ITMI20121921A1 - SUPPORT EQUIPMENT AND DEVELOPMENT OF HIGH LENGTH CABLES AND SYSTEM FOR CABLE INSTALLATION. - Google Patents

Description

Title: EQUIPMENT FOR SUPPORT AND UNWINDING OF CABLE OF LONG LENGTH AND SYSTEM FOR LAYING CABLES.

Description

TECHNOLOGICAL BACKGROUND OF THE INVENTION

Field of invention

The present invention relates to the sector of laying cables or flexible pipes on long routes, for example over a thousand meters, on the surface or along underground or submerged conduits.

In particular, the present invention relates to a cable laying system comprising an apparatus for supporting and unwinding such cables or flexible pipes located at one end of these paths and a corresponding driving apparatus for a free end of the cable placed at the end of these paths. ™ opposite end of these paths.

Description of the known art

The technique of laying cables, for example electric cables, along conduits or paths, for example underground, is known, using partially mechanized laying systems. In particular, this technique and these systems provide for the provision of a dragging wire inside the duct, often called a probe or a driving cable, for the entire length of the duct or path. Once the aforesaid dragging wire has been laid in the conduit, a first free end of the wire is fixed to a corresponding free end of the cable to be laid which is generally wound on a support forming a cable reel.

A second end of the dragging wire is fixed, at the opposite end of the duct, to a motorized dragging device suitable for pulling this wire and therefore the cable connected to it, at substantially constant speed, inside the duct itself by unwinding it from the roll holder.

In such known systems, the support of the cable reel comprises a motorized unit adapted to unwind the cable to allow the towing operation performed by the towing equipment. However, the starting operation of the unwinding of the cable does not take place in a synchronized manner with the start of the towing operation. Therefore, it may happen that towed equipment has to overcome the initial inertia of the cable reel to start its unwinding. In the case of coils comprising particularly long coiled cables, i.e. in the case of cables to be laid in conduits or paths, for example over 300 meters long, the initial inertia of the coil to be unwound can reach values such as to cause excessive mechanical stress on the cable itself to the point of damaging it, altering its physical characteristics and compromising its usability.

SUMMARY OF THE INVENTION

The technical problem addressed by the present invention is that of providing a system for laying cables capable of satisfying the contrasting needs of laying cables on paths and / or conduits longer than 300 meters while avoiding mechanical stress and damage to these. cables.

In particular, it is the object of the present invention to provide a cable laying system comprising a cable support and unwinding device placed at one end of a conduit or path and a corresponding driving device for the free end of the cable placed at the other end of the duct or path that allows a variation in the speed of the dragged cable so as to automatically satisfy all the needs of traction locking, slowing down, acceleration and reversal of the cable during its advancement in the duct, in order to preserve the mechanical and physical characteristics of the cable intact.

It is also an object of the present invention to provide a motorized cable support and unwinding apparatus that allows remote control of the cable unwinding operation by synchronizing it to the towing operation performed by the towing apparatus.

These objects are achieved by means of an apparatus for supporting and unwinding cables in accordance with claim 1.

Preferred forms of such driving apparatus are defined in the dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

Further characteristics and advantages of the present invention will become clearer from the description of some embodiment examples, given below by way of non-limiting example, with reference to the following figures:

- Figures 1A and 1B show preferred embodiments of the cable laying system according to the invention;

- figures 2, 3A, 3B schematically show the cable laying system according to the invention in three successive operating phases;

- figure 4 shows in perspective view an embodiment of a driving apparatus according to the invention;

- figures 5 and 6 show two respective opposite side views of the apparatus of figure 4;

- figure 7 shows a top view of the apparatus of figure 4;

- figure 8 shows a front view of the apparatus of figure 4;

Figure 9 shows a detail of the apparatus of Figure 4 relating to an accompanying device for a dragging wire of the system;

figure 10 shows a detail of the apparatus of figure 4 comprising force sensing means;

- figures 11 and 12 show respectively a side view and a top view of another embodiment of an apparatus for laying cables according to the invention;

- Figures 13 and 14 show respectively a front view and a side view of an apparatus for supporting and unwinding the motorized cable included in the cable laying system of the invention;

- figures 15 and 16 show a lubrication device for the cable to be laid included in the laying system of the invention;

- figure 17 shows a block diagram of an electronic control unit of the cable laying system of the invention.

DETAILED DESCRIPTION

With reference to figures 1A-1B, a mechanized cable laying system in accordance with the invention is indicated with the numerical reference 1000. In particular, the system can be used for laying cables in conduits or along routes 4 of length even greater than about 300 meters, for example in ducts or routes with a length of even a few thousand meters.

This system 1000 comprises a driving apparatus 20,200 proximal to a first end 7 of the conduit or path 4 and an apparatus for supporting and unwinding the cable to be laid in the conduit proximal to a second end 8 of the conduit, opposite to the first end 7.

In greater detail, the towing apparatus for laying long cables according to the invention, indicated as a whole with the number 20 in figures 4 to 12, comprises a winch assembly 21 which includes a rotating drum 22 to which A portion of dragging wire 1 which can be wound around said drum 22 and a motor block 24 having motor means 24 'connected to the drum 22 to make it rotate can be engaged.

The driving apparatus 20 defines a longitudinal direction 70 according to a main direction of development of the machine, and a transversal direction 71 orthogonal to the longitudinal direction.

The winch group 21 is mounted on a frame 26 which supports said winch group 21.

The frame comprises a front portion 72 able to be operatively disposed facing towards an opening of the duct from which the dragging wire 1 is to be pulled in extraction, and a rear portion 73 opposite the front portion.

The frame 26 can surmount wheels 74 for handling the towing equipment 20.

The frame 26, moreover, can comprise clamping legs 75 and 76 adapted to firmly stabilize the driving equipment with respect to the ground during its use.

The apparatus 20 also comprises force measuring means 29 adapted to measure a traction force T applied to the dragging wire 1 by the drum 22 and a first control unit 27, 227 operatively connected to said force measuring means 29 and to said motor means 24â € ™. This first control unit 27, 227 is configured to detect the traction force T applied to the wire and to generate a first signal S1 for controlling the motor means 24â € ™ in correspondence with the reaching and / or exceeding of a maximum reference value TMAX of the detected tensile force.

In a preferred embodiment of the invention, the first control unit 27, 227 is configured to stop the motor means 24â € ™ and, consequently, the rotation of the drum 22 upon reaching and / or exceeding the aforesaid value of maximum reference TMAX of traction force.

In another embodiment, the first control signal S1 is adapted to act on the motor means 24â € ™ to reduce an angular speed Ï ‰ t of the drum 22 in correspondence with the reaching and / or exceeding of said maximum reference value Tmax.

In a further embodiment, the first control unit 27, 227 is configured to generate a second control signal S2 of the motor means 24 'in correspondence with the detection of a traction force T applied to the lower yarn at a minimum reference value Tmin. This second control signal S2 is adapted to act on the motor means 24â € ™ to increase the angular speed Ï ‰ t of the drum 22.

According to an embodiment, the first control unit 27, 227 is configured to adjust the angular speed Ï ‰ t of rotation of the drum 22 so that the traction force T applied to the drawing wire is substantially included between the above mentioned values of minimum reference Tmine maximum TMAX.

Furthermore, the first control unit 27, 227 can also be configured to stop, by means of the second control signal S2, the rotation of the drum 22 upon reaching the minimum value of traction force Tmin detected.

For example, but not necessarily, the first control unit 27, 227 is configured, according to a possible embodiment, to perform the following operating phases:

- initially the speed of the drum 22 is zero and the traction force is also zero;

- upon starting, the drum 22 begins to rotate and the speed of rotation of the drum increases until the cable is tensioned;

- when the cable is under tension, the rotation speed decreases and the traction force increases until it substantially settles at the operating traction force Ts.

At this point, if the measured traction force T increases, the first control unit 27, 227 reduces the rotation speed Ï ‰ t of the drum 22, if instead the measured traction force T decreases, the first control unit 27,227 increases this speed rotation of the drum to bring the tensile force value substantially to the operating value Ts.

Upon reaching the maximum value of traction force TMAX detected, for example because the cable has encountered an obstacle along the way, the first control unit 27, 227 can stop the motor means 24â € ™ by means of the first signal S1. Alternatively, the same first control unit 27, 227 can reduce the rotation speed Ï ‰ t of the drum 22 by means of the same first signal S1.

On the contrary, if the detected traction force decreases, this means that the cable has encountered a section where sliding is easier, for example it has encountered a sloping section of conduit, therefore the first control unit 27,227 increases the speed rotation angle Ï ‰ t of drum 22 to prevent part of the driving wire 1 from loosening on the winch or getting tangled.

In the event that the detected traction force T has reached the maximum value TMAX and the drum 22 has been stopped accordingly, it may be necessary to pull the cable back for a stretch in order to release it from the obstacle present in the duct and then resume the € ™ laying operation. It may therefore be necessary to reverse the direction of the traction force T applied to the traction wire and, consequently, to the cable even for only a short section of the duct. In this case, the control unit 27,227 is adapted to drive the motor means 24 'to rotate the drum 22 in the opposite direction to that of traction of the driving wire 1.

According to an embodiment of the present invention, the force measuring means 29 comprise a first support element 31 integral with the frame 26 and a second support element 31â € ™ integral with the engine block 24 and movably connected to the first support element 31 by means of connection means 31â € ™ â € ™ configured to allow a relative displacement between said second element 31â € ™ and said first element 31 as a function of the traction force T.

Moreover, these force measuring means 29 comprise force sensing means 25 stressed by the reciprocal movement between the first element 31 and the second element 31â € ™ so as to measure the force transmitted between the first element 31 and the second element 31â € ™. This transmitted force is proportional to the traction force applied to the drag wire 1.

For example, the sensor means 25 comprise an axial load cell acting in a tangential direction with respect to the axis of rotation of the second element 23 '.

According to one embodiment, the motor means 24 'of the motor block 24 comprise an electric rotary motor 24'.

Furthermore, the motor block 24 can comprise a speed reducer 77 interposed between the motor means 24 and the drum 22, for example the speed reducer 77 is a reducer with orthogonal axes.

For example, the motor means comprise a rotary motor 24 '' arranged with the motor axis along a direction substantially parallel to the longitudinal direction of development 70 of the towed machine 20.

For example, moreover, the drum 22 is mounted with the drum axis 23 arranged along the transverse direction 71, preferably horizontal.

According to an embodiment shown in Figures 4-10, the connecting means 31â € ™ â € ™ comprise a rotoidal joint that allows the relative rotation of the second element 31â € ™ with respect to the first element 31 around a joint axis 23â € ™, substantially parallel to the drum axis 23, and in which said sensor means 25 are arranged so as to measure the force transmitted between the second element 31 'and the first element 31 in a tangential direction with respect to the joint axis 23â € ™. For example, but not necessarily, the joint axis 23â € ™ coincides with the drum axis 23.

When the drum 22 is made to rotate to pull the trailing wire 1, the motor unit 24 applies to the drum 22 a driving torque around the drum axis 23. This driving torque is opposed by the traction force applied by the trailing wire 1 to the drum 22, which generates a counter-drive torque which tends to make the second support element 31 'rotate around the joint axis 23' in the opposite direction of rotation with respect to that of the drum 22.

For example, in the configuration shown in Figures 4-10, the drum 22, to pull the wire 1, rotates in the counterclockwise direction, causing a rotation of the motor unit 24 in the clockwise direction. This rotation causes the load cell 25 to be compressed due to the rotation, which can thus measure a value of the compressive force to which it is subjected, allowing to obtain the value of the tensile force of the wire 1.

According to one embodiment, the second support element 31â € ™ is made in the form of two second support elements 31â € ™ fixed to the motor unit 24, on opposite sides of the motor unit in the direction of the joint axis 23â € ™ . For example, the second support elements 31â € ™ are fixed to two respective lateral faces of the reducer 77. Furthermore, the second support elements 31â € ™ comprise two plates.

Similarly, each second support element 31 'is associated with a respective first support element 31 to which it is rotatably coupled by means of a respective rotational joint 31'. The first elements 31 can also comprise a respective plate. As shown, the plates of the first support elements 31 can be vertical and connected at the top by a third connecting plate 31â € ™ â € ™ â € ™, forming a frame.

The first support element 31 may comprise a first projection 61 having a first abutment face 64 for said force sensing means 25, and the second support element 31â € ™ can comprise a second projection 62 having a second abutment face 65 for said force sensing means 25, said first abutment face 64 and said second abutment face 65 being facing and substantially parallel to each other, so as to approach or move away from each other according to the relative sliding between first and second support element 31 and 31â € ™. The first projection 61 can be fixed to the first support element 31 or it can be fixed to the frame 26.

According to a different embodiment, the connecting means between the first element 31 and the second element 31â € ™ comprise a sliding coupling adapted to allow the sliding of the engine block 24 with respect to the frame 26, for example in the longitudinal direction 70.

The sensor means 25 are arranged so as to measure the force transmitted between the second element 31â € ™ and the first element 31 in a longitudinal direction, for example orthogonal to the drum axis 23. For example, the second element 31â € ™ integral to the engine block 24, can comprise a carriage that can slide with respect to the frame 26 in the longitudinal direction, inside or above which the engine block 24 is housed, while the first element 31 comprises sliding guides mounted integral with the frame 26 in the longitudinal direction.

According to this embodiment, the driving torque transmitted by the motor unit to the drum is opposed by the traction force of the dragging wire which generates a reaction force in the opposite direction or on the drum axis. This force is transmitted to the second support element 31â € ™ which is consequently dragged by a portion which depends on the traction force. The second support element 31 'thus acts in compression against the first support element 31, compressing the interposed force sensing means which can thus provide a measure of the traction force.

According to a possible embodiment, the force measuring means 29 comprise elastic return means adapted to return the second support element 31â € ™ to a rest position when the stress on the part of the dragging wire ceases.

A further embodiment is shown in Figures 11 and 12 in which the force measuring means 225 are integrated inside the engine block. Such force measuring means 225 comprise a torsion load cell arranged in such a way as to be influenced by the rotation of the drive shaft.

According to a possible embodiment, the driving apparatus 20, 200 comprising a reel-holder assembly 34 adapted to rotatably support a reel 35 of drawing wire.

In other words, the reel-holder assembly 34 is adapted to automatically wind the guide wire to form a reel and is configured to gradually receive from the winch assembly the dragging wire pulled by the winch assembly.

The reel-holder assembly 34, according to one embodiment, comprises:

- a support arm 36, 236 connected to said frame 26 and a rotating support 37 rotatably supported by said support arm 36, 236, adapted to wind said dragging wire 1 according to a plurality of coils.

Furthermore, the reel-holder assembly 34 can comprise second motor means 39 connected to said rotating support 37 adapted to rotate said rotating support 37.

The reel-holder assembly can comprise torque sensing means 40 adapted to measure the force applied by the guide wire to the rotating support 37.

The reel-holder assembly 34, according to one embodiment, can comprise a further control unit 42 functionally connected with said torque sensor means 40 and said second speed sensor means 41, configured to actuate the second motor means 39 so as to rotate the rotating support 37 at a controlled speed.

This controlled speed is such as to avoid an accumulation of unwound guide wire between the drum 22 and the bobbin holder assembly 34.

The further control unit 42 can be configured so that the torque measured by the second torque sensors 40 is of a value comprised between a minimum threshold value and a maximum threshold value.

According to a possible configuration, the further control unit 42 is configured to adjust the instantaneous speed of rotation of said rotating support 37 so that the instantaneous speed of entry of the driving wire 1 to the bobbin holder assembly 34 is substantially equal to the speed instantaneous output of the dragging wire 1 from the winch assembly 21.

According to a possible embodiment, the control unit 42 is configured to adjust the instantaneous speed of the rotating support 37 so that the driving torque applied by the rotating support 37 to the driving wire 1 is greater than the resistant torque applied by the driving wire 1 to the rotating support 37, of a predetermined torque value.

In other words, the further control unit 42 is configured to apply a braking torque to the rotating support 37, and thus control the rotation speed of the rotating support 37, so that the force applied to the rotating support 37 remains constantly substantially equal to an optimal predetermined force value. In other words, during a first step of laying the entrainment wire 1 in the duct, the entrainment wire is rapidly unwound from the reel-holder assembly and the reel rotates rapidly around its axis.

This provision makes it possible to rotate the rotating support 37 in such a way that the dragging wire 1 in proximity to the reel remains constantly stretched at the optimal predetermined force value, avoiding the entanglement of the wire which would occur if the reel continued. to rotate by inertia in case of instantaneous interruption of the motion of the driving wire 1.

The rotating support 37 is able to rotate around an axis parallel to the drum axis 23, for example in a direction orthogonal 71 to the longitudinal direction 70.

According to the embodiment shown in Figures 4-8, the reel-holder assembly 34 is fixed to a rear end 73 of the frame 26 and is centered with respect to the transverse width of said rear end 73. For example, but not necessarily, the rotating support substantially extends over the entire transverse width of a rear end 74 of frame 26.

According to an alternative embodiment shown in figures 11 and 12, the reel holder assembly 34 is fixed to the frame 26 in the lateral position of the rear end 73.

The rotating support 37 is made to rotate by the second motor means 39 for example by means of a first motion transmission 32. The first motion transmission 32 comprises for example a transmission chain 32â € ™ or a transmission belt 32â € ™.

According to one embodiment, the reel holder assembly 34 is configured to control a braking torque exerted on the rotating support 37 by means of a sensorless type control. In particular, the vector inverter, after an initial starting phase, is able to evaluate the torque generated by the second motor means 39 and therefore keep the efficient torque under control by means of a control algorithm.

According to an embodiment, the reel-holder assembly 34 comprises a winding device 43 suitable for stratifying the driving wire 1 homogeneously over the entire width of the reel, comprising a distributing portion 44 comprising a passage 45 for the driving wire 1, said passage 45 being able to receive the dragging wire 1 and allow its free sliding inside the passage 45, and means for moving the distributing portion 44 with reciprocating motion in a direction substantially parallel to the rotating support 37 and between two opposite positions of extremities along said direction.

The means for moving the distributing portion 44 can comprise an endless screw 46 to which the distributing portion 44 is coupled to move with reciprocating motion along it.

The second motor means 39 can be connected to the unwinding device 43 to move the distributing portion 44 by means of a second motion transmission 46.

For example, the second motion transmission comprises 46 comprises a second transmission chain 46â € ™ or a second transmission belt 46â € ™.

According to one embodiment, the first transmission and the second transmission are driven by the same motor as the second motor means 39.

The second motor means 39 can comprise a speed reducer 47.

According to one embodiment, the driving apparatus comprises an anterior thread guide device 66 adapted to guide the guide wire entering the winch assembly 21. The anterior thread guide device 66 can comprise an idle pulley, for example with a substantially rotational axis parallel to the drum axis 23. Furthermore, the front thread guide device 66 can comprise two lateral rollers 68 able to guide the thread laterally in a transverse direction to the apparatus.

The front thread guide device 66, according to one embodiment, can also comprise a forward projecting arm 69, adapted to support a guiding bar 47 able to guide the dragging thread in correspondence with a free end of the duct through which the drag wire.

According to one embodiment, the driving apparatus 20 comprises a second thread guide device 77 arranged in an intermediate position between the drum 22 and the bobbin holder assembly 34, so as to guide the drawing thread entering the bobbin holder assembly 34. For example, the second yarn guiding device 77 is interposed between the drum 22 and the unwinding device 43.

The second yarn guide device 77 can comprise, for example, an idle pulley 78 an input roller 80 arranged in front of one side of the pulley 78. For example, the second yarn guide device can comprise two output rollers 79 arranged, arranged at the sides of pulley 78. For example, the output rollers 79 are arranged along two parallel vertical planes, and for example are inclined.

The second wire guiding device 77 can comprise an encoder 81 mounted on the axis of the idle pulley 78, suitable for measuring the length of the driving wire which crosses the second wire guiding device 77, and therefore suitable for measuring the length of the laying wire.

The knowledge of this length allows to have an idea of the position, along the duct or along the path, in which the free end of the trailing wire is located, to which a free end of the cable is connected. dragged.

The knowledge of the aforesaid length, in the previous phase of laying the dragging wire along a duct, also allows to identify the position along the duct in which the dragging device or shuttle stopped due to having encountered an obstacle.

The driving apparatus 20 as described above from the point of view of the technical characteristics will now be described from the point of view of its operation, as shown in Figures 2, 3A, 3B.

The equipment is shaped to be able to carry out two different blocks of successive operations for laying.

A first block of operations includes the laying of a guide wire along a path on the surface or inside a duct. This first block of operations is shown in figure 2 and is carried out with the participation of the reel holder group 34.

A second block of operations includes the laying of the cable in the conduit, pulling the trailing wire, at one end of which is fixed one end of the cable to be laid. This second block of operations is shown in figure 3B and is carried out with the participation of the winch assembly 21 and the reel holder assembly 34.

For example, moreover, if a cable 110 is laid inside a very long duct 4, the guide wire 1 must first be laid along the entire length of the duct 4 itself.

Therefore, initially the trailing wire 1 is completely wound in a reel 35 mounted on the rotating support 37 of the reel-holder assembly 34. A free end of the trailing wire is passed first through the distributing portion 44 of the unwinding device 43, then through the second thread guide 77 and then into the front thread guide 66.

The free end of the trailing wire is then fixed to a dragging shuttle 2 which is inserted into the duct 4 through which the trailing wire 1 is to be laid. In this phase, it is preferable that the trailing wire 1 is not wrapped around the drum 22 of the winch unit so as to be free to slide dragged by the shuttle 2.

The towing apparatus according to the invention is equipped to facilitate this operation of preventive laying of the dragging wire along a long duct.

In fact, during the travel of the shuttle 2 along the duct 4, the speed of the shuttle 2 could unexpectedly and suddenly vary due to a narrowing of the duct 4 or an obstacle not visible from the outside. In this circumstance, the rotation of the reel 35 of dragging wire associated with the driving apparatus 20 must be controlled continuously and rapidly so as to modify the angular speed of unwinding of the reel 35 so that this speed corresponds to the speed of advancement of the shuttle 2 in the duct to avoid unwinding a portion of entrainment wire 1 that exceeds the entrained wire. This, in fact, would entail the entanglement of the dragging wire, and therefore further operating times.

The bobbin holder assembly 34, in fact, comprises means for adjusting the instantaneous speed of rotation of the bobbin according to the tension of the drawing wire applied to the bobbin holder assembly 34.

During this first block of operations, the trailing wire travels through the duct in the direction of the arrow 11.

While the trailing wire runs through the second wire guide, the encoder 81 measures the length of the trailing wire that passes through it.

To carry out the second block of operations, proceed as follows. After the shuttle 2 has come out from the opposite end of the duct 4, as shown in figure 3A, the shuttle 2 is detached from the dragging wire 1 and, in place of the shuttle 2, a free end of the cable or cables is fixed. 110 cables to lay.

At this stage, on the opposite side of the duct, the dragging wire 1 is wound down a few turns, for example five turns, around the drum 22 of the winch assembly.

The motor means 24 are then activated and the winch unit begins to rotate the drum to drag the dragging wire 1 in the direction of the arrow 12 of figure 3B. The first control unit 27, 227 is immediately activated to control the driving force of the guide wire in order to avoid the stress of the cable or cables 110 during the laying phase.

According to another aspect of the present invention, the above objects and advantages are satisfied by a system for laying cables 1000 comprising a driving apparatus 20 as described above and also a cable unwinding apparatus 100 arranged at one end of the opposite duct 4 with respect to the one proximal to the driving apparatus 20 (fig. 13, 14) the cable unwinding apparatus 100 comprises a rotating support element 104 shaped to receive around it a reel of the cable to be laid; a support structure 101 adapted to rotatably support said rotating support element 104, motor unwinding / winding means 107 adapted to rotate the rotating support element 104, a second control unit 108 associated with said motor means 107 configured for control a respective angular speed of the rotating support element 104 in order to facilitate the introduction of the cable 110 into the duct 4.

According to an embodiment, the rotating support element 104 is able to rotate around an axis 109 substantially parallel to the surface of the support plane of the cable unwinding apparatus 100.

The aforementioned support structure 101 comprises, by way of example, two support stands 101â € ™ and 101â € ™ â € ™ adapted to support respective free ends of the rotating support element 104.

Each of said trestles 101â € ™ and 101â € ™ â € ™ comprises two legs 102 and 103, preferably arranged along two sides of a triangle, for example lying on a substantially vertical plane. In particular, these legs 102, 103 are arranged so as to converge towards the axis of rotation 109 of the support element 104.

The rotating support element 104, according to one embodiment, comprises a shaft 105 arranged along the axis 109, and two side plates 115â € ™ and 115â € ™ â € ™ coaxial with the axis 109 and arranged on planes substantially parallel to each other and substantially orthogonal to axis 109.

The rotating support element 104 is shaped to receive a spool of reel 117 (shown in broken line in figure 14), on which the cable 110 is wound forming a reel.

According to one embodiment, the rotating support element 104 comprises means for constraining 106 the spool 117 so as to make the spool rotate integrally with the rotating support element 104. For example, such means for constraining 106 comprise a protruding pin which projects internally from the plates 115â € ™, 115â € ™ â € ™ and can be coupled to a corresponding recess provided on the reel-holder spool 117.

The motor means 107 comprise an electric motor, for example a servo-ventilated three-phase synchronous motor (380-400Vac), powered by a sensorless vector inverter, capable of applying a rotational motion to the rotating element 104 around its axis 109.

The motor means can comprise a speed reducer 116. For example, the speed reducer 116 has orthogonal axes.

Furthermore, the second control unit 108 associated with the cable unwinding apparatus 100 is implemented, for example, by means of a PELV (24 Vdc) control circuit whose supply voltage is generated by means of a switching type power supply.

It should be noted that the apparatus 100 is configured to control a braking torque exerted on the cable reel, preferably by means of a sensorless type control. In particular, the vector inverter, after an initial starting phase, is able to evaluate the torque generated by the motor 108 and therefore keep the efficient torque under control by means of a control algorithm.

In one embodiment, the cable support and unwinding apparatus 100 can be controlled manually, ie an operator can act on the control panel of the apparatus 100 to manage all its functions in a totally manual and customizable manner.

In a further embodiment, the cable support and unwinding apparatus 100 can be controlled automatically. In particular, the functions of such apparatus 100 can be remotely controlled through, for example, an associated control panel of the driving apparatus 20,200, for example through wireless direction antennas.

With reference to Figures 15 and 16, according to a possible embodiment, the system 1000 comprises a lubricating device 150 adapted to apply a lubricant on the external surface of the cable before introducing it into the duct 4 at one end 8 of the duct.

According to one embodiment, the lubricating device 150 comprises a distributor 151 having at least one nozzle 152 which can be oriented transversely to the cable. For example, the distributor 151 comprises a plurality of nozzles 152 which can be arranged around the cable.

According to one embodiment, the nozzles are mounted on the inner surface of two arched supports 153 which can be arranged to surround a section of the outer surface of the cable.

According to one embodiment, the two arched supports 153 are connected to the lubricating device 150 by means of two respective ducts 154, for example flexible ducts.

According to one embodiment, the lubricating device 150 comprises a lubricant reservoir 155 and a pump adapted to bring the lubricant under pressure and push it to come out of the nozzles.

The lubricating device 150, according to one embodiment, comprises a solenoid valve configured to start dispensing the lubricant through the nozzles only when an actuation signal is reached.

According to one embodiment, said actuation signal can be emitted by the first control unit of the driving apparatus 20 according to the invention. In this way the supply of lubricant occurs only when the control unit of the driving equipment requires it, for example only during the movement of the cable in the duct.

With reference to Figure 17, an example of an electronic unit, generally indicated by the numerical reference 500, configured to control the cable laying system 1000 of the invention, is now described by means of a block diagram, and in particular the apparatus for supporting and unwinding these motorized cables 100 and the corresponding motorized towing apparatus 20, 200.

This electronic unit 500 comprises a main control device 501 including a processing module 502 (CPU, Central Processing Unit), for example a microprocessor or a microcontroller, operatively connected to a main system memory 503 (RAM) of the type volatile. This main memory 503 can be external to the processing module 502 or internal to the aforesaid processing module.

The main control device 501 further comprises a secondary memory 504 of the non-volatile type (HDD) interfaced with the processing module 502 (CPU) to store a suitable control software of the cable laying system 1000.

Furthermore, the main control device 501 is provided with a transmission / reception module 505 (TX / RX) of signals operatively controlled by the processing module 502 to receive / transmit these signals from / to respective remote devices (slaves), for for example, a first remote device 400 associated with the driving equipment 20,200 and a second remote device 600 associated with the equipment for supporting and unwinding the cables 100. Such signals exchanged between the main device 501 and the remote devices 400,600 include, for example:

- force measurement signals SM generated by the remote devices 400, 600 following the detection of the traction force T exerted on the cable;

- the above mentioned first S1 and second S2 control signals.

In a preferred embodiment, this transmission / reception module 505 (TX / RX) is connected to a directional antenna 506 and the aforesaid signals received / transmitted from / to the remote devices 400,600 are radio frequency signals (wireless). In another embodiment, such a transmission / reception module 505 (TX / RX) comprises a cable connection interface (wired) with the remote devices 400,600, i.e. the signals received / transmitted by the control device 501 are electrical signals via cable.

It should also be noted that the control device 501 comprises a respective user interface 507 (INTF) which takes the form of an input / output interface module electrically connected to the processing module 502 to enable insertion (input) and / or the modification of parameters of the control software by an external operator and to display (output) data indicative of the operation of the system. Such interface module 507 comprises, for example, a keyboard and a display or a touchscreen display.

The aforementioned first 400 and second 600 remote devices each comprise a sensor module 401, 601 (SEN) adapted to detect the tensile force T applied to the cable to be laid to generate the measurement signals SM to be transmitted to the main control device 501 through a respective transmission / reception module 402,602 (TX1 / RX1, TX2, RX2) of wireless or wired type. As mentioned above, these sensor modules take the form of a load cell sensor, in particular an extensiometric sensor.

Furthermore, these first 400 and second 600 remote devices comprise a respective actuation unit 403, 603 (ACT) configured to act on the motor means 24â € ™ and 107 provided in the driving apparatus 20,200 and in the apparatus for supporting and unwinding the cables 100 , respectively. This actuation unit takes the form, in particular, of an inverter device.

In one embodiment, the main control device 501 takes the form, for example, of a desktop computer, a laptop computer, or a dedicated workstation separate from both the driving equipment 20,200 and the supporting and unwinding equipment of cables 100. In this case, the first control unit 27, 227 of the driving equipment 20, 200 includes the first remote device 400 and the second control unit 108 of the cable support and unwinding equipment 100 comprises the second remote device 600.

In a further embodiment, the first control unit 27, 227 of the driving equipment 20,200 comprises the aforementioned main control device 501 and the laying system 1000 comprises a single remote device 600 associated with the support equipment and unwinding cables 100. In other words, the towing equipment operates as the master device of the cable-laying system 1000 and the cable-unwinding device 100 as the slave.

With reference to both of the aforementioned embodiments of the invention, the main control device 501 is configured to generate and transmit a start signal Sstr both to the driving equipment 20,200 and to the cable support and unwinding equipment 100 , for example in wireless mode.

In addition, said main control device 501 is configured to stop the motor means 107 of the support and unwinding apparatus 100, consequently, the rotation of the drum of the rotating support element 104 upon reaching and / or exceeding the aforementioned value maximum reference traction force TMAX measured by the towing equipment 20,200.

In another embodiment, said main control device 501 is configured to act on the motor means 107 to reduce an angular speed ‰ ‰ tâ € ™ of the rotating element 104 in correspondence with the reaching and / or overcoming of said maximum reference value TMAX.

In another embodiment, said main control device 501 is configured to act on the motor means 107 to increase / decrease the angular speed ‰ ‰ tâ € ™ of the rotating element 104 in correspondence with an increase / decrease of the angular speed Ï ‰ t of the driving equipment drum 22.

It is evident that only some particular embodiments of the present invention have been described, to which the expert in the art will be able to make all the modifications necessary for its adaptation to particular applications, without departing from the scope of protection of the present invention.

Claims (11)

CLAIMS L. Apparatus (100) for supporting and unwinding a cable (110) to be laid along conduits or paths (4), comprising: - a rotating support element (104) shaped to receive a reel of the cable to be laid; - a support structure (101) adapted to rotatably support said rotating support element (104), - motor unwinding / winding means (107) adapted to rotate the rotating support element (104), characterized in that it also comprises a control unit (108, 600) associated with the aforementioned motor means (107) to control a respective angular speed (Ï ‰ tâ € ™) of the rotating support element (104), called control unit comprising: - a sensor module (601) adapted to detect a traction force (T) applied to the cable to be laid to generate measurement signals (SM) to be transmitted to a remote control device (501); - a transmission / reception module (602) for exchanging signals with said remote control device; - an actuation module (603) configured to act on the motor means (107) on the basis of a control signal sent by the remote device. Apparatus (100) for supporting and unwinding a cable (110) according to claim 1, wherein said sensor module (601) comprises a load cell, in particular of the extensiometric type. Apparatus (100) for supporting and unwinding a cable (110) according to claim 1, wherein said transmission / reception module (602) is of the wireless or wired type. Apparatus (100) for supporting and unwinding a cable (110) according to claim 1, wherein said actuation module (603) comprises an inverter device. 5. Apparatus (100) for supporting and unwinding a cable (110) according to claim 1, wherein said support structure (101) comprises support stands (101â € ™, 101â € ™ â € ™) adapted to support respective free ends of the rotating support element (104). Apparatus (100) for supporting and unwinding a cable (110) according to any one of the preceding claims, wherein said rotating supporting element (104) comprises means for securing (106) a reel reel (117) of the cable for rotate said spool integrally with the rotating support element (104). Apparatus (100) for supporting and unwinding a cable (110) according to claim 4, wherein said motor means (107) comprise an electric motor of the three-phase servo-ventilated synchronous motor type controlled by said inverter device (603). 8. System (1000) for laying cables in conduits or along paths (4), comprising: - a motorized cable unwinding apparatus (100) in accordance with at least one of claims 1-7 located proximal to a first end (8) of said conduits or paths; - a driving apparatus (20; 200) placed at a second end (7) of said ducts or paths opposite to said first end, said driving apparatus comprising: - a rotating drum (22) adapted to rotate to pull a dragging wire (1) of the cables partially wrapped around the drum (22); - force measuring means (29) for measuring the traction force (T) applied to the drawing wire (1) by the drum (22); - a main control device (501) operatively associated with said support and unwinding apparatus (100) and said driving apparatus (20; 200) and configured to control the motor unwinding / winding means (107) associated with the unwinding apparatus support and unwinding (100), following the reaching and / or exceeding of a maximum reference value (TMAX) of traction force measured by the towing equipment (20,200). System (1000) for laying cables in conduits or along paths (4) according to claim 8, wherein said main control device (501) is configured to stop said motor means (107) upon reaching and / or exceeding said maximum reference value (TMAX). System (1000) for laying cables in conduits or along paths (4) according to claim 8, wherein said main control device (501) is configured to act on said motor means (107) to reduce a first angular speed (Ï ‰ tâ € ™) of the rotating element (104) of said cable support and unwinding apparatus (100), in correspondence with the reaching and / or exceeding of said maximum reference value (TMAX). System (1000) for laying cables in conduits or along paths (4) according to claim 8, wherein said main control device (501) is configured to act on said motor means (107) to increase / decrease a first angular speed (Ï ‰ tâ € ™) of a rotating element (104) of said cable support and unwinding apparatus (100), corresponding to an increase / decrease of a second angular speed (Ï ‰ t) of the drum ( 22) of the driving equipment (20; 200).