CN112864955A - Threading device of space truss communication cable - Google Patents
Threading device of space truss communication cable Download PDFInfo
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- CN112864955A CN112864955A CN202110392252.3A CN202110392252A CN112864955A CN 112864955 A CN112864955 A CN 112864955A CN 202110392252 A CN202110392252 A CN 202110392252A CN 112864955 A CN112864955 A CN 112864955A
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- 238000004891 communication Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 110
- 210000000078 claw Anatomy 0.000 claims abstract description 43
- 210000003813 thumb Anatomy 0.000 claims description 39
- 210000003811 finger Anatomy 0.000 claims description 15
- 230000009193 crawling Effects 0.000 claims description 8
- 210000000707 wrist Anatomy 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000007373 indentation Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 claims description 2
- 238000010008 shearing Methods 0.000 claims 6
- 230000008602 contraction Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 208000037805 labour Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000026058 directional locomotion Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- 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
- H02G1/08—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
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Abstract
The invention provides a threading device of a space truss communication cable, which comprises a main frame, an advancing mechanism, a retreating mechanism and a cable carrying mechanism, wherein the advancing mechanism and the retreating mechanism are provided with lifting mechanisms used for lowering one mechanism to a working position and lifting the other mechanism to an idle position, the advancing mechanism comprises a mounting frame, an advancing paw component and a fixed paw component, the mounting frame is connected with the lifting mechanism, the mounting frame is provided with a driving component for driving a cantilever, a mounting rod is arranged on the mounting frame, the advancing paw component and the fixed paw component alternately grab and release the truss, and the advancing paw component and the main frame alternately advance through the extension and contraction of the cantilever. The main frame and the first claw alternately advance by mutually matching the advancing mechanism, the retreating mechanism and the cable carrying mechanism through fixed point fixing and loosening, so that the device moves forwards or backwards to drive the cable to move.
Description
Technical Field
The invention relates to the technical field of automatic carrying and crawling devices, in particular to a threading device of a space truss communication cable.
Background
Before the rocket is launched, part of wired communication cables need to be laid on a connecting truss between a launching tower and the rocket. The laying channel is a connecting truss between the launching tower and the rocket, one unit of the truss is of a rectangular structure, the truss is drilled through by people carrying cables to be laid at present, the truss is higher in ground clearance, and the people are dangerous in high-altitude operation. Therefore, a transportation crawling device for the space truss needs to be designed to reduce labor risk and improve working efficiency.
The invention aims to replace manpower to lay cables before rocket launching. Some similarities can be found by comparing umbilical towers to other pole-like structures. Such as a pole-climbing robot, a truss robot, etc. The robot is various in types, and the design of the crawling robot refers to different crawling targets and is also various. The pole type crawling robot has more design schemes and tends to mature, but the design of the robot passing through the trusses is not mature. In view of this, it is necessary to design a threading device and a threading method for a space truss communication cable, which have simple structure and convenient installation.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the invention provides a threading device of a space truss communication cable.
The technical scheme adopted for solving the technical problems is as follows: a threading device of a space truss communication cable comprises a main frame, an advancing mechanism, a retreating mechanism, a lifting mechanism and a cable carrying mechanism, wherein the advancing mechanism, the retreating mechanism, the lifting mechanism and the cable carrying mechanism are arranged on the main frame, the advancing mechanism and the retreating mechanism are identical in structure and opposite in crawling direction, the advancing mechanism and the retreating mechanism are provided with the lifting mechanism used for lowering one mechanism of the two mechanisms to a working position and simultaneously lifting the other mechanism to a free position, the advancing mechanism comprises a mounting frame, an advancing paw component arranged at the front end of a cantilever and a fixed paw component arranged on a mounting rod, the mounting frame is connected with the lifting mechanism, a driving component for driving the cantilever to extend out or retract into the mounting frame along the advancing direction is arranged on the mounting frame, the mounting rod is arranged on the mounting frame, and the advancing paw component and the fixed paw component alternately grab and loosen a, the advancing paw component and the main frame alternately advance through the extending and retracting actions of the cantilever.
The lifting mechanism is used for lowering any one of the advancing mechanism and the retreating mechanism to a working position and simultaneously lifting the other mechanism to an idle position, when the threading device needs to advance, the advancing mechanism is lowered to the working position, and when the threading device needs to retreat, the retreating mechanism is lowered to the working position; the truss is loosened when the cantilever stretches out to the hand claw subassembly that gos forward, and fixed hand claw subassembly is grabbed the truss in order to fix the body frame position, and fixed hand claw subassembly is loosened the truss when the hand claw subassembly that gos forward grabs the place ahead truss, and the cantilever is received and is driven the body frame in the mounting bracket and gos forward, and fixed hand claw subassembly is close to and grabs the truss in order to fix the body frame position when the hand claw subassembly that gos forward, so drive threading device in turn and gos forward.
Further, in order to realize the action that the hand claw subassembly was held, was loosened and was crossed the truss, the hand claw subassembly that advances includes the support and locates the first hand claw on the support, first hand claw includes palm board, underactuated finger, thumb pole and push rod, underactuated finger end is equipped with the gangbar, the gangbar lower extreme with palm board front side is articulated, the gangbar intermediate position with the push rod is articulated, the one end that the gangbar was kept away from to the push rod with thumb pole upper end is articulated, thumb pivot is worn to be equipped with by thumb pole intermediate position, thumb pivot with palm board rear side rotation is connected, still overlap in the thumb pivot be equipped with the synchronous pivoted first ratchet of thumb pole, first ratchet one side is equipped with and is used for restricting the open first pawl of underactuated finger, first pawl intermediate position passes through the dead lever and is connected with palm board rotation, a torsion spring is arranged between the first pawl and the fixed rod, one end of the first pawl is matched with the first ratchet wheel, and the other end of the first pawl corresponds to the first unlocking assembly in position.
Furthermore, in order to enable the first pawl to be separated from the first ratchet wheel, the first unlocking assembly comprises an unlocking plate, a wrist rotating shaft and a paw connecting rod, the unlocking plate is arranged on the installation rod and corresponds to the first pawl in position, when the cantilever contracts, the unlocking plate extrudes the first pawl to enable the first pawl to be separated from the first ratchet wheel, the palm plate is rotatably connected with the support through the wrist rotating shaft, a second gear meshed with the first gear is arranged on the support, a first motor driving the second gear to rotate is arranged on the second gear, and the palm plate synchronously rotates with the first gear through the paw connecting rod. The unlocking plate extrudes one end of the first pawl far away from the first ratchet wheel, so that the first pawl is separated from the first ratchet wheel.
Furthermore, fixed hand claw subassembly is including locating at least one second hand claw on the installation pole, the second hand claw is the same with first hand claw structure, be equipped with the second motor that is used for adjusting second hand claw palm board rotation angle on the installation pole, be equipped with second ratchet and the second pawl that is used for controlling thumb pole unidirectional rotation on the thumb pole of second hand claw, second hand claw one side is equipped with and is used for the second unblock subassembly of second ratchet second pawl separation.
Further, the second unlocking component comprises a top rod, a horizontal limiting rod, a connecting rod and a sliding block, the mounting rod is provided with a sliding groove vertical to the advancing direction, the end part of the horizontal limiting rod is arranged in the sliding groove in a sliding way, a return spring is arranged in the sliding groove, a limiting groove is arranged on the side wall of the mounting rod, the sliding block is arranged in the limiting groove in a sliding manner, one end of the connecting rod is hinged with the end part of the horizontal limiting rod, the other end of the connecting rod is hinged with the sliding block, the sliding block slides along the limit groove to be close to or far away from the second pawl on the second pawl, one end of the ejector rod penetrates through the mounting rod and extends to the outside of the mounting rod, the other end of the ejector rod is connected with the horizontal limiting rod, and a boss is arranged at the rear side of the lower end of the cantilever, and when the cantilever is completely extended, the boss presses down the ejector rod to drive the slide block to jack up the second pawl so that the second pawl is separated from the second ratchet wheel.
Further, the lifting mechanism comprises a first scissor assembly arranged below the advancing mechanism and a second scissor assembly arranged below the retreating mechanism, the first scissor assembly comprises two sets of X-shaped scissor rods which are oppositely arranged, each X-shaped scissor rod comprises a first lifting rod and a second lifting rod, the middle positions of the first lifting rod and the second lifting rod are hinged, the lower end of the first lifting rod is hinged with the main frame, the upper end of the first lifting rod is connected with the mounting frame in a sliding manner, the lower end of the second lifting rod is connected with the main frame in a sliding manner, the upper end of the second lifting rod is hinged with the mounting frame, a driving rod is connected between the two second lifting rods which are oppositely arranged, a driving block is arranged on the driving rod, a third motor and a first lead screw are arranged on the driving block and used for driving the lower end of the second lifting rod to slide along the main frame, the second scissor assembly is identical in structure with the first scissor assembly, and the first scissor assembly drives the mounting frame in the advancing, the second scissor assembly drives the mounting frame in the backward moving mechanism to descend, and when the first scissor assembly drives the mounting frame in the forward moving mechanism to descend, the second scissor assembly drives the mounting frame in the backward moving mechanism to ascend.
Further, wear to be equipped with the guide bar on the cantilever, the cantilever slides along the guide bar and stretches out or indentation mounting bracket, be equipped with the fourth motor and the second lead screw that the drive cantilever stretches out or indentation mounting bracket on the cantilever.
Further, the cable carries mechanism and includes V-arrangement piece body frame, superimposed plate, apron, V-arrangement piece body frame upper end is equipped with at least one superimposed plate, the superimposed plate upper end is equipped with the apron, V-arrangement piece body frame upper end is equipped with a plurality of V-arrangement grooves, superimposed plate upper end and lower extreme all are equipped with a plurality of V-arrangement grooves, the apron lower extreme is equipped with a plurality of V-arrangement grooves, V-arrangement groove position and quantity one-to-one on V-arrangement piece body frame, superimposed plate and the apron, the mutual lock in two V-arrangement grooves forms the fixed orifices of fixed cable.
Furthermore, the opening is upwards the V-arrangement groove interlude is equipped with activity V-arrangement piece and ejector pad, be equipped with the inclined plane that is used for raising activity V-arrangement piece on the ejector pad, be equipped with the drive on the ejector pad is close to or keeps away from the threaded rod of activity V-arrangement piece, the threaded rod is connected with V-arrangement piece body frame or stack board screw thread, the threaded rod keep away from the one end of nut with the ejector pad rotates and is connected.
Furthermore, in order to reduce the friction between the main frame and the truss when the main frame crawls, the lower end of the main frame is provided with at least two rows of rollers matched with the cross frame.
The invention has the beneficial effects that: the invention provides a threading device of a space truss communication cable, which adopts a forward mechanism, a backward mechanism and a cable carrying mechanism to be matched with each other, a main frame and a first claw alternately advance through fixed point fixing and loosening, the forward or backward movement of the device is realized, the cable is driven to move, a lifting mechanism realizes that the forward movement and the backward movement of the device are not interfered with each other, and the device replaces manual threading to achieve the purposes of reducing labor risk, improving efficiency and realizing automation.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of the advancing gripper assembly;
FIG. 3 is a schematic structural view of the fixed gripper assembly and the second unlocking assembly;
FIG. 4 is a schematic structural view of a second unlocking assembly;
FIG. 5 is a schematic view of the construction of the lifting mechanism;
FIG. 6 is a schematic diagram of an under-actuated finger configuration;
FIG. 7 is a schematic structural view of the cable carrying mechanism;
fig. 8 is a cross-sectional schematic view of a cable carrying mechanism.
In the figure: 1. a main frame, 11, a roller, 2, a forward mechanism, 21, a mounting frame, 22, a cantilever, 221, a boss, 23, a forward paw component, 231, a support, 232, a first paw, 24, a fixed paw component, 241, a second paw, 242, a second motor, 243, a second ratchet wheel, 244, a second pawl, 25, a mounting rod, 26, a guide rod, 27, a fourth motor, 28, a second lead screw, 3, a backward mechanism, 4, a lifting mechanism, 411, a first lifting rod, 412, a second lifting rod, 413, a driving rod, 414, a driving block, 415, a third motor, 416, a first lead screw, 5, a cable carrying mechanism, 51, a V-shaped block main frame, 52, a superposed plate, 53, a cover plate, 54, a V-shaped groove, 55, a movable V-shaped block, 56, a pushing block, 57, a threaded rod, 58, a hand wheel, 61, an unlocking plate, 62, a wrist rotating shaft, 63, a claw connecting rod, 64, a first gear, 65. the device comprises a second gear 66, a first motor 71, a palm plate 72, an under-actuated finger 721, a linkage rod 73, a thumb rod 74, a push rod 76, a thumb rotating shaft 77, a first ratchet wheel 78, a first pawl 81, a push rod 82, a horizontal limiting rod 83, a connecting rod 84, a sliding block 85 and a return spring.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and merely illustrates the basic structure of the present invention in a schematic manner, and therefore it shows only the constitution related to the present invention.
As shown in fig. 1-8, the threading device for a space truss communication cable of the present invention comprises a main frame 1, and a forward mechanism 2, a backward mechanism 3, a lifting mechanism 4 and a cable carrying mechanism 5 which are arranged on the main frame 1, wherein the forward mechanism 2 and the backward mechanism 3 have the same structure and opposite crawling directions, the lifting mechanism 4 for lowering one of the two mechanisms to a working position and simultaneously lifting the other mechanism to a free position is arranged on the forward mechanism 2 and the backward mechanism 3, the forward mechanism 2 comprises a mounting frame 21, a forward gripper assembly 23 arranged at the front end of a cantilever 22 and a fixed gripper assembly 24 arranged on a mounting rod 25, the mounting frame 21 is connected with the lifting mechanism 4, a driving assembly for driving the cantilever 22 to extend or retract into the mounting frame 21 along the forward direction is arranged on the mounting frame 21, the mounting rod 25 is arranged on the mounting frame 21, the advancing gripper assembly 23 and the fixed gripper assembly 24 alternately grasp and release the truss, and the advancing gripper assembly 23 and the main frame 1 alternately advance by the extending and retracting actions of the cantilever 22.
The advancing paw component 23 comprises a support 231 and a first paw 232 arranged on the support 231, the first paw 232 comprises a palm plate 71, an under-actuated finger 72, a thumb rod 73 and a push rod 74, the end of the under-actuated finger 72 is provided with a linkage rod 721, the lower end of the linkage rod 721 is hinged to the front side of the palm plate 71, the middle position of the linkage rod 721 is hinged to the push rod 74, one end of the push rod 74 far away from the linkage rod 721 is hinged to the upper end of the thumb rod 73, a thumb rotating shaft 76 is arranged in the middle position of the thumb rod 73 in a penetrating mode, the thumb rotating shaft 76 is connected with the back side of the palm plate 71 in a rotating mode, a first ratchet wheel 77 synchronously rotating with the thumb rod 73 is further sleeved on the thumb rotating shaft 76, a first pawl 78 used for limiting the under-actuated finger 72 to open is arranged on one side of the first ratchet wheel 77, the middle position of the first pawl 78 is connected with the palm plate 71 in a rotating mode, a torsion spring is arranged between the first pawl 78 and the fixed rod, one end of the first pawl 78 is matched with the first ratchet wheel 77, and the other end of the first pawl 78 corresponds to the first unlocking component.
The first unlocking assembly comprises an unlocking plate 61, a wrist rotating shaft 62 and a paw connecting rod 63, the unlocking plate 61 is arranged on the mounting rod 25 and corresponds to the position of the first pawl 78, when the cantilever 22 contracts, the unlocking plate 61 extrudes the first pawl 78 to separate the first pawl 78 from the first ratchet wheel 77, the palm plate 71 is rotatably connected with the support 231 through the wrist rotating shaft 62, the support 231 is provided with a second gear 65 meshed with the first gear 64, the second gear 65 is provided with a first motor 66 for driving the second gear 65 to rotate, and the palm plate 71 is synchronously rotated with the first gear 64 through the paw connecting rod 63.
The fixed claw assembly 24 comprises at least one second claw 241 arranged on the mounting rod 25, the second claw 241 has the same structure as the first claw 232, the mounting rod 25 is provided with a second motor 242 for adjusting the rotation angle of the palm plate 71 of the second claw 241, the thumb rod 73 of the second claw 241 is provided with a second ratchet wheel 243 and a second pawl 244 for controlling the thumb rod 73 to rotate in one direction, and one side of the second claw 241 is provided with a second unlocking assembly for separating the second ratchet wheel 243 from the second pawl 244.
The second unlocking assembly comprises a top rod 81, a horizontal limiting rod 82, a connecting rod 83 and a sliding block 84, the mounting rod 25 is provided with a sliding groove perpendicular to the advancing direction, the end of the horizontal limiting rod 82 is slidably arranged in the sliding groove, a reset spring 85 is arranged in the sliding groove, a limiting groove is formed in the side wall of the mounting rod 25, the sliding block 84 is slidably arranged in the limiting groove, one end of the connecting rod 83 is hinged to the end of the horizontal limiting rod 82, the other end of the connecting rod 83 is hinged to the sliding block 84, the sliding block 84 slides along the limiting groove to be close to or far away from a second pawl 244 on a second claw 241, one end of the top rod 81 penetrates through the mounting rod 25 and extends to the outside of the mounting rod 25, the other end of the top rod 81 is connected with the horizontal limiting rod 82, a protruding portion 221 is arranged at the rear side of the lower end of the cantilever 22, and when the cantilever 22 completely extends out, the protruding portion 221 presses the top rod 81 to drive The pawl 244 is disengaged from the second ratchet 243.
The lifting mechanism 4 comprises a first scissor assembly arranged below the advancing mechanism 2 and a second scissor assembly arranged below the retreating mechanism 3, the first scissor assembly comprises two groups of X-shaped scissor rods which are oppositely arranged, each X-shaped scissor rod comprises a first lifting rod 411 and a second lifting rod 412, the middle positions of the first lifting rod 411 and the second lifting rod 412 are hinged, the lower end of the first lifting rod 411 is hinged with the main frame 1, the upper end of the first lifting rod is in sliding connection with the mounting frame 21, the lower end of the second lifting rod 412 is in sliding connection with the main frame 1, the upper end of the second lifting rod 412 is hinged with the mounting frame 21, a driving rod 413 is connected between the two oppositely arranged second lifting rods 412, a driving block 414 is arranged on the driving rod 413, a third motor 415 and a first lead screw 416 are arranged on the driving block 414 and drive the lower end of the second lifting rod 412 to slide along the main frame 1, and the second scissor assembly has the same structure as the first scissor assembly, when the first scissor component drives the mounting frame 21 in the advancing mechanism 2 to ascend, the second scissor component drives the mounting frame 21 in the retreating mechanism 3 to descend, and when the first scissor component drives the mounting frame 21 in the advancing mechanism 2 to descend, the second scissor component drives the mounting frame 21 in the retreating mechanism 3 to ascend.
The cantilever 22 is provided with a guide rod 26 in a penetrating manner, the cantilever 22 slides along the guide rod 26 to extend out of or retract into the mounting frame 21, and the cantilever 22 is provided with a fourth motor 27 and a second lead screw 28 for driving the cantilever 22 to extend out of or retract into the mounting frame 21.
The cable carrying mechanism 5 comprises a V-shaped block main frame 51, an overlapping plate 52 and a cover plate 53, wherein at least one overlapping plate 52 is arranged at the upper end of the V-shaped block main frame 51, the cover plate 53 is arranged at the upper end of the overlapping plate 52, a plurality of V-shaped grooves 54 are formed in the upper end of the V-shaped block main frame 51, a plurality of V-shaped grooves 54 are formed in the upper end and the lower end of the overlapping plate 52, a plurality of V-shaped grooves 54 are formed in the lower end of the cover plate 53, the positions and the number of the V-shaped grooves 54 in the V-shaped block main frame 51, the overlapping plate 52 and the cover plate 53 correspond to one another one by one.
The middle section of the V-shaped groove 54 with the upward opening is provided with a movable V-shaped block 55 and a pushing block 56, the pushing block 56 is provided with an inclined plane for lifting the movable V-shaped block 55, the pushing block 56 is provided with a threaded rod 57 for driving the pushing block 56 to be close to or far away from the movable V-shaped block 55, the threaded rod 57 is in threaded connection with the V-shaped block main frame 51 or the superposed plate 52, and one end, far away from the nut, of the threaded rod 57 is rotatably connected with the pushing block 56.
The lower end of the main frame 1 is provided with at least two rows of rollers 11 matched with the cross frame.
The working principle is as follows:
the lifting mechanism 4 lowers the position of the mounting frame 21 on the advancing mechanism 2 to a working position, the second claw 241 grasps the truss to fix, the fourth motor 27 and the second lead screw 28 on the cantilever 22 drive the cantilever 22 to extend, when the thumb rod 73 on the first claw 232 touches the front truss, the first claw rotates around the thumb rotating shaft 76 to drive the first ratchet wheel 77 on the thumb rotating shaft 76 to rotate, the first pawl 78 ensures that the first ratchet wheel 77 only rotates anticlockwise, meanwhile, the thumb rod 73 drives the push rod 74 to move, and further drives the under-actuated finger 72 to carry out enveloping movement, so that the two first claws 232 on the cantilever 22 embrace the truss tightly. At this time, the protrusion 221 at the root of the cantilever 22 contacts with the upper end of the top rod 81, the top rod 81 moves downward together with the horizontal limiting rod 82 connected with the top rod under the extrusion of the protrusion 221 at the root of the cantilever 22, so that the return spring 85 is compressed, the connecting rod 83 drives the slider 84 to slide along the limiting groove to be close to the second pawl 244, the second pawl 244 is pushed to be released, the second ratchet wheel 243 rotates clockwise under the action of the torsion spring, at this time, the under-actuated finger 72 on the second pawl 241 releases the truss, and the second motor 242 drives the second pawl 241 to rotate so that the thumb rod 73 is in the horizontal position, so that the second pawl 241 avoids the truss; the fourth motor 27 on the boom 22 drives the second lead screw 28 in reverse and the frame 1 moves forward, and after passing over the truss the second motor 242 drives the second finger 241 in reverse so that the thumb lever 73 is again in the upright position. When the thumb rod 73 of the second claw 241 is contacted with the truss in the advancing process, the underactuated finger 72 of the second claw 241 is wrapped around the truss to generate holding force; when the unlocking plate 61 touches the first pawl 78 on the first claw 232, the first pawl 78 is disengaged from the first ratchet wheel 77, the first ratchet wheel 77 drives the thumb rod 73 on the first claw 232 to reset clockwise under the action of the torsion spring, the first claw 232 is completely opened, at this time, the first motor 66 is started to drive the second gear 65 and the first gear 64 to rotate, the first gear 64 drives the claw connecting rod 63 to rotate, and further the palm plates 71 on the first claws 232 at the two ends of the bracket 231 rotate, so that the thumb rods 73 on the two palm plates 71 rotate to the horizontal position to stop, the cantilever 22 continues to extend forwards, and after crossing the truss, the first motor 66 rotates reversely, so that the thumb rod 73 on the first claw 232 is in the vertical state again.
The lifting mechanism 4 is used for lifting the mounting frame 21 on the advancing mechanism 2 and the retreating mechanism 3, the advancing or retreating of the whole wire feeding device is realized through the first paw 232 on the advancing mechanism 2 or the retreating mechanism 3, the third motor 415 and the first lead screw 416 on the driving block 414 drive the driving rod 413 on the advancing mechanism 2 and the retreating mechanism 3 to move in the same direction, so that the advancing mechanism 2 and the retreating mechanism 3 respectively ascend and descend, and the mechanism descending to the working position is used for the next directional movement of the wire feeding device.
Directions and references (e.g., up, down, left, right, etc.) may be used in the present disclosure only to aid in the description of features in the figures. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.
In light of the foregoing description of preferred embodiments in accordance with the invention, it is to be understood that numerous changes and modifications may be made by those skilled in the art without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides a threading device of space truss communication cable which characterized in that: comprises a main frame (1) and an advancing mechanism (2), a retreating mechanism (3), a lifting mechanism (4) and a cable carrying mechanism (5) which are arranged on the main frame (1), wherein the advancing mechanism (2) and the retreating mechanism (3) have the same structure and opposite crawling directions, one mechanism in the two mechanisms is descended to a working position on the advancing mechanism (2) and the retreating mechanism (3), the other mechanism is lifted to the lifting mechanism (4) of an idle position, the advancing mechanism (2) comprises a mounting frame (21), an advancing paw component (23) arranged at the front end of a cantilever (22) and a fixed paw component (24) arranged on a mounting rod (25), the mounting frame (21) is connected with the lifting mechanism (4), and a driving component for driving the cantilever (22) to extend out or retract into the mounting frame (21) along the advancing direction is arranged on the mounting frame (21), the mounting rod (25) is arranged on the mounting frame (21), the advancing gripper component (23) and the fixing gripper component (24) alternately grab and release the truss, and the advancing gripper component (23) and the main frame (1) alternately advance through the extending and retracting actions of the cantilever (22).
2. The space truss telecommunication cable threading apparatus of claim 1 wherein: advance paw subassembly (23) including support (231) and locate first paw (232) on support (231), first paw (232) are including palm board (71), underactuated finger (72), thumb lever (73) and push rod (74), underactuated finger (72) end is equipped with gangbar (721), gangbar (721) lower extreme with palm board (71) front side is articulated, gangbar (721) intermediate position with push rod (74) are articulated, push rod (74) keep away from the one end of gangbar (721) with thumb lever (73) upper end is articulated, thumb lever (73) intermediate position is worn to be equipped with thumb pivot (76), thumb pivot (76) with palm board (71) rear side rotation is connected, still the cover is equipped with on thumb pivot (76) with thumb lever (73) synchronous pivoted first ratchet (77), first ratchet (77) one side is equipped with and is used for restricting the open first pawl (78) of underactuated finger (72), first pawl (78) intermediate position is passed through the dead lever and is connected with palm board (71) rotation, be equipped with the torsional spring between first pawl (78) and the dead lever, first pawl (78) one end with first ratchet (77) cooperation, first pawl (78) other end corresponds with first unblock subassembly position.
3. The space truss telecommunication cable threading apparatus of claim 2 wherein: first unblock subassembly includes unlocking plate (61), wrist pivot (62) and hand claw connecting rod (63), unlocking plate (61) locate on installation pole (25) with first pawl (78) position corresponds, when cantilever (22) shrink unlocking plate (61) extrusion first pawl (78) make first pawl (78) separate with first ratchet (77), palm board (71) through wrist pivot (62) with support (231) rotate and are connected, be equipped with on support (231) with second gear (65) of first gear (64) meshing, be equipped with on second gear (65) and drive first motor (66) of second gear (65) pivoted, palm board (71) are through hand claw connecting rod (63) and first gear (64) synchronous rotation.
4. A space truss telecommunication cable threading apparatus as defined in claim 2 or 3 wherein: the fixed paw component (24) comprises at least one second paw (241) arranged on the mounting rod (25), the second paw (241) is identical to the first paw (232) in structure, a second motor (242) used for adjusting the rotating angle of a palm plate (71) on the second paw (241) is arranged on the mounting rod (25), a second ratchet wheel (243) and a second pawl (244) used for controlling the one-way rotation of the thumb rod (73) are arranged on a thumb rod (73) of the second paw (241), and a second unlocking component used for separating the second ratchet wheel (243) from the second pawl (244) is arranged on one side of the second paw (241).
5. The space truss telecommunication cable threading apparatus of claim 4 wherein: the second unlocking assembly comprises a top rod (81), a horizontal limiting rod (82), a connecting rod (83) and a sliding block (84), the mounting rod (25) is provided with a sliding groove perpendicular to the advancing direction, the end part of the horizontal limiting rod (82) is slidably arranged in the sliding groove, a reset spring (85) is arranged in the sliding groove, a limiting groove is formed in the side wall of the mounting rod (25), the sliding block (84) is slidably arranged in the limiting groove, one end of the connecting rod (83) is hinged to the end part of the horizontal limiting rod (82), the other end of the connecting rod (83) is hinged to the sliding block (84), the sliding block (84) slides along the limiting groove to be close to or far away from a second pawl (244) on a second claw (241), one end of the top rod (81) penetrates through the mounting rod (25) to extend to the outside of the mounting rod (25), and the other end of the top rod (81) is connected with the horizontal limiting rod (, a protruding portion (221) is arranged at the rear side position of the lower end of the cantilever (22), and when the cantilever (22) is completely extended, the protruding portion (221) presses down the ejector rod (81) to drive the sliding block (84) to jack up the second pawl (244) so that the second pawl (244) is separated from the second ratchet wheel (243).
6. The space truss telecommunication cable threading apparatus of claim 1 wherein: the lifting mechanism (4) comprises a first scissor assembly arranged below the advancing mechanism (2) and a second scissor assembly arranged below the retreating mechanism (3), the first scissor assembly comprises two sets of X-shaped scissor rods which are oppositely arranged, each X-shaped scissor rod comprises a first lifting rod (411) and a second lifting rod (412), the middle positions of the first lifting rod (411) and the second lifting rod (412) are hinged, the lower end of the first lifting rod (411) is hinged with the main frame (1), the upper end of the first lifting rod is connected with the mounting frame (21) in a sliding manner, the lower end of the second lifting rod (412) is connected with the main frame (1) in a sliding manner, the upper end of the second lifting rod is hinged with the mounting frame (21), a driving rod (413) is connected between the two second lifting rods (412) which are oppositely arranged, a driving block (414) is arranged on the driving rod (413), and a third motor (415) and a first lead screw (416) are arranged on the driving block (414) and used for driving the lower end of the second lifting rod (412) to slide along the main frame, the second shearing fork assembly is the same as the first shearing fork assembly in structure, when the first shearing fork assembly drives the mounting frame (21) in the advancing mechanism (2) to ascend, the second shearing fork assembly drives the mounting frame (21) in the retreating mechanism (3) to descend, and when the first shearing fork assembly drives the mounting frame (21) in the advancing mechanism (2) to descend, the second shearing fork assembly drives the mounting frame (21) in the retreating mechanism (3) to ascend.
7. The space truss telecommunication cable threading apparatus of claim 1 wherein: wear to be equipped with guide bar (26) on cantilever (22), cantilever (22) slide along guide bar (26) and stretch out or indentation mounting bracket (21), be equipped with fourth motor (27) and second lead screw (28) that drive cantilever (22) stretch out or indentation mounting bracket (21) on cantilever (22).
8. The space truss telecommunication cable threading apparatus of claim 1 wherein: the cable carrying mechanism (5) comprises a V-shaped block main frame (51), an overlapping plate (52) and a cover plate (53), wherein at least one overlapping plate (52) is arranged at the upper end of the V-shaped block main frame (51), the cover plate (53) is arranged at the upper end of the overlapping plate (52), a plurality of V-shaped grooves (54) are formed in the upper end of the V-shaped block main frame (51), a plurality of V-shaped grooves (54) are formed in the upper end and the lower end of the overlapping plate (52), a plurality of V-shaped grooves (54) are formed in the lower end of the cover plate (53), the positions and the number of the V-shaped grooves (54) in the V-shaped block main frame (51), the overlapping plate (52) and the cover plate (53) correspond to one another, and the.
9. The space truss telecommunication cable threading apparatus of claim 8 wherein: the V-shaped groove (54) middle section that opens upwards is equipped with activity V-arrangement piece (55) and ejector pad (56), be equipped with the inclined plane that is used for raising activity V-arrangement piece (55) on ejector pad (56), be equipped with the drive on ejector pad (56) threaded rod (57) that ejector pad (56) are close to or keep away from activity V-arrangement piece (55), threaded rod (57) and V-arrangement piece body frame (51) or superimposed plate (52) threaded connection, the one end that the nut was kept away from in threaded rod (57) with ejector pad (56) rotate and be connected.
10. The space truss telecommunication cable threading apparatus of claim 1 wherein: the lower end of the main frame (1) is provided with at least two rows of rollers (11) matched with the cross frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110392252.3A CN112864955B (en) | 2021-04-13 | 2021-04-13 | Threading device of space truss communication cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110392252.3A CN112864955B (en) | 2021-04-13 | 2021-04-13 | Threading device of space truss communication cable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112864955A true CN112864955A (en) | 2021-05-28 |
| CN112864955B CN112864955B (en) | 2022-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110392252.3A Expired - Fee Related CN112864955B (en) | 2021-04-13 | 2021-04-13 | Threading device of space truss communication cable |
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| Country | Link |
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| CN (1) | CN112864955B (en) |
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| EP0006076A1 (en) * | 1978-05-31 | 1979-12-12 | Isotube S.A. | Lifting device with independently moving cage for climbing a mast |
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| CN207039088U (en) * | 2017-08-10 | 2018-02-23 | 江西龙凰建设工程有限公司 | A kind of water conservancy construction cable, which buries, puts support meanss |
| KR20180040901A (en) * | 2016-10-13 | 2018-04-23 | 정강희 | A transfer device with automatically drive |
| CN111002339A (en) * | 2020-01-08 | 2020-04-14 | 郑州轻工业大学 | Under-actuated finger combination mechanism for radially adjusting swing rod fulcrum to change envelope space |
| CN111600244A (en) * | 2020-06-15 | 2020-08-28 | 山东聚辰电缆有限公司 | Assembled cable pit cable laying device |
| CN111641160A (en) * | 2020-04-23 | 2020-09-08 | 武汉船用机械有限责任公司 | Cable laying device and cable laying trough |
| CN112025719A (en) * | 2020-07-29 | 2020-12-04 | 山东科技大学 | Climbing robot for high-voltage power transmission tower |
| CN112026948A (en) * | 2020-08-25 | 2020-12-04 | 杭州电子科技大学 | Overhead power line inspection tower climbing robot |
| CN112356940A (en) * | 2020-10-13 | 2021-02-12 | 国网安徽省电力有限公司 | Climbing robot for angle steel tower |
| CN212723490U (en) * | 2020-09-23 | 2021-03-16 | 安徽健坤通信股份有限公司 | Be used for communication pipeline engineering intraductal draw gear |
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2021
- 2021-04-13 CN CN202110392252.3A patent/CN112864955B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0006076A1 (en) * | 1978-05-31 | 1979-12-12 | Isotube S.A. | Lifting device with independently moving cage for climbing a mast |
| KR101454852B1 (en) * | 2013-10-04 | 2014-10-28 | 삼성중공업 주식회사 | apparatus for feeding cable |
| CN103786162A (en) * | 2014-02-19 | 2014-05-14 | 哈尔滨工业大学 | Expandable underactuated cable-rod truss type mechanical claw |
| KR20180040901A (en) * | 2016-10-13 | 2018-04-23 | 정강희 | A transfer device with automatically drive |
| CN207039088U (en) * | 2017-08-10 | 2018-02-23 | 江西龙凰建设工程有限公司 | A kind of water conservancy construction cable, which buries, puts support meanss |
| CN111002339A (en) * | 2020-01-08 | 2020-04-14 | 郑州轻工业大学 | Under-actuated finger combination mechanism for radially adjusting swing rod fulcrum to change envelope space |
| CN111641160A (en) * | 2020-04-23 | 2020-09-08 | 武汉船用机械有限责任公司 | Cable laying device and cable laying trough |
| CN111600244A (en) * | 2020-06-15 | 2020-08-28 | 山东聚辰电缆有限公司 | Assembled cable pit cable laying device |
| CN112025719A (en) * | 2020-07-29 | 2020-12-04 | 山东科技大学 | Climbing robot for high-voltage power transmission tower |
| CN112026948A (en) * | 2020-08-25 | 2020-12-04 | 杭州电子科技大学 | Overhead power line inspection tower climbing robot |
| CN212723490U (en) * | 2020-09-23 | 2021-03-16 | 安徽健坤通信股份有限公司 | Be used for communication pipeline engineering intraductal draw gear |
| CN112356940A (en) * | 2020-10-13 | 2021-02-12 | 国网安徽省电力有限公司 | Climbing robot for angle steel tower |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112864955B (en) | 2022-12-23 |
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