Intelligent cable traction system and cable traction laying control method

Abstract

The invention discloses an intelligent cable traction system and a cable traction laying control method. A cable traction machine can electrically pull a traction rope and detect traction force in real time. And when the traction force exceeds a preset traction high threshold value, the cable winding and unwinding mechanism can be controlled to reduce the winding speed, so that the traction rope wound on the traction wheel is properly loosened, and the traction force is gradually recovered to be stable. And meanwhile, the cable winding and unwinding mechanism automatically adjusts the winding speed according to extrusion force data fed back by the pressure detection assembly, and it is ensured that the extrusion force is maintained within the preset parameter range. According to the embodiment of the invention, the extrusion force and the traction force are creatively combined, the winding speed of the cable winding and unwinding mechanism is comprehensively regulated and controlled, and the intelligent cable traction system is always in a reasonable working interval during traction and winding of the traction rope through an intelligent control mode, so that automatic traction and winding of the traction rope such as a steel wire rope are realized; therefore, the automatic traction operation of the cable connected with the traction rope is completed, and the intelligence and safety of cable laying construction are improved.

Description

Technical Field

[0001] The present application relates to the field of cable equipment, and in particular to an intelligent cable traction system and a cable traction and laying control method. Background Art

[0002] During the cable laying process, the wire rope must be manually pulled from the traction equipment installation location through the conduit or tunnel until it reaches the conduit or tunnel port where the cable reel is located. The cable pulling head then connects to the cable, and the traction equipment finally pulls the wire rope to complete the cable laying operation. During this process, the remaining wire rope must be collected and sorted for subsequent recycling and reuse. However, currently, both traction and reeling equipment require manual operation and lack autonomous traction capabilities. This model not only increases labor costs but also affects construction efficiency and safety due to human error. There is an urgent need to upgrade the existing operation model through automation technology. Summary of the Invention

[0003] The present application aims to propose an intelligent cable traction system and a cable traction laying control method, which can realize automatic cable traction.

[0004] According to the first embodiment of the present application, the intelligent cable pulling system includes: A cable traction machine includes a traction control system, a traction drive system, and a traction wheel. The traction control system is used to control the traction drive system to drive the traction wheel to pull the traction rope, wherein the cable is wound around the traction wheel at least once. The traction control system has a built-in traction force detection unit, which is used to detect the traction force of the cable traction machine pulling the cable. The traction rope is connected to the end of the cable to be pulled. The cable retracting and releasing mechanism includes a cable retracting base, a wire retracting and releasing device slidably arranged on the cable retracting base, a cable retracting and releasing controller, and a pressure detection component arranged on the cable retracting base; the wire retracting and releasing device squeezes the pressure detection component when sliding; the wire retracting and releasing device is used to reel in the traction rope transmitted by the traction wheel; the cable retracting and releasing controller is used to adjust the reeling speed of the wire retracting and releasing device on the traction rope according to the squeezing force detected by the pressure detection component and the traction force detected by the traction force detection unit; In which, the change in the extrusion force is negatively correlated with the change in the winding speed, so that the extrusion force is maintained at a preset pressure parameter; when the traction force exceeds a preset traction high threshold, the winding speed is reduced until the traction force is reduced to a preset stable force value, and the preset stable force value is lower than or equal to the preset traction high threshold.

[0005] According to a cable pulling and laying control method according to a second embodiment of the present application, which is applied to the intelligent cable pulling system according to the first embodiment, the cable pulling and laying control method includes: Obtaining the extrusion pressure collected by the pressure detection component; According to the preset pressure parameter and the squeezing force, the reeling speed of the traction rope by the cable reeling and releasing mechanism is adjusted so that the squeezing force is maintained at the preset pressure parameter; wherein the change of the squeezing force is negatively correlated with the change of the reeling speed; In response to a traction overload instruction, controlling the cable retracting and releasing mechanism to reduce a reeling speed of the traction rope until the traction force detected by the traction force detection unit decreases to a preset stable force value, wherein the preset stable force value is lower than or equal to a preset traction high threshold value; The traction overload instruction is generated by the traction control system when the traction force detected by the traction force detection unit is higher than the preset traction high threshold.

[0006] The cable intelligent traction system and cable traction and laying control method of the embodiment of the present application, the cable traction machine can electrically pull the traction rope and detect the traction force in real time. When the traction force exceeds the preset traction high threshold, the cable retracting and unwinding mechanism can be controlled to reduce the rewinding speed, so that the traction rope wrapped around the traction wheel is moderately loosened, and the traction force is gradually restored to stability. At the same time, the cable retracting and unwinding mechanism automatically adjusts the rewinding speed according to the extrusion pressure data fed back by the pressure detection component to ensure that the extrusion pressure is maintained within the preset parameter range. The embodiment of the present application innovatively combines the extrusion force and the traction force, comprehensively regulates the rewinding speed of the cable retracting and unwinding mechanism, and through intelligent control methods, ensures that the cable intelligent traction system is always in a reasonable working range when pulling and rewinding the traction rope, realizes the automatic traction and rewinding of traction ropes such as wire ropes, and then completes the automated traction operation of the cable connected to the traction rope, thereby improving the intelligence and safety of cable laying construction.

[0007] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or may be learned by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A top view of a cable pulling machine provided in an embodiment of the present application; Figure 2 A front view of a cable pulling machine provided in an embodiment of the present application; Figure 3 A schematic structural diagram of a wire retracting and releasing system provided in an embodiment of the present application; Figure 4A schematic diagram of the partial structure of the wire retracting and releasing system provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of the wire retracting and unreeling wheel provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of the retractable drive member, the first transmission wheel and the second transmission wheel provided in an embodiment of the present application; Figure 7 A schematic structural diagram of a cable arrangement device provided in an embodiment of the present application; Figure 8 for Figure 7 Enlarged view of point A in the middle; Figure 9 A schematic diagram of the use of the intelligent cable traction system provided in an embodiment of the present application; Figure 10 A schematic diagram of the cable pulling machine and the cable retracting and releasing mechanism provided in an embodiment of the present application; Figure 11 This is a flow chart of the cable traction and laying control method provided in an embodiment of the present application.

[0009] Reference numerals: traction rope 1000; Cable traction machine 2000; traction control system 2210; traction drive system 2220; traction base 2221; servo motor 2222; reduction gearbox 2223; output shaft 2224; hoisting structure 2225; traction wheel 2226; Cable retracting base 3100; guide rail 3110; wire retracting and unreeling device 3200; mounting base 3210; slider 3211; driver mounting base 3212; wire retracting and unreeling wheel 3220; first connecting portion 3221; retracting and unreeling driver 3230; first transmission wheel 3241; second transmission wheel 3242; second connecting portion 3243; wire arranging device 3300; support bracket 3310; wire guide mechanism 3320; mounting bracket 3321; first guide assembly 3322; first guide member 33221; second guide assembly 3323; second guide member 33231; nut 3324; driver mechanism 3330; guide shaft 3331; driver member 33321; screw rod 33322; travel switch 3340; cable retracting and unreeling controller 3600; elastic buffer 3400; Pressure sensor 3500. DETAILED DESCRIPTION

[0010] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0011] In the description of the present application, if there is a description to first, second, etc. is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of the indicated technical features.

[0012] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, etc. is based on the orientation or position relationship shown in the drawings, only for the purpose of facilitating the description of the present application and simplifying the description, and is not indicative or implied that the device or element indicated must have a specific orientation, be constructed and operated in a specific orientation, therefore, cannot be understood as a limitation of the present application.

[0013] In the description of the present application, it should be noted that, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0014] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the following described embodiments are part of the embodiments of the present application, not all embodiments.

[0015] Referring to Figures 1 to 10 The cable intelligent traction system provided by an embodiment of the present application includes: The cable traction machine 2000 includes a traction control system 2210, a traction drive system 2220 and a traction wheel 2226. The traction control system 2210 is used to control the traction drive system 2220 to drive the traction wheel 2226 to traction the traction rope 1000. The cable is wound at least one turn on the traction wheel 2226. The traction control system 2210 is built-in with a traction force detection unit, which is used to detect the traction force of the cable traction machine 2000. The traction rope 1000 is connected with the end of the cable to be tractioned. The cable winding and unwinding mechanism includes a cable winding base 3100, a cable winding and unwinding controller 3600, a wire winding and unwinding device 3200 slidingly arranged on the cable winding base 3100, and a pressure detection assembly arranged on the cable winding base 3100. The wire winding and unwinding device 3200 extrudes the pressure detection assembly in the sliding state. The wire winding and unwinding device 3200 is used to wind the traction rope 1000 transmitted by the traction wheel 2226. The cable winding and unwinding controller 3600 is used to adjust the winding speed of the traction rope 1000 by the wire winding and unwinding device 3200 according to the extrusion force detected by the pressure detection assembly and the traction force detected by the traction force detection unit. Among them, the change in extrusion force is negatively correlated with the change in winding speed, so that the extrusion force is maintained at a preset pressure parameter; when the traction force exceeds the preset traction high threshold, the winding speed is reduced until the traction force is reduced to a preset stable force value, and the preset stable force value is lower than or equal to the preset traction high threshold.

[0016] In the embodiment of the present application, the cable traction machine 2000 can electrically pull the traction rope 1000 and detect the traction force in real time. When the traction force exceeds the preset traction high threshold, the cable retracting and unwinding mechanism can be controlled to reduce the rewinding speed, so that the traction rope 1000 wrapped around the traction wheel 2226 is appropriately relaxed, allowing the traction force to gradually return to stability. At the same time, the cable retracting and unwinding mechanism automatically adjusts the rewinding speed based on the extrusion force data fed back by the pressure detection component to ensure that the extrusion force remains within the preset parameter range. The embodiment of the present application innovatively combines the extrusion force and the traction force to comprehensively regulate the rewinding speed of the cable retracting and unwinding mechanism. Through intelligent control methods, it ensures that the intelligent cable traction system is always in a reasonable working range when pulling and rewinding the traction rope 1000, realizing the automatic traction and rewinding of the traction rope 1000 such as the wire rope, and then completing the automated traction operation of the cable connected to the traction rope 1000, thereby improving the intelligence and safety of the cable laying construction.

[0017] The traction rope 1000 may be a steel wire rope or a cable made of other materials with the ability to pull a cable.

[0018] After the traction rope 1000 is connected to the end of the cable to be towed, the traction rope 1000 can be pulled through the traction control system 2210 to complete the traction of the cable.

[0019] The above-mentioned preset stable force value can be understood as a relatively stable traction force of the cable traction machine 2000. When the stable traction force is output, the cable traction machine 2000 can maintain a high-efficiency, stable and long-term output state.

[0020] The above-mentioned preset high traction threshold can be understood as the upper limit of the allowable force output by the cable tractor 2000. Exceeding this threshold will cause the cable tractor 2000 to overload, thereby causing equipment damage or even a safety accident. It is understood that a corresponding preset low traction threshold can be set. When the output force of the cable tractor 2000 is controlled between the preset low traction threshold and the preset high traction threshold, the cable tractor 2000 can be maintained in a relatively ideal state. The preset high traction threshold can be understood as the optimal position within the range constrained by the preset low traction threshold and the preset high traction threshold, which can maintain the cable tractor 2000 in the most or more ideal state.

[0021] The traction drive system 2220 includes an output shaft 2224 that can rotate about its own axis. A traction sheave 2226 is sleeved onto the output shaft 2224 to control the rotation of the traction sheave 2226. In practice, the traction sheave 2226 is configured to have the ability to pull the wire rope by wrapping a traction rope 1000, such as a steel wire rope, around the traction sheave 2226 for at least one turn, typically three to four turns. This allows the traction sheave 2226 to be capable of pulling the wire rope, thereby achieving traction of the wire rope.

[0022] The traction wheel 2226 may be a hinge wheel.

[0023] The above-mentioned traction control system 2210 can be set as a traction control box, and a power supply unit, a drive control module, and a communication module can be set in the traction control box. The power supply unit can be used to complete the power supply of the traction drive system 2220, the drive control module can be used to realize the speed control of the drive wheel, and the communication module can be used to complete the communication connection with the cable retractor controller 3600 to realize joint control.

[0024] The traction controller 2210 may also obtain the operating current of the traction drive system 2220 and issue an overload alarm when the operating current exceeds a current high threshold.

[0025] The traction controller 2210 may also issue an alarm when the detected traction force exceeds a traction force overload alarm threshold value, which is greater than a preset traction high threshold value.

[0026] The traction controller 2210 is also provided 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.

[0027] The traction controller 2210 can also store the collected operating data in a storage unit for use in subsequent operation, maintenance, tracing and other needs.

[0028] After being started, the traction control system 2210 can control the output shaft 2224 to rotate at a preset speed. When the traction force increases, the traction force can be reduced by controlling the wire retracting device 3200 to reduce the reeling speed.

[0029] When the above-mentioned cable traction machine 2000 determines that the traction force exceeds the preset traction high threshold, it can reduce the winding speed of the cable retracting and releasing mechanism. The reduction in the winding speed will allow the traction rope 1000, such as the wire rope wound on the driving wheel, to be relaxed to a certain extent, so that the traction force of the cable traction machine 2000 is reduced until the traction force is reduced to the preset stable force value, and the strategy of reducing the winding speed according to the traction force can be stopped.

[0030] The traction force detection unit can be a current detection unit, which detects the driving current of the servo motor 2222 in the traction drive system 2220 to derive the traction force. It can be understood that the driving current of the servo motor 2222 is positively correlated with the traction force.

[0031] The traction force detection unit can also be a sensor that directly detects the torque of the traction wheel 2226 or the output shaft 2224 that drives the traction wheel 2226 to rotate, thereby determining the traction force through direct detection.

[0032] The wire winding and unwinding device 3200 can adopt a wheel type winding structure to realize winding of the cable.

[0033] The wire winding and unwinding device 3200 can slide along the cable winding base 3100, and the sliding direction is parallel to the cable traction direction.

[0034] The cable winding base 3100 is provided with a pressure detection assembly, which can detect the extrusion force of the wire winding and unwinding device 3200 on the pressure detection assembly when the wire winding and unwinding device 3200 slides towards the cable traction machine 2000 under the action of the traction rope 1000.

[0035] Specifically, when the cable winding and unwinding mechanism is working normally, the traction rope 1000 between the cable winding and unwinding mechanism and the cable traction machine 2000 needs to be kept in a state that is neither too loose nor too tight. Due to the existence of the action force of the traction rope 1000, the wire winding and unwinding device 3200 will extrude the pressure detection assembly, so it can be understood that the extrusion force needs to be maintained at a preset pressure parameter. That is, when the extrusion force increases, it can be understood that the traction rope 1000 between the cable winding and unwinding mechanism and the cable traction machine 2000 has too much tension, and the tension needs to be reduced. At this time, the tension can be reduced by controlling the cable winding and unwinding mechanism to reduce the winding speed, and when the tension is reduced, the extrusion force will also be reduced. When the extrusion force decreases, it can be understood that the traction rope 1000 between the cable winding and unwinding mechanism and the cable traction machine 2000 has too little tension, and the tension needs to be increased. At this time, the tension can be increased by controlling the cable winding and unwinding mechanism to increase the winding speed, and when the tension is increased, the extrusion force will also be increased.

[0036] The preset pressure parameter can be understood as an extrusion force range, or as an extrusion force threshold.

[0037] The above-mentioned pressure detection component may include an elastic buffer 3400 arranged on the cable retracting base 3100 and a pressure sensor 3500 arranged on the wire retracting device 3200 facing the elastic buffer 3400. The wire retracting device 3200 will drive the pressure sensor 3500 to move synchronously under the traction of the traction rope 1000, so that the pressure sensor 3500 abuts and squeezes the elastic buffer 3400, so that the extrusion force can be detected.

[0038] The above-mentioned pressure detection component may include a pressure sensor 3500 arranged on the cable retracting base 3100 and an elastic buffer 3400 arranged on the wire retracting device 3200 facing the pressure sensor 3500. The wire retracting device 3200 will drive the elastic buffer 3400 to move synchronously under the traction of the traction rope 1000, so that the pressure sensor 3500 and the elastic buffer 3400 are in contact and squeezed, so that the squeezing force can be detected.

[0039] The above-mentioned cable retracting controller 3600 can be set as a cable retracting control box, and a power supply unit, a drive control module, and a communication module can be set in the cable retracting control box. The power supply unit can be used to complete the power supply of the wire retracting device 3200, and the drive control module can be used to realize the reeling control of the wire retracting device 3200. The communication module can be used to complete the communication connection with the traction controller to realize joint control.

[0040] The cable retractable controller 3600 may also be connected to a display unit, through which the working status of the cable retractable mechanism may be viewed.

[0041] In some embodiments, the traction rope 1000 is wrapped around the traction wheel 2226 three to four times.

[0042] In this embodiment, by winding the traction rope 1000 three to four times on the traction wheel 2226, effective traction of the traction rope 1000 can be achieved, while the probability of stacking of the traction rope 1000 can be reduced, thereby improving the stability of traction.

[0043] In some embodiments, reference Figure 1 、 Figure 2 , traction drive system 2220, comprising: Traction base 2221; The servo motor 2222 is provided on the traction base 2221; The input end of the reduction box 2223 is connected to the servo motor 2222; The output shaft 2224 is in driving connection with the output end of the reduction box 2223 ; the traction wheel 2226 is sleeved on the output shaft 2224 .

[0044] In this embodiment, the servo motor 2222 and the reduction gear box 2223 are combined to realize the drive control of the output shaft 2224 , which can provide sufficient driving force and realize effective control of the rotation speed of the output shaft 2224 .

[0045] In some embodiments, the traction wheel 2226 is configured as a hinge wheel, which is disposed on the output shaft 2224 and coaxially with the output shaft 2224 for pulling the traction rope 1000 .

[0046] In this embodiment, the use of a crank pulley can achieve traction of the traction rope 1000 at a low cost.

[0047] In some embodiments, reference Figure 1 、 Figure 2 A hoisting structure 2225 is also provided on the traction base 2221.

[0048] In this embodiment, by providing a hoisting structure 2225 on the traction base 2221, the cable traction machine 2000 can be easily hoisted.

[0049] In some embodiments, the wire retracting device 3200 includes a mounting base 3210 movably disposed on the cable retracting base 3100 , a wire retracting wheel 3220 disposed on the mounting base 3210 , and a retracting drive 3230 for driving the wire retracting wheel 3220 to rotate.

[0050] The above-mentioned mounting seat 3210 is arranged on the cable retracting base 3100 and can move forward and backward; the wire retracting wheel 3220 is used for winding the traction rope 1000; the retracting drive member 3230 is used to drive the wire retracting wheel 3220 to rotate, thereby achieving the purpose of retracting and releasing the wire.

[0051] The cable receiving 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.

[0052] Further, the mounting base 3210 is provided with a driving member mounting base 3212, and a winding and unwinding driving member 3230 is arranged on the driving member mounting base 3212, wherein the winding and unwinding driving member 3230 is a motor connected with a first transmission wheel 3241, the first transmission wheel 3241 is connected with a second transmission wheel 3242, the second transmission wheel 3242 is connected with a second connecting part 3243, the wire winding and unwinding wheel 3220 is rotatably arranged on the mounting base 3210, and the wire winding and unwinding wheel 3220 is provided with a first connecting part 3221 connected with the second connecting part 3243. When the winding and unwinding driving member 3230 is started, the wire winding and unwinding wheel 3220 can be driven to rotate forward or reversely through the first transmission wheel 3241 and the second transmission wheel 3242.

[0053] The first transmission wheel 3241 and the second transmission wheel 3242 are both gear wheels.

[0054] In some embodiments, the winding and unwinding cable mechanism further comprises: The wire arranging device 3300 is arranged in front of the wire winding and unwinding device 3200, and the wire arranging device 3300 comprises a supporting bracket 3310, a wire guiding mechanism 3320 movably arranged on the supporting bracket 3310, and a driving mechanism 3330 for driving the wire guiding mechanism 3320 to move back and forth along a preset path, wherein the preset path is parallel to the rotation axis of the wire winding and unwinding wheel 3220.

[0055] It should be noted that the wire arranging device 3300 can be arranged on the cable winding base 3100 together with the wire winding and unwinding device 3200.

[0056] The driving mechanism 3330 can drive the wire guiding mechanism 3320 to move in a first direction, or to move in a second direction opposite to the first direction, and the first direction and the second direction are both parallel to the rotation axis of the wire winding and unwinding wheel 3220. In this way, the wire guiding mechanism 3320 can be driven to move back and forth along the preset path under the driving of the driving mechanism 3330; the wire guiding mechanism 3320 can guide and limit the traction rope 1000 in the process of winding or unwinding the wire, so as to prevent the traction rope 1000 from being separated; and in the process of rotating the wire winding and unwinding device 3200, the driving mechanism 3330 can drive the wire guiding mechanism 3320 to move in the first direction or the second direction, so as to make the traction rope 1000 more evenly arranged on the wire winding and unwinding device 3200, and avoid the traction rope 1000 from being stacked together.

[0057] In combination with Figure 3 With Figure 4In some embodiments, an elastic buffer 3400 is provided on the cable retracting base 3100, and a pressure sensor 3500 is provided on the mounting seat 3210. The elastic 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 retracting and releasing drive member 3230 are both electrically connected to the retracting and releasing cable controller 3600.

[0058] It is understood that the elastic buffer 3400 is fixed to the cable retracting base 3100, the pressure sensor 3500 is fixed to the front side of the mounting base 3210, and when the mounting base 3210 moves forward, the pressure sensor 3500 is pressed against the elastic buffer 3400. When the pressure sensor 3500 and the elastic buffer 3400 are pressed, the cable retracting controller 3600 receives a signal from the pressure sensor 3500, thereby controlling the retracting drive 3230 and adjusting the rotation speed of the wire retracting wheel 3220.

[0059] It should be noted that the elastic buffer 3400 itself has elastic force. When the pressure sensor 3500 and the elastic buffer 3400 are squeezed and the pressure sensor 3500 loses the external force, the elastic buffer 3400 can bounce the pressure sensor 3500 away.

[0060] Specifically, the elastic buffer 3400 includes a spring and a buffer head arranged at the end of the spring. The buffer head is located on the side of the spring close 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 with the buffer head and the pressure sensor 3500 loses external force, the spring can bounce the pressure sensor 3500 away.

[0061] In another embodiment, a pressure sensor 3500 is provided on the cable retracting base 3100, and an elastic buffer 3400 is provided on the mounting seat 3210. The pressure sensor 3500 is located in front of the elastic buffer 3400 and on the moving path of the elastic buffer 3400. The pressure sensor 3500 and the retracting and releasing drive member 3230 are both electrically connected to the retracting and releasing cable controller 3600.

[0062] In some embodiments, reference Figure 7 、 Figure 8The wire mechanism 3320 includes a mounting frame 3321 movably arranged on the support bracket 3310, a first guide assembly 3322 arranged on the mounting frame 3321, and a second guide assembly 3323 arranged on the mounting frame 3321. The first guide assembly 3322 includes two first guide members 33221 arranged at intervals along the horizontal direction, and the second guide assembly 3323 includes two second guide members 33231 arranged at intervals along the vertical direction. The first space between the two first guide members 33221 and the second space between the two second guide members 33231 are arranged opposite to each other; wherein the spacing direction of the two first guide members 33221 is parallel to the rotation axis of the wire retracting wheel 3220.

[0063] Specifically, two first guide members 33221 are spaced apart horizontally, forming a first space between the two first guide members 33221. Two second guide members 33231 are spaced apart vertically, forming a second space between the two second guide members 33231. Furthermore, the first space and the second space are arranged opposite each other. In this way, the traction rope 1000 can pass through the first space and the second space simultaneously. Furthermore, during the process of winding or unwinding the wire, the first guide members 33221 and the second guide members 33231 can also guide and limit the wire, preventing it from escaping from the guide mechanism 3320.

[0064] It should be noted that the wire arrangement device 3300 is located in front of the wire retracting device 3200, and the second guide assembly 3323 can be set on the side of the first guide assembly 3322 away from the wire retracting device 3200, or on the side close to the wire retracting device 3200. It is only necessary to ensure that the first space between the two first guide members 33221 is opposite to the second space between the two second guide members 33231.

[0065] In some embodiments, the two first guide members 33221 are rotatably disposed on the support bracket 3310 , and the rotation axes of the two first guide members 33221 are perpendicular to the horizontal plane.

[0066] It can be understood that after the traction rope 1000 is passed through the first space between the two first guide members 33221, as the wire guide mechanism 3320 moves along the preset path, the traction rope 1000 will contact one of the first guide members 33221, so that the two first guide members 33221 are rotated and set on the support bracket 3310, which can keep the friction between the traction rope 1000 and the first guide member 33221 as rolling friction, and can reduce the risk of wear of the traction rope 1000 and the first guide member 33221.

[0067] The first guide member 33221 is a bearing, a roller or a roller.

[0068] Specifically in this embodiment, the first guide member 33221 is a bearing, and the bearing can be rotatably connected to the mounting frame 3321 through a pin.

[0069] Furthermore, among the two second guide members 33231 , the second guide member 33231 located at the bottom is rotatably disposed on the support bracket 3310 , and its rotation axis is parallel to the rotation axis of the wire retracting wheel 3220 .

[0070] It can be understood that after the traction rope 1000 is passed through the second space between the two second guide members 33231, under the action of gravity, the traction rope 1000 is in contact with the second guide member 33231 below most of the time, so that the second guide member 33231 below is rotated and set on the support bracket 3310, which can keep the friction between the traction rope 1000 and the second guide member 33231 below as rolling friction, and can reduce the risk of wear of the traction rope 1000 and the second guide member 33231 below.

[0071] Among the two second guide members 33231 , the second guide member 33231 located at the bottom is a bearing, a roller or a roller.

[0072] Specifically in this embodiment, of the two second guide members 33231, the lower second guide member 33231 is a bearing, which can be rotatably connected to the mounting frame 3321 via a pin. Of the two second guide members 33231, the upper second guide member 33231 can be a pin, a bearing, a roller, or a shaft.

[0073] Combine Figure 7 and Figure 8 In some embodiments, the driving mechanism 3330 includes a driving component and a guide shaft 3331, the length direction of the guide shaft 3331 is parallel to the preset path, the wire mechanism 3320 is movably disposed on the guide shaft 3331, and the driving component is driven and connected to the wire mechanism 3320.

[0074] It can be understood that the driving component is used to drive the wire mechanism 3320 to move along the guide shaft 3331, so that the wire mechanism 3320 moves along a preset path, and the guide shaft 3331 can guide the wire mechanism 3320, thereby improving the accuracy of the moving path of the wire mechanism 3320.

[0075] Specifically, the mounting bracket 3321 is provided with a guide hole, and the guide shaft 3331 is passed through the guide hole, so that the mounting bracket 3321 and the guide shaft 3331 are guided and matched.

[0076] The drive assembly includes a drive member 33321 and a screw rod 33322 drivably connected to the drive member 33321. The drive member 33321 is used to drive the screw rod 33322 to rotate. The screw rod 33322 is arranged parallel to and spaced apart from the guide shaft 3331. A nut 3324 is fixedly connected to the guide mechanism 3320 and is sleeved on the outside of the screw rod 33322. When the drive member 33321 drives the screw rod 33322 to rotate, it can drive the nut 3324 to move along the screw rod 33322, thereby enabling the guide mechanism 3320 to move along a preset path.

[0077] The driving member 33321 is a motor, which can rotate forward and reverse, thereby causing the screw rod 33322 to rotate forward and reverse, thereby causing the wire guide mechanism 3320 to move along the first direction or the second direction.

[0078] Combine Figure 7 and Figure 8 In some embodiments, a limit switch 3340 is provided on the support bracket 3310. The limit switch 3340 is arranged opposite to the wire mechanism 3320. The limit switch 3340 is located on the moving path of the wire mechanism 3320. The limit switch 3340 and the driving mechanism 3330 are both electrically connected to the cable retracting and releasing controller 3600.

[0079] It can be understood that the limit switch 3340 is used to limit one of the extreme positions of the wire mechanism 3320, such as the right extreme position in this embodiment. When the wire mechanism 3320 moves to the right extreme position and contacts the limit switch 3340, the cable retractor controller 3600 can control the drive mechanism 3330 to reverse, thereby causing the wire mechanism 3320 to move in the opposite direction; when the wire mechanism 3320 moves to the left extreme position, the cable retractor controller 3600 can further control the drive mechanism 3330 to reverse, thereby causing the wire mechanism 3320 to move in the opposite direction.

[0080] It should be noted that the right limit position of the guide wire mechanism 3320 can be determined under the action of the limit switch 3340. That is, the right limit position of the guide wire mechanism 3320 can be determined as the initial position, while the left limit position of the guide wire mechanism 3320 can be confirmed by the travel parameters set by the retractable cable controller 3600. In this way, under the combined action of the limit switch 3340 and the retractable cable controller 3600, the left and right limit positions of the guide wire mechanism 3320 can be determined.

[0081] See also Figure 7 As shown, Figure 7 Flowchart of a cable pulling and laying control method provided by one embodiment of the present application, wherein the cable pulling and laying control method is used to control the above-mentioned intelligent cable pulling system, including steps S100 to S300; S100, acquiring the extrusion force collected by the pressure detection assembly; S200, adjusting the winding speed of the cable winding and unwinding mechanism on the traction rope 1000 according to the preset pressure parameter and the extrusion force, so that the extrusion force is maintained at the preset pressure parameter; wherein the change of the extrusion force is negatively correlated with the change of the winding speed; S300, in response to the traction overload instruction, controlling the cable winding and unwinding 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 a preset stable force value, which is lower than or equal to the preset traction high threshold value. Wherein, the traction overload instruction is generated by the traction control system 2210 when the traction force detected by the traction force detection unit is higher than the preset traction high threshold value.

[0082] The cable traction laying control method in the embodiment of the application can be applied to the cable winding and unwinding controller 3600 of the cable winding and unwinding mechanism.

[0083] The cable traction laying control method in the embodiment of the application is realized based on the above-mentioned cable intelligent traction system, which has been described in detail above, and will not be described again here.

[0084] The above-mentioned preset pressure parameter can be understood as an extrusion force constraint range. 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 influence of the tension on the winding traction rope 1000.

[0085] The change of the above-mentioned extrusion force is negatively correlated with the change of the winding speed. It can be understood that, in the case of being lower than the extrusion force constraint range, the tension of the traction rope 1000 between the cable winding and unwinding mechanism and the cable traction machine 2000 is too small, and the winding speed needs to be increased in time to increase the tension, and the more the extrusion force constraint range is exceeded, the more the winding speed needs to be increased. In the case of being higher than the extrusion force constraint range, the tension of the traction rope 1000 between the cable winding and unwinding mechanism and the cable traction machine 2000 is too large, and the winding speed needs to be reduced in time to reduce the tension, and the more the extrusion force constraint range is exceeded, the more the winding speed needs to be reduced.

[0086] The above-mentioned traction overload instruction is generated by the traction control system 2210. When the traction force detected by the traction force detection unit in the traction control system 2210 is higher than the preset traction high threshold value, it can be indicated that the traction force has exceeded the driving capacity of the cable traction machine 2000. At this time, the traction force needs to be reduced, and then the traction overload instruction is generated and transmitted to the cable winding and unwinding mechanism, so that the cable winding and unwinding mechanism can reduce the winding speed in time to reduce the traction force until it is reduced to the preset stable force value.

[0087] In some embodiments, the cable pulling and laying control method further includes: obtaining the traction force detected by the traction force detection unit; When the traction force is lower than the preset traction low threshold, the traction drive system 2220 is controlled to increase the traction speed of the traction wheel 2226 until the traction force detected by the traction force detection unit rises to a preset stable force value, which is higher than or equal to the preset traction low threshold.

[0088] In this embodiment, in order to improve the traction efficiency of the cable traction machine 2000 as much as possible, the cable traction machine 2000 is operated between the preset traction low threshold and the preset traction high threshold as much as possible to avoid long-term low output power operation.

[0089] The above-mentioned control cable traction machine 2000 speeding up can be understood as adjusting the preset set speed, that is, after completing the speeding up under the above-mentioned environment, it will not directly slow down after the traction force recovers to the preset stable force value.

[0090] In some embodiments, the preset pressure parameters include an allowable range of extrusion force; Adjusting the reeling speed of the cable retracting mechanism for the traction rope 1000 according to the preset pressure parameters and the extrusion force includes: When the extrusion pressure is higher than the upper threshold of the permissible extrusion pressure range, the cable retracting and releasing mechanism is controlled to reduce the reeling speed of the traction rope 1000 until the extrusion pressure is lower than the upper threshold of the permissible extrusion pressure range; When the extrusion pressure is lower than the lower threshold of the permissible extrusion pressure range, the cable retracting and releasing mechanism is controlled to increase the reeling speed of the traction rope 1000 until the extrusion pressure is higher than the lower threshold of the permissible extrusion pressure range.

[0091] In this embodiment, the preset pressure parameter is defined as the allowable range of the extrusion pressure, so that when the upper threshold of the extrusion pressure allowable range is exceeded, the speed can be reduced in time, and when the extrusion pressure is lower than the lower threshold of the extrusion pressure allowable range, the speed can be increased in time, so that the extrusion pressure can be controlled within an appropriate range, ensuring that the tension of the traction rope 1000 between the cable retracting and releasing mechanism and the cable traction machine 2000 is within an appropriate range.

[0092] When the winding speed is reduced or increased, a preset winding speed may be added. The preset winding speed is located in the middle section of the permissible range of the extrusion pressure, thereby reducing the frequency of adjusting the winding speed.

[0093] The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited to this. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application.

Claims

1. A cable intelligent traction system, characterized in that: include: A cable traction machine includes a traction control system, a traction drive system, and a traction wheel. The traction control system is used to control the traction drive system to drive the traction wheel to pull the traction rope, wherein the cable is wound around the traction wheel at least once. The traction control system has a built-in traction force detection unit, which is used to detect the traction force of the cable traction machine pulling the cable. The traction rope is connected to the end of the cable to be pulled. The cable retracting and releasing mechanism includes a cable retracting base, a wire retracting and releasing device slidably arranged on the cable retracting base, a cable retracting and releasing controller, and a pressure detection component arranged on the cable retracting base; the wire retracting and releasing device squeezes the pressure detection component when sliding; the wire retracting and releasing device is used to reel in the traction rope transmitted by the traction wheel; the cable retracting and releasing controller is used to adjust the reeling speed of the wire retracting and releasing device on the traction rope according to the squeezing force detected by the pressure detection component and the traction force detected by the traction force detection unit; In which, the change in the extrusion force is negatively correlated with the change in the winding speed, so that the extrusion force is maintained at a preset pressure parameter; when the traction force exceeds a preset traction high threshold, the winding speed is reduced until the traction force is reduced to a preset stable force value, and the preset stable force value is lower than or equal to the preset traction high threshold.

2. The intelligent cable traction system according to claim 1, characterized in that: The traction rope is wound around the traction wheel three to four times.

3. The intelligent cable traction system according to claim 2, characterized in that: The traction drive system comprises: Traction base; A servo motor is provided on the traction base; A reduction box, the input end of which is transmission-connected to the servo motor; The output shaft is transmission-connected to the output end of the reduction box; the traction wheel is sleeved on the output shaft.

4. The intelligent cable traction system according to claim 3, characterized in that: The traction wheel is configured as a hinge wheel, which is disposed on the output shaft and coaxially with the output shaft for pulling the traction rope.

5. The intelligent cable traction system according to claim 3, characterized in that: A hoisting structure is also provided on the traction base.

6. The intelligent cable traction system according to claim 1, characterized in that: The wire retracting and releasing device includes a mounting seat movably arranged on the cable retracting base, a wire retracting and releasing wheel arranged on the mounting seat, and a retracting and releasing driving member for driving the wire retracting and releasing wheel to rotate.

7. The intelligent cable traction system according to claim 6, characterized in that: The cable retracting and extending mechanism further comprises: A wire arranging device is arranged in front of the wire retracting and releasing device. The wire arranging device includes a support bracket, a wire guide mechanism movably arranged on the support bracket, and a driving 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 wire retracting and releasing wheel.

8. A cable traction laying control method, characterized in that: Applied to the intelligent cable traction system according to any one of claims 1 to 7, the cable traction laying control method includes: Obtaining the extrusion pressure collected by the pressure detection component; According to the preset pressure parameter and the squeezing force, the reeling speed of the traction rope by the cable reeling and releasing mechanism is adjusted so that the squeezing force is maintained at the preset pressure parameter; wherein the change of the squeezing force is negatively correlated with the change of the reeling speed; In response to a traction overload instruction, controlling the cable retracting and releasing mechanism to reduce a reeling speed of the traction rope until the traction force detected by the traction force detection unit decreases to a preset stable force value, wherein the preset stable force value is lower than or equal to a preset traction high threshold value; The traction overload instruction is generated by the traction control system when the traction force detected by the traction force detection unit is higher than the preset traction high threshold.

9. The cable pulling and laying control method according to claim 8, characterized in that: The cable pulling and laying control method further includes: acquiring the traction force detected by the traction force detection unit; When the traction force is lower than a preset traction low 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 increases to the preset stability force value, and the preset stability force value is higher than or equal to the preset traction low threshold.

10. The cable pulling and laying control method according to claim 8, characterized in that: The preset pressure parameters include an allowable range of extrusion pressure; The adjusting the reeling speed of the traction rope by the cable retracting and releasing mechanism according to the preset pressure parameter and the extrusion force includes: When the extrusion pressure is higher than the upper threshold of the permissible extrusion pressure range, controlling the cable retracting and releasing mechanism to reduce the reeling speed of the traction rope until the extrusion pressure is lower than the upper threshold of the permissible extrusion pressure range; When the extrusion force is lower than the lower threshold of the extrusion force allowable range, the cable retracting and releasing mechanism is controlled to increase the reeling speed of the traction rope until the extrusion force is higher than the lower threshold of the extrusion force allowable range.

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