Cable laying rope installation system

Abstract

This invention provides a cable laying system that enables stable and accurate laying of guide ropes for cable extension work. [Solution] The cable laying rope laying system comprises a plurality of laying machines installed at intervals along the cable laying path, a robot that can travel along the laying path and lays the rope by sequentially engaging the rope, which is connected to the end of the cable to be laid, with the plurality of laying machines, a camera that monitors the laying status of the rope, and a control device that controls the laying machines, the robot, and the camera.

Description

Technical Field

[0001] The present invention relates to a calling rope laying system used for extending various cables at construction sites and the like.

Background Art

[0002] As is well known, when laying power cables or communication cables, cable extension work is carried out. In this cable extension work, a calling rope is connected to the leading end of the cable wound around a cable drum, and this calling rope is sandwiched between the rollers of an extension machine to lay the calling rope first.

[0003] Conventionally, as a technique related to this type of extension work, the technique described in Patent Document 1 has been proposed. Patent Document 1 describes an extension machine control system, which has a plurality of extension machines for extending a cable, a plurality of inverter devices for driving the plurality of extension machines, and an operation switch for operating the plurality of extension machines. By the user operating the operation switch, the inverter device is controlled wirelessly, and thereby the rotation direction and rotation speed of the rollers of the plurality of extension machines are controlled to extend the cable.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in the locations where cable laying work is performed using the cable laying machine control system described in Patent Document 1, the cable laying path is usually at a high altitude. Therefore, the preliminary laying of the guide rope also requires workers to engage the guide rope with the cable laying machine at a high altitude. Consequently, depending on the installation conditions of scaffolding, etc., there is a problem in that the guide rope laying work by workers cannot be performed stably and accurately.

[0006] The object of the present invention has been addressed in view of the above circumstances, and is to provide a cable laying rope laying system for cable laying work that can perform the rope laying work stably and accurately. [Means for solving the problem]

[0007] To solve the above problems, the present invention employs the following means. Specifically, the cable laying rope laying system of the present invention comprises a plurality of laying machines installed at intervals along the cable laying path, a robot that can travel along the laying path and lays the rope while sequentially engaging the rope, which is connected to the end of the cable to be laid, with the plurality of laying machines, a camera that monitors the laying state of the rope, and a control device that controls the laying machines, the robot, and the camera. [Effects of the Invention]

[0008] According to the present invention, a cable laying rope laying system for cable laying work can be provided that enables stable and accurate laying of ropes. [Brief explanation of the drawing]

[0009] [Figure 1] This diagram shows the overall configuration of a cable laying rope installation system, as presented as one embodiment of the present invention. [Figure 2] A perspective view showing the configuration of the cable laying machine used in the cable laying rope laying system for cable laying work. [Figure 3]This is a perspective view showing the configuration of the first and second rollers used in the cable laying rope installation system for cable extension work. [Figure 4] A perspective view showing the configuration of the robot used in the cable laying rope installation system for cable extension work. [Figure 5] This diagram shows the configuration of the control device in the cable laying rope installation system used for cable extension work. [Figure 6] This is an explanatory diagram showing the state in which a robot engages a guide rope with a cable laying machine or the like in the guide rope laying system for cable laying work. [Modes for carrying out the invention]

[0010] The following describes, with reference to the drawings, a cable laying rope installation system for cable extension work, which is one embodiment of the present invention.

[0011] Figure 1 shows the overall configuration of the cable laying rope laying system 1 for cable laying work, in which reference numeral 2 denotes a cable rack that constitutes the cable laying track. In this embodiment, the cable rack 2 comprises a laying track 2a extending in a straight direction, a laying track 2b that curves from the laying track 2a with a certain curvature, and a laying track 2c that extends laterally in a straight direction from the laying track 2b at an angle of 90 degrees to the laying track 2a.

[0012] In cable rack 2, cable laying machines 3, 3 are arranged at intervals along the side of cable laying track 2a, facing the laying direction A. Near cable laying machine 3, the first roller 4 and the second roller 5 are arranged adjacent to each other in the laying direction A. Similarly, cable laying machines 3, 3 are arranged at intervals along the side of cable laying track 2c, facing the laying direction B. Near cable laying machine 3, the first roller 4 and the second roller 5 are arranged adjacent to each other in the laying direction B.

[0013] In the above configuration, the extension machine 3, the first roller 4, and the second roller 5 are provided on a support substrate 6 attached to the side of the cable rack 2 as a set of units. The support substrate 6 is attached to the cable rack 2 by a fitting not shown and is detachable from the cable rack 2.

[0014] Also, as will be described later, a guide 7 for guiding the calling rope 20 (details will be described later) that has passed through the second roller 5 to the extension machine 3 on the extension line 2c side is provided on the support substrate 6 located in front of the extension line 2b.

[0015] A robot 10 that can travel on the cable rack 2 is arranged on the cable rack 2.

[0016] A camera 21 for monitoring the laying state of the calling rope 20 is installed on the side of the cable rack 2 as will be described later. The camera 21 is configured to be able to change its orientation three-dimensionally in the vertical and horizontal directions. A plurality of such cameras 21 are installed at intervals facing the extending direction of the cable rack 2. In this Figure 1, reference numeral 22 is a control device for remotely controlling the extension machine 3, the robot 10, and the camera 21.

[0017] Figure 2 is a diagram showing the configuration of the extension machine 3. The extension machine 3 has two rollers 23, 23 arranged adjacent to each other with axes in the vertical direction, sandwiches the calling rope 20 between these rollers 23, 23, and rotates the rollers 23, 23 to send out the calling rope 20 in the extension direction A (or B) or the reverse direction thereof. By controlling the rotation direction and rotation speed, the calling rope 20 is sent out in one direction without slack or excessive tension.

[0018] This extension machine 3 is driven by a motor not shown, and the rotation speed of the motor is controlled by an inverter device not shown, and the inverter device is controlled by the control device 22.

[0019] Figure 3 is a view showing the first roller 4 and the second roller 5. The first roller 4 engages and guides the calling rope 20 sent out from the extension machine 3 on its lower side, and is supported cantilevered on the support rod 24. The support rod 24 is provided so as to project upward from the support substrate 6 fixed to the side portion of the cable rack 2, and on this support rod 24, a shaft body 25 is provided in a direction toward the cable rack 2 and in a substantially horizontal direction. The first roller 4 is rotatably mounted on the shaft body 25.

[0020] The second roller 5 engages and guides the calling rope 20 sent out through the first roller 4 on its upper side, and a shaft body 27 facing the cable rack 2 direction is provided on a pair of support plates 26, 26 fixed to the support substrate 6, and the second roller 5 is rotatably mounted on this shaft body 27.

[0021] Figure 4 is a view showing the robot 10. The robot 10 includes a traveling carriage 30 configured to be self-propelled, and a movable arm 31 provided on the traveling carriage 30 and engaging the calling rope 20 with the extension machine 3 and the first and second rollers 4, 5.

[0022] The traveling carriage 30 includes a carriage frame 32, a pair of left and right crawlers 33, 33 provided at the lower part of the carriage frame 32, a drive source (not shown) for driving these crawlers 33, 33, a power supply equipment 34 provided on the carriage frame 32, and a control signal processing unit 35.

[0023] The movable arm 31 comprises a drive source (not shown) provided within the trolley frame 32 and an arm body 36 provided on the trolley frame 32. The arm body 36 comprises a main arm 37 that can pivot around the dashed line X0 in the figure, a sub-arm 38 connected to the tip of the main arm 37 and rotatable around the dashed line X1 in the figure, and a gripping arm 39 provided at the tip of the sub-arm 38 and rotatable around the dashed line X2 in the figure. By appropriately rotating each part of the arm around the respective dashed lines X0, X1, and X2, the guide rope 20 gripped by the gripping arm 39 can be freely engaged with the wire laying machine 3, etc.

[0024] The robot 10 can rotate its tracks 33 by driving a drive source, allowing it to move forward in one direction or backward in the opposite direction. Furthermore, by changing the rotation speed of one track 33 and the other track 33, it can freely change the direction of movement and backward movement.

[0025] In the above configuration, the drive sources for the tracks 33, 33, the power supply equipment 34, the drive source for the movable arm 31, and the rotation and slewing of each arm are controlled in various ways by the control signal processing unit 35 receiving control signals from the control device 22, which will be described later.

[0026] Figure 5 shows details of the control device 22, which includes a first control unit 40 that controls the operation of the cable laying machine 3, a second control unit 41 that controls the operation of the robot 10, and a third control unit 42 that controls the operation of the camera 21.

[0027] Next, we will explain the details of how to perform cable laying work using the cable laying rope laying system 1, which has the above configuration.

[0028] Here, we will explain using the example of laying power cables. First, cable racks 2 that constitute the cable extension route are installed sequentially in the direction of cable laying. Next, support base plates 6 are attached sequentially at predetermined intervals in the direction in which the cable racks 2 extend. The support base plates 6 are attached to the cable racks 2 in a manner that allows them to be attached and detached by metal fittings (not shown), and the support base plates 6 are sequentially provided with cable laying machines 3, first and second rollers 4 and 5 in the extension directions A and B.

[0029] In this embodiment, Figure 1 shows a portion of the cable rack 2, and only the extension lines 2a, 2b, and 2c of the cable rack 2 are shown. However, extension line 2a is the starting point of the long cable rack 2, and further extension lines (not shown) are provided in the direction of extension line 2c.

[0030] Next, the robot 10 is positioned on the cable laying track 2a of the cable rack 2. Then, by operating the control device 22, the robot 10 is remotely controlled to engage the guide rope 20 and cable with the cable laying machine 3, the first and second rollers 4 and 5, which are sequentially installed along the cable rack 2.

[0031] Figure 6 shows the state in which the robot 10 engages the guide rope 20 with the cable laying machine 3, the first and second rollers 4 and 5.

[0032] As mentioned above, the robot 10 can travel on the cable rack 2 by rotating the tracks 33, 33 shown in Figure 4, and can freely change its direction of travel by changing the rotation speed of one track 33 and the other track 33. In addition, the movable arm 31 can rotate and swivel around the three axes X0, X1, and X2, and can freely change the position of the guide rope 20 around the cable laying machine 3 and the first and second rollers 4 and 5.

[0033] In this robot 10, the end of the guide rope 20 is tied to the tip of the gripping arm 39 of the movable arm 31. By moving the robot 10 forward or backward, changing the direction of travel or backward, and rotating the main arm 37, sub-arm 38, and gripping arm 39 of the movable arm 31 around axes X0, X1, and X2, the guide rope 20 introduced from in front of the cable laying track 2a is sandwiched between the rollers 23, 23 of the cable laying machine 3 located in front of the cable laying track 2a, then engaged with the lower side of the first roller 4, and then engaged with the upper side of the second roller 5 to be pulled out in the cable laying direction A. In this case, in order to engage the guide rope 20 with the first roller 4, since the first roller 4 is mounted on a shaft 25 that protrudes from a support rod 24 erected on a support base plate 6 toward the cable rack 2, the guide rope 20 can be smoothly engaged with the first roller 4 from the cable rack 2 side.

[0034] Then, the guide rope 20, which has been pulled out in the extension direction A, is engaged with the next extension machine 3 and the first and second rollers 4 and 5 in the extension direction A of the extension track 2a. After that, the guide rope 20 is engaged with the guide 7, and this guide rope 20 is engaged with each set of extension machines 3 and the first and second rollers 4 and 5 installed on the extension track 2c. This process is repeated to lay the guide rope 20.

[0035] Since a cable is connected to the rear end of the guide rope 20, pulling the guide rope 20 in the direction of cable extension causes the cable to engage with the cable extension machine 3 and the first and second rollers 4 and 5.

[0036] Cables engaged with the cable laying machine 3 and the first and second rollers 4 and 5 are laid by controlling each of the multiple cable laying machines 3 with the control device 22. In other words, cable laying is performed by independently controlling the operation commands for each cable laying machine 3, such as the rotation speed of the roller 23, stopping the roller 23, and reversing rotation.

[0037] During the laying of the guide rope 20 and cable described above, the laying status of the guide rope 20 and cable is monitored by the camera 21. For example, if the guide rope 20 is not properly engaged with the cable laying machine 3 during the process of engaging the guide rope 20 with the cable laying machine 3, and the system operator detects this, the control device 22 is operated to redo the engagement operation of the guide rope 20 by the robot 10.

[0038] As described above, the control device 22 allows for the remote operation of the cable laying machine 3, robot 10, and camera 21, enabling the proper laying of the guide rope 20 and cable.

[0039] In this cable laying rope laying system 1, even if the laying location for the rope 20 and cable is at a high altitude, the worker does not need to be positioned at that location to perform the work. Instead, the worker remotely controls the cable laying machine 3, robot 10, and camera 21, and the robot 10 performs the laying work. This allows the worker to perform the work with complete confidence and without feeling any anxiety, enabling the laying of the rope 20 to be carried out stably and accurately.

[0040] In the above embodiment, the camera 21 is positioned to the side of the cable rack 2, but the camera 21 may also be mounted on the robot 10. In this configuration, the number of cameras 21 to be installed along a long cable laying path can be reduced.

[0041] In addition to the configuration of the above embodiment, a sensor for detecting the tension of the guide rope 20 is provided on the support rod 24 that supports the first roller 4. The sensor is configured to turn ON when tension is applied to the guide rope 20 and OFF when the guide rope 20 is slack. By controlling the rotation speed, rotation direction, and stopping of the wire laying machine 3 based on the output of the sensor when the guide rope 20 is slack, the degree of tension of the guide rope 20 can be appropriately controlled. [Explanation of Symbols]

[0042] 1 Cable laying rope laying system, 2 Cable rack, 2a Laying track, 2b Laying track, 2c Laying track, 3 Laying machine, 4 First roller, 5 Second roller, 6 Support base plate, 7 Guide, 10 Robot, 20 Laying rope, 21 Camera, 22 Control device, 23 Roller, 24 Support rod, 25 Shaft body, 26 Support plate, 27 Shaft body, 30 Traveling trolley, 31 Movable arm, 32 Trolley frame, 33 Track, 34 Power supply equipment, 35 Control signal processing unit, 36 Arm body, 37 Main arm, 38 Sub-arm, 39 Gripping arm, 40 First control unit, 41 Second control unit, 42 Third control unit.

Claims

1. Multiple cable laying machines are installed at intervals along the cable laying path, A robot that is able to travel along the aforementioned cable laying path and lays the guide rope, which is connected to the end of the cable being laid, by sequentially engaging the guide rope with the plurality of cable laying machines, A camera for monitoring the installation status of the aforementioned rope, A control device that controls the cable laying machine, the robot, and the camera, A rope laying system for cable extension work, equipped with the necessary components.

2. The first roller and the second roller are arranged sequentially adjacent to each other in the direction of the wire laying machine. The first roller is rotatably supported by a shaft that is provided to protrude in the direction of the extension track from a support rod erected on the side of the extension track, and is configured to engage the guide rope from the extension track side and from below. The second roller is configured to engage with the guide rope, which has passed through the first roller, on its upper side. A cable laying rope laying system for cable extension work according to claim 1.

3. The aforementioned robot, A self-propelled trolley, A movable arm provided on the traveling trolley engages the guide rope with the wire laying machine and the first and second rollers, Equipped with A cable laying rope laying system for cable extension work according to claim 2.

4. The control device is A first control unit that controls the operation of the wire laying machine, A second control unit that controls the operation of the robot, A third control unit that controls the operation of the camera, Equipped with A cable laying rope laying system for cable extension work according to any one of claims 1 to 3.

Images