Anchor cable traction guide device and auxiliary mechanical arm

Abstract

The utility model discloses an anchor cable traction guiding device, and belongs to the field of engineering machinery. The anchor cable traction guide device comprises a hoisting support, at least two fourth guide wheel sets are arranged below the hoisting support, and a winch is arranged at one end of the hoisting support. When the anchor cable is fed, the anchor cable is clamped and arranged in the middle of the fourth guide wheel set in a penetrating mode, and a steel wire rope of the winch is connected with the tail of the anchor cable. The head of the anchor cable can be lifted up instead of manpower in the early stage of cable feeding, and clamping and fixing of the anchor cable are assisted; in the cable feeding process, the middle of the anchor cable can be lifted to be in a suspended state, friction resistance is reduced, and then the cable feeding process is smoother. The utility model further discloses an auxiliary mechanical arm.

Description

Technical Field

[0001] The utility model relates to the technical field of construction machinery, in particular to an anchor cable traction guiding device and an auxiliary robotic arm. Background Art

[0002] In underground chambers and high slopes of hydropower stations, multiple strands of prestressed anchor cables are usually arranged to enhance the stability of surrounding rocks. The traditional cable feeding method uses manual cooperation with hoists, winches or cranes for cable feeding, which has many disadvantages such as a large number of construction workers, high labor intensity, low operation efficiency, and poor safety. Therefore, the field is seeking solutions for mechanized construction. For example, a cable feeding device for anchor cables with the Chinese patent application number CN202223008885.9 actually discloses a device that can achieve mechanized cable feeding.

[0003] However, the above-mentioned prior art only focuses on the research of single boom structures such as anchor cable installation devices, and does not analyze and consider from the perspective of the entire equipment for anchor cable installation. Therefore, the following technical problems exist in actual use: In the case of anchor cable installation, the length of the anchor cable is usually between ten meters and dozens of meters, and the anchor cable itself is heavy. During the process of installing the anchor cable head, multiple construction workers are required to lift it in order to complete the clamping and fixing of the anchor cable head. In addition, during the above-mentioned anchor cable transportation process, the tail of the anchor cable drags on the ground, bringing great frictional resistance to the front-end cable feeding action, resulting in a slow cable feeding speed and low construction efficiency.

[0004] In view of this, a new technical solution is needed to solve the above technical problems. Summary of the Utility Model

[0005] In order to solve the problems existing in the prior art, the utility model provides an anchor cable traction guiding device and an auxiliary robotic arm, which can effectively solve the problems of inconvenient clamping of the anchor cable head and large cable feeding resistance existing in the prior art.

[0006] To achieve the above object, the first aspect of the utility model provides an anchor cable traction guiding device, which includes a hoisting bracket. At least two guiding wheel sets are arranged below the hoisting bracket, and a winch is arranged at one end of the hoisting bracket. When feeding the cable, the anchor cable is clamped and passes through the middle of the guiding wheel sets, and the winch is used to traction the anchor cable.

[0007] As a further improvement, the hoisting bracket further includes a slewing disc, which is used to connect to the end of the boom.

[0008] As a further improvement, a connecting frame is arranged at the end of the hoisting bracket. The end of the connecting frame is upturned to form an installation part, and the winch is installed at the installation part.

[0009] As a further improvement, the hoisting bracket has a main pipe bracket and two extension brackets, and the two extension brackets are both telescopically positioned and connected to both ends of the main pipe bracket.

[0010] As a further improvement, positioning holes are provided on both the main pipe bracket and the extension bracket. After assembly, the positioning holes on the main pipe bracket and the extension bracket are aligned and locked by screws.

[0011] As a further improvement, the guiding wheel set includes a wheel bracket and two semi-guiding wheels, and the two semi-guiding wheels are both arranged at the bottom of the wheel bracket; when feeding the cable, the cable passes above the two semi-guiding wheels.

[0012] As a further improvement, the guiding wheel set further includes two vertical semi-guiding wheels, and the two vertical semi-guiding wheels are arranged opposite to each other left and right.

[0013] The second aspect of the present utility model provides an auxiliary robotic arm, which is applied to a cable installation trolley and includes the traction guiding mechanism as described above.

[0014] As a further improvement, the robotic arm further includes a second slewing base, a second telescopic arm and a second forearm;

[0015] The second slewing base is used to be installed on the chassis, and it has a triangular seat body, and the seat body is inclined towards one side; the second telescopic arm has multiple telescopic joints; one end of the second telescopic arm is hinged to the top of the second slewing base, and a second pitching oil cylinder is arranged between the second telescopic arm and the second slewing base; the front end of the second forearm is used to connect the traction guiding mechanism.

[0016] As a further improvement, a leveling mechanism is arranged between the rear end of the second forearm and the front end of the second telescopic arm, and the leveling mechanism includes a leveling oil cylinder, and both ends of the leveling oil cylinder are respectively connected to the bottom of the second telescopic arm and the second forearm.

[0017] Compared with the prior art, the present utility model brings the following technical effects:

[0018] The cable traction guiding device of the present utility model includes a hoisting bracket, at least two guiding wheel sets are arranged below the hoisting bracket, and a winch is arranged at one end of the hoisting bracket; when feeding the cable, the cable is clamped and passes through the middle of the guiding wheel sets, and the steel wire rope of the winch is connected to the tail of the cable. Therefore, the cable traction guiding device can provide auxiliary functions both in the initial stage and during the process of feeding the cable, so as to achieve the purpose of smoother cable feeding operation, reducing manual labor and improving construction efficiency.

[0019] The auxiliary robotic arm and the cable operation trolley with this traction guiding device can both achieve the purpose of smoother cable feeding operation, reducing manual labor and improving construction efficiency. Description of the Drawings

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0021] Figure 1 Shows a perspective view of a multi-strand cable anchor installation trolley according to a preferred embodiment of the present invention;

[0022] Figure 2 Shows Figure 1 A partial perspective view of the multi-strand cable anchor installation trolley (mainly including the main arm);

[0023] Figure 3 Shows Figure 1 A perspective view of the working platform in ;

[0024] Figure 4 Shows Figure 1 A perspective view of the cable feeding device in ;

[0025] Figure 5 Shows Figure 1 A structural view of the cable feeding device from another perspective in ;

[0026] Figure 6 Shows Figure 1 A perspective view of the first guide wheel group in (open state);

[0027] Figure 7 Shows Figure 1 A perspective view of the guide tube in (open state);

[0028] Figure 8 Shows Figure 1 A schematic structural view of the synchronous linkage mechanism in (some structural members are omitted);

[0029] Figure 9 Shows a perspective view of a cable feeding robotic arm according to another preferred embodiment of the present invention;

[0030] Figure 10 Shows a schematic view of the working state of the present invention in a chamber;

[0031] Figure 11 Shows Figure 1 A perspective view of the auxiliary arm in ;

[0032] Figure 12 Shows Figure 11 A partial structural view of the auxiliary arm in.

[0033] Main element symbol description:

[0034] Chassis - 1; Support leg - 101;

[0035] Main boom - 2; First slewing base - 201; First telescopic boom - 202; First jib - 203; First tilting cylinder - 204; Four - link structure - 205;

[0036] Working platform - 300; Main platform - 301; Extension platform - 302;

[0037] Cable feeding device - 400; Sled - 401; Pusher beam - 402; Fixed clamping mechanism - 403; Sliding clamping mechanism - 404; Fixed seat - 406; First jaw - 407; Movable seat - 408; Second jaw - 409; Pusher cylinder - 410; Guide tube - 411; First guide wheel set - 412; Second guide wheel set - 413; Wheel carrier - 414; Semi - guide wheel - 415; Sliding wheel seat - 416; First movable pulley - 417; Second movable pulley - 418; First steel wire rope - 419; Second steel wire rope - 420; Third guide wheel set - 421; Mounting seat - 431; Hydraulic motor - 432;

[0038] Auxiliary robotic arm - 5; Second slewing base - 501; Second telescopic boom - 502; Second jib - 503; Slewing disc - 506;

[0039] Traction guiding device - 600; Lifting bracket - 601; Fourth guide wheel set - 602; Winch - 603; Steel wire rope - 604; Connecting frame 605; Main body pipe rack 606; Extension rack 607;

[0040] Anchor cable - 90. Detailed implementation manners

[0041] Next, the technical solutions of the present utility model will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0042] In addition, the technical features involved in different implementation manners of the present utility model described below can be combined with each other as long as they do not conflict with each other. The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout.

[0043] Embodiment

[0044] Please refer to Figure 1, this embodiment discloses a multi-strand cable installation trolley, which includes a chassis 1, a main arm 2 and an auxiliary robotic arm 5 installed on the chassis 1; a working platform 300 and a cable feeding device 400 are installed at the end of the main arm 2. The working platform 300 is for personnel to stand on, and the cable feeding device 400 is used to continuously feed the cable into the anchor hole; the auxiliary robotic arm 5 cooperates with the main arm 2, and a traction guiding device 600 is installed at the end of the auxiliary robotic arm 5. The traction guiding device 600 is used to lift the head of the cable 90 to the cable feeding device 400 at the initial stage of cable feeding, so that the cable feeding device 400 can clamp and fix the cable 90; the traction guiding device 600 is also used to lift the middle part of the cable 90 to a suspended state during the cable feeding process, and continuously deliver the cable 90 to the cable feeding device 400, thus ensuring that the cable feeding action is continuous without interruption.

[0045] The utility model is designed from the overall trolley, and an auxiliary robotic arm 5 is provided for the main arm 2. The auxiliary robotic arm 5 can provide auxiliary functions both at the initial stage and during the cable feeding process, so as to achieve the purpose of smoother cable feeding operation, reducing manual labor and improving construction efficiency.

[0046] Please refer to Figures 4 - 7 , in this embodiment, the cable feeding device 400 includes a carriage 401, a propulsion beam 402, a fixed clamping mechanism 403, a sliding clamping mechanism 404 and a cable feeding drive mechanism.

[0047] Specifically, the propulsion beam 402 is composed of two parallel strip plates. A guide rail structure is provided on the outer side of the strip plate, and the cross-section of the guide rail is triangular. The propulsion beam 402 is integrally fixed on the carriage 401. Of course, the propulsion beam 402 and the carriage 401 can also be made into an integral structure.

[0048] The fixed clamping mechanism 403 includes a fixed seat 406 and a first jaw 407. The fixed seat 406 is fixedly connected to the front end of the propulsion beam 402. The first jaw 407 includes two cable clamping blocks that are oppositely arranged and can open and close. The opposite surfaces of the two cable clamping blocks are set in a shape matching the cross-section of the cable 90, so as to maintain a good fit when clamping the cable 90.

[0049] The sliding clamping mechanism 404 includes a movable seat 408 and a second jaw 409. The movable seat 408 is slidably mounted on the propulsion beam 402. Specifically, a chute that fits the guide rail structure of the propulsion beam 402 is provided at the bottom of the movable seat 408, and the chute is engaged with the guide rail, thereby mounting the movable seat 408 on the propulsion beam 402. The cable feeding drive mechanism is fixed on the propulsion beam 402 and is connected to the sliding clamping mechanism 404 at the same time. The cable feeding drive mechanism is used to drive the sliding clamping mechanism 404 to move back and forth. There are various techniques that can be used as the cable feeding drive mechanism. For example, the simplest is to use a propulsion oil cylinder 410 as the drive. The cylinder body of the oil cylinder is connected to the propulsion beam 402, and the movable rod of the oil cylinder is connected to the sliding clamping mechanism 404, which can realize the back-and-forth drive of the sliding clamping mechanism 404.

[0050] The structure of the second jaw 409 is the same as that of the first jaw 407, and also includes two cable clamping blocks that are oppositely arranged and can open and close. The opposite surfaces of the two cable clamping blocks are set in a shape that matches the cross-section of the cable anchor 90, so as to keep in line when clamping the cable anchor 90.

[0051] The working principle of the cable feeding device 400 is as follows: the first jaw 407 of the fixed clamping mechanism 403 releases the cable anchor 90, the second jaw 409 of the sliding clamping mechanism clamps the cable anchor 90, the cable feeding drive mechanism is started, and then drives the sliding clamping mechanism 404 to slide forward. During this process, the second jaw 409 drives the cable anchor 90 to be fed forward by a certain distance; thereafter, the first jaw 407 of the fixed clamping mechanism 403 clamps the cable anchor 90, the second jaw 409 of the sliding clamping mechanism 404 releases the cable anchor 90, and the cable feeding drive mechanism acts in the reverse direction, driving the sliding clamping mechanism 404 to retreat backward to the initial position; repeating the above actions, the feeding of the entire cable anchor 90 is completed.

[0052] Specifically, in this embodiment, a guide tube 411 is provided at the rear end of the fixed clamping mechanism 403, and guide tubes 411 are respectively provided at the front end and the rear end of the sliding clamping mechanism 404. When feeding the cable, the cable anchor 90 is threaded through these guide tubes 411. The guide tubes 411 can limit the position of the cable anchor 90 to always be consistent with the cable feeding direction, so that the cable feeding action can be made smoother. Of course, in some other embodiments, the number and position of the guide tubes 411 can also be flexibly adjusted according to the situation. For example, a guide tube 411 can also be provided at the front end of the fixed clamping mechanism 403, or a guide tube 411 can be provided at one end of the sliding clamping mechanism 404, which is also possible.

[0053] Preferably, the guide tubes 411 are all provided with flared mouths. The reason for setting the flared mouths is that there is a hoop every certain length of the multi-strand cable anchor 90, and the hoop protrudes from the outer surface of the cable anchor 90. When entering the guide tube 411, the hoop will get stuck at the tube orifice, causing an obstacle to the cable feeding. The setting of the flared mouth can play a guiding role, enabling the hoop to smoothly pass through the tube orifice and enter the guide tube 411.

[0054] Specifically, in this embodiment, each guide tube 411 includes an upper guide tube and a lower guide tube connected together by a hinge; after assembly, the upper guide tube and the lower guide tube are locked by a pin shaft to form a complete guide tube 411. This setting is to facilitate the clamping and fixing of the anchor cable 90: if the guide tube 411 is a complete integrated structure, when clamping the anchor cable 90, the anchor cable 90 needs to be passed through the guide tube 411; and if the guide tube 411 is set as a structure with two halves hinged and openable, before clamping the anchor cable 90, the upper guide tube can be opened first, and after the anchor cable 90 is installed, the upper guide tube can be closed and then locked, thereby completing the clamping and fixing of the anchor cable 90 - this operation is much simpler and more convenient than threading the anchor cable 90.

[0055] As a further improvement, a first guide wheel group 412 is provided between the fixed clamping mechanism 403 and the sliding clamping mechanism 404, and a second guide wheel group 413 is provided behind the sliding clamping mechanism 404; the first guide wheel group 412 and the second guide wheel group 413 have the same structure, but the installation positions are different. The structure is described below by taking the first guide wheel group 412 as an example. The first guide wheel group 412 includes a wheel frame 414 and two semi-guide wheels 415. The two semi-guide wheels 415 are arranged opposite to each other up and down, and the two are arranged in parallel. The middle position is for the anchor cable 90 to pass through. Specifically in this embodiment, the wheel frame 414 includes an upper wheel frame and a lower wheel frame connected together by a hinge. The two semi-guide wheels 415 are respectively installed on the upper wheel frame and the lower wheel frame. After assembly, the upper wheel frame and the lower wheel frame are locked by a pin shaft to form a complete wheel frame 414. When feeding the cable, the anchor cable 90 is passed (or passed) between the upper and lower semi-guide wheels 415. The purpose of setting the wheel frame 414 to be hinged with two parts is also to facilitate the clamping and fixing of the anchor cable 90: that is, before clamping, the upper wheel frame is opened, the anchor cable 90 is placed in, and then the upper wheel frame is closed and locked. Otherwise, the anchor cable 90 needs to be clamped by passing through the wheel frame 414, which increases the difficulty of operation.

[0056] When the anchor cable 90 moves on the carriage 401, it will bend and sag due to its own weight, thereby generating friction resistance between the carriage 401 and the carriage 401, which is not conducive to the cable feeding. The guide wheel set is fixedly arranged at the corresponding position of the carriage 401, which can support the anchor cable 90 and prevent it from sagging, and can also guide the sliding, so that the cable feeding process is smoother.

[0057] Further, both the first guide wheel set 412 and the second guide wheel set 413 include two vertical semi-guide wheels 415. The two vertical semi-guide wheels 415 are arranged opposite to each other left and right and are located on one side of the wheel frame 414. When feeding the cable, the anchor cable 90 is threaded between the four semi-guide wheels 415, up and down, left and right, thereby guiding and sliding the anchor cable 90 from multiple directions and further ensuring the smoothness of the cable feeding process.

[0058] In this embodiment, both the first guide wheel set 412 and the second guide wheel set 413 are provided with sliding wheel seats 416. The sliding wheel seats 416 are slidably connected to the propulsion beam 402. The sliding connection relationship between the sliding wheel seats 416 and the propulsion beam 402 can refer to the movable seat 408 of the sliding clamping mechanism 404. Moreover, a synchronous linkage assembly is provided among the first guide wheel set 412, the second guide wheel set 413, and the sliding clamping mechanism 404. Therefore, during the process of the sliding clamping mechanism 404 driving the anchor cable 90 to be conveyed forward, the first guide wheel set 412 and the second guide wheel set 413 respectively support and guide the anchor cable 90 from the front and rear of the sliding clamping mechanism 404, which can further ensure the smoothness of the cable feeding process.

[0059] Please refer to Figure 8 , specifically, the synchronous linkage assembly includes a first movable pulley 417, a second movable pulley 418, a first steel wire rope 419, a second steel wire rope 420, and the propulsion oil cylinder 410 mentioned above. The first movable pulley 417 is fixedly installed on the first guide wheel set 412. The first steel wire rope 419 bypasses the first movable pulley 417, and its two ends are respectively connected to the propulsion beam 402 and the sliding clamping mechanism 404. The second movable pulley 418 is fixedly installed on the second guide wheel set 413. The second steel wire rope 420 bypasses the second movable pulley 418, and its two ends are respectively connected to the propulsion beam 402 and the sliding clamping mechanism 404. The cylinder body of the propulsion oil cylinder 410 is fixed on the propulsion beam 402, and the movable rod of the propulsion oil cylinder 410 is connected to the first guide wheel set 412. The propulsion beam 402, the first steel wire rope 419, the sliding clamping mechanism 404, and the second steel wire rope 420 form a loop with a fixed perimeter.

[0060] The operation principle and process of the synchronous linkage assembly are as follows:

[0061] The propulsion oil cylinder 410 extends forward, driving the first guide wheel set 412 to move forward. Due to the action of the first steel wire rope 419, the sliding clamping mechanism 404 is driven to move forward; at the same time, since the circumferential length of the loop formed by the propulsion beam 402, the first steel wire rope 419, the sliding clamping mechanism 404, and the second steel wire rope 420 remains unchanged, the sliding clamping mechanism 404 will actually drive the second guide wheel set 413 to move forward, and the forward movement speed of the second guide wheel set 413 is the same as that of the first guide wheel set 412, while the forward movement speed of the sliding clamping mechanism 404 is twice that of the first guide wheel set 412. When the sliding clamping mechanism 404 moves to abut against the first guide wheel set 412, the propulsion oil cylinder 410 stops advancing forward. At this time, the cable feeding device 400 completes the action of feeding a section of the cable anchor 90 forward.

[0062] After that, the propulsion oil cylinder 410 retracts backward, driving the first guide wheel set 412 to retract backward. Due to the action of the first steel wire rope 419, the sliding clamping mechanism 404 is driven to retract backward; at the same time, since the circumferential length of the loop formed by the propulsion beam 402, the first steel wire rope 419, the sliding clamping mechanism 404, and the second steel wire rope 420 remains unchanged, the sliding clamping mechanism 404 will actually drive the second guide wheel set 413 to retract backward, and the backward movement speed of the second guide wheel set 413 is the same as that of the first guide wheel set 412, while the backward movement speed of the sliding clamping mechanism 404 is twice that of the first guide wheel set 412. When the sliding clamping mechanism 404 moves to abut against the second guide wheel set 413, the propulsion oil cylinder 410 stops retracting backward. At this time, the cable feeding device 400 completes the reset action.

[0063] With the action of this synchronous linkage mechanism, the forward and backward movement speeds of the sliding clamping mechanism 404 can be twice that of the propulsion oil cylinder 410, thereby significantly improving the cable feeding speed and construction efficiency.

[0064] In this embodiment, a third guide wheel set 421 is fixedly provided at the rear end of the sliding frame 401, and the third guide wheel set 421 is inclined backward and downward. The third guide wheel set 421 is located at the bent part of the cable anchor 90. The method of setting it to be inclined backward and downward is to adapt to and relieve the bending degree of the cable anchor 90, preventing the huge resistance caused by the sudden bending of the cable anchor 90 here, thereby further ensuring the smoothness of the cable feeding process.

[0065] Please refer to Figure 10 、 Figure 12, specifically in this embodiment, the traction guiding device 600 includes a hoisting bracket 601. Below the hoisting bracket 601, there are three fourth guiding wheel groups 602, and the three fourth guiding wheel groups 602 are evenly distributed below the hoisting bracket 601. One end of the hoisting bracket 601 is provided with a winch 603. The structure of the fourth guiding wheel group 602 is similar to the structure of the guiding wheel group in the above text. The fourth guiding wheel group 602 includes a wheel frame and two half guiding wheels (not marked in the figure), and the two half guiding wheels are both arranged at the bottom of the wheel frame; when feeding the cable, the cable 90 passes above the two half guiding wheels. Preferably, the fourth guiding wheel group 602 is also provided with an openable and closable structure to facilitate clamping the cable 90. The fourth guiding wheel group 602 further includes two vertical half guiding wheels, and the two vertical half guiding wheels are arranged opposite to each other left and right. When feeding the cable, the cable 90 is clamped and passes through the middle of the fourth guiding wheel group 602, and the steel wire rope 604 of the winch 603 is connected to the tail of the cable 90. After the winch 603 is started, the cable 90 is lifted and continuously delivered towards the cable feeding device 400.

[0066] As a preferred solution, a connecting frame 605 is provided at the end of the hoisting bracket 601, and the end of the connecting frame 605 is upturned to form a mounting part (not marked in the figure), and the winch 603 is installed at the mounting part.

[0067] Furthermore, the hoisting bracket 601 has a main pipe frame 606 and two extension frames 607, and the two extension frames 607 are both telescopically and positionably connected to both ends of the main pipe frame 606. It should be noted that there are many ways to realize the positioning of the extension frame 607 at both ends of the main pipe frame 606. For example, in this embodiment, positioning holes are opened on both the main pipe frame 606 and the extension frame 607. During assembly, the positioning holes on the main pipe frame 606 and the extension frame 607 are aligned, and then screws are passed through the positioning holes of the two to achieve positioning; other ways to realize the positioning of the two are also possible, and the present invention is not limited thereto.

[0068] The working principle and function of the traction guiding device 600 are as follows:

[0069] 1. Assist in clamping and fixing the head of the cable 90

[0070] Control the main arm 2 to descend to a position close to the ground, the winch 603 of the auxiliary robotic arm 5 lowers the steel wire rope 604 to lift the head of the cable 90. The winch 603 is started to lift the head of the cable 90, and then control the auxiliary robotic arm 5 to move closer to the main arm 2, lift the head of the cable 90 to the cable feeding device 400, and complete the clamping and fixing of the head of the cable 90 at the cable feeding device 400 in the manner described above.

[0071] 2. Assist in the cable feeding process

[0072] Control the main boom 2 to move to a predetermined position so that the cable feeding device 400 is aligned with a certain anchor hole position. The auxiliary robotic arm 5 descends to a position close to the ground. With the assistance of manual labor, the middle part of the cable anchor 90 is clamped onto the cable guiding device 600 of the auxiliary robotic arm 5. At this time, the steel wire rope 604 of the winch 603 is connected to the tail of the cable anchor 90. Control the auxiliary robotic arm 5 to rise and lift the middle part of the cable anchor 90. The cable anchor 90 between the lifting point and the clamping position of the cable feeding device 400 of the main boom 2 will droop in a V shape. Lifting the auxiliary robotic arm 5 to make the bottom of the V-shaped cable anchor 90 leave the ground can reduce the friction between the cable anchor 90 and the ground, thus facilitating the cable feeding by the cable feeding device.

[0073] Please refer to Figure 1 , specifically in this embodiment, the chassis 1 adopts a wheeled chassis, which has stronger mobility and can enable the trolley to be flexibly transferred at the construction site. Of course, in some other embodiments, the chassis 1 can also adopt a crawler chassis. As for which specific chassis 1 to adopt, it can be determined according to the environment and conditions of the construction site.

[0074] To maintain the stability of the chassis 1, support legs 101 are also provided at the front and rear of the chassis 1. Specifically, two vertical support legs 101 are provided in front of the chassis 1, located on both sides of the front; two inclined support legs 101 are provided at the rear of the chassis 1, located on both sides of the rear. And, the two inclined support legs 101 form a triangular structure after being expanded, which has better stability. At the same time, the structural arrangement of the two inclined support legs 101 can also reduce the space occupation. It is worth mentioning that the structure of the support leg 101 itself is a known technology, such as having functions of telescoping and folding, etc., and will not be described in detail here.

[0075] Please refer to Figure 1 、 Figure 2, specifically in this embodiment, the main arm 2 further includes a first slewing base 201, a first telescopic arm 202 and a first forearm 203. The first slewing base 201 is horizontally rotatably mounted on the chassis 1 and has a triangular-shaped seat body that is inclined towards one side. The first telescopic arm 202 has multiple telescopic sections, such as a four-section structure in this embodiment. One end of the first telescopic arm 202 is hinged to the top of the first slewing base 201, and a first pitching oil cylinder 204 is provided between the first telescopic arm 202 and the first slewing base 201, so as to adjust the pitching angle of the first telescopic arm 202. The front end of the first forearm 203 is used to connect to the working platform 300, and a leveling mechanism is provided between the rear end of the first forearm 203 and the front end of the first telescopic arm 202. Specifically, in one of the embodiments, the leveling mechanism adopts a four-bar linkage structure 205, and this four-bar linkage structure 205 uses the prior art and can refer to the technology disclosed in Chinese Patent Application No. 202110896656.6. In addition, the first forearm 203 is swingably connected to the front end of the four-bar linkage structure 205 about a vertical axis. Therefore, the working platform 300 connected to the first forearm 203 can make a certain range of horizontal swings, thereby finely adjusting the position of the working platform 300.

[0076] Please refer to Figure 9 , in another embodiment, the first forearm 203 can also have a simpler leveling mechanism. For example, the rear end of the first forearm 203 is hinged to the front end of the first telescopic arm 202, and a leveling oil cylinder (not shown in the figure) is provided between the two. This leveling oil cylinder can drive the first forearm 203 to perform up and down pitching movements, thereby adjusting the first forearm 203 to always be in a horizontal state. In this case, the working platform 300 is horizontally rotatably connected to the front end of the first forearm 203. The present utility model does not particularly limit the boom structure of the main arm 2, and any structure that can drive the working platform 300 and the cable feeding device 400 to freely move in the construction space is acceptable.

[0077] Please refer to Figure 1 , Figure 2 , and Figure 3 , specifically in this embodiment, the cable feeding device 400 is connected to one side of the working platform 300. Specifically, the cable feeding device 400 further includes a mounting seat 431 and a hydraulic motor 432. The mounting seat 431 is fixedly connected to one side of the working platform 300, and the hydraulic motor 432 is horizontally connected between the mounting seat 431 and the carriage 401. Therefore, under the action of the hydraulic motor 432, the carriage 401 and the entire cable feeding device 400 can rotate around a horizontal axis, so that the cable feeding device 400 can perform the operation of installing anchors in the anchor holes at different positions on the side wall and top arch of the chamber (as Figure 10 shown).

[0078] Please refer to Figure 3, specifically in the embodiment, the working platform 300 includes a main platform 301 and two extension platforms 302 which are arranged on the lateral sides of the main platform 301 to extend the activity space of the main platform 301, so as to facilitate the construction workers to have a larger construction space.

[0079] Please refer to Figure 1 , Figure 11 , in this embodiment, the auxiliary robotic arm 5 further includes a second slewing base 501, a second telescopic arm 502 and a second forearm 503. The second slewing base 501 is horizontally rotatably mounted on the chassis 1. The second slewing base 501 is adjacent to the first slewing base 201 and has a triangular-shaped seat body which is inclined towards one side. The second telescopic arm 502 has multiple telescopic sections, such as the four-section structure in this embodiment. One end of the second telescopic arm 502 is hinged to the top of the second slewing base 501, and a second pitching oil cylinder is arranged between the second telescopic arm 502 and the second slewing base 501, so as to adjust the pitching angle of the second telescopic arm 502. The front end of the second forearm 503 is used to connect the traction guiding device 600, and a leveling mechanism is arranged between the rear end of the second forearm 503 and the front end of the second telescopic arm 502. Specifically in this embodiment, the leveling mechanism adopts a relatively simple structure, that is, a leveling oil cylinder is arranged between the second forearm 503 and the second telescopic arm 502, and the front end of the second forearm 503 is always kept in a horizontal state by means of this leveling oil cylinder. The utility model does not particularly limit the boom mechanism of the auxiliary robotic arm 5, and any structure that can drive the traction guiding device 600 to move freely in the construction space is acceptable.

[0080] Specifically, the traction guiding device 600 is connected to the bottom of the second forearm 503 through a rotary disk 506. Therefore, the whole traction guiding device 600 can rotate under the drive of the rotary disk 506, and further the relative position relationship between the traction guiding device 600 and the cable feeding device 400 can be adjusted. When the relative position relationship between the two is adjusted to align the lifting support 601 with the sliding frame 401 in sequence, the cable feeding resistance is the smallest and the cable feeding action is the smoothest at this time.

[0081] This embodiment also discloses a method for installing the cable 90 by using the above multi-strand cable installation trolley, which includes the following steps:

[0082] S1. The winch 603 of the auxiliary robotic arm 5 lifts the head of the cable 90 and hoists it to be clamped and fixed on the cable feeding device of the main arm 2.

[0083] That is, the steel wire rope 604 is connected to the head of the cable 90, and then the auxiliary robotic arm 5 is controlled to move to a position close to the main arm 2. The head of the cable 90 is lifted to the vicinity of the cable feeding device, and then the head of the cable 90 is clamped and fixed.

[0084] S2. The auxiliary mechanical arm 5 lifts the middle part of the anchor cable 90. The anchor cable 90 between the lifting point and the clamping position of the cable feeding device 400 of the main arm 2 will hang down in a V shape. The auxiliary mechanical arm 5 lifts the bottom of the V-shaped anchor cable 90 off the ground.

[0085] In this step, the auxiliary robot arm 5 lifts the middle part of the anchor cable 90, which means that the middle part of the anchor cable 90 is clamped to the guide wheel group of the lifting bracket 601; the lifting point roughly refers to the center of gravity of the section of the anchor cable 90 clamped to the lifting bracket 601.

[0086] S3. The cable feeding device of the main arm 2 installs the anchor cable 90.

[0087] That is, the cable feeding and installation steps are implemented in a step-by-step manner through the two anchor cable clamping mechanisms mentioned above: the fixed clamping mechanism 403 is loosened, and the sliding clamping mechanism 404 is clamped to drive the anchor cable 90 to move forward a preset distance to complete one cable feeding; then the fixed clamping mechanism 403 clamps the anchor cable 90, and the sliding clamping mechanism 404 loosens the anchor cable 90 and retreats to the initial position to start the next cable feeding.

[0088] S4. The winch 603 on the auxiliary mechanical arm 5 lifts the anchor cable 90 from the ground. According to the speed of the cable installation, the steel wire rope 604 pulls the anchor cable 90 to deliver the cable to the cable feeding device 400.

[0089] Every time the cable feeding device of the main arm 2 is transported forward a certain distance, the winch 603 of the auxiliary mechanical arm 5 pulls a section of the anchor cable 90 upward, thereby ensuring that the entire cable feeding action is continuous and uninterrupted.

[0090] As a further improvement, in order to make the rope feeding action smoother, the overall posture of the traction guide device 600 is also adjusted, specifically, the angle of the turntable 506 is controlled so that the lifting bracket 601 remains aligned with the slide 401.

[0091] In summary, the utility model brings the following technical effects:

[0092] The multi-strand cable anchor installation trolley of the present utility model includes a main arm 2 and an auxiliary robotic arm 5. A cable feeding device 400 is provided on the main arm 2 for continuously feeding a cable anchor 90 into an anchor hole. The auxiliary robotic arm 5 is used to cooperate with the main arm 2, and a guiding and pulling device 600 is provided thereon for lifting the head of the cable anchor 90 to the cable feeding device 400 for clamping and fixing during the early stage of construction, which is safer and more efficient than manual operation. The guiding and pulling device 600 is also used to lift the middle part of the cable anchor 90 to a suspended state during the cable feeding process and continuously deliver the cable anchor 90 to the cable feeding device 400. This setting can, on the one hand, reduce the huge friction generated by the contact between the cable anchor 90 and the ground, thereby reducing the cable feeding resistance and making the cable feeding action smoother. On the other hand, with the cooperation of the guiding and pulling device 600, the cable anchor 90 is continuously delivered to the cable feeding device 400, ensuring the continuity of the construction process without interruption and further improving the installation efficiency of the cable anchor 90. By adjusting the relative position relationship between the lifting bracket 601 and the sliding bracket 401, the smoothness of the cable feeding action can be further improved.

[0093] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom still fall within the protection scope of the creative work of the present utility model.

Claims

1. An anchor cable traction guide device, characterized in that: It comprises a lifting bracket, at least two guide wheel groups are arranged below the lifting bracket, and a winch is arranged at one end of the lifting bracket; when the cable is sent, the anchor cable is clamped and passed through the middle of the guide wheel group, and the winch is used to pull the anchor cable.

2. The anchor cable traction guide device according to claim 1, characterized in that: The hanging bracket also includes a turntable, and the turntable is used to be connected to the end of the boom.

3. The anchor cable traction guide device according to claim 1, characterized in that: A connecting frame is provided at the end of the hoisting bracket, and the end of the connecting frame is tilted upward to form a mounting portion, and the winch is mounted at the mounting portion.

4. The anchor cable traction guide device according to claim 1, characterized in that: The hanging bracket comprises a main pipe frame and two extension frames, and the two extension frames can be connected to the two ends of the main pipe frame in a telescopic and positionable manner.

5. The anchor cable traction guide device according to claim 4, characterized in that: Positioning holes are provided on the main pipe frame and the extension frame. After assembly, the positioning holes on the main pipe frame and the extension frame are aligned and locked by screws.

6. The anchor cable traction guide device according to claim 1, characterized in that: The guide wheel group comprises a wheel frame and two semi-guide wheels, wherein the two semi-guide wheels are arranged at the bottom of the wheel frame; when the cable is sent, the anchor cable passes over the two semi-guide wheels.

7. The anchor cable pulling guide device according to claim 6, characterized in that: The guide wheel group also includes two vertical semi-guide wheels, and the two vertical semi-guide wheels are arranged opposite to each other on the left and right sides.

8. An auxiliary mechanical arm, applied to an anchor cable installation trolley, characterized in that: Includes a traction guide device as described in any one of items 1-7.

9. The auxiliary robot arm according to claim 8, characterized in that: The mechanical arm also includes a second swivel seat, a second telescopic arm and a second small arm; The second swivel seat is used to be installed on the chassis, and it has a triangular-shaped seat body that is inclined toward one side; the second telescopic arm has multiple telescopic sections; one end of the second telescopic arm is hinged to the top of the second swivel seat, and a second pitch cylinder is arranged between the second telescopic arm and the second swivel seat; the front end of the second forearm is used to connect the traction guide device.

10. The auxiliary robot arm according to claim 9, characterized in that: A leveling mechanism is arranged between the rear end of the second small arm and the front end of the second telescopic arm. The leveling mechanism comprises a leveling cylinder. Both ends of the leveling cylinder are respectively connected to the bottom of the second telescopic arm and the second small arm.

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