Self-propelled crossing vehicle and crossing frame

Abstract

The invention relates to the technical field of electric power stringing construction, and provides a self-propelled crossing vehicle and a crossing frame. The self-propelled crossing vehicle comprises a walking device, a supporting device and a lifting device. The walking device comprises a bottom frame and a walking mechanism, and the walking mechanism is installed on the bottom frame. The supporting device comprises telescopic arms and telescopic legs, the telescopic arms are installed on the bottom frame, the telescopic legs are installed on the telescopic arms, the telescopic arms can drive the telescopic legs to move in the horizontal direction, and the telescopic legs can stretch out and draw back in the vertical direction; the lifting device is installed on the bottom frame and comprises at least two layers of stacked lifting frames, each layer of lifting frame comprises a first lifting frame, a second lifting frame and a horizontal connecting frame, the two ends of the first lifting frame and the two ends of the second lifting frame are connected to the corresponding horizontal connecting frames at intervals respectively, and every two adjacent layers of lifting frames share one horizontal connecting frame. The first lifting frame and the second lifting frame can ascend and descend. In this way, the adaptive capacity and lateral stability of the self-propelled crossing vehicle to the terrain can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of power line construction, and in particular to a self-propelled straddling vehicle and a straddling frame. Background Art

[0002] In the construction of power transmission lines, they often cross various obstacles, such as roads, railways, broadcast lines, and power lines. To protect the conductors from damage during operation and to ensure the safe operation of the objects being crossed, spanning frames must be erected at these intersections before laying out the lines to ensure the safe and smooth passage of the conductors. The following methods are commonly used to implement spanning during power line construction, but none of them meet the functional requirements of the different lifting heights and support stability required for spanning across the power grid.

[0003] Simple connection methods like scaffolding and steel pipe racks, used to achieve the span, have limited overall load-bearing capacity. Increasing the load-bearing capacity by changing the connection method or increasing the size of the steel pipe racks would increase scaffolding costs, resulting in poor economic efficiency. Furthermore, the long construction and dismantling periods affect the construction schedule. Manual scaffolding poses safety risks during the construction process.

[0004] The method of using a crane umbrella frame to cross the bridge has the problem of contradiction between lifting height and lifting range. When a large range needs to be spanned, the lifting height is limited, the stability is poor, and there is a major safety hazard.

[0005] The method of using a scissor-type crossing frame to achieve lifting and crossing is mainly suitable for relatively flat horizontal ground. When used for crossing, the main working condition is lateral load-bearing. However, the lateral stability of the scissor-type crossing frame is poor, and there is a problem of lateral instability. In addition, in order to achieve lifting, the bottom connection structure of the scissor-type crossing frame is generally hinged at one end and sliding at the other end. The bottom fixed structure is weak. When it is subjected to a large lateral load, it is easy to cause the bottom to be unstable, posing a major safety hazard. In addition, for mountainous areas, hills and other areas, a certain degree of adaptability to lateral and longitudinal slopes is required. The scissor-type crossing frame is difficult to adapt to more complex terrain environments with slopes. Summary of the Invention

[0006] In view of this, the present invention provides a self-propelled straddle vehicle that can improve the self-propelled straddle vehicle's adaptability to terrain and lateral stability. The self-propelled straddle vehicle includes:

[0007] A walking device, comprising a chassis and a walking mechanism, wherein the walking mechanism is mounted on the chassis to achieve self-propelled travel;

[0008] A supporting device, comprising a telescopic arm and a telescopic leg, wherein the telescopic arm is mounted on the base frame, and the telescopic leg is mounted on the telescopic arm, wherein the telescopic arm can drive the telescopic leg to move horizontally, and the telescopic leg can extend and retract vertically so that the telescopic leg is supported on the ground or leaves the ground;

[0009] A lifting device is installed on the base frame, and the lifting device includes at least two layers of stacked lifting frames. The lifting frames on each layer include a first lifting frame, a second lifting frame, and a horizontal connecting frame. The ends of the first lifting frame and the second lifting frame are respectively connected to the corresponding horizontal connecting frames at intervals. The lifting frames on two adjacent layers share one horizontal connecting frame. The first lifting frame and the second lifting frame can both be raised and lowered so that the lifting frames have a supporting state and a storage state.

[0010] In some embodiments, the first lifting frame and the second lifting frame each include:

[0011] A lower connecting frame, an upper connecting frame and a first driving member, wherein the lower end of the lower connecting frame is hinged to one of the horizontal connecting frames, the upper end of the lower connecting frame is hinged to the lower end of the upper connecting frame, and the upper end of the upper connecting frame is hinged to another horizontal connecting frame, and the first driving member is used to drive the lower connecting frame and the upper connecting frame to move so that the lifting frame is in a supporting state or a storage state.

[0012] In some embodiments, at least one of the first lifting frame and the second lifting frame further comprises:

[0013] The second driving member is used for driving connection with one of the lower connecting frame and the upper connecting frame.

[0014] In some embodiments, one end of the first driving member and the second driving member are respectively hinged to the lower horizontal connecting frame, and the other end of the first driving member and the second driving member are respectively hinged to the upper connecting frame;

[0015] Wherein, in the upper connecting frame, the hinge point of the first driving member and the hinge point of the second driving member are respectively located on both sides of the hinge point of the lower connecting frame, and the hinge point of the second driving member is located at the lower end portion of the upper connecting frame.

[0016] In some embodiments, the first lifting frame and the second lifting frame each include two sets of the lower connecting frame, the upper connecting frame and the first driving member that are spaced apart.

[0017] In some embodiments, the distance between the two lower connecting frames of the first lifting frame is unequal to the distance between the two lower connecting frames of the second lifting frame, so that when the lifting frames are in the stowed state, the two lower connecting frames of the first lifting frame can be accommodated within the two lower connecting frames of the second lifting frame;

[0018] The distance between the two upper connecting frames of the first lifting frame is unequal to the distance between the two upper connecting frames of the second lifting frame, so that when the lifting frames are in the stored state, the two upper connecting frames of the first lifting frame can be accommodated in the two upper connecting frames of the second lifting frame.

[0019] In some embodiments, one of the first lifting frame and the second lifting frame further includes a connecting beam and a second driving member, the connecting beam connecting one of the two lower connecting frames and the two upper connecting frames of the first lifting frame or the second lifting frame, and the second driving member is drivingly connected to the connecting beam.

[0020] In some embodiments, one of the first lifting frame and the second lifting frame further includes a first reinforcing beam, wherein the first reinforcing beam is adjacent to the connecting beam and is connected to one of the two lower connecting frames and the two upper connecting frames in the first lifting frame or the second lifting frame; and / or,

[0021] The first lifting frame and the second lifting frame each include a second reinforcing beam connected to the two lower connecting frames of the first lifting frame and the second lifting frame, and connected to the two upper connecting frames of the first lifting frame and the second lifting frame, respectively.

[0022] In some embodiments, projected along the vertical direction, the second driving members in the lifting frames of two adjacent layers are respectively located on both sides of the horizontal connecting frame.

[0023] In some embodiments, the walking mechanism includes tracks or tires; and / or,

[0024] There are four telescopic arms and four telescopic legs, and the four telescopic arms can be unfolded to form an H-shape or a radial shape; and / or,

[0025] The self-propelled straddling vehicle further comprises a guardrail, the uppermost horizontal connecting frame of the lifting device can serve as a top platform, and the guardrail is arranged on the top platform.

[0026] The present application also provides a spanning frame, including:

[0027] At least two self-propelled straddling vehicles according to any one of the embodiments of the present application;

[0028] A crossing net connected between the lifting devices of the two self-propelled crossing vehicles;

[0029] The top of the lifting device of each self-propelled straddling vehicle is connected to one end of at least two of the cables, and the other ends of the two cables are anchored to the ground.

[0030] The self-propelled straddle carrier and straddle frame provided in the embodiments of the present application have first and second lifting frames that can independently adjust their respective support heights, thereby adjusting the support height and support angle of each horizontal connecting frame layer to facilitate leveling of the top platform. This expands the adjustment range of the support height of each lifting frame layer, thereby expanding the adjustment range of the support height of the entire self-propelled straddle carrier. This increases the maximum lifting height per layer. For the same required support height, the number of required lifting frames can be reduced, facilitating pipeline routing, reducing the number of required pipelines and components, simplifying the structure, and reducing the weight of the lifting frames, thereby reducing the weight of the entire self-propelled straddle carrier. As a result, the lower structure of the self-propelled straddle carrier is heavier than the upper structure, improving rollover resistance and supporting stability. Furthermore, due to the simple structure and relatively fewer components, assembly errors can be reduced. When subjected to lateral loads, the possibility of cumulative errors leading to overall bending or twisting of the lifting device can be reduced, reducing the probability of fatigue damage to the lifting device structure and improving overall structural reliability. Furthermore, by providing a walking device, the self-propelled straddling vehicle can move autonomously, significantly reducing the manpower and material resources required for movement, thereby improving construction efficiency and economic benefits. By providing a telescopic arm and telescopic legs on the support device, the self-propelled straddling vehicle can adapt to complex terrain. For example, it can still maintain stable support in terrain with a large slope, which can improve the adaptability and support stability of the self-propelled straddling vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic structural diagram of a self-propelled straddling vehicle in an embodiment of the present application, wherein the lifting frame is in a supporting state;

[0032] Figure 2 for Figure 1 A front view of the self-propelled straddle carrier shown;

[0033] Figure 3 for Figure 2 A schematic structural diagram of the self-propelled straddle carrier in a second state, wherein the telescopic arm is retracted;

[0034] Figure 4 for Figure 1 A side view of the self-propelled straddle carrier shown;

[0035] Figure 5 for Figure 1A top view of the self-propelled straddle carrier shown;

[0036] Figure 6 for Figure 1 A schematic structural diagram of the self-propelled straddle carrier in the third state, wherein the lifting frame is in the stowed state and the telescopic arm is retracted;

[0037] Figure 7 for Figure 6 A partial front view of the structure of the self-propelled straddle carrier is shown, wherein the guardrail is hidden;

[0038] Figure 8 for Figure 7 A top view of the self-propelled straddle carrier shown;

[0039] Figure 9 for Figure 7 A side view of the self-propelled straddle carrier shown;

[0040] Figure 10 This is a schematic structural diagram of a self-propelled straddling vehicle in another embodiment of the present application, wherein the lifting frame is in a supporting state;

[0041] Figure 11 for Figure 10 A schematic diagram of the partial structure of the self-propelled straddle carrier in the second state, wherein the lifting frame is in the stowed state, hiding the guardrail;

[0042] Figure 12 for Figure 11 A top view of the self-propelled straddle carrier shown;

[0043] Figure 13 for Figure 11 A side view of the self-propelled straddle carrier shown;

[0044] Figure 14 This is a schematic structural diagram of a spanning frame in one embodiment of the present application;

[0045] Figure 15 for Figure 14 A top view of the spanning frame shown;

[0046] Figure 16 for Figure 14 A schematic diagram of a partial structure of the spanning frame shown, wherein a self-propelled spanning vehicle and a cable are shown;

[0047] Figure 17 This is a structural diagram of a marshaling operation platform in one embodiment of the present application;

[0048] Figure 18 for Figure 17 A schematic diagram of the partial structure of the marshaling operation platform shown;

[0049] Figure 19Schematic diagram of the flow of a marshaling operation method in one embodiment of the present application;

[0050] Figure 20 A schematic diagram of a marshaling operation system and a spanned object in an embodiment of the present application;

[0051] Figure 21 Another schematic diagram of the grouping operation system and spanned objects in one embodiment of the present application.

[0052] Description of Reference Numerals

[0053] 100. Self-propelled straddling vehicle; 10. Traveling device; 11. Underframe; 12. Walking mechanism; 121. Crawler track; 20. Support device; 21. Telescopic arm; 22. Telescopic leg; 30. Lifting device; 31. Lifting frame; 311. First lifting frame; 312. Second lifting frame; 313. Horizontal connecting frame; 3131. Top platform; 301. Lower connecting frame; 302. Upper connecting frame; 303. First driving member; 304. Connecting beam; 305. Second driving member; 306. First reinforcing beam; 307. Second reinforcing beam; 40. Guardrail; 200. Spanning frame; 210. Cable; 220. Spanning net; 300. Marshalling operation platform; 310. Rigid platform; 400. Marshalling operation system; 410. Working cabin; 420. Mobile power station; 430. UAV; 440. Command cabin. DETAILED DESCRIPTION

[0054] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0055] It should be noted that in the embodiments of the present application, the orientations or positional relationships such as "upper", "lower", "top", and "bottom" are based on the orientations or positional relationships shown in the accompanying drawings. It should be understood that these orientation terms are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. The present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0056] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of this application can be understood in specific circumstances.

[0057] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0058] In the description of this specification, the description with reference to the terms "some embodiments", "exemplarily", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine different embodiments or examples described in this application and features of different embodiments or examples without contradiction.

[0059] In the prior art, most cross-over gantry cranes are scissor-type. These have limited lifting heights and poor lateral stability, making them suitable for relatively flat surfaces and difficult to adapt to complex terrain such as slopes. Furthermore, transporting them between different work locations requires significant manpower and material resources, causing significant inconvenience.

[0060] In view of this, the present application embodiment provides a self-propelled straddling vehicle 100, please refer to Figures 1-9 The self-propelled straddling vehicle 100 includes a traveling device 10, a supporting device 20 and a lifting device 30. The traveling device 10 includes a chassis 11 and a traveling mechanism 12, and the traveling mechanism 12 is installed on the chassis 11 to achieve self-propelled movement. Among them, self-propelled means that the self-propelled straddling vehicle 100 has the ability to travel independently. Specifically, self-propelled movement is achieved through the traveling mechanism 12. The traveling mechanism 12 can be one of a wheeled type and a crawler type, or can include both wheeled and crawler types.

[0061] The support device 20 includes a telescopic arm 21 and a telescopic leg 22. The telescopic arm 21 is installed on the base frame 11, and the telescopic leg 22 is installed on the telescopic arm 21. The support device 20 generally includes four telescopic arms 21 and four telescopic legs 22. The structural form installed on the base frame 11 can be divided into X-type or H-type. The X-type support device, that is, the telescopic arm 21 can rotate around the base frame 11 and move telescopically in a straight line. The H-type support device, that is, the telescopic arm 21 can move telescopically in a straight line relative to the base frame 11. The telescopic arm 21 can drive the telescopic leg 22 to move in the horizontal direction. For example, the telescopic arm 21 can drive the telescopic leg 22 to rotate in the horizontal direction, or the telescopic arm 21 can drive the telescopic leg 22 to move in a straight line in the horizontal direction. The telescopic leg 22 can be telescoped in the vertical direction so that the telescopic leg 22 is supported on the ground or leaves the ground.

[0062] The lifting device 30 is mounted on the base frame 11 and includes at least two stacked layers of lifting frames 31. Each layer of lifting frames 31 includes a first lifting frame 311, a second lifting frame 312, and a horizontal connecting frame 313. The ends of the first and second lifting frames 311, 312 are connected to corresponding horizontal connecting frames 313 at intervals. Adjacent layers of lifting frames 31 share a common horizontal connecting frame 313. Both the first and second lifting frames 311, 312 are capable of rising and falling, allowing the lifting frames 31 to have both a supporting state and a stowed state. The ends of the first and second lifting frames 311, 312 are fixedly connected to corresponding horizontal connecting frames 313, and both ends of the first and second lifting frames 311, 312 are capable of rotating about their corresponding horizontal connecting frames 313.

[0063] The self-propelled straddle carrier 100 can be used to assemble into a straddle frame, which includes a straddle net and the self-propelled straddle carrier 100. The straddle net is connected to the self-propelled straddle carriers 100 at both ends. For example, the straddle net is laid between two self-propelled straddle carriers 100 so that the power transmission line is ultimately placed on or above the straddle net between the two self-propelled straddle carriers 100.

[0064] The lifting device 30 is used to adjust the support height of the self-propelled straddle vehicle. Figure 1 The self-propelled straddling vehicle 100 may further include a guardrail 40. The uppermost horizontal connecting frame 313 of the lifting device 30 can serve as a top platform 3131. The guardrail 40 is arranged on the top platform 3131 to maintain the construction safety of the workers.

[0065] For example, the lifting frame 31 on each floor can be used as a lifting module to achieve standardization and modularization during production. For example, each horizontal connecting frame 313 and the first lifting frame 311 and the second lifting frame 312 connected to it can be used as a lifting module. If other structures are provided on the horizontal connecting frame 313, they can also be used as components of the lifting module. The arrangement of the lifting modules along the vertical direction can be set according to needs. For example, each lifting module can be exactly the same; or the lifting modules of odd-numbered floors along the vertical direction are the same, the lifting modules of even-numbered floors along the vertical direction are the same, and the lifting modules of odd and even floors are different. Or other arrangements can be used, which will not be described in detail here.

[0066] For example, the maximum lifting height of each lifting frame 31 is 10 meters (meters). Each lifting frame 31 is used as a lifting module, and the maximum lifting height of two lifting modules is 20 meters. The support height of the lifting frame 31 should be understood as the height of the lifting frame 31, and should not be understood as the height of the top platform 3131 from the ground. Figures 1-9 The embodiment in which the lifting device 30 is provided with two lifting modules is shown. Figure 10-13 An embodiment is shown in which the lifting device 30 is provided with three lifting modules.

[0067] The support angle and support height of the horizontal connecting frame 313 connected to the upper part are adjusted by changing the height of the first lifting frame 311 and the second lifting frame 312, thereby adjusting the support angle and support height of the top platform 3131 and leveling the top platform 3131 so that the top platform 3131 is in a stable state.

[0068] Because different terrains require different adjustments to the support height and support angle of the self-propelled straddling vehicle 100, the support height and support angle of each layer of the lifting frame 31 can be the same or different. For example, each layer of the lifting frame 31 can be adjusted to the same support height and support angle. In other embodiments, each layer of the lifting frame 31 can be adjusted to different support heights and support angles. Specifically, the heights of the first lifting frame 311 and the second lifting frame 312 of each layer of the lifting frame 31 can be the same or different, and the heights of the first lifting frame 311 and the second lifting frame 312 can be adjusted based on the leveling effect of the top platform 3131.

[0069] It is understood that when leveling the top platform 3131, only one lifting frame 31 can be adjusted, or multiple lifting frames 31 can be adjusted. When fine-tuning the angle, only one of the first lifting frame 311 and the second lifting frame 312 in a single lifting frame 31 can be adjusted, or both of the first lifting frame 311 and the second lifting frame 312 in a single lifting frame 31 can be adjusted simultaneously. The choice can be adapted according to needs and is not particularly limited in this application.

[0070] It is understandable that the first lifting frame 311 and the second lifting frame 312 of the lifting frame 31 are structurally separate and have no direct connection relationship. They are indirectly connected through the horizontal connecting frame 313. In terms of space, the first lifting frame 311 and the second lifting frame 312 will not interfere with each other when they are lifted or lowered. Figure 1 As shown, during the lifting process of the lifting frame 31 , the first lifting frame 311 and the second lifting frame 312 of the lifting frame 31 are spaced apart from each other and are completely separated in space.

[0071] In the related art, the scissor-type spanning frame structure can be understood as a first lifting frame and a second lifting frame directly connected by a hinge shaft. Due to the existence of the hinge shaft, the movement of the first lifting frame and the second lifting frame is mutually restricted. During the lifting process, the vertical diagonal distance between the first lifting frame and the second lifting frame becomes smaller, while the horizontal diagonal distance increases, which inevitably changes the support width between the first lifting frame and the second lifting frame, thereby reducing the stability of the support and thus limiting the further increase of the support height. Compared with the scissor-type spanning frame, the embodiment of the present application has the first lifting frame and the second lifting frame arranged separately, and the movement of the two does not interfere with each other. The support width between the first lifting frame and the second lifting frame can remain unchanged, and the single-layer lifting frame 31 can achieve a higher support height.

[0072] The walking mechanism 12 is not limited to a specific walking method. For example, see Figure 1 , the walking mechanism 12 includes a crawler track 121. The crawler track 121 has a large ground contact area when walking and has strong adaptability to complex terrain. In other embodiments, the walking mechanism 12 may also include tires, which can have a higher driving speed and reduce energy consumption. In other embodiments, the walking mechanism 12 includes a crawler track 121, a transmission member and a motor. The motor is provided on the base frame 11 and is used to drive the transmission member to rotate; the crawler track 121 is mounted on the transmission member, and the transmission member is driven to rotate by the motor, thereby driving the crawler track 121 to walk relative to the ground. Exemplarily, the transmission member can be a transmission wheel. The motor can be a hydraulic motor or an electric motor.

[0073] The structure of the base frame 11 is not limited, as long as it can support the lifting device 30 and the supporting device 20. For example, the lifting device 30 is fixedly connected to the base frame 11, and the base frame 11 extends along the length of the horizontal connecting frame 313. For example, the base frame 11 may also be provided with a swivel device, through which the lifting device 30 is rotatably connected to the base frame 11. In the figure, X represents the length of the horizontal connecting frame 313, and Y represents the width of the horizontal connecting frame.

[0074] The telescopic arm 21 is capable of extending and retracting along its length and driving the telescopic legs 22 to move horizontally to adjust the support range of the support device 20. The telescopic arm 21 can be extended and retracted in any manner. For example, the support device 20 includes a first telescopic arm driver for driving the telescopic arm 21 to extend and retract along its length. Alternatively, the support device 20 includes a second telescopic arm driver for driving the telescopic arm 21 to rotate horizontally.

[0075] For example, see Figure 2 、 Figure 3 and Figure 6 The telescopic arm 21 can be retracted in the horizontal direction and stored under the lifting device 30. After the telescopic legs 22 and the telescopic arm 21 are retracted, most of them can be located below the horizontal projection of the horizontal connecting frame, which can reduce the space volume of the self-propelled straddling vehicle after storage.

[0076] The number of telescopic arms 21 is at least two. The number of telescopic arms 21 is two, three, four or more. For example, the number of telescopic arms 21 and telescopic legs 22 is the same, and each telescopic arm 21 is equipped with a telescopic leg 22. For example, there are four telescopic arms 21 and four telescopic legs 22. The method of the telescopic arm 21 driving the telescopic legs 22 to move horizontally is not limited, for example, see Figure 1 The support device 20 can be deployed into a radial X-shaped structure, that is, the location where the telescopic arms 21 are connected to the base frame 11 can be used as the rotation axis, and the telescopic arms 21 can drive the telescopic legs 22 to rotate and extend relative to the rotation axis, so that the four telescopic arms 21 can be deployed to form a radial shape. Alternatively, in other embodiments not shown, the support device 20 can be deployed into an H-shaped structure, that is, the telescopic legs 22 can be driven to extend and retract along a straight line, so that the four telescopic arms can be deployed to form an H-shape.

[0077] The self-propelled straddling vehicle 100 provided in the embodiment of the present application provides a separate first lifting frame 311 and a second lifting frame 312 on each level of the lifting frame 31. The first lifting frame 311 and the second lifting frame 312 can independently adjust their respective support heights, thereby adjusting the support height and support angle of each level of the horizontal connecting frame 313, so as to facilitate leveling of the top platform. During the height adjustment process of the first lifting frame 311 and the second lifting frame 312, the support width between the first lifting frame 311 and the second lifting frame 312 remains unchanged, thereby improving the stability of the lifting frame 31. The first lifting frame 311 and the second lifting frame 312 can achieve a large pitch angle, for example, the angle between the first lifting frame 311 and the second lifting frame 312 can be close to 180 degrees, that is, the first lifting frame 311 and the second lifting frame 312 are close to vertical, which can expand the adjustment range of the support height of each level of the lifting frame 31, and thus expand the adjustment range of the support height of the entire self-propelled straddling vehicle 100.

[0078] To achieve height adjustment, existing scissor-type spanning frames typically use a combination of hinged and sliding connections to the base. This reduces the width of the scissor support during lifting, reducing support stability. Furthermore, the system requires more structural components and is more complex. Under lateral loads, the bottom support is less stable, posing a significant safety hazard.

[0079] Compared to a scissor-type straddling frame, the self-propelled straddling vehicle 100 provided in the embodiment of the present application can increase the maximum lifting height of a single layer. When the required support height is the same, the number of layers of the lifting frame 31 required can be reduced, which facilitates the arrangement of pipelines, reduces the number of required pipelines, reduces the number of required parts, simplifies the structure, and reduces the structural weight of the lifting frame 31. In this way, the structure of the lower part of the self-propelled straddling vehicle 100 is heavier than the structure of the upper part, which can improve the anti-rollover ability and improve the support stability. In addition, due to the simple structure and relatively fewer components, it can reduce the errors generated during assembly. When subjected to lateral loads, it can reduce the possibility of cumulative errors causing the lifting device 30 to bend or twist as a whole, reduce the probability of structural fatigue damage of the lifting device 30, and improve the overall structural reliability.

[0080] Furthermore, by providing the traveling device 10, the self-propelled straddling vehicle 100 can move autonomously, significantly reducing the manpower and material resources required for movement, thereby improving construction efficiency and economic benefits. By providing the supporting device 20 with the telescopic arms 21 and telescopic legs 22, the self-propelled straddling vehicle 100 can adapt to complex terrain. For example, it can still maintain stable support in terrain with a large slope, thereby improving the adaptability and support stability of the self-propelled straddling vehicle 100.

[0081] For some examples, see Figure 1 The first lifting frame 311 and the second lifting frame 312 both include a lower connecting frame 301, an upper connecting frame 302 and a first driving member 303. The lower end of the lower connecting frame 301 is hinged to a horizontal connecting frame 313, the upper end of the lower connecting frame 301 is hinged to the lower end of the upper connecting frame 302, and the upper end of the upper connecting frame 302 is hinged to another horizontal connecting frame 313. The first driving member 303 is used to drive the lower connecting frame 301 and the upper connecting frame 302 to move so that the lifting frame 31 is in a supporting state or a storage state.

[0082] The upper end of the upper connecting frame 302 refers to the position relatively close to the upper part, and should not be construed as only connecting the ends. Similarly, the lower end of the upper connecting frame 302 and the upper and lower ends of the lower connecting frame 301 should also be understood accordingly. For example, please refer to Figure 1The upper end of the lower connecting frame 301 in the first lifting frame 311 is hinged to the lower end of the upper connecting frame 302, and the connection position is the end of the lower connecting frame 301 and a position close to the end of the upper connecting frame 302. In this way, the maximum lifting height of the first lifting frame 311 can be increased.

[0083] The first driving member 303 may be driven in any manner. For example, the first driving member 303 may be a pneumatic cylinder, an electric cylinder, or an oil cylinder.

[0084] It can be understood that the first driving member 303 can drive at least one of the upper connecting frame 302 and the lower connecting frame 301 to achieve driving. For example, the first driving member 303 can be drivingly connected to the upper connecting frame 302, or can be drivingly connected to the lower connecting frame 301, or the first driving member 303 can be drivingly connected to both the upper connecting frame 302 and the lower connecting frame 301.

[0085] It is also understood that the first driving members 303 of the lifting frames 31 on the same level can be driven synchronously to ensure that the horizontal connecting frame 313 of each lifting frame 31 can be raised while maintaining a substantially horizontal state. Furthermore, the first driving members 303 of all lifting frames 31 can be driven synchronously to ensure that the lifting heights of the lifting frames 31 on each level are the same.

[0086] For example, see Figure 1 One end of the first driving member 303 is set on the horizontal connecting frame 313, and the other end is drivingly connected to the upper connecting frame 302, and the support height of the lifting frame 31 is adjusted by driving the upper connecting frame 302 to move.

[0087] For example, see Figure 1 The ends of the first and second lifting frames 311 and 312 connected to the horizontal connecting frame 313 are located at the ends of the horizontal connecting frame 313 in the longitudinal direction. The lower connecting frame 301 of the first lifting frame 311 and the lower connecting frame 301 of the second lifting frame 312 are connected to the ends of the horizontal connecting frame 313 in the longitudinal direction. The upper connecting frame 302 of the first and second lifting frames 311 and 312 are connected to the ends of the horizontal connecting frame 313 in the longitudinal direction. This improves the support stability of the lifting frame 31.

[0088] For example, see Figure 1 The first drive member 303 is drivingly connected to the upper connecting frame 302. The two first drive members 303 are installed at one end of the horizontal connecting frame 313 and are located inside the two lower connecting frames 301 along the length direction of the horizontal connecting frame 313. In this way, the installation position of the first drive member 303 can avoid the lower connecting frames 301, and the lower connecting frames 301 can be connected to the end of the horizontal connecting frame 313.

[0089] The number of the lower connecting frame 301, the upper connecting frame 302 and the first driving member 303 is not limited and can be adaptively set according to the needs. Figure 1 Each of the first lifting frame 311 and the second lifting frame 312 includes two sets of spaced-apart lower connecting frames 301, upper connecting frames 302, and first driving members 303. It is understood that within the same first lifting frame 311, the two lower connecting frames 301 are spaced-apart, the two upper connecting frames 302 are spaced-apart, and the two first driving members 303 are spaced-apart. Within the same second lifting frame 312, the two sets of lower connecting frames 301 are spaced-apart, the two upper connecting frames 302 are spaced-apart, the two lower connecting frames 301 are spaced-apart, and the two first driving members 303 are spaced-apart.

[0090] This improves the support stability of the first and second lifting frames 311, 312. Furthermore, the maximum lifting height achievable by a single-layer lifting frame 31 is higher. Compared to a scissor-type spanning frame, the first and second lifting frames 311, 312 do not interfere with each other during lifting, and the upper and lower connecting frames 302, 301 have a greater rotational angle. In other embodiments not shown, the first and second lifting frames 311, 312 each include a set of lower connecting frames 301, upper connecting frames 302, and first drive members 303.

[0091] For some examples, see Figure 1 The distance between the two lower connecting frames 301 of the first lifting frame 311 and the distance between the two lower connecting frames 301 of the second lifting frame 312 are unequal, so that when the lifting frame 31 is in the stowed state, the two lower connecting frames 301 of the first lifting frame 311 can be accommodated by the two lower connecting frames 301 of the second lifting frame 312. The distance between the two upper connecting frames 302 of the first lifting frame 311 and the distance between the two upper connecting frames 302 of the second lifting frame 312 are unequal, so that when the lifting frame 31 is in the stowed state, the two upper connecting frames 302 of the first lifting frame 311 can be accommodated by the two upper connecting frames 302 of the second lifting frame 312.

[0092] It should be noted that the two lower connecting frames 301 of the first lifting frame 311 can be accommodated in the two lower connecting frames 301 of the second lifting frame 312. The two lower connecting frames 301 of the first lifting frame 311 can be located on the inner side of the two lower connecting frames 301 of the second lifting frame 312 along the width direction of the horizontal connecting frame 313, or the two lower connecting frames 301 of the second lifting frame 312 can be located on the inner side of the two lower connecting frames 301 of the first lifting frame 311 along the width direction of the horizontal connecting frame 313.

[0093] Similarly, the two upper connecting frames 302 of the first lifting frame 311 can be accommodated in the two upper connecting frames 302 of the second lifting frame 312. The two upper connecting frames 302 of the first lifting frame 311 can be located inside the two upper connecting frames 302 of the second lifting frame 312 along the width direction of the horizontal connecting frame 313, or the two upper connecting frames 302 of the second lifting frame 312 can be located inside the two upper connecting frames 302 of the first lifting frame 311 along the width direction of the horizontal connecting frame 313.

[0094] In this way, in the folded state, the space occupied by the single-layer lifting frame 31 in the vertical direction can be reduced, thereby enabling the entire self-propelled straddling vehicle 100 to be folded into a smaller size.

[0095] In some embodiments, at least one of the first lifting frame 311 and the second lifting frame 312 further includes a second driving member 305 for drivingly connecting to one of the lower connecting frame 301 and the upper connecting frame 302. The first lifting frame 311 includes the second driving member 305, or the second lifting frame 312 includes the second driving member 305. The second driving member 305 can drive one of the upper connecting frame 302 and the lower connecting frame 301 to achieve driving. For example, the second driving member 305 can be drivingly connected to the upper connecting frame 302 or the lower connecting frame 301. For example, see Figure 1 The second lifting frame 312 includes a second driving member 305, which is drivingly connected to the upper connecting frame 302.

[0096] The second driving member 305 improves the posture stability of the lifting device 30. When the first lifting frame 311 and the second lifting frame 312 are raised and lowered asynchronously, the second driving member 305 can generate a restraining force between the horizontal connecting frame 313 and the upper connecting frame 302 along the extension direction of the second driving member 305, reducing the possibility of the lifting device 30 becoming unstable due to an imbalance of the horizontal connecting frame 313. The second driving member 305 can be driven by any method; for example, the second driving member 305 can be a pneumatic cylinder, an electric cylinder, or an oil cylinder.

[0097] It can be understood that in order to facilitate lifting and to make the top platform 3131 in a horizontal state after lifting, when the first driving member 303 is driven, the second driving member 305 can follow the movement stroke of the first driving member 303 to drive, so as to level the horizontal connecting frame 313 and then level the top platform 3131.

[0098] In some embodiments, the horizontal connecting frame 313 in each layer of the lifting frame 31 of the self-propelled straddling vehicle 100 can be adjusted according to its state so that the horizontal connecting frame 313 of each layer is in a horizontal state, thereby improving the support stability of the entire self-propelled straddling vehicle 100.

[0099] For example, the self-propelled straddle carrier 100 further includes a first sensor disposed on the top platform 3131 for acquiring an inclination angle of the top platform 3131 so as to control the first driving member 303 and the second driving member 305 according to the inclination angle acquired by the first sensor.

[0100] Exemplarily, the self-propelled straddle carrier 100 further includes a second sensor disposed on the top platform 3131 for obtaining the height of the top platform 3131 so as to control the first driving member 303 and the second driving member 305 according to the height of the top platform 3131 obtained by the second sensor.

[0101] For example, see Figure 1 One end of the second driving member 305 is set on the horizontal connecting frame 313, and the other end is drivingly connected to the upper connecting frame 302, and the angle of the horizontal connecting frame 313 is adjusted by driving the upper connecting frame 302 to rotate.

[0102] For example, see Figure 1 One of the first lifting frame 311 and the second lifting frame 312 further includes a connecting beam 304, the connecting beam 304 connecting the two lower connecting frames 301 and the two upper connecting frames 302 of the first lifting frame 311 or the second lifting frame 312, and the second driving member 305 is drivingly connected to the connecting beam 304. For example, when the second driving member 305 is drivingly connected to the upper connecting frames 302 of the second lifting frame 312, the connecting beam 304 connects the two upper connecting frames 302 of the second lifting frame 312.

[0103] The connecting beam 304 can provide a driving force application position for the second driving member 305. When the connecting beam 304 is installed on the first lifting frame 311, the structural strength of the first lifting frame 311 can be improved. When the connecting beam 304 is installed on the second lifting frame 312, the structural strength of the second lifting frame 312 can be improved.

[0104] Exemplarily, the second driving member 305 is drivingly connected to the middle position of the connecting beam 304 to improve the support stability of the horizontal connecting frame 313 when the second driving member 305 drives the connecting beam 304. Exemplarily, the second driving member 305 is connected to the middle position in the width direction of the lower horizontal connecting frame 313 to further improve the support stability of the horizontal connecting frame 313 when the second driving member 305 drives the connecting beam 304.

[0105] For example, see Figure 1One end of the first driving member 303 and the second driving member 305 are respectively hinged to the lower horizontal connecting frame 313, and the other ends of the first driving member 303 and the second driving member 305 are respectively hinged to the upper connecting frame 302; wherein, in the upper connecting frame 302, the hinge point of the first driving member 303 and the hinge point of the second driving member 305 are respectively located on both sides of the hinge point of the lower connecting frame 301, and the hinge point of the second driving member 305 is located at the lower end part of the upper connecting frame 302.

[0106] For example, the lengths of the lower connecting frames 301 in the first lifting frame 311 and the second lifting frame 312 are the same, and the length of the upper connecting frame 302 in the same layer of lifting frames 31 that is drivingly connected to the second driving member 305 is greater than the length of the upper connecting frame 302 that is not drivingly connected to the second driving member 305. Figure 1 In the embodiment, the length of the upper connecting frame 302 in the second lifting frame 312 is greater than the length of the upper connecting frame 302 in the first lifting frame 311. Since the single-layer lifting frame 31 has a greater height to be raised or lowered, the number of required layers of the lifting frame 31 can be reduced. When the first and second driving members 303, 305 are hinged to the horizontal connecting frame 313, the cumulative error across all hinge points in the lifting device 30 is small, thereby reducing the impact of the cumulative error on the support stability of the lifting device 30 and improving support stability.

[0107] For example, Figure 2 As shown, in the two upper connecting frames 302 of the first lifting frame 311 and the second lifting frame 312, the length of the connecting rod of the upper connecting frame 302 driven by the second driving member 305 is longer than that of the upper connecting frame 302 not driven by the second driving member 305. In the two upper connecting frames 302 of the first lifting frame 311 and the second lifting frame 312, the hinge point of the lower connecting frame 301 is the same distance from the end of the upper connecting frame 302 connected to the horizontal connecting frame 313.

[0108] For example, the first driving member 303 is drivingly connected to the upper connecting frame 302. The two first driving members 303 are disposed at one end of the horizontal connecting frame 313 and are located inwardly of the two lower connecting frames 301 along the length of the horizontal connecting frame 313. The second driving member 305 is drivingly connected to the upper connecting frame 302. The second driving member 305 is disposed at one end of the horizontal connecting frame 313 and is located inwardly of the first driving member 303 along the length of the horizontal connecting frame 313. In this way, the second driving member 305 can avoid the lower connecting frame 301 and the first driving member 303, allowing the lower connecting frame 301 to connect to the end of the horizontal connecting frame 313.

[0109] For some examples, see Figure 1 and Figure 2 , projected along the vertical direction, the second driving members 305 in the lifting frames 31 of two adjacent layers are respectively located on both sides of the horizontal connecting frame 313.

[0110] In this way, the second driving members 305 in the lifting frames 31 of two adjacent layers in the vertical direction can be staggered, and the weight of the self-propelled straddling vehicle 100 along the length direction of the horizontal connecting frame 313 can be balanced, thereby reducing the possibility of the self-propelled straddling vehicle 100 having excessive or insufficient weight on one side or uneven weight distribution along the length direction affecting the support stability.

[0111] For some examples, see Figure 1 One of the first lifting frame 311 and the second lifting frame 312 further includes a first reinforcing beam 306 , and the first reinforcing beam 306 is adjacent to the connecting beam 304 and is connected to one of the two lower connecting frames 301 and the two upper connecting frames 302 in the first lifting frame 311 or the second lifting frame 312 .

[0112] It is understood that the position of the first reinforcing beam 306 is set according to the position of the connecting beam 304, and the first reinforcing beam 306 is set adjacent to the connecting beam 304. If the connecting beam 304 is set to connect the two lower connecting frames 301 in the first lifting frame 311, the first reinforcing beam 306 is set to connect the two lower connecting frames 301 in the first lifting frame 311 and is set adjacent to the connecting beam 304. The connecting beam 304 can also be set to connect the two upper connecting frames 302 in the first lifting frame 311, connect the two lower connecting frames 301 in the second lifting frame 312, or as shown in FIG. Figure 1 As shown, the connecting beam 304 connects the two upper connecting frames 302 in the second lifting frame 312. The first reinforcing beam 306 can be provided to improve the structural strength of the first lifting frame 311 or the second lifting frame 312 connected by the connecting beam 304.

[0113] For some examples, see Figure 1 The first lifting frame 311 and the second lifting frame 312 each include a second reinforcing beam 307, which is respectively connected to the two lower connecting frames 301 of the first lifting frame 311 and the second lifting frame 312, and respectively connected to the two upper connecting frames 302 of the first lifting frame 311 and the second lifting frame 312. The second reinforcing beam 307 can improve the structural strength of the first lifting frame 311 and the second lifting frame 312.

[0114] For example, see Figure 1 The second reinforcing beam 307 is connected to the lower connecting frame 301 and the upper connecting frame 302, and is arranged close to the horizontal connecting frame 313. That is, the second reinforcing beam 307 connected to the upper connecting frame 302 is close to the upper horizontal connecting frame 313, and the second reinforcing beam 307 connected to the lower connecting frame 301 is close to the lower horizontal connecting frame 313.

[0115] The present invention also provides a spanning frame 200 that can be used in environments where power lines must be laid across roads, railways, or obstacles, such as on both sides of a highway. In addition to highways, the self-propelled spanning vehicle 100 and spanning frame 200 provided in the present invention are also suitable for environments requiring high-altitude spanning, such as mountainous and hilly terrain.

[0116] See also Figure 14-16 The crossing frame 200 includes a crossing net 220, a cable 210 and at least two self-propelled crossing vehicles 100 described in any one of the embodiments of the present application; the crossing net 220 is connected between the lifting devices 30 of the two self-propelled crossing vehicles 100; the top of the lifting device 30 of each self-propelled crossing vehicle 100 is connected to one end of at least two cables 210, and the other ends of the two cables 210 are anchored to the ground.

[0117] When used for crossing, the self-propelled crossing vehicle 100 mainly bears lateral loads. By providing the cable 210, the self-propelled crossing vehicle 100 can be anchored and supported, thereby improving the overall stability of the self-propelled crossing vehicle 100 and reducing the possibility of the self-propelled crossing vehicle 100 tilting, shaking or tipping during crossing.

[0118] The tops of the self-propelled straddling vehicles 100 are connected by a straddling net 220. For example, a straddling net 220 is laid between two top platforms 3131, so that the power lines are ultimately placed on or above the straddling net 220 between the two self-propelled straddling vehicles 100. The straddling net 220 can protect the objects being straddled.

[0119] The number and position of the self-propelled straddling vehicle 100 can be set according to demand. For example, a self-propelled straddling vehicle 100 can be set on both sides of a highway route. In other embodiments, two or more self-propelled straddling vehicles 100 can be set on the same side of the highway.

[0120] In the prior art, the spanning frame needs to be disassembled and relocated to the next work location after each operation. Each change of work location requires disassembly and re-erecting the spanning frame at the next location, which is time-consuming and labor-intensive, and the installation cycle is long. Furthermore, the spanning frame lacks support stability, forcing workers to stand on top of the spanning frame to perform high-altitude operations, limiting their range of movement and increasing work risks.

[0121] In view of this, the embodiment of the present application also provides a marshaling operation platform for straddling vehicles, please refer to Figure 17 and Figure 18, an embodiment of the present application provides a marshaling operation platform 300 for a straddling vehicle, and the marshaling operation platform 300 includes a straddling vehicle, a rigid platform 310, a straddling net 220 and a cable 210. At least two straddling vehicles are arranged on both sides of the object to be crossed; the rigid platform 310 connects the tops of all the straddling vehicles on each side of the object to be crossed; the straddling net 220 connects the tops of the straddling vehicles on both sides of the object to be crossed and the rigid platform 310; the top of each straddling vehicle is connected to one end of at least two cables 210, and the other ends of the cables 210 are anchored to the ground. Exemplarily, the straddling vehicle can be any of the self-propelled straddling vehicles 100 provided in the embodiment of the present application, or it can be other straddling vehicles with a walking function.

[0122] The rigid platform 310 can connect the tops of straddling vehicles on the same side of the highway, such as the top platform 3131 of the straddling vehicles. For example, each two adjacent straddling vehicles on the same side of the highway are connected by the rigid platform 310 to form a rigid whole, thereby improving the stability of the two straddling vehicles.

[0123] The marshaling operation platform 300 provided in the embodiment of the present application connects the straddle cars to form a whole by providing a rigid platform 310. When a single straddle car is subjected to a large load, the rigid platform 310 can evenly distribute the load to the other straddle cars, reducing the possibility of damage to the individual straddle cars and improving the load-bearing stability of the entire marshaling operation platform 300. It can also improve support stability, better resist the possibility of deformation and displacement, improve the straddle car's ability to withstand lateral loads, improve the overall structural strength, and reduce the possibility of the top platform 3131 and the rigid platform 310 shaking due to unstable straddle car support. In addition, after providing the rigid platform 310, workers can move between the various straddle cars connected to the rigid platform 310, without having to frequently climb up and down different straddle cars to transfer to other straddle frames 200, which can expand the range of workers' activities. Moreover, the use of a mobile straddle car can be easily moved to the desired location at the construction site for operation, without the need for manual handling, which can significantly reduce the manpower and material resources required for movement, thereby improving construction efficiency and economic benefits.

[0124] In some embodiments, the telescopic legs 22 are supported on the ground so that the lifting device 30 is in a horizontal state, the lifting frame 31 is in a supporting state, the rigid platform 310 is connected to the horizontal connecting frames 313 on the top of all spanning vehicles on each side of the spanning object, the spanning net 220 is connected to the horizontal connecting frames 313 on the top of the spanning vehicles on both sides of the spanning object and the rigid platform 310, and the cable 210 is connected to the horizontal connecting frame 313 on the top of each spanning vehicle.

[0125] In some embodiments, the guardrail 40 is provided on the rigid platform 310. It is understood that the guardrail 40 is provided on the periphery of the rigid platform 310 and the top platform 3131 as a whole, so that the operator can move from one of the rigid platform 310 and the top platform 3131 to the other.

[0126] The present application also provides a method for marshaling a straddle vehicle. Figure 19 , using the marshaling operation platform described in any one of the embodiments of the present application, the marshaling operation method includes:

[0127] S1: Arrange at least two straddling vehicles on both sides of the object to be straddled;

[0128] S2: Adjust each straddle vehicle to a horizontal state;

[0129] S3: Use a rigid platform to connect all the straddling vehicles on each side of the straddled object;

[0130] S4: Lift each straddle carrier to the required operating height;

[0131] S5: Anchor each straddle vehicle to the ground with at least two cables;

[0132] S6: Use a spanning net to connect the tops of the spanning vehicles on both sides of the spanned object.

[0133] The straddle carrier is in a horizontal state when the underframe is adjusted to a horizontal state so that the horizontal connecting frame located at the top layer is in a horizontal state.

[0134] It is understood that the order of the steps in the above-mentioned marshaling operation method can be adaptively adjusted according to needs. For example, the marshaling operation method can first perform steps S1 to S5 and then S6; it can also first perform steps S1 to S2, then step S6, and then steps S3 to S5; or it can first perform steps S1 to S3, then step S6, and then steps S4 to S5.

[0135] In the prior art, transporting spans between different work locations requires significant manpower and resources, creating significant inconvenience. Furthermore, long spans require a large number of spans, and communication of spanning data and other information between various work locations relies on manual observation and intercom communication, which is prone to numerous human errors, miscommunications, and information delays, making construction operations extremely difficult.

[0136] In view of this, the embodiment of the present application also provides a straddling vehicle marshaling operation system 400, please refer to Figure 20 and Figure 21, the marshaling operation system 400 includes an operation platform, a working cabin 410 and a mobile power station 420. The operation platform includes a crossing vehicle and a crossing network 220. The crossing vehicles are arranged on both sides of the object to be crossed, and the crossing network 220 connects the crossing vehicles on both sides of the object to be crossed; the working cabin 410 includes a first cabin body and a first controller arranged in the first cabin body, and the first controller is electrically connected to the crossing vehicle to monitor the operating parameters of the crossing vehicle; the mobile power station 420 is electrically connected to the crossing vehicle and the working cabin 410 respectively to provide power to the crossing vehicle and the working cabin 410. Exemplarily, the crossing vehicle can be any self-propelled crossing vehicle 100 provided in the embodiments of the present application, or it can be other crossing vehicles with walking functions, such as a crossing vehicle equipped with new energy power, which drives the walking device or lifting device to work with electricity. The operation platform is, for example, the marshaling operation platform 300 provided in any of the embodiments of the present application.

[0137] The electrical connection may be at least one of a power supply connection and a communication connection. Those skilled in the art may understand the specific meaning of the electrical connection based on actual conditions.

[0138] The operating parameters of the straddle carrier include, but are not limited to, the height of the top platform 3131 of the straddle carrier, the inclination angle of the top platform 3131 of the straddle carrier, etc. By monitoring the operating parameters through the first controller, the operating status of the straddle carrier can be promptly acquired, and abnormal situations, such as inconsistent lifting heights on both sides of the straddle carrier's top platform 3131 or the top platform 3131 not being lifted to the correct height, can be promptly detected for further processing, thereby reducing the possibility of dangerous situations during the operation.

[0139] After the first controller detects the operating parameters, operators can view the data information in real time. Workers can monitor the operation from within the first cabin, which can improve the accuracy of judging the operation status of the straddle carrier compared to visual observation, thus improving operational safety.

[0140] Illustratively, the mobile power station 420 includes an energy storage device, which can provide power to the straddle vehicle and the work cabin 410. The mobile power station 420 may also include a charging device to charge the energy storage device.

[0141] The marshaling operation system 400 provided in the embodiment of the present application, by providing a straddling vehicle, can be easily moved to the desired location for operation at the construction site without the need for manual handling, which can greatly reduce the required human and material resources and improve construction efficiency and economic benefits. By providing a first controller of the working cabin 410 electrically connected to the straddling vehicle to monitor the operating parameters of the straddling vehicle, it is helpful to help the straddling vehicles at different positions of the object being crossed to achieve collaborative operation and improve the communication efficiency of staff at different work positions. The mobile power station 420 can provide power to the straddling vehicle and the working cabin 410 to provide a stable power supply during construction operations and reduce the possibility of affecting the progress of operations due to insufficient power.

[0142] In some embodiments, the straddling vehicle is a self-propelled straddling vehicle 100; the marshaling operation system 400 further includes a first remote control device for adjusting operating parameters of the self-propelled straddling vehicle 100. For example, the first remote control device can be a portable handheld remote control device, and an operator can control the travel path and lift height of the self-propelled straddling vehicle 100 by controlling the first remote control device.

[0143] For example, the first remote control device is signal-connected to the first controller. This allows the first controller to issue control instructions to the first remote control device, enabling operators to perform operations according to the control instructions. The first controller can issue instructions to the first remote control devices corresponding to straddling vehicles at different locations based on operational requirements, enabling coordinated operations among the straddling vehicles.

[0144] Exemplarily, at least two straddling vehicles are respectively arranged on both sides of the object to be straddled.

[0145] For some examples, see Figure 20 and Figure 21 The marshaling operation system 400 further includes drones 430. The number of drones 430 can be one, two, or more, and can be configured adaptively based on operational requirements. Each drone 430 can be configured to operate independently or collaboratively.

[0146] For example, the drone 430 is used to provide auxiliary operations, such as stringing wires, setting up guy wires 210, or spanning nets, which can be reduced in difficulty when combined with drone operations.

[0147] For example, drone 430 can be used to provide lighting. For example, drone 430 may be equipped with a lighting device. This can help workers more clearly identify their work environment in difficult-to-identify environments, such as at night when visibility is limited, thereby reducing the likelihood that insufficient lighting will impact work efficiency and safety. By adjusting the position and lighting angle of drone 430, sufficient lighting can be provided for each location in the work environment.

[0148] Exemplarily, the drone 430 can be used to collect image information. For example, the drone 430 has a camera device or the drone 430 is configured to carry a camera device. The drone 430 can be controlled to collect image information of the crossing vehicle and the crossing network 220, and the collected data information can be fed back to the first controller so that the operator can control the first controller to issue operation instructions according to the signal.

[0149] For example, the drone 430 can be configured to communicate with the first controller, and the drone 430 is connected to the first controller by signals, such as wireless communication. In this way, signals from the drone 430 can be fed back to the first controller in a timely manner, so that an operator can control the first controller to issue operation instructions based on the signals.

[0150] For example, the first controller has a display console for operators to view image information and data information acquired by the drone 430 so that timely countermeasures can be taken when abnormal situations occur.

[0151] In some embodiments, drone 430 is a tethered drone, and mobile power station 420 can provide power to drone 430. For example, a tethered drone uses a tether cable to obtain power from mobile power station 420 as a power source, replacing traditional lithium batteries. Its most important feature is the ability to hover for a long time.

[0152] In other embodiments, the drone 430 includes a power device and a power supply, and the power supply is used to provide electrical energy to the power device to achieve flight.

[0153] In some embodiments, the marshaling operation system 400 further includes a second remote control device for adjusting the operating parameters of the drone 430. For example, the second remote control device can be a portable handheld remote control device, which allows operators to control the flight trajectory of the drone 430 and select corresponding operating functions. For example, when providing lighting, the second remote control device can be used to turn the lighting on or off. Alternatively, when providing auxiliary operations, the second remote control device can control the drone 430's flight altitude and its relative position to the spanning frame 200 to assist operators in their operations.

[0154] For some examples, see Figure 20 and Figure 21 The marshaling operation system 400 also includes a command cabin 440, there are multiple working cabins 410, the command cabin 440 includes a second cabin body and a second controller arranged in the second cabin body, and the second controller is electrically connected to the first controllers of the multiple working cabins 410 respectively.

[0155] In some embodiments, the marshaling operation system 400 further includes a control cabin, wherein there are multiple command cabins 440 , and the control cabin includes a third cabin body and a third controller disposed in the third cabin body;

[0156] Exemplarily, the third controller is electrically connected to the first controllers of each of the multiple work cabins 410. This allows the third controller to directly transmit data to the first controller, feeding back the straddle carrier's operating parameters acquired by the first controller to the third controller. Furthermore, the third controller can directly issue operating tasks to the first controller, mitigating issues such as data loss, large errors, and low efficiency caused by manual transmission of operating information.

[0157] For example, the third controller is electrically connected to the second controllers of the plurality of command modules 440. In this way, the third controller can indirectly transmit data information through the second controller.

[0158] The deployment of command and work cabins enables two-level operations. The deployment of control, command, and work cabins allows for three-level operations. Additional command or control cabins can be added to achieve multi-level hierarchical control, facilitating the monitoring, coordination, and management of construction progress across different road sections, optimizing resources and improving construction efficiency. It should be noted that the designations of control, command, and work cabins are simply to distinguish between the different cabin levels.

[0159] For some examples, see Figure 20 and Figure 21 The object to be crossed is a highway, and the mobile power station 420 and the working cabin 410 located on the same side of the highway form a working group, and at least two working groups are placed on both sides of the highway.

[0160] The number of mobile power stations 420 and work cabins 410 in each work group is not limited, and can be one, two, or more, and can be adaptively configured based on work requirements. Setting up work groups on both sides of the road allows the mobile power stations 420 to provide power to the straddling vehicles and work cabins 410 on the same side.

[0161] For example, the working cabins 410 located on both sides of the highway can be connected by signals to transmit the operation parameters of the straddling vehicles so that the straddling vehicles on both sides can work in coordination.

[0162] For example, the straddle carrier further includes a first sensor disposed on the top platform 3131 for acquiring the inclination of the top platform 3131. The first and second driving members 303 and 305 are controlled based on the inclination acquired by the first sensor. The first sensor may be signal-connected to the first controller.

[0163] For example, the operator operates the first remote control device according to the inclination information obtained by the first controller to control the first driving member and the second driving member to adjust the inclination of the platform across the vehicle roof.

[0164] For example, the straddle carrier further includes a second sensor disposed on the top platform 3131 for obtaining the height of the top platform 3131. This allows the first and second driving members 303 and 305 to be controlled based on the height obtained by the second sensor. The second sensor can be signal-connected to the first controller.

[0165] For example, the operator operates the first remote control device according to the height information obtained by the first controller to control the first driving member and the second driving member to adjust the lifting height of the straddling vehicle.

[0166] The foregoing description is merely a preferred embodiment of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A self-propelled straddling vehicle, characterized in that: include: A walking device, comprising a chassis and a walking mechanism, wherein the walking mechanism is mounted on the chassis to achieve self-propelled travel; A supporting device, comprising a telescopic arm and a telescopic leg, wherein the telescopic arm is mounted on the base frame, and the telescopic leg is mounted on the telescopic arm, wherein the telescopic arm can drive the telescopic leg to move horizontally, and the telescopic leg can extend and retract vertically so that the telescopic leg is supported on the ground or leaves the ground; A lifting device is installed on the base frame, and the lifting device includes at least two layers of stacked lifting frames. The lifting frames on each layer include a first lifting frame, a second lifting frame, and a horizontal connecting frame. The ends of the first lifting frame and the second lifting frame are respectively connected to the corresponding horizontal connecting frames at intervals. The lifting frames on two adjacent layers share one horizontal connecting frame. The first lifting frame and the second lifting frame can both be raised and lowered so that the lifting frames have a supporting state and a storage state.

2. The self-propelled straddling vehicle according to claim 1, characterized in that: The first lifting frame and the second lifting frame each include: A lower connecting frame, an upper connecting frame and a first driving member, wherein the lower end of the lower connecting frame is hinged to one of the horizontal connecting frames, the upper end of the lower connecting frame is hinged to the lower end of the upper connecting frame, and the upper end of the upper connecting frame is hinged to another horizontal connecting frame, and the first driving member is used to drive the lower connecting frame and the upper connecting frame to move so that the lifting frame is in a supporting state or a storage state.

3. The self-propelled straddling vehicle according to claim 2, characterized in that: At least one of the first lifting frame and the second lifting frame further comprises: The second driving member is used for driving connection with one of the lower connecting frame and the upper connecting frame.

4. The self-propelled straddling vehicle according to claim 3, characterized in that: One end of the first driving member and the second driving member are respectively hinged to the lower horizontal connecting frame, and the other end of the first driving member and the second driving member are respectively hinged to the upper connecting frame; Wherein, in the upper connecting frame, the hinge point of the first driving member and the hinge point of the second driving member are respectively located on both sides of the hinge point of the lower connecting frame, and the hinge point of the second driving member is located at the lower end portion of the upper connecting frame.

5. The self-propelled straddling vehicle according to claim 2, characterized in that: The first lifting frame and the second lifting frame each include two sets of the lower connecting frames, the upper connecting frames and the first driving member that are spaced apart.

6. The self-propelled straddling vehicle according to claim 5, characterized in that: The distance between the two lower connecting frames of the first lifting frame and the distance between the two lower connecting frames of the second lifting frame are not equal, so that when the lifting frames are in the stored state, the two lower connecting frames of the first lifting frame can be accommodated by the two lower connecting frames of the second lifting frame; The distance between the two upper connecting frames of the first lifting frame is unequal to the distance between the two upper connecting frames of the second lifting frame, so that when the lifting frames are in the stored state, the two upper connecting frames of the first lifting frame can be accommodated in the two upper connecting frames of the second lifting frame.

7. The self-propelled straddling vehicle according to claim 5, characterized in that: One of the first lifting frame and the second lifting frame further includes a connecting beam and a second driving member, the connecting beam connecting one of the two lower connecting frames and the two upper connecting frames of the first lifting frame or the second lifting frame, and the second driving member is drivingly connected to the connecting beam.

8. The self-propelled straddling vehicle according to claim 7, characterized in that: One of the first lifting frame and the second lifting frame further includes a first reinforcing beam, wherein the first reinforcing beam and the connecting beam are adjacently connected to one of the two lower connecting frames and the two upper connecting frames in the first lifting frame or the second lifting frame; and / or, The first lifting frame and the second lifting frame each include a second reinforcing beam connected to the two lower connecting frames of the first lifting frame and the second lifting frame, and connected to the two upper connecting frames of the first lifting frame and the second lifting frame, respectively.

9. The self-propelled straddling vehicle according to claim 7, characterized in that: Projected along the vertical direction, the second driving members in the lifting frames of two adjacent layers are respectively located on both sides of the horizontal connecting frame.

10. The self-propelled straddling vehicle according to any one of claims 1 to 9, characterized in that: The walking mechanism includes tracks or tires; and / or, There are four telescopic arms and four telescopic legs, and the four telescopic arms can be unfolded to form an H-shape or a radial shape; and / or, The self-propelled straddling vehicle further comprises a guardrail, the uppermost horizontal connecting frame of the lifting device can serve as a top platform, and the guardrail is arranged on the top platform.

11. A spanning frame, characterized in that: include: At least two self-propelled straddling vehicles according to any one of claims 1 to 10; A crossing net connected between the lifting devices of the two self-propelled crossing vehicles; The top of the lifting device of each self-propelled straddling vehicle is connected to one end of at least two of the cables, and the other ends of the two cables are anchored to the ground.

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