechanism 1300 to be height-adjusted to provide lifting and rotational support for the cable reel 1800. The plane of rotation of the main lifting arm 1200 is perpendicular to the plane of the base 1100.

[0063] The roller mechanism 1300 described above may include rollers and bearings supporting the rollers, with the bearings mounted on the main lifting arm 1200. It is understood that the rollers need to maintain sufficient width so that the rim of the cable reel 1800 can be placed on the rollers.

[0064] The aforementioned telescopic device 1400 is positioned between the base 1100 and the main lifting arm 1200, enabling it to extend and retract, allowing the main lifting arm 1200 to rotate and thus adjust the height of the rollers. The telescopic device 1400 can be implemented in various ways; for example, it can be an electric telescopic device 1400 or a hydraulic telescopic device 1400, etc. Many devices are available to achieve telescopic movement, allowing for flexible selection based on actual needs.

[0065] 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 1800, thereby completing the lifting and rotation support of the cable reel 1800.

[0066] For details, please refer to Figure 4 When the cable laying assembly is needed, it can be transferred to the flange of the cable reel 1800 and abut against the flange. The roller mechanism 1300 is perpendicular to the flange. The four cable laying assemblies abut against the flanges on both sides of the cable reel 1800, and the two cable laying assemblies on the same side are arranged opposite each other. Then, the four telescopic devices 1400 are controlled to lift synchronously, which can lift the cable reel 1800. Then, the cable reel 1800 can be driven to rotate or the cable 1810 in the cable reel 1800 can be pulled by the traction device to realize the cable laying and winding operation of the cable 1810.

[0067] Understandably, when it is necessary to use four cable laying assemblies to lift the cable reel 1800 in a coordinated manner, the lifting operation of the cable reel 1800 can be completed by manual adjustment one by one or by multiple people working together. Alternatively, the four cable laying assemblies can be connected to an external control system, and electronic lifting control can be achieved by setting up sensors to detect the tilt and height of the cable reel 1800. For example, a height sensor can be used to detect whether the cable reel 1800 has reached a certain height to determine whether it can be rotated, and a tilt sensor can be used to detect the degree of tilt so that the four cable laying assemblies can be lifted synchronously to prevent the cable reel 1800 from tilting.

[0068] The main frame 2100 can be configured in the shape of a "7". A traction control system 2800 can be installed at the top of the "7" shaped structure for construction personnel to operate. A drive mechanism 2300 can be installed in the middle of the "7" shaped structure for transmission connection with the first walking mechanism 2110.

[0069] The aforementioned fixing component 2200 can be set on the side of the main frame 2100 away from the front support component 2400, or it can be set in other positions that facilitate the connection of the cable 1810.

[0070] The aforementioned drive mechanism 2300 can be hydraulically driven, electrically driven, or other drive structures that can drive the first walking mechanism 2110.

[0071] A second traveling mechanism 2410 is provided at the bottom of the aforementioned front-end support component 2400. The second traveling mechanism 2410 can be configured as a guide wheel structure, for example, a common omnidirectional wheel structure. The aforementioned first traveling mechanism 2110 needs to achieve active walking, and therefore can use a wheel that is larger in size and easy to connect to the transmission mechanism. In some embodiments, to facilitate steering, an electrically controlled rotation component can be provided at the connection between the first traveling mechanism 2110 and the drive mechanism 2300 to adjust the rotation angle of the wheel.

[0072] Sufficient height and width must be maintained between the two first traveling mechanisms 2110 to allow the auxiliary cabling equipment 3000 to pass through, and to allow the cable 1810 to pass through in height when it is large. It is understood that the two second traveling mechanisms 2410 also need to maintain space for the auxiliary cabling equipment 3000 to pass through.

[0073] The aforementioned auxiliary wiring equipment 3000 may include equipment such as trolleys, electric trolleys, and sliding support frames.

[0074] The tops of the aforementioned front-end support component 2400 and main frame 2100 can rotate, thus providing a basis for the cable traction equipment for the entire cable channel to be folded and unfolded normally. The spacing adjustment bracket 2500 can adjust the relative rotation angle of the front-end support component 2400 and the main frame 2100, so that the cable traction equipment for the cable channel can maintain sufficient stability in its shape after being unfolded normally, so as to complete the subsequent traction of cable 1810.

[0075] There are many ways to implement the aforementioned spacing adjustment bracket 2500. For example, it can be a telescopic rod structure with damping, a pin-type linkage fixing structure, or a foldable bracket architecture. The specific implementation is diverse and can be selected according to actual needs.

[0076] The aforementioned traction control system 2800 mainly realizes the walking control of the cable traction equipment for cable channels. For example, it can be wirelessly connected to a remote control device, and then the operator can complete the walking control of the cable traction equipment for cable channels through the remote control device. Alternatively, an image acquisition device can be set on the cable traction equipment for cable channels to obtain the position of the auxiliary wiring equipment 3000 on the wiring path and realize automatic walking control.

[0077] The core controller of the aforementioned traction control system 2800 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.

[0078] In some embodiments, at least one cable laying assembly further includes a drive unit 1700, which is disposed on the main lifting arm 1200 and is used to drive the roller mechanism 1300 to rotate.

[0079] The aforementioned drive device 1700 allows the cable laying assembly to transform from a passive rotation support to an actively driven rotation structure, enabling the cable reel 1800 to rotate without the need for an external drive device. When four cable laying assemblies are operating collaboratively, the drive device 1700 can be configured on two cable laying assemblies located on the same side.

[0080] The aforementioned drive device 1700 can take various forms. For example, it can use a hydraulic drive system 1420 or an electric drive system. The specific drive method can be flexibly selected, as long as it can drive the cable reel 1800. When the aforementioned drive device 1700 uses a drive motor, the control method is simpler and more accurate control precision can be provided.

[0081] The aforementioned drive unit 1700 can be communicatively connected to the traction control system 2800, thereby allowing the deployment speed of the drive unit 1700 to be adapted to the travel speed of the cable traction equipment for the cable channel.

[0082] In some implementations, reference Figure 4 , Figure 10 The lightweight cabling system also includes:

[0083] The cable spreading control system 1900 is electrically connected to the drive unit 1700; the cable spreading control system 1900 is communicatively connected to the traction control system 2800.

[0084] The core controller of the aforementioned cable control system 1900 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.

[0085] The aforementioned cable-laying control system 1900 can communicate with the traction control system 2800, and then, after obtaining the current walking speed transmitted by the traction control system 2800, it can adaptively adjust the rotation speed of the drive device 1700 driving the roller mechanism 1300.

[0086] In some implementations, reference Figure 4 , Figure 10 The lightweight cabling system also includes:

[0087] The pose detection unit 1910 is mounted on the cable reel 1800 and is used to detect the pose information of the cable reel 1800. The cable extension control system 1900 is electrically connected to the pose detection unit 1910 and the four telescopic devices 1400.

[0088] In this embodiment, during the lifting process of the cable reel 1800, the attitude information detected by the attitude detection unit is used as a feedback parameter for feedback adjustment, so that the height of the flange of the cable laying assembly on the lifted side can always be balanced with the other side, avoiding large tilting. After the cable reel 1800 is lifted to the preset cable laying height and is in a relatively horizontal state, driving the cable reel 1800 to rotate can realize the cable laying and winding operation of the cable 1810.

[0089] The aforementioned pose detection unit 1910 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 1800 has tilted in the horizontal direction due to excessive or insufficient lifting distance of a certain cable laying component.

[0090] In some implementations, the pose detection unit 1910 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 cable spreading control system 1900.

[0091] The aforementioned pose detection unit 1910 can be installed on a support surface selected at the central axis position of the cable reel 1800.

[0092] In some implementations, reference Figure 10 Cable pulling equipment for cable channels also includes:

[0093] The traction force detection unit 2810 is electrically connected to the traction control system 2800 and is used to detect the traction force information of the cable traction equipment for cable channel pulling the cable 1810.

[0094] In this embodiment, a traction force detection unit 2810 is added to detect the traction force of the cable traction device for the cable channel on the cable 1810. By acquiring the traction force information of the cable traction device for the cable channel pulling the cable 1810, it is possible to determine whether the cable traction device for the cable channel is pulling too fast or too slow, or whether the cable laying speed of the drive device 1700 is too fast or too slow. Thus, when the traction force increases, the cable laying speed of the drive device 1700 can be increased, and when the traction force decreases, the cable laying speed of the drive device 1700 can be decreased.

[0095] In some implementations, reference Figure 4 The aforementioned lightweight cabling system also includes:

[0096] Four sets of connecting rods 1120 are used to connect the bases 1100 of two adjacent cable laying assemblies when the roller mechanism 1300 of the four cable laying assemblies abuts against the rim of the cable reel 1800.

[0097] In this embodiment, to prevent movement when the four cable laying assemblies work together, a connecting rod 1120 can be provided between the four cable laying assemblies. The connecting rod 1120 can be provided after all four cable laying assemblies have abutted against their respective rims.

[0098] In some implementations, reference Figure 4 Each set of connecting rods 1120 is configured as an adjustable length connecting rod.

[0099] In this embodiment, all connecting rods 1120 are configured as adjustable length connecting rods, eliminating the need to set different connecting rods 1120 for different specifications of cable reels 1800. This can improve the reusability of connecting rods 1120, reduce costs, and make them easier to carry.

[0100] In some embodiments, 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, and the length of the first link and the second link is adjusted through the multiple length adjustment through holes.

[0101] 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 1120.

[0102] The base 1100 is provided with a combined connecting part that cooperates with the connecting rod 1120. The combined connecting part is used to connect two adjacent cable laying assemblies through the connecting rod 1120.

[0103] The above-mentioned combined connection part can be configured with multiple connection holes, and the two ends of the connecting rod 1120 are provided with corresponding through holes so that the connection between the base 1100 and the connecting rod 1120 can be completed by using bolt fasteners.

[0104] In some embodiments, the telescopic device 1400 includes:

[0105] The lifting cylinder 1410 has one end rotatably mounted on the base 1100 and the other end rotatably connected to the main lifting arm 1200. The rotation plane of the lifting cylinder 1410 is parallel to the rotation plane of the main lifting arm 1200.

[0106] A hydraulic drive system 1420, electrically connected to the cable control system 1900, is mounted on the base 1100 and is used to drive the lifting cylinder 1410 to extend and retract.

[0107] The aforementioned lifting cylinder 1410 needs to be rotatably connected to the base 1100 and the main lifting arm 1200 in order to cooperate with the rotation operation of the main lifting arm 1200.

[0108] Specifically, one side of the cylinder body of the lifting cylinder 1410 can be rotatably connected to the base 1100, and the piston rod can be rotatably connected to the main lifting arm 1200, so that the rotation operation of the main lifting arm 1200 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 1410 could also achieve the rotation operation of the main lifting arm 1200, but this arrangement would raise the center of gravity.

[0109] The aforementioned hydraulic drive system 1420 primarily provides a hydraulic power source to drive the lifting cylinder 1410 to complete its extension and retraction. Specifically, the hydraulic drive system 1420 may include an electric hydraulic pump, electrically controlled valves, etc. The electric hydraulic pump can be started and stopped under the control of the cable-laying control system 1900, and the electrically controlled valves can be used to inject oil into the rod chamber and rodless chamber of the lifting cylinder 1410 under the operation of the cable-laying control system 1900 to achieve the extension and retraction of the piston rod.

[0110] In some embodiments, the telescopic device 1400 further includes:

[0111] The pressure detection unit, connected to the cable control system 1900, is used to detect the pressure of the lifting cylinder 1410.

[0112] In this embodiment, the pressure detection unit is provided so that the cable laying control system 1900 can better control the lifting and lowering of the cable reel 1800 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.

[0113] In some implementations, reference Figures 1 to 3 The main lifting arm 1200 is configured as a “7” shaped support arm. One end of the main lifting arm 1200 is hinged to the base 1100, and the lifting cylinder 1410 is located inside the main lifting arm 1200.

[0114] 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 1400 and also better supports the main lifting arm 1200.

[0115] In some embodiments, the base 1100 is provided with two parallel slot structures 1110.

[0116] In this embodiment, by setting two parallel slot structures 1110, a basis for forklift equipment to insert, pick up, and transfer is provided, making it easier for operators to quickly complete the transfer operation using the forklift equipment.

[0117] In some implementations, reference Figures 1 to 3 Two slot structures 1110 are located on both sides of the base 1100 and are arranged perpendicularly to the roller mechanism 1300.

[0118] In this embodiment, the two slot structures 1110 are arranged on both sides of the base 1100 and perpendicular to the roller mechanism 1300. 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 1300 and the rim of the cable reel 1800 in the cable laying assembly.

[0119] In some implementations, reference Figures 1 to 3 A limiting structure 1520 is provided on the base 1100, and a top rod structure 1510 is provided on the main lifting arm 1200. The top rod structure 1510 is arranged in the direction of the limiting structure 1520. The limiting structure 1520 is used to restrict the movement of the top rod structure 1510 after it comes into contact with the limiting structure 1520.

[0120] The aforementioned top rod structure 1510 is positioned toward the limiting structure 1520 on the base 1100, thereby enabling support for the main lifting arm 1200 when the telescopic device 1400 supporting the main lifting arm 1200 malfunctions. In other words, due to the presence of the top rod structure 1510 and the limiting structure 1520, the main lifting arm 1200 can be supported when it suddenly drops, preventing accidents such as the cable reel 1800 tipping over.

[0121] The aforementioned top rod structure 1510 is rotatably connected to the main lifting arm 1200 and is equipped with a state limiting structure. That is, the state limiting structure can restrict the top rod structure 1510 to a certain rotation angle, or to whether it is facing the limiting structure 1520 or away from the limiting structure 1520, so as to better balance the lifting operation and the fall prevention operation.

[0122] The aforementioned state restriction structure can be configured with limiting components such as pins. By opening multiple through holes in the main lifting arm 1200 and the top rod structure 1510, pins can be used to restrict the top rod structure 1510 to different angles. Alternatively, a rotation damper can be directly selected, and a damper can be arranged at the rotation center of the top rod structure 1510 to achieve damped rotational support for the top rod structure 1510. A torsion spring structure can also be directly used to restrict the top rod structure 1510. For example, when the torsion spring is normally deployed, the top rod structure 1510 can face the limiting structure 1520, and when twisted, it can move away from the limiting structure 1520.

[0123] The aforementioned limiting structure 1520 can be configured as multiple consecutive limiting grooves to better limit the push rod structure 1510.

[0124] In some implementations, reference Figures 1 to 3 The main lifting arm 1200 is configured as a “7” shaped support arm, and the top rod structure 1510 is located on the inner side of the main lifting arm 1200.

[0125] In this embodiment, when the main lifting arm 1200 is configured as a "7"-shaped support arm, placing the top rod structure 1510 on the inner side of the main lifting arm 1200 can better enable the top rod structure 1510 to perform emergency support operations.

[0126] In some embodiments, a cable reel protective frame 1600 is provided on the main lifting arm 1200.

[0127] In this embodiment, adding a cable reel protective frame 1600 can improve the safety during the deployment process to a certain extent.

[0128] In some implementations, reference Figures 1 to 3 The 1600 cable reel protective frame includes:

[0129] The protective bracket 1610 is installed on the main lifting arm 1200;

[0130] The protective wheel 1620 is mounted on the protective bracket 1610 and located above the main lifting arm 1200.

[0131] The aforementioned protective bracket 1610 is mainly used to support the protective wheel 1620. After the protective bracket 1610 is deployed, the protective wheel 1620 will be located above the roller mechanism 1300 and further away from the rim of the cable reel 1800 than the roller mechanism 1300, so as to achieve the purpose of protection.

[0132] In some implementations, reference Figures 1 to 3 The protective bracket 1610 is rotatably mounted on the main lifting arm 1200, and the plane of rotation is parallel to the plane of rotation of the main lifting arm 1200. The main lifting arm 1200 is provided with a rotation adjustment limit part 1210, which is used to limit the protective bracket 1610 to different rotation angles.

[0133] The aforementioned rotation adjustment limit part 1210 can adjust the rotation angle of the protective bracket 1610, thereby allowing the protective bracket 1610 to better adapt to cable reels 1800 of different specifications.

[0134] In some implementations, reference Figures 1 to 3 The rotation adjustment limit part 1210 includes a plurality of first limit through holes provided on the main lifting arm 1200, and the protective bracket 1610 is provided with at least one second limit through hole that matches the first limit through hole.

[0135] 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 1210. 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 1210.

[0136] In some implementations, reference Figures 1 to 2 The cable laying assembly also includes a hoisting component 1220 mounted on the main lifting arm 1200.

[0137] 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 using the lifting component 1220 before being transported by forklift equipment.

[0138] In some implementations, reference Figures 1 to 2 The lifting component 1220 is set as a lifting ring.

[0139] 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.

[0140] In some implementations, reference Figure 10 Cable pulling equipment for cable channels also includes:

[0141] The remote control device is wirelessly connected to the traction control system 2800.

[0142] The aforementioned remote control device can be a wireless remote control that is paired with the traction control system 2800, or it can be a smart terminal device that is wirelessly connected to the remote control device.

[0143] In some embodiments, a handle 2600 is also provided on the top of the main frame 2100.

[0144] In this embodiment, when the cable traction device for the cable channel is in a folded state, the overall structure is smaller and lighter, and it can be directly lifted using the handle 2600, making it easier for construction personnel to transfer the cable traction device for the cable channel from the smaller downhole channel.

[0145] In some embodiments, the drive mechanism 2300 includes:

[0146] Energy storage unit;

[0147] The drive unit is electrically connected to the traction control system 2800;

[0148] Two DC geared motors are electrically connected to the driver and are used to drive the two first walking mechanisms 2110 to move.

[0149] The aforementioned energy storage unit is used to provide power to the drive mechanism 2300, and can be a product with high energy density and high energy storage, such as a lithium battery.

[0150] The aforementioned driver is powered by an energy storage unit, which, under the control of the traction control system 2800, drives the DC geared motor to rotate, thereby enabling the DC geared motor to drive the first traveling mechanism 2110. It should be noted that the DC geared motor provides greater driving force than a conventional motor, thus enabling the traction of the cable 1810.

[0151] In some implementations, reference Figures 5 to 8 The main frame 2100 includes:

[0152] The first base frame section 2120 has two first support leg structures 2140 at its bottom, and a space is formed between the two first support leg structures 2140 for the cable 1810 to pass through; two first walking mechanisms 2110 are respectively arranged at the bottom of the two first support leg structures 2140.

[0153] The second base frame segment 2130 has one end connected to the first base frame segment 2120 and the other end hinged to the front support component 2400; the angle between the second base frame segment 2130 and the first base frame segment 2120 is an obtuse angle.

[0154] The first base frame section 2120 and the second base frame section 2130 mentioned above can be integrally formed or welded together.

[0155] The aforementioned first base frame section 2120 includes a main structure and two first support leg structures 2140 disposed at the bottom of the main structure. The main structure can be used to house an energy storage unit and a driver. The housing of the drive mechanism 2300 can be used to house a DC geared motor corresponding to each first walking mechanism 2110. The first walking mechanism 2110 can be disposed at the bottom of the two first support leg structures 2140. It should be noted that if the first walking mechanism 2110 needs to have steering capability, the steering mechanism is also disposed on the housing of the first support leg structure 2140 or the drive mechanism 2300.

[0156] The angle between the second base frame section 2130 and the first base frame section 2120 is obtuse, so that the traction control system 2800 can be installed in the second base frame section 2130. When it is necessary to install peripherals such as displays and control panels, they can be installed on the second base frame section 2130 for the operator to operate and view.

[0157] In some implementations, reference Figure 5 , 6 Cable pulling equipment for cable channels also includes:

[0158] The display and control unit 2700 is installed on the second base frame section 2130 and is electrically connected to the traction control system 2800.

[0159] In this embodiment, the introduction of the display and control unit 2700 facilitates the operator to adjust and view the setting parameters in the cable traction equipment for the cable channel, and also enables the viewing of some operating parameters, such as: remaining power, travel distance, continuous working time, etc.

[0160] The aforementioned display and control unit 2700 can be a product like an LCD touchscreen that combines display and operation capabilities, or it can be a combination of a monitor and a control panel. The specific form is diverse and can be flexibly configured according to actual needs.

[0161] In some embodiments, the fixing component 2200 includes a fixing bracket with a plurality of fixing holes at different heights, each fixing hole being used to fix the cable 1810.

[0162] In this embodiment, the provision of multiple fixing holes at different heights enables compatibility with wiring devices of different heights and cables 1810 of different thicknesses, thereby improving the applicability of the cable pulling device for cable channels.

[0163] In some implementations, reference Figures 5 to 8The front-end support components 2400 include:

[0164] The rotating support structure 2420 is hinged at its top to the top of the main base frame 2100; the spacing adjustment bracket 2500 is disposed between the rotating support structure 2420 and the main base frame 2100.

[0165] Two second leg structures 2430 are respectively set on both sides of the bottom end of the rotating support structure 2420, and a space is formed between the two second leg structures 2430 for the cable 1810 to pass through; two second walking mechanisms 2410 are respectively set at the bottom of the two second leg structures 2430.

[0166] The aforementioned rotating support structure 2420 can be composed of three connecting rods. For example, one end of two parallel connecting rods is hinged to the end of the second base frame section 2130 away from the first traveling mechanism 2110, and the third connecting rod is fixedly connected to the other end of the two parallel connecting rods, and the third connecting rod is perpendicular to the two parallel connecting rods.

[0167] The aforementioned second leg structure 2430 can be two support rods. The tops of the two support rods are set on the third connecting rod of the rotating support structure 2420, and the bottoms can be used to set the second walking mechanism 2410.

[0168] In some implementations, the spacing adjustment bracket 2500 includes a telescopic bracket.

[0169] In this embodiment, the folding and unfolding operations of the front support component 2400 and the main frame 2100 can be realized directly by using a telescopic bracket.

[0170] It should be noted that when using a telescopic bracket, in order to ensure that the front support component 2400 and the main frame 2100 have sufficient stability in the unfolded state, a telescopic bracket with a certain damping can be used, or after unfolding, a limiting structure 1520 can be used to restrict the extension and retraction of the telescopic bracket.

[0171] In some embodiments, the telescopic support includes:

[0172] The first support member has one end connected to the main frame 2100; the first support member has at least one first adjustment hole.

[0173] The second support member has one end connected to the front support assembly 2400; the second support member has at least one second adjustment hole; the first support member and the second support member are detachably connected through the first adjustment hole and the second adjustment hole.

[0174] In this embodiment, by providing multiple adjustment holes on the first and second supports, the first and second supports can be directly fixed using limiting components such as pins after the main frame 2100 and the front support assembly 2400 are unfolded, thereby restricting the rotation of the main frame 2100 and the front support assembly 2400. It is understood that by providing multiple adjustment holes, different rotation angles of the main frame 2100 and the front support assembly 2400 can be adjusted by fixing different adjustment holes.

[0175] In some embodiments, the first support member is configured as a tubular structure, and the second support member can extend into the first support member and slide along the first support member.

[0176] In this embodiment, the second support member is inserted into the first support member, which makes the unfolding and folding operation of the main frame 2100 and the front support assembly 2400 more comfortable, and also facilitates better fixation of the adjustment hole.

[0177] See Figure 11 As shown, Figure 11 This is a flowchart of a wiring method provided in one embodiment of the present application. The wiring method is used to control the above-mentioned portable wiring system, including steps S100 to S900.

[0178] S100 transfers four cable laying assemblies to both sides of the cable reel 1800. In the two cable laying assemblies on the same side, the roller mechanism 1300 abuts against different sides of the same rim of the cable reel 1800. The cable reel 1800 is pre-transferred to the plane to be laid.

[0179] S200 controls the telescopic device 1400 in the four cable laying assemblies to lift so that the cable reel 1800 reaches the preset cable laying height;

[0180] S300, within the cable channel to be wired, multiple auxiliary wiring devices 3000 are arranged based on a pre-planned wiring path, and the multiple auxiliary wiring devices 3000 are used at least to achieve rolling support for the cable 1810.

[0181] S400, adjust the spacing adjustment bracket 2500 to reduce the angle between the front support component 2400 and the main frame 2100, so that the cable traction equipment for the cable channel is in a folded state;

[0182] S500: When the cable pulling equipment for the cable channel is in a folded state, the cable pulling equipment for the cable channel is transported to the cable channel to be wired through the downhole channel.

[0183] S600, in the cable channel to be wired, adjust the spacing adjustment bracket 2500 to increase the angle between the front-end support component 2400 and the main frame 2100, so that the cable channel cable pulling equipment is in working condition.

[0184] S700, adjust the attitude of the cable pulling device for cable channels so that the cable pulling device for cable channels is located on the wiring path;

[0185] S800, connects cable 1810 to fixing assembly 2200;

[0186] S900, control the drive mechanism 2300 to move so that the two first walking mechanisms 2110 move along the wiring path.

[0187] The cable laying method in this embodiment can be applied to the control system in a lightweight cabling system.

[0188] The cabling method in this application embodiment is based on the aforementioned lightweight cabling system, which has been described in detail above and will not be repeated here.

[0189] The aforementioned cable laying components, cable pulling equipment for cable channels, and auxiliary wiring equipment 3000 can all be transported to the construction site by small transport vehicles.

[0190] The aforementioned cable reel 1800 can also be transported to the site separately using a small vehicle, and then hoisted to the ground using a hoist or other small hoisting equipment.

[0191] After the four cable laying assemblies mentioned above are transported to the construction site by a small transport vehicle, a forklift is used to move the cable laying assemblies to the location of the cable reel 1800 placed on the ground and abut against the flange of the cable reel 1800. It can be understood that the four cable reels 1800 will abut against the flange at different positions in different directions in order to complete the subsequent lifting operation of the cable reel 1800.

[0192] The telescopic device 1400 in the above-mentioned control of the four cable laying assemblies can be raised manually by operating each cable laying assembly individually, or multiple cable laying assemblies can be operated simultaneously using an electrical control system.

[0193] The aforementioned auxiliary cabling devices 3000 can be arranged according to the cabling path. It should be noted that, in order to protect the cable 1810 and ensure the smooth operation of the cable 1810 during traction and deployment, auxiliary cabling devices 3000 will be arranged at locations where turning is required, such as at the bottom of the well.

[0194] The aforementioned adjustment of the spacing bracket 2500 to the folded state must be completed before the operator goes down into the well, so that the operator can move it through the narrow well passage to the wiring cable passage.

[0195] After the cable pulling device for the cable channel is transported to the cable channel in a folded state, it can be adjusted to be in an unfolded working state by adjusting the operating distance bracket 2500. Then, the cable pulling device for the cable channel can be controlled by a remote control device to move and be moved to the wiring path.

[0196] The cable pulling device for the cable channel described above can travel along the wiring path, and the two first traveling mechanisms 2110 and the two second traveling mechanisms 2410 can always straddle both sides of the auxiliary wiring device 3000 to complete the pulling of the cable 1810. When pulling, if the cable laying assembly does not have the active cable laying capability, it can passively lay the cable under the action of the pulling force. When the cable laying assembly has the active cable laying capability, it can achieve adaptive cable laying in coordination with the traveling speed of the cable pulling device for the cable channel.

[0197] In some embodiments, at least one cable laying assembly further includes a drive unit 1700, which is mounted on the main lifting arm 1200 and is used to drive the roller mechanism 1300 to rotate; the drive unit 1700 is wirelessly connected to the traction control system 2800.

[0198] Controlling the movement of the drive mechanism 2300 includes:

[0199] Obtain walking control commands, which include the current walking direction and current walking speed;

[0200] According to the walking control command, the drive mechanism 2300 is controlled to move so that the two first walking mechanisms 2110 move along the wiring path;

[0201] Generate cable deployment and retrieval operation parameters based on the current walking speed;

[0202] The cable deployment and retrieval operation parameters are transmitted to the drive unit 1700 so that the drive unit 1700 drives the cable reel 1800 to rotate according to the cable deployment and retrieval operation parameters.

[0203] In this embodiment, considering that the cable laying assembly can actively lay cables through the drive device 1700, the drive device 1700 can adaptively adjust its speed according to the current walking speed of the cable traction device in the cable channel driven by the drive mechanism 2300, so as to improve the cable laying efficiency.

[0204] The aforementioned walking control commands can be determined by the operator using a remote control device and wirelessly transmitted to the traction control system 2800.

[0205] The above cable deployment and retrieval operation parameters can be understood as the cable deployment speed, which can be determined based on the current walking speed and the diameter of the cable reel (1800mm).

[0206] In some embodiments, at least one cable laying assembly further includes a drive unit 1700, which is mounted on the main lifting arm 1200 and is used to drive the roller mechanism 1300 to rotate; the lightweight cabling system also includes a cable laying control system 1900 electrically connected to the drive unit 1700, which is communicatively connected to the traction control system 2800.

[0207] Controlling the movement of the drive mechanism 2300 includes:

[0208] Obtain walking control commands, which include the current walking direction and current walking speed;

[0209] According to the walking control command, the drive mechanism 2300 is controlled to move so that the two first walking mechanisms 2110 move along the wiring path;

[0210] The current walking speed is transmitted to the cable deployment control system 1900, so that the cable deployment control system 1900 generates cable deployment and take-up operation parameters based on the current walking speed, and adjusts the working state of the drive device 1700 based on the acquired cable deployment and take-up operation parameters to drive the cable reel 1800 to rotate.

[0211] In this embodiment, considering that the cable laying assembly can actively lay the cable via the drive device 1700 and has a cable laying control system 1900, the cable laying control system 1900 can generate cable laying and retrieval operation parameters based on the current travel speed, and control the drive device 1700 to make adaptive speed adjustments based on the cable laying and retrieval operation parameters, thereby improving cable laying efficiency. Furthermore, because the cable laying and traction functions are controlled separately, i.e., a dual control system is adopted, the processing power requirements of a single control system are effectively reduced, the complexity of data processing in a single control system is reduced, and the stability of the cable 1810 during laying is improved.

[0212] In some embodiments, the cable pulling device for cable channels also includes a traction force detection unit 2810 electrically connected to the traction control system 2800, the traction force detection unit 2810 being used to detect traction force information of the cable pulling device for cable channels pulling the cable 1810.

[0213] Generate cable deployment and retrieval operation parameters based on the current walking speed, including:

[0214] Acquire traction force information collected by the traction force detection unit 2810;

[0215] Determine the initial operating parameters based on the current walking speed;

[0216] The initial operating parameters are corrected based on the traction force information to obtain the cable deployment and retrieval operating parameters.

[0217] In this embodiment, the mismatch between cable laying speed and traction speed is further taken into consideration, and the specific mismatch is directly determined by detecting the traction force information of the cable traction device for cable channel to pull cable 1810. Thus, when mismatch occurs, the cable laying speed can be adaptively adjusted in a timely manner by adjusting the cable laying and take-up operation parameters of the drive device 1700.

[0218] The aforementioned initial operating parameters can be understood as initial values ​​determined based on the current walking speed. For example, any current walking speed can correspond to an initial cable-laying speed, that is, the speed at which the drive device 1700 drives the roller mechanism 1300 to rotate.

[0219] The above traction force information can indicate the current traction state, that is, determine whether the traction force of the cable pulling equipment for the cable channel is increasing or decreasing. If it is increasing, it can be understood that the cable laying speed is too slow, and if it is decreasing, it can be understood that the cable laying speed is too fast.

[0220] The above-mentioned correction of the initial operating parameters based on the traction information can be understood as follows: when the traction force increases, the rotation speed of the drive device 1700 driving the roller mechanism 1300 needs to be increased, and the more it is increased, the more it needs to be increased; when the traction force decreases, the rotation speed of the drive device 1700 driving the roller mechanism 1300 needs to be decreased, and the more it is decreased, the more it needs to be decreased.

[0221] In some embodiments, the lightweight cabling system also includes a pose detection unit 1910, which is disposed on the cable reel 1800 and is used to detect the pose information of the cable reel 1800; the cable deployment control system 1900 is electrically connected to the pose detection unit 1910 and the four telescopic devices 1400.

[0222] Controlling the lifting of the telescopic device 1400 in the four cable deployment assemblies includes:

[0223] Acquire the attitude information of the cable reel 1800 collected by the pose detection unit 1910;

[0224] The four telescopic devices 1400 are extended according to the attitude information. The four cable laying components are pre-transferred to both sides of the cable reel 1800. In the two cable laying components on the same side, the roller mechanism 1300 abuts against different sides of the same rim of the cable reel 1800. The cable reel 1800 is pre-transferred to the plane of the cable to be laid.

[0225] When the cable reel 1800 reaches the preset cable extension height and the attitude information indicates that the tilt deviation of the cable reel 1800 in any direction is within the preset deviation parameter range, the four telescopic devices 1400 are controlled to stop extending and a leveling completion mark is generated.

[0226] The attitude information of the cable reel 1800 collected by the aforementioned pose detection unit 1910 can be directly detected using sensors such as tilt sensors and angle sensors, or it can be obtained by setting multiple ranging sensors to detect the deviation of the wheel flanges on both sides of the cable reel 1800 and then converting the information.

[0227] The above-mentioned control of the extension of the four telescopic devices 1400 based on attitude information can be understood as using attitude information to directly determine the tilt state of the cable reel 1800. When tilting occurs in any direction, the extension speed of the telescopic device 1400 corresponding to that direction is appropriately adjusted so that the cable reel 1800 always remains in a relatively horizontal state.

[0228] The height of the cable reel 1800 can be obtained by detecting the height of the cable reel 1800 using a height sensor, or indirectly by detecting the extension distance of the telescopic device 1400. This allows us to determine whether the height of the cable reel 1800 has reached the preset cable laying height.

[0229] The aforementioned preset deviation parameter range can include deviations in four directions: the deviation corresponding to each cable laying assembly, or the positive and negative directions of the cable reel 1800 along its own central axis, and the positive and negative directions perpendicular to the central axis and parallel to the horizontal plane. It is understood that regardless of how the direction is determined, it ultimately requires adjustment of the corresponding cable laying assembly.

[0230] The above attitude information indicates that the tilt deviation of the cable reel 1800 is within the preset deviation parameter range. This can be understood as the tilt angle of the cable reel 1800 determined according to the attitude information being within the preset deviation parameter range in any of the four directions.

[0231] The above-mentioned preset deviation parameter range can be understood as having a deviation angle of less than 0.5 degrees or 1 degree in any direction. The specific value can be flexibly set according to actual requirements.

[0232] In some implementations, the cable deployment control system 1900 generates cable deployment and retrieval operation parameters based on the current travel speed, including:

[0233] Upon detecting the leveling completion sign, in response to the cable deployment and retraction command, the operating state of the drive unit 1700 is adjusted according to the acquired cable deployment and retraction operation parameters to drive the cable reel 1800 to rotate.

[0234] In this embodiment, in order to improve safety during the cable laying process, cable laying will only begin when the leveling completion sign is detected, to avoid cable reel 1800 being laid in a tilted state, which could lead to accidents such as tipping over.

[0235] The aforementioned cable deployment and retrieval instructions can be generated simultaneously with the cable deployment and retrieval operation parameters generated based on the current walking speed. When separate operation of the cable deployment component is required, the operator can also manually determine and generate the instructions within the cable deployment control system 1900.

[0236] In some embodiments, the extension of the four telescopic devices 1400 is controlled based on attitude information, including:

[0237] If the difference between the height of the cable reel 1800 and the preset cable laying height is not within the fine adjustment range, and if the attitude information indicates that the corresponding direction of any cable laying component has an angular deviation from the horizontal plane that exceeds the first preset angle allowable range, the telescopic device 1400 in the corresponding cable laying component is controlled to adjust its speed so that the angular deviation in the corresponding direction is within the first preset angle allowable range.

[0238] When the height difference between the cable reel 1800 and the preset cable laying height is within the fine adjustment range, the attitude information is obtained to determine the angular deviation of any cable laying component in the corresponding direction from the horizontal plane. If the angular deviation exceeds the second preset angular allowable range, the telescopic device 1400 is adjusted by a preset step length so that the angular deviation in the corresponding direction is within the second preset angular allowable range, wherein the second preset angular allowable range is smaller than the first preset angular allowable range.

[0239] The aforementioned fine-tuning range is used to enable the cable control system 1900 to automatically adjust the leveling and lifting strategy. When the fine-tuning range is not reached, the leveling speed can be faster, that is, the adjustment can be made at a faster speed. When the fine-tuning range is reached, the focus should be on ensuring accuracy, that is, the adjustment can be made at a lower speed or in a step-by-step manner.

[0240] The above posture information indicates that the corresponding direction of any cable laying component has an angular deviation from the horizontal plane that exceeds the first preset angle allowable range. This can be understood as the cable reel 1800 having a deviation, and the deviation is large, requiring timely adjustment. However, at this time, it is still in the rapid adjustment stage, and the extension speed of the telescopic device 1400 can be directly adjusted to complete the adjustment.

[0241] Specifically, if the angle of the cable reel 1800 is too low in any direction of the cable laying assembly, the speed of the telescopic device 1400 is increased so that the angle deviation of the cable reel 1800 in that direction relative to the horizontal plane is within the first preset allowable angle range. If the angle of the cable reel 1800 is too high in any direction of the cable laying assembly, the speed of the telescopic device 1400 is decreased so that the angle deviation of the cable reel 1800 in that direction relative to the horizontal plane is within the first preset allowable angle range. It can be understood that when the angle deviation of the cable reel 1800 in that direction is restored to the first preset allowable angle range, the speed of the corresponding telescopic device 1400 will be restored to the set speed to maintain a uniform speed with the other telescopic devices 1400, thereby continuing to achieve balanced lifting of the cable reel 1800.

[0242] The aforementioned adjustment of the telescopic device 1400 using a preset step length can be understood as roughly reaching the preset cable deployment height. However, a more precise adjustment using a step-by-step approach is needed to mitigate the impact of insufficient leveling accuracy caused by rapid adjustments. Essentially, reaching the precision adjustment range signifies that height adjustment is complete, at which point high-precision leveling is required. For directions with tilt, the telescopic device 1400 in the corresponding direction is controlled to complete the adjustment using a step-by-step approach. The step length can be adjusted according to actual needs, for example, the step distance can be controlled at 0.5mm, 1mm, etc.

[0243] Specifically, the aforementioned step-by-step adjustment control of the telescopic device 1400 is a key step in ensuring accuracy during the adjustment of the equipment cable reel 1800. The step-by-step adjustment mode can adopt a small-step, high-frequency adjustment strategy, and can monitor the extension of the telescopic device 1400 in real time through a displacement sensor, so as to accurately calibrate the equipment height with sub-millimeter-level single displacement.

[0244] Furthermore, when the equipment height error enters the precision adjustment range, the height adjustment stage is considered complete. At this point, the system's center of gravity shifts to high-precision leveling. The posture detection unit 1910 (e.g., a three-dimensional tilt sensor) continuously collects the attitude information of the cable reel 1800. Once tilt is detected, the cable extension control system 1900 quickly locates the tilt direction and angle. For the direction with deviation, the corresponding telescopic device 1400 will compensate and adjust in a pulse-step manner. This fine-tuning method effectively overcomes the problem of insufficient precision caused by inertial impact and hydraulic lag during rapid adjustment, making height adjustment more stable and accurate.

[0245] In some implementations, the step length setting can be dynamic rather than fixed. When the initial error is large (e.g., exceeding ±2mm), a 1mm step length can be used to quickly correct significant deviations. As the error gradually decreases to within ±1mm, the step length automatically switches to 0.5mm for more precise calibration. In special operating scenarios with extremely high precision requirements, even a 0.1mm micro-step can be used to ensure the cable reel 1800's attitude adjustment accuracy reaches within ±0.1°. This tiered adjustment strategy ensures both leveling efficiency and sub-millimeter-level height control accuracy, enabling the cable reel 1800's horizontal and vertical properties to fully meet stringent engineering standards, providing a stable and reliable foundation for subsequent cable 1810 deployment operations.

[0246] The aforementioned first preset angle allowable range is greater than the angle range in the aforementioned preset deviation parameter range. For example, if the preset deviation parameter range specifies that the angle deviation needs to be less than 0.5 degrees, the first preset angle allowable range specifies that the angle deviation is less than 1 degree.

[0247] The aforementioned second preset angle allowable range can be understood as a preset deviation parameter range. Alternatively, the deviation angle constrained by the second preset angle allowable range can be less than the preset deviation parameter range. For example, if the second preset angle allowable range specifies that the angle deviation needs to be less than 0.4 degrees, the preset deviation parameter range specifies that the angle deviation needs to be less than 0.5 degrees.

[0248] In some embodiments, the telescopic device 1400 includes: a lifting cylinder 1410, a hydraulic drive system 1420, and a pressure detection unit; one end of the lifting cylinder 1410 is rotatably mounted on the base 1100, and the other end is rotatably connected to the main lifting arm 1200, with the rotation plane of the lifting cylinder 1410 parallel to the rotation plane of the main lifting arm 1200; the hydraulic drive system 1420 is mounted on the base 1100 and is used to drive the lifting cylinder 1410 to extend and retract; the pressure detection unit is connected to the cable deployment control system 1900 and is used to detect the pressure of the lifting cylinder 1410.

[0249] Before generating the leveling completion mark, the cable 1810 laying method also includes:

[0250] Adjust the oil pressure of the four lifting cylinders 1410 so that the pressure difference between the four lifting cylinders 1410 is within the allowable range.

[0251] In this embodiment, considering that there may be a large pressure deviation after the four hydraulic cylinders are leveled, the hydraulic leveling process can be increased in order to keep the hydraulic deviation pressure within the allowable range.

[0252] The above-mentioned hydraulic leveling process can be performed in the step-by-step leveling stage. By repeatedly performing hydraulic leveling and cable reel 1800 attitude leveling, the attitude of cable reel 1800 can be made to meet the leveling requirements, and the oil pressure of the four lifting cylinders 1410 can meet the leveling requirements.

[0253] Specifically, the aforementioned hydraulic leveling process is mainly applied to the step-by-step leveling stage, employing a cyclic iterative control strategy to achieve precise leveling. The system collects the attitude data of the cable reel 1800 in real time at a preset sampling period, and combines this with the feedback values ​​from the pressure detection units of the four lifting cylinders 1410 to construct a dynamic leveling control model. Each leveling cycle includes two core steps: First, the cable extension control system 1900 independently adjusts the extension and retraction of each lifting cylinder 1410, gradually converging the tilt angle of the cable reel 1800 to a set threshold; then, the attitude detection unit 1910 data is used to perform a secondary calibration of the cable reel 1800, correcting minor deviations caused by mechanical clearances or uneven load distribution. This dual closed-loop control mechanism, through multiple iterations, ultimately achieves a dual balance between the attitude of the cable reel 1800 and the hydraulic pressure of the four lifting cylinders 1410.

[0254] It should be noted that during actual operation, operators will try to choose a flat area and the same model of cable laying assembly. This will ensure that the height of multiple cable laying assemblies on the wheel flange is as consistent as possible. In this case, after the cable reel is leveled at 1800, the actual deviation of the hydraulic pressure of the four lifting cylinders 1410 is small. Usually, after a few adjustments, the hydraulic pressure can be leveled while the cable reel is leveled at 1800.

[0255] Specifically, in practical engineering applications, operators prioritize work areas with uniform foundation hardness and satisfactory flatness, reducing the impact of environmental factors on leveling accuracy through site pretreatment. Simultaneously, they strictly select cable laying assemblies of the same model and specifications to ensure consistency in the mechanical parameters of each component. This proactive control significantly improves leveling efficiency; when multiple cable laying assemblies are lifted synchronously, the flange height deviation can be controlled within a low range. Based on this, during hydraulic leveling, the initial oil pressure difference of the four lifting cylinders (1410) is usually small, and typically 3-5 iterations are sufficient to meet the engineering standards for attitude leveling and hydraulic leveling, greatly shortening leveling time and reducing system energy consumption.

[0256] 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 lightweight cabling system, characterized in that, include: Each of the four cable laying assemblies includes a base, a main lifting arm, a roller mechanism, and a telescopic device; The main lifting arm is rotatably mounted on the base; the roller mechanism is mounted on the main lifting arm, and the rotation plane of the roller mechanism is perpendicular to the plane of the base; the telescopic device is mounted on the 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 of the cable laying components further includes a drive device, which is mounted on the main lifting arm and is used to drive the roller mechanism to rotate. A cable pulling device for cable channels includes a main frame, a fixing component, a drive mechanism, a front-end support component, a spacing adjustment bracket, and a traction control system. Two first traveling mechanisms are arranged on both sides of the bottom of the main frame. The fixing component is mounted on the main frame. The drive mechanism is mounted on the main frame and drives the two first traveling mechanisms. Two second traveling mechanisms are arranged on both sides of the bottom of the front-end support component, with space between the two second traveling mechanisms and between the two first traveling mechanisms for cables to pass through. The top of the front-end support component is rotatably connected to the top of the main frame. The spacing adjustment bracket is used to adjust the included angle between the front support assembly and the main frame; the traction control system is electrically connected to the drive mechanism; Multiple auxiliary cabling devices, at least for providing rolling support for the cables; The lightweight cabling system also includes: The cable-laying control system is electrically connected to the drive device; the cable-laying control system is communicatively connected to the traction control system. The pose detection unit is mounted on the cable reel and is used to detect the pose information of the cable reel; the cable extension control system is electrically connected to the pose detection unit and the four telescopic devices; the rim of the cable reel is mounted on the roller mechanism.

2. The lightweight cabling system according to claim 1, characterized in that, The cable pulling device for the cable channel also includes: The traction force detection unit is electrically connected to the traction control system and is used to detect the traction force information of the cable traction device in the cable channel.

3. The lightweight cabling system according to claim 2, characterized in that, The telescopic device includes: The lifting cylinder has one end rotatably mounted on the base and the other end rotatably connected to the main lifting arm. The rotation plane of the lifting cylinder is parallel to the rotation plane of the main lifting arm. A hydraulic drive system electrically connected to the cable-laying control system is mounted on the base and is used to drive the lifting cylinder to extend and retract.

4. The lightweight cabling system according to claim 3, characterized in that, The telescopic device further includes: The pressure detection unit is connected to the cable control system and is used to detect the pressure of the lifting cylinder.

5. A wiring method, characterized in that, The cabling method, applied to the portable cabling system as described in any one of claims 1 to 4, comprises: The four cable laying assemblies are transferred to both sides of the cable reel. The roller mechanisms in the two cable laying assemblies on the same side abut against different sides of the same rim of the cable reel. The cable reel is pre-transferred to the plane to be laid. Control the telescopic devices in the four cable laying assemblies to lift so that the cable reel reaches the preset cable laying height; Within the cable channel to be wired, multiple auxiliary wiring devices are arranged based on a pre-planned wiring path, and the multiple auxiliary wiring devices are used to at least provide rolling support for the cable. Adjust the spacing adjustment bracket to reduce the angle between the front support component and the main frame, so that the cable channel cable pulling device is in a folded state; With the cable pulling device for the cable channel in a folded state, the cable pulling device for the cable channel is transported to the cable channel to be wired through the downhole channel; Within the cable channel to be wired, the spacing adjustment bracket is adjusted to increase the angle between the front-end support component and the main frame, so that the cable channel cable pulling device is in working condition; Adjust the orientation of the cable pulling device for the cable channel so that it is positioned on the wiring path; Connect the cable to the fixing component; Control the drive mechanism to move so that the two first walking mechanisms move along the wiring path.

6. The wiring method according to claim 5, characterized in that, At least one of the cable deployment assemblies further includes a drive device, which is mounted on the main lifting arm and is used to drive the roller mechanism to rotate; the drive device is wirelessly connected to the traction control system. The control of the drive mechanism includes: Obtain walking control commands, the walking control commands including the current walking direction and the current walking speed; According to the walking control command, the drive mechanism is controlled to move so that the two first walking mechanisms move along the wiring path; Generate cable deployment and retrieval operation parameters based on the current walking speed; The cable deployment and retrieval operation parameters are transmitted to the drive device, so that the drive device drives the cable reel to rotate according to the cable deployment and retrieval operation parameters.

7. The wiring method according to claim 6, characterized in that, The cable traction device for the cable channel also includes a traction force detection unit electrically connected to the traction control system. The traction force detection unit is used to detect the traction force information of the cable traction device for the cable channel pulling the cable. The step of generating cable deployment and retrieval operation parameters based on the current walking speed includes: Acquire traction force information collected by the traction force detection unit; Determine the initial operating parameters based on the current walking speed; The initial operating parameters are corrected based on the traction force information to obtain the cable deployment and retrieval operating parameters.

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