CN100581754C - Water spreading method cable laying robot propulsion mechanism - Google Patents
Water spreading method cable laying robot propulsion mechanism Download PDFInfo
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- CN100581754C CN100581754C CN200810042779A CN200810042779A CN100581754C CN 100581754 C CN100581754 C CN 100581754C CN 200810042779 A CN200810042779 A CN 200810042779A CN 200810042779 A CN200810042779 A CN 200810042779A CN 100581754 C CN100581754 C CN 100581754C
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Abstract
The invention relates to a robot pushing mechanism of cable laying with a water laying method in the field of robot technology application and comprises a compaction mechanism, two pushing boxes, an upper and lower connecting mechanism, a pipeline docking mechanism and a bottom supporting mechanism; wherein, the compaction mechanism is connected with the two pushing boxes through the upper and lower connecting mechanism; the two pushing boxes are placed symmetrically at a central line of a cable to form V-shaped space and are respectively positioned below two sides of the cable; the compaction mechanism is arranged above the cable and compacts the cable by moving up and down; the pipeline docking mechanism is arranged at one end of the bottom supporting mechanism and is matched with an interface of the V-shaped space; the compaction mechanism, the upper and lower connecting mechanism and the pipeline docking mechanism are all fixed on the bottom supporting mechanism. The robot pushing mechanism is high in energy utilization efficiency, wider in cable laying range and simple and convenient in operation.
Description
Technical field
The present invention relates to the device in a kind of Robotics field, specifically is a kind of water spreading method cable laying robot propulsion mechanism.
Background technology
In China's urban construction, cable laying is a very important ring, and it is related to the smooth and easy of city communication.Compare with trolley line, the following incomparable advantage of putting cable underground: do not take ground space, it is attractive in appearance to help the appearance of the city; Same passage can hold a plurality of cable runs, and the adaptability of transmission capacity is strong; Cable is hidden underground, and is safer to the person; Natural conditions and surrounding environment are less to the influence of cable, and the power supply reliability height is even if snow disaster can not exert an influence to cable.Can predict and go into the ground cabling in the urban power distribution network to substitute overhead transmission line will be a trend.The pipeline laying cable is a kind of common method of putting cable underground, and it is a kind of emerging pipeline laying method that water applies method.It is to utilize high-power propelling machinery that optical cable is advanced in the pipeline, hydraulic press is squeezed into pipeline to water under high pressure simultaneously, and current form one on the surface of optical cable and pull power, and very high hydraulic pressure also produces a very big forward force, under the effect of these three power, finish cable and go into laying of pipe.
Find that through literature search number of patent application is 200710042298.2 Chinese patent, a kind of cable pusher mechanism that water applies the wireline operation robot of method that is used for is provided, be used to lay the cable of variable-diameter prior art.Mainly constitute by connecting gear, hold-down mechanism, diameter changing mechanism and retaining mechanism.The angle of rake retaining mechanism specific implementation of this cable is difficulty very, and design rigidity is less, and very big coupling mechanism force can not be provided; And this propeller is not illustrated the implementation of power transmission, and the volume of motor and decelerator is very restricted, and the power that system provides is very limited.
Based on the contradiction that guarantees powerful thrust and propulsive mechanism size, propelling machinery in the market adopts hydraulic drive mode, so also can solve and solve the stationary problem that both sides advance case.This hydraulic-feed mechanism needs the bigger hydraulic means of weight and volume that the hydraulic oil that drives propulsive mechanism is provided, installation before transportation and the use is all not quite convenient, may occur oil leakage phenomenon when laying environment is had a negative impact, and flow be carried out real-time accurate control very big difficulty is arranged.This propulsion system generally can provide the thrust of 4～6Kw, if when advance distance is far away, with 2～3 such mechanisms in series work of needs, to use be very much inconvenient to engineering like this.
If following difficult point is also arranged based on the propulsive mechanism that the accurate control of servo electrical machinery system sets up that power is more huge, the water of high efficiency and environmental protection applies the method cabling:
1) the power transmission distance should not be too far away, otherwise efficient will be difficult to improve;
2) both sides advance case must keep synchronously, otherwise will damage cable by pressure;
3) out-of-shape of cable will it compress more uniformly but lay the trends of the times;
4) mechanism must be compact, and can adapt to multiple different cable.
The time must solve above difficult point one by one in design, develop a kind of mechanism compactness, both sides speed synchronously, higher general power, strong to difform cable adaptive capacity, be easy to the novel water spreading method cable laying robot propulsion mechanism installing and operate.The retrieval of existing cable being laid robot propulsion mechanism and correlation technique does not also have to find to be similar to the present invention's patent that solves above-mentioned difficult point.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, a kind of water spreading method cable laying robot propulsion mechanism is provided, make the simple high-efficiency environment friendly of construction operation, simplify transmission system, the cable laying propulsive mechanism of a kind of high power, high efficiency, high reliability is provided.This mechanism not only can be used for water and applies the method cabling, also can be applied to the other types cable laying.
The present invention is achieved by the following technical solutions, the present invention includes: hold-down mechanism, two advance case, bindiny mechanism, pipeline docking mechanism, bottom support mechanism up and down, wherein:
Hold-down mechanism passes through up and down, and bindiny mechanism advances casees to be connected with two, two advance case to place composition V-arrangement space about the cable tracer symmetry, and lay respectively at the below of cable both sides, hold-down mechanism is positioned at the top of cable, and compress cable by moving up and down, the pipeline docking mechanism is arranged on an end of bottom support mechanism, and and the port in aforementioned V-arrangement space match, hold-down mechanism, bindiny mechanism, pipeline docking mechanism all are fixed on the bottom support mechanism up and down.
Described hold-down mechanism comprises: pressure exerting arrangement, pressure acquisition device, compound oscillating arm mechanisms, and the three sets gradually from top to bottom, wherein:
Pressure exerting arrangement comprises: spanner connecting rod, spanner, housing, top cover, four-point contact ball, top cover base plate, last copper sheathing, following copper sheathing, the spanner connecting rod connects spanner and four-point contact ball, four-point contact ball is installed between copper sheathing and the top cover, following copper sheathing links to each other with the pressure acquisition device, housing is located at the outside of pressure exerting arrangement, and housing links to each other with bindiny mechanism up and down by top cover base plate.Spanner rotation can produce thrust, and two copper sheathing mechanism can guarantee pressure exerting arrangement stable slip in the cover of top.
The pressure acquisition device comprises: sensor, two sensor connecting rods, external splines, internal spline, wherein: the sensor two ends link to each other with external splines with following copper sheathing by the sensor connecting rod respectively, external splines links to each other with internal spline, sensor can accurately feed back the size of thrust, and spline prevents that the press nips transfer spanner that is attached thereto from rotating;
Compound oscillating arm mechanisms, comprise: both sides pinch roller top board, swing arm, both sides pinch roller connecting plate, six pinch rollers, main pinch roller top board, the swing arm back shaft, main pinch roller connecting plate, the press nips back shaft, wheel pressing shaft, wherein, 6 pinch rollers are divided into 3 groups and place respectively under main pinch roller top board and the both sides pinch roller top board, pinch roller is installed between the pinch roller connecting plate of both sides by wheel pressing shaft, both sides pinch roller connecting plate is fixedlyed connected with both sides pinch roller top board, form a press nips, the pressure exerting arrangement of hold-down mechanism and main pinch roller top board are fixed, the swing arm back shaft is fixed on swing arm the both sides of main pinch roller connecting plate, swing arm is around the rotation of swing arm back shaft, the press nips of both sides links to each other with swing arm by the press nips back shaft, press nips can be around the rotation of press nips back shaft, and the pinch roller in the press nips of both sides respectively has two frees degree, can adapt to the irregular cross-section of cable.
Described bindiny mechanism up and down, comprise: supporting leg cover and supporting leg, the supporting leg cover is connected the below of cover base plate in top in the hold-down mechanism, the supporting leg cover is connected the hold-down mechanism below, supporting leg is welded in the top of propelling group case, pin joint between supporting leg cover and the supporting leg by the relative position of fixing supporting legs cover and supporting leg, can be realized firm connection up and down.
Described two advance case, and angulation is 95 ° to 105 ° between it.
Described propelling case, comprise: motor and decelerator, outer panel, aligning moves seat, the aligning holder, front and rear baffle, left and right connecting plates, follower, passive wheel shaft, big back-up ring, interior plate, idler shaft, little back-up ring, be with synchronously, four pressure-bearing idle pulleys, driving wheel, wherein: passive wheel shaft passes follower, be installed between interior plate and the outer panel, aligning moves seat and fixes with passive wheel shaft, regulate distance between it and the aligning holder by bolt, be convenient to the installation and the tensioning of band synchronously, four pressure-bearing idle pulleys are except that can not aligning, all the other structures are similar to follower, driving wheel links to each other with the output shaft of motor and decelerator, motor and decelerator are arranged on the outer panel, the outside of follower and driving wheel is all passed through big back-up ring and is linked to each other with synchronous band, the pressure-bearing idle pulley links to each other with synchronous band by little back-up ring, front and rear baffle is used for preventing that dust or current from entering propelling case inside, and left and right connecting plates is used for fixing the distance between interior plate and the outer panel.
Described motor and decelerator, it is arranged on by flange on the outer panel of propelling group case, directly sends power to driving wheel.
The upright position of 6 pinch rollers in the described propelling case, its position and hold-down mechanism is corresponding one by one, avoids being with synchronously unsettled pressure-bearing.
Described pipeline docking mechanism, comprise: retaining ring, the retaining section bearing cap, the retaining section axle sleeve, three retaining section axles, two dash gripper shoes, wherein: two dash gripper shoes are arranged on a side of bottom support mechanism, its adjustable height, a retaining section axle is installed between two dash gripper shoes, two other retaining section axle welded top together and be symmetrical arranged, the outside of these two retaining section axles is provided with the retaining section axle sleeve, two retaining section axle sleeves by chute respectively with being slidingly connected of two dash gripper shoes, retaining ring also is arranged in the sliding chute of dash gripper shoe, above-mentioned three retaining section axles are formed the closed space of an equilateral triangle, and the retaining section bearing cap is used to locate two retaining section axles that are provided with the retaining section axle sleeve.
It is cable in the 35mm to l05mm that described three retaining section axles, the triangle space of its formation can hold diameter.
Described bottom support mechanism is made up of the base that 5 gripper shoes that connect the interior plate that advances casees, 3 channel-section steels are welded, and gripper shoe is arranged on the surface of base.
When the present invention works, place both sides to advance being with synchronously on the formed V-type space of case on cable, and compress cable by regulating hold-down mechanism, there are 4 pinch rollers that two frees degree are respectively arranged in the hold-down mechanism, can adapt to the irregular cross-section of cable, pressure sensor in the hold-down mechanism can be measured the cable pressure, advance driven by motor driving wheel in the case, driving wheel drives band synchronously, band drives cable synchronously, cable lays the regular zone in path with passing of piping docking mechanism level, advances to the pipe water direction.
Compared with prior art, the present invention has following beneficial effect:
The present invention uses the two propelling group casees of band synchronously that can accurately control, propelling group case can provide 10Kw above power, guaranteed efficient, the interior cable laying of pipeline reliably, the present invention with respect to existing be the propulsive mechanism of power with hydraulic pressure, more friendly to environment, efficiency of energy utilization can reach 90%; With respect to the propulsive mechanism of other system of layings, the cable range that can lay is bigger, can accomplish not damage cable, in addition owing to adopted adaptive pressure exerting arrangement and control easily high accuracy and raise the clothes motor, whole system operation simple and convenient.Cable propeller of the present invention not only can be used for water and applies the method cabling, also can be used for the occasion that other need motive force or pulling force.
Description of drawings
Fig. 1 is a general structure schematic diagram of the present invention;
Fig. 2 is pressure exerting arrangement, pressure acquisition device and the structural representation of bindiny mechanism up and down in the hold-down mechanism of the present invention;
Fig. 3 is the structural representation schematic diagram of the compound oscillating arm mechanisms in the hold-down mechanism of the present invention;
Fig. 4 is the propelling case internal structure schematic diagram among the present invention;
Fig. 5 is the structural representation of the pipeline docking mechanism among the present invention;
Fig. 6 is the structural representation of the bottom support mechanism among the present invention.
Among the figure: 1 is the spanner connecting rod, 2 is spanner, 3 is housing, 4 are top cover base plate, 5 is both sides pinch roller top boards, 6 are swing arm, 7 is both sides pinch roller connecting plates, 8 is the supporting leg cover, 9 is motor and decelerator, 10 is supporting leg, 11 is outer panel, 12 is the supporting leg contiguous block, 13 is pinch roller, 14 is water fender, 15 is base, 16 is the retaining section bearing cap, 17 is the retaining section axle sleeve, 18 is cable, 19 is the retaining section axle, 20 is the dash gripper shoe, 21 move seat for aligning, 22 is left and right connecting plates, 23 is front and rear baffle, 24 is gripper shoe, 25 is the aligning holder, 26 is four penalty kick contact bearings, 27 is last copper sheathing, 28 are the top cover, 29 are following copper sheathing, 30 is sensor, 31 is the sensor connecting rod, 32 is external splines, 33 is internal spline, 34 is main pinch roller top board, 35 are the swing arm back shaft, 36 is main pinch roller connecting plate, 37 is the press nips back shaft, 38 is wheel pressing shaft, 39 is follower, 40 is passive wheel shaft, 41 is big back-up ring, 42 is interior plate, 43 is idler shaft, 44 is little back-up ring, 45 is to be with synchronously, 46 is the pressure-bearing idle pulley, 47 is driving wheel.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Present embodiment is used to lay the cable 18 of 35～105mm.
As shown in Figure 1, present embodiment comprises: hold-down mechanism, two advance case, bindiny mechanism, pipeline docking mechanism, bottom support mechanism up and down, wherein:
Hold-down mechanism passes through up and down, and bindiny mechanism advances casees to be connected with two, two advance case to place composition V-arrangement space about the cable tracer symmetry, and lay respectively at the below of cable both sides, hold-down mechanism is positioned at the top of cable, and compress cable by moving up and down, the pipeline docking mechanism is arranged on an end of bottom support mechanism, and and the port in aforementioned V-arrangement space match, hold-down mechanism, bindiny mechanism, pipeline docking mechanism all are fixed on the bottom support mechanism up and down.
As shown in Figure 2, described hold-down mechanism comprises: pressure exerting arrangement, pressure acquisition device, compound oscillating arm mechanisms, and the three sets gradually from top to bottom, wherein:
Pressure exerting arrangement comprises: spanner connecting rod 1, spanner 2, housing 3, top are overlapped base plate 4, four-point contact ball 26, top cover 28, are gone up copper sheathing 27, following copper sheathing 29, spanner connecting rod 1 connects spanner 2 and four-point contact ball 26, four-point contact ball 26 is installed between copper sheathing 27 and the top cover 28, and following copper sheathing 29 links to each other with the pressure acquisition device; Spanner 2 rotation can produce thrust, and two copper sheathing mechanism can guarantee pressure exerting arrangement stable slip in the cover of top, and housing 3 is located at the outside of pressure exerting arrangement, and housing 3 overlaps base plate 4 by the top and links to each other with bindiny mechanism up and down;
The pressure acquisition device comprises: sensor 30, two sensor connecting rods 31, external splines 32, internal spline 33, wherein: sensor 30 two ends link to each other with external splines 32 with following copper sheathing 29 by sensor connecting rod 31 respectively, and external splines 32 links to each other with internal spline 33.Sensor 30 can accurately be fed back the size of thrust, and spline prevents the press nips transfer spanner rotation that is attached thereto;
As shown in Figure 3, compound oscillating arm mechanisms, comprise: both sides pinch roller top board 5, swing arm 6, both sides pinch roller connecting plate 7, six pinch rollers 13, main pinch roller top board 34, swing arm back shaft 35, main pinch roller connecting plate 36, press nips back shaft 37, wheel pressing shaft 38, wherein, 6 pinch rollers 13 are divided into 3 groups and place respectively under main pinch roller top board 34 and the both sides pinch roller top board 5, pinch roller 13 is installed between the both sides pinch roller connecting plate 7 by wheel pressing shaft 38, both sides pinch roller connecting plate 7 is fixedlyed connected with both sides pinch roller top board 5, form a press nips, the pressure exerting arrangement of hold-down mechanism and main pinch roller top board 34 are fixing, swing arm back shaft 35 is fixed on swing arm 6 both sides of main pinch roller connecting plate 36, swing arm 6 is around 35 rotations of swing arm back shaft, the press nips of both sides links to each other with swing arm 6 by press nips back shaft 37, press nips can be around 37 rotations of press nips back shaft, pinch roller in the press nips of both sides respectively has two frees degree like this, can adapt to the irregular cross-section of cable.
As shown in Figure 2, described bindiny mechanism up and down, comprise: supporting leg cover 8 and supporting leg 10, supporting leg cover 8 is connected the below of cover base plate 4 in top in the hold-down mechanism, supporting leg 10 is welded in the top of propelling group case, pin joint between supporting leg cover 8 and the supporting leg 10 by the relative position of fixing supporting legs cover 8 and supporting leg 10, can be realized firm connection up and down.
Described two advance case, and angulation is the optional angle in 95 ° to 105 ° between it.
Described as shown in Figure 4 propelling case, comprise: motor and decelerator 9, outer panel 11, aligning moves seat 21, aligning holder 25, front and rear baffle 23, left and right connecting plates 22, follower 39, passive wheel shaft 40, big back-up ring 41, interior plate 42, idler shaft 43, little back-up ring 44, be with 45 synchronously, four pressure-bearing idle pulleys 46, driving wheel 47, wherein: passive wheel shaft 40 passes follower 39, be installed between interior plate 42 and the outer panel 11, aligning moves seat 21 and fixes with passive wheel shaft 40, regulate distance between it and the aligning holder 25 by bolt, be convenient to the installation and the tensioning of band synchronously, four pressure-bearing idle pulleys 46 are except that can not aligning, all the other mechanisms are similar to follower 39, driving wheel 47 links to each other with the output shaft of motor and decelerator 9, motor and decelerator 9 are arranged on the outer panel 11, the outside of follower 39 and driving wheel 47 all by big back-up ring 41 be with 45 to link to each other synchronously, pressure-bearing idle pulley 46 by little back-up ring 44 be with 45 to link to each other synchronously, front and rear baffle 23 is used for preventing that dust or current from entering propelling case inside, and left and right connecting plates 22 is used for fixing the distance between interior plate 42 and the outer panel 11.
Described motor and decelerator 9, it is arranged on the outer panel of propelling group case by flange, directly send power to driving wheel 47, motor and decelerator 9 drive driving wheel 47, driving wheel 47 drives is with 45 synchronously, be with 45 to drive cable 18 motions synchronously, transmit driving cable with so excessively two-stage power; By the Synchronization Control to two motors and decelerator 9, advance the motion of case about working in coordination with in addition, total like this propeller power can reach more than the 10Kw.
The upright position of 6 pinch rollers in the described propelling case, its position and hold-down mechanism is corresponding one by one, avoids being with synchronously unsettled pressure-bearing.
As shown in Figure 5, described pipeline docking mechanism, comprise: retaining ring 14, retaining section bearing cap 16, retaining section axle sleeve 17, three retaining section axles 19, two dash gripper shoes 20, wherein: two dash gripper shoes 20 are arranged on a side of bottom support mechanism, its adjustable height, a retaining section axle 19 is installed between two dash gripper shoes 20, two other retaining section axle 19 welded top together and be symmetrical arranged, the outside of these two retaining section axles 19 is provided with retaining section axle sleeve 17, two retaining section axle sleeves 17 by chute respectively with being slidingly connected of two dash gripper shoes 20, retaining ring 14 also is arranged in the chute of dash gripper shoe sliding 20, above-mentioned three retaining section axles 19 are formed the closed space of an equilateral triangle, and retaining section bearing cap 16 is used to locate two retaining section axles 19 that are provided with retaining section axle sleeve 17.
It is cable in the 35mm to 105mm that described three retaining section axles 19, the triangle space of its formation can hold diameter.
As shown in Figure 6, described bottom support mechanism is made up of 5 24,3 bases that channel-section steel is welded 15 of gripper shoe that connect the interior plate that advances casees, and gripper shoe 24 is arranged on the surface of base 15.
The course of work of present embodiment is as follows:
1. the cable 18 that with diameter is 35～105mm places both sides to advance being with synchronously on the 45 formed V-type spaces of case, with cable 18 output alignment tube road junctions, when the propulsive mechanism excessive height, can dig out the suitable hole of the degree of depth on ground, and its part is imbedded;
2. with the controller in the signal output part Access Control cabinet of motor and decelerator 9 and pressure sensor 30, and check one by one and confirm that they can normally feed back in real time;
3. regulate the height of pipeline docking mechanism, make cable 18 can keep flatly passing the regular zone of laying the path, with bolt that dash gripper shoe 20 is fixing with the base 15 of bottom support mechanism then;
4. regulate the height of retaining section axle sleeve 17 in the chute of dash gripper shoe 20, make two retaining section axles 19 and fixing retaining section axle 19 cooperate, form the closed space of an equilateral triangle, and cable 18 can be passed from this space smoothly, enter pipeline;
5. measure the diameter of cabling 18 and the distance of laying, estimate the size of required maximum propulsive force thus, and, obtain required roughly thrust according to cable 18 and used synchronously with 45 coefficient of friction;
6. exert pressure by the rotation 2 pairs of cables 18 of spanner of exerting pressure, six pinch rollers 13 can be close to irregular cable 18 adaptively, the pressure sensor 30 that is arranged in top cover 3 can be read the size of pressure, being sent to control section is read, when pressure reaches the required thrust that back is determined, spanner 2 stops the rotation;
7. at this moment two motors of driven in synchronism and decelerator 9, article two, be with 45 actions simultaneously synchronously, the power of two motors can reach more than the 10W, driving cable 18 advances to the pipe water direction, the water inlet system co-operating of this propelling group case and pipeline can be finished the overall process of cabling, and advance distance can reach more than the 400m.
Claims (9)
1, a kind of water spreading method cable laying robot propulsion mechanism, it is characterized in that, comprise: hold-down mechanism, two advance case, bindiny mechanism up and down, the pipeline docking mechanism, bottom support mechanism, wherein: bindiny mechanism advanced casees to be connected with two about hold-down mechanism passed through, two advance case to place composition V-arrangement space about the cable tracer symmetry, and lay respectively at the below of cable both sides, hold-down mechanism is positioned at the top of cable, and compress cable by moving up and down, the pipeline docking mechanism is arranged on an end of bottom support mechanism, and and the port in aforementioned V-arrangement space match hold-down mechanism, bindiny mechanism up and down, the pipeline docking mechanism all is fixed on the bottom support mechanism;
Described hold-down mechanism comprises: pressure exerting arrangement, pressure acquisition device, compound oscillating arm mechanisms, and the three sets gradually from top to bottom, wherein:
Pressure exerting arrangement comprises: spanner connecting rod, spanner, housing, top cover, four-point contact ball, top cover base plate, last copper sheathing, following copper sheathing, the spanner connecting rod connects spanner and four-point contact ball, four-point contact ball is installed between copper sheathing and the top cover, following copper sheathing links to each other with the pressure acquisition device, housing is located at the outside of pressure exerting arrangement, and housing links to each other with bindiny mechanism up and down by top cover base plate;
The pressure acquisition device comprises: sensor, two sensor connecting rods, external splines, internal spline, and wherein: the sensor two ends link to each other with external splines with following copper sheathing by the sensor connecting rod respectively, and external splines links to each other with internal spline;
Compound oscillating arm mechanisms, comprise: both sides pinch roller top board, swing arm, both sides pinch roller connecting plate, six pinch rollers, main pinch roller top board, the swing arm back shaft, main pinch roller connecting plate, the press nips back shaft, wheel pressing shaft, wherein, six pinch rollers are divided into 3 groups and place respectively under main pinch roller top board and the both sides pinch roller top board, pinch roller is installed between the pinch roller connecting plate of both sides by wheel pressing shaft, both sides pinch roller connecting plate is fixedlyed connected with both sides pinch roller top board, form a press nips, the pressure exerting arrangement of hold-down mechanism and main pinch roller top board are fixed, the swing arm back shaft is fixed on swing arm the both sides of main pinch roller connecting plate, swing arm is around the rotation of swing arm back shaft, the press nips of both sides links to each other with swing arm by the press nips back shaft, press nips can be around the rotation of press nips back shaft, and the pinch roller in the press nips of both sides respectively has two frees degree.
2, water spreading method cable laying robot propulsion mechanism according to claim 1, it is characterized in that, described bindiny mechanism up and down, comprise: supporting leg cover and supporting leg, the supporting leg cover is connected the below of cover base plate in top in the hold-down mechanism, the supporting leg cover is connected the hold-down mechanism below, and supporting leg is welded in the top that advances case, pin joint between supporting leg cover and the supporting leg.
3, water spreading method cable laying robot propulsion mechanism according to claim 1 is characterized in that, described two advance case, and angulation is 95 ° to 105 ° between it.
4, according to claim 1 or 3 described water spreading method cable laying robot propulsion mechanisms, it is characterized in that, described propelling case, comprise: motor and decelerator, outer panel, aligning moves seat, the aligning holder, front and rear baffle, left and right connecting plates, follower, passive wheel shaft, big back-up ring, interior plate, idler shaft, little back-up ring, be with synchronously, four pressure-bearing idle pulleys, driving wheel, wherein: passive wheel shaft passes follower, be installed between interior plate and the outer panel, aligning moves seat and fixes with passive wheel shaft, regulate distance between it and the aligning holder by bolt, be convenient to the installation and the tensioning of band synchronously, four pressure-bearing idle pulleys are except that can not aligning, all the other structures are similar to follower, driving wheel links to each other with the output shaft of motor and decelerator, motor and decelerator are arranged on the outer panel, the outside of follower and driving wheel is all passed through big back-up ring and is linked to each other with synchronous band, the pressure-bearing idle pulley links to each other with synchronous band by little back-up ring, front and rear baffle is used for preventing that dust or current from entering propelling case inside, and left and right connecting plates is used for fixing the distance between interior plate and the outer panel.
According to claim 1 or 3 described water spreading method cable laying robot propulsion mechanisms, it is characterized in that 5, the upright position of 6 pinch rollers in the described propelling case, its position and hold-down mechanism is corresponding one by one.
6, water spreading method cable laying robot propulsion mechanism according to claim 4 is characterized in that, described motor and decelerator, and it is arranged on the outer panel that advances case by flange, directly sends power to driving wheel.
7, water spreading method cable laying robot propulsion mechanism according to claim 1, it is characterized in that, described pipeline docking mechanism, comprise: retaining ring, the retaining section bearing cap, the retaining section axle sleeve, three retaining section axles, two dash gripper shoes, wherein: two dash gripper shoes are arranged on a side of bottom support mechanism, its adjustable height, a retaining section axle is installed between two dash gripper shoes, two other retaining section axle welded top together and be symmetrical arranged, the outside of these two retaining section axles is provided with the retaining section axle sleeve, two retaining section axle sleeves by chute respectively with being slidingly connected of two dash gripper shoes, retaining ring also is arranged in the sliding chute of dash gripper shoe, above-mentioned three retaining section axles are formed the closed space of an equilateral triangle, and the retaining section bearing cap is used to locate two retaining section axles that are provided with the retaining section axle sleeve.
8, water spreading method cable laying robot propulsion mechanism according to claim 7 is characterized in that, it is cable in the 35mm to 105mm that described three retaining section axles, the triangle space of its formation can hold diameter.
9, water spreading method cable laying robot propulsion mechanism according to claim 1, it is characterized in that, described bottom support mechanism is made up of the base that 5 gripper shoes that connect the interior plate that advances casees, 3 channel-section steels are welded, and gripper shoe is arranged on the surface of base.
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| CN200810042779A CN100581754C (en) | 2008-09-11 | 2008-09-11 | Water spreading method cable laying robot propulsion mechanism |
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| CN200810042779A CN100581754C (en) | 2008-09-11 | 2008-09-11 | Water spreading method cable laying robot propulsion mechanism |
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| CN106253146A (en) * | 2016-08-25 | 2016-12-21 | 成都创年科技有限公司 | A kind of Novel cable traction apparatus |
| CN107453270A (en) * | 2017-08-29 | 2017-12-08 | 国网辽宁省电力有限公司葫芦岛供电公司 | Application of the underwater robot in city power distribution cable tunnel |
| CN109244958B (en) * | 2018-10-22 | 2023-08-08 | 南京信息职业技术学院 | Cable laying device and application method thereof |
| CN109830918B (en) * | 2019-01-31 | 2024-03-22 | 广东电网有限责任公司广州供电局 | Cable laying equipment |
| CN117124103B (en) * | 2023-10-23 | 2023-12-22 | 山东建华阀门制造有限公司 | Automatic fastening mechanism for processing flange surface of valve body |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4285454A (en) * | 1978-06-13 | 1981-08-25 | Plumettaz, S.A. | Cable conveyor |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4285454A (en) * | 1978-06-13 | 1981-08-25 | Plumettaz, S.A. | Cable conveyor |
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