An electric engineering adaptive mobile intelligent wire laying device

Abstract

This invention relates to the field of electrical engineering equipment, specifically disclosing an adaptive mobile intelligent cable laying device for electrical engineering. The device includes a mobile chassis assembly, a main frame assembly mounted on top of the mobile chassis assembly, a cable reel mounting assembly mounted within the main frame assembly, an intelligent conductor mechanism mounted below the cable reel mounting assembly, a tension sensing and control module mounted between the cable reel mounting assembly and the intelligent conductor mechanism, and a central control unit. This invention achieves linkage between the mobile chassis and the conductor mechanism; when the chassis moves, the conductor mechanism automatically tracks and adjusts its guide angle, eliminating cable deflection caused by device movement. By achieving coordinated linkage between tension sensing and multiple actuators, constant tension control is maintained during the cable laying process, preventing damage or loosening of the cable due to tension fluctuations.

Description

Technical Field

[0001] This invention relates to the field of electrical engineering construction equipment technology, specifically to an adaptive mobile intelligent cable laying device for electrical engineering. Background Technology

[0002] In the process of electrical engineering construction, cable laying is a key process of releasing cables from the reel and laying them to the predetermined position. The traditional method of laying cables usually involves placing the reel on the ground or on a simple support, and having the operator manually pull out the cable for laying. With the increase in the scale of construction and the improvement of construction quality requirements, various mechanized and semi-automated cable laying devices have been gradually applied. The existing wire feeding devices have the following technical problems in practical use: First, there is insufficient inter-structural linkage. The existing wire feeding device lacks effective coordination and linkage between the mobile chassis, wire reel support mechanism, cable guiding mechanism and tension control mechanism. Each mechanism works independently and cannot be linked and adjusted in real time according to the wire feeding status, which leads to problems such as tension fluctuation, tangling and knotting and local accumulation of the cable during the wire feeding process. Second, the mobile adaptability is poor. Most existing devices are fixed or simple hand-push mobile devices, which cannot adaptively follow the direction of the line and the construction path. Operators need to frequently manually adjust the position of the device, which is labor-intensive and inefficient. Third, the level of intelligence is insufficient. The existing wire mechanism is mostly fixed angle or simple mechanical reciprocating motion, lacking multi-dimensional adaptive adjustment capability; in terms of tension control, passive mechanical methods are mostly used, making it difficult to actively and accurately control according to cable type and wire feeding speed. Fourth, there is a lack of multi-system collaborative control. Existing devices lack a technical solution to integrate chassis motion control, conductor position control, reel braking control, and tension feedback control into a unified closed-loop control system, making it difficult to achieve fully automatic and intelligent management of the entire wire laying process. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive mobile intelligent cable laying device for electrical engineering.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An adaptive mobile intelligent wire laying device for electrical engineering includes a mobile chassis assembly, a main frame assembly mounted on top of the mobile chassis assembly, a wire reel mounting assembly mounted inside the main frame assembly, an intelligent conductor mechanism mounted below the wire reel mounting assembly, a tension sensing and control module mounted between the wire reel mounting assembly and the intelligent conductor mechanism, and a central control unit. The main frame assembly includes two uprights symmetrically arranged above the mobile chassis assembly and a crossbeam supported by the upper ends of the two uprights. The reel mounting assembly includes a reel support shaft and an electromagnetic brake. The reel support shaft is rotatably mounted between the two uprights below the crossbeam, and the electromagnetic brake is located between the reel support shaft and one of the uprights. The intelligent wire guide mechanism includes a universal joint connector that slides along the main frame assembly in both the vertical and horizontal directions. The output end of the universal joint connector is connected to a wire head assembly, and the universal joint connector is equipped with a cable angle sensor. The central control unit is connected to the mobile chassis assembly, the cable reel mounting assembly, the intelligent conductor mechanism, and the tension sensing control module. Based on the cable tension signal detected by the tension sensing control module and the cable deflection angle signal detected by the cable angle sensor, the central control unit coordinates and controls the moving speed and steering direction of the mobile chassis assembly, the braking torque of the electromagnetic brake, and the conductor position of the intelligent conductor mechanism.

[0005] As a further aspect of the present invention: the mobile chassis assembly includes a chassis frame, a drive wheel set, a hub drive motor, a steering servo, and a chassis encoder; the drive wheel set includes four drive wheels installed at the four corner points below the chassis frame, and these drive wheels are omnidirectional drive wheels. Each drive wheel is driven to rotate by a hub drive motor, and each drive wheel is equipped with an independent steering servo to control the deflection angle. The steering servo receives angle commands from the central control unit and drives the corresponding drive wheel to rotate around its vertical axis to change the driving direction; The chassis encoder is connected to the output shaft of the hub drive motor and is used to detect the rotational speed and cumulative rotation of the drive wheel in real time, and feed the signal back to the central control unit for closed-loop speed control of the moving chassis assembly and calculation of the moving distance.

[0006] As a further aspect of the present invention: the electromagnetic brake includes a stator fixed on the column and a rotor connected to the coil support shaft, and a coil rotary encoder is installed at the end of the coil support shaft away from the electromagnetic brake.

[0007] As a further embodiment of the present invention: a set of quick-release chucks is provided at each end of the spool support shaft. The quick-release chucks include an adjustment plate, a positioning plate, and a clamping rod. An adjustment plate is installed at each end of the spool support shaft. The outer end of the adjustment plate is rotatably connected to the positioning plate. The positioning plate has an adjustment groove that cooperates with one end of the clamping rod.

[0008] As a further aspect of the present invention: the intelligent conductor mechanism includes a horizontal guide rail located below and in front of the spool mounting assembly. The horizontal guide rail extends parallel to the axial direction of the spool support shaft. A vertical lifting arm is slidably connected to the horizontal guide rail. A universal joint connector is connected to the top of the vertical lifting arm. The output end of the universal joint connector is connected to a conductor head assembly.

[0009] As a further aspect of the present invention: the universal joint connector is a dual-axis universal joint structure, a deflection damper is installed on the horizontal deflection axis of the universal joint connector, a pitch damper is installed on the vertical pitch axis of the universal joint connector, the cable angle sensor is installed on the hinge frame of the universal joint connector, and the cable angle sensor includes two angle encoders respectively installed on the horizontal deflection axis and the vertical pitch axis, the two angle encoders respectively detect the horizontal deflection angle and the vertical pitch angle of the wire head assembly relative to the vertical lifting arm in real time.

[0010] As a further embodiment of the present invention: the wire head assembly includes a U-shaped wire frame and two wire wheels rotatably connected to the inner cavity of the U-shaped wire frame. The two wire wheels are arranged parallel to each other, and a wire gap is formed between the two wire wheels for the cable to pass through. A V-shaped wire groove is formed on one side between the outer circles of the two wire wheels. The wire wheels are rotatably connected between the two side plates of the U-shaped wire frame through bearings.

[0011] As a further embodiment of the present invention: the tension sensing and control module includes a tension detection roller, a strain gauge tension sensor, and a signal conditioning circuit. The tension detection roller is horizontally positioned, with both ends mounted above the horizontal guide rail via bearing seats. The tension detection roller is located on the path between the cable being released from the cable reel and the lead wire assembly. The strain gauge tension sensor is mounted at the bottom of the bearing seats at both ends of the tension detection roller. The signal conditioning circuit is located at the signal output end of the strain gauge tension sensor and includes a signal amplifier, a low-pass filter, and an analog-to-digital converter.

[0012] As a further aspect of the present invention: the mobile chassis assembly further includes an obstacle avoidance sensor, which is equipped with multiple sets of ultrasonic sensors. The multiple sets of ultrasonic sensors are evenly distributed in the front, rear, left and right directions of the chassis frame. When the central control unit adjusts the moving path of the mobile chassis assembly to avoid obstacles, it simultaneously adjusts the horizontal and vertical positions of the vertical lifting arm to keep the wire head assembly aligned with the cable extension direction.

[0013] As a further aspect of the present invention: the coil mounting assembly further includes a coil diameter detection sensor, which is mounted on the lower surface of the crossbeam and positioned towards the outer circumferential surface of the coil. The coil diameter detection sensor is a laser rangefinder sensor. The central control unit adaptively adjusts the braking torque of the electromagnetic brake, the reciprocating stroke of the horizontal servo slider, and the upper limit of the moving speed of the moving chassis assembly based on the effective diameter value of the coil detected in real time by the coil diameter detection sensor.

[0014] Compared with the prior art, the beneficial effects of the present invention by adopting the above technical solution are as follows: 1. This invention enables linkage between the mobile chassis assembly and the wire guide mechanism. When the chassis moves, the wire guide mechanism automatically tracks and adjusts the guide angle, eliminating the cable deflection problem caused by the movement of the device.

[0015] 2. This invention can achieve coordinated linkage between tension sensing and multiple actuators to maintain constant tension control during the cable laying process and avoid damage or loosening of the cable due to tension fluctuations.

[0016] 3. This invention achieves fully automatic closed-loop control of the wire laying process by using a central control unit to fuse information from multiple sensors and coordinate the scheduling of multiple actuators, thereby improving wire laying efficiency and quality.

[0017] 4. This invention can automatically adjust the moving speed and direction according to the laying direction and tension feedback, realizing a collaborative operation mode of laying while moving, which greatly reduces the labor intensity of operators.

[0018] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0019] Figure 1 This is a first three-dimensional schematic diagram in an embodiment of the present invention; Figure 2 This is a second perspective view in an embodiment of the present invention; Figure 3 This is a schematic diagram of the intelligent wire mechanism in an embodiment of the present invention; Figure 4 This is a schematic diagram of the wire head assembly in an embodiment of the present invention; Figure 5 This is a schematic diagram of a quick-release chuck in an embodiment of the present invention; Figure 6 This is a schematic diagram of the explosion of the quick-release chuck in an embodiment of the present invention; Figure 7 This is an overall side view schematic diagram in an embodiment of the present invention; Figure 8 This is a schematic diagram of the overall front view in an embodiment of the present invention.

[0020] Reference numerals: 100-Mobile chassis assembly; 110-Chassis frame; 120-Drive wheel set; 130-Hub drive motor; 140-Steering servo; 150-Chassis encoder; 160-Obstacle avoidance sensor; 200-Main frame assembly; 210-Column; 220-Crossbeam; 230-Reinforcing rib; 240-Height adjustment mechanism; 241-Lifting screw; 242-Lifting nut block; 243-Mounting plate; 300-Spindle mounting assembly; 310-Spindle support shaft; 320-Electromagnetic brake; 330-Spindle rotary encoder; 340-Spindle... Disc diameter detection sensor; 350-Quick release chuck; 351-Adjusting disc; 352-Positioning disc; 353-Clamping rod; 400-Intelligent wire guide mechanism; 410-Horizontal guide rail; 420-Horizontal servo slider; 430-Vertical lifting arm; 440-Universal joint connector; 450-Wire head assembly; 451-U-shaped wire frame; 452-Wire wheel; 460-Cable angle sensor; 500-Tension sensing control module; 510-Tension detection roller; 520-Strain gauge tension sensor; 530-Signal conditioning circuit; 600-Central control unit. Detailed Implementation

[0021] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0022] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] I. Overall Structure Please see the appendix Figure 1 -Appendix Figure 8 This invention discloses an adaptive mobile intelligent wire laying device for electrical engineering, which includes six functional modules: a mobile chassis assembly 100, a main frame assembly 200, a wire reel mounting assembly 300, an intelligent conductor mechanism 400, a tension sensing and control module 500, and a central control unit 600. The modules are linked together through mechanical connections and electrical signal lines, and are uniformly coordinated and managed by the central control unit 600.

[0024] The device uses the mobile chassis assembly 100 as the basic support platform. The main frame assembly 200 is vertically set above the mobile chassis assembly 100. The wire reel mounting assembly 300, intelligent wire mechanism 400, tension sensing and control module 500 and central control unit 600 are all installed above the main frame assembly 200. The components inside each module are divided into sub-components according to their functions, assembled by mechanical connection, and connected to the central control unit 600 through signal cables to achieve coordinated linkage of the entire device.

[0025] II. Mobile chassis components 100 The mobile chassis assembly 100 is the load-bearing foundation and mobile actuator of the entire device, located at the bottom of the entire device. It includes a chassis frame 110, a drive wheel set 120, a wheel hub drive motor 130, a steering servo 140, and a chassis encoder 150.

[0026] The chassis frame 110 is made of high-strength aluminum alloy profiles welded to form a rectangular frame structure. Its upper surface provides the mounting reference surface for the main frame assembly 200. The bottom is provided with four wheel mounting seats. The chassis frame 110 has a battery compartment inside, which is used to house a removable lithium battery pack to power the entire device.

[0027] The drive wheel assembly 120 includes four drive wheels, which are omnidirectional drive wheels. The four drive wheels are respectively installed in the wheel assembly mounting seats at the four corners of the chassis frame 110. Each drive wheel is driven to rotate by an independent hub drive motor 130 and is equipped with an independent steering servo 140 to control the deflection angle. The structure of independent drive and independent steering of the four wheels enables the chassis to achieve omnidirectional movement functions such as forward, backward, lateral movement and turning on the spot.

[0028] The hub drive motor 130 is a DC brushless servo motor with a built-in reduction gear set, which is directly embedded in the center of the hub. The speed and direction of each hub drive motor 130 are independently controlled by the central control unit 600.

[0029] The steering servo 140 is mounted on the steering mechanism of the drive wheel set 120 and is used to control the deflection angle of each drive wheel. The steering servo 140 receives angle commands from the central control unit 600 and drives the corresponding drive wheel to rotate around its vertical axis to change the driving direction.

[0030] The chassis encoder 150 is mounted on the output shaft of each wheel hub drive motor 130. It is an incremental rotary encoder that detects the speed and cumulative rotation of each drive wheel in real time and feeds the signal back to the central control unit 600 for chassis speed closed-loop control and travel distance calculation.

[0031] The obstacle avoidance sensor 160 is equipped with multiple sets of ultrasonic sensors, which are evenly distributed in the front, rear, left and right directions of the chassis frame 110. They are used to detect the distance information of obstacles around the device in real time and feed it back to the central control unit 600 to realize the automatic obstacle avoidance function.

[0032] III. Mainframe assembly 200 The main frame assembly 200 includes columns 210, crossbeams 220, reinforcing ribs 230 and height adjustment mechanism 240. The main frame assembly 200 is a frame structure erected vertically above the mobile chassis assembly 100, providing an installation foundation for each functional module.

[0033] The columns 210 are two vertically arranged circular steel pipes, symmetrically fixed to the rear sides of the upper surface of the chassis frame 110. The two columns 210 are connected by a crossbeam 220 and a reinforcing rib 230 to form a stable portal frame.

[0034] The crossbeam 220 is a horizontally arranged circular steel pipe, with its two ends welded to the upper inner side of the two columns 210 respectively. The crossbeam 220 provides a supporting foundation for the coil mounting assembly 300.

[0035] The reinforcing ribs 230 are diagonally arranged steel corner braces, which are connected between the column 210 and the chassis frame 110, and between the column 210 and the beam 220, respectively, to enhance the rigidity and stability of the overall frame.

[0036] The height adjustment mechanism 240 adopts a screw and nut lifting structure and is located in the middle of the column 210. The height adjustment mechanism 240 includes a lifting screw 241 vertically installed in the inner cavity of the column 210, a lifting nut block 242 sleeved on the outside of the lifting screw 241, and a mounting plate 243 connected to the lifting nut block 242. The height position of the mounting plate 243 can be adjusted by manually rotating the lifting screw 241 or by being driven by the adjustment motor, thereby adjusting the working height of the intelligent conductor mechanism 400 and the tension sensing control module 500 installed on the mounting plate 243 to adapt to the laying height requirements of different construction scenarios.

[0037] IV. Wire Reel Mounting Assembly 300 The reel mounting assembly 300 is installed below the crossbeam 220 of the main frame assembly 200 to support and fix the reel, and to enable controllable adjustment of the reel release speed. The reel mounting assembly 300 includes a reel support shaft 310, an electromagnetic brake 320, a reel rotary encoder 330, and a quick-release chuck 350. The quick-release chuck 350 includes an adjustment plate 351, a positioning plate 352, and a clamping rod 353.

[0038] The reel support shaft 310 is a horizontally set circular steel shaft. One end of it is rotatably connected to the inner side of the two columns 210 through a bearing seat. The reel is sleeved on the reel support shaft 310. The cable is fed out according to the rotation of the reel support shaft 310. The detachable bearing seat design facilitates quick replacement of the reel.

[0039] The electromagnetic brake 320 is installed at one end of the coil support shaft 310, near the fixed bearing seat, and is coaxial with the coil support shaft 310. The electromagnetic brake 320 includes a stator fixed on the column 210 and a rotor connected to the coil support shaft 310. The braking torque is adjusted by controlling the current flowing into the stator coil, thereby realizing active control of the coil rotation release speed. The current of the electromagnetic brake 320 is adjusted in real time by the central control unit 600 according to the tension feedback signal.

[0040] The reel rotary encoder 330 is installed at the end of the reel support shaft 310 away from the electromagnetic brake 320. It is an incremental photoelectric encoder. The reel rotary encoder 330 detects the rotation speed and cumulative number of rotations of the reel support shaft 310 in real time and outputs the signal to the central control unit 600 for calculating the cable release speed and cumulative cable length.

[0041] The spool diameter detection sensor 340 is installed on the lower surface of the crossbeam 220, facing the outer circumference of the spool. The spool diameter detection sensor 340 uses a laser rangefinder to detect the distance between the spool surface and the sensor in real time. The central control unit 600 calculates the current effective diameter of the spool based on this distance value, and then estimates the remaining amount of cable. As the cable is continuously released, the effective diameter of the spool gradually decreases. The central control unit 600 adaptively adjusts the braking torque of the electromagnetic brake 320 and the moving speed of the chassis accordingly.

[0042] The quick-release chuck 350 is mounted on the spool support shaft 310, located on both sides of the spool. The quick-release chuck 350 employs a radially adjustable three-jaw self-centering structure, adaptable to spools of different inner diameters. When installing the spool, it is fitted onto the spool support shaft 310, with the shaft passing through the spool's shaft hole. Then, the adjusting disc 351 is rotated relative to the positioning disc 352. One end of each of the three clamping rods 353 slides outward synchronously within radially evenly distributed adjusting grooves on the positioning disc 352. The clamping ends of the clamping rods 353 expand radially and press against the inner wall of the spool, clamping and fixing the spool to the spool support shaft 310, achieving rapid centering and fixation for spools of different inner diameters. During disassembly, the adjusting disc 351 is rotated in the opposite direction, causing the clamping rods 353 to retract radially, quickly releasing the spool.

[0043] V. Intelligent Conductor Mechanism 400 The intelligent wire guide mechanism 400 is one of the core innovative structures of this invention. It is installed on the mounting plate 243 of the height adjustment mechanism 240 on the front side of the main frame assembly 200, and is located below the front side of the wire reel mounting assembly 300. The intelligent wire guide mechanism 400 includes a horizontal guide rail 410, a horizontal servo slider 420, a vertical lifting arm 430, a universal joint connector 440, a wire head assembly 450, and a cable angle sensor 460.

[0044] After the cable is released from the reel of the cable reel mounting assembly 300, it first passes through the tension sensing and control module 500, and then through the gap between the two guide wheels 452 in the guide head assembly 450 of the intelligent guide mechanism 400, extending to the construction and laying position.

[0045] Unlike simple mechanical reciprocating guides or fixed guide rods in the prior art, the intelligent guide mechanism 400 of the present invention has three degrees of freedom of motion: horizontal movement, vertical lifting and lowering, and multi-directional adaptive rotation. All three dimensions of motion are coordinated and controlled by the central control unit 600, realizing all-round linkage with the mobile chassis and tension control.

[0046] The horizontal guide rail 410 is a horizontally set linear guide rail, which is fixedly installed on the front end face of the mounting plate 243 of the height adjustment mechanism 240. The extension direction of the horizontal guide rail 410 is parallel to the axial direction of the spool support shaft 310, that is, parallel to the width direction of the spool.

[0047] The horizontal servo slider 420 is slidably fitted onto the horizontal guide rail 410 and can move back and forth along the horizontal guide rail 410. The horizontal servo slider 420 is equipped with a servo motor and a lead screw and nut transmission mechanism. The output shaft of the servo motor is connected to a drive lead screw, which drives the nut fixed to the side of the horizontal guide rail 410. The central control unit 600 controls the speed and direction of the servo motor to precisely drive the horizontal servo slider 420 to move back and forth along the horizontal guide rail 410 or to be positioned at any position. The horizontal servo slider 420 is also equipped with a position encoder to provide real-time feedback on the horizontal position information of the slider.

[0048] The vertical lifting arm 430 is a vertically mounted telescopic circular tubular structure. Its bottom end is fixedly connected to the front end face of the horizontal servo slider 420. The vertical lifting arm 430 includes two layers of sleeves: an outer tube and an inner tube. The inner tube is inserted into the outer tube and can extend and retract vertically. The vertical lifting arm 430 is equipped with a miniature electric push rod. The fixed end of the electric push rod is connected to the inner wall of the outer tube, and the telescopic end is connected to the bottom end of the inner tube. The telescopic movement of the electric push rod drives the inner tube to rise or fall relative to the outer tube. The electric push rod is controlled by the central control unit 600 to achieve adaptive adjustment of the guide wire height.

[0049] The universal joint connector 440 is installed at the top of the inner tube of the vertical lifting arm 430. It is a dual-axis universal joint structure. The universal joint connector 440 includes a hinge frame with a horizontal axis and a vertical axis that are orthogonal to each other, so that the wire head assembly 450 connected to it can rotate freely around the two mutually perpendicular axes, realizing adaptive adjustment of angles in both the horizontal deflection direction and the vertical pitch direction. A deflection damper is installed on the horizontal deflection axis of the universal joint connector 440, and a pitch damper is installed on the vertical pitch axis. Both dampers are adjustable rotary dampers, which are used to limit the free swing amplitude of the wire head assembly 450 and ensure the smoothness of the wire connection process.

[0050] The cable head assembly 450 is connected to the output end of the universal joint connector 440 and serves as a cable guiding and actuating component. The cable head assembly 450 includes a U-shaped cable frame 451 and two cable wheels 452 rotatably connected to the inner cavity of the cable frame. The two cable wheels 452 are arranged parallel to each other, forming a cable gap between them for the cable to pass through. A V-shaped cable groove is formed on one side between the outer circles of the two cable wheels 452 for clamping and guiding cables of different diameters. The cable wheels 452 are rotatably connected between the two side plates of the cable frame through bearings and can rotate freely with the movement of the cable, reducing the friction between the cable and the cable wheels 452.

[0051] The cable angle sensor 460 is mounted on the hinge frame of the universal joint connector 440 and includes two angle encoders mounted on the horizontal deflection axis and the vertical pitch axis, respectively. The two angle encoders detect the horizontal deflection angle and the vertical pitch angle of the cable head assembly 450 relative to the vertical lifting arm 430 in real time, and output the detected angle signal to the central control unit 600. The central control unit 600 determines the current extension direction of the cable based on the angle signal and adjusts the movement direction and speed of the moving chassis accordingly.

[0052] VI. Tension Sensing and Control Module 500 The tension sensing and control module 500 is installed on the mounting plate 243 on the front side of the main frame assembly 200, located on the cable path between the cable reel mounting assembly 300 and the intelligent conductor mechanism 400. It is used to detect the current tension value of the cable in real time and provide tension feedback signals to the central control unit 600.

[0053] The tension detection roller 510 is a horizontally set smooth metal roller shaft, with both ends mounted on the mounting plate 243 via bearing seats. It can rotate freely around its own axis. The tension detection roller 510 is positioned on the path between the cable being released from the cable reel and the lead wire assembly 450. The cable passes under the tension detection roller 510, forming a certain wrap angle. Under the action of cable tension, the tension detection roller 510 bears the radial pressure from the cable.

[0054] The strain gauge tension sensor 520 is installed at the bottom of the bearing housing at both ends of the tension detection roller 510. It is a piezoelectric force sensor. When the cable applies radial pressure to the tension detection roller 510, the pressure is transmitted to the strain gauge tension sensor 520 through the bearing. The sensor outputs an electrical signal that is proportional to the pressure. The central control unit 600 calculates the current actual tension value of the cable based on the output signals of the tension sensors at both ends.

[0055] The signal conditioning circuit 530 is located at the signal output end of the strain gauge tension sensor 520. It includes a signal amplifier, a low-pass filter and an analog-to-digital converter. After amplifying, filtering and digitizing the original analog signal of the tension sensor, the signal conditioning circuit 530 outputs a digital tension signal to the main controller of the central control unit 600.

[0056] VII. Central Control Unit 600 The central control unit 600 is the core control hub for realizing multi-structure linkage in this invention. It is installed on the outer side of a column 210 of the main frame assembly 200, in a position that is easy for operators to observe and operate.

[0057] The main controller adopts an industrial-grade embedded controller based on the ARM architecture, which serves as the core of the entire device for computation and control. The main controller has multiple analog signal input ports, digital signal input and output ports, and multiple motor drive output ports.

[0058] The input terminal of the main controller is connected to the following sensor signals: chassis encoder 150, obstacle avoidance sensor 160, spool rotary encoder 330, spool diameter detection sensor 340, position encoder inside horizontal servo slider 420, cable angle sensor 460, and signal conditioning circuit 530.

[0059] The output of the main controller is connected to the following actuators: hub drive motor 130, steering servo motor 140, electromagnetic brake 320, servo motor inside horizontal servo slider 420, and electric push rod inside vertical lifting arm 430.

[0060] The main controller runs an adaptive linkage control algorithm to process the signals from each sensor in real time and coordinate the actions of each actuator.

[0061] The touch screen is installed on the outside of the main controller to display the current operating status parameters of the device and provide a human-machine interface. Operators can set the target tension value, the wire length threshold and the operating mode through the touch screen.

[0062] The wireless communication module uses a wireless communication chip to realize wireless data transmission between the main controller and external mobile terminals, and supports remote monitoring and parameter setting.

[0063] The power management module is connected to the lithium battery pack inside the chassis frame 110. It is responsible for converting and managing the power supply at various voltage levels and has battery power monitoring and low battery alarm functions.

[0064] VIII. Explanation of the linkage relationship between structures like Figure 2 As shown, the core innovation of this invention lies in the linkage and coordination mechanism between the substructures. The linkage relationships are described in detail below.

[0065] Linkage 1: Tension-Braking-Speed ​​Linkage. The strain gauge tension sensor 520 detects the cable tension value in real time and feeds it back to the main controller. The main controller compares the actual tension value with the set target tension value to obtain the tension deviation value. When the tension deviation value exceeds the preset threshold, the main controller simultaneously coordinates and adjusts three actuators: adjusting the braking current of the electromagnetic brake 320 to change the release resistance of the reel, i.e., if the tension is too high, the braking torque is reduced to make the reel easier to release, and if the tension is too low, the braking torque is increased to slow down the release speed; adjusting the speed of the hub drive motor 130 to change the chassis movement speed, i.e., if the tension is too high, the chassis moves towards the wire release direction appropriately to reduce the cable tension, and if the tension is too low, the chassis moves appropriately to slow down; adjusting the reciprocating speed of the horizontal servo slider 420 to match the current wire release speed.

[0066] Linkage 2: Angle-Steering Linkage. The cable angle sensor 460 detects the horizontal deflection angle of the wire head assembly 450 in real time. When the cable deflects to one side, the deflection angle value increases. Based on this, the main controller determines that the actual extension direction of the cable deviates from the front of the device. The main controller sends a steering command to the steering servo 140 to adjust the deflection angle of each drive wheel, so that the chassis movement direction gradually follows the extension direction of the cable, ensuring that the device always moves in the cable laying direction. At the same time, the main controller can adjust the center position offset of the horizontal servo slider 420 according to the deflection angle value, so that the wire head assembly 450 is aligned with the extension direction of the cable in the horizontal direction.

[0067] Linkage 3: Adaptive Linkage of Cable Reel Diameter and Parameters. The cable reel diameter detection sensor 340 measures the current effective diameter of the cable reel in real time. As the cable is continuously released, the cable reel diameter gradually decreases. The main controller adaptively adjusts the following parameters based on the current cable reel diameter value: the basic braking torque of the electromagnetic brake 320 (the smaller the cable reel diameter, the lower the cable release speed under the same braking torque, therefore the braking torque needs to be appropriately reduced to maintain a constant cable release speed); the reciprocating stroke of the horizontal servo slider 420 (the smaller the cable reel diameter, the narrower the cable arrangement width on the cable reel, the shorter the reciprocating stroke of the horizontal servo slider 420 should be accordingly shortened); and the upper limit of the chassis movement speed (limited according to the release speed that the current cable reel can provide to prevent the cable from being pulled off).

[0068] Linkage 4: Obstacle Avoidance-Path Linkage. When the obstacle avoidance sensor 160 detects an obstacle, the main controller adjusts the horizontal position and angle of the cable guide mechanism simultaneously while adjusting the chassis movement path to ensure that the cable does not deflect sharply or become entangled due to the chassis's obstacle avoidance change direction.

[0069] IX. Implementation of Adaptive Linkage Control Algorithm The adaptive linkage control algorithm operates in a periodic loop, completing the following steps sequentially within each control cycle.

[0070] System initialization phase: After the main controller is powered on, it performs system initialization operations, including initializing the communication interfaces and data buffers of each sensor, setting each actuator to the initial safe state, that is, setting the electromagnetic brake 320 to the preset upper limit torque, setting the hub drive motor 130 to zero speed, driving the horizontal servo slider 420 to the center position of the horizontal guide rail 410, setting the vertical lifting arm 430 to the default height position, reading the initial values ​​of each sensor and performing zero-point calibration, and initializing the internal variables and timers of the control algorithm.

[0071] Parameter setting stage: Operators set the wire laying operation parameters through the touch screen, including target tension value, tension deviation threshold, deflection angle threshold, target wire laying length, and operation mode selection.

[0072] Multi-sensor data acquisition phase: The main controller synchronously acquires the following sensor data in each control cycle: the current cable tension value output from the strain gauge tension sensor 520 via the signal conditioning circuit 530; the current horizontal deflection angle and vertical pitch angle of the wire head assembly 450 output from the cable angle sensor 460; the current rotational speed of each drive wheel output from the chassis encoder 150; the current rotational angular velocity of the wire spool output from the wire spool rotary encoder 330; the current effective diameter of the wire spool output from the wire spool diameter detection sensor 340; the distance to obstacles in each direction output from the obstacle avoidance sensor 160; and the current horizontal position output from the internal position encoder of the horizontal servo slider 420.

[0073] Tension closed-loop adjustment stage: The main controller calculates the absolute value of the difference between the current actual tension value and the target tension value as the tension deviation value. The tension deviation value is compared with the set tension deviation threshold. If the tension deviation value exceeds the threshold, the main controller adjusts the braking current of the electromagnetic brake 320 and the chassis moving speed simultaneously according to the direction and magnitude of the tension deviation. The adjustment amount of the braking current is proportional to the tension deviation value, and the proportional coefficient is the preset braking gain coefficient. The adjustment amount of the chassis speed is proportional to the tension deviation value, and the proportional coefficient is the preset speed gain coefficient.

[0074] Angle tracking adjustment stage: The main controller reads the horizontal deflection angle of the wire head assembly 450 and compares its absolute value with the deflection angle threshold. If the deflection angle exceeds the threshold, the main controller calculates the target deflection angle of each drive wheel according to the direction and magnitude of the deflection angle, so that the chassis movement direction gradually follows the cable extension direction, and synchronously adjusts the center position offset of the horizontal servo slider 420 to compensate for the inertial delay during the chassis steering process.

[0075] During the adaptive parameter update phase of the reel diameter: the main controller reads the current effective diameter of the reel, calculates the linear velocity of the cable release from the reel based on the diameter value, and adaptively adjusts the basic braking torque compensation value of the electromagnetic brake 320, the reciprocating stroke of the horizontal servo slider 420, and the upper limit of the chassis movement speed.

[0076] Obstacle avoidance phase: The main controller checks the distance values ​​of obstacles in each direction to determine whether there are obstacles with a distance less than the safe distance threshold. If there are obstacles, the main controller calculates the obstacle avoidance path, adjusts the chassis movement direction to bypass the obstacles, and simultaneously adjusts the position of the horizontal servo slider 420 and the vertical lifting arm 430 to keep the wire head assembly 450 aligned with the cable extension direction.

[0077] Cable length determination stage: The main controller calculates the total length of cable that has been released based on the cumulative number of rotations of the spool rotary encoder 330 and the current effective diameter of the spool, and compares it with the target cable length. If the target length has not been reached, the controller returns to the multi-sensor data acquisition stage to continue executing the next control cycle. If the target length has been reached, the controller performs a stop operation.

[0078] Stopping the wire laying stage: The main controller performs the following stop operations in sequence: setting the braking current of the electromagnetic brake 320 to a preset upper limit value to lock the wire spool; setting the speed of each hub drive motor 130 to zero and applying electronic braking; stopping the horizontal servo slider 420 at its current position; and displaying wire laying completion information and wire laying statistics on the touch screen.

[0079] 10. Overall Wire Laying Operation Procedure The complete operation process of the device of the present invention, from work preparation to line laying completion, is as follows.

[0080] Device preparation stage: Install the cable reel onto the cable reel support shaft 310 and fix it with the quick-release chuck 350; pass the free end of the cable around the tension detection roller 510 and through the two guide wheels 452 of the guide head assembly 450; set the target tension value, target cable length and operating mode through the touch screen.

[0081] System self-test phase: The main controller automatically detects the connection status and initial readings of all sensors; the main controller automatically detects the response status of all actuators; if the self-test passes, it enters the automatic wire laying phase; if the self-test fails, the fault information is displayed on the touch screen and a troubleshooting prompt is given.

[0082] Automatic wire laying stage: The operator presses the start button; the main controller starts the adaptive linkage control algorithm; the electromagnetic brake 320 releases to the initial set torque; the chassis begins to move in the set direction.

[0083] Adaptive linkage wire laying process: The system continuously runs the adaptive linkage control algorithm in a periodic loop, sequentially completing multi-sensor data acquisition, tension closed-loop adjustment, direction tracking adjustment, wire reel diameter adaptive parameter update and obstacle avoidance path coordination, until the target wire laying length is reached and it automatically enters the stop stage.

[0084] Stop the wire laying stage: Electromagnetic brake 320 locks the wire reel; the chassis stops moving and brakes; the touch screen displays the wire laying completion information and statistics; the wire laying operation ends.

[0085] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on.

[0086] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0087] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. An adaptive mobile intelligent wire-laying device for electrical engineering, characterized in that, It includes a mobile chassis assembly (100), a main frame assembly (200) mounted on top of the mobile chassis assembly (100), a coil mounting assembly (300) mounted inside the main frame assembly (200), an intelligent conductor mechanism (400) mounted below the coil mounting assembly (300), a tension sensing and control module (500) mounted between the coil mounting assembly (300) and the intelligent conductor mechanism (400), and a central control unit (600); The main frame assembly (200) includes two columns (210) symmetrically arranged above the mobile chassis assembly (100) and a crossbeam (220) jointly supported by the upper ends of the two columns (210). The coil mounting assembly (300) includes a coil support shaft (310) and an electromagnetic brake (320). The coil support shaft (310) is rotatably mounted between the two columns (210) below the crossbeam (220). The electromagnetic brake (320) is located between the coil support shaft (310) and one of the columns (210). The intelligent wire mechanism (400) includes a universal joint connector (440) that slides along the main frame assembly (200) in both the vertical and horizontal directions. The output end of the universal joint connector (440) is connected to a wire head assembly (450), and the universal joint connector (440) is equipped with a cable angle sensor (460). The central control unit (600) is connected to the mobile chassis assembly (100), the cable reel mounting assembly (300), the intelligent conductor mechanism (400), and the tension sensing control module (500) respectively. The central control unit (600) coordinates and controls the moving speed and steering direction of the mobile chassis assembly (100), the braking torque of the electromagnetic brake (320), and the conductor position of the intelligent conductor mechanism (400) based on the cable tension signal detected by the tension sensing control module (500) and the cable deflection angle signal detected by the cable angle sensor (460).

2. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 1, characterized in that, The mobile chassis assembly (100) includes a chassis frame (110), a drive wheel set (120), a hub drive motor (130), a steering servo (140), and a chassis encoder (150). The drive wheel set (120) includes four drive wheels installed at the four corners below the chassis frame (110). Each drive wheel is driven to rotate by a hub drive motor (130). Each drive wheel is equipped with an independent steering servo (140) to control the deflection angle. The steering servo (140) receives the angle command from the central control unit (600) and drives the corresponding drive wheel to rotate around its vertical axis to change the driving direction. The chassis encoder (150) is connected to the output shaft of the hub drive motor (130) and is used to detect the rotation speed and cumulative rotation of the drive wheel in real time, and feed the signal back to the central control unit (600) for closed-loop speed control and distance calculation of the moving chassis assembly (100).

3. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 2, characterized in that, The intelligent conductor mechanism (400) includes a horizontal guide rail (410) located below and in front of the spool mounting assembly (300). The extension direction of the horizontal guide rail (410) is parallel to the axial direction of the spool support shaft (310). The horizontal guide rail (410) is slidably connected to a vertical lifting arm (430). The top end of the vertical lifting arm (430) is connected to a universal joint connector (440), and the output end of the universal joint connector (440) is connected to a conductor head assembly (450).

4. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 3, characterized in that, The universal joint connector (440) is a dual-axis universal joint structure. A deflection damper is installed on the horizontal deflection axis of the universal joint connector (440), and a pitch damper is installed on the vertical pitch axis of the universal joint connector (440). The cable angle sensor (460) is installed on the hinge frame of the universal joint connector (440). The cable angle sensor (460) includes two angle encoders installed on the horizontal deflection axis and the vertical pitch axis, respectively. The two angle encoders detect the horizontal deflection angle and the vertical pitch angle of the wire head assembly (450) relative to the vertical lifting arm (430) in real time.

5. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 3, characterized in that, The wire head assembly (450) includes a U-shaped wire frame (451) and two wire wheels (452) rotatably connected to the inner cavity of the U-shaped wire frame (451). The two wire wheels (452) are arranged parallel to each other vertically, and a wire gap is formed between the two wire wheels (452) for the cable to pass through. A V-shaped wire groove is formed on one side between the outer circles of the two wire wheels (452). The wire wheels (452) are rotatably connected between the two side plates of the U-shaped wire frame (451) through bearings.

6. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 3, characterized in that, The mobile chassis assembly (100) also includes an obstacle avoidance sensor (160). The obstacle avoidance sensor (160) is equipped with multiple sets of ultrasonic sensors, which are evenly distributed in the front, rear, left and right directions of the chassis frame (110). When the central control unit (600) adjusts the moving path of the mobile chassis assembly (100) to avoid obstacles, it simultaneously adjusts the horizontal and vertical positions of the vertical lifting arm (430) to keep the wire head assembly (450) aligned with the cable extension direction.

7. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 3, characterized in that, The coil mounting assembly (300) also includes a coil diameter detection sensor (340), which is mounted on the lower surface of the crossbeam (220) and faces the outer circumference of the coil. The coil diameter detection sensor (340) is a laser rangefinder. The central control unit (600) adaptively adjusts the braking torque of the electromagnetic brake (320), the reciprocating stroke of the vertical lifting arm (430), and the upper limit of the moving speed of the mobile chassis assembly (100) based on the effective diameter value of the coil detected in real time by the coil diameter detection sensor (340).

8. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 3, characterized in that, The tension sensing and control module (500) includes a tension detection roller (510), a strain gauge tension sensor (520), and a signal conditioning circuit (530). The tension detection roller (510) is horizontally positioned, with both ends of the tension detection roller (510) mounted above the horizontal guide rail (410) via bearing seats. The tension detection roller (510) is located on the path between the cable being released from the cable reel and the cable head assembly (450). The strain gauge tension sensor (520) is mounted at the bottom of the bearing seats at both ends of the tension detection roller (510). The signal conditioning circuit (530) is located at the signal output end of the strain gauge tension sensor (520) and includes a signal amplifier, a low-pass filter, and an analog-to-digital converter.

9. The adaptive mobile intelligent cable laying device for electrical engineering according to claim 1, characterized in that, The electromagnetic brake (320) includes a stator fixed on the column (210) and a rotor connected to the coil support shaft (310). A coil rotary encoder (330) is installed at the end of the coil support shaft (310) away from the electromagnetic brake (320).

10. The adaptive mobile intelligent wire laying device for electrical engineering according to claim 1, characterized in that, A set of quick-release chucks (350) is provided at each end of the spool support shaft (310). The quick-release chuck (350) includes an adjustment plate (351), a positioning plate (352), and a clamping rod (353). An adjustment plate (351) is installed at each end of the spool support shaft (310). The outer end of the adjustment plate (351) is rotatably connected to the positioning plate (352). The positioning plate (352) has an adjustment groove that cooperates with one end of the clamping rod (353).

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