CN106043482B - A kind of erecting cable draws robot - Google Patents
A kind of erecting cable draws robot Download PDFInfo
- Publication number
- CN106043482B CN106043482B CN201610396452.5A CN201610396452A CN106043482B CN 106043482 B CN106043482 B CN 106043482B CN 201610396452 A CN201610396452 A CN 201610396452A CN 106043482 B CN106043482 B CN 106043482B
- Authority
- CN
- China
- Prior art keywords
- hinged
- driving
- hydraulic
- crank
- support
- 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.)
- Expired - Fee Related
Links
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 4
- 210000002683 foot Anatomy 0.000 description 16
- 238000010586 diagram Methods 0.000 description 3
- 241000422846 Sequoiadendron giganteum Species 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- PMVSDNDAUGGCCE-TYYBGVCCSA-L Ferrous fumarate Chemical compound [Fe+2].[O-]C(=O)\C=C\C([O-])=O PMVSDNDAUGGCCE-TYYBGVCCSA-L 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of erecting cable traction robot, robot is drawn including a kind of erecting cable, including driving foot, electric control gear, crank, driving gear, driven gear, cable fixed mount, the first hydraulic motor, first hydraulic cylinder etc., the driving is rectangular parallelepiped structure enough, its side is set there are two crank installation circular hole, and front end is equipped with the guide plate being bent upwards；Driving robot, the pawl in driving foot face can increase the active force between ground, enhance the cross-country power of robot enough for the driving that the present invention can be rotated independently using two.
Description
Technical field
The present invention relates to electric power network technical field, more particularly to a kind of erecting cable traction robot.
Background technology
The erection of high-tension cable is the important ring during power grid construction, and high-tension cable passes through the pulley on high tension electric tower
After need that high-tension cable is dragged to next high tension electric tower using manpower, this work is spent human and material resources very much, and
This work is most of to be carried out in the wild, and traditional wheeled, truck tractor cannot meet cross-country, traction requirement,
So being badly in need of that a cross-country power is strong, tractive force is big, light weight, small erecting cable pulling equipment.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of erecting cable traction robot, can independently be rotated using two
Foot driving robot is driven, the pawl in driving foot face can increase the active force between ground, enhance getting over for robot
Wild ability.
Technical solution used in the present invention is：A kind of erecting cable draws robot, including driving foot, electric control gear,
Crank, driving gear, driven gear, cable fixed mount, the first hydraulic motor, first hydraulic cylinder, extension sleeve, multistage hydraulic
Cylinder, hooks pawl, steel wire rope, reel, the second hydraulic motor, body, power plant at telescopic rod, it is characterised in that：The body packet
Bottom plate, the first hinged-support, the second hinged-support, crank mounting base, reel mounting base are included, the bottom plate is rectangular slab, before
End is equipped with acclivitous climbing plate, and two crank mounting bases are respectively set in the both sides of bottom plate, is set in the medium position of bottom plate
Second hinged-support, the first hinged-support is set at the second hinged-support rear portion, and reel mounting base is set in the second hinged-support front end；
The driving is enough rectangular parallelepiped structure, and side is set there are two crank installation circular hole, and front end is equipped with and is bent up
The bottom of bent guide plate, the driving foot and bottom plate is equipped with sweptback inverted triangle pawl, and the pawl is used for increasing
Greatly with the active force on ground；
One end of the crank is rotatably installed in crank mounting base, the other end and driving foot rotation connection, two songs
Handle, two crank mounting bases and a driving foot form a movable parallelogram mechanism, driven gear installation
In the roller end of crank, the driving gear is mounted on the output shaft end of the first hydraulic motor, and with driven gear phase
Engagement, first hydraulic motor are fixed peace and are turned on bottom plate；
The extension sleeve is hollow rectangle structure, and end is hingedly mounted on the second hinged-support thereafter, described the
The cylinder body end of one hydraulic cylinder is hinged on the first hinged-support, and the piston rod end of the first hydraulic cylinder is hinged on telescopic
Cylinder rear portion；The telescopic rod is slidably mounted in extension sleeve, and the iron with point is respectively set in the front end both sides of telescopic rod
Pin；The cylinder body end of the multistage hydraulic cylinder is fixed on extension sleeve top, the telescopic rod end of the multistage hydraulic cylinder
It is fixed on telescopic rod top；
The spool turns are mounted in reel mounting base, and steel wire rope is wound on reel, and steel cord ends connection hooks
Pawl, reel are driven by the second hydraulic motor；The cable fixed mount is fixed on bottom rear.
Further, the power plant include diesel engine and hydraulic system, the hydraulic system include hydraulic pump,
Oil circuit and control solenoid valve are controlled, the hydraulic pump is by Diesel Driven, and the control oil circuit is by oil pipe respectively with first
Hydraulic motor, the second hydraulic motor, first hydraulic cylinder, multistage hydraulic cylinder are connected, and the electric control gear passes through circuit and control
Solenoid valve processed is connected.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：
1. driving robot, the pawl in driving foot face can increase enough for the driving that the present invention can be rotated independently using two
Active force greatly between ground enhances the cross-country power of robot.
2. can be used as the supporting point of robot front end by telescopic rod when encountering gully when obstacles, auxiliary drive is logical enough
Cross gully.
3 can use hook pawl hooks to live the objects such as big tree, timber above abrupt slope when encountering larger abrupt slope, start reel
Robot is dragged to above abrupt slope using steel wire rope afterwards.
Description of the drawings
Fig. 1 is the whole assembling dimensional structure diagram of the present invention.
Fig. 2 is the bottom substance schematic diagram of the present invention.
Fig. 3 is the housing construction schematic diagram of the present invention.
Drawing reference numeral：1- driving foots；2- electric control gears；3- cranks；4- driving gears；5- driven gears；6- cables are fixed
Frame；The first hydraulic motors of 7-；8- first hydraulic cylinders；9- extension sleeves；10- multistage hydraulic cylinders；11- telescopic rods；12- hooks pawl；13-
Steel wire rope；14- reels；The second hydraulic motors of 15-；16- bodies；17- power plants；1601- bottom plates；The first hinged-supports of 1602-；
The second hinged-supports of 1603-；1604- crank mounting bases；1605- reel mounting bases.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of erecting cable traction robot, including driving foot 1, electric control gear 2, crank 3,
Driving gear 4, driven gear 5, cable fixed mount 6, the first hydraulic motor 7, first hydraulic cylinder 8, extension sleeve 9, multistage hydraulic
Cylinder 10, hooks pawl 12, steel wire rope 13, reel 14, the second hydraulic motor 15, body 16, power plant 17, feature at telescopic rod 11
It is：The body 16 includes bottom plate 1601, the first hinged-support 1602, the second hinged-support 1603, crank mounting base 1604, volume
Cylinder mounting base 1605, the bottom plate 1601 are rectangular slab, and front end is equipped with acclivitous climbing plate, in bottom plate 1601
Both sides respectively set two crank mounting bases 1604, the second hinged-support 1603 are set in the medium position of bottom plate 1601, in the second hinge
1603 rear portion of bearing sets the first hinged-support 1602, the setting reel mounting base 1605 in 1603 front end of the second hinged-support；
The driving foot 1 is rectangular parallelepiped structure, and side is set there are two the installation circular hole of crank 3, and front end is equipped with upward
The bottom of the guide plate of bending, the driving foot 1 and bottom plate 1601 is equipped with sweptback inverted triangle pawl, the pawl
For increasing the active force with ground；
One end of the crank 3 is rotatably installed in crank mounting base 1604, and the other end is rotatablely connected with driving foot 1,
Two cranks, 3, two crank mounting bases 1604 and a driving foot 1 form a movable parallelogram mechanism, described
Driven gear 5 is mounted on the roller end of crank 3, and the driving gear 4 is mounted on the output shaft end of the first hydraulic motor 7
Portion, and be meshed with driven gear 5, first hydraulic motor 7 is fixedly mounted on bottom plate 1601；
The extension sleeve 9 is hollow rectangle structure, and end is hingedly mounted on the second hinged-support 1603 thereafter, described
The cylinder body end of first hydraulic cylinder 8 be hinged on the first hinged-support 1602, the piston rod end hinge of the first hydraulic cylinder 8
It is connected on 9 rear portion of extension sleeve；The telescopic rod 11 is slidably mounted in extension sleeve 9, each in the front end both sides of telescopic rod 11
One iron pin with point of setting；The cylinder body end of the multistage hydraulic cylinder 10 is fixed on 9 top of extension sleeve, the multistage
The telescopic rod end of hydraulic cylinder 10 is fixed on 11 top of telescopic rod；
The reel 14 is rotatably installed in reel mounting base 1605, and steel wire rope 13, steel wire rope are wound on reel 14
The connection of 13 ends hooks pawl 12, and reel 14 is driven by the second hydraulic motor 15；After the cable fixed mount 6 is fixed on bottom plate 1601
Portion.
Further, the power plant 17 includes diesel engine and hydraulic system, and the hydraulic system includes hydraulic pressure
Pump, control oil circuit and control solenoid valve, the hydraulic pump is by Diesel Driven, and the control oil circuit is by oil pipe respectively with the
One hydraulic motor 7, the second hydraulic motor 15, first hydraulic cylinder 8, multistage hydraulic cylinder 10 are connected, and the electric control gear 2 passes through
Circuit is connected with control solenoid valve.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
The operation principle of the present invention：The present invention is when in use fixed the end of cable by cable fixed mount 6, Ran Houqi
Dynamic first hydraulic motor 7 rotates driving foot 1, and 1 band mobile robot of driving foot moves forward, and encounters gully when obstacles
It is used as the supporting point of robot front end by telescopic rod 11, auxiliary drive foot 1 is used by gully when encountering larger abrupt slope
The objects such as big tree, timber that pawl 12 is caught on above abrupt slope are hooked, are dragged to robot suddenly using steel wire rope 13 after starting reel 14
Above slope.
In the description of the present invention, it should be noted that term " middle part ", " on ", " under ", "front", "rear", " both sides "
It is to be used to based on orientation shown in the drawings or position relationship or when invention product use when the orientation of instructions or position relationship
The orientation or position relationship often put are for only for ease of the description present invention and simplify description rather than instruction or imply signified
Device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that the present invention
Limitation.In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
Claims (2)
1. a kind of erecting cable draws robot, including driving foot（1）, electric control gear（2）, crank（3）, driving gear（4）, from
Moving gear（5）, cable fixed mount（6）, the first hydraulic motor（7）, first hydraulic cylinder（8）, extension sleeve（9）, multistage hydraulic cylinder
（10）, telescopic rod（11）, hook pawl（12）, steel wire rope（13）, reel（14）, the second hydraulic motor（15）, body（16）, power dress
It puts（17）, it is characterised in that：The body（16）Including bottom plate（1601）, the first hinged-support（1602）, the second hinged-support
（1603）, crank mounting base（1604）, reel mounting base（1605）, the bottom plate（1601）For rectangular slab, front end is set
There is acclivitous climbing plate, in bottom plate（1601）Both sides respectively setting two crank mounting bases（1604）, in bottom plate（1601）
Medium position set the second hinged-support（1603）, in the second hinged-support（1603）Rear portion sets the first hinged-support（1602）,
Second hinged-support（1603）Front end sets reel mounting base（1605）；
The driving foot（1）For rectangular parallelepiped structure, side sets that there are two cranks（3）Circular hole is installed, front end is equipped with upward
The guide plate of bending, driving foot（1）And bottom plate（1601）Bottom be equipped with sweptback inverted triangle pawl, it is described
Pawl is used for increasing the active force with ground；
The crank（3）One end be rotatably installed in crank mounting base（1604）In, the other end and driving foot（1）Rotation connects
It connects, two cranks（3）, two crank mounting bases（1604）With a driving foot（1）Form a movable parallelogram machine
Structure, the driven gear（5）Mounted on crank（3）Roller end, the driving gear（4）Mounted on the first hydraulic pressure horse
It reaches（7）Output shaft end, and and driven gear（5）It is meshed, first hydraulic motor（7）It is fixedly mounted on bottom plate
（1601）On；
The extension sleeve（9）For hollow rectangle structure, end is hingedly mounted on the second hinged-support thereafter（1603）On, it is described
First hydraulic cylinder（8）Cylinder body end be hinged on the first hinged-support（1602）On, the first hydraulic cylinder（8）Piston rod
End is hinged on extension sleeve（9）Rear portion；The telescopic rod（11）It is slidably mounted on extension sleeve（9）In, in telescopic rod
（11）The each sharp iron pin of one band of setting in front end both sides；The multistage hydraulic cylinder（10）Cylinder body end be fixed on telescopic
Cylinder（9）Top, the multistage hydraulic cylinder（10）Telescopic rod end be fixed on telescopic rod（11）Top；
The reel（14）It is rotatably installed in reel mounting base（1605）On, reel（14）On be wound with steel wire rope（13）, steel
Cord（13）End connection hooks pawl（12）, reel（14）By the second hydraulic motor（15）Driving；The cable fixed mount（6）Gu
It is scheduled on bottom plate（1601）Rear portion.
2. a kind of erecting cable traction robot according to claim 1, it is characterised in that：The power plant（17）
Including diesel engine and hydraulic system, the hydraulic system includes hydraulic pump, control oil circuit and control solenoid valve, the hydraulic pump
By Diesel Driven, the control oil circuit by oil pipe respectively with the first hydraulic motor（7）, the second hydraulic motor（15）,
One hydraulic cylinder（8）, multistage hydraulic cylinder（10）It is connected, the electric control gear（2）It is connected by circuit with control solenoid valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610396452.5A CN106043482B (en) | 2016-06-07 | 2016-06-07 | A kind of erecting cable draws robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610396452.5A CN106043482B (en) | 2016-06-07 | 2016-06-07 | A kind of erecting cable draws robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106043482A CN106043482A (en) | 2016-10-26 |
| CN106043482B true CN106043482B (en) | 2018-07-03 |
Family
ID=57171077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610396452.5A Expired - Fee Related CN106043482B (en) | 2016-06-07 | 2016-06-07 | A kind of erecting cable draws robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106043482B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357580A (en) * | 2017-12-29 | 2018-08-03 | 昆山特酷信息科技有限公司 | A kind of rescue climbing robot control system and method |
| CN109500818B (en) * | 2018-12-13 | 2021-06-08 | 广东电网有限责任公司广州供电局 | Stair climbing method of inspection robot |
| CN113060307B (en) * | 2021-03-11 | 2022-12-06 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113863409A (en) * | 2021-09-14 | 2021-12-31 | 南京中枢讯飞信息技术有限公司 | Intelligent stable communication optical fiber traction bionic spider robot |
| CN114792952B (en) * | 2022-04-29 | 2024-03-19 | 国网河南省电力公司商丘供电公司 | Automatic traction type wire drawing device and operation method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01141185A (en) * | 1987-11-27 | 1989-06-02 | Fujikura Ltd | Travel device for steel frame structure |
| CN201169790Y (en) * | 2008-01-01 | 2008-12-24 | 许武 | Sliding amphibious dredging machine |
| CN101475031B (en) * | 2009-02-12 | 2010-08-25 | 大连工业大学 | Robot climbing ladder apparatus |
| CN103091579B (en) * | 2013-01-11 | 2015-04-29 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN203415909U (en) * | 2013-08-26 | 2014-01-29 | 浙江海洋学院 | Submarine cable support |
| CN104890754B (en) * | 2015-06-18 | 2017-08-29 | 华北理工大学 | A kind of sufficient formula adsorption wall climbing robot motion and movement technique |
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2016
- 2016-06-07 CN CN201610396452.5A patent/CN106043482B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106043482A (en) | 2016-10-26 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180524 Address after: 325615 1 Lane 39, East Bridge Road, Yueqing, Wenzhou, Zhejiang Applicant after: Yang Zhiping Address before: No. 76, Yao Lou village, Linxi County, Xingtai, Hebei Applicant before: Xu Hongjun |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181129 Address after: 317100 No. 66 Wall Li Road, Haiyou Street, Sanmen County, Taizhou City, Zhejiang Province Patentee after: Hu Haiming Address before: 325615 1 Lane 39, East Bridge Road, Yueqing, Wenzhou, Zhejiang Patentee before: Yang Zhiping |
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| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: No.301, building a, zhengwuchuang Xingang, Yinhai District, Beihai City, Guangxi Zhuang Autonomous Region Patentee after: Hu Haiming Address before: No.66, Wali Road, Haiyou street, Sanmen County, Taizhou City, Zhejiang Province, 317100 Patentee before: Hu Haiming |
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| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: No.66, Wali Road, Haiyou street, Sanmen County, Taizhou City, Zhejiang Province, 317100 Patentee after: Hu Haiming Address before: No.301, building a, zhengwuchuang Xingang, Yinhai District, Beihai City, Guangxi Zhuang Autonomous Region Patentee before: Hu Haiming |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210713 Address after: 102200 423, 4 / F, block a, Xinhua future city building, 175 Litang Road, Changping District, Beijing Patentee after: Li Qiannan Address before: No.66, Wali Road, Haiyou street, Sanmen County, Taizhou City, Zhejiang Province, 317100 Patentee before: Hu Haiming |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210827 Address after: 735000 No. 8 Dunhuang Road, Suzhou District, Jiuquan City, Gansu Province Patentee after: JIUQUAN POWER SUPPLY COMPANY OF STATE GRID GANSU ELECTRIC POWER Co. Address before: 102200 423, 4 / F, block a, Xinhua future city building, 175 Litang Road, Changping District, Beijing Patentee before: Li Qiannan |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180703 |