CN106329407B - A kind of running line device with remote manual control - Google Patents
A kind of running line device with remote manual control Download PDFInfo
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- CN106329407B CN106329407B CN201610714076.XA CN201610714076A CN106329407B CN 106329407 B CN106329407 B CN 106329407B CN 201610714076 A CN201610714076 A CN 201610714076A CN 106329407 B CN106329407 B CN 106329407B
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- cable
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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
- H02G1/088—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 using pulling devices movable inside conduits
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of running line device with remote manual control, including：Running line car and cable reel installation；Running line car includes：Car body, car body are provided with axletree, and axletree both ends are connected with running gear, and the joint portion of axletree and running gear is provided with bearing, and axletree is provided with differential gear；Cable fixed bit and the car body motor of axle shaft operation are additionally provided with car body；Cable end is fixed on running line car, and running line car guiding cable enters cable tunnel.Running gear has out-of-flatness landform locomotor activity, can not only be walked by driven pulley, additionally it is possible to passes through the different road surface of step and convex-concave by crawler belt.The cable axle rotation of cable reel installation, volume is set to put the cable on cable axle by cable guide device cable laying, it is engaged easy to operate and use using control subsystem control with running line car.User sends control instruction, the car operation of control running line by handheld terminal.
Description
Technical field
The present invention relates to cable laying field, more particularly to a kind of running line device with remote manual control.
Background technology
Cable tunnel or the usual narrow space of cable channel, when laying cable, if cable tunnel or cable tube
Road length is shorter, internal more unimpeded, can complete laying directly by cable lead-in cable tunnel or cable channel.But
Cable tunnel or cable channel easily enter the debris such as mud, stone, glass fragment, the grains of sand, so when laying cable, by nothing
The smooth completion of method.Need manually to lay if cable tunnel or cable channel bore are larger, so brought to personnel
Great potential safety hazard, and operating efficiency is low.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, it is an object of the present invention to provide a kind of with remote manual control
Running line device, including：Running line car, cable reel installation, the control subsystem being arranged on running line car and and control subsystem
The handheld terminal of communication connection；
Running line car includes：Car body, car body are provided with axletree, and axletree both ends are connected with running gear, axletree and running gear
Joint portion be provided with bearing, axletree is provided with differential gear；Be additionally provided with car body cable fixed bit and axle shaft operation
Car body motor；Car body surrounding is provided with range sensor；Camera is additionally provided with car body；
Running gear includes：The driving wheel being connected with axletree by bearing, the both sides of driving wheel are respectively equipped with driven pulley；Drive
Driving wheel is connected by V-arrangement girder steel with driven pulley；The V-arrangement girder steel is provided with crawler belt, two apexes of V-arrangement of the V-arrangement girder steel
And it is respectively equipped with guide wheel at the break of V-arrangement；Bend wheel is respectively equipped with close to the position of driving wheel both sides；It is provided with inside V-arrangement girder steel
Support wheel；Crawler belt supports by guide wheel, bend wheel, and is arranged on the inside of two V-arrangement girder steels, and crawler belt is between two bend wheels
In cross-shaped；The driving driving wheel operation of car body motor, makes driving wheel drive crawler belt operating；
Cable reel installation includes：Cable cabinet, motor, motor reducer, cable guide device, cable rolling disk, cunning
Ring assemblies；Cable rolling disk is connected by cable axle and bearing block with cable cabinet；
One end of cable rolling disk cable axle is provided with cable axle sprocket wheel, and cable axle sprocket wheel is subtracted by driving-chain one with being arranged on motor
Motor sprocket connection on fast device power transmission shaft；
The cable guide device is arranged on the end of the cable cabinet, and the cable guide device is provided with cable guide
Axle, the guidance axis be arranged in parallel with the cable axle.
The slip ring assembly includes：Slip ring, slip ring frame and driving-chain two；The slip ring is arranged on the electricity by slip ring frame
In cable frame, and the slip ring is connected by driving-chain two and motor sprocket；
The control subsystem includes：Processor, servo controller, auxiliary reclay one, auxiliary reclay two, display
Screen, the first bluetooth communication, Distance-sensing receiving module, video reception module；
Servo controller passes through auxiliary reclay one and car body motor connection, control car body walking；
Servo controller is connected by auxiliary reclay two with motor, and servo controller control motor, which is realized, to be put
Cable；
Slip ring assembly, Distance-sensing receiving module, servo controller, display screen, video reception module, the first Bluetooth communication
Module is connected with processor respectively, and processor is used to control motor and car body motor operation respectively by servo controller；
Video reception module is used for the cable tunnel interior video image for receiving camera shooting, and by showing screen display
Show；
Distance-sensing receiving module is used to receive range sensor sensing running line car car body and tunnel wall in cable tunnel
Distance, and by it is described distance send to processor, shown in display screen；
Handheld terminal includes：Tilt angles detection module, Kalman filtering module, speed displacement mapping block, gyroscope
Acquisition module, gyroscope process chip, the second bluetooth communication, environment acquisition module, posture output module；
Second bluetooth communication communicates to connect with the first bluetooth communication, for making handheld terminal and control subsystem
Establish communication connection；
The tilt angles detection module, the acceleration of gravity sent for obtaining user, according to trigonometric function algorithm, meter
Calculate and change out tilt angles；
The Kalman filtering module is used to be filtered tilt angles, obtains absolute angle；
The speed displacement mapping block, for the integral and calculating according to the absolute angle and time, it is determined that absolute position
Move, absolute velocity, and by absolute angle, absolute displacement, absolute velocity, pass through the second bluetooth communication and the first Bluetooth communication
Module communication connection is sent to the processor, processor sends corresponding control instruction to servo controller, holds running line car
OK；
The gyroscope acquisition module is used to obtain the mobile angular acceleration values that user sends；
The gyroscope process chip is used for according to the angular acceleration values of acquisition and the integral and calculating of time value, is held
Displacement data that terminal moves on X-axis, Y-axis, Z axis, speed data, angle-data, and pass through the second bluetooth communication will
Displacement data, speed data, angle-data are sent to the processor, and processor sends corresponding control to servo controller and referred to
Order, perform running line car；
The environment acquisition module is used for the use environment parameter for obtaining handheld terminal, and ambient parameter is sent to processing
Device；
The processor be used for receive speed displacement mapping block transmission absolute angle, absolute displacement, absolute velocity with
And displacement data, speed data, the angle-data that gyroscope process chip is sent, and obtained and held eventually according to environment acquisition module
The use environment parameter at end, differentiate absolute angle, absolute displacement, absolute velocity or the selection chosen and perform motion sensor acquisition
Perform displacement data, speed data, angle-data that gyroscope obtains；
The posture output module is used for the data action parameter sent according to the processor, performs corresponding posture and moves
Make.
Preferably, the environment acquisition module includes：Temperature sensor；
The processor includes：Kinetic temperature range setting module, gyroscope temperature range setup unit, temperature are chosen and held
Row unit；
The temperature sensor is used for the environment temperature for sensing handheld terminal periphery；
The kinetic temperature range setting module, which is used to set, performs the temperature range that motion sensor obtains action data；
The gyroscope temperature range setup unit, which is used to set, performs the temperature range that gyroscope obtains action data；
The temperature is chosen execution unit and is used for when the environment temperature on handheld terminal periphery is set in the kinetic temperature scope
When within the temperature range of order member setting, perform motion sensor and obtain action data, or the environment temperature when handheld terminal periphery
Degree performs gyroscope and obtains action data when within the temperature range of gyroscope temperature range setup unit setting.
Preferably, the environment acquisition module includes：Electromagnetic radiation sensor；
The processor includes：Move amount of electromagnetic radiation setup unit, gyroscope amount of electromagnetic radiation setup unit, electromagnetism spoke
The amount of penetrating chooses execution unit；
The electromagnetic radiation sensor is used for the amount of electromagnetic radiation for sensing handheld terminal surrounding enviroment；
The motion amount of electromagnetic radiation setup unit, which is used to set, performs the electromagnetism spoke that motion sensor obtains action data
The amount of penetrating scope；
The gyroscope amount of electromagnetic radiation setup unit, which is used to set, performs the electromagnetic radiation that gyroscope obtains action data
Measure scope；
The amount of electromagnetic radiation is chosen execution unit and is used for when handheld terminal surrounding enviroment amount of electromagnetic radiation is in the motion
When in the range of the amount of electromagnetic radiation of amount of electromagnetic radiation setup unit setting, perform motion sensor and obtain action data, or work as hand
Terminal, peripheral electromagnetic radiation from environment amount is held in the range of the amount of electromagnetic radiation that the gyroscope amount of electromagnetic radiation setup unit is set
When, perform gyroscope and obtain action data.
Preferably, the control subsystem also includes：Cable laying length setting module, cable laying control module；
The cable laying length setting module is used for the length for setting cable laying；
Cable guide device includes：Folding and unfolding cable length metering module；
The folding and unfolding cable length metering module electrically connects with the processor, for the length for measuring cable laying and the length drawn over to one's side
Degree, and by cable laying length and length transmission is drawn over to one's side to processor；
The cable laying control module is used to, when cable laying length is equal to setting cable laying length, control motor and car body electricity
Machine shuts down.
Preferably, the bottom of cable reel installation is provided with universal caster wheel.
Preferably, driving wheel bottom is provided with de- wheel, and crawler belt is around de- wheel top.
Preferably, control subsystem also includes：Locating module；
Locating module is connected with processor, for positioning the positional information of running line car cable tunnel again, and passes through display screen
Display.
Preferably, cable reel installation also includes：Electric supply installation；
Electric supply installation is used for the power supply for electrical equipment for giving running line car and cable reel installation.
Preferably, the remote control switch for being surrounded by LED and controlling LED respectively of car body and near-end control are opened
Close, remote control switch is connected with central controller, for controlling LED switch according to the control signal of processor.
As can be seen from the above technical solutions, the present invention has advantages below：
Cable end is fixed on running line car, and running line car guiding cable enters cable tunnel.Running gear has out-of-flatness
Landform locomotor activity, it can not only be walked by driven pulley, additionally it is possible to which the different road surface of step and convex-concave is passed through by crawler belt.
So that running line car guiding cable passes through in cable tunnel.
The cable axle rotation of cable reel installation, makes volume put the cable on cable axle by cable guide device cable laying,
It is engaged easy to operate and use using control subsystem control with running line car.
User sends control instruction, the car operation of control running line by handheld terminal.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, the required accompanying drawing used in description will be made below simple
Ground introduction, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill
For personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the overall schematic of the running line device with remote manual control；
Fig. 2 is the overall structure figure of running line car；
Fig. 3 is the top view of running line car；
Fig. 4 is the running gear structure chart of running line car；
Fig. 5 is running gear schematic front view；
Fig. 6 is the front view of cable reel installation；
Fig. 7 is the top view of cable reel installation；
Fig. 8 is the side view of cable reel installation；
Fig. 9 is the overall schematic of the running line device with remote manual control.
Embodiment
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, will use below specific
Embodiment and accompanying drawing, the technical scheme protected to the present invention are clearly and completely described, it is clear that implementation disclosed below
Example is only part of the embodiment of the present invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this area
All other embodiment that art personnel are obtained under the premise of creative work is not made, belong to the model of this patent protection
Enclose.
The present embodiment provides a kind of running line device with remote manual control, as shown in Figure 1 to 9, including：Running line car 21, electricity
Cable draw off gear 22, the control subsystem being arranged on running line car 21 and the handheld terminal with control subsystem communication connection
123；
Running line car 21 includes：Car body 1, car body 1 are provided with axletree 3, and the both ends of axletree 3 are connected with running gear 2, axletree 3 with
The joint portion of running gear 2 is provided with bearing 4, and axletree 3 is provided with differential gear 5；Be additionally provided with car body 1 cable fixed bit 6 and
The car body motor that axle shaft 3 is run；Cable fixed bit 6 is used to connect the cable for needing to pull.Car body surrounding, which is provided with, to be had
Range sensor；Camera 6 is additionally provided with car body；
Running gear 2 includes：The driving wheel 7 being connected with axletree 3 by bearing 4, the both sides of driving wheel 7 are respectively equipped with driven
Wheel 8；Driving wheel 7 is connected by V-arrangement girder steel 9 with driven pulley 8；The V-arrangement girder steel 9 is provided with crawler belt 10, the V of the V-arrangement girder steel 9
Guide wheel 11 is respectively equipped with the break of two apexes of shape and V-arrangement；Bend wheel is respectively equipped with close to the position of the both sides of driving wheel 7
13；The inside of V-arrangement girder steel 9 is provided with support wheel 14；Crawler belt 10 is supported by guide wheel 11, bend wheel 13, and is arranged on two V-arrangement girder steels
9 inside, crawler belt 10 is between two bend wheels in cross-shaped；Car body motor driving driving wheel 7 is run, and makes driving wheel band
Dynamic crawler belt 10 operates；
Cable reel installation 22 includes：Cable cabinet 37, motor 32, motor reducer, cable guide device 31, volume
Cable disk 34, slip ring assembly；Cable rolling disk 34 is connected by cable axle and bearing block 35 with cable cabinet 37；The one of cable rolling disk cable axle
End is provided with cable axle sprocket wheel 35, and cable axle sprocket wheel 35 passes through driving-chain 1 and the motor being arranged on motor reducer power transmission shaft
Sprocket wheel 33 connects；Cable guide device 31 is arranged on the end of cable cabinet 37, and cable guide device 37 is provided with cable guide axle,
Guidance axis be arranged in parallel with cable axle 34.
Slip ring assembly includes：Slip ring 40, slip ring frame 41 and driving-chain 2 43；Slip ring 40 is arranged on cable by slip ring frame 41
In frame 37, and slip ring 40 is connected by driving-chain 2 43 and motor sprocket 33.Slip ring 40 passes through driving-chain 2 43 and electricity
Chain wheel 33 is connected, and cable rolling disk 34 passes through driving-chain 1 and the motor sprocket 33 being arranged on motor reducer power transmission shaft
Connection, when motor 32 operates, while cable rolling disk 34 and slip ring 40 is driven to rotate, slip ring 40 records cable rolling disk volume 34 and put in real time
The quantity of cable.Chain wheel cover 45 is provided with driving-chain 1 and driving-chain 2 43.Motor 32 is provided with motor fixing plate.
Car body surrounding is provided with range sensor；Car body 1 is provided with camera 6.
The control subsystem includes：Processor 51, servo controller 52, auxiliary reclay 1, auxiliary reclay two
53rd, display screen 55, the first bluetooth communication 56, Distance-sensing receiving module 58, video reception module 59；
Distance-sensing receiving module 58, servo controller 52, display screen 55, video reception module 59, the first Bluetooth communication
Module 56 is connected with processor 51 respectively, and video reception module 59 is used for the cable tunnel interior video for receiving the shooting of camera 6
Image, and shown by display screen 55；
Distance-sensing receiving module 58 is used to receive range sensor sensing running line car car body and tunnel in cable tunnel
The distance of wall, and the distance is sent to processor 51, shown in display screen 55；
Servo controller 52 passes through auxiliary reclay 1 and car body motor connection, control car body walking；Servo controller
52 are connected by auxiliary reclay 2 53 with motor, and servo controller 52 controls motor to realize cable laying；SERVO CONTROL
Device 52, slip ring assembly electrically connect with processor 51 respectively, and the processor 51 is used to control driving respectively by servo controller
Motor and car body motor operation.
Cable end is fixed on running line car, running line car guiding cable enters cable tunnel.Running gear has injustice
Site preparation shape locomotor activity, can not only be walked by driven pulley, additionally it is possible to pass through the different road of step and convex-concave by crawler belt
Face.So that running line car guiding cable passes through in cable tunnel.The cable axle rotation of cable reel installation, makes volume put in electricity
Cable on cable axle by cable guide device cable laying, its be engaged with running line car using control subsystem control it is easy to operation and
Use.For the ease of the communication between user, user passes through handheld terminal and the control subsystem being arranged on cable reel installation
System is communicated, and there are both ends so usual cable tunnel, and subscriber station is at the both ends of cable tunnel, if cable tunnel is longer,
So it is not easy to link up.And carrying out communication using handheld terminal and control subsystem realizes communication, it is easy to the logical of payout process
Letter.Make cable laying more convenient.
Handheld terminal 123 includes：Tilt angles detection module, Kalman filtering module, speed displacement mapping block, gyro
Instrument acquisition module, gyroscope process chip, the second bluetooth communication 61, environment acquisition module, posture output module；
Second bluetooth communication 61 communicates to connect with the first bluetooth communication 56, for making handheld terminal and control
System establishes communication connection；
The tilt angles detection module, the acceleration of gravity sent for obtaining user, according to trigonometric function algorithm, meter
Calculate and change out tilt angles；
The Kalman filtering module is used to be filtered tilt angles, obtains absolute angle；
The speed displacement mapping block, for the integral and calculating according to the absolute angle and time, it is determined that absolute position
Move, absolute velocity, and by absolute angle, absolute displacement, absolute velocity, pass through the second bluetooth communication and the first Bluetooth communication
Module communication connection is sent to the processor, processor sends corresponding control instruction to servo controller, holds running line car
OK；
The gyroscope acquisition module is used to obtain the mobile angular acceleration values that user sends；
The gyroscope process chip is used for according to the angular acceleration values of acquisition and the integral and calculating of time value, is held
Displacement data that terminal moves on X-axis, Y-axis, Z axis, speed data, angle-data, and pass through the second bluetooth communication will
Displacement data, speed data, angle-data send to the processor, processor 51 and send corresponding control to servo controller 52
System instruction, performs running line car；
The environment acquisition module is used for the use environment parameter for obtaining handheld terminal, and ambient parameter is sent to processing
Device；
The processor be used for receive speed displacement mapping block transmission absolute angle, absolute displacement, absolute velocity with
And displacement data, speed data, the angle-data that gyroscope process chip is sent, and obtained and held eventually according to environment acquisition module
The use environment parameter at end, differentiate absolute angle, absolute displacement, absolute velocity or the selection chosen and perform motion sensor acquisition
Perform displacement data, speed data, angle-data that gyroscope obtains；
The posture output module is used for the data action parameter sent according to the processor, performs corresponding posture and moves
Make.
Because user in cable tunnel or cable channel uses running line device, such external environment condition is more severe, environment
The performance and the degree of accuracy of electrical equipment are had a great influence, cause to control error increase.In order to which the error for solving to use is big, action is prolonged
The problem of slow.Environment acquisition module includes：Temperature sensor；
Processor includes：Kinetic temperature range setting module, gyroscope temperature range setup unit, temperature, which are chosen, performs list
Member；Temperature sensor is used for the environment temperature for sensing handheld terminal periphery；Kinetic temperature range setting module, which is used to set, to be performed
Motion sensor obtains the temperature range of action data；
Gyroscope temperature range setup unit, which is used to set, performs the temperature range that gyroscope obtains action data；Temperature is selected
Take execution unit be used for when handheld terminal periphery environment temperature the kinetic temperature range setting unit sets temperature model
When enclosing interior, perform motion sensor and obtain action data, or when the environment temperature on handheld terminal periphery is in the gyroscope temperature
When within the temperature range of range setting unit sets, perform gyroscope and obtain action data.
Further, environment acquisition module includes：Electromagnetic radiation sensor；Processor includes：Motion amount of electromagnetic radiation is set
Order member, gyroscope amount of electromagnetic radiation setup unit, amount of electromagnetic radiation choose execution unit；Electromagnetic radiation sensor is used to sense
The amount of electromagnetic radiation of handheld terminal surrounding enviroment；Amount of electromagnetic radiation setup unit is moved to be used to set execution motion sensor acquisition
The amount of electromagnetic radiation scope of action data；Gyroscope amount of electromagnetic radiation setup unit, which is used to set, performs gyroscope acquisition action number
According to amount of electromagnetic radiation scope；Amount of electromagnetic radiation is chosen execution unit and is used for when handheld terminal surrounding enviroment amount of electromagnetic radiation is in institute
When stating in the range of the amount of electromagnetic radiation of motion amount of electromagnetic radiation setup unit setting, perform motion sensor and obtain action data,
Or the amount of electromagnetic radiation set in the gyroscope amount of electromagnetic radiation setup unit when handheld terminal surrounding enviroment amount of electromagnetic radiation
In the range of when, perform gyroscope obtain action data.
Processor is used to run by Frequency Converter Control motor, and the take-up of motor 32 is controlled by servo controller
And cable laying.And control subsystem includes：Over-voltage protection module, overcurrent protection module, overtemperature protection module, under-voltage protection
Module, soft starting circuit, control subsystem are arranged in electric cabinet, and electric cabinet is fixed on cable cabinet 7 by automatically controlled box bracket
On, there is certain safeguard measure to the electrical equipment of control subsystem.Switching Power Supply is used to make control subsystem pass through switch
Power supply is connected with external power.
Processor includes：Cable laying length setting module；Cable laying length setting module is used for the length for setting cable laying；Cable is led
Leading-in device 31 includes：Folding and unfolding cable length metering module；Folding and unfolding cable length metering module electrically connects with processor, for measuring cable laying
Length and the length drawn over to one's side, and by cable laying length and draw over to one's side length transmission to processor.
Processor also includes：Cable laying control module；Cable laying control module is used for when cable laying length is equal to setting cable laying length
When, control motor 32 and car body motor to shut down.
Cable drum can be connected by mechanical key with processor, control motor 32 and car body motor to perform cable laying
Operation, now motor driven cable rolling disk 34 is rotated, cable rolling disk 34 starts cable laying, and running line car 21 is moved ahead, and in payout process, cable is led
Leading-in device 31 carries out the counting of cable laying length and by numerical value by Serial Port Transmission to processor, if cable laying length reaches setting length
Degree, then processor control motor 32 and car body motor shut down.
Because twisted and released of the cable cable employs slip ring assembly, so during folding and unfolding, control subsystem can be whole to cable
End provides dc source power supply and all the way serial communication all the way.So twisted and released of the cable cable realizes automatic payout operation, improves
The automaticity of equipment.The bottom of twisted and released of the cable cable is provided with universal caster wheel 38.
Control subsystem also includes：Locating module；Locating module is connected with processor, for positioning running line car cable tunnel again
The positional information in road, and shown by display screen.
Cable reel installation also includes：Electric supply installation；Electric supply installation is used to give running line car 21 and cable reel installation 22
Power supply for electrical equipment.
The remote control switch and near-end controlling switch that are surrounded by LED and control LED respectively of car body, remotely
Controlling switch is connected with central controller, for controlling LED switch according to the control signal of central controller.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, identical similar portion refers to mutually between each embodiment.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (9)
- A kind of 1. running line device with remote manual control, it is characterised in that including：Running line car, cable reel installation, it is arranged on and draws Control subsystem on cable car and the handheld terminal with control subsystem communication connection；Running line car includes：Car body, car body are provided with axletree, and axletree both ends are connected with the knot of running gear, axletree and running gear Conjunction portion is provided with bearing, and axletree is provided with differential gear；Cable fixed bit and the car body of axle shaft operation are additionally provided with car body Motor；Car body surrounding is provided with range sensor；Camera is additionally provided with car body；Running gear includes：The driving wheel being connected with axletree by bearing, the both sides of driving wheel are respectively equipped with driven pulley；Driving wheel It is connected by V-arrangement girder steel with driven pulley；The V-arrangement girder steel is provided with crawler belt, two apexes of V-arrangement and V-arrangement of the V-arrangement girder steel Break at be respectively equipped with guide wheel；Bend wheel is respectively equipped with close to the position of driving wheel both sides；Support is provided with inside V-arrangement girder steel Wheel；Crawler belt supports by guide wheel, bend wheel, and is arranged on the inside of two V-arrangement girder steels, and crawler belt is in ten between two bend wheels Word cross-like；The driving driving wheel operation of car body motor, makes driving wheel drive crawler belt operating；Cable reel installation includes：Cable cabinet, motor, motor reducer, cable guide device, cable rolling disk, slip ring group Part；Cable rolling disk is connected by cable axle and bearing block with cable cabinet；One end of cable rolling disk cable axle is provided with cable axle sprocket wheel, and cable axle sprocket wheel is by driving-chain one and is arranged on motor reducer Motor sprocket connection on power transmission shaft；The cable guide device is arranged on the end of the cable cabinet, and the cable guide device is provided with cable guide axle, The guidance axis be arranged in parallel with the cable axle；The slip ring assembly includes：Slip ring, slip ring frame and driving-chain two；The slip ring is arranged on the cable gear by slip ring frame On frame, and the slip ring is connected by driving-chain two and motor sprocket；The control subsystem includes：Processor, servo controller, auxiliary reclay one, auxiliary reclay two, display screen, One bluetooth communication, Distance-sensing receiving module, video reception module；Servo controller passes through auxiliary reclay one and car body motor connection, control car body walking；Servo controller is connected by auxiliary reclay two with motor, and servo controller control motor realizes cable laying；Slip ring assembly, Distance-sensing receiving module, servo controller, display screen, video reception module, the first bluetooth communication It is connected respectively with processor, processor is used to control motor and car body motor operation respectively by servo controller；Video reception module is used for the cable tunnel interior video image for receiving camera shooting, and is shown by display screen；Distance-sensing receiving module be used to receiving range sensor sense running line car in cable tunnel car body and tunnel wall away from From, and the distance is sent to processor, shown in display screen；Handheld terminal includes：Tilt angles detection module, Kalman filtering module, speed displacement mapping block, gyroscope obtain Module, gyroscope process chip, the second bluetooth communication, environment acquisition module, posture output module；Second bluetooth communication communicates to connect with the first bluetooth communication, for making handheld terminal be established with control subsystem Communication connection；The tilt angles detection module, the acceleration of gravity sent for obtaining user, according to trigonometric function algorithm, calculate simultaneously Change out tilt angles；The Kalman filtering module is used to be filtered tilt angles, obtains absolute angle；The speed displacement mapping block, for the integral and calculating according to the absolute angle and time, determine absolute displacement, absolutely To speed, and by absolute angle, absolute displacement, absolute velocity, pass through the second bluetooth communication and the first bluetooth communication Communication connection sends to the processor, processor and sends corresponding control instruction to servo controller, performs running line car；The gyroscope acquisition module is used to obtain the mobile angular acceleration values that user sends；The gyroscope process chip is used for according to the angular acceleration values of acquisition and the integral and calculating of time value, obtains handheld terminal Displacement data, speed data, the angle-data moved on X axles, Y axles, Z axles, and by the second bluetooth communication by position Move data, speed data, angle-data to send to the processor, processor sends corresponding control to servo controller and referred to Order, perform running line car；The environment acquisition module is used for the use environment parameter for obtaining handheld terminal, and ambient parameter is sent to processor；The processor is used for absolute angle, absolute displacement, absolute velocity and the top for receiving the transmission of speed displacement mapping block Displacement data, speed data, the angle-data of spiral shell instrument process chip transmission, and handheld terminal is obtained according to environment acquisition module Use environment parameter, differentiate that choosing the absolute angle for performing motion sensor and obtaining, absolute displacement, absolute velocity or selection performs Displacement data, speed data, the angle-data of gyroscope acquisition；The posture output module is used for the data action parameter sent according to the processor, performs corresponding posture action.
- 2. the running line device according to claim 1 with remote manual control, it is characterised in thatThe environment acquisition module includes：Temperature sensor；The processor includes：Kinetic temperature range setting module, gyroscope temperature range setup unit, temperature, which are chosen, performs list Member；The temperature sensor is used for the environment temperature for sensing handheld terminal periphery；The kinetic temperature range setting module, which is used to set, performs the temperature range that motion sensor obtains action data；The gyroscope temperature range setup unit, which is used to set, performs the temperature range that gyroscope obtains action data；The temperature chooses execution unit and is used for the environment temperature when handheld terminal periphery in the kinetic temperature range set list When within the temperature range of member setting, perform motion sensor and obtain action data, or when the environment temperature on handheld terminal periphery exists When within the temperature range of the gyroscope temperature range setup unit setting, perform gyroscope and obtain action data.
- 3. the running line device according to claim 1 with remote manual control, it is characterised in thatThe environment acquisition module includes：Electromagnetic radiation sensor；The processor includes：Move amount of electromagnetic radiation setup unit, gyroscope amount of electromagnetic radiation setup unit, amount of electromagnetic radiation Choose execution unit；The electromagnetic radiation sensor is used for the amount of electromagnetic radiation for sensing handheld terminal surrounding enviroment；The motion amount of electromagnetic radiation setup unit, which is used to set, performs the amount of electromagnetic radiation that motion sensor obtains action data Scope；The gyroscope amount of electromagnetic radiation setup unit, which is used to set, performs the amount of electromagnetic radiation model that gyroscope obtains action data Enclose；The amount of electromagnetic radiation is chosen execution unit and is used for when handheld terminal surrounding enviroment amount of electromagnetic radiation is in the motion electromagnetism When in the range of the amount of electromagnetic radiation of amount of radiation setup unit setting, perform motion sensor and obtain action data, or work as and hold eventually When end periphery electromagnetic radiation from environment amount is in the range of the amount of electromagnetic radiation that the gyroscope amount of electromagnetic radiation setup unit is set, hold Row gyroscope obtains action data.
- 4. the running line device according to claim 1 with remote manual control, it is characterised in thatThe control subsystem also includes：Cable laying length setting module, cable laying control module；The cable laying length setting module is used for the length for setting cable laying；Cable guide device includes：Folding and unfolding cable length metering module；The folding and unfolding cable length metering module electrically connects with the processor, for measure cable laying length and the length drawn over to one's side, And by cable laying length and length transmission is drawn over to one's side to processor；The cable laying control module is used to, when cable laying length is equal to setting cable laying length, control motor and car body motor to stop Only operate.
- 5. the running line device according to claim 1 with remote manual control, it is characterised in thatThe bottom of cable reel installation is provided with universal caster wheel.
- 6. the running line device according to claim 1 with remote manual control, it is characterised in thatDriving wheel bottom is provided with de- wheel, and crawler belt is around de- wheel top.
- 7. the running line device according to claim 1 with remote manual control, it is characterised in thatControl subsystem also includes：Locating module；Locating module is connected with processor, for positioning the positional information of running line car cable tunnel again, and is shown by display screen.
- 8. the running line device according to claim 1 with remote manual control, it is characterised in thatCable reel installation also includes：Electric supply installation；Electric supply installation is used for the power supply for electrical equipment for giving running line car and cable reel installation.
- 9. the running line device according to claim 1 with remote manual control, it is characterised in thatThe remote control switch and near-end controlling switch that are surrounded by LED and control LED respectively of car body, remote control Switch is connected with central controller, for controlling LED switch according to the control signal of processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610714076.XA CN106329407B (en) | 2016-08-24 | 2016-08-24 | A kind of running line device with remote manual control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610714076.XA CN106329407B (en) | 2016-08-24 | 2016-08-24 | A kind of running line device with remote manual control |
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| CN106329407A CN106329407A (en) | 2017-01-11 |
| CN106329407B true CN106329407B (en) | 2017-12-19 |
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| CN108963873A (en) * | 2018-06-26 | 2018-12-07 | 国网山东省电力公司滨州市沾化区供电公司 | A kind of power grid construction stretching machine |
| CN108963880B (en) * | 2018-07-17 | 2020-10-23 | 江苏九城建筑安装工程有限公司 | Municipal works cable laying auxiliary device |
| CN111224350A (en) * | 2020-01-09 | 2020-06-02 | 广东电网有限责任公司 | Novel wire towing vehicle |
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| CN103231714B (en) * | 2013-04-22 | 2015-07-01 | 西南交通大学 | Traction motor on-line monitoring-based electric locomotive idling slippage identification method |
| JP6043688B2 (en) * | 2013-07-09 | 2016-12-14 | 東日本電信電話株式会社 | Wiring equipment and wiring method |
| CN203976283U (en) * | 2014-07-11 | 2014-12-03 | 常州科研试制中心有限公司 | The comprehensive electric-control system of mining rope traction transportation device |
| CN204310749U (en) * | 2014-10-10 | 2015-05-06 | 深圳市德润青华水下工程科技股份有限公司 | A kind of winch monitored control system |
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