Engineering robot

Abstract

An engineering robot, comprising a vehicle body (10), a grabbing mechanism (20) connected to the vehicle body (10) and configured to grab a cable, and a winding mechanism (30) configured to wind the cable. The winding mechanism (30) comprises a winding frame (31) connected to the vehicle body (10), a winding power source (32) connected to a side of the winding frame (31), a winding roller (331) rotatably connected to the winding frame (31) and connected to an output end of the winding power source (32), at least one clamping groove (334) formed on an end of the winding roller (331), and an anchor structure (34) detachably connected to an end of the cable, the anchor structure (34) having a shape adapted to the shape of the clamping groove (334). By means of the engineering robot, manual pulling and dragging of the cable are avoided, and potential safety hazards are reduced.

Description

An engineering robot TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to an engineering robot. BACKGROUND

[0002] In the mining site of an open-pit mine, the traction and dragging of the cable involve transmitting power from the transformer substation on the upper part of the mine to the mining front under the cliff, to provide power for the production equipment. However, in the traditional operation, the cable needs to be thrown down from the cliff top to the cliff bottom by workers, and the workers at the cliff bottom then perform the cable dragging operation.

[0003] In other application scenarios such as construction sites, road rescue and earthquakes, the traction and dragging of the cable are also key links. In a construction site, the cable needs to be transmitted from the main power supply to each construction point. Due to the complex construction environment, the cable may encounter obstacles such as steel bars and earth and stone during transportation and arrangement, increasing the difficulty and danger of operation. In road rescue, especially in the case of emergency rescue and power restoration, the rapid deployment of the cable is crucial, but the rescue site is usually complex in terrain, and the workers dragging the cable may face the risk of falling or being hit by heavy objects. After natural disasters such as earthquakes, the cable needs to be quickly deployed to restore power supply, but potential dangers such as aftershocks and landslides make manual traction of the cable even more dangerous.

[0004] During the dragging of the cable, workers face the risk of being hit by stones or landslides, and work accidents occur frequently. Therefore, there is room for improvement.

[0005] SUMMARY

[0006] The present application aims to provide an engineering robot that can reduce safety hazards.

[0007] To solve the above technical problems, the present application is realized by the following technical scheme:

[0008] The present application provides an engineering robot, comprising:

[0009] a vehicle body;

[0010] a grabbing mechanism connected to the vehicle body for grabbing a cable; and

[0011] a winding mechanism for winding the cable, the winding mechanism comprising:

[0012] a winding frame connected to the vehicle body;

[0013] a winding power source connected to one side of the winding frame;

[0014] a winding drum rotatably connected to the winding frame and connected to the output end of the winding power source;

[0015] at least one clamping groove formed on one end of the winding drum;

[0016] an anchor point structure detachably connected to one end of the cable, the anchor point structure being adapted to the shape of the clamping groove. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0018] Fig. 1 is a schematic diagram of an engineering robot in an embodiment of the present application;

[0019] Fig. 2 is a schematic diagram of the rotation of the vehicle body of the engineering robot in an embodiment of the present application;

[0020] Fig. 3 is a schematic diagram of the chassis mechanism in an embodiment of the present application;

[0021] Fig. 4 is a schematic diagram of the vehicle control mechanism in an embodiment of the present application;

[0022] Fig. 5 is a schematic diagram of the grabbing mechanism in an embodiment of the present application;

[0023] Fig. 6 is a schematic diagram of the winding mechanism, the wire arranging mechanism and the guiding mechanism in an embodiment of the present application;

[0024] Fig. 7 is another schematic diagram of the winding mechanism, the wire arranging mechanism and the guiding mechanism in an embodiment of the present application;

[0025] Fig. 8 is a schematic diagram of the winding mechanism in an embodiment of the present application;

[0026] Fig. 9 is a schematic diagram of the winding mechanism in another perspective in an embodiment of the present application;

[0027] Fig. 10 is an enlarged schematic diagram of part A in Fig. 9;

[0028] Fig. 11 is a schematic diagram of the anchor point structure in an embodiment of the present application;

[0029] Fig. 12 is another schematic diagram of the anchor point structure in an embodiment of the present application;

[0030] Fig. 13 is a schematic diagram of the wire arranging mechanism in an embodiment of the present application;

[0031] Fig. 14 is a schematic diagram of the wire arranging mechanism in another perspective in an embodiment of the present application;

[0032] Fig. 15 is a schematic diagram of a guide mechanism in an embodiment of the present application;

[0033] Fig. 16 is another schematic diagram of a guide mechanism in an embodiment of the present application;

[0034] Fig. 17 is a schematic diagram of another guide mechanism in an embodiment of the present application;

[0035] Fig. 18 is another schematic diagram of another guide mechanism in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0037] Please refer to Figs. 1 and 2, the present application discloses an engineering robot which can be applied to an application scenario of an open-pit mine. The engineering robot can include a vehicle body 10, a grabbing mechanism 20, a winding mechanism 30, a wire arranging mechanism 40 and a guide mechanism 50.

[0038] Please refer to Figs. 1, 2, 3 and 4, in an embodiment, the vehicle body 10 can include a chassis mechanism 11 and a vehicle control mechanism 12. The chassis mechanism 11 is a key part for the engineering robot to realize movement and support. The vehicle control mechanism 12 is a key part for the engineering robot to realize work.

[0039] Please refer to Fig. 3, in an embodiment, the chassis mechanism 11 can include a chassis platform 111, a driving member 112, a track 113, a push shovel 114, a bearing frame 115 and the like.

[0040] In an embodiment, the chassis platform 111 is a basic component of the engineering robot, used for mounting and supporting the upper structure of the entire engineering robot. The chassis platform 111 can be made of high-strength steel material, having good load-carrying capacity and durability. The chassis platform 111 can be connected with a rotating table at the upper part, supporting the engineering robot to perform 360-degree rotating operation.

[0041] In an embodiment, the driving member 112 can be a planetary driving device, which can include a hydraulic motor, a speed reducer and a driving sprocket and the like. The driving member 112 is a core device for providing power for the engineering robot to walk. The hydraulic motor is driven by a hydraulic system, the rotating speed is adjusted by the speed reducer and the torque is amplified, and finally the track is driven to move by the driving sprocket, so as to realize the forward movement, backward movement and turning of the engineering robot.

[0042] In an embodiment, the track 113 is an engineering robot's walking device, usually made of metal or rubber. Compared with wheeled vehicles, tracks provide a larger ground contact area, so the engineering robot can better disperse weight, reduce ground pressure, and improve stability in uneven terrain or soft soil. The track 113 can include chain links, track pins, track plates, etc. The track is driven by the rotation of the drive sprocket to achieve a circulating motion, which drives the engineering robot to move.

[0043] In an embodiment, the push shovel 114 can be located at the front or rear of the engineering robot chassis platform 111, mainly for auxiliary operation. For example, in the scene of an open-pit mine, there will be more gravel on the road, etc. At this time, the push shovel 114 can be used to level the ground or push the soil. For another example, the push shovel 114 can play a stabilizing and supporting role when the engineering robot is working. The push shovel 114 can be adjusted up and down by the hydraulic system to adapt to different operation requirements. The push shovel 114 is particularly useful on soft ground or when stability and support are needed, which can improve the operation stability of the engineering robot.

[0044] In an embodiment, the carrier frame 115 can be fixedly arranged on the chassis platform 111, and the carrier frame 115 and the push shovel 114 can be located on opposite sides of the chassis platform 111, respectively. The carrier frame 115 can be used to carry the winding mechanism 30, the wire arranging mechanism 40, and the guide mechanism 50, etc.

[0045] Please refer to FIG. 4, in an embodiment, the vehicle control mechanism 12 can include a vehicle control platform, a rotary support device, a power box 121, a cockpit 122, a carrying table 123, etc.

[0046] In an embodiment, the vehicle control platform and the chassis platform 111 can be connected through the rotary support device. The rotary support device allows the vehicle control platform to rotate 360 degrees around the chassis platform 111, enabling the engineering robot to operate flexibly. The rotary support device includes rotary bearings, hydraulic motors, reducers, etc., to ensure smooth and accurate rotation.

[0047] In an embodiment, the power box 121 can be installed on the vehicle control platform. The power box 121 is the core power source of the engineering robot, responsible for providing energy to various systems of the engineering robot. The power box can include an engine, a hydraulic pump, an electrical system, a cooling system, etc. In a unmanned engineering robot, the power box 121 can be connected with a remote control center, receiving operation instructions through wireless or wired communication, and converting these instructions into actual power output, so that the engineering robot works according to the instructions of the remote operator.

[0048] In one embodiment, the engine can be the core part of the power box, usually a diesel engine, responsible for providing power for the hydraulic system and the electrical system. In the unmanned engineering robot, the power box can be connected to the remote control system, and the engine is started and controlled by remote signals.

[0049] In one embodiment, the hydraulic pump can be driven by the engine to provide hydraulic power for the working devices of the engineering robot, such as the grabbing mechanism 20, etc. The hydraulic pump is also the power source for the track 113 and the push shovel 114.

[0050] In one embodiment, the electrical system can provide power for the electronic control system, sensors, communication modules, etc., especially the remote operation of the unmanned engineering robot relies on stable power supply.

[0051] In one embodiment, the cooling system can dissipate heat for the engine and the hydraulic system, ensuring the stability of the power box during long-time work.

[0052] In one embodiment, the cockpit 122 can be installed on the vehicle control platform. The cockpit 122 can be a backup cockpit. The unmanned engineering robot usually mainly relies on the remote operation system for work, but in order to ensure normal operation in some special cases, the cockpit 122 as a backup cockpit is also designed for manual operation in emergency. For example, when the remote control system fails, communication is interrupted, or there is no communication signal in the area where the engineering robot is located, the operator can directly control the engineering robot through the cockpit.

[0053] In one embodiment, the cockpit 122 is equipped with similar control devices inside as conventional engineering robots, including joysticks, hydraulic control valves, display screens, etc. Through these devices, the operator can directly control the working devices and walking system of the engineering robot. The unmanned engineering robot usually has a switching function between automatic and manual operation. When remote control cannot be performed, it can be switched to manual mode, and the operator can take over all control of the engineering robot after entering the cockpit.

[0054] In one embodiment, the bearing table 123 can be installed on the vehicle control platform. The bearing table 123 can be used to bear the grabbing mechanism 20. The specific positions of the power box 121, the cockpit 122, and the bearing table 123 on the vehicle control platform can not be limited as long as they can meet the actual requirements.

[0055] Please refer to FIG. 5, in an embodiment, due to the existence of many broken stones in the open-pit mine, when the cable is thrown from the cliff top to the cliff bottom, the cable may be surrounded or covered by broken stones, at this time the grabbing mechanism 20 can be used to grab the cable and shake it, so as to facilitate subsequent storage. The grabbing mechanism 20 can include a mechanical arm 21, a grabbing turntable 22 and a mechanical grab 23.

[0056] Please refer to FIG. 5, in an embodiment, the mechanical arm 21 can include a mechanical large arm 211, a mechanical small arm 212 and a hydraulic cylinder 213.

[0057] In an embodiment, one end of the mechanical large arm 211 can be connected to the bearing table 123. The mechanical large arm 211 and the bearing table 123 can be connected through a plurality of hydraulic cylinders 213. The mechanical large arm 211 is the main supporting structure of the engineering robot grabbing device. The mechanical large arm 211 can provide the overall height and preliminary working range of the grabbing mechanism 20. The mechanical large arm 211 can be controlled through the hydraulic cylinder 213 to swing up and down, adjust the grabbing height and angle.

[0058] In an embodiment, the mechanical small arm 212 can be connected to the end of the mechanical large arm 211. The mechanical small arm 212 is the front-end working part of the grabbing mechanism 20. The mechanical small arm 212 and the mechanical large arm 211 can be connected through a plurality of hydraulic cylinders 213. Through the hydraulic cylinder 213, the mechanical small arm 212 can be further extended or retracted, so that the grabbing mechanism 20 can operate in a more accurate range. The telescopic mechanical small arm 212 increases the working radius of the engineering robot, so that it can cover a larger working area.

[0059] In an embodiment, through the coordinated action of the mechanical large arm 211, the mechanical small arm 212 and the hydraulic cylinder 213, the engineering robot can realize grabbing cables at different positions. The large arm provides vertical height control, and the small arm provides horizontal telescopic action, and the combination of the two can flexibly operate within a certain radius.

[0060] In an embodiment, the end of the mechanical small arm 212 can be designed with a grabbing turntable 22. The grabbing turntable 22 can connect the mechanical grab 23, allowing the mechanical grab 23 to rotate 360°. The grabbing turntable 22 can include a fixed end and a rotating end, the fixed end can be fixed to the end of the mechanical small arm 212, and the rotating end can be rotatably connected to the fixed end. The fixed end and the mechanical small arm 212 can also be connected through a hydraulic cylinder 213. This design can allow the engineering robot to adjust the angle of grabbing the cable without moving the entire device. For example, when it is necessary to adjust the angle of grabbing the cable or work in a space-limited environment, the grabbing turntable 22 can allow the mechanical grab 23 to flexibly contact and grab the cable from any direction without the need to reposition the entire engineering robot.

[0061] In one embodiment, the mechanical gripper 23 is the core execution mechanism of the grasping mechanism 20, usually driven by a hydraulic system, capable of opening and closing like a hand, for grasping objects of various shapes and sizes. The structure of the mechanical gripper 23 is usually composed of multiple claw-shaped components, which can be controlled to close or open by a hydraulic system, thereby grasping or releasing objects.

[0062] In one embodiment, the operation of the grasping mechanism 20 mainly relies on the extension and retraction of the mechanical arm 211 and the mechanical arm 212, the rotation of the mechanical gripper 23, and its opening and closing to achieve. First, the engineering robot adjusts the grasping height by operating the mechanical arm 211, and then the mechanical arm 212 further extends or retracts to make the gripper close to the cable. The gripper turntable 22 at the end of the mechanical arm 212 can rotate, and by controlling the rotation angle of the mechanical gripper 23, it can be aligned with the cable to be grasped. Once the mechanical gripper 23 reaches the appropriate position, the mechanical gripper 23 opening and closing system will start, the gripper will open, close to the cable, and firmly grasp the cable. After the grasping is completed, the cable is extracted and moved to the predetermined position through the reverse movement of the mechanical arm 211 and the mechanical arm 212. The mechanical gripper 23 is opened again, and the cable is dropped, completing the work.

[0063] Please refer to FIG. 6, FIG. 7 and FIG. 8, in one embodiment, the winding mechanism 30 can be used to wind the cable grasped by the grasping mechanism 20. The winding mechanism 30 can include a winding frame 31, a winding power source 32, a winding structure 33, and an anchor point structure 34.

[0064] In one embodiment, in order to facilitate the grasping of the cable, a traction rope can be connected to the end of the cable. At this time, the anchor point structure 34 can be installed at the end of the traction rope, and the grasping mechanism 20 can grasp the end of the traction rope or the anchor point structure 34 to move the anchor point structure 34 to the winding structure 33, thereby winding the cable. Of course, the end of the cable can also not be connected with the traction rope, and the anchor point structure 34 can be directly installed at the end of the cable. Whether the end of the cable needs to be installed with the traction rope can not be limited, as long as it can meet the smooth winding of the cable.

[0065] In one embodiment, the winding frame 31 can be installed on the bearing frame 115. The winding power source 32 and the winding structure 33 can be installed on the winding frame 31. The winding power source 32 can provide power for the winding structure 33, and the winding structure 33 can be used to wind the cable. The anchor point structure 34 can be installed at the end of the cable / traction rope. The grasping mechanism 20 can grasp the end of the cable / traction rope or the anchor point structure 34 to move the anchor point structure 34 to the winding structure 33, thereby winding the cable.

[0066] In one embodiment, the winding power source 32 can include a power source motor and its related transmission components (such as a speed reducer, a transmission shaft, bearings, etc.). The power source motor can convert hydraulic energy, electrical energy, air energy, etc. into usable mechanical energy to power the winding structure 33. The power source motor can be a hydraulic motor, an electric motor, a pneumatic motor, etc. The hydraulic motor can drive the motor to rotate by the pressure of hydraulic oil, which has high efficiency and can generate large torque. The speed reducer is a transmission device between the power source motor and the winding structure 33, which is used to reduce the rotational speed of the power source motor output and increase the torque output. The transmission shaft is a core component connecting the power source motor, the speed reducer, and the winding structure 33, and its main function is to transmit power. The transmission shaft transmits the power of the power source motor to the winding structure 33 by rotation. Bearings can be used to support the transmission shaft, reduce friction generated during rotation, and maintain the smooth operation of the system.

[0067] Referring to FIG. 8, in one embodiment, the winding structure 33 can include a winding drum 331, a clamping groove 334, and an isolation plate. The winding drum 331 can be rotatably arranged on the winding frame 31. The winding drum 331 can be cylindrical to accommodate the cable. One end of the winding drum 331 can be connected to the transmission shaft, so that the winding power source 32 can drive the winding drum 331 to rotate.

[0068] In one embodiment, the number of clamping grooves 334 can be at least one. The clamping groove 334 can be formed on one end of the winding drum 331. When the number of clamping grooves 334 is multiple, multiple clamping grooves 334 can be evenly formed on the surface of one side of the winding drum 331. The clamping groove 334 can be used to clamp and guide the anchor point structure 34 and the cable, so that the winding drum 331 can accommodate the cable. The clamping groove 334 and the winding power source 32 can be located at the same end of the winding drum 331, and the clamping groove 334 and the winding power source 32 can also be located at the two ends of the winding drum 331, respectively.

[0069] Please refer to FIG. 8, FIG. 9 and FIG. 10. In an embodiment, the clamping groove 334 can include a clamping groove 3341 and a guide groove 3342. The shape of the clamping groove 3341 can be matched with the shape of the anchor point structure 34, and the shape of the guide groove 3342 can be matched with the shape of the cable or traction rope. When the grabbing mechanism 20 grabs the cable and the anchor point structure 34 onto the clamping groove 334, the mechanical grabber 23 can release the cable and the anchor point structure 34. Then, the anchor point structure 34 can fall into the clamping groove 3341, and the cable or traction rope can fall into the guide groove 3342. Since the cable has a certain rigidity, the end of the cable can be bent in advance to match the bending angle with the surface of the winding drum 331, so that the cable and the anchor point structure 34 can be smoothly dropped into the clamping groove 334. As the winding power source 32 drives the winding drum 331 to rotate, the winding drum 331 can drive the anchor point structure 34 to rotate through the clamping groove 3341, so that the cable can be smoothly accommodated on the winding drum 331.

[0070] In an embodiment, the isolation plate can be in a circular ring shape, or in other polygonal shapes, and the specific shape is not limited herein. The number of isolation plates can be at least one. The isolation plate can be formed on the winding drum 331 to divide the winding drum 331 into a positioning area and an accommodation area. The positioning area can be used for positioning the anchor point structure 34, and the clamping groove 334 can be located in the positioning area. The accommodation area can be used for accommodating the cable.

[0071] In an embodiment, when the number of isolation plates is one, at least one opening 3321 can be formed on the isolation plate. The number of openings 3321 can be the same as the number of guide grooves 3342. The opening 3321 can be in communication with the guide groove 3342. When the cable is accommodated, the cable or traction rope can pass through the opening 3321 through the guide groove 3342, and finally be accommodated in the accommodation area.

[0072] In one embodiment, when the number of isolation plates is multiple, the multiple isolation plates can be distinguished as a first isolation plate 332, a second isolation plate 333, and a third isolation plate 335. At this time, the first isolation plate 332 can be formed on the winding drum 331 to divide the winding drum 331 into a positioning area and a storage area. At least one opening 3321 can be formed on the first isolation plate 332. The first isolation plate 332 can be located on one side of the clamping groove 334, and the second isolation plate 333 can be located on the other side of the clamping groove 334. Through the cooperation of the first isolation plate 332 and the second isolation plate 333, the anchor point structure 34 can be more smoothly dropped into the clamping groove 334. In the process of storing the cable, the first isolation plate 332 can prevent the cable from being stored in the positioning area. The third isolation plate 335 can be installed on the winding drum 331, and the winding drum 331 between the third isolation plate 335 and the second isolation plate 333 can form a storage area, which can store the cable.

[0073] Please refer to FIG. 11 and FIG. 12, in one embodiment, the anchor point structure 34 can include an anchor head 341 and a fastener 342. The fastener 342 can be provided with a through hole, and the cable or the traction rope can pass through the through hole. The anchor head 341 can be fixed to one end of the cable. The width of the anchor head 341 is greater than the inner diameter of the through hole. Through the cooperation of the anchor head 341 and the fastener 342, the end of the cable can be fixed to store the cable.

[0074] Please refer to FIG. 11 and FIG. 12, in one embodiment, the anchor head 341 can include an anchor head male element 3411, an anchor head female element 3412, and a bolt 3413. The end of the cable or the traction rope can be formed with a hook. In the direction towards the anchor head female element 3412, the anchor head male element 3411 can be formed with a fixing element. In the direction towards the anchor head male element 3411, the anchor head female element 3412 can be formed with a fixing groove matched with the fixing element. The fixing element can pass through the hook and contact with the fixing groove. The anchor head male element 3411 and the anchor head female element 3412 can be detachably connected through at least one bolt 3413.

[0075] Please refer to FIG. 11 and FIG. 12, in one embodiment, the fastener 342 can include a fastener body 3421, a connecting body 3422, and a sinking area 3423. The fastener body 3421 can be provided with a through hole. The shape of the fastener body 3421 can be not limited, for example, it can be a circular truncated cone, a cylinder, etc.

[0076] In one embodiment, the number of connecting bodies 3422 can be at least one. A through hole can be formed in the connecting body 3422. The connecting body 3422 can be connected to one end of the fastening body 3421. When the number of connecting bodies 3422 is one, the connecting body 3422 can be on the end of the fastening body 3421 facing away from the anchor head 341, or the connecting body 3422 can be on the end of the fastening body 3421 facing toward the anchor head 341. When the number of connecting bodies 3422 is more than one, the connecting bodies 3422 can be on both ends of the fastening body 3421.

[0077] In one embodiment, the connecting body 3422 can be fixed to the fastening body 3421 in a direction away from the anchor head 341. At this time, the distance between the side wall of the connecting body 3422 and the through hole is smaller than the distance between the side wall of the fastening body 3421 and the through hole. During the process of accommodating the cable, the anchor point structure 34 can be prevented from being stuck in the clamping groove 3341 by the connecting body 3422, so as to facilitate the subsequent removal of the anchor point structure 34 from the clamping groove 3341.

[0078] In one embodiment, the connecting body 3422 can be fixed to the fastening body 3421 in a direction facing toward the anchor head 341. At this time, the distance between the side wall of the connecting body 3422 and the through hole is greater than the distance between the side wall of the fastening body 3421 and the through hole.

[0079] Referring to FIG. 12, in one embodiment, a sunken area 3423 can be formed on the side of the fastening body 3421 or the connecting body 3422 in a direction facing toward the anchor head 341. The through hole is centrally arranged on the sunken area 3423. A protruding portion 3414 is formed on one side of the anchor head 341 in a direction facing toward the fastener 342. The shape of the protruding portion 3414 can be adapted to the shape of the sunken area 3423. When the anchor head 341 is attached to the sunken area 3423, the side wall of the protruding portion 3414 can be attached to the side wall of the sunken area 3423. During the process of accommodating the cable, the anchor head 341 and the fastener 342 are under greater pressure when the anchor point structure 34 is under greater pressure in the clamping groove 3341. In order to prevent the anchor head 341 from damaging the structure of the fastener 342, the contact area between the anchor head 341 and the fastener 342 is increased by setting the protruding portion 3414 and the sunken area 3423, thereby protecting the structure of the fastener 342 from the anchor head 341.

[0080] In one embodiment, a hook can also be provided on the anchor structure 34, and a clasp that is adapted to the hook can be provided on the clamping groove 3341. Alternatively, a clasp can also be provided on the anchor structure 34, and a hook that is adapted to the clasp can be provided on the clamping groove 3341. The cooperation between the hook and the clasp can also achieve the positioning of the anchor structure 34 in the clamping groove 3341.

[0081] Referring to FIGS. 13 and 14, in one embodiment, when the winding mechanism 30 winds the cable, in order to enable the cable to be uniformly wound on the surface of the winding drum 331, the cable arranging mechanism 40 can be provided on the carrier 115 at this time. The cable arranging mechanism 40 can be located on one side of the winding mechanism 30, and the cable arranging mechanism 40 can be located between the winding mechanism 30 and the cable to be accommodated. The cable arranging mechanism 40 can include a cable arranging frame 41, a cable arranging structure 42, a guide rail 43, a driving structure 44, and a first roller 45.

[0082] In one embodiment, the cable arranging frame 41 can be mounted on the carrier 115. The cable arranging frame 41 can be located on one side of the winding mechanism 30.

[0083] In one embodiment, the number of guide rails 43 can be at least one. The guide rail 43 can be mounted on the cable arranging frame 41. The straight line where the cable arranging frame 41 is located can be parallel to the straight line where the center axis of the winding drum 331 is located.

[0084] In one embodiment, the cable arranging structure 42 can be movably connected to the guide rail 43. The cable arranging structure 42 can reciprocate along the guide rail 43. The cable can pass through the cable arranging structure 42, and when the cable arranging structure 42 reciprocates along the guide rail 43, the cable arranging structure 42 can drive the cable to reciprocate along the straight line where the center axis of the winding drum 331 is located, thereby enabling the cable to be uniformly accommodated on the winding drum 331.

[0085] Referring to FIGS. 13 and 14, in one embodiment, the cable arranging structure 42 can include a limiting frame 421, a second roller 422, and a base 423.

[0086] In one embodiment, the base 423 can be provided with a sliding block that can be in sliding cooperation with the guide rail 43, and thus the base 423 can reciprocate on the guide rail 43. Alternatively, the bottom of the base 423 can also be provided with wheels that can be in rolling cooperation with the guide rail 43, and thus the base 423 can reciprocate on the guide rail 43. Alternatively, the bottom of the base 423 can also be provided with balls that can be in rolling cooperation with the guide rail 43, and thus the base 423 can reciprocate on the guide rail 43. The specific connection mode between the base 423 and the guide rail 43 can not be limited as long as the base 423 can reciprocate on the guide rail 43.

[0087] In one embodiment, the base 423 can have a stroke distance in one direction that matches the length of the storage area of the winding drum 331. When the base 423 is located at one end of the guide rail 43, the cable can be stored at one end of the storage area. When the base 423 is located at the other end of the guide rail 43, the cable can be stored at the other end of the storage area. Through the reciprocating movement of the base 423, the cable can be uniformly stored in the storage area.

[0088] In one embodiment, the base 423 can be connected with a limiting frame 421. The base 423 and the limiting frame 421 can be an integrated structure or a split structure, which is not limited herein. The limiting frame 421 can have a shape similar to a goat horn. In the direction away from the base 423, the limiting frame 421 can be provided with a gap, and the width of the gap can be greater than the diameter of the cable. The cable can enter the interior of the limiting frame 421 from the gap, and then the cable can be moved when the limiting frame 421 moves.

[0089] In one embodiment, the number of the second drum 422 can be at least two. The second drum 422 can be rotatably arranged in the interior of the limiting frame 421 and located between the gap of the limiting frame 421 and the base 423. The second drum 422 can be symmetrically arranged in the interior of the limiting frame 421, and at this time, the second drum 422 can also be provided with a gap, and the cable can move between the gaps of the second drum 422. During the storage of the cable, the cable can generate friction with the limiting frame 421. By arranging the second drum 422, the second drum 422 can rotate during the storage of the cable, and thus the friction between the cable and the second drum 422 can be reduced to protect the structure of the wire arrangement structure 42.

[0090] In one embodiment, the driving structure 44 can be mounted on the wire arrangement frame 41. The driving structure 44 can provide power for the wire arrangement structure 42 to drive the wire arrangement structure 42 to reciprocate along the guide rail 43.

[0091] Please refer to FIG. 13 and FIG. 14. In one embodiment, the driving structure 44 can include a wire arrangement power source 441 and a reciprocating lead screw 442. The reciprocating lead screw 442 can be rotatably arranged on the wire arrangement frame 41, and the center axis of the reciprocating lead screw 442 is parallel to the center axis of the winding drum 331. The reciprocating lead screw 442 can cooperate with the base 423, and when the reciprocating lead screw 442 rotates, the base 423 can reciprocate on the reciprocating lead screw 442.

[0092] In one embodiment, the power source of the reciprocating screw 442 can be provided by the winding power source 32. At this time, the reciprocating screw 442 can be connected to the input end of the connecting piece through chain transmission, belt transmission, etc., the output end of the connecting piece can be connected to the output end of the winding power source 32, and the winding power source 32 can drive the reciprocating screw 442 to rotate. Among them, the connecting piece can be composed of multiple gears of different sizes to form a structure similar to a speed reducer. By adjusting the gear ratio, the rotation speed of the reciprocating screw 442 can be adjusted, and the movement speed of the base 423 can be adjusted, so that the cable can be evenly accommodated in the winding drum 331 during the process of accommodating the cable.

[0093] In one embodiment, the power source of the reciprocating screw 442 can also be provided by the wire arranging power source 441. The wire arranging power source 441 can be installed on one side of the wire arranging frame 41. The output end of the wire arranging power source 441 can be connected to one end of the reciprocating screw 442. When the wire arranging power source 441 is working, it can drive the reciprocating screw 442 to rotate. The wire arranging power source 441 can be a hydraulic motor, an electric motor, etc.

[0094] In one embodiment, the driving structure 44 can also include a scissor structure and a corresponding telescopic push rod. One end of the scissor structure can be connected to the wire arranging structure 42, and the other end of the scissor structure can be connected to the wire arranging frame 41. A telescopic push rod can also be provided on the scissor structure. When the movable end of the telescopic push rod is extended or retracted, the driving structure 44 can be driven to move by the scissor structure.

[0095] In one embodiment, when the cable is arranged by the wire arranging structure 42, in the vertical direction, in order to prevent the cable from damaging the structure of the wire arranging structure 42, at least one first roller 45 can be installed on the wire arranging frame 41 at this time. The first roller 45 can be rotatably installed on the wire arranging frame 41. The straight line where the center axis of the first roller 45 is located is parallel to the straight line where the center axis of the winding drum 331 is located. In the vertical way, the height of the highest point of the first roller 45 and the height of the highest point of the winding drum 331 can be on the same horizontal plane.

[0096] In one embodiment, when the number of the first roller 45 is one, the first roller 45 can be installed on one side of the wire arranging structure 42, that is, on the side away from the winding drum 331. Alternatively, the first roller 45 can be installed on the other side of the wire arranging structure 42, that is, on the side facing the winding drum 331. When the number of the first roller 45 is multiple, at least one first roller 45 can be installed on each side of the wire arranging structure 42. Multiple first rollers 45 can be located on the same horizontal plane. By providing the first roller 45, the first roller 45 can rotate when accommodating the cable, and can support the cable to protect the structure of the wire arranging structure 42.

[0097] In one embodiment, since the cable is thrown from the cliff top to the cliff bottom, if the cable is directly received, at this time, the cable is not horizontal and cannot contact the first roller 45, which causes the cable to easily separate from the first roller 45 and the receiving effect is poor. In order to enable the cable near the wire arrangement mechanism 40 to be in a horizontal state, at this time, the guide mechanism 50 can be arranged on the bearing frame 115. The angle of the cable is adjusted by the guide mechanism 50 so as to be subsequently received.

[0098] Please refer to FIG. 15 and FIG. 16, in one embodiment, the guide mechanism 50 can be installed on one side of the wire arrangement mechanism 40 and located on the side away from the winding roller 331. The guide mechanism 50 can include a guide frame 51, a telescopic push rod 52, a rotating piece 53 and a guide rod 54. The guide frame 51 can be detachably installed on the bearing frame 115. The top of the guide frame 51 can be rotationally connected with the rotating piece 53. One side of the central part of the rotating piece 53 can be rotationally arranged on the guide frame 51. One end of the rotating piece 53 can be connected with the guide rod 54. The guide rod 54 can be rotationally connected on the rotating piece 53. One end of the rotating piece 53 can be connected with the telescopic end of the telescopic push rod 52. The other end of the telescopic push rod 52 can be rotationally installed on the bearing frame 115. The telescopic push rod 52 can be a hydraulic cylinder or the like. When it is necessary to adjust the angle of the cable, the telescopic end of the telescopic push rod 52 can be extended, at this time, the rotating piece 53 can be rotated by a certain angle, thereby driving the guide rod 54 to swing downward. The guide rod 54 can press the cable downward until the cable is horizontal or controlled at an appropriate winding angle. In the process of receiving the cable, the cable can drive the guide rod 54 to rotate, so as to reduce the friction therebetween.

[0099] Please refer to FIG. 17 and FIG. 18, in one embodiment, the guide mechanism 50 can include a telescopic push rod 52, a rotating piece 53 and a guide rod 54. One side of the non-central part of the rotating piece 53 can be rotationally installed on one side of the bearing frame 115. One end of the rotating piece 53 can be connected with the telescopic end of the telescopic push rod 52. The other end of the telescopic push rod 52 can be rotationally installed on the bearing frame 115. The other end of the rotating piece 53 can be connected with the guide rod 54. The guide rod 54 can be rotationally connected on the rotating piece 53. When it is necessary to adjust the angle of the cable, the telescopic end of the telescopic push rod 52 can be extended, at this time, the rotating piece 53 can be rotated by a certain angle, thereby driving the guide rod 54 to swing forward. The guide rod 54 can press the cable downward until the cable is horizontal or controlled at an appropriate winding angle. In the process of receiving the cable, the cable can drive the guide rod 54 to rotate, so as to reduce the friction therebetween.

[0100] It can be seen that in the above scheme, the robot is helped to complete the cable grabbing, pulling and dragging operation through remote control operation or preset program. The device can replace manual grabbing, pulling and dragging work, and reduce the risk of personnel casualties. The device can operate through or in a complex environment to complete the work that cannot or is inconvenient for manual operation. The device can complete multiple tasks such as grabbing, pulling and dragging, adapt to various types of target objects and task requirements, and enhance the flexibility and adaptability of the operation device. By reducing or avoiding personnel entering the dangerous area, the working environment is effectively improved, and the safety and comfort of the overall operation are improved.

[0101] The above disclosed embodiments of the present application are only used to help explain the present application. The embodiments do not describe all the details, nor limit the present application to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited only by the claims and their full scope and equivalents.

Claims

1. An engineered robot, characterized in that, The utility model relates to a cable winding vehicle, comprising: a vehicle body; a cable grabbing mechanism connected to the vehicle body for grabbing a cable; a cable winding mechanism for winding the cable, the cable winding mechanism comprising: a winding frame connected to the vehicle body; a winding power source connected to one side of the winding frame; a winding drum rotatably connected to the winding frame and connected to an output end of the winding power source; at least one clamping groove formed on one end of the winding drum; an anchor point structure detachably connected to one end of the cable, the anchor point structure being adapted to the shape of the clamping groove. The clamping groove comprises a clamping groove and a guide groove, the clamping groove being adapted to the shape of the anchor point structure, the guide groove being connected to one end of the clamping groove, the guide groove being adapted to the shape of the cable; 2. The engineering robot of claim 1, wherein, The cable winding mechanism further comprises at least one isolation plate connected to the winding drum and located on one side of the guide groove, the isolation plate having at least one opening formed therein, the opening being in communication with the guide groove. The anchor point structure comprises:

3. The engineered robot of claim 1, wherein, a fastener having a through hole formed therein through which the cable passes; and an anchor head for fixing one end of the cable and being in abutment with one side of the fastener, the anchor head comprising a detachable anchor head male part and an anchor head female part; wherein, in a direction towards the anchor head, a sunken area is formed on one side of the anchor head, the through hole being centrally disposed on the sunken area; in a direction towards the fastener, a protruding portion is formed on one side of the anchor head; the side wall of the protruding portion being in abutment with the side wall of the sunken area. The fastener comprises:

4. The engineering robot of claim 3, wherein, a fastener body having the through hole formed therein; and at least one connecting body having the through hole formed therein, the connecting body being fixed to the fastener body in a direction away from the anchor head, the distance between the side wall of the connecting body and the through hole being smaller than the distance between the side wall of the fastener body and the through hole. The utility model further comprises a cable arranging mechanism, the cable arranging mechanism comprising:

5. The engineered robot of claim 1, wherein, a cable arranging frame connected to the vehicle body and located on one side of the cable winding mechanism; at least one guide rail connected to the cable arranging frame, the straight line on which the guide rail is located being parallel to the straight line on which the central axis of the winding drum is located; a cable arranging structure connected to the guide rail; and a driving structure for driving the cable arranging structure to reciprocate on the guide rail. The cable arranging mechanism further comprises at least one first drum rotatably disposed on the cable arranging frame and located on the side of the cable arranging structure, the straight line on which the second drum is located being parallel to the straight line on which the central axis of the winding drum is located, the height of the highest point of the second drum being the same as the height of the highest point of the winding drum.

6. The engineering robot of claim 5, wherein, The cable arranging structure comprises:

7. The engineering robot of claim 5, wherein, a base movably disposed on the guide rail; a limiting frame fixed to the base, the limiting frame having a gap formed therein in a direction away from the base, the width of the gap of the limiting frame being greater than the diameter of the cable; and at least two second drums rotatably disposed in the limiting frame and located between the gap of the limiting frame and the base, the second drums having a gap formed therebetween, the cable being movably disposed between the gap of the second drums. ​ 8. The engineering robot of claim 5, wherein, The driving structure comprises: a reciprocating screw rod rotatably arranged on the winding frame, the reciprocating screw rod being matched with the base, and the base being driven to reciprocate on the reciprocating screw rod when the reciprocating screw rod rotates; wherein the reciprocating screw rod is connected with a winding power source through a connecting piece, the winding power source drives the reciprocating screw rod to rotate, or the driving structure further comprises a winding power source, the winding power source is fixed on the winding frame, and the winding power source drives the reciprocating screw rod to rotate.

9. The engineered robot of claim 1, wherein, Further comprising a guiding mechanism, the guiding mechanism comprises: a rotating piece rotatably arranged on the vehicle body at a center side thereof; a telescopic push rod movably connected at one end thereof to the vehicle body and at the other end thereof to one end of the rotating piece; and a guiding rod rotatably arranged at the other end of the rotating piece, a straight line where a center axis of the guiding rod is located being parallel to a straight line where a center axis of the winding drum is located.

10. The engineered robot of claim 1, wherein, The grabbing mechanism comprises: a mechanical arm connected at one end thereof to the vehicle body; a grabbing rotary disc comprising a fixed end and a rotating end, the fixed end being fixed at the other end of the mechanical arm, and the rotating end being rotatably connected to the fixed end; and a mechanical grabber connected to the rotating end, for grabbing the cable.

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