CN107639982A - A kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor - Google Patents
A kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor Download PDFInfo
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- CN107639982A CN107639982A CN201710760074.9A CN201710760074A CN107639982A CN 107639982 A CN107639982 A CN 107639982A CN 201710760074 A CN201710760074 A CN 201710760074A CN 107639982 A CN107639982 A CN 107639982A
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- Prior art keywords
- housed
- car body
- obstacle detouring
- cable
- water route
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Abstract
It is proposed by the present invention be a kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor.Crawler belt is housed in the both sides of car body, hydraulic mechanism is housed on front side of car body, elevating lever is housed on hydraulic mechanism, elevating lever upper end is provided with torq, rocking arm is connected with the side of torq, lifting arm connecting portion is provided with lifting bar front end, and is connected with mechanical arm, lift stand is housed in lifting arm upper end.Car body control uses the control mode of host computer-slave computer, and host computer uses C++ environment, and slave computer is based on FPGA schemes, responded as ns levels；Using GSM network, superfrequency refined net；Executing agency's status monitoring passback is carried out by encoder or sensor.The advantages of present invention can realize obstacle detouring cable pulling, and its tractor can have wide application in the amphibious walking trailing cable in water route, and mechanization degree is high.Suitably used as cable obstacle detouring tractor.
Description
Technical field
It is proposed by the present invention be field of vehicles a kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor.
Background technology
Existing power cable in laid processes mainly manpower dragging by way of, waste time and energy, especially mountain region,
The laying of the landform such as marsh, small stream river is even more dangerous and poorly efficient.
The content of the invention
In order in water route trailing cable, the invention provides a kind of water route Amphibious caterpillar can obstacle detouring cable lift and lead
Draw car.The tractor solves the technical problem that the amphibious traction in cable water route is lifted by truck tractor trailing cable.
Scheme is used by the present invention solves technical problem：
Crawler belt is housed in the both sides of car body, hydraulic mechanism is housed on front side of car body, elevating lever, elevating lever are housed on hydraulic mechanism
Upper end is provided with torq, and rocking arm is connected with the side of torq, is provided with lifting arm connecting portion lifting bar front end, and be connected with
Mechanical arm, lift stand is housed in lifting arm upper end.
Car body control uses the control mode of host computer-slave computer, and host computer uses C++ environment, and slave computer is based on FPGA
Scheme, respond as ns levels；Car body run signal transmission is carried out using GSM network, superfrequency refined net；Pass through encoder or biography
Sensor carries out executing agency and car body monitoring running state is returned.
Good effect, the present invention can realize obstacle detouring cable pulling, and its tractor can be in the amphibious walking traction electricity in water route
Cable, there is wide application, the advantages of mechanization degree is high.Suitably used as cable obstacle detouring tractor.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
In figure, 1. car bodies, 2. crawler belts, 3. hydraulic mechanisms, 4. elevating levers, 5. torqs, 6. rocking arms, the connection of 7. lifting arms
Portion, 8. mechanical arms, 9. lift stands.
Embodiment
According to the figure, crawler belt 2 is housed in the both sides of car body 1, hydraulic mechanism 3 is housed on front side of car body, on hydraulic mechanism
Equipped with elevating lever 4, elevating lever upper end is provided with torq 5, rocking arm 6 is connected with the side of torq, is provided with lifting bar front end
Lifting arm connecting portion 7, and mechanical arm 8 is connected with, lift stand 9 is housed in lifting arm upper end.
Car body control uses the control mode of host computer-slave computer, and host computer uses C++ environment, and slave computer is based on FPGA
Scheme, respond as ns levels；
Car body run signal transmission is carried out using GSM network, superfrequency refined net.
Executing agency is carried out by encoder or sensor to return car body monitoring running state.
The course of work of the present invention：
The cable that need to be set up is placed on mechanical arm, remote control vehicle body power switch, the crawler travel of car body, lifts cable therewith
Pull, surmount obstacles, reach setting place, when needing cable to cross water traction, car body can walk under water, lift cable
By the water surface, setting place is sent to.
Lifting for cable makes lifter rod lifting by hydraulic mechanism, rocking arm is changed direction by torq, improves or drops
The height of low mechanical arm so that lift stand lifts cable under the conditions of different height, surmounts obstacles, and realizes that cable obstacle detouring is lifted
Set up.
The present invention, as power output of creeping, is subtracted using two high power DC electric machines by coaxial planetary reduction gear
Speed, increasing traction, rocking arm driving wheel is transmitted torque to by carrier gear, due to by crawler haulage, driving wheel and from
Driving wheel is synchronized with the movement, and ensures the reliability creeped；Mechanical arm provides power by hydraulic system, and torque is big, having stable behavior.
Overall work principle, manipulator crawl are lifted cable, gold utensil or other equipment material, rocking arm and lifted, climbing mechanism
Creep on the ground, when running into barrier, rocking arm falls, and leads climbing mechanism to surmount obstacles, meanwhile, Multi-freedom-degreemanipulator manipulator
The cutting of the twisters such as branch, rope and the function of cable cutting can be completed.
Feature：
The present invention can realize lifting for cable under the amphibious state in water route, thus application surface is extensive, with artificial traction cable phase
Than mechanization degree is high, and labor intensity is low, and can realize remote-controlled walking, therefore practical.
Crawler type design, coordinate rocking arm use, can on hollow, soft, rugged obstacle road surface flexible motion.
All-sealed structure, can in sandstone, small stream river landform safe and stable operation, sealed design effectively prevent sandstone,
Water etc. destroys internal structure.
Claims (4)
1. a kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor, it is characterized in that：In car body（1）Both sides crawler belt is housed
（2）, hydraulic mechanism is housed on front side of car body（3）, elevating lever is housed on hydraulic mechanism（4）, elevating lever upper end is provided with torq
（5）, rocking arm is connected with the side of torq（6）, lifting arm connecting portion is provided with lifting bar front end（7）, and it is connected with machinery
Arm（8）, lift stand is housed in lifting arm upper end（9）.
2. a kind of water route Amphibious caterpillar according to claim 1 can obstacle detouring cable lift tractor, it is characterized in that：Car body
Control is using the control mode of host computer-slave computer, and host computer uses C++ environment, and slave computer is based on FPGA schemes, responds and is
Ns levels.
3. a kind of water route Amphibious caterpillar according to claim 1 can obstacle detouring cable lift tractor, it is characterized in that：Using
GSM network, superfrequency refined net carry out car body run signal transmission.
4. a kind of water route Amphibious caterpillar according to claim 1 can obstacle detouring cable lift tractor, it is characterized in that：Pass through
Encoder or sensor carry out executing agency and car body monitoring running state are returned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760074.9A CN107639982A (en) | 2017-08-30 | 2017-08-30 | A kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760074.9A CN107639982A (en) | 2017-08-30 | 2017-08-30 | A kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107639982A true CN107639982A (en) | 2018-01-30 |
Family
ID=61111328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710760074.9A Pending CN107639982A (en) | 2017-08-30 | 2017-08-30 | A kind of water route Amphibious caterpillar can obstacle detouring cable lift tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107639982A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108521102A (en) * | 2018-04-03 | 2018-09-11 | 代欣宏 | A kind of cable laying device |
| CN108599012A (en) * | 2018-04-03 | 2018-09-28 | 山东克曼特电气集团有限公司 | A kind of cable communication paving system of self power generation |
| CN109956362A (en) * | 2019-03-29 | 2019-07-02 | 中国一冶集团有限公司 | A kind of cable pinch traction device |
| CN110416924A (en) * | 2019-07-09 | 2019-11-05 | 西南交通大学 | Facilitate the constructing metro tunnel railcar and tunnel cable threading method of threading |
| CN110932186A (en) * | 2019-12-20 | 2020-03-27 | 海南电网有限责任公司琼海供电局 | Cable self-walking laying device |
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| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN205304110U (en) * | 2015-12-18 | 2016-06-08 | 国网冀北电力有限公司张家口供电公司 | A outdoor scene robot for cable channel lays maintenance |
| CN105977871A (en) * | 2016-07-18 | 2016-09-28 | 李霞林 | Power emergency maintenance robot suitable for multiple cables |
| CN106351695A (en) * | 2016-09-28 | 2017-01-25 | 淮南新能源研究中心 | Mining crawler-type early warning robot |
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2017
- 2017-08-30 CN CN201710760074.9A patent/CN107639982A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN205304110U (en) * | 2015-12-18 | 2016-06-08 | 国网冀北电力有限公司张家口供电公司 | A outdoor scene robot for cable channel lays maintenance |
| CN105977871A (en) * | 2016-07-18 | 2016-09-28 | 李霞林 | Power emergency maintenance robot suitable for multiple cables |
| CN106351695A (en) * | 2016-09-28 | 2017-01-25 | 淮南新能源研究中心 | Mining crawler-type early warning robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108521102A (en) * | 2018-04-03 | 2018-09-11 | 代欣宏 | A kind of cable laying device |
| CN108599012A (en) * | 2018-04-03 | 2018-09-28 | 山东克曼特电气集团有限公司 | A kind of cable communication paving system of self power generation |
| CN109956362A (en) * | 2019-03-29 | 2019-07-02 | 中国一冶集团有限公司 | A kind of cable pinch traction device |
| CN109956362B (en) * | 2019-03-29 | 2021-01-19 | 中国一冶集团有限公司 | Cable clamping and conveying traction device |
| CN110416924A (en) * | 2019-07-09 | 2019-11-05 | 西南交通大学 | Facilitate the constructing metro tunnel railcar and tunnel cable threading method of threading |
| CN110416924B (en) * | 2019-07-09 | 2024-04-12 | 西南交通大学 | Subway tunnel construction railcar convenient to thread and tunnel cable threading method |
| CN110932186A (en) * | 2019-12-20 | 2020-03-27 | 海南电网有限责任公司琼海供电局 | Cable self-walking laying device |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180130 |
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| RJ01 | Rejection of invention patent application after publication |