Multi-specification cable universal conveying device and conveying method

Abstract

The invention belongs to the field of cable installation, and particularly provides a universal conveying device and conveying method for cables of multiple specifications. The device comprises a base, a cable feeding mechanism is arranged on the base, the cable feeding mechanism comprises a driving rotating body and a driven rotating body, a radial distance is formed between the driving rotating body and the driven rotating body so that a cable can enter the cable, and when the driving rotating body and the driven rotating body rotate, the friction force between the driving rotating body and the cable and the friction force between the driven rotating body and the cable meet the requirement for forward cable conveying. And the specification detection mechanism is used for detecting the specification of the cable, and is provided with a radial adjustment mechanism for driving the driving rotating body to move radially and / or a radial adjustment mechanism for driving the driven rotating body to move radially. According to the method, the radial distance between a driving rotating body and a driven rotating body of the cable feeding mechanism is automatically adjusted according to the specifications of the cables, so that the cable feeding mechanism can be matched with the meshing force needed by conveying the cables of different specifications. The device and the method provided by the invention are generally used for conveying cables of different specifications.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of cable installation, and particularly relates to a universal conveying device for cables of multiple specifications and a conveying method. BACKGROUND

[0002] In the process of tunneling and roadway tunneling construction in coal mines and metal mines, the extension and arrangement of high-voltage cables is a key link to ensure the continuous power supply of equipment (such as shield machines, TBMs, cantilever tunneling machines, and tunneling and anchoring integrated machines). In such projects, the length of high-voltage cables is usually more than 500 meters. In actual projects, the specifications (diameter, voltage level, sheath material, etc.) of cables used by different equipment are not consistent.

[0003] Currently, during construction, the extension and erection of high-voltage cables mainly rely on manual dragging or simple auxiliary equipment (such as pulleys and fixed winches). Due to the poor environment in the tunnel, the labor intensity of manual cable laying is extremely high, and there are safety hazards. The existing winches, pulleys, etc. are only suitable for a single specification of cable and cannot flexibly cope with cables of different specifications, resulting in the need to frequently change equipment during construction, which is inconvenient to operate.

[0004] In addition, when manually or using winches, pulleys, etc. to convey cables, the cables are prone to excessive bending, friction, or deviation, which may damage the insulation layer over a long period of time, leading to problems such as electric leakage or short circuit. SUMMARY

[0005] The purpose of the present application is to provide a universal conveying device for cables of multiple specifications to solve the technical problem that the existing cable conveying device cannot adapt to cables of different specifications. The purpose of the present application is also to provide a universal conveying method for cables of multiple specifications to solve the technical problem that cables of different specifications cannot be conveyed by machinery.

[0006] To achieve the above-mentioned purposes, the technical scheme of the universal conveying device for cables of multiple specifications provided by the present application is as follows: A universal conveying device for cables of multiple specifications, comprising a base, a cable feeding mechanism is provided on the base, the cable feeding mechanism comprises a driving rotating body and a driven rotating body, a rotary driver is configured for the driving rotating body to drive it to rotate, a radial spacing is provided between the driving rotating body and the driven rotating body to allow the cable to enter and the friction between the driving rotating body and the driven rotating body when rotating to meet the requirement of conveying the cable forward, a specification detection mechanism is provided on the base, the specification detection mechanism is used to detect the specification of the cable, a radial adjustment mechanism is configured for the driving rotating body to drive it to move radially and / or a radial adjustment mechanism is configured for the driven rotating body to drive it to move radially, so as to control the radial adjustment mechanism to adjust the radial spacing according to the specification of the cable detected by the specification detection mechanism.

[0007] As a further improvement, the driving rotary body has two taper surfaces with increasing diameters from the middle to the two ends in the axial direction, so that the outer periphery of the driving rotary body forms a V-shaped positioning groove for positioning the cable.

[0008] As a further improvement, flexible protection strips extending along the generatrix of the taper surfaces are fixed on the taper surfaces, and a plurality of flexible protection strips are arranged with a predetermined included angle between adjacent two flexible protection strips.

[0009] As a further improvement, the side of the flexible protection strip away from the taper surface is provided with a wave-shaped protrusion extending along the length direction of the flexible protection strip.

[0010] As a further improvement, the wave-shaped protrusion is provided with a groove at the central position in the width direction of the flexible protection strip.

[0011] As a further improvement, the driven rotary body has a cylindrical segment in the middle and taper segments at both ends of the cylindrical segment in the axial direction, and the diameters of the taper segments are smaller than that of the cylindrical segment, so that the outer periphery of the driven rotary body forms a circular truncated cone shape matching the V-shaped positioning groove formed by the outer periphery of the driving rotary body.

[0012] As a further improvement, the outer periphery of the cylindrical segment is provided with a protruding tooth-shaped structure.

[0013] As a further improvement, the rotary driver is provided with a rotation speed / torque control module to control the output rotation speed and torque of the rotary driver according to the cable specification detected by the specification detection mechanism.

[0014] As a further improvement, the specification detection mechanism includes a front guide rotary body located at the front side of the cable feeding mechanism in the radial direction and a rear guide rotary body located at the rear side of the cable feeding mechanism in the radial direction, and the front guide rotary body and the rear guide rotary body are provided with pressure sensors to match the cable specification according to the average value of the results of the pressure sensors of the front guide rotary body and the rear guide rotary body.

[0015] As a further improvement, the base is provided with a front deviation correction mechanism in front of the front guide rotary body and a rear deviation correction mechanism behind the rear guide rotary body, and the front deviation correction mechanism is provided with a front deviation correction detection mechanism and the rear deviation correction mechanism is provided with a rear deviation correction detection mechanism, the front and rear deviation correction detection mechanisms are used to detect the cable deviation at the current position, and the front and rear deviation correction mechanisms each include a pair of left and right deviation correction arms capable of clamping the cable, and the left and right deviation correction arms can move left and right to correct the cable conveying posture according to the cable deviation detected by the front and rear deviation correction detection mechanisms.

[0016] As a further improvement, the base includes a basic seat and telescopic seats located at the front and rear ends of the basic seat, and the telescopic seats can be adjusted forward and backward relative to the basic seat, and the front and rear deviation correction detection mechanisms are fixed on the telescopic seats at the front and rear ends of the basic seat, respectively.

[0017] As a further improvement, the front and rear deviation correction detection mechanisms each include a bracket, and a reflective photoelectric sensor and a receiver are arranged on the bracket, and the current cable deviation condition is detected by the reflected light signal received by the receiver.

[0018] As a further improvement, the ends of the left and right deviation correction arms are provided with cable push plates, which are arc-shaped or V-shaped structures.

[0019] As a further improvement, the specification detection mechanism includes a guide rotating body located on the radial rear side of the cable feeding mechanism, and a pressure sensor is arranged on the guide rotating body to match the cable specification according to the result of the pressure sensor.

[0020] As a further improvement, the driving rotating body is rotatably arranged on the base, and the radial adjustment mechanism is arranged for the driven rotating body, and the radial adjustment mechanism includes a straight drive, and the output end of the straight drive is fixed with a rotating frame, and the driven rotating body is rotatably arranged on the rotating frame.

[0021] As a further improvement, the base is provided with a front deviation correction mechanism and a rear deviation correction mechanism on the front and rear sides of the cable feeding mechanism, and the front deviation correction mechanism is provided with a front deviation correction detection mechanism, and the rear deviation correction mechanism is provided with a rear deviation correction detection mechanism, and the front and rear deviation correction detection mechanisms are used to detect the current cable deviation condition, and the front and rear deviation correction mechanisms each include a pair of left and right deviation correction arms that can clamp the cable, and the left and right deviation correction arms can move left and right to correct the cable transmission posture according to the cable deviation condition detected by the front and rear deviation correction detection mechanisms.

[0022] As a further improvement, the base includes a basic seat and telescopic seats located at the front and rear ends of the basic seat, and the telescopic seats can be adjusted in front and rear directions relative to the basic seat, and the front and rear deviation correction detection mechanisms are fixed on the telescopic seats at the front and rear ends of the basic seat.

[0023] As a further improvement, the front and rear deviation correction detection mechanisms each include a bracket, and a reflective photoelectric sensor and a receiver are arranged on the bracket, and the current cable deviation condition is detected by the reflected light signal received by the receiver.

[0024] As a further improvement, the ends of the left and right deviation correction arms are provided with cable push plates, which are arc-shaped or V-shaped structures.

[0025] The cable transmission device provided by the application has the advantages that: when the cable transmission device is implemented, the driving rotating body and the driven rotating body arranged on the cable feeding mechanism can clamp the cable, the driving rotating body can be actively rotated, the driven rotating body plays a role in cooperating with the driving rotating body to jointly clamp the cable, and the generated friction force can transmit the cable from the rear to the front.

[0026] The present application can detect the cable specification in real time through the specification detection mechanism, and actively control the radial adjustment mechanism according to the detected cable specification, and then actively adjust the radial distance between the driving rotary body and the driven rotary body, so that the cables of different specifications can be reliably clamped and transmitted, and the present application is applicable to cables of various specifications.

[0027] To achieve the above-mentioned object, the technical scheme of the multi-specification cable universal transmission method provided by the present application is as follows: A multi-specification cable universal transmission method, when transmitting a cable, detecting the specification of the cable transmitted by the current cable transmission device, and automatically adjusting the radial distance between the driving rotary body and the driven rotary body of the cable feeding mechanism according to the cable specification, so that the cable feeding mechanism can match the required biting force for transmitting cables of different specifications.

[0028] As a further improvement, the cable specification detection is realized by the following method: guide rotary bodies are arranged on the front and rear sides of the cable feeding mechanism, the cable can be transmitted forward and backward along the guide rotary bodies, and pressure sensors are arranged on the guide rotary bodies to match the cable specification according to the average value of the results of the pressure sensors of the front and rear guide rotary bodies.

[0029] As a further improvement, the offset of the current cable is detected before the cable is transmitted to the guide rotary body located at the rear side of the cable feeding mechanism and after the cable is transmitted through the guide rotary body located at the front side of the cable feeding mechanism, and the cable offset is corrected left and right according to the cable offset.

[0030] As a further improvement, in addition to adjusting the radial distance, the output rotation speed and torque of the rotary driver driving the driving rotary body to rotate are also automatically adjusted to a preset range according to the detected cable specification information.

[0031] As a further improvement, the offset of the current cable is detected before the cable is fed to the cable feeding mechanism and after the cable is transmitted through the cable feeding mechanism, and the cable offset is corrected left and right according to the cable offset.

[0032] As a further improvement, in the initial state, the radial distance between the driving rotary body and the driven rotary body of the cable feeding mechanism is adjusted to the maximum, and after the cable specification is obtained, the radial distance between the driving rotary body and the driven rotary body is adjusted to an appropriate range.

[0033] The present application belongs to an open invention, and its beneficial effects are as follows: when transmitting a cable, the present application can automatically detect and obtain the current cable specification, and according to the detected cable specification, the radial distance between the driving rotary body and the driven rotary body can be automatically adjusted, so that cables of different specifications can be reliably clamped and transmitted, and the present application is applicable to cables of various specifications. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 This is an isometric view of an embodiment of the universal transmission device for multi-specification cables in this invention; Figure 2 This is a top view of an embodiment of the universal transmission device for multi-specification cables in this invention; Figure 3 This is a front view of an embodiment of the universal cable transmission device for multiple specifications in this invention; Figure 4 This is a side view of an embodiment of the universal transmission device for multi-specification cables in this invention; Figure 5 for Figure 1 Axonometric view of the central base; Figure 6 for Figure 1 Axonometric view of the active rotating body; Figure 7 for Figure 1 Top view of the active rotating body; Figure 8 for Figure 7 Axonometric view of the flexible protective strip; Figure 9 for Figure 1 Schematic diagram of the installation method of the driven rotating body; Figure 10 for Figure 1 Isometric view of the center correction mechanism; Figure 11 for Figure 1 Front view of the center correction mechanism; Figure 12 for Figure 1 Schematic diagram of the mid-track correction and detection mechanism; Figure 13 for Figure 1 Axonometric drawing of a medium-sized testing institution; Figure 14 for Figure 1 Front view of a medium-sized testing organization; Figure 15 This is an overall transmission flowchart of the implementation method for the universal transmission of multi-specification cables in this invention; Figure 16 This is a flowchart illustrating the correction control process of the multi-specification cable universal transmission method implementation method in this invention. Figure 17 This is a flowchart illustrating the speed / torque control process of the multi-specification cable universal transmission method implementation method in this invention. Figure 18 This is a table of speed / torque control parameters for the implementation of the universal transmission method for multi-specification cables in this invention; Figure 19The occlusion force control flow chart for the multi-specification cable universal conveying method embodiment of the present application; Figure 20 The occlusion force control parameter table for the multi-specification cable universal conveying method embodiment of the present application.

[0035] Explanation of reference numerals: 1, base; 2, cable conveying mechanism; 3, specification detection mechanism; 4, deviation correction mechanism; 5, deviation correction detection mechanism; 101, telescopic base; 102, basic base; 103, motor fixing base; 104, cable detection fixing base; 105, deviation correction fixing base; 106, deviation correction detection fixing base; 201, driving rotary body; 202, rotary driver; 203, driven rotary body; 204, rotary frame; 205, linear driver; 2011, flexible protection strip; 301, guide rotary body; 302, guide support; 401, deviation correction support; 402, deviation correction arm; 403, cable push plate. DETAILED DESCRIPTION

[0036] In view of the problem that different specification cables are difficult to be conveyed by the same device, the basic technical concept of the present application is to detect the specification of the current cable in real time when conveying the cable, and to actively change the occlusion interval (related to the occlusion force) of the cable clamped by the cable conveying mechanism according to the detected cable specification, so that cables of different specifications can be normally occluded and conveyed.

[0037] For the conveying device, this also means that the conveying device is provided with a specification detection mechanism for detecting the specification of the current conveying cable. At the same time, the radial interval between the driving rotary body (providing driving force) and the driven rotary body (cooperating with the driving rotary body to provide occlusion force) of the cable conveying mechanism is adjustable.

[0038] Considering that the cable may deviate during the conveying process, in a further concept, the deviation of the cable during the conveying process can also be detected in real time, and the deviation of the cable can be actively corrected according to the detected deviation to prevent the cable from being damaged due to excessive bending.

[0039] Based on the above concept, the present application is further described in detail below in combination with the embodiments.

[0040] The specific embodiment of the multi-specification cable universal conveying device provided by the present application is as follows: The multi-specification cable universal conveying device (hereinafter referred to as conveying device) provided by the present embodiment is as a whole as shown in Figures 1-4As shown, the device includes a base 1, which serves as the mounting base for all parts of the conveying device. To enable cable conveying, a cable feeding mechanism 2 is provided on the base 1. The cable feeding mechanism 2 includes a driving rotating body 201 and a driven rotating body 203. The driving rotating body 201 is a rotary body capable of active rotation. A rotary actuator 202, such as a motor, pneumatic motor, or hydraulic motor, is provided to drive the driving rotating body 201. Naturally, a motor mounting bracket 103 is provided on the base 1 for proper installation of the rotary actuator 202. The rotation axes of the driven rotating body 203 and the driving rotating body 201 are parallel and extend horizontally. The driven rotating body 203 is a rotary body that rotates along with the cable during the cable conveying process. Both the driving rotating body 201 and the driven rotating body 203 can be solid cylindrical structures or cylindrical structures with a central hole; their types are not specifically limited here.

[0041] During cable transmission, the cable can be fed between the driving rotating body 201 and the driven rotating body 203. Generally, the transmission direction of the cable can be understood as transmission from back to front. Assuming the cable is traveling from... Figure 3 The cable is transmitted from right to left, with the left side being the forward direction. The active rotating body 201 rotates counterclockwise, providing friction to the left. The friction between the cable and the active rotating body 201 also points to the left, causing the driven rotating body 203 to rotate clockwise. During this process, the driven rotating body 203 works in conjunction with the active rotating body 201 to engage the cable. In other words, the magnitude of the friction between the active rotating body 201 and the driven rotating body 203 and the cable should be sufficient for the cable to be transmitted forward normally. The magnitude of the friction is related to the pressure exerted by the active rotating body 201 and the driven rotating body 203 on the cable, and the pressure is related to the radial distance between the active rotating body 201 and the driven rotating body 203.

[0042] The base 1 is also equipped with a specification detection mechanism 3, which is used to detect the current cable specification (mainly the outer diameter). Specifically, since cables of different specifications have different weights, a pressure sensor can be used to detect the current cable pressure along the cable's transmission path to determine the cable specification. Alternatively, if the outer diameter of the cable is different, machine vision can be used to acquire an image of the cable's outer diameter, identify the cable's outer diameter size, and thus determine the cable specification.

[0043] For the cable feeding mechanism 2, in order to meet the cable transmission operations of different specifications, the radial distance between the active rotating body 201 and the driven rotating body 203 of the cable feeding mechanism 2 should be adjustable and changeable. On the one hand, it can meet the needs of different specifications of cables entering the distance, and on the other hand, it can match the friction force required for the transmission of different specifications of cables.

[0044] Adjusting the radial distance between the driving rotary body 201 and the driven rotary body 203 means that the driving rotary body 201 and the driven rotary body 203 can approach and move away from each other, that is, at least one of the driving rotary body 201 and the driven rotary body 203 can be provided with a radial adjustment mechanism for driving the radial movement thereof. In other words, the cable feeding mechanism 2 is provided with a radial adjustment mechanism for driving the radial movement of the driving rotary body 201 and / or a radial adjustment mechanism for driving the radial movement of the driven rotary body 203.

[0045] Specifically, in some possible embodiments, as shown in Figures 1-4 and Figure 9 The driven rotary body 203 is provided with a radial adjustment mechanism, and the driving rotary body 201 is rotationally arranged on the base 1, more specifically, the radial adjustment mechanism includes a linear actuator 205, which refers to an actuator that can output linear motion, such as an electric push rod, a pneumatic cylinder, a hydraulic cylinder, etc. The output end of the linear actuator 205 is fixed with a rotary frame 204, and the driven rotary body 203 is rotationally arranged on the rotary frame 204, which can be rotationally arranged by using a rolling bearing.

[0046] Since the driven rotary body 203 is not provided with the rotary driver 202, the connected structure is relatively simple, and the way of arranging the radial adjustment mechanism on the driven rotary body 203 is more simple and convenient.

[0047] When feeding the cable, the feeding device can control the radial adjustment mechanism to move according to the cable specification detected by the specification detection mechanism 3, so as to drive the driven rotary body 203 to move radially, so as to change the radial distance between the driving rotary body 201 and the driven rotary body 203, and meet the feeding requirements of cables of different specifications.

[0048] In some possible embodiments, in the initial state, the radial distance between the driving rotary body 201 (which can be understood as a cable feeding wheel) and the driven rotary body 203 (which can be understood as a cable pressing wheel) is adjusted to the maximum distance, and after detecting the cable specification, the two are controlled to approach each other to a suitable distance.

[0049] The above process can be automatically implemented, and it is not difficult to understand that a controller can be arranged on the feeding device, the controller receives the detection data of the specification detection mechanism 3, and matches the corresponding radial adjustment mechanism to act. That is, the controller is in communication connection with the specification detection mechanism 3, and is in control connection with the radial adjustment mechanism.

[0050] Preferably, the linear driver 205 of the radial adjustment mechanism is a pneumatic cylinder, since gas can be compressed, from a microscopic point of view, this can make the engagement of the driving body 201 and the driven body 203 to the cable a kind of "elastic" engagement, preventing the cable insulation layer from being damaged due to excessive engagement force. It is not difficult to understand that the control of the cylinder action can be achieved by controlling the direction and amount of air intake to the cylinder, and specifically, the corresponding valves and valve groups can be controlled, which can be achieved by those skilled in the art after consulting relevant tool books.

[0051] In the preferred embodiment, the rotating driver 202 is also provided with a rotating speed / torque control module, and when conveying the cable, the output rotating speed and torque of the rotating driver 202 can be controlled according to the cable specification detected by the specification detection mechanism 3. In this way, when conveying cables of different specifications, the output rotating speed and torque of the rotating driver 202 can be actively changed according to the detected cable specification, so as to ensure that cables of different specifications can be transmitted at appropriate speeds. For example, for cables with larger diameters (in common parlance, for thicker cables), the weight is larger, and it is suitable for high-torque low-speed transmission. For cables with smaller diameters (in common parlance, for thinner cables), the weight is smaller, and it is suitable for low-torque high-speed transmission.

[0052] Specifically, the rotating driver 202 can adopt a motor, a hydraulic motor, or a pneumatic motor. For the motor, a motor controller can be configured to control the output rotating speed and torque of the motor. For the hydraulic motor and the pneumatic motor, the output rotating speed and torque can be controlled by controlling the amount of oil intake or air intake through the corresponding valves and valve groups.

[0053] Considering that the cable may deviate or bend during the conveying process, in the preferred embodiment, deviation correction mechanisms 4 can be arranged on the base 1 on the front and rear sides of the cable conveying mechanism 2. The deviation correction mechanism 4 on the front side can be defined as a front deviation correction mechanism, and the deviation correction mechanism 4 on the rear side can be defined as a rear deviation correction mechanism. In other words, the rear side can be understood as the incoming side, and the front side can be understood as the outgoing side. The front deviation correction mechanism is the outgoing deviation correction mechanism, and the rear deviation correction mechanism is the incoming deviation correction mechanism.

[0054] The function of the deviation correction mechanism 4 is to correct the deviation of the cable. Specifically, as shown in Figures 1-4 、 Figure 10 and Figure 11 , the deviation correction mechanism 4 includes deviation correction arms 402, which are arranged in pairs and can move horizontally to clamp the cable. For the conveying device, the front and rear conveying of the cable has been defined above, and the up and down directions are very clear. Therefore, the horizontal direction is the left and right direction. The two deviation correction arms 402 are respectively a left deviation correction arm and a right deviation correction arm, and both can move left and right to correct the conveying posture of the cable. For example, if the cable deviates to the left, the left deviation correction arm can extend to push the cable to the right, and correspondingly, the right deviation correction arm can retract to the right.

[0055] Preferably, as shown in Figures 1-4 and Figure 12 , a cable pushing plate 403 is arranged at the end of the deviation correction arm 402, which is not flat, and can be an arc-shaped plate structure as shown in the figure, or a V-shaped plate structure, and the opening faces the cable. In this way, when pushing the cable to correct the deviation, the cable can be clamped and positioned, which is beneficial to prevent the cable from deviating up and down.

[0056] In order to obtain the deviation of the cable in real time, the deviation correction mechanism 4 is provided with a deviation correction detection mechanism 5, that is, a front deviation correction detection mechanism and a rear deviation correction detection mechanism, respectively. The deviation correction detection mechanism 5 is used to detect the deviation of the cable at the current position, and the deviation correction mechanism 4 can correct the posture of the cable transmission according to the deviation of the cable detected by the deviation correction detection mechanism 5.

[0057] Preferably, as shown in Figures 1-4 and Figure 13 , the base 1 includes a basic seat 102, and telescopic seats 101 are arranged at the front and rear ends of the basic seat 102. The telescopic seats 101 can be adjusted (i.e. moved) relative to the basic seat 102. The front and rear deviation correction detection mechanisms 5 are fixed on the telescopic seats 101 at the front and rear ends of the basic seat 102, respectively. Since the allowable deviation of different specifications of cables is not the same, the movement of the telescopic seat 101 can be controlled according to the specification of the cable, so as to change the distance between the deviation correction detection mechanism 5 and the deviation correction mechanism 4, and thus improve the accuracy of the deviation correction detection mechanism 5 in detecting the deviation of different cable specifications.

[0058] Regarding the deviation correction detection mechanism 5, in some embodiments, a reflective photoelectric sensor can be used to detect the received photoelectric signal to calculate the deviation of the cable. Specifically, the deviation correction detection mechanism 5 includes a bracket as a fixed base, and a reflective photoelectric sensor and a receiver are arranged on the bracket.

[0059] Before transmitting the cable, the deviation correction detection mechanism 5 can be calibrated. For different specifications of cables, a preset centering signal is calibrated, that is, a signal when the cable is transmitted in an optimal posture is calibrated, and a suitable deviation range, that is, a dead zone range, is preset according to different cables. When the deviation of the cable exceeds the dead zone, the deviation correction mechanism 4 acts to correct it first.

[0060] It should be noted that in some other embodiments, the deviation correction detection mechanism 5 can also use a machine vision-based detection mechanism to capture the image information of the cable in real time, and then analyze and judge the current deviation of the cable. However, it should be noted that the cost of the machine vision detection mechanism is relatively high at present.

[0061] In some preferred embodiments, as shown in Figure 14 , Figures 1-4 and Figure 15As shown, the specification detection mechanism 3 includes guide rotating bodies 301 respectively located on the front and back sides of the cable feeding mechanism 2 in the radial direction, which can be installed on the base 1 (base 102) through guide supports 302, wherein the guide rotating bodies 301 are rotatably assembled (configurable rolling bearings) on the guide supports 302, and the rotation axes extend in the left-right direction. The two guide rotating bodies 301 can be defined as a front guide rotating body 301 (outgoing side) and a rear guide rotating body 301 (incoming side) respectively. Similarly, the guide rotating bodies 301 can be cylindrical structures with central holes or solid columnar structures. Most basically, the guide rotating bodies 301 serve to guide the cable transmission and provide support for the cable. Pressure sensors are installed on the guide rotating bodies 301, and the pressure on the guide rotating bodies 301 is different when different cables pass through the guide rotating bodies 301. In order to improve the accuracy of cable specification detection, the average value of the results of the pressure sensors on the front and rear guide rotating bodies 301 can be used to obtain the cable specification.

[0062] Based on the fact that the front and rear guide rotating bodies 301 are provided on the front and back sides of the cable feeding mechanism 2, Figures 1-4 as shown, the front and rear deviation correction mechanisms 4 can be respectively arranged before the front guide rotating body and after the rear guide rotating body. That is, the deviation correction mechanisms 4 are located at the two ends of the entire transmission process of the transmission device.

[0063] In the preferred embodiment, the overall process of cable transmission is as shown in Figure 6 Specifically, when the cable is fed to the transmission device, it first passes through the incoming side deviation correction detection mechanism 5, which detects whether the cable deviates at this time and determines whether the deviation correction arm 402 (a pneumatic cylinder can be used) needs to act and the amount of action according to the deviation condition. Then the cable passes through the incoming side guide rotating body 301 (guide wheel), the cable feeding mechanism 2, the outgoing side guide rotating body 301 (guide wheel) in sequence. The pressure sensors on the two guide rotating bodies 301 can measure data 1 and data 2 respectively, the current cable specification is determined based on the average value of the two data, and the torque of the rotary driver 202 (such as a pneumatic motor) and the linear driver 205 (such as a pneumatic cylinder) are adjusted to an appropriate range. The cable passing through the outgoing side guide rotating body 301 can be detected again for translation, and the deviation is adjusted according to the deviation condition.

[0064] It should be noted that in some other embodiments, the guide rotating body 301 can also be arranged only on the radial back side of the cable feeding mechanism 2, that is, the specification detection mechanism 3 only includes the guide rotating body 301 on the incoming side, and the pressure sensor is arranged on the guide rotating body 301. At this time, the cable specification can also be actively detected before the incoming side.

[0065] Regarding the cable feeding mechanism 2, in some feasible preferred embodiments, as shown inFigure 7 , Figures 1-4 and Figure 9 As shown in Figure 9 , the driving rotating body 201 has two conical surfaces on its axial direction, with diameters gradually increasing from the middle to both ends. In this way, a V-shaped positioning groove can be formed on the outer periphery of the driving rotating body 201, and the V-shaped positioning groove has a positioning effect on the cable.

[0066] In this preferred embodiment, the structure of the driving rotating body 201 is optimized. Compared with the case where the outer periphery of the driving rotating body 201 is a cylindrical surface, the V-shaped positioning groove formed on the outer periphery of the driving rotating body 201 in this embodiment can maintain the centering of the cable during the transmission process.

[0067] To ensure that when transmitting cables of different specifications, the driven rotating body 203 can have a larger contact area for biting the cable. Correspondingly, in a more optimal embodiment, as Figures 1-4 and Figure 6 shown, the driven rotating body 203 has a centered cylindrical section and cones located at both ends of the cylindrical section on its axial direction. The diameter of the conical section is smaller than that of the cylindrical section, so that a frustum shape adapted to the V-shaped positioning groove on the outer periphery of the driving rotating body 201 is formed on the outer periphery of the driven rotating body 203. When transmitting cables of different specifications, the driving rotating body 201 and the driven rotating body 203 approach or move away from each other, but the shapes of their outer peripheries are still adapted, which can ensure the pressing effect during transmission.

[0068] More preferably, the driven rotating body 203 is provided with a protruding tooth-shaped structure on the outer periphery of the cylindrical section. In this way, when transmitting the cable, a more stable biting structure can be formed.

[0069] In some preferred embodiments, such as Figure 7 , Figure 6 and Figure 8 shown, the driving rotating body 201 is fixed with flexible protective strips 2011 (such as rubber strips) on its conical surface. The flexible protective strips 2011 extend along the generatrix direction of the conical surface, and a plurality of them are arranged. An angle is set between adjacent two flexible protective strips 2011. For example, when there are four flexible protective strips 2011, the flexible protective strips 2011 are arranged in an "X" shape as a whole. When there are six flexible protective strips 2011, the flexible protective strips 2011 are arranged in a "cross" shape as a whole.

[0070] By configuring the flexible protective strips 2011, in this preferred embodiment, when transmitting the cable, it can play a role in protecting the insulation layer of the outer layer of the cable, and at the same time can also prevent the driving rotating body 201 from slipping.

[0071] More preferably, as Figure 6 and Figure 5As shown, the flexible protection strip 2011 is provided with a wave-shaped protrusion on the side away from the conical surface, and the wave-shaped protrusion extends along the length direction of the flexible protection strip 2011. In this way, the flexible protection strip 2011 is more easily compressed and deformed when it contacts the cable, thereby achieving a better protection and anti-skid effect.

[0072] Further, as shown in the drawings, Figure 16 the wave-shaped protrusion of the flexible protection strip 2011 is provided with a groove at the central position in the width direction, and the groove provides a further deformation space for the wave-shaped protrusion under pressure, thereby further improving the protection and anti-skid effect.

[0073] For the convenience of installing various mechanisms, as shown in the drawings, Figure 17 the base 1 is provided with a cable detection fixing seat 104, a deviation correction fixing seat 105 and a deviation correction detection fixing seat 106 at appropriate positions, respectively, for fixing the specification detection mechanism 3, the deviation correction mechanism 4 and the deviation correction detection mechanism 5. The fixing seats can be provided with upward insertion holes, and the insertion rods of the various mechanisms can be inserted into the fixing seats to achieve quick insertion and fixing.

[0074] In addition, for the convenience of flexible movement of the conveying device, walking wheels and handles can be provided on the base 1, and the conveying device can be pushed by the staff to move in a flat space during construction.

[0075] Of course, according to different use conditions, the base 1 can also be fixed to the tunnel wall in some cases.

[0076] The specific implementation of the multi-specification cable universal conveying method provided by the application is as follows: The key feature of the cable conveying method is that when conveying the cable, the specification of the cable currently conveyed by the cable conveying device is detected, and the radial distance between the driving rotary body and the driven rotary body of the cable feeding mechanism is automatically adjusted according to the specification of the cable, so that the cable feeding mechanism can match the required biting force for conveying different specifications of cables.

[0077] And considering that the cable may deviate during the conveying process, in a more optimal case, the deviation of the cable at the current position can be detected before the cable is fed to the cable feeding mechanism and after the cable is conveyed through the cable feeding mechanism, and the deviation of the cable can be corrected left and right according to the deviation of the cable, thereby avoiding damage caused by the cable being bent too much.

[0078] Specifically, as a low-cost preferred embodiment, the specification of the cable can be detected by the following method: guide rotary bodies are arranged on the front and rear sides of the cable feeding mechanism, the cable can be conveyed along the guide rotary bodies, and pressure sensors are arranged on the guide rotary bodies to match the specification of the cable according to the average value of the results of the pressure sensors of the front and rear guide rotary bodies.

[0079] Of course, in the case of the guide rotating bodies arranged in front and behind, the cable offset is detected before the cable is conveyed to the guide rotating body arranged behind the cable conveying mechanism and after the cable is conveyed past the guide rotating body arranged in front of the cable conveying mechanism, and the cable offset is corrected left and right according to the cable offset.

[0080] For different specifications of the cable, the output rotation speed and torque of the rotation driver driving the main rotating body to rotate can also be automatically adjusted to a preset range according to the detected cable specification information.

[0081] As to how to implement the present conveying method, the conveying device in the above embodiment of the multi-specification cable universal conveying device can be taken as an example, and some of the contents of the present conveying method have been described in detail in the embodiment of the conveying device. Hereinafter, the deviation correction, the rotation speed / torque adjustment, and the radial adjustment of the driven rotating body will be described in detail.

[0082] As shown in Figure 18 , in the case of using a cylinder for the deviation correction arm, the opening of the valve is controlled by controlling the current of the electric proportional valve connected to the cylinder, and then the cylinder is controlled to act, thereby completing the deviation correction of the cable.

[0083] Specifically, the signal of the analog reflective photoelectric sensor is read, the cable offset is calculated according to the cable centering signal, the read signal, and the sensitivity, the proportional valve output signal of the cylinder is calculated through the offset and the proportional gain, so that the left and right cylinders act, and the cable deviation correction closed-loop control is completed. In the early stage, the sensor calibration, cable centering, adjustment of the sensor position to make it output the centering signal, movement of the cable left and right limit, confirmation of the linear change of the signal within the range, proportional gain debugging, observation of the current change corresponding to 1 unit offset, and setting of the dead zone threshold value to avoid the small current action of the sensor are required.

[0084] As shown in Figure 19 and Figure 20 , as to the rotation speed / torque control of the rotation driver, in the case of using a pneumatic motor as the rotation driver, the opening of the valve can also be controlled by controlling the current of the electric proportional valve connected to the pneumatic motor, and then the output rotation speed / torque of the pneumatic motor is controlled.

[0085] Specifically, the signal of the pressure sensor obtained by reading the position of the in-out wire guide rotating body is averaged, the opening degree is matched according to the set cable specification and the table range corresponding to the output signal, the output signal of the proportional valve is calculated according to the signal range of the proportional valve and the opening degree relationship, and the adjustment of the air motor air intake is limited to judge, and the appropriate torque and speed are output according to the cable specification. Pressure sensor calibration: the no-load adjustment signal is 4mA, and the adjustment is 20mA when the maximum specification cable pressure is applied. Proportional valve calibration: the valve is closed when the output signal is 4mA, and the valve is fully open when the output signal is 20mA. The torque and speed at different valve opening degrees are recorded to fill the preset parameter range table.

[0086] As shown in ​ and ​ , regarding the telescopic control of the linear driver, in the case of using a cylinder, the opening degree control of the valve can also be realized by the current size of the electric proportional valve connected to the cylinder, and then the telescopic movement of the cylinder is controlled.

[0087] The signal of the pressure sensor obtained by reading the position of the in-out wire guide rotating body is averaged, the opening degree is matched according to the set cable specification and the table range corresponding to the output signal, the output signal of the proportional valve is calculated according to the signal range of the proportional valve and the opening degree relationship, and the adjustment of the air motor air intake is limited to judge, and the appropriate torque and speed are output according to the cable specification. Pressure sensor calibration: the no-load adjustment signal is 4mA, and the adjustment is 20mA when the maximum specification cable pressure is applied. Proportional valve calibration: the valve is closed when the output signal is 4mA, and the valve is fully open when the output signal is 20mA. The torque and speed at different valve opening degrees are recorded to fill the preset parameter range table.

[0088] Finally, it should be noted that the above only describes the preferred embodiments of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, and for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified without creative labor, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-gauge cable universal transfer device, characterized by, The base is provided with a cable feeding mechanism, the cable feeding mechanism comprises a driving rotary body and a driven rotary body, a rotary driver is arranged on the driving rotary body to drive the rotation of the driving rotary body, a radial interval is arranged between the driving rotary body and the driven rotary body, the cable enters the radial interval, and the friction between the cable and the driving rotary body and the driven rotary body during rotation meets the requirement of forward cable transmission, a specification detection mechanism is arranged on the base, the specification detection mechanism is used for detecting the specification of the cable, a radial adjustment mechanism is arranged on the driving rotary body to drive the radial movement of the driving rotary body, and / or a radial adjustment mechanism is arranged on the driven rotary body to drive the radial movement of the driven rotary body, so that the radial adjustment mechanism adjusts the radial interval according to the specification of the cable detected by the specification detection mechanism.

2. The multi-specification cable universal transfer device according to claim 1, wherein, The driving rotary body has two tapered surfaces with increasing diameters from the middle to the two ends in the axial direction, so that the outer periphery of the driving rotary body forms a V-shaped positioning groove for positioning the cable.

3. The multi-specification cable universal transfer device of claim 2, wherein, A flexible protection strip extending along the generatrix of the tapered surface is fixed on the tapered surface, and a plurality of flexible protection strips are arranged with a predetermined included angle between adjacent two flexible protection strips.

4. The multi-specification cable universal transfer device of claim 3, wherein, The side of the flexible protection strip away from the tapered surface is provided with a wave-shaped protrusion extending along the length direction of the flexible protection strip.

5. The multi-specification cable universal transfer device of claim 4, wherein, The wave-shaped protrusion is provided with a groove at the central position in the width direction of the flexible protection strip.

6. A multi-specification cable universal transfer device according to any one of claims 2-5, characterized in that, The driven rotary body has a cylindrical segment in the middle and tapered segments at both ends of the cylindrical segment in the axial direction, and the diameter of the tapered segment is smaller than that of the cylindrical segment, so that the outer periphery of the driven rotary body forms a circular truncated cone shape matched with the V-shaped positioning groove formed by the outer periphery of the driving rotary body.

7. The multi-specification cable universal transfer device of claim 6, wherein, The outer periphery of the cylindrical segment is provided with a protruding tooth-shaped structure.

8. The multi-specification cable universal transfer device according to any one of claims 1-5, wherein, A rotation speed / torque control module is arranged on the rotary driver to control the output rotation speed and torque of the rotary driver according to the specification of the cable detected by the specification detection mechanism.

9. The multi-specification cable universal transfer device according to any one of claims 1-5, wherein the specifications The detection mechanism comprises a front guide rotary body located on the front side of the radial direction of the cable feeding mechanism and a rear guide rotary body located on the rear side of the radial direction of the cable feeding mechanism, and pressure sensors are arranged on the front guide rotary body and the rear guide rotary body to obtain the specification of the cable according to the average value of the results of the pressure sensors of the front guide rotary body and the rear guide rotary body.

10. The multi-specification cable universal transfer device of claim 9, wherein, The base is provided with a front deviation correction mechanism in front of the front guide rotary body and a rear deviation correction mechanism behind the rear guide rotary body, and the front deviation correction mechanism is provided with a front deviation correction detection mechanism and the rear deviation correction mechanism is provided with a rear deviation correction detection mechanism, the front and rear deviation correction detection mechanisms are used for detecting the cable deviation at the current position, and the front and rear deviation correction mechanisms each comprise a pair of left and right deviation correction arms capable of clamping the cable, and the left and right deviation correction arms can move left and right to correct the cable transmission posture according to the cable deviation detected by the front and rear deviation correction detection mechanisms.

11. The multi-specification cable universal transfer device of claim 10, wherein, The base comprises a basic seat and telescopic seats located at the front and rear ends of the basic seat, and the telescopic seats can be adjusted forward and backward relative to the basic seat, and the front and rear deviation correction detection mechanisms are respectively fixed on the telescopic seats at the front and rear ends of the basic seat.

12. The multi-specification cable universal transfer device of claim 10, wherein, The front and rear deviation correction detection mechanisms each comprise a bracket, a reflective photoelectric sensor and a receiver are arranged on the bracket, and the current cable deviation is detected and obtained through the reflected light signal received by the receiver.

13. The multi-specification cable universal transfer device of claim 10, wherein, The end of the left and right deviation correction arms is provided with a cable push plate, and the cable push plate is in an arc-shaped structure or a V-shaped structure.

14. The multi-specification cable universal transfer device of any of claims 1-5, wherein the specifications The detection mechanism includes a guide rotating body located at the radial rear side of the cable feeding mechanism, and a pressure sensor is arranged on the guide rotating body to match the cable specification according to the result of the pressure sensor.

15. The multi-specification cable universal transfer device according to any one of claims 1-5, wherein, The driving rotating body is rotationally arranged on the base, and the radial adjustment mechanism is arranged for the driven rotating body, which includes a direct-acting driver, and the output end of the direct-acting driver is fixed with a rotating frame, and the driven rotating body is rotationally arranged on the rotating frame.

16. The multi-specification cable universal transfer device according to any one of claims 1-5, wherein, The base is respectively provided with a front deviation correction mechanism and a rear deviation correction mechanism at the front and rear sides of the cable feeding mechanism, and the front deviation correction mechanism is provided with a front deviation correction detection mechanism, and the rear deviation correction mechanism is provided with a rear deviation correction detection mechanism, and the front and rear deviation correction detection mechanisms are used to detect the cable deviation at the current position, and the front and rear deviation correction mechanisms each include a pair of left and right deviation correction arms capable of clamping the cable, and the left and right deviation correction arms are capable of moving left and right to correct the cable conveying posture according to the cable deviation detected by the front and rear deviation correction detection mechanisms.

17. The multi-specification cable universal transfer device of claim 16, wherein, The base includes a basic seat and telescopic seats located at the front and rear ends of the basic seat, and the telescopic seats are capable of being adjusted in front and rear directions relative to the basic seat, and the front and rear deviation correction detection mechanisms are respectively fixed on the telescopic seats at the front and rear ends of the basic seat.

18. The multi-specification cable universal transfer device of claim 16, wherein, The front and rear deviation correction detection mechanisms each include a bracket, and a reflective photoelectric sensor and a receiver are arranged on the bracket, and the current cable deviation is detected according to the reflected light signal received by the receiver.

19. The multi-specification cable universal transfer device of claim 16, wherein, The end portions of the left and right deviation correction arms are provided with cable push plates, and the cable push plates are in arc-shaped or V-shaped structures.

20. A multi-specification cable universal transfer method, characterized by, When the cable is conveyed, the cable specification conveyed by the current cable conveying device is detected, and the radial distance between the driving rotating body and the driven rotating body of the cable feeding mechanism is automatically adjusted according to the cable specification, so that the cable feeding mechanism can match the required biting force for conveying cables of different specifications.

21. The multi-specification cable universal transfer method of claim 20, wherein, The cable specification detection is realized by the following method: guide rotating bodies are arranged at the front and rear sides of the cable feeding mechanism, the cable can be conveyed forward and backward along the guide rotating bodies, and pressure sensors are arranged on the guide rotating bodies to match the cable specification according to the average value of the results of the pressure sensors of the front and rear guide rotating bodies.

22. The multi-specification cable universal transfer method of claim 21, wherein, The cable deviation is detected before the cable is conveyed to the front of the guide rotating body located at the rear side of the cable feeding mechanism and after the cable is conveyed to the rear of the guide rotating body located at the front side of the cable feeding mechanism, and the cable deviation is corrected left and right according to the cable deviation.

23. The multi-specification cable universal transfer method according to claim 20 or 21 or 22, wherein, In addition to adjusting the radial distance, the output rotation speed and torque of the rotary driver driving the driving rotating body to rotate are automatically adjusted to a preset range according to the detected cable specification information.

24. The multi-specification cable universal transfer method of claim 20, wherein, The cable deviation is detected before the cable is fed to the cable feeding mechanism and after the cable is conveyed through the cable feeding mechanism, and the cable deviation is corrected left and right according to the cable deviation.

25. The multi-specification cable universal transfer method according to any one of claims 20-22, 24, wherein, In the initial state, the radial distance between the driving rotating body and the driven rotating body of the cable feeding mechanism is adjusted to the maximum, and after the cable specification is obtained, the radial distance between the driving rotating body and the driven rotating body is adjusted to a suitable range.

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