A cable tow grab device apparatus

Abstract

The utility model relates to in strip mine auxiliary equipment mechanical technical field, especially in a kind of cable traction rope grabbing device equipment, including crawler walking device, the front of crawler walking device, i. e. the setting of barrier push bucket in the direction of travel, rotationally setting slewing platform on crawler walking device, hydraulic rope winder is set on slewing platform, hydraulic rope winder is located in the front of crawler walking device, located above barrier push bucket, hinge shaft seat is set in the rear of hydraulic rope winder, step is set on the both sides of hinge shaft seat, cockpit, control machine warehouse is set in the rear of hinge shaft seat, hinge shaft seat is hingedly set main mechanical arm, the side of main mechanical arm, the front of cockpit is provided with auxiliary mechanical arm, main mechanical arm end is provided with rope guide device grabbing manipulator, rope guide device grabbing manipulator is used to grab rope guide device, auxiliary mechanical arm is used to assist main mechanical arm to accurately place rope guide device in hydraulic rope winder, ensure that cable is reeled smoothly.

Description

Technical Field

[0001] This utility model relates to the field of auxiliary equipment and machinery technology in open-pit mines, and in particular to a cable traction rope gripping device. Background Technology

[0002] When an electric shovel is in operation, it requires a dedicated cable for power supply. In open-pit coal mines with significant elevation differences between adjacent pits, when transferring the cable from a higher pit to a lower one, a rope guide 6 must be connected to the end of the cable. The rope guide 6 is then thrown to the lower level, and the traction rope is retrieved to complete the cable transfer. The structure of the rope guide 6 is as follows: Figure 8 As shown: The rope guide 6 includes a rubber ball 61 and a traction rope 62. One end of the traction rope 62 is fixedly connected to the rubber ball 61, and the other end is connected to the cable.

[0003] Traditional cable-grabbing methods rely mainly on manual operation, which has the following drawbacks:

[0004] Manual grasping is inefficient: During the grasping process, operators need to walk a long distance while carrying heavy loads. This is not only time-consuming but also labor-intensive, seriously affecting the production efficiency of coal mines.

[0005] High safety risks: During the grabbing process, operators need to go to the dangerous area at the base of the high-rise steps to grab the object, which is easy to be injured by falling objects from the high-rise, posing a serious threat to the life safety of the operators. Summary of the Invention

[0006] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a cable traction rope grasping device. Automatic grasping will replace manual operation, which can meet the operation requirements of various working scenarios and greatly improve the efficiency and safety of cable traction rope grasping.

[0007] The technical solution adopted by this utility model is:

[0008] A cable traction rope gripping device includes a tracked walking device, a rotating platform on the tracked walking device, a hydraulic rope winder in front of the rotating platform along the direction of travel, a hinge seat behind the hydraulic rope winder, a main mechanical arm hinged on the hinge seat, and an auxiliary mechanical arm matched to the side of the main mechanical arm.

[0009] The main robotic arm includes a lifting arm, one end of which is hinged to a hinge shaft seat, and the other end is fitted with a telescopic arm outer cylinder, which is hinged to the middle of the telescopic arm outer cylinder. Lifting cylinders are installed on both sides of the lifting arm, with the cylinder bodies of the lifting cylinders hinged to the hinge shaft seats. The output shafts of the lifting cylinders are hinged to the middle of the lifting arm. A large pitch cylinder is installed at the upper middle of the lifting arm, with the cylinder body of the large pitch cylinder hinged to the lifting arm and the output shaft of the large pitch cylinder hinged to the telescopic arm outer cylinder. A telescopic arm inner cylinder is fitted inside the telescopic arm outer cylinder. A telescopic cylinder is installed on the outer wall of the telescopic arm outer cylinder, with the output shaft of the telescopic cylinder fixedly connected to the telescopic arm inner cylinder. The telescopic arm inner cylinder faces downward, and a pull rod pitch seat is hinged to its end. A small pitch cylinder is installed on the outer wall of the telescopic arm inner cylinder, with the output shaft of the small pitch cylinder connected to the pull rod pitch seat. The pull rod pitch seat is a linkage swing seat structure.

[0010] The hydraulic rope winder includes a drum, with a rope guide compartment coaxially arranged on one side of the drum and a rope winder reducer on the other side. The output shaft of the rope winder reducer is connected to the rotating shaft of the drum. A set of sprockets is also installed on the output shaft of the rope winder reducer. A rope guide reciprocating screw is arranged in parallel in front of the drum. A sprocket is installed at the shaft end of the rope guide reciprocating screw. The sprocket is matched with the sprocket on the output shaft of the rope winder reducer. A roller rope guide is installed on the sliding seat of the rope guide reciprocating screw.

[0011] The roller guide includes a mounting plate, a first roller, and a second roller. The mounting plate is fixedly mounted on the sliding seat of the reciprocating screw of the guide. Two sets of first rollers are arranged vertically side by side on the mounting plate, and a second roller is arranged between the two sets of first rollers. The second roller is fixedly mounted on the mounting plate, and the rolling direction of the second roller is consistent with the rolling direction of the drum.

[0012] The rope guide compartment has a thin-walled compartment structure. A second slot is provided on the compartment wall adjacent to the drum, and a first slot is provided on the end cap of the drum adjacent to the rope guide compartment. The first slot and the second slot are matched and configured.

[0013] A rope-guiding gripper is installed below the lever pitch seat. The rope-guiding gripper includes a swing mechanism, which includes a fixed seat, a swing seat, and a rotating shaft. The rotating shaft passes between the fixed seat and the swing seat, allowing them to rotate relative to each other. The swing seat is fixedly installed below the lever pitch seat. A hydraulic rotation mechanism is installed below the fixed seat. A rope-guiding gripper cylinder is installed on the rotation end face of the hydraulic rotation mechanism. A rope-guiding gripper gripper is installed at the output shaft end of the rope-guiding gripper cylinder. The rope-guiding gripper gripper is a linkage gripper.

[0014] A second high-definition camera is installed on the side wall of the hydraulic rotary mechanism of the gripper, with the lens of the second high-definition camera facing the rope guide gripper.

[0015] The auxiliary robotic arm includes a base with a rotating base. Two vertical plates are mounted on the rotating base, and a rotating shaft runs through the space between the two plates. Drive motors are mounted at both ends of the rotating shaft. A primary arm passes through the rotating shaft, and a secondary arm is hinged to the end of the primary arm, with the hinge point located slightly above the middle of the secondary arm. A gripper mounting seat is rotatably hinged to one end of the secondary arm, and an auxiliary arm gripper is located below the gripper mounting seat. An auxiliary pull rod for the secondary arm also passes through the rotating shaft on the rotating base. The auxiliary pull rod is located on the outside of the primary arm. The end of the secondary arm auxiliary pull rod is hinged to the secondary arm pull rod, and the end of the secondary arm pull rod is hinged to the secondary arm. The primary arm pull rod is hinged to one vertical plate of the rotating base, and the end of the primary arm pull rod is hinged to the triangular pull rod. The side wall of the gripper mounting seat is also hinged to the gripper mounting seat pull rod. The triangle of the triangular pull rod is hinged to the end of the primary arm pull rod, the primary arm, and the gripper mounting seat pull rod, respectively. The gripper mounting seat pull rod can pull the gripper mounting seat to adjust the pitch angle.

[0016] A fourth high-definition camera is installed in front of the gripper mounting base.

[0017] The slewing platform is also equipped with a control cabin and a cockpit. The top of the control cabin is equipped with three sets of first high-definition cameras, with the lenses of the first high-definition cameras facing the left, right and rear respectively. The top of the cockpit is equipped with a third high-definition camera, with the lens of the third high-definition camera facing the direction of travel.

[0018] A clearing bucket is installed in front of the tracked traveling device, in the direction of travel, and millimeter-wave radars are installed on both sides of the tracked traveling device.

[0019] The beneficial effects of this utility model are:

[0020] 1. The tracked walking device is used as the walking device, which can adapt to more complex road conditions. The tracked walking device is equipped with a rotatable slewing platform, which can be rotated according to the actual working conditions.

[0021] 2. The rotating platform is equipped with an integrated control cabin, driver's cab, main robotic arm, hydraulic rope reel, and auxiliary robotic arm. The control cabin and driver's cab are used to control the operation of various components of the device. The main robotic arm is a combination of a lifting arm and a telescopic arm, which has a large working range, a high working height, and higher operational safety. The auxiliary robotic arm is a combination of a four-sided robotic arm and a two-finger gripper. The two-finger gripper is mounted on a rotating base and is equipped with a high-definition camera to achieve precise grasping. It has multi-degree-of-freedom motion functions and can realize the functions of opening and closing the rope reel compartment door and placing the traction rope.

[0022] 3. The hydraulic rope reel includes a drum and a rope guide compartment arranged side by side. The rope guide compartment is used to hold a rubber ball. It has functions of locking the traction ball, cable winding and unwinding, and cable guiding.

[0023] 4. This device is equipped with multiple high-definition cameras, providing real-time first-person video for remote control. It can also automatically monitor the surroundings of the equipment when it is stopped. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure;

[0025] Figure 2 This is a schematic diagram of the power chassis structure;

[0026] Figure 3 Schematic diagram of the main robotic arm structure;

[0027] Figure 4 A schematic diagram of the rope-guided gripping robot structure;

[0028] Figure 5 This is a schematic diagram of a hydraulic rope reel;

[0029] Figure 6 Schematic diagram of auxiliary robotic arm structure Figure 1 ;

[0030] Figure 7 Schematic diagram of auxiliary robotic arm structure Figure 2 ;

[0031] Figure 8 This is a schematic diagram of the rope guide device.

[0032] In the diagram: 1- Tracked walking device, 2- Main robotic arm, 21- Lifting arm, 2101- First hinge shaft hole, 2102- Second hinge shaft hole, 2103- Third hinge shaft, 22- Telescopic arm outer cylinder, 23- Telescopic arm inner cylinder, 24- Pull rod pitch seat, 241- First hinge plate, 242- Hinge block, 243- Second hinge plate, 244- Mounting base plate, 25- Lifting cylinder, 26- Large pitch cylinder, 27- Telescopic cylinder, 28- Small pitch cylinder 3-Rope guide gripper, 31-Swing mechanism, 311-Fixed base, 312-Swing base, 313-Rotating shaft, 32-Hydraulic rotary mechanism, 33-Second high-definition camera, 34-Rope guide gripper cylinder, 35-Rope guide gripper, 4-Hydraulic rope winder, 41-Machine base, 42-Rope guide roller, 4201-Mounting plate, 4202-First roller, 4203-Second roller, 43-Rope guide reciprocating screw, 44-Drive chain. 45-Sprocket, 46-Rope winder reducer, 47-Drum, 4701-First slot, 48-Rope guide compartment, 4801-Second slot, 49-Rope guide compartment cover, 410-Rope guide compartment cover lock, 5-Auxiliary robotic arm, 51-Base, 52-Rotating base, 53-First-stage arm, 54-First-stage arm tie rod, 55-Second-stage arm, 56-Second-stage arm tie rod, 57-Gripper mounting base, 58-Auxiliary arm gripper, 59-Fourth high-definition camera, 5 10-Secondary boom auxiliary tie rod, 511-Triangular tie rod, 512-Hand gripper mounting base tie rod, 513-Drive motor, 6-Rope guide, 61-Rubber ball, 62-Torture rope, 7-Slewing platform, 8-Control bay, 9-Obstacle clearing bucket, 10-Cockpit, 11-First high-definition camera, 12-Hinge seat, 1201-First connecting shaft, 1202-Second connecting shaft, 13-Step, 14-Millimeter-wave radar, 15-Third high-definition camera. Detailed Implementation

[0033] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, this utility model will be further described in detail. It should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0034] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0035] like Figure 1 , Figure 2 As shown, this utility model includes a tracked traveling device 1, which is a tracked powered chassis structure that can adapt to complex road conditions. A clearing bucket 9 is positioned in front of the tracked traveling device 1, i.e., in the direction of travel. A rotating platform 7 is rotatably mounted on the tracked traveling device 1. The rotating platform 7 houses a control cabin 8, a driver's cab 10, a hinge seat 12, steps 13, a main robotic arm 2, a hydraulic rope reel 4, and an auxiliary robotic arm 5. The hydraulic rope reel 4 is located in front of the tracked traveling device 1, above the clearing bucket 9, and is fixedly mounted on the rotating platform 7. The hydraulic rope reel 4 is used for cable winding and unwinding. A hinge seat 12 is located behind the hydraulic rope reel 4. Steps 13 and a cockpit 10 are provided on both sides of the seat 12. A control compartment 8 is provided behind the hinge seat 12, steps 13, and cockpit 10. Steps 13 are used to facilitate maintenance personnel to perform maintenance on the top of the device. The control compartment 8 is used to install the control components required by the device. The main mechanical arm 2 is hinged on the hinge seat 12. An auxiliary mechanical arm 5 is provided on the side of the main mechanical arm 2 and in front of the cockpit 10. A rope-pulling manipulator 3 is provided at the end of the main mechanical arm 2. The rope-pulling manipulator 3 is used to pull the rope puller 6. The auxiliary mechanical arm 5 is used to assist the main mechanical arm 2 in accurately placing the rope puller 6 into the hydraulic rope reel 4 to ensure smooth cable winding and unwinding.

[0036] like Figure 2 As shown, the top of the control cabin 8 is equipped with three sets of first high-definition cameras 11, with the lenses of the first high-definition cameras 11 facing the left, right and rear sides respectively. The top of the driver's cabin 10 is equipped with a set of third high-definition cameras 15, with the lenses of the third high-definition cameras 15 facing the direction of travel. Millimeter-wave radars 14 are installed on the left and right sides of the tracked walking device 1. The millimeter-wave radars 14 are used to realize obstacle detection and distance measurement to support autonomous obstacle avoidance and automatic driving functions.

[0037] like Figure 2 As shown, the hinge base 12 is a frame structure with an inclined surface at the front, facing the direction of travel. Two sets of first connecting shafts 1201 are arranged horizontally side by side above the inclined surface, and two sets of second connecting shafts 1202 are correspondingly arranged below the first connecting shafts 1201. The first hinge shafts 1201 and the second hinge shafts 1202 are used to hinge the main robotic arm 2.

[0038] like Figure 1 , Figure 3As shown, the main robotic arm 2 includes a lifting arm 21, a telescopic arm outer cylinder 22, a telescopic arm inner cylinder 23, a lever pitch seat 24, a lifting cylinder 25, a large pitch cylinder 26, a telescopic cylinder 27, and a small pitch cylinder 28. The lifting arm 21 has an arc-shaped frame structure. A first hinge shaft hole 2101 and a second hinge shaft hole 2102 are provided at both ends of the lifting arm 21. The first hinge shaft hole 2101 is rotatably hinged to a first hinge shaft 1701, and the second hinge shaft hole 2102 is rotatably hinged to the telescopic arm outer cylinder 22. A third hinge shaft 2103 extends through the middle of the lifting arm 21, with its ends extending out from both sides of the lifting arm 21. The two ends of the shaft are respectively rotatably hinged to the output shaft of the lifting cylinder 25, and the cylinder end of the lifting cylinder 25 is rotatably hinged to the second hinge shaft 1702; the arc-shaped protruding side of the lifting arm 21 is set upward, and a large pitch cylinder 26 is set in the middle of the upper part of the lifting arm 21. The cylinder end of the large pitch cylinder 26 is rotatably hinged to the lifting arm 21, and the output shaft end of the large pitch cylinder 26 is rotatably hinged to the telescopic arm outer cylinder 22; when the output shaft of the lifting cylinder 25 extends and retracts, the lifting arm 21 swings about the axis of the first hinge shaft hole 2101 as the central axis; when the output shaft of the large pitch cylinder 26 extends and retracts, the telescopic arm outer cylinder 22 swings about the axis of the second hinge shaft hole 2102 as the central axis. An inner telescopic arm cylinder 23 is fitted inside the outer telescopic arm cylinder 22. A telescopic cylinder 27 is mounted on the outer wall of the outer telescopic arm cylinder 22, and the output shaft of the telescopic cylinder 27 is fixedly connected to the inner telescopic arm cylinder 23. A lever pitch seat 24 is rotatably hinged to the downward-facing end of the inner telescopic arm cylinder 23. The lever pitch seat 24 is a linkage swing seat structure. A small pitch cylinder 28 is mounted on the outer wall of the inner telescopic arm cylinder 23, and the output shaft of the small pitch cylinder 28 is connected to the lever pitch seat 24. When the output shaft of the small pitch cylinder 28 extends and retracts, the lever pitch seat 24 swings up and down along the inner telescopic arm cylinder 23. A rope-guided gripper 3 is mounted below the lever pitch seat 24.

[0039] like Figure 3 As shown, the lever pitch seat 24 includes a first hinge plate 241, a hinge block 242, a second hinge plate 243, and a mounting base plate 244. The first hinge plate 241 and the second hinge plate 243 are rotatably hinged side by side to the end side walls of the inner cylinder 23 of the telescopic arm. The second hinge plate 243 is located below the first hinge plate 241. The mounting base plate 244 is fixedly installed below the second hinge plate 243. The four end hinge points of the first hinge plate 241 and the second hinge plate 243 are rotatably hinged to the hinge block 242. The output shaft end of the small pitch cylinder 28 is rotatably hinged to the hinge block 242.

[0040] like Figure 4As shown, the rope-pulling manipulator 3 includes a swing mechanism 31, a hydraulic rotation mechanism 32, a high-definition camera 33, a rope-pulling gripper cylinder 34, and a rope-pulling gripper 35. The swing mechanism 31 includes a fixed base 311, a swing base 312, and a rotating shaft 313. The rotating shaft 313 passes between the fixed base 311 and the swing base 312, allowing them to rotate relative to each other. The swing base 312 is fixedly mounted below the lever pitch seat 24. The hydraulic rotation mechanism 32 is mounted below the fixed base 311. The rope-pulling gripper cylinder 34 is mounted on the rotating end face of the hydraulic rotation mechanism 32. The rope-pulling gripper 35 is mounted on the output shaft end of the rope-pulling gripper cylinder 34. A second high-definition camera 33 is mounted on the side wall of the gripper hydraulic rotation mechanism 32, with the lens of the second high-definition camera 33 facing the rope-pulling gripper 35. The rope guide gripper 35 is a conventional linkage gripper, which is also commonly used in claw machines. Its structure will not be described in detail here.

[0041] like Figure 5 As shown, the hydraulic rope winder 4 includes a base 41, a roller rope guide 42, a rope guide reciprocating screw 43, a transmission chain 44, a sprocket 45, a rope winder reducer 46, a drum 47, a rope guide chamber 48, a rope guide chamber cover 49, and a rope guide chamber cover latch 410. The drum 47 is mounted on the base 41, with end caps at both ends and a rotating shaft passing through its center. The rope guide chamber 48 is coaxially arranged alongside one side of the drum 47, and the rope winder reducer 46 is mounted on the other side. The output shaft of the rope winder reducer 46 is connected to the rotating shaft of the drum 47. A set of sprockets is also mounted on the output shaft of the rope winder reducer 46. The rope guide reciprocating screw 43 is arranged parallel to the front of the drum 47, and a sprocket 45 is mounted on the shaft end of the rope guide reciprocating screw 43. The sprocket 45 is connected to the rotating shaft of the drum 47. A sprocket is matched on the output shaft of the rope winding reducer 46, and a transmission chain 44 is wound between them. A roller guide 42 is installed on the sliding seat of the rope guide reciprocating screw 43. The roller guide 42 is used to guide the traction cable so that the cable is smoothly wound onto the drum 47. The roller guide 42 includes a mounting plate 4201, a first roller 4202, and a second roller 4203. The mounting plate 4201 is fixedly installed on the sliding seat of the rope guide reciprocating screw 43. Two sets of first rollers 4202 are arranged vertically side by side on the mounting plate 4201. The second roller 4203 is arranged between the two sets of first rollers 4202. The second roller 4203 is fixedly installed on the mounting plate 4201. The rolling direction of the second roller 4203 is the same as the rolling direction of the drum 47. The rope guide compartment 48 is a thin-walled compartment structure. The compartment is used to place the rope guide 6. A second slot 4801 is provided on the compartment wall adjacent to the drum 47. A first slot 4701 is provided on the end cap of the drum 47 adjacent to the rope guide compartment 48. The first slot 4701 and the second slot 4801 are matched and used to hold the cable on the rope guide 6.

[0042] like Figure 6 , Figure 7 As shown, the auxiliary robotic arm 5 includes a base 51, a rotating base 52, a primary arm 53, a primary arm pull rod 54, a secondary arm 55, a secondary arm pull rod 56, a gripper mounting base 57, an auxiliary arm gripper 58, a fourth high-definition camera 59, a secondary arm auxiliary pull rod 510, a triangular pull rod 511, a gripper mounting base pull rod 512, and a drive motor 513. The rotating base 52 is mounted on the base 51. Two vertical plates are vertically mounted on the rotating base 52, and a rotating shaft passes through the two plates. Drive motors 513 are mounted at both ends of the rotating shaft and are fixedly mounted on the two vertical plates. The primary arm 53 passes through the rotating shaft. The secondary arm 55 is hinged to the end of the primary arm 53, with the hinge position located slightly above the middle of the secondary arm 55. A gripper mounting base 57 is rotatably hinged to one end of the secondary arm 55, located at the distal end of the hinge point between the primary arm 53 and the secondary arm 55. An auxiliary arm gripper 58 is provided below the mounting base 57, and a fourth high-definition camera 59 is provided in front of the gripper mounting base 57. A secondary arm auxiliary pull rod 510 is also provided on the rotating shaft of the rotating base 52. The secondary arm auxiliary pull rod 510 is located outside the primary arm 53. The end of the secondary arm auxiliary pull rod 510 is hinged to a secondary arm pull rod 56, and the end of the secondary arm pull rod 56 is hinged to the secondary arm 55. A primary arm pull rod 54 is hinged to a vertical plate of the rotating base 52. A triangular pull rod 511 is hinged to the end of the primary arm pull rod 54. The long side of the triangular pull rod 511 is facing upward. A hand gripping mounting rod 512 is also hinged to the side wall of the gripper mounting base 57. The triangle of the triangular pull rod 511 is hinged to the end of the primary arm pull rod 54, the primary arm 53, and the hand gripping mounting rod 512. The hand gripping mounting rod 512 can pull the gripper mounting base 57 to adjust the pitch angle.

[0043] When the auxiliary robotic arm 5 is working, the fourth high-definition camera 59 determines the position of the cable, the rotating base 52 rotates, and the drive motor 513 drives the first-level arm 53 and the second-level arm auxiliary lever 510 to rotate, thereby driving the other arms and levers to rotate, and finally adjusting the position and angle of the auxiliary arm gripper 58 so that the auxiliary arm gripper 58 can accurately grasp the cable.

[0044] In this embodiment, the auxiliary arm gripper 58 is a commonly used two-finger electric gripper, and its structural features will not be described in detail here.

[0045] Workflow:

[0046] This device travels to the work area via a tracked walking device 1. The first high-definition camera 11 and the third high-definition camera 15 assist in image acquisition. The millimeter-wave radar 16 operates to alert for obstacles. Obstacles on the path can be cleared by the obstacle-clearing pusher 13. Upon reaching the work area, the main robotic arm 2 starts, and the rotary platform 7 rotates to grip the rope guide 6. The lifting cylinder 25, large pitch cylinder 26, telescopic cylinder 27, and small pitch cylinder 28 in the main robotic arm 2 work together to align the rope guide gripper 3 with the position of the rope guide 6. Then, the swing mechanism 31 and the gripper hydraulic rotation mechanism 32 in the rope guide gripper 3 are controlled to adjust the position. The high-definition camera 33 in the rope guide gripper 3 can be used for image acquisition assistance. After alignment, the rope guide gripper cylinder 34 retracts, and the rope guide gripper 35 closes to grip the rubber ball 61 of the rope guide 6. The rope guide gripper 35 is controlled to place the rubber ball 61 above the rope guide chamber 410.

[0047] The auxiliary robotic arm 5 controls the rotating base 52, primary arm 53, and secondary arm 55 to work together. The auxiliary arm gripper 58 aligns with the rope guide chamber cover latch 410 on the rope guide chamber 48. The auxiliary arm gripper 58 closes and grasps the rope guide chamber cover latch 410, opening the rope guide chamber cover 49. The fourth high-definition camera 59 in the auxiliary robotic arm 5 can be used for image acquisition to assist in the operation. The rope guide gripper 35 is controlled to place the rubber ball 61 into the rope guide chamber 410. The main robotic arm 2 is controlled to withdraw. The auxiliary arm gripper 58 clamps the traction rope 62 of the rope guide 6 and places it in the second slot 4801 and the first slot 4701. The auxiliary robotic arm 5 closes the rope guide chamber cover 49 and fastens the rope guide chamber cover latch 410. The hydraulic rope winder 4's drum 47 is controlled to rotate to start winding the rope. The roller guide rope guide 42 starts to reciprocate to guide the rope. At this time, the rope guide gripper 35 assists in guiding the rope until the cable is retracted.

Claims

1. A cable traction rope gripping device, comprising a tracked walking device (1), wherein a rotating platform (7) is provided on the tracked walking device (1), characterized in that: The rotary platform (7) is provided with a hydraulic rope winder (4) in front of it along the direction of travel. A hinge seat (12) is provided behind the hydraulic rope winder (4). A main mechanical arm (2) is hinged on the hinge seat (12). An auxiliary mechanical arm (5) is matched on the side of the main mechanical arm (2). The main robotic arm (2) includes a lifting arm (21). One end of the lifting arm (21) is hinged to a hinge shaft seat (12), and the other end is provided with a telescopic arm outer cylinder (22), which is hinged to the middle of the telescopic arm outer cylinder (22). Lifting cylinders (25) are provided on both sides of the lifting arm (21). The cylinder body of the lifting cylinder (25) is hinged to the hinge shaft seat (12), and the output shaft of the lifting cylinder (25) is hinged to the middle of the lifting arm (21). A large pitch cylinder (26) is provided at the upper middle of the lifting arm (21), and the cylinder body of the large pitch cylinder (26) is hinged to the lifting arm (21). The output shaft end of the large pitch cylinder (26) is hinged to the telescopic arm outer cylinder (22). The telescopic arm inner cylinder (23) is sleeved inside the telescopic arm outer cylinder (22). A telescopic cylinder (27) is provided on the outer wall of the telescopic arm outer cylinder (22). The output shaft end of the telescopic cylinder (27) is fixedly connected to the telescopic arm inner cylinder (23). The telescopic arm inner cylinder (23) faces downward. A tie rod pitch seat (24) is hinged at the end. A small pitch cylinder (28) is provided on the outer wall of the telescopic arm inner cylinder (23). The output shaft end of the small pitch cylinder (28) is connected to the tie rod pitch seat (24). The tie rod pitch seat (24) is a connecting rod swing seat structure. The hydraulic rope winder (4) includes a drum (47), a rope guide chamber (48) is coaxially arranged on one side of the drum (47), and a rope winder reducer (46) is arranged on the other side. The output shaft of the rope winder reducer (46) is connected to the rotating shaft of the drum (47). A set of sprockets is also arranged on the output shaft of the rope winder reducer (46). A rope guide reciprocating screw (43) is arranged in parallel in front of the drum (47). A sprocket (45) is arranged at the shaft end of the rope guide reciprocating screw (43). The sprocket (45) is matched with the sprocket arranged on the output shaft of the rope winder reducer (46). A roller rope guide (42) is arranged on the sliding seat of the rope guide reciprocating screw (43).

2. The cable traction rope gripping device according to claim 1, characterized in that: The roller guide (42) includes a mounting plate (4201), a first roller (4202), and a second roller (4203). The mounting plate 4201 is fixedly mounted on the sliding seat of the reciprocating screw (43) of the guide. Two sets of first rollers (4202) are arranged vertically side by side on the mounting plate (4201). The second roller (4203) is arranged between the two sets of first rollers (4202). The second roller (4203) is fixedly mounted on the mounting plate (4201). The rolling direction of the second roller (4203) is consistent with the rolling direction of the drum (47).

3. The cable traction rope gripping device according to claim 1, characterized in that: The rope guide compartment (48) is a thin-walled compartment structure. A second slot (4801) is provided on the compartment wall adjacent to the drum (47). A first slot (4701) is provided on the end cap of the drum (47) adjacent to the rope guide compartment (48). The first slot (4701) and the second slot (4801) are matched.

4. The cable traction rope gripping device according to claim 1, characterized in that: The rope gripper manipulator (3) is provided below the lever pitch seat (24). The rope gripper manipulator (3) includes a swing mechanism (31). The swing mechanism (31) includes a fixed seat (311), a swing seat (312), and a rotating shaft (313). The rotating shaft (313) passes between the fixed seat (311) and the swing seat (312). The fixed seat (311) and the swing seat (312) rotate relative to each other. The swing seat (312) is fixedly installed below the lever pitch seat (24). A hydraulic rotary mechanism (32) is provided below the fixed seat (311). A rope gripper cylinder (34) is provided on the rotary end face of the hydraulic rotary mechanism (32). A rope gripper gripper (35) is provided at the output shaft end of the rope gripper cylinder (34). The rope gripper gripper (35) is a linkage gripper.

5. The cable traction rope gripping device according to claim 4, characterized in that: The side wall of the gripper hydraulic rotation mechanism (32) is provided with a second high-definition camera (33), and the lens of the second high-definition camera (33) is facing the rope puller gripper (35).

6. The cable traction rope gripping device according to claim 1, characterized in that: The auxiliary robotic arm (5) includes a base (51), on which a rotating base (52) is provided. Two vertical plates are vertically arranged on the rotating base (52), and a rotating shaft is arranged between the two vertical plates. A drive motor (513) is arranged at both ends of the rotating shaft. A primary arm (53) is arranged on the rotating shaft. A secondary arm (55) is hinged at the end of the primary arm (53), and the hinge position is located at the upper middle part of the secondary arm (55). A gripper mounting seat (57) is rotatably hinged at one end of the secondary arm (55). An auxiliary arm gripper (58) is arranged below the gripper mounting seat (57). A secondary arm auxiliary pull rod (510) is also arranged on the rotating shaft on the rotating base (52). 10) On the outside of the first-stage arm (53), the end of the auxiliary tie rod (510) of the second-stage arm is hinged to the second-stage arm tie rod (56), and the end of the second-stage arm tie rod (56) is hinged to the second-stage arm (55); a first-stage arm tie rod (54) is hinged to a vertical plate of the rotating base (52), and a triangular tie rod (511) is hinged to the end of the first-stage arm tie rod (54). The side wall of the gripper mounting seat (57) is also hinged to the gripper mounting seat tie rod (512). The triangle of the triangular tie rod (511) is hinged to the end of the first-stage arm tie rod (54), the first-stage arm (53), and the gripper mounting seat tie rod (512). The gripper mounting seat tie rod (512) can pull the gripper mounting seat (57) to adjust the pitch angle.

7. The cable traction rope gripping device according to claim 6, characterized in that: A fourth high-definition camera (59) is provided in front of the gripper mounting base (57).

8. The cable traction rope gripping device according to claim 1, characterized in that: The slewing platform (7) is also equipped with a control cabin (8) and a cockpit (10). The top of the control cabin (8) is equipped with three sets of first high-definition cameras (11), with the lenses of the first high-definition cameras (11) facing the left, right and rear sides respectively. The top of the cockpit (10) is equipped with a set of third high-definition cameras (15), with the lenses of the third high-definition cameras (15) facing the direction of travel.

9. The cable traction rope gripping device according to claim 1, characterized in that: A clearing bucket (9) is provided in front of the tracked walking device (1) in the direction of travel, and millimeter-wave radars (14) are provided on both sides of the tracked walking device (1).

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