Self-propelled crossover vehicle and crossover frame

Abstract

The application 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 chassis and a walking mechanism, and the walking mechanism is installed on the chassis; the supporting device comprises a telescopic arm and a telescopic leg, the telescopic arm is installed on the chassis, the telescopic leg is installed on the telescopic arm, the telescopic arm can drive the telescopic leg to move in the horizontal direction, and the telescopic leg can be telescopically extended in the vertical direction; the lifting device is installed on the chassis, and the lifting device 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, two ends of the first lifting frame and the second lifting frame are respectively connected to the corresponding horizontal connecting frames at intervals, one horizontal connecting frame is shared between two adjacent layers of lifting frames, and the first lifting frame and the second lifting frame can be lifted. In this way, the self-propelled crossing vehicle can improve the adaptability to the terrain and the lateral stability.

Description

Technical Field

[0001] This application relates to the field of power line construction technology, and in particular to a self-propelled crossing vehicle and a crossing frame. Background Technology

[0002] In related technologies, during the construction of power transmission lines, it is common to encounter various obstacles such as highways, railways, broadcast lines, and power lines. To protect the conductors from damage during operations and to ensure the safe operation of the objects being crossed, crossing frames are erected at these intersections before the lines are laid, allowing the conductors to pass safely and smoothly. While the following methods are generally used to achieve the crossing function in power line construction, they are all insufficient to meet the functional requirements of power grid crossings for different lifting heights and the stability requirements of the support.

[0003] Using simple connection methods such as scaffolding and steel pipe frames to achieve the crossing has limited overall load-bearing capacity. Improving the load-bearing capacity by changing the connection method or increasing the size of the steel pipes would increase scaffolding costs, leading to poor economic efficiency. Furthermore, the long construction and dismantling cycles affect the construction schedule. Manual scaffolding also poses safety hazards during the construction process.

[0004] Using a crane umbrella frame for crossing presents a contradiction between lifting height and lifting range. When a large crossing is required, the lifting height is limited, the stability is poor, and there are significant safety hazards.

[0005] The scissor lift gantry system is primarily suitable for relatively flat, level terrain. However, when used for gantry crossings, the main load is lateral, and scissor lift gantry systems have poor lateral stability, making them prone to lateral instability. Furthermore, to achieve lifting and lowering, the bottom connection structure of a scissor lift gantry typically has one hinged end and the other sliding end, resulting in a weak bottom fixing structure. Under significant lateral loads, this can easily lead to instability and pose substantial safety hazards. Additionally, for mountainous and hilly areas, a certain degree of adaptability to lateral and longitudinal slopes is required. Scissor lift gantry systems are ill-suited for complex terrain environments, including sloping slopes. Utility Model Content

[0006] In view of this, embodiments of this application aim to provide a self-propelled traverse vehicle that improves its adaptability to terrain and lateral stability. The self-propelled traverse vehicle includes:

[0007] A walking device includes a base frame and a walking mechanism, wherein the walking mechanism is mounted on the base frame to achieve self-propelled movement;

[0008] The support device includes a telescopic arm and a telescopic leg. The telescopic arm is mounted on the base frame, and the telescopic leg is mounted on the telescopic arm. 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 lifted off the ground.

[0009] A lifting device is installed on the base frame. The lifting device includes at least two stacked lifting frames. Each layer of the lifting frame includes a first lifting frame, a second lifting frame, and a horizontal connecting frame. The two ends of the first lifting frame and the second lifting frame are respectively connected to the corresponding horizontal connecting frame at intervals. Adjacent layers of the lifting frames share a horizontal connecting frame. Both the first lifting frame and the second lifting frame can be raised and lowered to give the lifting frame a supported state and a retracted state.

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

[0011] The system includes a lower connecting frame, an upper connecting frame, and a first driving member. 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. 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 supported state or a retracted state.

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

[0013] The second driving component 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 drive member and the second drive member are respectively hinged to the lower horizontal connecting frame, and the other end of the first drive member and the second drive member are respectively hinged to the upper connecting frame;

[0015] In the upper connecting frame, the hinge point of the first driving member and the hinge point of the second driving member are 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 of the upper connecting frame.

[0016] In some embodiments, both the first lifting frame and the second lifting frame include two sets of the lower connecting frame, the upper connecting frame, and the first driving member arranged at intervals.

[0017] In some embodiments, 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 frame is in the retracted state, the two lower connecting frames of the first lifting frame can be contained 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 and the distance between the two upper connecting frames of the second lifting frame are not equal, so that when the lifting frame is in the storage state, the two upper connecting frames of the first lifting frame can be contained within 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 being drivenly 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, which is connected adjacent to the connecting beam 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] Both the first lifting frame and the second lifting frame include a second reinforcing beam, which is respectively connected to two lower connecting frames in the first lifting frame and the second lifting frame, and to two upper connecting frames in the first lifting frame and the second lifting frame, respectively.

[0022] In some embodiments, when projected vertically, the second drive unit in the lifting frame of two adjacent layers is 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; the four telescopic arms can be deployed to form an H-shape or a radial shape; and / or,

[0025] The self-propelled traverse vehicle also includes guardrails, and the uppermost horizontal connecting frame of the lifting device can serve as a top platform, with the guardrails mounted on the top platform.

[0026] This application embodiment also provides a crossing frame, including:

[0027] At least two self-propelled crossover vehicles as described in any one of the embodiments of this application;

[0028] A crossing net connects the lifting devices of the two self-propelled crossing vehicles.

[0029] Each of the self-propelled traverse vehicles has its lifting device top connected to one end of at least two of the cables, the other ends of which are anchored to the ground.

[0030] The self-propelled trestle and trestle provided in this application embodiment allow for independent adjustment of the support height of both the first and second lifting frames. This, in turn, allows for adjustment of the support height and angle of each horizontal connecting frame, facilitating leveling of the top platform. This expands the adjustment range of the support height of each lifting frame, thereby expanding the overall adjustment range of the self-propelled trestle. It also increases the maximum lifting height per layer. With the same required support height, it reduces the number of lifting frame layers needed, facilitating pipeline layout, reducing the number of required pipelines and components, simplifying the structure, and reducing the structural weight of the lifting frames, thus reducing the overall weight of the self-propelled trestle. Consequently, the lower structure of the self-propelled trestle is relatively heavier than the upper structure, improving its anti-tipping ability and support stability. Furthermore, the simple structure and fewer components reduce assembly errors. When subjected to lateral loads, it reduces the possibility of cumulative errors causing overall bending or twisting of the lifting device, lowering the probability of fatigue damage to the lifting device structure and improving overall structural reliability. Furthermore, by incorporating a walking mechanism, the self-propelled trespassing vehicle can move autonomously, significantly reducing the manpower and material resources required for movement and improving construction efficiency and economic benefits. The support system, equipped with telescopic arms and legs, allows the self-propelled trespassing vehicle to adapt to complex terrain, such as maintaining stable support on steep slopes, thus enhancing its adaptability and stability. Attached Figure Description

[0031] Figure 1 This is a structural schematic diagram of a self-propelled crossover vehicle according to an embodiment of this application, wherein the lifting frame is in a supported state;

[0032] Figure 2 for Figure 1 The front view of the self-propelled crossover vehicle shown;

[0033] Figure 3 for Figure 2 The diagram shows the structure of the second state of the self-propelled crossover vehicle, in which the telescopic arm is retracted.

[0034] Figure 4 for Figure 1 The side view of the self-propelled crossover vehicle shown;

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

[0036] Figure 6 for Figure 1 The diagram shows the third state of the self-propelled crossover vehicle, in which the lifting frame is in the retracted state and the telescopic arm is retracted.

[0037] Figure 7 for Figure 6 The image shows a partial front view of the self-propelled crossover vehicle, in which the guardrails are hidden.

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

[0039] Figure 9 for Figure 7 The side view of the self-propelled crossover vehicle shown;

[0040] Figure 10 This is a structural schematic diagram of a self-propelled crossover vehicle according to another embodiment of this application, wherein the lifting frame is in a supported state;

[0041] Figure 11 for Figure 10 The diagram shows a partial structural schematic of the second state of the self-propelled crossover vehicle, in which the lifting frame is in a retracted state, concealing the guardrail.

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

[0043] Figure 13 for Figure 11 The side view of the self-propelled crossover vehicle shown;

[0044] Figure 14 This is a schematic diagram of the structure of the crossing frame in one embodiment of this application;

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

[0046] Figure 16 for Figure 14 The diagram shows a partial structure of the crossing frame, which includes the self-propelled crossing vehicle and the cables.

[0047] Figure 17 This is a schematic diagram of the structure of the grouping operation platform in one embodiment of this application;

[0048] Figure 18 for Figure 17 A partial structural diagram of the grouping operation platform shown;

[0049] Figure 19This is a flowchart illustrating a grouping operation method according to an embodiment of this application;

[0050] Figure 20 This is a schematic diagram of a grouping operation system and the objects being crossed in one embodiment of this application;

[0051] Figure 21 This is another schematic diagram of the grouping operation system and the objects being crossed in one embodiment of this application.

[0052] Explanation of reference numerals in the attached figures

[0053] 100. Self-propelled traverse vehicle; 10. Walking device; 11. Underframe; 12. Walking mechanism; 121. Track; 20. Support device; 21. Telescopic boom; 22. Telescopic legs; 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 drive component; 304. Connecting beam; 305. Second drive component; 306. First reinforcing beam; 307. Second reinforcing beam; 40. Guardrail; 200. Traverse frame; 210. Cable; 220. Traverse net; 300. Formation operation platform; 310. Rigid platform; 400. Formation operation system; 410. Work cabin; 420. Mobile power station; 430. Unmanned aerial vehicle; 440. Command cabin. Detailed Implementation

[0054] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0055] It should be noted that in the embodiments of this 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 orientational terms are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0057] In the embodiments of this application, unless otherwise expressly specified and limited, the first feature "above the second feature" may mean the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. The first feature "below the second feature" may mean the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0058] In the description of this specification, references to terms such as "some embodiments," "exemplary," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine the different embodiments or examples described in this application, as well as the features of those different embodiments or examples.

[0059] In related technologies, scissor lift gantry frames are the most common type. Scissor lift gantry frames have limited lifting height and poor lateral stability, making them suitable for relatively flat ground but difficult to adapt to complex terrains such as slopes. Furthermore, transporting them between different work sites requires a significant amount of manpower and resources, causing considerable inconvenience to operations.

[0060] In view of this, this application provides a self-propelled straddle vehicle 100, please refer to... Figures 1-9 The self-propelled trestle vehicle 100 includes a running gear 10, a support device 20, and a lifting device 30. The running gear 10 includes a chassis 11 and a traveling mechanism 12, which is mounted on the chassis 11 to enable self-propelled movement. "Self-propelled" means that the self-propelled trestle vehicle 100 has autonomous driving capabilities. Specifically, self-propelled movement is achieved through the traveling mechanism 12. The traveling mechanism 12 can be either wheeled or tracked, or a combination of both.

[0061] The support device 20 includes telescopic arms 21 and telescopic legs 22. The telescopic arms 21 are mounted on the base frame 11, and the telescopic legs 22 are mounted on the telescopic arms 21. The support device 20 generally includes four telescopic arms 21 and four telescopic legs 22. The structure mounted on the base frame 11 can be either X-type or H-type. In an X-type support device, the telescopic arms 21 can rotate around the base frame 11 and move linearly. In an H-type support device, the telescopic arms 21 can move linearly relative to the base frame 11. The telescopic arms 21 can drive the telescopic legs 22 to move horizontally; for example, the telescopic arms 21 can drive the telescopic legs 22 to rotate horizontally, or the telescopic arms 21 can drive the telescopic legs 22 to move linearly horizontally. The telescopic legs 22 can extend and retract vertically to support the ground or lift off the ground.

[0062] The lifting device 30 is mounted on the base frame 11. The lifting device 30 includes at least two stacked lifting frames 31. Each lifting frame 31 includes a first lifting frame 311, a second lifting frame 312, and a horizontal connecting frame 313. The two ends of the first lifting frame 311 and the second lifting frame 312 are respectively connected to the corresponding horizontal connecting frame 313 at intervals. Adjacent lifting frames 31 share a horizontal connecting frame 313. Both the first lifting frame 311 and the second lifting frame 312 can be raised and lowered to allow the lifting frame 31 to have a supported state and a retracted state. The two ends of the first lifting frame 311 and the second lifting frame 312 are fixedly connected to the corresponding horizontal connecting frame 313, and the two ends of the first lifting frame 311 and the second lifting frame 312 can rotate around the corresponding horizontal connecting frame 313.

[0063] The self-propelled crossing vehicle 100 can be used to assemble a crossing frame, which includes a crossing net and the self-propelled crossing vehicle 100. The crossing net is connected to the self-propelled crossing vehicles 100 at both ends, for example, by laying the crossing net between two self-propelled crossing vehicles 100, so that the power line is ultimately placed on or above the crossing net between the two self-propelled crossing vehicles 100.

[0064] The lifting device 30 is used to adjust the support height of the self-propelled crossover vehicle. For example, please refer to... Figure 1 The self-propelled crossover vehicle 100 may also include a guardrail 40, and the uppermost horizontal connecting frame 313 of the lifting device 30 can serve as a top platform 3131. The guardrail 40 is installed on the top platform 3131 to protect the construction safety of the workers.

[0065] For example, each layer's lifting frame 31 can serve as a lifting module to achieve standardization and modularity during production. For instance, each horizontal connecting frame 313, together with the first lifting frame 311 and the second lifting frame 312 connected above it, can function as a lifting module. If other structures are also provided on the horizontal connecting frame 313, they can also be components of the lifting module. The vertical arrangement of the lifting modules can be configured according to requirements. For example, each lifting module can be identical; or, the lifting modules on odd-numbered layers are identical, the lifting modules on even-numbered layers are identical, and the lifting modules on odd-numbered and even-numbered layers are different. Other arrangements can also be used, which will not be elaborated here.

[0066] For example, each lifting frame 31 can reach a maximum lifting height of 10m (meters), and each lifting frame 31 is a lifting module. The maximum lifting height of two lifting modules is 20m. The support height of the lifting frame 31 should be understood as the height of the lifting frame 31, and not as the height of the top platform 3131 from the ground. Figures 1-9 An embodiment of the lifting device 30 is shown, which is equipped with two lifting modules. Figures 10-13 An embodiment of the lifting device 30 is shown, which is equipped 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, leveling the top platform 3131, and making the top platform 3131 stable.

[0068] Because different terrains require different adjustments to the support height and angle of the self-propelled crossover vehicle 100, the support height and angle of each lifting frame 31 can be the same or different. For example, each lifting frame 31 can be adjusted to the same support height and angle. In other embodiments, each lifting frame 31 can be adjusted to different support heights and angles. Specifically, the heights of the first lifting frame 311 and the second lifting frame 312 of each 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 according to 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, either the first lifting frame 311 or the second lifting frame 312 of a single lifting frame 31 can be adjusted, or both the first lifting frame 311 and the second lifting frame 312 of a single lifting frame 31 can be adjusted simultaneously. The choice can be made according to the specific needs, and this application does not impose any special restrictions.

[0070] It is understandable that the first lifting frame 311 and the second lifting frame 312 are structurally separate and not directly connected, but indirectly connected through a horizontal connecting frame 313. Spatially, the first lifting frame 311 and the second lifting frame 312 will not interfere with each other during lifting. 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 related technologies, a scissor lift structure can be understood as a first lifting frame and a second lifting frame being directly connected by a hinge shaft. Due to the presence of the hinge shaft, the movements of the first and second lifting frames are mutually constrained. During the lifting process, the vertical diagonal between the first and second lifting frames decreases, while the horizontal diagonal increases, inevitably changing the support width between the first and second lifting frames, thereby reducing the stability of the support and limiting further increases in support height. Compared to the scissor lift structure, the embodiments of this application feature separate first and second lifting frames, whose movements do not interfere with each other. The support width between the first and second lifting frames can remain unchanged, and a single-layer lifting frame 31 can achieve a higher support height.

[0072] The walking mechanism 12 can achieve walking in any way; for example, please refer to [link to example]. Figure 1 The walking mechanism 12 includes tracks 121. Tracks 121 have a large ground contact area when walking, providing strong adaptability to complex terrain. In some embodiments, the walking mechanism 12 may also include tires, enabling higher travel speeds and reducing energy consumption. In other embodiments, the walking mechanism 12 includes tracks 121, a transmission component, and a motor. The motor is mounted on the base frame 11 and drives the transmission component to rotate; the tracks 121 are fitted onto the transmission component, and the motor drives the transmission component to rotate, thereby causing the tracks 121 to move relative to the ground. Exemplarily, the transmission component can be a drive 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 support 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 direction of the horizontal connecting frame 313. For example, a rotating device can also be provided on the base frame 11, through which the lifting device 30 is rotatably connected to the base frame 11. In the figure, X represents the length direction of the horizontal connecting frame 313, and Y represents the width direction of the horizontal connecting frame.

[0074] The telescopic arm 21 is capable of extending and retracting along its length and can drive the telescopic leg 22 to move horizontally, thereby adjusting the support range of the support device 20. The telescopic arm 21 can extend and retract in any way. For example, the support device 20 includes a first telescopic arm drive member for driving the telescopic arm 21 to extend and retract along its length. Alternatively, the support device 20 includes a second telescopic arm drive member for driving the telescopic arm 21 to rotate horizontally.

[0075] For example, please refer to Figure 2 , Figure 3 and Figure 6 The telescopic arm 21 can retract horizontally and be stored below the lifting device 30. After both the telescopic leg 22 and the telescopic arm 21 are retracted, they are mostly located below the horizontal projection of the horizontal connecting frame, which can reduce the space volume of the self-propelled traverse vehicle after storage.

[0076] The number of telescopic arms 21 is at least two. The number of telescopic arms 21 can be two, three, four, or more. Exemplarily, the number of telescopic arms 21 and telescopic legs 22 is the same, with each telescopic arm 21 equipped with one telescopic leg 22. Exemplarily, there are four telescopic arms 21 and four telescopic legs 22. The manner in which the telescopic arms 21 move the telescopic legs 22 in the horizontal direction is not limited; for example, please refer to... Figure 1 The support device 20 can be unfolded into a radial X-shaped structure, meaning that the connection between the telescopic arm 21 and the base frame 11 can serve as the rotation axis. The telescopic arm 21 drives the telescopic leg 22 to rotate and extend relative to the rotation axis, and the four telescopic arms 21 can be unfolded to form a radial shape. Alternatively, in some embodiments not shown, the support device 20 can be unfolded into an H-shaped structure, meaning that the telescopic leg 22 can be extended and retracted along a straight line, and the four telescopic arms can be unfolded to form an H-shape.

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

[0078] In related technologies, scissor lift scaffolds typically employ a combination of hinged and sliding connections to the base to achieve height adjustment. This results in a reduced support width and decreased stability during lifting; it also requires more structural components, leading to greater structural complexity. Furthermore, the bottom support exhibits poor stability under lateral loads, posing significant safety hazards.

[0079] Compared to scissor lifts, the self-propelled gantry crane 100 provided in this application embodiment can increase the maximum lifting height of a single layer. While maintaining the same required support height, it can reduce the number of layers of the lifting frame 31, facilitating pipeline layout, reducing the number of required pipelines and components, simplifying the structure, and lowering the structural weight of the lifting frame 31. Thus, the lower structure of the self-propelled gantry crane 100 is relatively heavier than the upper structure, improving its anti-tipping ability and support stability. Furthermore, due to its simpler structure and fewer components, it can reduce assembly errors. When subjected to lateral loads, it can reduce the possibility of cumulative errors causing the lifting device 30 to bend or twist, reducing the probability of fatigue damage to the lifting device 30 structure and improving overall structural reliability.

[0080] Furthermore, by incorporating the walking device 10, the self-propelled trestle 100 can move autonomously, significantly reducing the manpower and material resources required for movement and improving construction efficiency and economic benefits. The support device 20, equipped with a telescopic arm 21 and telescopic legs 22, enables the self-propelled trestle 100 to adapt to complex terrain, such as maintaining stable support on steep slopes, thus enhancing its adaptability and stability.

[0081] In some embodiments, please refer to 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 supported state or a retracted state.

[0082] The upper end of the upper connecting bracket 302 refers to the position relatively close to the upper part, and should not be interpreted restrictively as only connecting the ends. Similarly, the lower end of the upper connecting bracket 302, and the upper and lower ends of the lower connecting bracket 301, should also be understood accordingly. For example, please refer to [link to relevant documentation]. Figure 1In the first lifting frame 311, the upper end of the lower connecting frame 301 is hinged to the lower end of the upper connecting frame 302, with the connection position being the end of the lower connecting frame 301 and a position near the end of the upper connecting frame 302. This increases the maximum lifting height of the first lifting frame 311.

[0083] The first driving component 303 can be driven in any way, for example, the first driving component 303 can be a cylinder, an electric cylinder or a hydraulic cylinder.

[0084] It is understood that the first driving component 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 component 303 can be driven connected to the upper connecting frame 302 or to the lower connecting frame 301, or the first driving component 303 can be driven connected to both the upper connecting frame 302 and the lower connecting frame 301.

[0085] Similarly, it is understood that the first drive unit 303 of the same-level lifting frame 31 can be driven synchronously so that the horizontal connecting frame 313 of each level lifting frame 31 can rise in a basically horizontal state. Furthermore, the first drive unit 303 in all lifting frames 31 can be driven synchronously so that the lifting height of each level lifting frame 31 is the same.

[0086] For example, please refer to Figure 1 One end of the first driving component 303 is mounted on the horizontal connecting frame 313, and the other end is driven to connect with the upper connecting frame 302. The support height of the lifting frame 31 is adjusted by driving the upper connecting frame 302 to move.

[0087] For example, please refer to Figure 1 The ends of the first lifting frame 311 and the second lifting frame 312 that connect to the horizontal connecting frame 313 are located at opposite ends of the horizontal connecting frame 313 along its length. The lower connecting frame 301 of the first lifting frame 311 and the lower connecting frame 301 of the second lifting frame 312 are respectively connected to opposite ends of the horizontal connecting frame 313 along its length. The upper connecting frame 302 of the first lifting frame 311 and the upper connecting frame 302 of the second lifting frame 312 are respectively connected to opposite ends of the horizontal connecting frame 313 along its length. This improves the support stability of the lifting frame 31.

[0088] For example, please refer to Figure 1 The first driving member 303 is driven to connect with the upper connecting frame 302. The two first driving members 303 are disposed at one end of the horizontal connecting frame 313 and located inside the two lower connecting frames 301 along the length of the horizontal connecting frame 313. In this way, the installation position of the first driving member 303 can avoid the lower connecting frame 301, and the lower connecting frame 301 can be connected to the end of the horizontal connecting frame 313.

[0089] The number of lower connecting bracket 301, upper connecting bracket 302, and first driving member 303 is unlimited and can be adapted to meet specific needs. For some embodiments, please refer to... Figure 1 Both the first lifting frame 311 and the second lifting frame 312 include two sets of spaced-apart lower connecting frames 301, upper connecting frames 302, and first driving components 303. It can be understood that in 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 components 303 are spaced apart. In 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 components 303 are spaced apart.

[0090] This improves the support stability of the first lifting frame 311 and the second lifting frame 312. Furthermore, the maximum lifting height achievable by a single layer of the lifting frame 31 is higher. Compared to a scissor lift, the first lifting frame 311 and the second lifting frame 312 do not interfere with each other during lifting, and the upper connecting frame 302 and the lower connecting frame 301 have a larger rotation angle. In some embodiments not shown, both the first lifting frame 311 and the second lifting frame 312 include a lower connecting frame 301, an upper connecting frame 302, and a first driving member 303.

[0091] In some embodiments, please refer to 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 not equal, so that when the lifting frame 31 is in the retracted state, the two lower connecting frames 301 of the first lifting frame 311 can encompass 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 not equal, so that when the lifting frame 31 is in the retracted state, the two upper connecting frames 302 of the first lifting frame 311 can encompass 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 contained within the two lower connecting frames 301 of the second lifting frame 312. Either the two lower connecting frames 301 of the first lifting frame 311 are located inside 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 are located inside 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 contained within the two upper connecting frames 302 of the second lifting frame 312. This can be either the two upper connecting frames 302 of the first lifting frame 311 being 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 being 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, when folded up, the space occupied by the single-layer lifting frame 31 in the vertical direction can be reduced, thereby allowing the entire self-propelled crossover vehicle 100 to be folded up to 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 drive member 305 for drivable connection with one of the lower connecting frame 301 and the upper connecting frame 302. The first lifting frame 311 includes the second drive member 305, or the second lifting frame 312 includes the second drive member 305. The second drive member 305 can drive one of the upper connecting frame 302 to achieve actuation; for example, the second drive member 305 can be drivably connected to either the upper connecting frame 302 or the lower connecting frame 301. See, for example, [link to relevant documentation]. Figure 1 The second lifting frame 312 includes a second driving component 305, which is driven to connect with the upper connecting frame 302.

[0096] The second drive member 305 can improve the posture stability of the lifting device 30. When the first lifting frame 311 and the second lifting frame 312 are not synchronized in lifting, the second drive member 305 can form a restraining force between the horizontal connecting frame 313 and the upper connecting frame 302 along the extension direction of the second drive member 305, reducing the possibility that the lifting device 30 will lose its stable state due to the imbalance of the horizontal connecting frame 313. The driving method of the second drive member 305 is not limited; for example, the second drive member 305 can be a cylinder, an electric cylinder, or a hydraulic cylinder.

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

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

[0099] For example, the self-propelled traverse vehicle 100 also includes a first sensor disposed on the top platform 3131 for acquiring the tilt angle of the top platform 3131, so as to control the first drive member 303 and the second drive member 305 based on the tilt angle acquired by the first sensor.

[0100] For example, the self-propelled traverse vehicle 100 also includes a second sensor disposed on the top platform 3131 for acquiring the height of the top platform 3131. This is so that the first drive unit 303 and the second drive unit 305 can be controlled based on the height of the top platform 3131 acquired by the second sensor.

[0101] For example, please refer to Figure 1 One end of the second driving component 305 is mounted on the horizontal connecting frame 313, and the other end is driven to connect with the upper connecting frame 302. The angle of the horizontal connecting frame 313 is adjusted by driving the upper connecting frame 302 to rotate.

[0102] For example, please refer to 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 connects 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. The second driving member 305 is drivenly connected to the connecting beam 304. For example, when the second driving member 305 is drivenly connected to the upper connecting frame 302 in the second lifting frame 312, the connecting beam 304 connects the two upper connecting frames 302 in the second lifting frame 312.

[0103] The connecting beam 304 provides a position for applying driving force to the second driving member 305. When the connecting beam 304 is provided on the first lifting frame 311, the structural strength of the first lifting frame 311 can be improved by providing the connecting beam 304. When the connecting beam 304 is provided on the second lifting frame 312, the structural strength of the second lifting frame 312 can be improved by providing the connecting beam 304.

[0104] For example, the second driving member 305 is driven 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. For example, the second driving member 305 is connected to the middle position of the lower horizontal connecting frame 313 in the width direction 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, please refer to 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 end 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 of the upper connecting frame 302.

[0106] For example, the lower connecting frame 301 in the first lifting frame 311 and the second lifting frame 312 has the same length. In the same layer of lifting frame 31, the length of the upper connecting frame 302 that is driven and connected to the second driving member 305 is greater than the length of the upper connecting frame 302 that is not driven and connected to the second driving member 305. Figure 1 In the second lifting frame 312, the length of the upper connecting frame 302 is greater than that of the upper connecting frame 302 in the first lifting frame 311. Because the single-layer lifting frame 31 has a larger lifting height, the number of layers required for the lifting frame 31 can be reduced. When the first driving member 303 and the second driving member 305 are hinged to the horizontal connecting frame 313, the cumulative error of all hinge points in the lifting device 30 is smaller, which can reduce the impact of the cumulative error on the support stability of the lifting device 30 and improve support stability.

[0107] For example, such as 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 greater 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 distance from the hinge point of the lower connecting frame 301 to the end of the upper connecting frame 302 connected to the horizontal connecting frame 313 is the same.

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

[0109] In some embodiments, please refer to Figure 1 and Figure 2 Projected vertically, the second drive unit 305 in the lifting frame 31 of the two adjacent layers is located on both sides of the horizontal connecting frame 313.

[0110] In this way, the second drive component 305 in the lifting frame 31 of two adjacent layers in the vertical direction can be staggered, and the weight of the self-propelled trekking vehicle 100 along the length of the horizontal connecting frame 313 can be balanced, reducing the possibility that the weight of the self-propelled trekking vehicle 100 on one side is too large or too small, or that the weight distribution of the self-propelled trekking vehicle 100 along the length direction is uneven and affects the stability of the support.

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

[0112] It is understandable 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, then 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... Figure 1 As shown, the connecting beam 304 connects the two upper connecting frames 302 in the second lifting frame 312. By setting the first reinforcing beam 306, the structural strength of the first lifting frame 311 or the second lifting frame 312 connected by the connecting beam 304 can be improved.

[0113] In some embodiments, please refer to Figure 1 Both the first lifting frame 311 and the second lifting frame 312 include a second reinforcing beam 307, two lower connecting frames 301 respectively connected to the first lifting frame 311 and the second lifting frame 312, and two upper connecting frames 302 respectively connected to the first lifting frame 311 and the second lifting frame 312. By providing the second reinforcing beam 307, the structural strength of the first lifting frame 311 and the second lifting frame 312 can be improved.

[0114] For example, please refer to Figure 1 The second reinforcing beam 307 is positioned close to the horizontal connecting frame 313 at the locations where it connects to the lower connecting frame 301 and the upper connecting frame 302. 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] This application also provides a crossing frame 200, which can be used in working environments where power transmission lines need to cross roads, railways, obstacles, etc., such as both sides of a highway. In addition to highways, the self-propelled crossing vehicle 100 and the crossing frame 200 provided in this application are also suitable for mountainous, hilly, and other environments requiring high-altitude crossings.

[0116] Please see Figures 14-16 The crossing frame 200 includes a crossing net 220, cables 210, and at least two self-propelled crossing vehicles 100 as described in any one of the embodiments of this 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 end of the two cables 210 is anchored to the ground.

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

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

[0119] The number and location of the self-propelled trestle 100 can be configured according to requirements. For example, self-propelled trestle 100s may be installed on both sides of a highway route. In other embodiments, two or more self-propelled trestle 100s may be installed on the same side of the highway.

[0120] In related technologies, because the gantry crane needs to be disassembled and moved to the next work location after each operation, it is time-consuming, labor-intensive, and has a long installation cycle. In addition, the gantry crane has insufficient support stability, and the workers standing on top of the gantry crane to perform high-altitude operations have a limited range of movement and high work risks.

[0121] In view of this, embodiments of this application also provide a train formation operation platform for cross-country vehicles. Please refer to [link to relevant documentation]. Figure 17 and Figure 18This application provides a swarming platform 300 for traversing vehicles. The swarming platform 300 includes traversing vehicles, a rigid platform 310, a traversing net 220, and cables 210. At least two traversing vehicles are arranged on each side of the object to be traversed. The rigid platform 310 connects the tops of all traversing vehicles on each side of the object to be traversed. The traversing net 220 connects the tops of the traversing vehicles on both sides of the object to the rigid platform 310. The top of each traversing vehicle is connected to one end of at least two cables 210, and the other end of the cables 210 is anchored to the ground. Exemplarily, the traversing vehicle can be any of the self-propelled traversing vehicles 100 provided in this application embodiment, or it can be other traversing vehicles with walking functions.

[0122] The rigid platform 310 can connect to the top of a crossover vehicle located on the same side of the highway, such as the top platform 3131 of the crossover vehicle. Exemplarily, every two adjacent crossover 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 crossover vehicles.

[0123] The assembly platform 300 provided in this application embodiment connects the crossing vehicles into a whole by setting up a rigid platform 310. When a single crossing vehicle is subjected to a large load, the rigid platform 310 can evenly distribute the load to the other crossing vehicles, reducing the possibility of damage to a single crossing vehicle and improving the load-bearing stability of the entire assembly platform 300. It also improves support stability, better resisting the possibility of deformation and displacement, increasing the crossing vehicles' ability to withstand lateral loads, improving overall structural strength, and reducing the possibility of the top platform 3131 and the rigid platform 310 swaying due to unstable crossing vehicle support. Furthermore, with the rigid platform 310, workers can move between the various crossing vehicles connected to the rigid platform 310 without frequently climbing up and down between different crossing bays to transfer to other crossing frames 200, thus expanding the range of operations for workers. Using movable crossing vehicles facilitates movement to the required location on the construction site for work, eliminating the need for manual handling, significantly reducing the manpower and material resources required for movement, and improving construction efficiency and economic benefits.

[0124] In some embodiments, the telescopic leg 22 is supported on the ground to keep the lifting device 30 in a horizontal position, the lifting frame 31 is in a supported position, the rigid platform 310 is connected to the horizontal connecting frame 313 on the top of all the crossing vehicles on each side of the object being crossed, the crossing net 220 is connected to the horizontal connecting frame 313 on the top of the crossing vehicles on both sides of the object being crossed and the rigid platform 310, and the cable 210 is connected to the horizontal connecting frame 313 on the top of each crossing vehicle.

[0125] In some embodiments, guardrail 40 is disposed on rigid platform 310. It is understood that guardrail 40 is disposed on the outer periphery of both rigid platform 310 and top platform 3131 to allow workers to move from one rigid platform 310 to the other.

[0126] This application also provides a method for grouping and operating multiple-car trains; please refer to [link to relevant documentation]. Figure 19 Using the grouping operation platform described in any one of the embodiments of this application, the grouping operation method includes:

[0127] S1: Arrange at least two crossing vehicles on each side of the object to be crossed;

[0128] S2: Adjust each crossover vehicle to a horizontal position;

[0129] S3: Connect all crossing vehicles on each side of the object being crossed using a rigid platform;

[0130] S4: Lift each straddle vehicle to the required working height;

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

[0132] S6: Connect the tops of the crossing vehicles on both sides of the object being crossed using a crossing net.

[0133] The term "leveling the vehicle" refers to adjusting the underframe to a horizontal position so that the horizontal connecting frame at the top layer is also level.

[0134] It is understandable that the order of steps in the above grouping operation method can be adjusted according to needs. For example, the grouping operation method can be to perform steps S1 to S5 first, and then S6; or to perform steps S1 to S2 first, then S6, and then S3 to S5; or to perform steps S1 to S3 first, then S6, and then S4 to S5.

[0135] In related technologies, transporting crossing frames to different work locations requires a significant amount of manpower and resources, causing considerable inconvenience to the operation. Furthermore, when the length of the overhead line segment is long, a large number of crossing frames are required. Communication and information exchange between different work locations, such as crossing operation data, rely on manual observation and walkie-talkie communication, which leads to numerous human errors, communication failures, and information delays, greatly complicating the construction operation.

[0136] In view of this, this application also provides a train formation system 400 for crossover vehicles. Please refer to [link to relevant documentation]. Figure 20 and Figure 21The troop formation operation system 400 includes a work platform, a work cabin 410, and a mobile power station 420. The work platform includes a crossing vehicle and a crossing net 220. Crossing vehicles are arranged on both sides of the object to be crossed, and the crossing net 220 connects the crossing vehicles on both sides of the object to be crossed. The work cabin 410 includes a first compartment and a first controller disposed within the first compartment. The first controller is electrically connected to the crossing vehicle to monitor its operating parameters. The mobile power station 420 is electrically connected to both the crossing vehicle and the work cabin 410 to provide power to both. Exemplarily, the crossing vehicle can be any of the self-propelled crossing vehicles 100 provided in the embodiments of this application, or it can be other crossing vehicles with walking functions, such as crossing vehicles equipped with new energy power to electrically drive the walking device or lifting device. The work platform is, for example, the troop formation operation platform 300 provided in any of the embodiments of this application.

[0137] An electrical connection can be at least one of a power supply connection and a communication connection, and those skilled in the art can understand the specific meaning of an electrical connection based on the actual situation.

[0138] The operating parameters of the crossing vehicle include, but are not limited to, the height of the top platform 3131 of the crossing vehicle and the tilt angle of the top platform 3131 of the crossing vehicle. By monitoring the operating parameters through the first controller, the operating status of the crossing vehicle can be obtained in a timely manner, and abnormalities can be detected in a timely manner, such as inconsistent lifting heights on both sides of the top platform 3131 of the crossing vehicle or the top platform 3131 not being lifted to the correct height, so as to further handle the situation and reduce the possibility of dangerous situations occurring during the operation.

[0139] After the first controller monitors the operating parameters, the operators can view the data information in real time. Monitoring can be conducted from inside the first compartment, which improves the accuracy of assessing the operation of the crossing vehicle compared to visual observation, thus enhancing operational safety.

[0140] For example, the mobile power station 420 includes an energy storage device capable of providing power to the cross-country vehicle and the work cabin 410. The mobile power station 420 may also include a charging device for charging the energy storage device.

[0141] The grouping operation system 400 provided in this application embodiment, by setting up crossing vehicles, can be easily moved to the required location on the construction site for operation without manual handling, which can significantly reduce the manpower and material resources required, and improve construction efficiency and economic benefits. By setting up a first controller in the work compartment 410 that is electrically connected to the crossing vehicle to monitor the operating parameters of the crossing vehicle, it is beneficial to help the crossing vehicles at different positions of the object being crossed to achieve collaborative operation and improve the communication efficiency of personnel at different work positions. The mobile power station 420 can provide power to the crossing vehicle and the work compartment 410 to provide a stable power supply during construction operations, reducing the possibility of the operation progress being affected by insufficient power.

[0142] In some embodiments, the trespassing vehicle is a self-propelled trespassing vehicle 100; the trooping operation system 400 also includes a first remote control device for adjusting the operating parameters of the self-propelled trespassing vehicle 100. Exemplarily, the first remote control device can be a portable handheld remote control device, and the operator can control the travel path and lifting height of the self-propelled trespassing vehicle 100 by controlling the first remote control device.

[0143] For example, the first remote control device is signal-connected to the first controller. Thus, the first controller can send control commands to the first remote control device, enabling operators to perform tasks according to these commands. The first controller can also send commands to the first remote control devices corresponding to different crossing vehicles based on operational needs, enabling the crossing vehicles to work collaboratively.

[0144] For example, at least two crossing vehicles are arranged on each side of the object being crossed.

[0145] In some embodiments, please refer to Figure 20 and Figure 21 The group operation system 400 also includes drones 430. The number of drones 430 can be one, two, or more, and the specific number can be adapted to the operational requirements. Each drone 430 can be set to operate independently or collaboratively.

[0146] For example, the drone 430 is used to provide auxiliary operations. These auxiliary operations, such as stringing lines, erecting cables 210, or crossing nets, can reduce the difficulty of the operation by combining drone operations.

[0147] For example, drone 430 can be used to provide lighting. For instance, drone 430 has a lighting device. Thus, in situations where visibility in the work environment is poor, such as when working at night affects the worker's vision, it can help the worker more clearly identify the work environment, reducing the likelihood of insufficient lighting affecting work efficiency and safety. By adjusting the position and lighting angle of drone 430, sufficient lighting can be provided to various locations in the work environment.

[0148] For example, the drone 430 can be used to collect image information. For instance, the drone 430 has a camera device or is configured to carry a camera device. It can collect image information of the crossing vehicle and the crossing net 220 by controlling the drone 430, and feed the collected data information 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 used to communicate with the first controller, and the drone 430 is signal-connected to the first controller, such as through a wireless communication connection. In this way, the signals of the drone 430 can be fed back to the first controller in a timely manner, so that the operator can control the first controller to issue operation instructions based on the signals.

[0150] For example, the first controller has a display panel for operators to view image and data information acquired by the UAV 430, so that they can take timely countermeasures in case of abnormal situations.

[0151] In some embodiments, the drone 430 is a tethered drone, and the mobile power station 420 is capable of providing power to the drone 430. For example, the tethered drone uses a tether cable to obtain power from the mobile power station 420 as a power source, replacing traditional lithium batteries, and its most important feature is its ability to hover for extended periods.

[0152] In other embodiments, the drone 430 includes a power unit and a power source, the power source being used to provide electrical energy to the power unit to enable flight.

[0153] In some embodiments, the grouping operation system 400 also includes a second remote control device for adjusting the operational parameters of the drone 430. Exemplarily, the second remote control device can be a portable handheld remote control device, allowing operators to control the flight path of the drone 430 and select corresponding operational functions. For example, when providing lighting, the second remote control device can control the lighting to be turned on or off. Alternatively, when providing auxiliary operations, the second remote control device can control the flight altitude of the drone 430 and its relative position to the straddle 200 to assist workers in their operations.

[0154] In some embodiments, please refer to Figure 20 and Figure 21 The grouping operation system 400 also includes a command cabin 440 and multiple work cabins 410. The command cabin 440 includes a second cabin and a second controller disposed in the second cabin. The second controller is electrically connected to the first controllers of the multiple work cabins 410 respectively.

[0155] In some embodiments, the grouping operation system 400 further includes a control cabin, and there are multiple command cabins 440. The control cabin includes a third cabin and a third controller disposed in the third cabin.

[0156] For example, the third controller is electrically connected to the first controller of each of the multiple work compartments 410. In this way, the third controller can directly transmit data information to the first controller, so as to directly feed back the operation parameters of the crossing vehicle obtained by the first controller to the third controller. At the same time, the third controller can directly issue operation tasks to the first controller. This can reduce the impact of data loss, large errors and low efficiency caused by manual transmission of operation information.

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

[0158] Two-level operations can be achieved by setting up a command cabin and a work cabin. Three-level operations can be achieved by setting up a control cabin, command cabin, and work cabin. Further expansion with more layers of command or control cabins is possible, enabling multi-level hierarchical control, facilitating monitoring, coordination, and management of construction progress across different road sections, optimizing resources, and improving construction efficiency. It should be noted that the names control cabin, command cabin, and work cabin are merely for distinguishing different levels of cabins.

[0159] In some embodiments, please refer to Figure 20 and Figure 21 The object being crossed is a highway. A working group consisting of a mobile power station 420 and a work cabin 410 located on the same side of the highway is formed, with at least two working groups placed on both sides of the highway.

[0160] The number of mobile power stations 420 and work cabins 410 in each work group is unlimited; for example, there can be one, two, or more, depending on the work requirements. Setting up work groups on both sides of the road facilitates the mobile power stations 420 to provide power to the cross-traffic vehicles and work cabins 410 on the same side.

[0161] For example, the work cabins 410 located on both sides of the road can be signal connected to transmit the operating parameters of the crossing vehicle so that the crossing vehicles on both sides can work together.

[0162] For example, the vehicle also includes a first sensor disposed on the top platform 3131 for acquiring the tilt angle of the top platform 3131. This is used to control the first drive unit 303 and the second drive unit 305 based on the tilt angle acquired by the first sensor. The first sensor may be signal-connected to a first controller.

[0163] For example, the operator operates the first remote control device based on the tilt angle information obtained by the first controller, controls the first drive component and the second drive component, and adjusts the tilt angle of the platform across the vehicle roof.

[0164] For example, the vehicle also includes a second sensor mounted on the top platform 3131 for acquiring the height of the top platform 3131. This allows control of the first drive unit 303 and the second drive unit 305 based on the height acquired by the second sensor. The second sensor may be signal-connected to the first controller.

[0165] For example, the operator operates the first remote control device based on the height information obtained by the first controller, controls the first drive component and the second drive component, and adjusts the lifting height of the crossing vehicle.

[0166] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A self-propelled straddle vehicle, characterized in that, include: A walking device includes a base frame and a walking mechanism, wherein the walking mechanism is mounted on the base frame to achieve self-propelled movement; The support device includes a telescopic arm and a telescopic leg. The telescopic arm is mounted on the base frame, and the telescopic leg is mounted on the telescopic arm. 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 lifted off the ground. A lifting device is installed on the base frame. The lifting device includes at least two stacked lifting frames. Each layer of the lifting frame includes a first lifting frame, a second lifting frame, and a horizontal connecting frame. The two ends of the first lifting frame and the second lifting frame are respectively connected to the corresponding horizontal connecting frame at intervals. Adjacent layers of the lifting frames share a horizontal connecting frame. Both the first lifting frame and the second lifting frame can be raised and lowered to give the lifting frame a supported state and a retracted state.

2. The self-propelled crossover vehicle according to claim 1, characterized in that, Both the first lifting frame and the second lifting frame include: The system includes a lower connecting frame, an upper connecting frame, and a first driving member. 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. 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 supported state or a retracted state.

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

4. The self-propelled crossover 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; In the upper connecting frame, the hinge point of the first driving member and the hinge point of the second driving member are 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 of the upper connecting frame.

5. The self-propelled crossover vehicle according to claim 2, characterized in that, Both the first lifting frame and the second lifting frame include two sets of the lower connecting frame, the upper connecting frame and the first driving component arranged at intervals.

6. The self-propelled crossover 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 frame is in the storage state, the two lower connecting frames of the first lifting frame can be contained within the two lower connecting frames of the second lifting frame. The distance between the two upper connecting frames of the first lifting frame and the distance between the two upper connecting frames of the second lifting frame are not equal, so that when the lifting frame is in the storage state, the two upper connecting frames of the first lifting frame can be contained within the two upper connecting frames of the second lifting frame.

7. The self-propelled crossover 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 connects one of the two lower connecting frames and the two upper connecting frames of the first lifting frame or the second lifting frame. The second driving member is drivenly connected to the connecting beam.

8. The self-propelled crossover 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, which is connected adjacent to the connecting beam 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, Both the first lifting frame and the second lifting frame include a second reinforcing beam, which is respectively connected to two lower connecting frames in the first lifting frame and the second lifting frame, and to two upper connecting frames in the first lifting frame and the second lifting frame, respectively.

9. The self-propelled crossover vehicle according to claim 7, characterized in that, Projecting along the vertical direction, the second drive unit in the lifting frame of the two adjacent layers is located on both sides of the horizontal connecting frame.

10. The self-propelled crossover 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; the four telescopic arms can be deployed to form an H-shape or a radial shape; and / or, The self-propelled traverse vehicle also includes guardrails, and the uppermost horizontal connecting frame of the lifting device can serve as a top platform, with the guardrails mounted on the top platform.

11. A bridging frame, characterized in that, include: At least two self-propelled crossover vehicles according to any one of claims 1 to 10; A crossing net connects the lifting devices of the two self-propelled crossing vehicles. Each of the self-propelled traverse vehicles has its lifting device top connected to one end of at least two of the cables, the other ends of which are anchored to the ground.

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