Cable pipeline laying device for hydropower construction

Abstract

The present application relates to the technical field of water and electricity construction, and particularly relates to a cable pipeline laying device for water and electricity construction, which comprises a processing mechanism, an auxiliary transport mechanism, a wire clamp installation mechanism and a controller, the processing mechanism is used for gluing and butt joint of on-site wire pipe pipe material and wire pipe joint, the auxiliary transport mechanism and the wire clamp installation mechanism are respectively arranged outside the processing mechanism, the auxiliary transport mechanism is used for carrying the wire pipe with completed gluing in the processing mechanism, the wire clamp installation mechanism is arranged outside the front side of the auxiliary transport mechanism, and the wire clamp installation mechanism is used for installation of the wire clamp outside the wire pipe; the controller is arranged on the surface of the processing mechanism, and the controller is electrically connected with the processing mechanism, the auxiliary transport mechanism and the wire clamp installation mechanism, and the controller is used for manual or automatic control of the whole device by the staff. The present application integrates multiple processes such as gluing, butt joint, carrying and pipe clamp installation into one, realizes continuous operation, greatly improves work efficiency, replaces manual work to complete the most arduous and repeated physical labor, reduces the dependence on skilled workers, and shortens the construction period.

Description

Technical Field

[0001] This invention relates to the field of hydropower construction technology, specifically to a cable pipeline laying device for hydropower construction. Background Technology

[0002] Water and electricity construction refers to the concealed installation of water supply and drainage systems and electrical systems in building construction. It is characterized by its high degree of concealment, specialized requirements, and complex coordination. Water supply and drainage construction requires the selection of different materials such as PPR pipes and PVC-U pipes according to the intended use, employing appropriate connection techniques such as hot-melt and adhesive bonding. Key aspects include pipe positioning, support installation, and pressure testing. Bathroom drainage requires attention to in-floor drainage design and the installation of water traps. Electrical construction includes the installation of power distribution systems, pipeline laying, and lighting system layout. It necessitates standardized location of distribution boxes, cable laying methods, and lightning protection grounding systems, and the application of BIM technology. Optimizing pipeline layout and ensuring construction quality control require strict material acceptance, standardized process flow, proper acceptance of concealed works, and system commissioning. Standardized construction and the application of new technologies are essential to ensure the safe and reliable operation of hydropower systems. Cable laying techniques in hydropower construction mainly include three methods: direct burial, cable tray laying, and conduit laying. Direct burial is commonly used in outdoor projects. Cable tray laying is suitable for locations with a large number of cables and requires that the spacing of supports and turning radii be set according to specifications. Strong and weak current cable trays should be arranged in layers and maintain a safe distance. Conduit laying is mostly used for concealed installation inside buildings and requires that there be no burrs inside the conduit.

[0003] However, under current technological conditions, the installation of cable conduits during hydropower construction typically relies on manual labor. This process involves multiple discrete steps, including but not limited to precise measurement, handling heavy objects, applying adhesives, and stabilizing the ground. Because these steps are relatively tedious and must be performed one by one, low construction efficiency is inevitable. Furthermore, manual operation inevitably introduces safety hazards due to human error. These factors combined ultimately negatively impact the overall quality of the project. In addition, traditional conduit clamp installation methods also rely on manual operation, especially when laying long-distance or large-section cables. This not only consumes a significant amount of time and physical strength but also easily leads to fatigue among construction workers due to prolonged high-intensity labor. This fatigue undoubtedly further affects the precision and quality of the work, thus posing a potential threat to the reliability and stability of the entire project. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a cable pipeline laying device for hydropower construction. This device optimizes the traditional multi-person operation of applying adhesive to the conduit and installing and fixing pipe clamps into a fully automated assembly line operation that requires no human intervention, thereby reducing reliance on the number of workers and shortening the construction cycle.

[0005] The technical solution adopted by this invention to solve its technical problem is: A cable laying device for hydropower construction includes a processing mechanism, an auxiliary transportation mechanism, a pipe clamp installation mechanism, and a controller. The processing mechanism is used to apply adhesive and connect the conduit materials and conduit joints on site. The auxiliary transportation mechanism and the pipe clamp installation mechanism are respectively located outside the processing mechanism. The auxiliary transportation mechanism is used to transport the conduit that has been coated with adhesive inside the processing mechanism. The pipe clamp installation mechanism is located on the front side of the auxiliary transportation mechanism and is used to install pipe clamps on the outside of the conduit. The controller is located on the surface of the processing mechanism and is electrically connected to the processing mechanism, the auxiliary transportation mechanism, and the pipe clamp installation mechanism. The controller is used for manual or automatic control of the entire device by the operator.

[0006] Compared with the prior art, the beneficial effects of the present invention are: This invention integrates multiple processes such as gluing, docking, handling, and pipe clamp installation into one, enabling continuous operation and greatly improving work efficiency. Automated gluing and docking ensure the uniformity of glue application and the reliability of docking, while mechanical installation of pipe clamps ensures the consistency of installation fixing force and position, effectively avoiding human error. It replaces manual labor for the most arduous and repetitive physical work, reduces reliance on skilled workers, and shortens the construction cycle.

[0007] As a preferred embodiment, a further technical solution of the present invention is: Preferably, the processing mechanism includes a first base housing, a second base housing, a conduit processing component, and a connector processing component; The first base housing is equipped with an injection pump, which is electrically connected to the controller; the top of the first base housing is equipped with a conduit storage tank, the inside of which is equipped with an inclined bottom plate, and the bottom of the left side wall of the conduit storage tank is provided with a discharge port; the conduit processing component is located at the front left of the first base housing. The second base housing is located to the left of the first base housing. The interior of the second base housing is provided with a connector processing component, and the top of the second base housing is provided with a transfer component.

[0008] Preferably, the conduit processing component includes a housing, an annular track, a first motor, a rotating disk, a roller slider, an applicator roller, a first electric telescopic rod, a first fixing frame, an electric push rod, and an electrically controlled dispensing head. The housing is fixed to the first base housing and is positioned below the discharge port of the conduit storage tank. The interior of the outer casing is equipped with a circular track, and a rotating disk is located at the center of the circular track; a first motor is located at the bottom of the outer casing, the first motor is electrically connected to the controller, and the output end of the first motor is fixedly connected to the rotating disk. Roller sliders are fixed on both sides of the upper surface of the rotating disk, and each roller slider is vertically equipped with an applicator roller. Each roller slider is equipped with a first electric telescopic rod, each first electric telescopic rod is electrically connected to the controller, each first electric telescopic rod has a first fixed frame at its movable end, each first fixed frame has an electric push rod at its top, the electric push rod is electrically connected to the controller, each electric push rod has an electrically controlled glue injection head at its movable end, each electrically controlled glue injection head is electrically connected to the controller, and each electrically controlled glue injection head is connected to a glue injection pump.

[0009] Preferably, the interior of the housing is further provided with an attitude adjustment component, which includes a vertical moving unit, a longitudinal moving unit, a second rotating unit, and a second clamping unit; the vertical moving unit is placed on the inner wall of the housing, and one end of the longitudinal moving unit is slidably disposed with the vertical moving unit; the second rotating unit is slidably disposed with the longitudinal moving unit; the second rotating unit is provided with a second clamping unit, and the vertical moving unit, the longitudinal moving unit, the second rotating unit, and the second clamping unit are electrically connected to the controller.

[0010] Preferably, a transfer component is provided on the top of the second base housing. The transfer component includes a first horizontal moving unit, a first rotating unit, and a first clamping unit. The first horizontal moving unit is arranged along the left-right direction of the second base housing. The first rotating unit is placed on the first horizontal moving unit, and the first clamping unit is placed on the first rotating unit. The first horizontal moving unit, the first rotating unit, and the first clamping unit are electrically connected to the controller.

[0011] Preferably, the joint processing components include a joint storage tank, a receiving bucket, a second electric telescopic rod, a base platform, a second fixing frame, a slot frame, a third electric telescopic rod, a first mounting base, a coating roller, a third motor, a second mounting base, and a glue roller; The connector storage tank is placed inside the outer shell of the second base, and an installation plate is provided below the connector storage tank. A through hole is provided on the upper surface of the second base shell corresponding to the upper port of the connector storage tank. The bottom plate of the inner wall of the connector storage tank is inclined, and a discharge port is provided on the front side of the bottom plate of the connector storage tank. The upper end of the receiving hopper is connected to the bottom plate of the connector storage tank, and the receiving hopper is positioned below the discharge port of the connector storage tank. The receiving hopper is placed on the front side of the mounting plate, and the bottom of the receiving hopper is connected to the upper surface of the mounting plate. The lower surface of the mounting plate is symmetrically provided with guide rails corresponding to the left and right ends of the discharge port of the receiving hopper. The left and right ends of the inner wall of the receiving bucket are respectively provided with slot ramps with grooves at the bottom. The rear side of the mounting plate is provided with a second electric telescopic rod. The second electric telescopic rod is electrically connected to the controller. The movable end of the second electric telescopic rod is provided with a connecting rod. Both ends of the connecting rod are respectively provided with a stop block that matches the groove of the slot ramp at both ends of the inner wall of the receiving bucket. The stop block is slidably set with the upper surface of the mounting plate. The base platform is placed inside the outer shell of the second base. The second fixing frame is installed on the rear side of the base platform in a left-right direction. Two card slots are symmetrically arranged in the middle of the second fixing frame, and the two card slots are respectively placed below the two guide rails. The base platform is equipped with a third electric telescopic rod at each of its left and right ends. The third electric telescopic rod is electrically connected to the controller. Each third electric telescopic rod has a first mounting base at its movable end. Each first mounting base has a third motor, which is electrically connected to the controller. Each third motor has a coating roller at its output end. Each coating roller has a second mounting base at its rear side. A fourth motor is located on one side of the second mounting base. The fourth motor is electrically connected to the controller. A glue roller is located at the output end of the fourth motor. The glue roller is connected to the glue pump, and the surface of the glue roller is in contact with the coating roller. A transfer docking component is provided on the front side of the top of the base platform. The transfer docking component includes an electric rotating table, a first mounting plate, a limiting telescopic rod, a slot seat, a first moving frame, a fifth electric telescopic rod, a third rotating unit, a third clamping unit, and a sixth electric telescopic rod. The electric rotary table is electrically connected to the controller. The electric rotary table is mounted on the base platform. A first mounting plate is provided on the rotating end of the electric rotary table along the front-to-back direction. A sixth electric telescopic rod is provided at the bottom of the first mounting plate. The sixth electric telescopic rod is electrically connected to the controller. The movable end of the sixth electric telescopic rod passes through the first mounting plate and is connected to the slot seat above the first mounting plate. A fifth electric telescopic rod is provided on the top of the slot base. The fifth electric telescopic rod is electrically connected to the controller, and the movable end of the fifth electric telescopic rod is connected to the first movable frame. The first movable frame is provided with a third rotating unit, and the movable end of the third rotating unit is provided with a third clamping unit. The third rotating unit and the third clamping unit are respectively electrically connected to the controller.

[0012] Preferably, it also includes a first limiting guide rail, a fourth electric telescopic rod, a second mounting base, a fourth motor, and a collection trough; Each rubber roller is placed on a second mounting base. Each second mounting base has a set of first limiting guide rails at its bottom along the front-back direction. The second fixing frame is provided with a slider that matches each set of first limiting guide rails. A fourth electric telescopic rod is provided between the two first limit guide rails in the same group. The fourth electric telescopic rod is electrically connected to the controller. The output end of the fourth electric telescopic rod is connected to the two rails through the first mounting bracket. Each of the second mounting bases has a collection trough inside, arranged along the front-to-back direction, and the collection trough is located below the glue roller and the coating roller.

[0013] Preferably, the auxiliary transportation mechanism includes a first mobile robot, on which a first sub-control module is electrically connected, and the first sub-control module is remotely connected to the controller via a network. The first mobile robot is also equipped with a mobile robotic arm, which is electrically connected to the first sub-control module. The end of the mobile robotic arm is equipped with a fourth gripping unit, which is electrically connected to the first sub-control module. The clamping end of the fourth clamping unit is also equipped with a pressure monitoring unit, which is electrically connected to the first sub-control module; The first mobile robot has a first visual monitoring unit installed on the left side of its chassis, and the first visual monitoring unit is electrically connected to the first sub-control module.

[0014] Preferably, the pipe clamp installation mechanism includes a second mobile robot, on which a second sub-control module is installed. The second mobile robot is electrically connected to the second sub-control module, and the second sub-control module is remotely connected to the controller via a network. The second mobile robot has two second vision monitoring units on its rear side. The two second vision monitoring units are electrically connected to the second sub-control module, and the two second vision monitoring units are arranged left and right. The second mobile robot is equipped with a second mounting frame, and a feeder is mounted on the second mounting frame. The bottom of the feeder is connected to the discharge pipe. Seventh electric telescopic rods are installed on the left and right sides of the lower port of the discharge pipe, and the two seventh electric telescopic rods are electrically connected to the second sub-control module; the movable ends of the seventh electric telescopic rods are respectively equipped with second movable frames; Each of the second movable frames is equipped with a connecting frame, and the two connecting frames are equipped with double-ended electric telescopic rods on opposite sides. The two double-ended electric telescopic rods are electrically connected to the second sub-control module. Each double-ended electric telescopic rod has a locking block at its movable end. Each locking block has a groove. When the two locking blocks on the same double-ended electric telescopic rod are closed, the slot formed by the two grooves matches the position of the pipe clamp fixing screw hole. An eighth electric telescopic rod is hinged to the outside of the discharge pipe. The eighth electric telescopic rod is electrically connected to the second sub-control module. A stop bar is hinged to the movable end of the eighth electric telescopic rod. A fixed seat is provided at the bottom of the discharge pipe. The stop bar is hinged to the fixed seat. A second mounting plate is provided on one side of the second mounting bracket. A pneumatic nail gun is provided on the inner side of the second mounting plate. An air pump module is provided on the front side of the second mounting plate. The air pump module is electrically connected to the second sub-control module. The air pump module is connected to the pneumatic nail gun provided on the rear side of the second mounting plate. The pneumatic nail gun is electrically connected to the second sub-control module. A drive mechanism is also provided on the rear surface of the second mounting plate. The drive mechanism is electrically connected to the second sub-control module. The second sub-control module adjusts the position of the pneumatic nail gun through the drive mechanism. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the actual structure of the present invention; Figure 2 This is an exploded view of the processed structure in this invention; Figure 3 yes Figure 2 Enlarged view of point A; Figure 4 yes Figure 2 Exploded view of the conduit processing components; Figure 5 yes Figure 4 Enlarged view of part B; Figure 6 yes Figure 2 Exploded view of the joint processing components; Figure 7 yes Figure 6 Enlarged view of point C; Figure 8 for Figure 6 Enlarged view of point D; Figure 9 for Figure 1 Enlarged view of auxiliary transportation mechanisms; Figure 10 for Figure 1 Exploded view of the pipe clamp installation mechanism; Figure 11 for Figure 10 Enlarged view of point E; Explanation of reference numerals in the attached figures: 1. Processing mechanism; 11. First base housing; 12. Conduit storage tank; 13. Second base housing; 14. Adhesive injection pump; 15. First horizontal moving unit; 16. First rotating unit; 17. First clamping unit; 18. Positioning baffle; 2. Conduit processing component; 21. Housing; 22. Circular track; 23. First motor; 24. Rotating disk; 25. Roller slider; 26. Application roller; 27. First electric telescopic rod; 28. First fixing frame; 29. ​​Electric push rod; 210. Electrically controlled dispensing head; 211. Vertical movement unit; 212. Longitudinal movement unit; 213. Second rotation unit; 214. Second clamping unit; 215. Track base; 3. Joint processing components; 31. Joint storage tank; 32. Connecting hopper; 33. Guide rail; 34. Slot ramp; 35. Stop block; 36. Second electric telescopic rod; 37. Base platform; 38. Second fixing frame; 39. Slot frame; 310. Third electric telescopic rod; 311. First mounting base; 312. Coating roller; 313. Third motor; 314. First limiting guide rail; 315. Fourth electric telescopic rod; 316. Second mounting base; 317. Glue roller; 318. Fourth motor; 319. Collection tank; 320. Electric rotating table; 321. First mounting plate; 322. Limiting telescopic rod; 323. Slot seat; 324. First moving frame; 325. Fifth electric telescopic rod; 326. Third rotating unit; 327. Third clamping unit; 328. Sixth electric telescopic rod; 329. Mounting plate; 330. Slot; 331. Connecting rod; 4. Auxiliary transportation mechanism; 41. First mobile robot; 42. First sub-control module; 43. Mobile robotic arm; 44. Fourth gripping unit; 45. First visual monitoring unit; 5. Pipe clamp installation mechanism; 51. Second mobile robot; 52. Second sub-control module; 53. Second vision inspection unit; 54. Second mounting frame; 55. Automatic feeder; 56. Discharge pipe; 57. Second slot seat; 58. Second mobile frame; 59. Seventh electric telescopic rod; 510. Connecting frame; 511. Double-ended electric telescopic rod; 512. Locking block; 513. Fixed seat; 514. Stop bar; 515. Eighth electric telescopic rod; 516. Second mounting plate; 517. Air pump module; 518. Pneumatic nail gun; 519. Second limit guide rail; 520. Mounting platform; 521. Ninth electric telescopic rod; 522. Third mounting seat; 523. Limiting rod; 524. Rotating rod; 525. Connecting seat; 526. Tenth electric telescopic rod; 6. Controller. Detailed Implementation

[0016] The present invention will be further illustrated below with reference to specific embodiments. The purpose of this illustration is solely to provide a better understanding of the invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0017] A cable laying device for hydropower construction comprises a processing mechanism 1, an auxiliary transportation mechanism 4, a pipe clamp installation mechanism 5, and a controller 6. The processing mechanism 1 enables automatic gluing and connection of conduit materials and conduit joints at the hydropower construction site. The auxiliary transportation mechanism 4 is located on the front side of the processing mechanism 1 and enables the transport of conduits after gluing is completed inside the processing mechanism 1. The pipe clamp installation mechanism 5 is located on the outside of the processing mechanism 1 and enables the installation of external pipe clamps on the ground. The controller 6 is located on the outer surface of the processing mechanism 1 and can be manually or automatically controlled by personnel as needed.

[0018] The processing mechanism 1 consists of a first base shell 11, a second base shell 13, a conduit processing component 2, and a connector processing component 3. The first base shell 11 is located behind the conduit processing component 2 along the front-to-back direction. Universal wheels are installed at the four corners of the bottom of the first base shell 11 to facilitate movement by the staff. The conduit storage tank 12 is installed on top of the first base shell 11 along the front-to-back direction. The conduit storage tank 12 has a bottom plate inside, which is inclined from right to left. A discharge port is opened at the bottom of the left side wall of the conduit storage tank 12. A positioning baffle 18 is set at the bottom of the conduit storage tank 12 corresponding to the position of the discharge port. The conduit materials stored inside the conduit storage tank 12 can slide from right to left to the positioning baffle 18 of the discharge port under the action of gravity, realizing the sequential discharge of materials one by one.

[0019] The first base housing 11 houses a glue injection pump 14, which is electrically connected to a controller 6. The glue injection pump 14 is controlled by the controller 6. The glue injection pump 14 contains a glue storage tank and a stirring device. The operator pours epoxy resin into the glue storage tank for storage and stirs it with the stirring device to prevent the glue from curing. The glue injection pump 14 uses a gear pump to inject the glue in a metered manner. After use, acetone solvent can be injected into the glue injection pump 14. The controller 6 controls the glue injection pump 14 to perform a solvent flushing operation to prevent the internal pipeline of the glue injection pump 14 from curing and clogging. The glue injection pump 14 mentioned above is a commercially available product, and its specific structure and working principle will not be described in detail here.

[0020] The second base shell 13 is located to the left of the first base shell 11 in the left-right direction. The four corners of the bottom of the second base shell 13 are also equipped with casters to facilitate movement by workers. In this embodiment, the second base shell 13 and the first base shell 11 are connected by a movable connection to facilitate assembly by workers at the construction site.

[0021] The conduit processing component 2 is located on the left front side of the first base housing 11. The conduit processing component 2 includes a housing 21, a ring track 22, a first motor 23, a rotating disk 24, a roller slider 25, an applicator roller 26, a first electric telescopic rod 27, a first fixing frame 28, an electric push rod 29, and an electrically controlled dispensing head 210.

[0022] The outer casing 21 is fixedly installed on the first base casing 11 and located below the discharge port of the conduit storage tank 12. A through hole is provided on the bottom plate of the outer casing 21, and a track base 215 is embedded in the through hole. An annular track 22 is installed on the upper surface of the track base 215. A rotating groove is provided on the upper surface of the track base 215 corresponding to the center position of the annular track 22. A rotating disk 24 is rotatably arranged in the rotating groove. A first motor 23 is installed at the bottom of the track base 215. The output end of the first motor 23 passes through the track base 215 and is rotatably connected to the track base 215. The end of the output end of the first motor 23 is fixedly connected to the rotating disk 24. The first motor 23 is electrically connected to the controller 6. The first motor 23 is controlled to start and stop by the controller 6. The first motor 23 can drive the rotating disk 24 to rotate clockwise or counterclockwise to a designated position.

[0023] Two roller sliders 25 are provided, and the two roller sliders 25 are respectively installed at the front and rear ends of the upper surface of the rotating plate. The roller sliders 25 can move along the circular track 22 with the rotating disk 24 in a clockwise or counterclockwise direction.

[0024] Each roller slider 25 is equipped with a set of two application rollers 26. The two sets of application rollers 26 are rotatably connected to the left and right ends of the inner side of the two roller sliders 25 through bearing seats. The application rollers 26 are elastic to ensure uniform contact with the outer wall of the pipe and can rotate. While the roller sliders 25 move in a circle, the application rollers 26 roll along the outside of the pipe to apply adhesive to the outside of the pipe, thereby eliminating adhesive bubbles and ensuring uniform thickness.

[0025] Each roller slider 25 is provided with a first electric telescopic rod 27, and each first electric telescopic rod 27 is electrically connected to the controller 6, and the controller 6 controls the extension and retraction of the movable end.

[0026] Each first electric telescopic rod 27 has a first fixed frame 28 installed at its movable end. Each first fixed frame 28 has an electric push rod 29 installed on its top. The electric push rod 29 is electrically connected to the controller 6, and the controller 6 controls the extension and retraction of the movable end of the electric push rod 29. Each electric push rod 29 has an electrically controlled glue injection head 210 installed at its movable end. Each electrically controlled glue injection head 210 is electrically connected to the controller 6, and the controller 6 controls the glue injection of the electrically controlled glue injection head 210. Each electrically controlled glue injection head 210 is connected to a glue injection pump 14 through a pipeline, and the glue injection pump 14 supplies glue into the electrically controlled glue injection head 210.

[0027] In this embodiment, an attitude adjustment unit is also provided in the inner cavity of the outer shell 21. The attitude adjustment unit consists of a vertical moving unit 211, a longitudinal moving unit 212, a second rotating unit 213, and a second clamping unit 214. The vertical moving unit 211 is fixed to the inner wall of the outer shell 21. One end of the longitudinal moving unit 212 is fixed to the movable end of the vertical moving unit 211. The second rotating unit 213 is fixed to the movable end of the longitudinal moving unit 212. The second clamping unit 214 is fixed to the rotating end of the second rotating unit 213.

[0028] In this embodiment, the vertical moving unit 211, longitudinal moving unit 212, second rotating unit 213, and second clamping unit 214 are all existing technologies. For example, the vertical moving unit 211 and longitudinal moving unit 212 can be stepper motor driven linear guides, the second rotating unit 213 can be a rotating cylinder, and the second clamping unit can be a clamping cylinder with grippers. In this embodiment, the vertical moving unit 211, longitudinal moving unit 212, second rotating unit 213, and second clamping unit 214 are electrically connected to the controller 6, and their actions are controlled by the controller 6. Specifically, the controller 6 controls the vertical moving unit 211 to drive the longitudinal moving unit 212 to move precisely up and down to a specified position; the controller 6 controls the longitudinal moving unit 212 to drive the second rotating unit 213 to move precisely forward and backward to a specified position; the controller 6 controls the second rotating unit 213 to drive the second clamping unit 214 to rotate precisely to a specified position; and the controller 6 controls the second clamping unit 214 to perform stable clamping.

[0029] In this embodiment, the clamping end (claw) of the second clamping unit 214 is covered with a polyurethane anti-slip pad on the contact surface with the conduit material to avoid damage to the conduit material during clamping and to ensure the stability of clamping.

[0030] The top of the second base housing 13 is provided with a transfer component, which includes a first horizontal moving unit 15, a first rotating unit 16, and a first clamping unit 17. The first horizontal moving unit 15 is arranged along the left and right direction of the second base housing 13. The first rotating unit 16 is located at the moving end of the first horizontal moving unit 15, and the first clamping unit 17 is located at the rotating end of the first rotating unit 16. The first horizontal moving unit 15, the first rotating unit 16, and the first clamping unit 17 are electrically connected to the controller 6. The controller 6 controls the first horizontal moving unit 15 to drive the moving end to move the first rotating unit 16 horizontally in the left and right direction. The controller 6 controls the first rotating unit 16 to drive the first clamping unit 17 to rotate precisely to a specified position. The controller 6 controls the first clamping unit 17 to clamp the conduit. The contact area between the clamping end of the first clamping unit 17 and the conduit is covered with a polyurethane anti-slip pad to stably clamp the conduit while avoiding damage.

[0031] In this embodiment, the first horizontal moving unit 15, the first rotating unit 16 and the first clamping unit 17 are all existing technologies. For example, the first horizontal moving unit 15 can be a stepper motor driven linear guide, the first rotating unit 16 can be a rotating cylinder, and the first clamping unit can be a clamping cylinder with jaws.

[0032] The second base housing 13 has a connector processing component 3 inside. The connector processing component 3 consists of a connector storage tank 31, a receiving bucket 32, a guide rail 33, a slot ramp 34, a stop block 35, a second electric telescopic rod 36, a base platform 37, a second fixing frame 38, a slot frame 39, a third electric telescopic rod 310, a first mounting base 311, a coating roller 312, a third motor 313, a first limiting guide rail 314, a fourth electric telescopic rod 315, a second mounting base 316, a glue roller 317, a fourth motor 318, and a collection tank 319. The connector storage tank 31 is placed inside the second base housing 13, and an installation plate 329 is provided below the connector storage tank 31. A through hole is opened on the upper surface of the second base housing 13 corresponding to the upper port of the connector storage tank 31. The bottom plate of the connector storage tank is also inclined. A discharge port is opened on the front side of the bottom plate of the connector storage tank 31. The conduit connectors stored inside the connector storage tank 31 can automatically slide to the discharge port under the action of gravity to achieve orderly discharge.

[0033] A receiving hopper 32 is provided on the front side of the mounting plate 329, and the bottom of the receiving hopper 32 is fixed to the upper surface of the mounting plate 329. The receiving hopper 32 is placed below the discharge port of the connector storage tank 31, and the upper end of the receiving hopper 32 is connected to the bottom plate of the connector storage tank. The front end of the bottom of the receiving hopper 32 extends to the outside of the mounting plate 329 and transforms into a discharge port with the front side of the mounting plate 329.

[0034] The mounting plate 329 is symmetrically provided with guide rails 33 at the left and right ends of the discharge port of the hopper 32. The upper end of the guide rails 33 is fixedly connected to the lower surface of the mounting plate 329.

[0035] The left and right ends of the inner wall of the receiving hopper 32 are respectively provided with slot ramps 34 with grooves 330 at the bottom. The slot ramps 34 are inclined structures, and the conduit connectors can slide to the discharge port at the bottom of the receiving hopper 32 due to their own weight.

[0036] A second electric telescopic rod 36 is mounted on the rear side of the mounting plate 329. The second electric telescopic rod 36 is electrically connected to the controller 6, and the controller 6 controls the extension and retraction of the movable end of the second electric telescopic rod 36. A connecting rod 331 is provided at the movable end of the second electric telescopic rod 36. Each end of the connecting rod 331 is provided with a stop 35 that is adapted to the slot 330 of the slot ramp 34 at both ends of the inner wall of the receiving hopper 32. The stop 35 is slidably disposed on the upper surface of the mounting plate 329. The second electric telescopic rod 36 drives two sliders to move back and forth in the slot 330 at the bottom of the slot ramp 34 to intercept or release a single conduit connector, thereby realizing intermittent material dispensing operation.

[0037] The base platform 37 is installed on the bottom of the inner wall of the second base housing 13 in the front-to-back direction. A second fixing bracket 38 is installed on the rear side of the base platform 37 in the left-to-right direction. Two card slot brackets 39 are symmetrically installed in the middle of the second fixing bracket 38, and the two card slot brackets 39 are placed below the guide rail 33.

[0038] The base platform 37 is also equipped with a third electric telescopic rod 310 at each of its left and right ends. The third electric telescopic rod 310 is electrically connected to the controller 6, and the controller 6 controls the extension and retraction of the movable end of the third electric telescopic rod 310.

[0039] Each third electric telescopic rod 310 has a first mounting base 311 connected to its movable end. Each first mounting base 311 is equipped with a third motor 313. The third motor 313 is electrically connected to the controller 6, and the controller 6 controls the movement of the third motor 313.

[0040] Each of the third motors 313 has a coating roller 312 installed at its output end. The coating roller 312 itself is elastic to ensure uniform contact with the outer wall of the pipe.

[0041] The second mounting bracket 38 is provided with a second mounting seat 316 on the rear side of each roller coating roller 312. A fourth motor 318 is provided on one side of each second mounting seat 316. The fourth motor 318 is electrically connected to the controller 6. A glue roller 317 is installed at the output end of the fourth motor 318. The glue roller 317 is connected to the glue injection pump 14 through a pipeline. The glue injection pump 14 supplies glue into the glue roller 317. The surface of the glue roller 317 is provided with micropores. The fourth motor 318 drives the glue roller 317 to rotate. The glue roller 317 contacts the roller coating roller 312 and rolls the glue onto the outside of the roller coating roller 312.

[0042] Each second mounting base 316 has a set of first limiting guide rails 314 installed at its bottom along the front-back direction. There are two first limiting guide rails 314 in each set. The second fixing frame 38 is provided with a slider that is slidably connected to each set of first limiting guide rails 314.

[0043] A fourth electric telescopic rod 315 is installed between the two first limit guide rails 314 in the same group. Each fourth electric telescopic rod 315 is electrically connected to the controller 6. The output end of the fourth electric telescopic rod 315 is connected to its corresponding two rails through the first mounting bracket. The controller 6 controls the fourth electric telescopic rod 315 to drive the second mounting base 316 to move precisely to the designated position by extending or shortening itself.

[0044] Each second mounting base 316 has a collection tank 319 arranged inside in the front-to-back direction. The collection tank 319 is located below the glue roller 317 and the coating roller 312. Each collection tank 319 collects the glue flowing from the surface of its corresponding glue roller 317.

[0045] A transfer docking unit is provided on the front side of the top of the base platform 37. The transfer docking component consists of an electric rotating platform 320, a first mounting plate 321, a limiting telescopic rod 322, a slot seat 323, a first moving frame 324, a fifth electric telescopic rod 325, a third rotating unit 326, a third clamping unit 327, and a sixth electric telescopic rod 328.

[0046] The electric rotary table 320 is mounted on the base 37 and is electrically connected to the controller 6. A first mounting plate 321 is provided on the rotating end of the electric rotary table 320 along the front-rear direction, and the first mounting plate 321 is located on the front side of the electric rotary table 320. 6. Control the electric rotary table 320 to drive the first mounting plate 321 to rotate precisely to the specified directional position.

[0047] The bottom of the first mounting plate 321 is provided with a sixth electric telescopic rod 328. The sixth electric telescopic rod 328 is electrically connected to the controller 6. The movable end of the sixth electric telescopic rod 328 passes through the first mounting plate 321 and is connected to the bottom of the slot seat 323 above the first mounting plate 321. The controller 6 controls the sixth electric telescopic rod 328 to drive the slot seat 323 to move up or down precisely to a designated position by extending and shortening itself.

[0048] Limiting telescopic rods 322 are embedded in the four top corners of the first mounting plate 321. The upper end of each limiting telescopic rod 322 is connected to the bottom of the slot seat 323. When the slot seat 323 moves up and down, the limiting telescopic rods 322 provide limiting support for the up and down movement of the slot seat 323.

[0049] The first movable frame 324 is slidably inserted into the slot seat 323 in the front-back direction; the top of the slot seat 323 is equipped with a fifth electric telescopic rod 325, which is electrically connected to the controller 6, and the movable end of the fifth electric telescopic rod 325 is connected to the first movable frame 324. The controller 6 controls the fifth electric telescopic rod 325 to drive the first movable frame 324 to move precisely to the designated position by extending or shortening itself.

[0050] A third rotating unit 326 is also installed at the front end of the first moving frame 324. A third clamping unit 327 is installed at the movable end of the third rotating unit 326. The third rotating unit 326 and the third clamping unit 327 are electrically connected to the controller 6. The controller 6 controls the third rotating unit 326 to drive the third clamping unit 327 to rotate precisely to the specified directional position. The controller 6 controls the third clamping unit 327 to clamp the pipeline joint. The clamping end of the third clamping unit 327 and the base of the pipeline joint are covered with polyurethane anti-slip pads to ensure stable clamping of the pipeline joint while avoiding damage.

[0051] In this embodiment, the third rotating unit 326 and the third clamping unit 327 are existing technologies. For example, the third rotating unit 326 is a rotary cylinder, and the second clamping unit 214 is a clamping cylinder with a gripper.

[0052] The auxiliary transportation mechanism 4 includes a first mobile robot 41. The first mobile robot 41 is a robot that is capable of planning collision-free paths, dynamically avoiding obstacles, and generating following paths in the prior art. The speed of the first mobile robot 41 is adapted to the moving speed of the construction personnel to achieve a following movement mode.

[0053] The first mobile robot 41 is equipped with a first sub-control module 42 that is electrically connected to it. The first sub-control module 42 is remotely connected to the controller 6 via a network. The first sub-control module 42 can remotely receive instructions from the controller 6 and control the movement of its various components according to the instructions.

[0054] The first mobile robot 41 is also equipped with a mobile robotic arm 43, which is electrically connected to the first sub-control module 42. The end effector of the mobile robotic arm 43 can rotate ±180 degrees, and a fourth gripping unit 44 is also installed at the end of the mobile robotic arm 43. In this embodiment, the fourth gripping unit 44 is a clamping cylinder with a gripper, which is a common feature in the prior art. The mobile robotic arm 43 is controlled by the first sub-control module 42, which enables the fourth gripping unit 44 to move in multiple directions. The first sub-control module 42 also controls the fourth gripping unit 44 to grip the conduit connector.

[0055] The clamping end of the fourth clamping unit 44 is also equipped with a pressure monitoring unit (pressure sensor). The pressure monitoring unit is electrically connected to the first sub-control module 42. The pressure of the fourth clamping unit 44 on the conduit is monitored by the pressure monitoring unit to prevent the conduit from falling.

[0056] The first mobile robot 41 has a first visual monitoring unit 45 (visual sensor) installed on the left side of its chassis. The first visual monitoring unit 45 is electrically connected to the first sub-control module 42. The first visual monitoring unit 45 can track the outline of the construction personnel in real time and determine the location of the construction personnel.

[0057] The pipe clamp installation mechanism 5 includes a second mobile robot 51, which is a robot capable of planning paths and dynamically avoiding obstacles, using existing technology. A second sub-control module 52 is installed on the front of the second mobile robot 51. The second mobile robot 51 and the second sub-control module 52 are electrically connected. The second sub-control module 52 is remotely network-connected to the controller 6 and can remotely receive commands from the controller 6 to control the actions of each component.

[0058] Two second vision monitoring units are provided on the rear side of the second mobile robot 51. The two second vision monitoring units are electrically connected to the second sub-control module 52 respectively, and the two second vision monitoring units are arranged left and right. The second vision sensor can collect image data of the external environment and send it to the second sub-control module 52. The second vision sensor can extract the shape features of the conduit and track its laying direction for path planning.

[0059] The second mobile robot 51 is also equipped with a second mounting frame 54. A feeder is mounted on the top of the second mounting frame 54, and the bottom of the feeder is connected to the discharge pipe 56. The feeder in this embodiment is a commercially available product, and its structure will not be described in detail here.

[0060] The storage pipe is equipped with a seventh electric telescopic rod 59 on both the left and right sides, and the movable end of the seventh electric telescopic rod 59 is connected to a second movable frame 58; the discharge pipe 56 is provided with a second slot seat 57 on the front and rear sides of the two seventh electric telescopic rods 59 on both the left and right sides, and the second movable frame 58 is slidably inserted into the second slot seat 57 on its side.

[0061] The seventh electric telescopic rod 59 is electrically connected to the second sub-control module 52. The second sub-control module 52 controls the extension and retraction of the seventh electric telescopic rod 59 and controls the movement of the second moving frame 58 downward or upward.

[0062] Each second movable frame 58 is provided with a connecting frame 510. On the opposite sides of the two connecting frames 510, a double-ended electric telescopic rod 511 is provided. The movable end of each double-ended electric telescopic rod 511 is provided with a locking block 512. The two double-ended electric telescopic rods 511 are electrically connected to the second sub-control module 52. The second sub-control module 52 controls the movable end of the double-ended electric telescopic rod 511 to extend or shorten, thereby driving the locking blocks 512 on both sides to move synchronously inward or outward.

[0063] Each locking block 512 has a groove. When the two locking blocks 512 on the same double-ended electric telescopic rod 511 are closed, the slot formed by the two grooves matches the position of the pipe clamp fixing screw hole.

[0064] An eighth electric telescopic rod 515 is hinged to the outside of the discharge pipe 56. The eighth electric telescopic rod 515 is electrically connected to the second sub-control module 52. A stop rod 514 is hinged to the movable end of the eighth electric telescopic rod 515. A fixed seat 513 is provided at the bottom of the discharge pipe 56. The stop rod 514 is hinged to the fixed seat 513. The second sub-control module 52 controls the extension or retraction of the movable end of the eighth electric telescopic rod 515 to drive the stop rod 514 to rotate downward or upward.

[0065] A second mounting plate 516 is mounted on the front side of the second mounting bracket 54. An air pump module 517 is provided on the front side of the second mounting plate 516. The air pump module 517 is electrically connected to the second sub-control module 52.

[0066] Two pneumatic nail guns 518, each connected to an air pump module 517, are mounted on the rear side of the second mounting plate 516. The two pneumatic nail guns 518 are arranged on the left and right sides of the mounting plate 329. Each pneumatic nail gun 518 is electrically connected to the second sub-control module 52. The second sub-control module 52 controls the air pump module 517 to supply high-pressure gas to the pneumatic nail gun 518. The compressed gas inside the pneumatic nail gun 518 fires the nail.

[0067] Each pneumatic nail gun 518 is connected to the second mounting plate 516 via a drive mechanism located on the rear side of the second mounting plate 516. The drive mechanism consists of a second limiting guide rail 519, a mounting platform 520, a ninth electric telescopic rod 521, a third mounting base 522, a limiting rod 523, a rotating rod 524, a connecting base 525, and a tenth electric telescopic rod 526.

[0068] Two second limiting guide rails 519 are installed on the rear surface of the second mounting plate 516. The two second limiting guide rails 519 are arranged left and right. The second mounting plate 516 is slidably set with the two second limiting guide rails 519 through the slider set on its front side.

[0069] The rear side of the second mounting plate 516 is also provided with a ninth electric telescopic rod 521 corresponding to each group of second limit guide rails 519. The ninth electric telescopic rod 521 is placed between the two second limit guide rails 519 on its side, and the movable end of each ninth electric telescopic rod 521 is connected to the top of the mounting platform 520 on its corresponding side.

[0070] The ninth electric telescopic rod 521 is electrically connected to the second sub-control module 52. The ninth electric telescopic rod 521 is controlled by the second sub-control module 52, and the mounting platform 520 can be driven to move downward or upward by the extension or shortening of the movable end of the ninth electric telescopic rod 521.

[0071] The third mounting base 522 is mounted on the rear side of the mounting platform 520 in the front-rear direction; one end of the limiting rod 523 is rotatably connected to the inner front end of the third mounting base 522 via a rotating shaft, and the limiting rod 523 can rotate to the rear or front side inside the third mounting base 522; the rotating rod 524 is rotatably connected to the inner rear end of the third mounting base 522 via a rotating shaft. The connecting seat 525 is rotatably connected to the other end of the limiting rod 523 and the bottom end of the rotating rod 524 via a rotating shaft. The pneumatic nail gun 518 is installed at the rear end of the connecting seat 525. One end of the tenth electric telescopic rod 526 is installed on the mounting platform 520, and the other end is rotatably connected to the top end of the rotating rod 524. The tenth electric telescopic rod 526 is electrically connected to the second sub-control module 52. The tenth electric telescopic rod 526 is controlled by the second sub-control module 52 and can drive the rotating rod 524 to rotate backward or forward by its own extension and retraction. During the extension and retraction process, the movable end of the tenth electric telescopic rod 526 can rotate under the action of the rotating shaft seat connected to it.

[0072] Based on the above structure, the specific working process is as follows: Step 1: The staff moves the processing unit 1 to the designated location on the construction site, places multiple cable conduits in the conduit storage box 12 in the designated direction, places multiple conduit connectors in the connector storage box 31 in the designated direction, places multiple pipe clamps in the automatic feeder 55 in the designated direction, and injects adhesive into the glue pump 14 to complete the preparation work.

[0073] Step 2: The conduit storage tank 12 moves to its own discharge port position under the action of gravity, and the controller... 6. The vertical moving unit 211, longitudinal moving unit 212, second rotating unit 213, second clamping unit 214, first motor 23, first electric telescopic rod 27, electric push rod 29 and electric control dispensing head 210 are started. The vertical moving unit 211 drives the longitudinal moving unit 212 to move vertically in the up and down direction. The longitudinal moving unit 212 drives the second rotating unit 213 to move horizontally in the front and back direction. The second clamping unit 214 clamps and grabs the pipe at the outlet position of the conduit storage tank 12. The second rotating unit 213 drives the second clamping unit 214 to rotate so that the pipe is flipped to a vertical state with the cooperation of the second clamping unit 214. The vertical moving unit 211 and the longitudinal moving unit 212 work together to drive the second rotating unit 213 and the second clamping unit 214 to move the pipe to a designated position above the annular track 22 and to contact the coating rollers 26 on the front and rear sides. The first motor 23 drives the rotating disk 24 to rotate at 15-degree intervals, driving the roller slider 25 to move intermittently clockwise or counterclockwise along the annular track 22. The roller slider 25 drives the coating rollers 26 and the electronically controlled dispensing head 210 to move circumferentially along the outer wall of the pipe. The first electric telescopic rod 27 shortens and drives the first fixed frame 28 to move inward, so that the electric control glue injection head 210 inside the first fixed frame 28 contacts the outer wall of the conduit. The electric push rod 29 drives the electric control glue injection head 210 to move up and down reciprocally. The glue injection pump 14 supplies glue into the electric control glue injection head 210. The electric control glue injection head 210 moves in the up and down direction and applies the glue to the outside of the side wall end of the conduit in the circumferential direction. The application roller 26 rolls along the outer wall of the conduit to roll the glue evenly. After the coating is applied to one end of the outer wall of the conduit, the vertical moving unit 211, the longitudinal moving unit 212, and the second rotating unit 213 work together to drive the conduit held inside the second clamping unit 214 to flip to the other end and insert it into the inside of the front-to-back coating roller 26. This allows the electronically controlled dispensing head 210 and the coating roller 26 to work together to repeat the above process, so as to achieve the coating operation on the outer wall of the other end of the conduit.

[0074] Step 3: After the adhesive is applied to the end of the conduit, each part of the conduit processing component 2 returns to its initial position. The controller 6 controls the first horizontal moving unit 15 and the first clamping unit 17 to start. The first horizontal moving unit 15 drives its own moving end to move the first rotating unit 16 and the first clamping unit 17 to the right to the position above the rear side of the conduit processing component 2. The vertical moving unit 211, the longitudinal moving unit 212, and the second rotating unit 213 cooperate to drive the conduit clamped inside the second clamping unit 214 to move to the inside of the first clamping unit 17. The first clamping unit 17 clamps and grabs the conduit inside itself. The second clamping unit 214 releases the clamping state of the conduit and moves to the front position of the outer shell 21 with the cooperation of the vertical moving unit 211 and the second rotating unit 213. The first horizontal moving unit 15 drives the first rotating unit 16 to move the first clamping unit 17 to the position above the front side of the electric rotating table 320.

[0075] Step 4: Under the influence of gravity, the conduit connectors stored inside the connector storage tank 31 enter the receiving hopper 32 through the discharge port inside the connector storage tank 31, and move along the inclined surface of the slot ramp 34 to above the stop block 35. The controller 6 controls the second electric telescopic rod 36, the fourth electric telescopic rod 315, the glue injection pump 14, the fourth motor 318, the third motor 313, the third electric telescopic rod 310, the electric rotating table 320, the fifth electric telescopic rod 325, the third clamping unit 327, the third rotating unit 326, and the first rotating unit 16 to start. The second electric telescopic rod 36 intermittently extends and retracts, driving the stop block 35 to move back and forth inside the slot ramp 34, so that the conduit connectors inside the receiving hopper 32 are released one by one, and then enter the guide rail 33 through the discharge port inside the receiving hopper 32 in sequence, and move along the guide rail 33 to the inner cavity of the slot in the slot frame 39. The fourth electric telescopic rod 315 extends to drive the second mounting base 316 to move forward, so that the collection tank 319 moves to below the coating roller 312, and the outside of the glue roller 317 contacts the coating roller 312. The glue pump 14 supplies the internal glue into the glue roller 317. The fourth motor 318 drives the glue roller 317 to rotate, and the third motor 313 synchronously drives the coating roller 312 to rotate in the opposite direction, so that the glue roller 317 rolls the glue around the outside of the coating roller 312 to form a uniform glue film. The fourth electric telescopic rod 315 shortens to drive the second mounting base 316 to move backward. The third electric telescopic rods 310 on the left and right sides extend to drive the first mounting base 311 at the corresponding position to drive the coating roller 312 to be inserted into the inner cavity of the inner tube connector of the card slot frame 39 at the left and right ends respectively. The third motor 313 drives the coating roller 312 to rotate to ensure that the glue covers the entire circumference of the inner cavity end of the tube connector. After the adhesive is applied, the third electric telescopic rod 310 shortens and drives the coating roller 312 to move out of the inner cavity of the second base and to the corresponding position below the conduit. The electric rotating table 320 drives the first mounting plate 321 to rotate the upper first moving frame 324 to the corresponding position in front of the slot frame 39. The fifth electric telescopic rod 325 extends and drives the first moving frame 324 to move to the rear along the inner cavity of the slot seat 323, so that the third clamping unit 327 moves to the outside of the conduit joint and clamps and grabs it. The sixth electric telescopic rod 328 extends and drives the slot seat 323 to lift the first moving frame 324 upward under the limiting action of the limiting telescopic rod 322, so that the conduit joint is moved upward out of the slot cavity in the slot frame 39 with the cooperation of the third clamping unit 327. The electric rotating table 320 drives the first mounting plate 321 to rotate to the front side. The fifth electric telescopic rod 325 extends to drive the first moving frame 324 to move out of the inner cavity of the second base shell 13. The third rotating unit 326 drives the third clamping unit 327 to rotate, so that the internal conduit connector of the third clamping unit 327 rotates to the vertical upward position and aligns with the internal conduit of the first clamping unit 17. The sixth electric telescopic rod 328 extends so that the internal conduit connector of the third clamping unit 327 is sleeved on the outside of the end of the internal conduit of the first clamping unit 17. The first rotating unit 16 drives the first clamping unit 17 to rotate, so that the conduit after docking is rotated to the horizontal position.

[0076] Step 5: The controller 66 remotely controls the first sub-control module 42 to start. The first sub-control module 42 controls the first mobile robot 41 to move to the front position of the connector processing component 3. The first sub-control module 42 controls the mobile robotic arm 43, the fourth clamping unit 44 and the first vision monitoring unit 45 to start. The mobile robotic arm 43 drives the fourth clamping unit 44 to move in multiple directions. After the fourth clamping unit 44 clamps and grabs the conduit inside the first clamping unit 17, the first clamping unit 17 releases the clamping state. The first vision monitoring unit 45 collects image data of the external environment. The first sub-control module 42 plans the movement path of the first mobile robot 41 according to the image data, so that the first mobile robot 41 follows the construction personnel to transport the conduit to the vicinity of the construction personnel. The construction personnel remove the conduit inside the fourth clamping unit 44 to connect and install the ground line at the construction site.

[0077] Step 6: After installation, the controller 6. The remote control second sub-control module 52 is started. The second sub-control module 52 controls the second vision monitoring unit, the second mobile robot 51, the double-ended electric telescopic rod 511, the eighth electric telescopic rod 515, the seventh electric telescopic rod 59, the tenth electric telescopic rod 526, the ninth electric telescopic rod 521, the air pump module 517, and the air nail gun 518. The second vision monitoring unit collects image data of the external environment. The second vision monitoring unit plans the movement path of the second mobile robot 51 based on the image data, so that the second mobile robot 51 moves along the laid conduit. After moving to the designated position, the automatic feeder 55 sequentially feeds the pipe clamps stored inside into the discharge pipe 56. The pipe clamps move down along the discharge pipe 56, and the eighth electric telescopic rod 515 extends to drive the stop rod 514 to rotate upward to a horizontal state inside the fixed seat 513. This causes the inner wall of the pipe clamp's arc top inside the discharge pipe 56 to fall into the top of the stop rod 514 and block it. The double-ended electric telescopic rods 511 on both sides drive the front and rear clamping blocks 512 at the corresponding positions to move inward. This causes the front and rear clamping blocks 512 to move inward to clamp and fix the pipe clamp's fixing part. The eighth electric telescopic rod 515 shortens to drive the stop rod 514 to rotate downward to release the obstruction of the pipe clamp. The seventh electric telescopic rod 59 extends, driving the second moving frame 58 to move downwards. With the cooperation of the connecting frame 510 and the double-ended electric telescopic rod 511, it moves the pipe clamp to the outside of the conduit for installation, bringing the pipe clamp into contact with the ground. The tenth electric telescopic rods 526 on both sides shorten, driving the rotating rod 524 to rotate rearwards inside the third mounting base 522. Under the limiting action of the limiting rod 523, the driving connecting base 525 moves the pneumatic nail gun 518 rearwards to above the pipe clamp screw hole. The ninth electric telescopic rods 521 on both sides extend, driving the mounting platform 520 at the corresponding position... The second limiting guide rail 519 moves downward under the limiting action so that the pneumatic nail gun 518 is aligned with the pipe clamp screw hole. The air pump module 517 supplies high-pressure air into the pneumatic nail gun 518, and the pneumatic nail gun 518 passes the internal nail through the pipe clamp screw hole and fixes it to the ground. After the pipe clamp is installed, the double-ended electric telescopic rod 511 extends to drive the clamp block 512 to move outward. The seventh electric telescopic rod 59 shortens to drive the connecting frame 510 to move upward, so that the clamp block 512 is released from the fixed state of the pipe clamp. The chassis of the second mobile robot 51 continues to move along the laid conduit to the next installation position.

[0078] This invention integrates multiple processes such as gluing, docking, handling, and pipe clamp installation into one, enabling continuous operation and greatly improving work efficiency. Automated gluing and docking ensure the uniformity of glue application and the reliability of docking, while mechanical installation of pipe clamps ensures the consistency of installation fixing force and position, effectively avoiding human error. It replaces manual labor for the most arduous and repetitive physical work, reduces reliance on skilled workers, and shortens the construction cycle.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention. All equivalent changes made based on the description and drawings of the present invention are included within the scope of the present invention.

Claims

1. A cable pipeline laying device for hydroelectric construction, characterized by: It includes a processing mechanism, an auxiliary transport mechanism, a pipe clamp installation mechanism, and a controller. The processing mechanism is used for applying adhesive and connecting conduit materials and conduit joints on site. The auxiliary transport mechanism and the pipe clamp installation mechanism are located outside the processing mechanism. The auxiliary transport mechanism is used to transport the conduit that has been coated with adhesive inside the processing mechanism. The pipe clamp installation mechanism is located on the front side of the auxiliary transport mechanism and is used to install pipe clamps on the outside of the conduit. The controller is located on the surface of the processing mechanism and is electrically connected to the processing mechanism, the auxiliary transport mechanism, and the pipe clamp installation mechanism. The controller is used by the operator to manually or automatically control the entire device. The processing mechanism includes a first base housing, a second base housing, a conduit processing component, and a connector processing component; The first base housing is equipped with an injection pump, which is electrically connected to the controller; the top of the first base housing is equipped with a conduit storage tank, the inside of which is equipped with an inclined bottom plate, and the bottom of the left side wall of the conduit storage tank is provided with a discharge port; the conduit processing component is located at the front left of the first base housing. The second base housing is located to the left of the first base housing. The interior of the second base housing is provided with a connector processing component, and the top of the second base housing is provided with a transfer component. The conduit processing component includes a housing, a ring track, a first motor, a rotating disk, a roller slider, an applicator roller, a first electric telescopic rod, a first fixing frame, an electric push rod, and an electrically controlled dispensing head. The housing is fixed to the first base housing and is positioned below the discharge port of the conduit storage tank. The interior of the outer casing is equipped with a circular track, and a rotating disk is located at the center of the circular track; a first motor is located at the bottom of the outer casing, the first motor is electrically connected to the controller, and the output end of the first motor is fixedly connected to the rotating disk. Roller sliders are fixed on both sides of the upper surface of the rotating disk, and each roller slider is vertically equipped with an applicator roller. Each roller slider is equipped with a first electric telescopic rod, each first electric telescopic rod is electrically connected to the controller, each first electric telescopic rod has a first fixed frame at its movable end, each first fixed frame has an electric push rod at its top, the electric push rod is electrically connected to the controller, each electric push rod has an electrically controlled glue injection head at its movable end, each electrically controlled glue injection head is electrically connected to the controller, and each electrically controlled glue injection head is connected to a glue injection pump.

2. The cable laying device for hydropower construction according to claim 1, characterized in that: The housing also contains an attitude adjustment component, which includes a vertical moving unit, a longitudinal moving unit, a second rotating unit, and a second clamping unit. The vertical moving unit is placed on the inner wall of the housing, and one end of the longitudinal moving unit is fixed to the movable end of the vertical moving unit. The second rotating unit is fixed to the movable end of the longitudinal moving unit. The second rotating unit is equipped with a second clamping unit. The vertical moving unit, the longitudinal moving unit, the second rotating unit, and the second clamping unit are electrically connected to the controller.

3. The cable laying device for hydropower construction according to claim 1, characterized in that: The top of the second base housing is provided with a transfer component, which includes a first horizontal moving unit, a first rotating unit and a first clamping unit. The first horizontal moving unit is arranged along the left and right direction of the second base housing. The first rotating unit is placed on the first horizontal moving unit and the first clamping unit is placed on the first rotating unit. The first horizontal moving unit, the first rotating unit and the first clamping unit are electrically connected to the controller.

4. The cable laying device for hydropower construction according to claim 1, characterized in that: The joint processing components include a joint storage tank, a receiving bucket, a second electric telescopic rod, a base platform, a second fixing frame, a card slot frame, a third electric telescopic rod, a first mounting base, a coating roller, a third motor, a second mounting base, and a glue roller; The connector storage tank is placed inside the outer shell of the second base, and an installation plate is provided below the connector storage tank. A through hole is provided on the upper surface of the second base shell corresponding to the upper port of the connector storage tank. The bottom plate of the inner wall of the connector storage tank is inclined, and a discharge port is provided on the front side of the bottom plate of the connector storage tank. The upper end of the receiving hopper is connected to the bottom plate of the connector storage tank, and the receiving hopper is positioned below the discharge port of the connector storage tank. The receiving hopper is placed on the front side of the mounting plate, and the bottom of the receiving hopper is connected to the upper surface of the mounting plate. The lower surface of the mounting plate is symmetrically provided with guide rails corresponding to the left and right ends of the discharge port of the receiving hopper. The left and right ends of the inner wall of the receiving bucket are respectively provided with slot ramps with grooves at the bottom. The rear side of the mounting plate is provided with a second electric telescopic rod. The second electric telescopic rod is electrically connected to the controller. The movable end of the second electric telescopic rod is provided with a connecting rod. Both ends of the connecting rod are respectively provided with a stop block that matches the groove of the slot ramp at both ends of the inner wall of the receiving bucket. The stop block is slidably set with the upper surface of the mounting plate. The base platform is placed inside the outer shell of the second base. The second fixing frame is installed on the rear side of the base platform in a left-right direction. Two card slots are symmetrically arranged in the middle of the second fixing frame, and the two card slots are respectively placed below the two guide rails. The base platform is equipped with a third electric telescopic rod at each of its left and right ends. The third electric telescopic rod is electrically connected to the controller. Each third electric telescopic rod has a first mounting base at its movable end. Each first mounting base has a third motor, which is electrically connected to the controller. Each third motor has a coating roller at its output end. Each coating roller has a second mounting base at its rear side. A fourth motor is located on one side of the second mounting base. The fourth motor is electrically connected to the controller. A glue roller is located at the output end of the fourth motor. The glue roller is connected to the glue pump, and the surface of the glue roller is in contact with the coating roller. A transfer docking component is provided on the front side of the top of the base platform. The transfer docking component includes an electric rotating table, a first mounting plate, a limiting telescopic rod, a slot seat, a first moving frame, a fifth electric telescopic rod, a third rotating unit, a third clamping unit, and a sixth electric telescopic rod. The electric rotary table is electrically connected to the controller. The electric rotary table is mounted on the base platform. A first mounting plate is provided on the rotating end of the electric rotary table along the front-to-back direction. A sixth electric telescopic rod is provided at the bottom of the first mounting plate. The sixth electric telescopic rod is electrically connected to the controller. The movable end of the sixth electric telescopic rod passes through the first mounting plate and is connected to the slot seat above the first mounting plate. A fifth electric telescopic rod is provided on the top of the slot base. The fifth electric telescopic rod is electrically connected to the controller, and the movable end of the fifth electric telescopic rod is connected to the first movable frame. The first movable frame is provided with a third rotating unit, and the movable end of the third rotating unit is provided with a third clamping unit. The third rotating unit and the third clamping unit are respectively electrically connected to the controller.

5. The cable laying device for hydropower construction according to claim 4, characterized in that: The joint processing components also include a first limiting guide rail, a fourth electric telescopic rod, and a collection trough; Each rubber roller is placed on a second mounting base. Each second mounting base has a set of first limiting guide rails at its bottom along the front-back direction. The second fixing frame is provided with a slider that matches each set of first limiting guide rails. A fourth electric telescopic rod is provided between the two first limit guide rails in the same group. The fourth electric telescopic rod is electrically connected to the controller. The output end of the fourth electric telescopic rod is connected to the two first limit guide rails through the first mounting bracket. Each of the second mounting bases has a collection trough inside, arranged along the front-to-back direction, and the collection trough is located below the glue roller and the coating roller.

6. The cable laying device for hydropower construction according to claim 1, characterized in that: The auxiliary transportation mechanism includes a first mobile robot, on which a first sub-control module is electrically connected, and the first sub-control module is remotely connected to the controller via a network. The first mobile robot is also equipped with a mobile robotic arm, which is electrically connected to the first sub-control module. The end of the mobile robotic arm is equipped with a fourth gripping unit, which is electrically connected to the first sub-control module. The clamping end of the fourth clamping unit is also equipped with a pressure monitoring unit, which is electrically connected to the first sub-control module; The first mobile robot has a first visual monitoring unit installed on the left side of its chassis, and the first visual monitoring unit is electrically connected to the first sub-control module.

7. The cable laying device for hydropower construction according to claim 1, characterized in that: The pipe clamp installation mechanism includes a second mobile robot, on which a second sub-control module is installed. The second mobile robot is electrically connected to the second sub-control module, and the second sub-control module is remotely connected to the controller via a network. The second mobile robot has two second vision monitoring units on its rear side. The two second vision monitoring units are electrically connected to the second sub-control module, and the two second vision monitoring units are arranged left and right. The second mobile robot is equipped with a second mounting frame, and a feeder is mounted on the second mounting frame. The bottom of the feeder is connected to the discharge pipe. Seventh electric telescopic rods are installed on the left and right sides of the lower port of the discharge pipe, and the two seventh electric telescopic rods are electrically connected to the second sub-control module; the movable ends of the seventh electric telescopic rods are respectively equipped with second movable frames; Each of the second movable frames is equipped with a connecting frame, and the two connecting frames are equipped with double-ended electric telescopic rods on opposite sides. The two double-ended electric telescopic rods are electrically connected to the second sub-control module. Each double-ended electric telescopic rod has a locking block at its movable end. Each locking block has a groove. When the two locking blocks on the same double-ended electric telescopic rod are closed, the slot formed by the two grooves matches the position of the pipe clamp fixing screw hole. An eighth electric telescopic rod is hinged to the outside of the discharge pipe. The eighth electric telescopic rod is electrically connected to the second sub-control module. A stop bar is hinged to the movable end of the eighth electric telescopic rod. A fixed seat is provided at the bottom of the discharge pipe. The stop bar is hinged to the fixed seat. A second mounting plate is provided on one side of the second mounting bracket. A pneumatic nail gun is provided on the inner side of the second mounting plate. An air pump module is provided on the front side of the second mounting plate. The air pump module is electrically connected to the second sub-control module. The air pump module is connected to the pneumatic nail gun provided on the rear side of the second mounting plate. The pneumatic nail gun is electrically connected to the second sub-control module. A drive mechanism is also provided on the rear surface of the second mounting plate. The drive mechanism is electrically connected to the second sub-control module. The second sub-control module adjusts the position of the pneumatic nail gun through the drive mechanism.

Images