Anchor cable feeding device and cable feeding mechanical arm

Abstract

The utility model discloses an anchor cable feeding device and a cable feeding mechanical arm, and belongs to the field of engineering machinery. The anchor cable feeding device comprises a sliding frame, a propelling beam, a fixed clamping mechanism and a sliding clamping mechanism. A first guide wheel set is arranged between the fixed clamping mechanism and the sliding clamping mechanism, and a second guide wheel set is arranged behind the sliding clamping mechanism. A synchronous linkage mechanism is arranged among the first guide wheel set, the second guide wheel set and the sliding clamping mechanism. According to the anchor cable feeding device, the first guide wheel set and the second guide wheel set are arranged on the front portion and the rear portion of the sliding clamping mechanism respectively, the synchronous linkage mechanism is arranged among the first guide wheel set, the second guide wheel set and the sliding clamping mechanism, and in the cable feeding process, the advancing speed and the retreating speed of the sliding clamping mechanism can be twice of the advancing speed by means of the transmission effect of a movable pulley and a steel wire rope; therefore, the cable feeding speed can be obviously increased, and the construction efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of construction machinery, in particular to a cable-sending device for anchor cables and a cable-sending 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-sending method uses manual cooperation with hoists, winches or cranes to send cables, which has many disadvantages such as a large number of construction workers, high labor intensity, low operation efficiency, and poor safety. Mechanized construction is the fundamental way to solve this problem.

[0003] During the construction process, the main task of the cable-sending device is to convey the anchor cable into the anchor hole. Therefore, the cable-sending speed will determine the construction efficiency of the entire anchor cable installation. Existing mechanized cable-sending equipment, such as a cable-sending device with the Chinese patent application number CN202223008885.9, discloses a technology for automatically sending cables in a step-by-step manner. Specifically, a first telescopic driver is used to push a second cable gripper forward to convey the anchor cable. This kind of cable-sending mechanism has a slow speed and affects the overall 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 a cable-sending device for anchor cables and a cable-sending robotic arm, which can effectively solve the problem of low cable-sending speed existing in the prior art.

[0006] To achieve the above object, the first aspect of the utility model provides a cable-sending device for anchor cables, which includes a sliding frame, a propulsion beam, a fixed clamping mechanism and a sliding clamping mechanism; both the fixed clamping mechanism and the sliding clamping mechanism are used for clamping the anchor cable, and the position of the fixed clamping mechanism relative to the propulsion beam remains unchanged, while the sliding clamping mechanism can move back and forth along the propulsion beam; a first guide wheel set is arranged between the fixed clamping mechanism and the sliding clamping mechanism, and a second guide wheel set is arranged behind the sliding clamping mechanism; the first guide wheel set and the second guide wheel set are both arranged to be able to move back and forth along the propulsion beam;

[0007] A synchronous linkage mechanism is provided between the first guide wheel set, the second guide wheel set and the sliding clamping mechanism. The synchronous linkage mechanism includes a first movable pulley, a second movable pulley, a first steel wire rope, a second steel wire rope and a propulsion oil cylinder. The first movable pulley is fixedly installed on the first guide wheel set. The first steel wire rope bypasses the first movable pulley, and its two ends are respectively connected to the propulsion beam and the sliding clamping mechanism. The second movable pulley is fixedly installed on the second guide wheel set. The second steel wire rope bypasses the second movable pulley, and its two ends are respectively connected to the propulsion beam and the sliding clamping mechanism. The cylinder body of the propulsion oil cylinder is fixed on the propulsion beam, and the movable rod of the propulsion oil cylinder is connected to the first guide wheel set.

[0008] As a further improvement, it further includes several openable and closable guide pipes, which are arranged adjacent to the fixed clamping mechanism or the sliding clamping mechanism; when feeding the cable, the cable is threaded through the guide pipes.

[0009] As a further improvement, the guide pipe includes an upper half guide pipe and a lower half guide pipe connected together by hinges; after assembly, the upper half guide pipe and the lower half guide pipe are locked by a pin shaft.

[0010] As a further improvement, both the first guide wheel set and the second guide wheel set include an openable and closable wheel frame and two semi-guide wheels arranged vertically opposite to each other; when feeding the cable, the cable is threaded between the two semi-guide wheels above and below.

[0011] As a further improvement, the wheel frame includes an upper wheel frame and a lower wheel frame connected together by hinges; the two semi-guide wheels 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.

[0012] As a further improvement, both the first guide wheel set and the second guide wheel set include two vertical semi-guide wheels arranged horizontally opposite to each other; when feeding the cable, the cable is threaded between the four semi-guide wheels above, below, left and right.

[0013] As a further improvement, both the first guide wheel set and the second guide wheel set are provided with sliding wheel seats, and the sliding wheel seats are slidably connected to the propulsion beam.

[0014] As a further improvement, a third guide wheel set is fixedly provided at the rear end of the sliding frame, and the third guide wheel set is inclined backward and downward.

[0015] The second aspect of the present utility model provides a cable feeding robotic arm, which is applied to a cable installation trolley and particularly includes the cable feeding device as described above.

[0016] As a further improvement, the cable feeding robotic arm further includes a first slewing base, a first telescopic arm and a first forearm;

[0017] The first slewing base is used to be installed on the chassis, and it has a seat body in a triangular shape, with the seat body tilting towards one side; the first telescopic arm has multiple telescopic sections; one end of the first telescopic arm is hinged to the top of the first slewing base, and a first pitching oil cylinder is arranged between the first telescopic arm and the first slewing base; the front end of the first forearm is used to connect the traction guiding mechanism.

[0018] Compared with the prior art, the present utility model brings the following technical effects:

[0019] 1. For the cable sending device of the present utility model, a first guiding wheel set and a second guiding wheel set are respectively arranged in front of and behind the sliding clamping mechanism, and a synchronous linkage mechanism is arranged among the three. During the cable sending process, by means of the transmission of the movable pulley and the steel wire rope, the forward and backward speeds of the sliding clamping mechanism can be twice the advancing speed, so that the cable sending speed can be significantly increased and the construction efficiency can be improved.

[0020] 2. By arranging the guiding pipe, the position of the cable can be restricted to a certain extent. Even when the cable sending device is in an inclined or vertical state, it can prevent the cable from bending and deforming, thereby preventing the generation of frictional resistance between the cable and the sliding frame and improving the smoothness of the cable sending action.

[0021] 3. By setting the guiding pipe into a structure that is hinged by two halves and can be opened and closed, it is convenient to clamp and fix the cable, simplifies the clamping operation and improves the construction efficiency.

[0022] 4. By arranging a guiding wheel set on the sliding frame, it can further support the cable, prevent it from sagging and rubbing against the sliding frame, and improve the smoothness of the cable sending action.

[0023] 5. By arranging a third guiding wheel set at one end of the sliding frame, it can adapt to and relieve the bending degree of the cable, prevent the huge resistance caused by the sudden bending of the cable here, and further ensure the smoothness of the cable sending process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 The perspective view of the multi-strand cable installation trolley showing a preferred embodiment of the present utility model is shown;

[0026] Figure 2 Shown is Figure 1Partial perspective view of the installation trolley (mainly including the cable feeding robotic arm);

[0027] Figure 3 Shows Figure 1 Perspective view of the working platform in

[0028] Figure 4 Shows Figure 1 Perspective view of the cable feeding device in

[0029] Figure 5 Shows Figure 1 Structural diagram of the cable feeding device from another perspective in

[0030] Figure 6 Shows Figure 1 Perspective view of the first guide wheel set in (open state);

[0031] Figure 7 Shows Figure 1 Perspective view of the guide pipe in (open state);

[0032] Figure 8 Shows Figure 1 Schematic structural diagram of the synchronous linkage mechanism in (some structural components are omitted);

[0033] Figure 9 Shows the perspective view of the cable feeding robotic arm of another preferred embodiment of the present utility model;

[0034] Figure 10 Shows the schematic diagram of the working state of the present utility model in the chamber;

[0035] Figure 11 Shows Figure 1 Perspective view of the auxiliary arm in ;

[0036] Figure 12 Shows Figure 11 Partial structural diagram of the auxiliary arm of .

[0037] Description of main component symbols:

[0038] Chassis - 1; Support leg - 101;

[0039] Cable feeding robotic arm - 2; First slewing base - 201; First telescopic arm - 202; First forearm - 203; First pitching oil cylinder - 204; Four - link structure - 205;

[0040] Working platform - 300; Main platform - 301; Expansion platform - 302;

[0041] Cable Feeding Device - 400; carriage - 401; propulsion beam - 402; fixed clamping mechanism - 403; sliding clamping mechanism - 404; fixed seat - 406; first jaw - 407; movable seat - 408; second jaw - 409; propulsion oil cylinder - 410; guide tube - 411; first guide wheel set - 412; second guide wheel set - 413; wheel frame - 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

[0042] Auxiliary Arm - 5; second slewing seat - 501; second telescopic arm - 502; second forearm - 503; slewing disc - 506

[0043] Traction Mechanism - 600; lifting support - 601; fourth guide wheel set - 602; winch - 603; steel wire rope - 604

[0044] Anchor Cable - 90 Specific Embodiment

[0045] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present utility model belong to the protection scope of the present utility model.

[0046] In addition, the technical features involved in different embodiments 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 are described in detail below, and 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.

[0047] Embodiment 1

[0048] Please refer to Figure 1 , this embodiment discloses a multi - strand anchor cable installation trolley, which includes a chassis 1 and a cable feeding robotic arm 2 installed on the chassis 1; a working platform 300 and a cable feeding device 400 are installed at the end of the cable feeding robotic arm 2. The working platform 300 is for personnel to stand on, and the cable feeding device 400 is used to continuously feed the anchor cable into the anchor hole.

[0049] 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.

[0050] Specifically, the propulsion beam 402 is composed of two parallel strip plates. A guide rail structure is arranged on the outer side of the strip plates. The cross-section of the guide rail is triangular. The whole propulsion beam 402 is fixed on the carriage 401. Of course, the propulsion beam 402 and the carriage 401 can also be made into an integral structure.

[0051] The fixed clamping mechanism 403 includes a fixed seat 406 and a first clamping jaw 407. The fixed seat 406 is fixedly connected to the front end of the propulsion beam 402. The first clamping jaw 407 includes two clamping cable blocks which are oppositely arranged and can open and close. The opposite surfaces of the two clamping cable blocks are arranged in a shape matching the cross-section of the cable anchor 90, so as to keep in conformity when clamping the cable anchor 90.

[0052] The sliding clamping mechanism 404 includes a movable seat 408 and a second clamping jaw 409. The movable seat 408 is slidably mounted on the propulsion beam 402. Specifically, a chute matching the guide rail structure of the propulsion beam 402 is provided at the bottom of the movable seat 408. The chute is clamped with the guide rail, and then the movable seat 408 is mounted 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 one 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, so as to realize the back-and-forth drive of the sliding clamping mechanism 404.

[0053] The structure of the second clamping jaw 409 is the same as that of the first clamping jaw 407. It also includes two clamping cable blocks which are oppositely arranged and can open and close. The opposite surfaces of the two clamping cable blocks are arranged in a shape matching the cross-section of the cable anchor 90, so as to keep in conformity when clamping the cable anchor 90.

[0054] The working principle of the cable feeding device 400 is as follows: the first clamping jaw 407 of the fixed clamping mechanism 403 releases the cable anchor 90, the second clamping 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 clamping jaw 409 drives the cable anchor 90 to be fed forward for a certain distance; thereafter, the first clamping jaw 407 of the fixed clamping mechanism 403 clamps the cable anchor 90, the second clamping jaw 409 of the sliding clamping mechanism 404 releases the cable anchor 90, the cable feeding drive mechanism acts in the reverse direction, and drives the sliding clamping mechanism 404 to retreat backward to the initial position; repeat the above actions to complete the feeding of the whole cable anchor 90.

[0055] Specifically in this embodiment, a guiding tube 411 is provided at the rear end of the fixed clamping mechanism 403, and guiding 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 guiding tubes 411. The guiding tubes 411 can limit the position of the cable anchor 90 to always be consistent with the cable feeding direction, thus making the cable feeding operation smoother. Of course, in some other embodiments, the number and position of the guiding tubes 411 can also be flexibly adjusted according to the situation. For example, a guiding tube 411 can also be provided at the front end of the fixed clamping mechanism 403, or a guiding tube 411 can be provided at one end of the sliding clamping mechanism 404, which is also acceptable.

[0056] Preferably, the guiding tubes 411 are all provided with flared mouths. The reason for setting the flared mouths is as follows: There is a hoop for 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 guiding tube 411, the hoop will get stuck at the tube orifice, causing an obstruction to the cable feeding. However, the setting of the flared mouth can play a guiding role, enabling the hoop to smoothly pass through the tube orifice and enter the guiding tube 411.

[0057] Specifically in this embodiment, each guiding tube 411 includes an upper half guiding tube and a lower half guiding tube connected together by hinges; after assembly, the upper half guiding tube and the lower half guiding tube are locked by a pin shaft, thus forming a complete guiding tube 411. This setting is for the convenience of clamping and fixing the cable anchor 90: If the guiding tube 411 is of a complete integral structure, when clamping the cable anchor 90, the cable anchor 90 needs to be threaded through the guiding tube 411; while setting the guiding tube 411 as a structure that can be opened and closed by hinging two halves, before clamping the cable anchor 90, the upper half guiding tube can be opened first, and after loading the cable anchor 90, the upper half guiding tube can be closed and then locked, thereby completing the clamping and fixing of the cable anchor 90 - this operation is much simpler and more convenient than threading the cable anchor 90.

[0058] 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.

[0059] 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.

[0060] Furthermore, the first guide wheel group 412 and the second guide wheel group 413 each include two vertical semi-guide wheels 415, which are arranged opposite to each other on the left and right and are located on one side of the wheel frame 414; when sending the cable, the anchor cable 90 is passed through the four semi-guide wheels 415 on the upper, lower, left and right sides, thereby guiding and sliding the anchor cable 90 from multiple directions, further ensuring the smoothness of the cable sending process.

[0061] In this embodiment, the first guide wheel group 412 and the second guide wheel group 413 are both provided with a sliding wheel seat 416, and the sliding wheel seat 416 can be connected to the propulsion beam 402 by sliding back and forth. The sliding connection relationship between the sliding wheel seat 416 and the propulsion beam 402 can refer to the movable seat 408 of the sliding clamping mechanism 404. In addition, a synchronous linkage component is provided between the first guide wheel group 412, the second guide wheel group 413 and the sliding clamping mechanism 404. Therefore, in the process of the sliding clamping mechanism 404 driving the anchor cable 90 to be transported forward, the first guide wheel group 412 and the second guide wheel group 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.

[0062] 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 above-mentioned propulsion cylinder 410. The first movable pulley 417 is fixedly mounted on the first guide wheel group 412. The first steel wire rope 419 passes around 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 mounted on the second guide wheel group 413, the second steel wire rope 420 passes around 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 cylinder 410 is fixed on the propulsion beam 402, and the movable rod of the propulsion cylinder 410 is connected to the first guide wheel group 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 ring with a fixed circumference.

[0063] The action principle and process of the synchronous linkage component are as follows:

[0064] The propulsion cylinder 410 extends forward, driving the first guide wheel group 412 to move forward, and 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 circumference of the ring 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 group 413 to move forward, and the speed of the second guide wheel group 413 moving forward is the same as the speed of the first guide wheel group 412, while the speed of the sliding clamping mechanism 404 moving forward is twice that of the first guide wheel group 412. When the sliding clamping mechanism 404 moves to abut against the first guide wheel group 412, the propulsion cylinder 410 stops moving forward. At this time, the cable feeding device 400 completes the action of conveying a section of the anchor cable 90 forward.

[0065] After that, the propulsion oil cylinder 410 contracts backwards, driving the first guide wheel group 412 to retreat backwards, and due to the action of the first steel wire rope 419, the sliding clamping mechanism 404 is driven to retreat backwards; at the same time, since the circumference of the ring 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 group 413 to retreat backwards, and the speed of the second guide wheel group 413 retreating backwards is the same as that of the first guide wheel group 412, while the speed of the sliding clamping mechanism 404 retreating backwards is twice that of the first guide wheel group 412. When the sliding clamping mechanism 404 moves to abut against the second guide wheel group 413, the propulsion oil cylinder 410 stops contracting backwards. At this time, the cable feeding device 400 completes the reset action.

[0066] With the function of the synchronous linkage mechanism, the forward and backward speeds of the sliding clamping mechanism 404 can be twice that of the propulsion oil cylinder 410, thus significantly improving the cable feeding speed and construction efficiency.

[0067] In this embodiment, a third guide wheel set 421 is fixedly provided at the rear end of the carriage 401. 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.

[0068] 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 can be determined according to the environment and conditions of the construction site.

[0069] 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 opened, which has better stability. At the same time, the structural setting 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 an existing well-known technology, such as having functions of telescoping and folding, etc., and will not be described in detail here.

[0070] Please refer to Figure 1 、 Figure 2, specifically in this embodiment, the cable feeding robotic arm 2 further includes a first slewing base 201, a first telescopic arm 202, and a first small arm 203. The first slewing base 201 is horizontally rotatably mounted on the chassis 1, and it has a triangular-shaped base body that is inclined towards one side. The first telescopic arm 202 has multiple telescopic sections, for example, 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 small arm 203 is used to connect to the working platform 300, and a leveling mechanism is provided between the rear end of the first small arm 203 and the front end of the first telescopic arm 202. Specifically, in one embodiment, 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 small arm 203 is swingably connected to the front end of the four-bar linkage structure 205 around a vertical axis. Therefore, the working platform 300 connected to the first small arm 203 can make a certain range of horizontal swing, thereby finely adjusting the position of the working platform 300.

[0071] Please refer to Figure 9 , in another embodiment, the first small arm 203 can also have a simpler leveling mechanism. For example, the rear end of the first small arm 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 small arm 203 to make up-and-down pitching movements, thereby adjusting the first small arm 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 small arm 203. The present utility model does not particularly limit the boom structure of the cable feeding robotic 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.

[0072] Please check 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 roof arch of the chamber (as Figure 10 shown).

[0073] Please refer to Figure 3, specifically in the embodiments, the working platform 300 includes a main platform 301 and two extension platforms 302. The two extension platforms 302 are provided 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.

[0074] This embodiment also discloses a method for installing a multi-strand anchor cable by using an anchor cable installation trolley, which includes the following steps:

[0075] S1. Manually lift the head of the anchor cable and hoist it onto the cable feeding device 400 of the cable feeding robotic arm 2 for clamping and fixing.

[0076] That is, the cable feeding robotic arm 2 descends to a position close to the ground. Manually lift the head of the anchor cable and clamp and fix the anchor cable head on the cable feeding device 400. At this time, the tail of the anchor cable drags on the ground.

[0077] S2. The cable feeding robotic arm 2 is lifted to the anchor installation position, and the cable feeding device 400 installs the anchor cable.

[0078] That is, the cable feeding and installation steps are realized in a step-by-step manner by the two anchor cable clamping mechanisms described above: loosen the fixed clamping mechanism 403, the sliding clamping mechanism 404 clamps and drives the anchor cable to move forward a preset distance to complete one cable feeding; then the fixed clamping mechanism 403 clamps the anchor cable, the sliding clamping mechanism 404 loosens the anchor cable and retreats to the initial position to start the next cable feeding.

[0079] S3. Manually assist in lifting the tail of the anchor cable and deliver the anchor cable to the cable feeding device 400.

[0080] Each time the cable feeding device of the cable feeding robotic arm 2 transports a certain distance forward, a certain length of the anchor cable is delivered forward with manual assistance, so as to ensure that the entire cable feeding action is continuous without interruption.

[0081] In summary, the anchor cable feeding device 400 of the present utility model brings the following beneficial effects:

[0082] 1. For this anchor cable feeding device 400, a first guide wheel set 412 and a second guide wheel set 413 are respectively arranged in front of and behind the sliding clamping mechanism 404, and a synchronous linkage mechanism is arranged among the three. During the cable feeding process, by means of the transmission of the movable pulley and the steel wire rope, the forward and backward speeds of the sliding clamping mechanism 404 can be twice that of the propulsion oil cylinder 410, so that the cable feeding speed can be significantly increased and the construction efficiency can be improved.

[0083] 3. By arranging guide pipes 411 at the front and rear positions of the fixed clamping mechanism and the movable clamping mechanism, the position of the cable anchor can be restricted to a certain extent. Even when the cable feeding device 400 is in an inclined or vertical state, it can prevent the cable anchor from bending and deforming, thereby preventing the generation of frictional resistance between the cable anchor and the carriage 401 and improving the smoothness of the cable feeding operation.

[0084] 4. By setting the guide pipe 411 into a structure that is composed of two hinged and separable halves, it is convenient to clamp and fix the cable anchor, simplifies the clamping operation, and improves the construction efficiency.

[0085] 5. By arranging a guide wheel set on the carriage 401, it can further support the cable anchor, prevent it from sagging and rubbing against the carriage 401, and improve the smoothness of the cable feeding operation.

[0086] 4. By arranging a third guide wheel set 421 at one end of the carriage 401, it can adapt to and alleviate the bending degree of the cable anchor, prevent the huge resistance caused by the sudden bending of the cable anchor here, and further ensure the smoothness of the cable feeding process.

[0087] Embodiment 2

[0088] Please refer to Figure 1 , the difference between this embodiment and Embodiment 1 is that: the multi-strand cable anchor installation trolley further includes an auxiliary arm 5, the auxiliary arm 5 cooperates with the cable feeding robotic arm 2, and a traction mechanism 600 is installed at the end of the auxiliary arm 5. The traction mechanism 600 is used to lift the head of the cable anchor 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 anchor 90; the traction mechanism 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, thereby ensuring that the cable feeding operation is continuous without interruption. The utility model designs from the overall trolley, and is equipped with an auxiliary arm 5 for the cable feeding robotic arm 2. The auxiliary 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 labor and improving construction efficiency.

[0089] Please refer to Figure 11 , Figure 12, specifically in this embodiment, the traction guiding device 600 includes a hoisting bracket 601. Below the hoisting bracket 601, three fourth guiding wheel groups 602 are provided, 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 passed 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.

[0090] The working principle and function of the traction mechanism 600 are as follows:

[0091] 1. Assist in clamping and fixing the head of the cable 90

[0092] Control the cable feeding robotic arm 2 to descend to a position close to the ground. The winch 603 of the auxiliary arm 5 lowers the steel wire rope 604 to hold the head of the cable 90. The winch 603 is started to lift the head of the cable 90, and then control the auxiliary arm 5 to move closer to the cable feeding robotic arm 2, and 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.

[0093] 2. Assist in the cable feeding process

[0094] Control the cable feeding robotic arm 2 to move to a predetermined position to align the cable feeding device 400 with a certain anchor hole position. The auxiliary arm 5 descends to a position close to the ground. With the assistance of personnel, the middle part of the cable 90 is clamped onto the traction mechanism 600 of the auxiliary arm 5. At this time, the steel wire rope 604 of the winch 603 is connected to the tail position of the cable 90. Control the auxiliary arm 5 to rise to lift the middle part of the cable 90. The cable 90 between the hanging point and the clamping position of the cable feeding device 400 of the cable feeding robotic arm 2 will hang down in a V shape. The auxiliary arm 5 is lifted to make the bottom of the V-shaped cable 90 leave the ground, which can reduce the friction between the cable 90 and the ground, thus facilitating the cable feeding device to feed the cable.

[0095] Please refer to Figure 1 , Figure 11, in this embodiment, the auxiliary 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 that is inclined towards one side. The second telescopic arm 502 has multiple telescopic sections, such as a 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 provided between the second telescopic arm 502 and the second slewing base 501, so that the pitching angle of the second telescopic arm 502 can be adjusted. The front end of the second forearm 503 is used to connect the traction mechanism 600, and a leveling mechanism is provided 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 provided between the second forearm 503 and the second telescopic arm 502, and the front end of the second forearm 503 is always kept horizontal by means of this leveling oil cylinder. The present invention does not particularly limit the boom mechanism of the auxiliary arm 5, and any structure that can drive the traction mechanism 600 to move freely in the construction space is acceptable.

[0096] Specifically, the traction mechanism 600 is connected to the bottom of the second forearm 503 through a turntable 506. Therefore, the whole traction mechanism 600 can rotate under the drive of the turntable 506, and further, the relative position relationship between the traction mechanism 600 and the cable feeding device 400 can be adjusted. When the relative position relationship between the two is adjusted to align the hoisting support 601 with the sliding carriage 401 in sequence, the cable feeding resistance is the smallest at this time and the cable feeding action is the smoothest.

[0097] 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:

[0098] C1. The winch 603 of the auxiliary arm 5 lifts the head of the cable 90 and hoists it to be clamped and fixed on the cable feeding device of the cable feeding robotic arm 2.

[0099] That is, the steel wire rope 604 is connected to the head of the cable 90, and then the auxiliary arm 5 is controlled to move to a position close to the cable feeding robotic 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.

[0100] C2. The auxiliary arm 5 lifts the middle part of the cable 90. The cable 90 between the lifting point and the clamping position of the cable feeding device 400 of the cable feeding robotic arm 2 will hang down in a V shape, and the auxiliary arm 5 is lifted to make the bottom of the V-shaped cable 90 leave the ground.

[0101] In this step, when the auxiliary arm 5 lifts the middle part of the cable 90, it means that the middle part of the cable 90 is clamped onto the guide wheel set of the hoisting support 601; the so-called lifting point generally refers to the center of gravity of this section of the cable 90 clamped onto the hoisting support 601.

[0102] C3. The cable feeding device of the cable feeding mechanical arm 2 installs the anchor cable 90.

[0103] 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.

[0104] C4. The winch 603 on the auxiliary 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.

[0105] Every time the cable feeding device of the cable feeding mechanical arm 2 is transported forward a certain distance, the winch 603 of the auxiliary arm 5 pulls a section of the anchor cable 90 upward, thereby ensuring that the entire cable feeding action is continuous and uninterrupted.

[0106] As a further improvement, in order to make the cable feeding action smoother, the overall posture of the traction mechanism 600 is also adjusted, specifically, the angle of the turntable 506 is controlled so that the lifting bracket 601 is kept aligned with the slide 401.

[0107] The multi-strand anchor cable installation trolley of the utility model comprises a cable feeding mechanical arm 2 and an auxiliary arm 5. The cable feeding mechanical arm 2 is provided with a cable feeding device 400 for continuously feeding the anchor cable 90 into the anchor hole. The auxiliary arm 5 is used to cooperate with the cable feeding mechanical arm 2. A traction mechanism 600 is provided thereon for lifting the head of the anchor cable 90 to the cable feeding device 400 for clamping and fixing in the early stage of construction. Compared with manual operation, it is safer and more efficient. The traction mechanism 600 is also used to lift the middle part of the anchor cable 90 to a suspended state during the cable feeding process, and continuously deliver the anchor cable 90 to the cable feeding device 400. On the one hand, this arrangement can reduce the huge friction generated by the contact between the anchor cable 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 traction mechanism 600, the anchor cable 90 is continuously delivered to the cable feeding device 400, thereby ensuring that the construction process is continuous and uninterrupted, and further improving the installation efficiency of the anchor cable 90. By adjusting the relative position relationship between the hanging bracket 601 and the slide 401, the smoothness of the cable feeding action can be further improved.

[0108] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom still fall within the scope of protection of the invention of the utility model.

Claims

1. An anchor cable feeding device, characterized in that: It includes a slide, a propulsion beam, a fixed clamping mechanism and a sliding clamping mechanism; the fixed clamping mechanism and the sliding clamping mechanism are both used to clamp the anchor cable, and the fixed clamping mechanism remains in a constant position relative to the propulsion beam, while the sliding clamping mechanism can move back and forth along the propulsion beam; a first guide wheel group is provided between the fixed clamping mechanism and the sliding clamping mechanism, and a second guide wheel group is provided behind the sliding clamping mechanism; the first guide wheel group and the second guide wheel group can both move back and forth along the propulsion beam; A synchronous linkage mechanism is provided between the first guide wheel group, the second guide wheel group and the sliding clamping mechanism, and the synchronous linkage mechanism includes a first movable pulley, a second movable pulley, a first steel wire rope, a second steel wire rope and a propulsion cylinder. The first movable pulley is fixedly mounted on the first guide wheel group, the first steel wire rope passes around the first movable pulley, and its two ends are respectively connected to the propulsion beam and the sliding clamping mechanism; the second movable pulley is fixedly mounted on the second guide wheel group, the second steel wire rope passes around the second movable pulley, and its two ends are respectively connected to the propulsion beam and the sliding clamping mechanism; the cylinder body of the propulsion cylinder is fixed on the propulsion beam, and the movable rod of the propulsion cylinder is connected to the first guide wheel group.

2. The anchor cable feeding device according to claim 1, characterized in that: It also includes a plurality of openable and closable guide tubes, which are arranged next to the fixed clamping mechanism or the sliding clamping mechanism; when the cable is sent, the anchor cable is passed through the guide tubes.

3. The anchor cable feeding device according to claim 2, characterized in that: The guide tube comprises 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.

4. The anchor cable feeding device according to any one of claims 1 to 3, characterized in that: The first guide wheel group and the second guide wheel group both include an openable and closable wheel frame and two semi-guide wheels, and the two semi-guide wheels are arranged opposite to each other up and down; when the cable is sent, the anchor cable is passed between the upper and lower semi-guide wheels.

5. The anchor cable feeding device according to claim 4, characterized in that: The wheel frame comprises an upper wheel frame and a lower wheel frame connected together by a hinge; the two semi-guide wheels are respectively mounted 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.

6. The anchor cable feeding device according to claim 4, characterized in that: The first guide wheel group and the second guide wheel group each include two vertical semi-guide wheels, and the two vertical semi-guide wheels are arranged opposite to each other on the left and right; when the cable is sent, the anchor cable is passed between the four semi-guide wheels on the upper, lower, left and right sides.

7. The anchor cable feeding device according to claim 1, characterized in that: The first guide wheel group and the second guide wheel group are both provided with a sliding wheel seat, and the sliding wheel seat is connected to the propulsion beam in a slidable manner back and forth.

8. The anchor cable feeding device according to claim 1, characterized in that: A third guide wheel set is fixedly provided at the rear end of the slide, and the third guide wheel set is tilted toward the rear and downward.

9. A cable feeding mechanical arm, applied to an anchor cable installation trolley, characterized in that: It comprises an anchor cable feeding device as described in any one of claims 1-8.

10. The cable feeding mechanical arm according to claim 9, characterized in that: The cable feeding mechanical arm also includes a first swivel seat, a first telescopic arm and a first small arm; The first 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 first telescopic arm has multiple telescopic sections; one end of the first telescopic arm is hinged to the top of the first swivel seat, and a first pitch cylinder is arranged between the first telescopic arm and the first swivel seat; the front end of the first forearm is used to connect the anchor cable feeding device.

Images