CN112079209A - High-step cable winding and unwinding device - Google Patents

High-step cable winding and unwinding device Download PDF

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Publication number
CN112079209A
CN112079209A CN202010910495.7A CN202010910495A CN112079209A CN 112079209 A CN112079209 A CN 112079209A CN 202010910495 A CN202010910495 A CN 202010910495A CN 112079209 A CN112079209 A CN 112079209A
Authority
CN
China
Prior art keywords
cable
telescopic
chassis
frame
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010910495.7A
Other languages
Chinese (zh)
Inventor
李占龙
赵钧铎
郭北军
秦园
王瑶
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanxi Jiacheng Hydraulic Co ltd
Taiyuan University of Science and Technology
Original Assignee
Shanxi Jiacheng Hydraulic Co ltd
Taiyuan University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanxi Jiacheng Hydraulic Co ltd, Taiyuan University of Science and Technology filed Critical Shanxi Jiacheng Hydraulic Co ltd
Priority to CN202010910495.7A priority Critical patent/CN112079209A/en
Publication of CN112079209A publication Critical patent/CN112079209A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
    • B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4457—Arrangements of the frame or housing
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/34—Handled filamentary material electric cords or electric power cables

Landscapes

  • Electric Cable Installation (AREA)

Abstract

The invention relates to a high-step cable winding and unwinding device, which comprises a chassis, a cable winding and unwinding device, a telescopic device and a guy cable device, wherein the cable winding and unwinding device, the telescopic device and the guy cable device are all arranged on the chassis; the telescopic device is arranged at the rear end of the chassis, the telescopic direction of the telescopic device is along the length direction of the chassis, a tail active clamping device is arranged at one end of the telescopic device close to the slide rail, and a head active clamping device is arranged at one end of the telescopic device far away from the slide rail; the invention discloses a cable device, which comprises a cable frame, a cable and a cable tensioning device, is suitable for a large-span and high-depth high-step cable winding and unwinding environment, improves the cable winding and unwinding efficiency and safety, and relates to the technical field of special vehicles.

Description

High-step cable winding and unwinding device
Technical Field
The invention relates to the technical field of special vehicles, in particular to a high-step cable winding and unwinding device.
Background
At present, the domestic mine enterprises still lay the step-crossing cable in an operation mode of manually throwing the traction rope, the labor intensity of workers is high, the safety risk is high, the outer insulating layer and the cable head of the cable are easy to damage, and the maintenance cost is increased. Therefore, there is a need for improvements in the prior art.
Disclosure of Invention
In order to overcome the defects in the prior art, the high-step cable reeling and unreeling device with large span and high depth is provided.
In order to solve the technical problems, the invention adopts the technical scheme that:
a high-step cable winding and unwinding device comprises a chassis, a cable winding and unwinding device, a telescopic device and a guy cable device, wherein the cable winding and unwinding device, the telescopic device and the guy cable device are all arranged on the chassis, and the guy cable device is connected with the telescopic device;
the cable winding and unwinding device comprises a cable drum support, a drum, an mechanical arm and a mechanical arm, wherein the cable drum support is rotatably arranged on the chassis, the drum is horizontally arranged on the cable drum support, the drum is rotatably connected with the cable drum support, a cable driving device for driving the drum to rotate is arranged between the drum and the cable drum support, one end of the mechanical arm is hinged with the cable drum support, and the other end of the mechanical arm is provided with the mechanical arm;
the telescopic device is arranged at the rear end of the chassis, the telescopic direction of the telescopic device is along the length direction of the chassis, a tail active clamping device is arranged at one end of the telescopic device close to the cable winding and unwinding device, and a head active clamping device is arranged at one end of the telescopic device far away from the cable winding and unwinding device;
the cable device comprises a cable frame, a cable and a cable tensioning device, the lower end of the cable frame is hinged with the rear end of the chassis, telescopic supporting legs are arranged between the cable frame and the chassis, one end of the cable penetrates through the cable frame to be connected with the telescopic device, and the other end of the cable is connected with the cable tensioning device arranged on the chassis.
Furthermore, a cable winding and unwinding operation station is arranged on one side, away from the manipulator, of the cable drum support, a control device for controlling the cable winding and unwinding device and the telescopic device to act is arranged in the cable winding and unwinding operation station, and a metal safety protection net is arranged on the cable winding and unwinding operation station;
a safety channel and a guardrail are arranged on the cable drum bracket.
Further, the cable winding and unwinding device further comprises a cable rotating device and an integrated box body, the integrated box body is fixedly arranged on the upper side of the chassis, one end of the cable rotating device is connected with the integrated box body, and the other end of the cable rotating device is connected with the bottom end of the cable winding drum support.
Furthermore, the telescopic device comprises a slide rail, a hydraulic oil cylinder and a scissor type telescopic frame, the slide rail is vertically arranged on the chassis, the lower end of the tail part of the scissor type telescopic frame is hinged with the chassis, a slide block is arranged at the upper end of the tail part of the scissor type telescopic frame, the slide block is arranged on the slide rail in a sliding mode, the hydraulic oil cylinder is arranged on the chassis, and a piston rod of the hydraulic oil cylinder is connected with the slide block.
Furthermore, an auxiliary hydraulic oil cylinder is arranged on the scissor type telescopic frame.
Furthermore, a cable winding displacement device is fixedly arranged on the cable drum support and arranged between the drum and the mechanical arm, the cable winding displacement device comprises a transverse clamping mechanism and a longitudinal clamping mechanism, and the transverse clamping mechanism and the longitudinal clamping mechanism are driven by hydraulic pressure.
Furthermore, the lower end of the cable frame is provided with a folding supporting leg, the folding supporting leg comprises a supporting plate, a bottom plate and a connecting rod, one end of the supporting plate is hinged to the cable frame, the other end of the supporting plate is hinged to the bottom plate, a sliding groove is formed in the side end of the cable frame in the vertical direction, one end of the connecting rod is connected with the sliding groove in a sliding mode, and the other end of the connecting rod is hinged to the supporting.
Further, the upper end of the cable frame is provided with a wind speed sensor and a warning lamp;
the head of the scissor type telescopic frame is provided with a height sensor, a camera and a warning light, and the scissor type telescopic frame is also provided with a weight sensor, an amplitude sensor, an orientation sensor, an inertia positioning device, an active magnetorheological damping actuator and a resonance damper.
Further, the mechanical arm comprises a telescopic arm, a hinge frame, a telescopic oil cylinder, a variable amplitude oil cylinder and a swing oil cylinder, wherein the hinge frame is hinged with the cable drum support, a hinge shaft is arranged along the vertical direction, one end of the swing oil cylinder is hinged with the cable drum support, and the other end of the swing oil cylinder is hinged with the hinge frame; the telescopic oil cylinder is arranged on the telescopic arm, the telescopic arm comprises an outer arm and an inner arm, one end of the telescopic oil cylinder is connected with the outer arm of the telescopic arm, and the other end of the telescopic oil cylinder is hinged with the inner arm of the telescopic arm; one end of the variable amplitude oil cylinder is hinged with the hinge frame, and the other end of the variable amplitude oil cylinder is hinged with the outer arm of the telescopic arm;
the manipulator is arranged at one end of the inner arm, and the telescopic arm is provided with a guide device.
Furthermore, the head active clamping device and the tail active clamping device are both provided with control motors.
Compared with the prior art, the invention has the following beneficial effects:
1. the cable winding and unwinding device and the telescopic device are arranged, so that the flat ground winding and unwinding working condition can be met, the high-step winding and unwinding working condition can be met, the cable winding and unwinding efficiency is improved, the labor intensity of operators is reduced, and the safety is improved.
2. The telescopic device adopts a high-strength light section bar scissor type telescopic mechanism, has a large telescopic ratio and strong pressure resistance, and is matched with two stages of stay cables, so that the telescopic device has stronger hoisting capacity and can meet the extreme hoisting working condition.
3. The head and the tail of the scissor type telescopic frame are both provided with active clamping devices, and stable cable conveying operation is achieved through the active clamping devices.
Drawings
The following will explain embodiments of the present invention in further detail through the accompanying drawings.
FIG. 1 is a schematic view of a cable reel;
FIG. 2 is a schematic view of the operation of the cable reel;
FIG. 3 is a schematic view of the structure of the telescopic device;
FIG. 4 is a schematic view of a folding leg configuration;
fig. 5 is a schematic view of a robot arm structure.
1 is a chassis, 2 is a cable reeling and unreeling device, 21 is a cable reel bracket, 22 is a reel, 23 is a mechanical arm, 231 is a telescopic arm, 232 is a hinged frame, 233 is a telescopic oil cylinder, 234 is a luffing oil cylinder, 235 is a swing oil cylinder, 236 is a guide device, 24 is a cable driving device, 25 is a mechanical arm, 26 is a cable reeling and unreeling operation station, 27 is a cable slewing device, 28 is an integrated box body, 29 is a cable arranging device, 291 is a transverse clamping mechanism, 292 is a longitudinal clamping mechanism, 3 is a telescopic device, 31 is a tail active clamping device, 32 is a head active clamping device, 33 is a sliding rail, 35 is a scissor type telescopic frame, 351 is a sliding block, 352 is an auxiliary hydraulic oil cylinder, 353 is a height sensor, 354 is a camera, 355 is a weight sensor, 356 is an amplitude sensor, 357 is an orientation sensor, 4 is a pull cable device, 41 is a cable frame, 411 is an air speed sensor, 412 is the warning light, 42 is the cable, 43 is the telescopic leg, 44 is cable straining device, 45 is folding leg, 451 is the backup pad, 452 is the bottom plate, 453 is the connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1 to 5, a high-step cable reeling and unreeling device comprises a chassis 1, a cable reeling and unreeling device 2, a telescopic device 3 and a guy cable device 4, wherein the cable reeling and unreeling device 2, the telescopic device 3 and the guy cable device 4 are all arranged on the chassis 1, and the guy cable device 4 is connected with the telescopic device 3;
the chassis 1 is a multi-shaft driving chassis of an automobile crane and comprises a double-air-chamber interconnected oil-gas suspension, so that the complex pavement of the cable platform of the strip mine is better adapted on the basis of meeting the walking smoothness and the operation stability.
The cable reeling and unreeling device 2 comprises a cable reel support 21, a reel 22, a mechanical arm 23, a cable winding device, a cable slewing device 27 and an integrated box 28, wherein the integrated box 28 is fixedly arranged on the upper side of the chassis 1, one end of the cable slewing device 27 is connected with the integrated box 28, the other end of the cable slewing device 27 is connected with the bottom end of the cable reel support 21, the cable reel support is rotatably arranged on the integrated box 28 through the cable slewing device 27, the reel 22 is horizontally arranged on the cable reel support 21, the reel 22 is rotatably connected with the cable reel support 21, a cable driving device 24 for driving the reel 22 to rotate is arranged between the reel 22 and the cable reel support 21, the mechanical arm 23 comprises a telescopic arm 231, a hinge frame 232, a telescopic oil cylinder 233, a variable amplitude oil cylinder 234 and a swing oil cylinder 235, the hinge frame 232 is hinged with the cable reel support 21, a hinge shaft is arranged along the, the other end of the swing oil cylinder is hinged with a hinge frame 232; the telescopic oil cylinder 233 is arranged on the telescopic arm 231, the telescopic arm 231 comprises an outer arm and an inner arm, the number of the inner arms can be 1 or more, when the plurality of inner arms are arranged, the inner arms are sequentially sleeved according to the size of an inner hole, one end of the telescopic oil cylinder 233 is connected with the outer arm of the telescopic arm 231, and the other end of the telescopic oil cylinder 233 is hinged with the inner arm at the innermost layer of the telescopic arm 231; one end of the variable amplitude oil cylinder 234 is hinged with the hinge frame 232, the other end of the variable amplitude oil cylinder 234 is hinged with the outer arm of the telescopic arm 231, and the cable is controlled and guided to be wound and unwound in an omnibearing manner through the telescopic oil cylinder 233, the swing oil cylinder 235 and the variable amplitude oil cylinder 234;
the telescopic arm 231 is provided with a cable guide hole, and the cable passes through the cable guide hole to control the movement path of the cable, so that the cable is prevented from swinging randomly.
The inner arm extending end of the mechanical arm 23 is provided with a mechanical arm 25, an opening and closing oil cylinder is arranged on the mechanical arm 25, and the mechanical arm 25 is controlled to clamp and loosen a cable through the opening and closing oil cylinder.
The cable winding displacement device 29 is fixedly arranged on the cable winding drum support 21 and is positioned between the winding drum 22 and the mechanical arm 23, the cable winding displacement device 29 comprises an installation frame, a transverse clamping mechanism 291 and a longitudinal clamping mechanism 292, the transverse clamping mechanism 291 comprises two polished rods which are vertically arranged, the polished rods are connected with the installation frame in a sliding mode and driven by hydraulic pressure, and the longitudinal clamping mechanism 292 comprises two polished rods which are horizontally arranged, and the polished rods are connected with the installation frame in a sliding mode and driven by hydraulic pressure; the cables respectively pass through the transverse clamping mechanism 291 and the longitudinal clamping mechanism 292, polished rods of the transverse clamping mechanism and the longitudinal clamping mechanism are driven by hydraulic pressure to be close to each other, and then the position of the cables on the cable arranging device is positioned.
The cable paying-off process is a variable amplitude load-increasing process, the head active clamping device 32 and the tail active clamping device 31 are actively and positively driven in the initial stage, the cable driving device is matched with the cable to swing straight, when the cable is hung and put to reach a certain weight, the self weight of the cable can accelerate the paying-off speed, and at the moment, the cable driving device, the head active clamping device and the tail active clamping device need to regulate pretightening force and positive driving force according to speed and tension feedback so as to ensure the stability of the cable hanging and putting speed and also need to provide a certain braking force if necessary.
A cable winding and unwinding operation station 26 is arranged on one side of the cable drum support 21, which is far away from the manipulator 25, a control device for controlling the actions of the cable winding and unwinding device 2 and the telescopic device 3 is arranged in the cable winding and unwinding operation station 26, and a metal safety protection net is arranged on the cable winding and unwinding operation station 26;
be provided with escape way and guardrail on the cable drum support, the operating personnel of being convenient for is current and check-out equipment.
The telescopic device 3 is arranged at the rear end of the chassis 1, the telescopic direction of the telescopic device 3 is along the length direction of the chassis 1, a tail active clamping device 31 is arranged at one end of the telescopic device 3 close to the cable winding and unwinding device, and a head active clamping device 32 is arranged at one end of the telescopic device 3 far away from the cable winding and unwinding device;
the cable device 4 comprises a cable frame 41, a cable 42 and a cable tensioning device 44, the lower end of the cable frame 41 is hinged with the rear end of the chassis 1, a telescopic supporting leg 43 is arranged between the cable frame 41 and the chassis 1, one end of the cable 42 penetrates through the cable frame 41 to be connected with the telescopic device 3, and the other end of the cable 42 is connected with the cable tensioning device 44 arranged on the chassis.
Telescoping device 3 includes slide rail 33, hydraulic cylinder and cuts fork expansion bracket 35, slide rail 33 is vertical to be set up on chassis 1, cuts fork expansion bracket 35 afterbody lower extreme and chassis 1 articulated, cuts fork expansion bracket 35 afterbody upper end and is provided with slider 351, slider 351 slides and sets up on slide rail 33, hydraulic cylinder sets up on the chassis, and hydraulic cylinder's piston rod is connected with slider 351, can realize cutting the flexible operation of fork expansion bracket through hydraulic cylinder's the flexible, cuts and is provided with supplementary hydraulic cylinder 352 on the fork expansion bracket 35 for supplementary cut the fork expansion bracket and carry out the operation, optimize the atress condition of cutting the fork expansion bracket.
The lower end of the cable frame 41 is provided with a folding leg 45, the folding leg 45 comprises a support plate 451, a bottom plate 452 and a connecting rod 453, one end of the support plate 451 is hinged with the cable frame 42, the other end of the support plate is hinged with the bottom plate 452, the side end of the cable frame 41 is provided with a sliding groove 413 along the vertical direction, one end of the connecting rod 453 is slidably connected with the sliding groove 413, and the other end of the connecting rod 453 is hinged with the support plate.
The wind speed sensor 411 and the warning lamp 412 are arranged at the upper end of the cable frame 41.
The head of the scissor-fork type telescopic frame 35 is provided with a height sensor, a camera and a warning light, and the scissor-fork type telescopic frame 35 is also provided with a weight sensor, an amplitude sensor and a direction sensor;
the scissor-type expansion bracket 35 is further provided with an inertia positioning device, an active magnetorheological damping actuator and a resonance damper, the inertia positioning device detects the three-dimensional posture of the scissor-type expansion bracket in real time to obtain information such as an accurate inclination angle and a pitch angle, dynamic intervention is performed through the active magnetorheological damping actuator to achieve the three-dimensional posture alignment function, and the resonance damper is used for restraining self-excited vibration of the scissor-type expansion bracket.
The head active clamp 32 and the tail active clamp 31 are both provided with control motors.
The working principle is as follows:
the cable laying process can be divided into three major stages: 1. a cable pre-fixing stage; 2. a cable conveying stage; 3. and (5) a cable unloading stage.
The cable pre-consolidation phase comprises the following operations:
1) the cable splice is first secured to the robot 25.
2) The robotic arm 23 operates to deliver the cable head to the rear of the scissor jack 35.
3) The tail is clamped by the active clamping device 31.
4) The cable reeling and unreeling device 2 and the tail active clamping device 31 work cooperatively to send the cable head out of the head part of the scissor-fork type expansion bracket 35
5) The head active clamp 32 clamps the cable.
The cable transport phase comprises the following operations:
1) the telescopic legs 43 jack up the cable frame and the folding legs 45 on both sides are unfolded.
2) The cable conveying, the extension of the scissor-type expansion bracket and the retraction of the inhaul cable 42 are cooperatively carried out, and the scissor-type expansion bracket 35 extends to the position above the bottom line of the slope.
3) The cable reeling and unreeling device 2 and the head active clamping device 32 and the tail active clamping device 31 on the scissor type telescopic arm 35 work together to continuously convey the cable to the bottom of a slope.
The cable pull-down phase comprises the following operations:
1) the head active clamp 32 on scissor jack 35 opens.
2) The scissor-type telescopic frame 35 is retracted, the cable reeling and unreeling device 2 and the tail active clamping device 31 work cooperatively to lay the cable on the slope.
3) The telescopic legs 43 on both sides are retracted, the cable frame 41 is released, and the tail active clamping device 31 is opened.
4) The robot arm 23 is extended to remove the cable.
The cable recovery process comprises two major stages: 1. a cable loading stage; 2. and (5) cable winding.
The cable loading stage comprises the following operations:
1) the robot arm 23 is extended to hang the cable to the telescopic device 3.
2) The tail part of the telescopic device 3 is clamped by a tail active clamping device 31.
The cable reeling stage comprises the following operations:
1) the telescopic legs 43 jack the cable frame 41 and the folding legs 45 are opened.
2) The scissor jack 35 extends above the base line of the slope so that the cable makes full contact with the slope.
3) The cable is retracted by the cable reel-out device 2 and the active clamping device to the retractor head, and then both the stay cable 42 and the scissor jack 35 are retracted in tandem.
4) The head active clamp 32 on scissor jack 35 opens.
5) The cable reeling and unreeling device 2 and the tail active clamping device 31 work cooperatively to withdraw the cable head to the tail of the telescopic device.
6) The tail active clamping device 31 on the scissor type telescopic arm 35 is opened, and the cable head is retracted.
Although only the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all changes are encompassed in the scope of the present invention.

Claims (10)

1. The utility model provides a high step cable is rolled up and is put, includes chassis (1), its characterized in that: the cable winding and unwinding device comprises a cable winding and unwinding device (2), a telescopic device (3) and a guy cable device (4), wherein the cable winding and unwinding device (2), the telescopic device (3) and the guy cable device (4) are all arranged on a chassis (1), and the guy cable device (4) is connected with the telescopic device (3);
the cable winding and unwinding device (2) comprises a cable drum support (21), a drum (22), a mechanical arm (23) and a mechanical arm (25), wherein the cable drum support (21) is rotatably arranged on the chassis (1), the drum (22) is horizontally arranged on the cable drum support (21), the drum (22) is rotatably connected with the cable drum support (21), a cable driving device (24) for driving the drum (22) to rotate is arranged between the drum (22) and the cable drum support (21), one end of the mechanical arm (23) is hinged with the cable drum support (21), and the other end of the mechanical arm (23) is provided with the mechanical arm (25);
the telescopic device (3) is arranged at the rear end of the chassis (1), the telescopic direction of the telescopic device (3) is along the length direction of the chassis (1), a tail active clamping device (31) is arranged at one end, close to the cable winding and unwinding device, of the telescopic device (3), and a head active clamping device (32) is arranged at one end, far away from the cable winding and unwinding device, of the telescopic device (3);
the cable device (4) comprises a cable frame (41), a cable (42) and a cable tensioning device (44), the lower end of the cable frame (41) is hinged to the rear end of the chassis (1), telescopic supporting legs (43) are arranged between the cable frame (41) and the chassis (1), one end of the cable (42) penetrates through the cable frame (41) to be connected with the telescopic device (3), and the other end of the cable (42) is connected with the cable tensioning device (44) arranged on the chassis.
2. The high-step cable reeling and unreeling device according to claim 1, wherein: a cable winding and unwinding operation station (26) is arranged on one side, away from the manipulator (25), of the cable drum support (21), a control device for controlling the cable winding and unwinding device (2) and the telescopic device (3) to act is arranged in the cable winding and unwinding operation station (26), and a metal safety protection net is arranged on the cable winding and unwinding operation station (26);
the cable drum bracket (21) is provided with a safety channel and a guardrail.
3. The high-step cable reeling and unreeling device according to claim 1, wherein: the cable winding and unwinding device (2) further comprises a cable rotating device (27) and an integrated box body (28), the integrated box body (28) is fixedly arranged on the upper side of the chassis (1), one end of the cable rotating device (27) is connected with the integrated box body (28), and the other end of the cable rotating device is connected with the bottom end of the cable drum support (21).
4. The high-step cable reeling and unreeling device according to claim 1, wherein: telescoping device (3) include slide rail (33), hydraulic cylinder and cut fork expansion bracket (35), slide rail (33) are vertical to be set up on chassis (1), cut fork expansion bracket (35) afterbody lower extreme and chassis (1) articulated, cut fork expansion bracket (35) afterbody upper end and be provided with slider (351), slider (351) slide to be set up on slide rail (33), hydraulic cylinder sets up on the chassis, hydraulic cylinder's piston rod and slider (351) are connected.
5. The high-step cable reeling and unreeling device according to claim 4, wherein: an auxiliary hydraulic oil cylinder (352) is arranged on the scissor type telescopic frame (35).
6. The high-step cable reeling and unreeling device according to claim 1, wherein: the cable winding drum support (21) is fixedly provided with a cable winding drum device (29), the cable winding drum device (29) is arranged between the winding drum (22) and the mechanical arm (23), the cable winding drum device (29) comprises a transverse clamping mechanism (291) and a longitudinal clamping mechanism (292), and the transverse clamping mechanism and the longitudinal clamping mechanism are driven by hydraulic pressure.
7. The high-step cable reeling and unreeling device according to claim 1, wherein: the lower end of the cable frame (41) is provided with folding legs (45), each folding leg (45) comprises a supporting plate (451), a bottom plate (452) and a connecting rod (453), one end of each supporting plate (451) is hinged to the cable frame (42), the other end of each supporting plate is hinged to the bottom plate (452), a sliding groove (413) is formed in the side end of the cable frame (41) in the vertical direction, one end of each connecting rod (453) is slidably connected with the corresponding sliding groove (413), and the other end of each connecting rod is hinged to the corresponding supporting plate (451).
8. The high-step cable reeling and unreeling device according to claim 1, wherein: the upper end of the cable frame (41) is provided with a wind speed sensor (411) and a warning lamp (412);
the head of the scissor type telescopic frame (35) is provided with a height sensor (353), a camera (354) and a warning light, and the scissor type telescopic frame (35) is further provided with a weight sensor (355), an amplitude sensor (356), an orientation sensor (357), an inertia positioning device, an active magneto-rheological damping actuator and a resonance damper.
9. The high-step cable reeling and unreeling device according to claim 1, wherein: the mechanical arm (23) comprises a telescopic arm (231), a hinge frame (232), a telescopic oil cylinder (233), an amplitude-variable oil cylinder (234) and a swing oil cylinder (235), wherein the hinge frame (232) is hinged to the cable drum support (21), a hinge shaft is arranged in the vertical direction, one end of the swing oil cylinder (235) is hinged to the cable drum support (21), and the other end of the swing oil cylinder (235) is hinged to the hinge frame (232); the telescopic oil cylinder (233) is arranged on the telescopic arm (231), the telescopic arm (231) comprises an outer arm and an inner arm, one end of the telescopic oil cylinder (233) is connected with the outer arm of the telescopic arm, and the other end of the telescopic oil cylinder (233) is hinged with the inner arm of the telescopic arm; one end of the variable amplitude oil cylinder (234) is hinged with the hinge frame (232), and the other end of the variable amplitude oil cylinder (234) is hinged with the outer arm of the telescopic arm (231);
the manipulator (25) is arranged at one end of the inner arm, and the telescopic arm (231) is provided with a guide device (236).
10. The high-step cable reeling and unreeling device according to claim 1, wherein: the head active clamping device (32) and the tail active clamping device (31) are both provided with control motors.
CN202010910495.7A 2020-09-02 2020-09-02 High-step cable winding and unwinding device Pending CN112079209A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010910495.7A CN112079209A (en) 2020-09-02 2020-09-02 High-step cable winding and unwinding device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010910495.7A CN112079209A (en) 2020-09-02 2020-09-02 High-step cable winding and unwinding device

Publications (1)

Publication Number Publication Date
CN112079209A true CN112079209A (en) 2020-12-15

Family

ID=73731882

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010910495.7A Pending CN112079209A (en) 2020-09-02 2020-09-02 High-step cable winding and unwinding device

Country Status (1)

Country Link
CN (1) CN112079209A (en)

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