Automatic anchor cable entering device for underground cavern top arch

Abstract

The utility model provides an underground cavern top arch anchor cable automatic cable entering device which comprises a crawler-type loader, a rotating shaft disc is arranged in the center of a top platform of the crawler-type loader, a working platform is arranged at the top end of the rotating shaft disc, a power system and a control room are arranged in the working platform, and an installation system is arranged on one side of the working platform. A hydraulic rod is arranged at the top of the working platform, the top end of the hydraulic rod is connected with the side wall of the mounting system, and downward hydraulic supporting legs are arranged at the four corners of the working platform. The automatic cable entering device for the underground cavern top arch anchor cable is rapid in cable entering and accurate in installation, efficient, stable, safe and reliable, manual intervention in the cable entering process is avoided, the cable entering process is reasonable, and potential safety hazards of constructors are completely eradicated.

Description

Technical Field

[0001] The utility model relates to the technical field of anchor cable construction in underground chambers of hydropower stations, and specifically relates to an automatic cable feeding device for the top arch of an underground chamber. Background Art

[0002] Hydropower stations usually have large underground chambers such as underground powerhouses and main transformer chambers. Anchor cables are usually installed on the top arch of large underground chambers to ensure the stability of the surrounding rock in the top arch area during excavation and support, and to ensure construction safety. And common top arch anchor cables usually have a length greater than 30m, and the self-weight of a single anchor cable bundle is relatively large. Considering the large frictional resistance between the anchor cable bundle and the hole during the cable feeding process, the cable feeding construction of large underground chambers, especially the top arch anchor cables, is relatively difficult.

[0003] The comparative document CN218598224U discloses a portable and movable cable feeding device for the top arch of an underground chamber. The protected claim is "The portable and movable cable feeding device for the top arch of an underground chamber includes a steel structure fixed frame, a slow winch, a rock-injecting screw rod, and a hole guiding pulley group; the slow winch is fixed on the steel structure fixed frame, the rock-injecting screw rod is fixed at the cable feeding position of the top arch of the underground chamber, the hole guiding pulley group is installed on the rock-injecting screw rod, and the winch steel wire rope 9 of the slow winch is matched and passed through the hole guiding pulley group and fixed to the anchor cable bundle. The utility model uses the slow winch and the hole guiding pulley group to cooperate for the cable feeding work of the top arch of the underground chamber, which is efficient, convenient, reduces the ineffective consumption of labor, makes the cable feeding process reasonable and eliminates the potential safety hazards of construction workers. At the same time, the setting of the steel structure fixed frame and the counterweight makes the slow winch work stably, safe and reliable." However, manual intervention is still required during its installation process, and there is still great room for improvement in the installation efficiency.

[0004] Therefore, there is an urgent need for an automatic cable feeding device for the top arch of an underground chamber to solve the above problems. Summary of the Invention

[0005] The purpose of the utility model is to overcome the above deficiencies and provide an automatic cable feeding device for the top arch of an underground chamber to solve the problems raised in the background art.

[0006] To solve the above technical problems, the technical solution adopted by the present utility model is as follows: An automatic cable-laying device for the top arch cable anchor of an underground chamber, comprising a crawler loader. A rotary shaft disc is provided at the center of the top platform of the crawler loader. A working platform is provided at the top end of the rotary shaft disc. A power system and a control room are provided inside the working platform. An installation system is provided on one side of the working platform. A hydraulic rod is provided at the top of the working platform. The top end of the hydraulic rod is connected to the side wall of the installation system. Hydraulic support legs are provided at the four corners of the working platform and extend downward. The installation system includes a slide rail platform, a sleeve mechanism, a monitoring system, and a mechanical gripper. The bottom end of the slide rail platform is connected to the side wall of the working platform through the sleeve mechanism.

[0007] Preferably, the sleeve mechanism includes a top sleeve and a bottom sleeve. The top sleeve is provided at the top end of the slide rail platform, and the bottom sleeve is provided at the bottom end of the slide rail platform.

[0008] Preferably, the top sleeve and the bottom sleeve are on the same vertical line, and both the top sleeve and the bottom sleeve are of cylindrical structure.

[0009] Preferably, the monitoring system includes a first camera and a second camera. The first camera and the second camera are provided on both sides of the top sleeve.

[0010] Preferably, the lenses of both the first camera and the second camera are vertically downward.

[0011] Preferably, the mechanical gripper includes a first gripper and a second gripper. The first gripper and the second gripper are vertically arranged on the side wall of the slide rail platform from top to bottom. A pressure sensor is provided inside the mechanical gripper.

[0012] Preferably, the first gripper is slidably arranged on the slide rail platform through a first slide rail, and the second gripper is slidably arranged on the slide rail platform through a second slide rail.

[0013] Preferably, the power system is connected to the installation system and the hydraulic rod through a driving device.

[0014] Preferably, the control room controls each structure to complete the specified actions through the internal lines of the mechanical device. The hydraulic rod is inclined and can be used to adjust the angle during the operation of the installation system.

[0015] The present utility model has the following beneficial effects:

[0016] The present utility model uses an electric robotic arm automatic installation device to carry out the cable-laying work of the top arch cable anchor of the underground chamber, which is efficient and convenient, avoids manual intervention during the cable-laying process, and eliminates the safety hazards of construction workers. Description of the Drawings

[0017] Figure 1This is the side view of the overall structure of the present utility model;

[0018] Figure 2 This is the schematic diagram of the mechanical gripper structure of the present utility model;

[0019] Figure 3 This is the bottom view of the crawler loader of the present utility model;

[0020] Figure 4 This is the side view of the detailed structure of the installation system of the present utility model;

[0021] Figure 5 This is the front view of the detailed structure of the installation system of the present utility model. Detailed implementation manners

[0022] The present utility model will be further described below in conjunction with the drawings and embodiments:

[0023] See Figures 1 to 5 , an automatic cable feeding device for the top arch cable anchor of an underground chamber, including a crawler loader 1, a rotating shaft disc 2 is provided at the center of the top platform of the crawler loader 1, a working platform 3 is provided at the top of the rotating shaft disc 2, a power system 4 and a control room 7 are provided inside the working platform 3, an installation system 5 is provided on one side of the working platform 3, a hydraulic rod 6 is provided on the top of the working platform 3, the top of the hydraulic rod 6 is connected to the side wall of the installation system 5, and hydraulic support legs 8 pointing downward are provided at the four corners of the working platform 3. The installation system 5 includes a slide rail platform 5.1, a sleeve mechanism 5.2, a monitoring system 5.3 and a mechanical gripper 5.4. The bottom end of the slide rail platform 5.1 is connected to the side wall of the working platform 3 through the sleeve mechanism 5.2.

[0024] Preferably, the sleeve mechanism 5.2 includes a top sleeve 5.2.1 and a bottom sleeve 5.2.2. The top sleeve 5.2.1 is arranged at the top end of the slide rail platform 5.1, and the bottom sleeve 5.2.2 is arranged at the bottom end of the slide rail platform 5.1.

[0025] Preferably, the top sleeve 5.2.1 and the bottom sleeve 5.2.2 are on the same vertical line, and both the top sleeve 5.2.1 and the bottom sleeve 5.2.2 are of cylindrical structure. Both the top sleeve 5.2.1 and the bottom sleeve 5.2.2 are smooth steel structures, and their inner diameters are larger than the maximum diameter of each cable anchor. They are respectively installed at the top and the tail of the slide rail platform 5.1 to prevent the cable anchor from tipping over during the cable feeding process.

[0026] Preferably, the monitoring system 5.3 includes a first camera 5.3.1 and a second camera 5.3.2. The first camera 5.3.1 and the second camera 5.3.2 are arranged on both sides of the top sleeve 5.2.1. It can assist in accurately positioning the cable anchor into the corresponding cable hole and view the situation during the cable feeding process in real time.

[0027] Preferably, the lenses of the first camera 5.3.1 and the second camera 5.3.2 are both vertically downward.

[0028] Preferably, the mechanical gripper 5.4 includes a first gripper 5.4.1 and a second gripper 5.4.2. The first gripper 5.4.1 and the second gripper 5.4.2 are arranged vertically on the side wall of the slide rail platform 5.1 from top to bottom. A pressure sensor 5.4.3 is provided inside the mechanical gripper 5.4. When the mechanical gripper works, the pressure of clamping and locking can be adjusted according to the value fed back by the pressure sensor, so as to ensure that the anchor cable is not damaged during the cable insertion process and does not affect the subsequent grouting work.

[0029] Preferably, the first gripper 5.4.1 is slidably arranged on the slide rail platform 5.1 through a first slide rail 5.1.1, and the second gripper 5.4.2 is slidably arranged on the slide rail platform 5.1 through a second slide rail 5.1.2.

[0030] Preferably, the power system 4 is connected to the installation system 5 and the hydraulic rod 6 through a driving device 4.1. The power system 4 is electrically driven to provide a power source for the installation system.

[0031] Preferably, the control room 7 controls each structure to complete the specified actions through the internal lines of the mechanical device. The hydraulic rod 6 is inclined and can be used to adjust the angle of the installation system 5 during operation.

[0032] The working principle of this embodiment is as follows:

[0033] During operation, four hydraulic support legs 8 are raised to make the manipulator operating platform more stable and safe during cable insertion; when the hydraulic rod 6 is in a static state, the anchor cables are respectively passed through the top sleeve 5.2.1 and the bottom sleeve 5.2.2, the power system 4 is started, and the mechanical gripper 5.4 is used to clamp and lock. After the anchor cables are fixed on the manipulator operating platform, with the help of the first camera 5.3.1 and the second camera 5.3.2 on the top sleeve 5.2.1, the hydraulic rod 6 is started to adjust the slide rail platform 5.1 to an appropriate angle to facilitate the accurate cable insertion of the anchor cables; during cable insertion, the first gripper 5.4.1 and the second gripper 5.4.2 are controlled by the control room 7, and with the help of the power system 4, the anchor cables are pushed into the cable holes on the slide rail platform 5.1 until the anchor cables are installed in place.

[0034] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations to the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An automatic cable insertion device for an underground cavern arch anchor cable, comprising a crawler loader (1), characterized in that: The crawler loader (1) has a rotating shaft disc (2) at the center of the top platform, a working platform (3) at the top of the rotating shaft disc (2), a power system (4) and a control room (7) inside the working platform (3), a mounting system (5) at one side of the working platform (3), a hydraulic rod (6) at the top of the working platform (3), the top of the hydraulic rod (6) being connected to the side wall of the mounting system (5), downward hydraulic support legs (8) being provided at the four corners of the working platform (3), the mounting system (5) comprising a slide rail platform (5.1), a sleeve mechanism (5.2), a monitoring system (5.3) and a mechanical gripper (5.4), the bottom end of the slide rail platform (5.1) being connected to the side wall of the working platform (3) via the sleeve mechanism (5.2).

2. The automatic cable insertion device for the arch anchor cable of an underground cavern according to claim 1, characterized in that: The sleeve mechanism (5.2) comprises a top sleeve (5.2.1) and a bottom sleeve (5.2.2); the top sleeve (5.2.1) is arranged at the top end of the slide rail platform (5.1), and the bottom sleeve (5.2.2) is arranged at the bottom end of the slide rail platform (5.1).

3. The automatic cable insertion device for the top arch anchor cable of an underground cavern according to claim 2, characterized in that: The top sleeve (5.2.1) and the bottom sleeve (5.2.2) are located on the same vertical line, and both the top sleeve (5.2.1) and the bottom sleeve (5.2.2) are cylindrical structures.

4. The automatic cable insertion device for the arch anchor cable of an underground cavern according to claim 2, characterized in that: The monitoring system (5.3) comprises a first camera (5.3.1) and a second camera (5.3.2), wherein the first camera (5.3.1) and the second camera (5.3.2) are arranged on both sides of the top sleeve (5.2.1).

5. The automatic cable insertion device for the top arch anchor cable of an underground cavern according to claim 4, characterized in that: The lenses of the first camera (5.3.1) and the second camera (5.3.2) are both arranged vertically facing downwards.

6. The automatic cable insertion device for the arch anchor cable of an underground cavern according to claim 1, characterized in that: The mechanical gripper (5.4) comprises a first gripper (5.4.1) and a second gripper (5.4.2), the first gripper (5.4.1) and the second gripper (5.4.2) being arranged on the side wall of the slide rail platform (5.1) in a vertical direction from top to bottom, and a pressure sensor (5.4.3) being arranged on the inner side of the mechanical gripper (5.4).

7. The automatic cable insertion device for the top arch anchor cable of an underground cavern according to claim 6, characterized in that: The first gripper (5.4.1) is slidably arranged on the slide rail platform (5.1) via a first slide rail (5.1.1), and the second gripper (5.4.2) is slidably arranged on the slide rail platform (5.1) via a second slide rail (5.1.2).

8. The automatic cable insertion device for the arch anchor cable of an underground cavern according to claim 1, characterized in that: The power system (4) is connected to the mounting system (5) and the hydraulic rod (6) via a driving device (4.1).

9. The automatic cable insertion device for the arch anchor cable of an underground cavern according to claim 1, characterized in that: The control room (7) controls each structure to complete a specified action through internal circuits of the mechanical device. The hydraulic rod (6) is arranged to be tilted and can be used to adjust the angle of the installation system (5) during operation.

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