CN106571597A - Power tower automatic circular climbing device - Google Patents
Power tower automatic circular climbing device Download PDFInfo
- Publication number
- CN106571597A CN106571597A CN201610996460.3A CN201610996460A CN106571597A CN 106571597 A CN106571597 A CN 106571597A CN 201610996460 A CN201610996460 A CN 201610996460A CN 106571597 A CN106571597 A CN 106571597A
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- hand member
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
Abstract
The invention provides a power tower automatic circular climbing device, which belongs to the field of electric auxiliary equipment. The invention provides the power tower automatic circular climbing device which can automatically climb a transmission tower for detection and maintenance. According to the invention, two rotating discs are connected through a peripheral synchronizing rod and a middle shaft rod; the middle shaft rod is sleeved by a shaft sleeve; the shaft sleeve is fixedly arranged on a supporting frame which is fixed on a fixation ring; the middle shaft rod fixedly sleeves a driven gear which is engaged with a driving gear; the driving gear is fixed on the motor shaft of a motor; the motor is arranged on a fixation ring; and a climbing hook is arranged on the outer edge of each rotating disc. According to the invention, the labor intensity of a worker can be reduced; the risk of electric shock and falling at high altitude is reduced; the efficiency and quality of overhauling and maintenance can be improved; and good economic and social benefits are created.
Description
Technical field
The invention belongs to power accessories field.
Background technology
The at present maintenance of country's ultra-high-tension power transmission line, safeguard and substantially stepped on by the way of steel tower using manually climbing, using taking
The repair and maintenance equipment of band completes corresponding task, and this not only consumes in a large number the muscle power of maintainer, affects operating efficiency, also pole
It is dangerous.And with the continuous enlarging of power system, in order to improve Automation of Electric Systems integration capability, for power system
Detection and the climbing safeguarded and inspection robot are increasingly becoming one of research of hot topic, and power department is in the urgent need to the replacement people of energy
The automation equipment that work climbing steel tower is monitored and safeguards.Successively some inspection robots are successfully developed both at home and abroad,
And the R＆D work of inspection robot is carried out in further input manpower and materials, but for patrolling and examining and safeguarding electric power tower
The also not researchs for seeing correlation of climbing robot and report, domestic and international market is there is not yet finished product more.
The content of the invention
It is an object of the invention to provide it is a kind of for can to electric power pylon automatic climbing so as to carry out detect maintenance electric power
Steel tower automatic circular climbing device.
The present invention two rotates disk by peripheral synchronizing bar and the connection of middle part axostylus axostyle, and at middle part, shaft rod upper sleeve is equipped with axle
Set, axle sleeve is fixedly mounted on bracing frame, and bracing frame is fixed in retainer ring, and fixed cover is equipped with driven tooth on the axostylus axostyle of middle part
Wheel, driven gear is engaged with driving gear, and driving gear is fixed on the motor shaft of motor, and motor is arranged in retainer ring；
Climbing hook is installed in the outer rim for rotating disk.
The present invention is stained with foil gauge on climbing hook, and its Electronic Control includes main control chip, power protecting circuit, power supply
Filter circuit, power indicating circuit, 5V mu balanced circuits, 12V mu balanced circuits, 3.3V mu balanced circuits, MCU filter circuits, AD benchmark
Circuit, MCU reset circuits, Boot arrange circuit, MCU download circuits, MCU crystal oscillating circuits, camera power supply interface, wireless image transmission
Module for power supply interface, foil gauge module interface, driving stepper motor control circuit, wireless serial interface；
Main control chip：Using STM32F103VET6 chips, 11,28,50,75,100 pin of main control chip U1 and 5V mu balanced circuits
VCC-3.3 connections, 10,27,49,74,99 pin of main control chip U1 are connected with the 2 pin GND of power input interface J1；
Power protecting circuit：1 pin of power input interface J1 is positive source, and 2 pin are power supply GND；The 1 of power input interface J1
Pin is connected with the left end of resettable fuse F1, and the right-hand member of resettable fuse F1 is connected with the left end of Schottky diode D2,
The right-hand member of Schottky diode D2 is connected as the output end of power supply with the left end of Transient Suppression Diode TVS D3, and transient state suppresses two
The right-hand member of pole TVS D3 is connected with the 2 pin GND of power input interface J1；
Electric source filter circuit：The 1 pin VIN of the power input interface J1 of power protecting circuit and electrochemical capacitor C4, polarity free capacitor
The left end connection of C5,2 of the power input interface J1 in electrochemical capacitor C4, the right-hand member and power protecting circuit of polarity free capacitor C5
Pin GND connects；
Power indicating circuit：The VCC power output ends of power protecting circuit are connected with the left end of current-limiting resistance R1, current-limiting resistance R1
Right-hand member is connected with the left end of light emitting diode D1, the power input interface in the right-hand member and power protecting circuit of light emitting diode D1
The 2 pin GND connections of J1；
5V mu balanced circuits：The VCC power output ends of power protecting circuit are connected with 1 pin of voltage stabilizing chip LM2576-5VU3, VCC
Power output end is connected with the lower end of electrochemical capacitor C10, and the upper end of C10 and the 3 of voltage stabilizing chip U3,5 pin are connected to power protection
On the GND of 2 pin of the power input interface J1 in circuit；The left end of inductance L1 is connected with the lower end of Schottky diode D4 and is followed by
Enter on 2 pin of U3, the right-hand member of L1 and the lower end connection of electrochemical capacitor C11 are followed by 4 pin of U3 as VCC-5V output ends, Xiao Te
The upper end of based diode D4 is connected the 2 pin GND for being followed by power input interface J1 with the upper end of C11；
12V mu balanced circuits：The VCC power output ends of power protecting circuit are connected with 1 pin of U4 voltage stabilizing chips LM2576-12V,
VCC power output ends are connected with the lower end of electrochemical capacitor C17, and the upper end of C17 and the 3 of U4,5 pin are connected to power input interface J1
2 pin GND on；The left end of inductance L3 is accessed on 2 pin of U3 after being connected with the lower end of Schottky diode D5, the right-hand member and electricity of L3
The lower end connection of solution electric capacity C18 is followed by 4 pin of U4 being VCC-12V output ends that the upper end of Schottky diode D5 is with C18's
Upper end connection is followed by the 2 pin GND of the power input interface J1 in power protecting circuit；
3.3V mu balanced circuit：The 5V voltage output ends of 5V mu balanced circuits are connected 3 pin for being connected to U2 with the upper end of electric capacity C6, C8, C6,
The lower end of C7, C8, C9 is connected after being connected with 1 pin of U2 with the 2 pin GND of the power input interface J1 in power protecting circuit, C7,
The upper end of C9 is VCC-3.3V output ends after being connected with 2 pin of U2；
MCU filter circuits：VCC-3.3V output ends in 3.3V mu balanced circuits connect with the upper end of C12, C13, C14, C15, C16
Connect, the lower end of C12, C13, C14, C15, C16 is connected with the 2 pin GND of the power input interface J1 in power protecting circuit；3.3V
VCC-3.3V output ends in mu balanced circuit are connected with the left end of inductance L2, and the right-hand member of L2 is connected with the upper end of C19, C20, C21
Afterwards, the power input interface J1 in the left end connection power protecting circuit of 22 pin VDDA being linked in main control chip, inductance L4
2 pin GND, L4 right-hand member connection C19, C20, C21 lower end after, 19 pin VSSA being linked in main control chip；
AD reference circuits：VCC-3.3V output ends in 3.3V mu balanced circuits are connected with the left end of inductance L5, the right-hand member of L5 with
After the upper end connection of C22, C23, C24,21 pin being connected in main control chip, in the left end connection power protecting circuit of inductance L6
Power input interface J1 2 pin GND, L6 right-hand members connection C22, C23, C24 lower end after, 20 be linked in main control chip
Pin；
MCU reset circuits：VCC-3.3V output ends in 3.3V mu balanced circuits are connected with the right-hand member of R2, the right-hand member end of button S1,
The left end of R2, the right-hand member of C2 are connected with 14 pin of U1 in main control chip；Power supply in the right-hand member and power protecting circuit of C2, S1 is defeated
The 2 pin GND of incoming interface J1；
Boot arranges circuit：The left end of resistance R3 is connected with 94 pin in main control chip, the electricity in right-hand member and power protecting circuit
The 2 pin GND connections of source input interface J1；
MCU download circuits：1 pin of connector P1 is connected with the lower end of 72 pin of main control chip U1, pull-up resistor R5,2 pin of P1
It is connected with the 2 pin GND of the power input interface J1 in power protecting circuit, 3 pin of P1 are electric with 76 pin of main control chip U1, pull-up
The lower end connection of resistance R4；The upper end of pull-up resistor R4, R5 is connected with the VCC-3.3V output ends in 3.3V mu balanced circuits；
MCU crystal oscillating circuits：The upper end of crystal oscillator Y1, the right-hand member of C1 are connected with 112 pin of main control chip U1, crystal oscillator
The lower end of Y1 is connected with the right-hand member of C3 with 13 pin of main control chip U1, and the power supply in the left end and power protecting circuit of C1, C3 is defeated
The 2 pin GND connections of incoming interface J1；
Camera power supply interface：1 pin of connector J3 is connected with the output end of 12V mu balanced circuits, in 2 pin and power protecting circuit
Power input interface J1 2 pin GND connection；
Wireless image transmission module for power supply interface：1 pin of connector J4 is connected with the output end of 12V mu balanced circuits, 2 pin and power protection
The 2 pin GND connections of the power input interface J1 in circuit；
Foil gauge module interface：1 pin of connector J2 is connected with the output end of 5V mu balanced circuits, in 2 pin and power protecting circuit
Power input interface J1 2 pin GND connections, 3 pin are connected with 35 pin of main control chip U1 circuits；
Driving stepper motor control circuit：1 pin of connector J8 is connected with the output end of 12V mu balanced circuits, 8 pin of connector J8
It is connected with the 2 pin GND of the power input interface J1 in power protecting circuit, 2 pin of connector J8,4 pin, 6 pin and pull-up resistor
The right-hand member connection of R7,3 pin, 5 pin, 7 pin of connector J8 65 pin respectively with main control chip U1,31 pin, 66 pin are connected；Pull-up electricity
The left end of resistance R7, R8 is connected with the output end of 5V mu balanced circuits, and the right-hand member of pull-up resistor R8 is connected with 5 pin of connector J8；
Wireless serial interface：1 pin, 2 pin, 3 pin, 4 pin, 5 pin of connector J5 70 pin respectively with main control chip U1,71 pin, 68
Pin, the connection of 69 pin, 6 pin are connected with the output end of 5V mu balanced circuits, the power input interface J1's in 7 pin and power protecting circuit
2 pin GND connect.
The course of work of the present invention is：
When 1. starting, device power supply (DPS) is opened, the lithium battery that system control panel is connected with the power interface in power protecting circuit is opened
Begin to provide electric energy for system；Wherein 5V power supplys are control circuit, the wireless serial module for power supply of stepper motor, and 12V power supplys are to take the photograph
As head, wireless image transmission, power supply for step-by-step motor are powered, 3.3V power supplys are master control chip power supply；
2. intiating radio serial port module, is connected with operation equipment；
3. operation equipment sends instruction of shaking hands to climbing device, and climbing device is received after instruction, and sending back should instruct to operation
Equipment；
4. shake hands after success, device proceeds by self detection, reads the output voltage of foil gauge, by the output electricity of foil gauge
Pressure judges buckle whether clamping, unlatching camera, and sends camera data, and the validity of Monitoring Data, having by data
Effect property judges camera whether normal work；
5. operation equipment sends instructions to climbing device by serial ports, and operation equipment is sent by host computer and instructed, and is turned through USB
The TXD ports of wireless serial are delivered to after Transistor-Transistor Logic level, wireless serial goes out data is activation；
6. climbing device proceeds by the detection of working condition, if device is in busy state, foil gauge has two panels not pressed
Under, and Jing rows persistently detect that until device is waited for, and infrared tube has one to have output signal, and foil gauge is all
Have by pressure signal output；
7. the instruction that will perform is judged as non-open command, specifically operated according to instruction；
If the instruction for 8. receiving is open command, operation equipment is waited to disconnect, until operation equipment is disconnected, then
Terminate.
The present invention process of climbing is：
1. start, device receives climb command, device begins preparing for performing lifting operations；Main control chip is to driving stepper motor
Output signal, rotates motor, so that device begins to ramp up；
2. whether judgment means reach tower top, if reaching tower top, device is adjusted after fixing, and the state of device is four
Foil gauge is depressed entirely, and operation terminates；
3. because device does not reach tower top, now, whole device has two pairs of climbing clasp joints to touch with the brandreth of steel tower, and main control chip leads to
Control driving stepper motor is crossed, control climbing device is climbed upwards；
The output voltage of a pair of foil gauges for 4. contacting the brandreth with steel tower in detection means, is sentenced by the output voltage of foil gauge
Whether disconnected climbing hook reaches specified location, does not reach specified location, then motor continuous firing；
5. perform after climb operation terminates, before judgement or now whether receive new instruction, if not receiving, repeat the
2 steps are operated, and otherwise, terminate climb operation.
The present invention can mitigate labor strength, reduce the danger got an electric shock with falling from high altitude, improve maintenance, the efficiency safeguarded
And quality, create good economic benefit and social benefit.The present invention is that steel tower is carried out to detect that the steel tower of maintenance is climbed automatically
Device, display device can be fed back to by camera in real time by steel tower situation, facilitate workman to judge.With certain heavy burden ability,
Power worker or repair and maintenance equipment can be transported on steel tower, complete the every maintenance task to steel tower.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the rotation disc structure schematic diagram that the present invention removes side；
Fig. 3 is main control chip circuit diagram；
Fig. 4 is power protecting circuit figure；
Fig. 5 is electric source filter circuit figure；
Fig. 6 is power indicating circuit figure；
Fig. 7 is 5V mu balanced circuit figures；
Fig. 8 is 12V mu balanced circuit figures；
Fig. 9 is 3.3V mu balanced circuit figures；
Figure 10 is MCU filter circuit figure Part I；
Figure 11 is MCU filter circuit figure Part II；
Figure 12 is AD reference circuit figures；
Figure 13 is MCU reset circuit figures；
Figure 14 is that Boot arranges circuit diagram；
Figure 15 is MCU download circuit figures；
Figure 16 is MCU crystal oscillating circuit figures；
Figure 17 is camera power supply interface circuit diagram；
Figure 18 is wireless image transmission module for power supply interface schema；
Figure 19 is foil gauge module interface figure；
Figure 20 is driving stepper motor electric operation control circuit figure；
Figure 21 is wireless serial interface schema；
Figure 22 is the overall flow figure of system work；
Figure 23 is the flow chart that climbs of device；
Figure 24 is climb mode figure of the present invention, 1, rotate disk；2nd, peripheral synchronizing bar；3rd, middle part axostylus axostyle；4th, bracing frame；5th, it is fixed
Ring；6th, hook is climbed；7th, axle sleeve；8th, driven gear；9th, driving gear；10th, motor；11st, the support on pylon；12nd, tower
Frame.
Specific embodiment
The present invention includes stabilizing mechanism, transmission mechanism, climbing mechanism.Wherein stabilizing mechanism is carried for being fixed as motion process
For the motor of kinetic energy, it is ensured that transmission mechanism can normal work, transmission mechanism provides kinetic energy, climbing mechanism finishing device for device
Climbing function.
Climbing mechanism in the present invention is that equipment can preferably keep flat in motion process using bilateral symmetry
Weighing apparatus, for centre of the power motor in device that transmission mechanism provides power, it is ensured that its uniform force.So as to ensure to realize device energy
Enough stablizing moves to tower top from column foot, can mitigate labor strength, reduces getting an electric shock and falling from high altitude is dangerous, raising maintenance,
The efficiency of maintenance and the automatic climbing robot of quality.
Two of the present invention are rotated disk 1 and are connected by peripheral synchronizing bar 2 and middle part axostylus axostyle 3, are set with middle part axostylus axostyle 3
There is axle sleeve 7, axle sleeve 7 is fixedly mounted on bracing frame 4, and bracing frame 4 is fixed in retainer ring 5, the fixed suit on middle part axostylus axostyle 3
There is driven gear 8, driven gear 8 is engaged with driving gear 9, and driving gear 9 is fixed on the motor shaft of motor 10, and motor 10 is pacified
It is mounted in retainer ring 5；Climbing hook 6 is installed in the outer rim for rotating disk 1.
Motor is fixed in retainer ring, and retainer ring is fixed on whole equipment by bracing frame, is connected on motor actively
Gear, driving gear drives driven gear, driven gear to be connected by the dynamic disk of middle part axostylus axostyle and left-hand rotation and dynamic disk of turning right, and two
Individual rotation disk is connected by peripheral synchronizing bar, and on turn left dynamic disk and dynamic unit's disk of turning right climbing hook is installed with.
Whole equipment adopts bilateral symmetry, overall structure to have fixed mechanism, transmission mechanism and climbing mechanism.It is wherein solid
Determine mechanism to be made up of bracing frame and retainer ring, transmission mechanism by motor, driving gear, driven gear, concentric middle part axostylus axostyle and
Peripheral synchronizing bar, climbing mechanism is turned right and is moved disk and the climbing hook in each of which by the dynamic disk that turns left.
The soaring process of system is hooked on steel tower iron when two couples climbing of system（As shown in figure 24）, motor starts rotational band
Dynamic driving gear thereon is rotated, because the rotation of driving gear drives driven gear to rotate, because driven gear, left slewing circle
Disk and dynamic disk of turning right connect realization and rotate coaxially by concentric middle part axostylus axostyle.Dynamic disk and dynamic disk of turning right turn left by outer
Enclose synchronizing bar and realize synchronous axial system.Now two rotation disks realize that coaxial synchronous are rotated, with the lower pair of climbing hook of rotation
Iron is left, now upper pair of climbing hook is used as fulcrum so that whole device starts to climb upwards so that another to climbing hook
Iron on hook, this process of repetition enables a device to move to tower top from column foot.The dynamic disc rotary of dynamic disk and right-hand rotation that turns left is climbed
During climbing, the motor and driving gear composition in the fixed mechanism constituted due to bracing frame and retainer ring and transmission mechanism
Mid portion vertical ascent, so as to ensure that motor being capable of normal work.
The present invention is stained with foil gauge on climbing hook 6, and its Electronic Control includes main control chip, power protecting circuit, electricity
Power filter, power indicating circuit, 5V mu balanced circuits, 12V mu balanced circuits, 3.3V mu balanced circuits, MCU filter circuits, AD bases
Quasi- circuit, MCU reset circuits, Boot arrange circuit, MCU download circuits, MCU crystal oscillating circuits, camera power supply interface, without line chart
Transmission module power supply interface, foil gauge module interface, driving stepper motor control circuit, wireless serial interface；
Main control chip（Fig. 3）：Using STM32F103VET6 chips, 11,28,50,75,100 pin of main control chip U1 and 5V voltage stabilizings
Circuit（Fig. 5）VCC-3.3 connections, the 2 pin GND companies of 10,27,49,74,99 pin of main control chip U1 and power input interface J1
Connect.
Power protecting circuit：1 pin of power input interface J1 is positive source, and 2 pin are power supply GND；Power input interface
1 pin of J1 is connected with the left end of resettable fuse F1, the right-hand member of resettable fuse F1 and the left end of Schottky diode D2
Connection, the right-hand member of Schottky diode D2 is connected as the output end of power supply, transient state with the left end of Transient Suppression Diode TVS D3
The right-hand member of two pole TVS D3 is suppressed to be connected with the 2 pin GND of power input interface J1；Realize short-circuit protection, power supply reverse connection protection, with
And the function of suppression moment surge.
Electric source filter circuit：Power protecting circuit（Fig. 4）Power input interface J1 1 pin VIN and electrochemical capacitor C4, nothing
The left end connection of polar capacitor C5, electrochemical capacitor C4, the right-hand member of polarity free capacitor C5 and power protecting circuit（Fig. 4）In power supply
The 2 pin GND connections of input interface J1；Realize the filter function of whole circuit power.
Power indicating circuit：Power protecting circuit（Fig. 4）VCC power output ends be connected with the left end of current-limiting resistance R1,
Current-limiting resistance R1 right-hand members are connected with the left end of light emitting diode D1, the right-hand member and power protecting circuit of light emitting diode D1（Fig. 4）
In power input interface J1 2 pin GND connection；Realize system and have light prompt once insertion power supply.
5V mu balanced circuits：Power protecting circuit（Fig. 4）VCC power output ends and voltage stabilizing chip LM2576-5VU3 1 pin
Connection, VCC power output ends are connected with the lower end of electrochemical capacitor C10, and the upper end of C10 and the 3 of voltage stabilizing chip U3,5 pin are connected to
On the GND of 2 pin of the power input interface J1 in power protecting circuit；The left end of inductance L1 and the lower end of Schottky diode D4
Access after connection on 2 pin of U3, the right-hand member of L1 and the lower end connection of electrochemical capacitor C11 are followed by 4 pin of U3 being that VCC-5V is defeated
Go out end, the upper end of Schottky diode D4 is connected the 2 pin GND for being followed by power input interface J1 with the upper end of C11；This part electricity
Road provides stable 5V voltages for system.
12V mu balanced circuits：Power protecting circuit（Fig. 4）VCC power output ends and U4 voltage stabilizing chips LM2576-12V 1
Pin connects, and VCC power output ends are connected with the lower end of electrochemical capacitor C17, and it is defeated that the upper end of C17 and the 3 of U4,5 pin are connected to power supply
On the 2 pin GND of incoming interface J1；The left end of inductance L3 is accessed on 2 pin of U3 after being connected with the lower end of Schottky diode D5, L3's
The lower end connection of right-hand member and electrochemical capacitor C18 is followed by 4 pin of U4 being VCC-12V output ends that Schottky diode D5's is upper
End is connected the 2 pin GND of the power input interface J1 being followed by power protecting circuit with the upper end of C18；Realize and carried for system
For the function of stable 12V voltages.
3.3V mu balanced circuit：5V mu balanced circuits（Fig. 7）5V voltage output ends be connected with the upper end of electric capacity C6, C8 and be connected to U2
3 pin, the lower end of C6, C7, C8, C9 be connected with 1 pin of U2 after with power protecting circuit（Fig. 4）In power input interface J1
2 pin GND be connected, the upper end of C7, C9 be connected with 2 pin of U2 after be VCC-3.3V output ends；Realize and provide stable for system
The function of 3.3V voltages.
MCU filter circuits：3.3V mu balanced circuit（Fig. 9）In VCC-3.3V output ends and C12, C13, C14, C15, C16
Upper end connection, the lower end of C12, C13, C14, C15, C16 and power protecting circuit（Fig. 4）In power input interface J1 2
Pin GND connects；VCC-3.3V output ends in 3.3V mu balanced circuits are connected with the left end of inductance L2, the right-hand member of L2 and C19, C20,
Electricity after the upper end connection of C21, in the left end connection power protecting circuit of 22 pin VDDA being linked in main control chip, inductance L4
Behind the lower end of right-hand member connection C19, C20, C21 of the 2 pin GND of source input interface J1, L4, main control chip is linked into（Fig. 3）In
19 pin VSSA；Figure 11 and Figure 10 together form the filter circuit of MCU.
AD reference circuits：VCC-3.3V output ends in 3.3V mu balanced circuits are connected with the left end of inductance L5, the right-hand member of L5
After being connected with the upper end of C22, C23, C24,21 pin being connected in main control chip, the left end connection power protecting circuit of inductance L6
In power input interface J1 2 pin GND, L6 right-hand members connection C22, C23, C24 lower end after, 20 be linked in main control chip
Pin；Voltage reference is provided to the inside AD of MCU, for using.
MCU reset circuits：VCC-3.3V output ends in 3.3V mu balanced circuits are connected with the right-hand member of R2, the right-hand member of button S1
End, the left end of R2, the right-hand member of C2 are connected with 14 pin of U1 in main control chip；Electricity in the right-hand member and power protecting circuit of C2, S1
The 2 pin GND of source input interface J1；Realize that S1 presses the function of MCU resets.
Boot arranges circuit：The left end of resistance R3 is connected with 94 pin in main control chip, in right-hand member and power protecting circuit
Power input interface J1 2 pin GND connection；Realize the function that the BOOT of single-chip microcomputer is arranged.
MCU download circuits：1 pin of connector P1 and main control chip（Fig. 3）72 pin of U1, the lower end of pull-up resistor R5 connect
Connect, 2 pin of P1 are connected with the 2 pin GND of the power input interface J1 in power protecting circuit, 3 pin of P1 are with main control chip U1's
The lower end connection of 76 pin, pull-up resistor R4；VCC-3.3V output ends in the upper end and 3.3V mu balanced circuits of pull-up resistor R4, R5
Connection；Realize the function that downloads of system.
MCU crystal oscillating circuits：The upper end of crystal oscillator Y1, the right-hand member of C1 are connected with 112 pin of main control chip U1, and crystal shakes
Swing the lower end of device Y1 to be connected with the right-hand member of C3 with 13 pin of main control chip U1, the left end and power protecting circuit of C1, C3（Fig. 4）In
Power input interface J1 2 pin GND connection；The circuit is the external clock input of whole MCU.
Camera power supply interface：1 pin of connector J3 is connected with the output end of 12V mu balanced circuits, and 2 pin are electric with power protection
The 2 pin GND connections of the power input interface J1 in road；Realize giving camera function of supplying power.
Wireless image transmission module for power supply interface：1 pin of connector J4 and 12V mu balanced circuits（Fig. 8）Output end connection, 2 pin
It is connected with the 2 pin GND of the power input interface J1 in power protecting circuit；Realize giving wireless image transmission module for power supply function.
Foil gauge module interface：1 pin of connector J2 is connected with the output end of 5V mu balanced circuits, and 2 pin are electric with power protection
The 2 pin GND connections of the power input interface J1 in road, 3 pin are connected with 35 pin of main control chip U1 circuits；Realize giving foil gauge mould
Block power and signal output function.
Driving stepper motor control circuit：1 pin of connector J8 is connected with the output end of 12V mu balanced circuits, connector J8
8 pin be connected with the 2 pin GND of the power input interface J1 in power protecting circuit, 2 pin of connector J8,4 pin, 6 pin and pull-up
The right-hand member connection of resistance R7,3 pin, 5 pin, 7 pin of connector J8 65 pin respectively with main control chip U1,31 pin, 66 pin are connected；On
The left end of pull-up resistor R7, R8 is connected with the output end of 5V mu balanced circuits, the right-hand member of pull-up resistor R8 and the 5 pin phases of connector J8
Even；Realize the function that stepper motor is powered and controlled.
Wireless serial interface：1 pin, 2 pin, 3 pin, 4 pin, 5 pin of connector J5 70 pin respectively with main control chip U1,71
Pin, 68 pin, the connection of 69 pin, 6 pin are connected with the output end of 5V mu balanced circuits, and 7 pin connect with the power input in power protecting circuit
The 2 pin GND connections of mouth J1.Realize the power supply of unlimited serial ports and the function of signal transmission.
As shown in figure 22, it is the overall flow figure of system work, hardware initialization can be first carried out after system electrification, detects
Each hardware device whether normal work, initialization unsuccessfully returns error code, and provides corresponding prompting, be easy to user to process therefore
Barrier.After initialization success, can have attempted to and whether testing equipment is connected to operation equipment, if it is not, repeating this always
Operation, until power-off, if being connected to operation equipment, enters and receives operational order state, and by different instruction equipment is entered
The corresponding operation of row, including rise, stop, declining, detailed process is as follows：The course of work of the present invention is：
When 1. starting, device power supply (DPS) is opened, the lithium battery that system control panel is connected with the power interface in power protecting circuit is opened
Begin to provide electric energy for system；Fig. 4 circuits provide strong protection for system power supply.Resettable fuse F1 therein is in circuit
Disconnect automatically in the case of short circuit, high current is produced when can prevent some elements in circuit board from going wrong and burns whole system
It is bad.Schottky diode D2 prevent lithium battery it is positive and negative it is reversed after system is burnt out, accordingly even when user connection power supply
Therefore Shi Fasheng misoperation systems also will not be damaged.Power supply indicator after switch opening in Fig. 6 lights, and points out user
System starts.If system occurs serious problems, system power supply indicator lamp can extinguish, and convenient use person probably judges system
It is whether normal.Fig. 7, Fig. 8, Fig. 9 start to provide 5V, 12V and 3.3V power supply for system after system is even connected with the mains, and wherein 5V is electric
Source is control circuit, the wireless serial module for power supply of stepper motor, and 12V power supplys are camera, wireless image transmission, power supply for step-by-step motor
Power supply, 3.3V power supplys are master control chip power supply；Figure 10 is the decoupling capacitance of main control chip, can prevent what circuit from being formed by power supply
Positive feedback path and the unwanted oscillation that causes.So-called decoupling, that is, when preventing before and after circuital current size variation, in power supply circuits
The current russ for being formed produces impact to the normal work of circuit, in other words, decoupling circuit can effectively eliminate circuit it
Between parasitic couplings.Figure 11, Figure 12 couple together the digital power and analog power of main control chip by magnetic bead, prevent simulation
Power supply produces interference to digital power, improves the stability of system.
2. intiating radio serial port module, is connected with operation equipment；Wireless serial module is wirelessly penetrated using Imported High-performance
Frequency chip, and super low-power consumption High Performance SCM composition；Module has super low-power consumption reception pattern, supports different power consumptions etc.
Level, while the correspondence different response time.Wireless serial module can arrange various baud rates, and communicating pair can be with baud rate not
Together, improve the flexibility of equipment.And support various without line rate, can set as needed, so as in power consumption, distance, speed
Optimal balance point is obtained in rate.Wireless serial design comparison hommization, user set parameter setting it is good after, module will can join
Number is preserved, and power-off is not lost, and after re-powering, module can be operated according to the parameter for setting.Wireless serial is mark
Accurate TTL interfaces, and have anti-interference radome, receiving sensitivity can be improved.Signal is emitted through spring antenna, increases
Signal transmission, and cost is very low.In the hibernation mode power consumption is extremely low for wireless serial module, the operating voltage of relative broad range,
And internally charged stream protection circuit.The built-in efficient house dog of wireless serial, in extremely severe industrial environment, it is also possible to protect
Card module never crashes, and improves the reliability of system.
3. operation equipment sends to climbing device and shakes hands instruction, and climbing device is received after instructing, send back should instruct to
Operation equipment；（Instruction herein sends and receiving has communication protocol to be packed and dismounted）.Line number is entered by communication protocol
According to transmission, it is ensured that the correctness of data, reliability, and data can be encrypted, improve the security of data.Prevent
Other people are disturbed device work.
4. shake hands after success, device proceeds by self detection, the output voltage of foil gauge is read, by the defeated of foil gauge
Go out voltage and judge buckle whether clamping, open camera, and send camera data, and the validity of Monitoring Data, by data
Effective judgement camera whether normal work；State is obtained according to feedback, can the modules of judgment means normal
Work, and result is fed back to into operation equipment by wireless serial.If modules can normal work, continue down to hold
OK；Otherwise, error code is sent to operation equipment, treat that user goes to check and reopen equipment after process problem, until equipment
State is correctly started working.
5. operation equipment sends instructions to climbing device by serial ports, and operation equipment is sent by host computer and instructed, and is passed through
USB turns the TXD ports that wireless serial is delivered to after Transistor-Transistor Logic level, and wireless serial goes out data is activation；Climbing device is by wireless string
Mouth receives instruction, and data is passed to into main control chip U1 in Fig. 3 by RXD pins and is instructed after parsing, so
Complete afterwards to instruct indicated action.After climbing device completes instruction, operation is sent by the TXD to wireless serial and completes to refer to
Order, instruction is transferred to the wireless serial of operation equipment by wireless serial, and the wireless serial of operation equipment is received and passed through after instruction
USB turns TTL chips and instruction is passed to into host computer, and upper computer software obtains feedback command through parsing.Then system mode is shown
Show in host computer interface, allow user intuitively to judge system mode.
6. climbing device proceeds by the detection of working condition, if device is in busy state, foil gauge has two panels not have
It is depressed, and Jing rows are persistently detected, and until device is waited for, and infrared tube has one to have output signal, strain
Piece has by pressure signal output；
7. the instruction that will perform is judged as non-open command, specifically operated according to instruction；Specific deterministic process by
Fig. 5 is given, and execution returns to the 5th step after terminating.
If the instruction for 8. receiving is open command, wait operation equipment to disconnect, connect until operation equipment disconnects
Connect, then terminate.
The flow chart that climbs for device is illustrated in fig. 23 shown below, after order of climbing is received, it is first determined whether reaching tower
Top, if then terminating, otherwise motor is started working, and judges whether to reach specified location by foil gauge, is that then motor stops work
Make, judge whether to be received in traveling process and cease and desist order, be to stop, otherwise repeatedly aforesaid operations, detailed process is as follows：
The present invention process of climbing is：
1. start, device receives climb command, device begins preparing for performing lifting operations；Main control chip is to driving stepper motor
Output signal, rotates motor, so that device begins to ramp up.
2. whether judgment means reach tower top, if reaching tower top, device is adjusted after fixing, and the state of device is
Four foil gauges are depressed entirely, and operation terminates；If not reaching, climb operation is performed.
3. because device does not reach tower top, now, whole device has two pairs of climbing clasp joints to touch with the brandreth of steel tower, master control core
Piece is climbed upwards by controlling driving stepper motor, control climbing device；At this moment climbing device is released and fixed, as device is climbed
Beginning, nethermost a pair of climbings hook and the brandreth that whole device is contacted with the brandreth of steel tower depart from, meanwhile, whole device with
Uppermost a pair of climbings hook of the brandreth contact of steel tower is the offer fulcrum of whole device, it is ensured that whole device can be realized
Rise.
The output voltage of a pair of foil gauges for 4. contacting the brandreth with steel tower in detection means, by the output electricity of foil gauge
Pressure judges to climb whether hook reaches specified location, does not reach specified location, then motor continuous firing；Otherwise, illustrate now to climb
Hook has reached specified location, now, judges to climb hook whether clamping, if without clamping, being adjusted correspondingly, until card
Tightly, if clamping, rising is completed, and now, the situation of steel tower is checked by wireless image transmission, is judged whether that needs are continued up and is climbed
Climb.
5. perform after climb operation terminates, before judgement or now whether receive new instruction, if not receiving, repeat to hold
The step of row the 2nd is operated, and otherwise, terminates climb operation, performs new operation.
Claims (4)
1. a kind of electric power tower automatic circular climbing device, it is characterised in that：Two rotation disks（1）By peripheral synchronizing bar
（2）With middle part axostylus axostyle（3）Connection, in middle part axostylus axostyle（3）On be set with axle sleeve（7）, axle sleeve（7）It is fixedly mounted on bracing frame（4）
On, bracing frame（4）It is fixed on retainer ring（5）On, in middle part axostylus axostyle（3）Upper fixed cover is equipped with driven gear（8）, driven gear
（8）With driving gear（9）Engagement, driving gear（9）It is fixed on motor（10）Motor shaft on, motor（10）Installed in retainer ring
（5）On；Rotating disk（1）Outer rim on climbing hook is installed（6）.
2. the electronic control system of electric power tower automatic circular climbing device described in claim 1, it is characterised in that：In climbing hook
（6）On be stained with foil gauge, its Electronic Control include main control chip, power protecting circuit, electric source filter circuit, power supply instruction electricity
Road, 5V mu balanced circuits, 12V mu balanced circuits, 3.3V mu balanced circuits, MCU filter circuits, AD reference circuits, MCU reset circuits,
Boot arranges circuit, MCU download circuits, MCU crystal oscillating circuits, camera power supply interface, wireless image transmission module for power supply interface, strain
Piece module interface, driving stepper motor control circuit, wireless serial interface；
Main control chip：Using STM32F103VET6 chips, 11,28,50,75,100 pin of main control chip U1 and 5V mu balanced circuits
VCC-3.3 connections, 10,27,49,74,99 pin of main control chip U1 are connected with the 2 pin GND of power input interface J1；
Power protecting circuit：1 pin of power input interface J1 is positive source, and 2 pin are power supply GND；The 1 of power input interface J1
Pin is connected with the left end of resettable fuse F1, and the right-hand member of resettable fuse F1 is connected with the left end of Schottky diode D2,
The right-hand member of Schottky diode D2 is connected as the output end of power supply with the left end of Transient Suppression Diode TVS D3, and transient state suppresses two
The right-hand member of pole TVS D3 is connected with the 2 pin GND of power input interface J1；
Electric source filter circuit：The 1 pin VIN of the power input interface J1 of power protecting circuit and electrochemical capacitor C4, polarity free capacitor
The left end connection of C5,2 of the power input interface J1 in electrochemical capacitor C4, the right-hand member and power protecting circuit of polarity free capacitor C5
Pin GND connects；
Power indicating circuit：The VCC power output ends of power protecting circuit are connected with the left end of current-limiting resistance R1, current-limiting resistance R1
Right-hand member is connected with the left end of light emitting diode D1, the power input interface in the right-hand member and power protecting circuit of light emitting diode D1
The 2 pin GND connections of J1；
5V mu balanced circuits：The VCC power output ends of power protecting circuit are connected with 1 pin of voltage stabilizing chip LM2576-5VU3, VCC
Power output end is connected with the lower end of electrochemical capacitor C10, and the upper end of C10 and the 3 of voltage stabilizing chip U3,5 pin are connected to power protection
On the GND of 2 pin of the power input interface J1 in circuit；The left end of inductance L1 is connected with the lower end of Schottky diode D4 and is followed by
Enter on 2 pin of U3, the right-hand member of L1 and the lower end connection of electrochemical capacitor C11 are followed by 4 pin of U3 as VCC-5V output ends, Xiao Te
The upper end of based diode D4 is connected the 2 pin GND for being followed by power input interface J1 with the upper end of C11；
12V mu balanced circuits：The VCC power output ends of power protecting circuit are connected with 1 pin of U4 voltage stabilizing chips LM2576-12V,
VCC power output ends are connected with the lower end of electrochemical capacitor C17, and the upper end of C17 and the 3 of U4,5 pin are connected to power input interface J1
2 pin GND on；The left end of inductance L3 is accessed on 2 pin of U3 after being connected with the lower end of Schottky diode D5, the right-hand member and electricity of L3
The lower end connection of solution electric capacity C18 is followed by 4 pin of U4 being VCC-12V output ends that the upper end of Schottky diode D5 is with C18's
Upper end connection is followed by the 2 pin GND of the power input interface J1 in power protecting circuit；
3.3V mu balanced circuit：The 5V voltage output ends of 5V mu balanced circuits are connected 3 pin for being connected to U2 with the upper end of electric capacity C6, C8, C6,
The lower end of C7, C8, C9 is connected after being connected with 1 pin of U2 with the 2 pin GND of the power input interface J1 in power protecting circuit, C7,
The upper end of C9 is VCC-3.3V output ends after being connected with 2 pin of U2；
MCU filter circuits：VCC-3.3V output ends in 3.3V mu balanced circuits connect with the upper end of C12, C13, C14, C15, C16
Connect, the lower end of C12, C13, C14, C15, C16 is connected with the 2 pin GND of the power input interface J1 in power protecting circuit；3.3V
VCC-3.3V output ends in mu balanced circuit are connected with the left end of inductance L2, and the right-hand member of L2 is connected with the upper end of C19, C20, C21
Afterwards, the power input interface J1 in the left end connection power protecting circuit of 22 pin VDDA being linked in main control chip, inductance L4
2 pin GND, L4 right-hand member connection C19, C20, C21 lower end after, 19 pin VSSA being linked in main control chip；
AD reference circuits：VCC-3.3V output ends in 3.3V mu balanced circuits are connected with the left end of inductance L5, the right-hand member of L5 with
After the upper end connection of C22, C23, C24,21 pin being connected in main control chip, in the left end connection power protecting circuit of inductance L6
Power input interface J1 2 pin GND, L6 right-hand members connection C22, C23, C24 lower end after, 20 be linked in main control chip
Pin；
MCU reset circuits：VCC-3.3V output ends in 3.3V mu balanced circuits are connected with the right-hand member of R2, the right-hand member end of button S1,
The left end of R2, the right-hand member of C2 are connected with 14 pin of U1 in main control chip；Power supply in the right-hand member and power protecting circuit of C2, S1 is defeated
The 2 pin GND of incoming interface J1；
Boot arranges circuit：The left end of resistance R3 is connected with 94 pin in main control chip, the electricity in right-hand member and power protecting circuit
The 2 pin GND connections of source input interface J1；
MCU download circuits：1 pin of connector P1 is connected with the lower end of 72 pin of main control chip U1, pull-up resistor R5,2 pin of P1
It is connected with the 2 pin GND of the power input interface J1 in power protecting circuit, 3 pin of P1 are electric with 76 pin of main control chip U1, pull-up
The lower end connection of resistance R4；The upper end of pull-up resistor R4, R5 is connected with the VCC-3.3V output ends in 3.3V mu balanced circuits；
MCU crystal oscillating circuits：The upper end of crystal oscillator Y1, the right-hand member of C1 are connected with 112 pin of main control chip U1, crystal oscillator
The lower end of Y1 is connected with the right-hand member of C3 with 13 pin of main control chip U1, and the power supply in the left end and power protecting circuit of C1, C3 is defeated
The 2 pin GND connections of incoming interface J1；
Camera power supply interface：1 pin of connector J3 is connected with the output end of 12V mu balanced circuits, in 2 pin and power protecting circuit
Power input interface J1 2 pin GND connection；
Wireless image transmission module for power supply interface：1 pin of connector J4 is connected with the output end of 12V mu balanced circuits, 2 pin and power protection
The 2 pin GND connections of the power input interface J1 in circuit；
Foil gauge module interface：1 pin of connector J2 is connected with the output end of 5V mu balanced circuits, in 2 pin and power protecting circuit
Power input interface J1 2 pin GND connections, 3 pin are connected with 35 pin of main control chip U1 circuits；
Driving stepper motor control circuit：1 pin of connector J8 is connected with the output end of 12V mu balanced circuits, 8 pin of connector J8
It is connected with the 2 pin GND of the power input interface J1 in power protecting circuit, 2 pin of connector J8,4 pin, 6 pin and pull-up resistor
The right-hand member connection of R7,3 pin, 5 pin, 7 pin of connector J8 65 pin respectively with main control chip U1,31 pin, 66 pin are connected；Pull-up electricity
The left end of resistance R7, R8 is connected with the output end of 5V mu balanced circuits, and the right-hand member of pull-up resistor R8 is connected with 5 pin of connector J8；
Wireless serial interface：1 pin, 2 pin, 3 pin, 4 pin, 5 pin of connector J5 70 pin respectively with main control chip U1,71 pin, 68
Pin, the connection of 69 pin, 6 pin are connected with the output end of 5V mu balanced circuits, the power input interface J1's in 7 pin and power protecting circuit
2 pin GND connect.
3. the electronic control system of electric power tower automatic circular climbing device described in claim 2, it is characterised in that：Its is worked
Cheng Shi：
When 1. starting, device power supply (DPS) is opened, the lithium battery that system control panel is connected with the power interface in power protecting circuit is opened
Begin to provide electric energy for system；Wherein 5V power supplys are control circuit, the wireless serial module for power supply of stepper motor, and 12V power supplys are to take the photograph
As head, wireless image transmission, power supply for step-by-step motor are powered, 3.3V power supplys are master control chip power supply；
2. intiating radio serial port module, is connected with operation equipment；
3. operation equipment sends instruction of shaking hands to climbing device, and climbing device is received after instruction, and sending back should instruct to operation
Equipment；
4. shake hands after success, device proceeds by self detection, reads the output voltage of foil gauge, by the output electricity of foil gauge
Pressure judges buckle whether clamping, unlatching camera, and sends camera data, and the validity of Monitoring Data, having by data
Effect property judges camera whether normal work；
5. operation equipment sends instructions to climbing device by serial ports, and operation equipment is sent by host computer and instructed, and is turned through USB
The TXD ports of wireless serial are delivered to after Transistor-Transistor Logic level, wireless serial goes out data is activation；
6. climbing device proceeds by the detection of working condition, if device is in busy state, foil gauge has two panels not pressed
Under, and Jing rows persistently detect that until device is waited for, and infrared tube has one to have output signal, and foil gauge is all
Have by pressure signal output；
7. the instruction that will perform is judged as non-open command, specifically operated according to instruction；
If the instruction for 8. receiving is open command, operation equipment is waited to disconnect, until operation equipment is disconnected, then
Terminate.
4. the electronic control system of electric power tower automatic circular climbing device described in claim 2, it is characterised in that：It climbed
Cheng Shi：
1. start, device receives climb command, device begins preparing for performing lifting operations；Main control chip is to driving stepper motor
Output signal, rotates motor, so that device begins to ramp up；
2. whether judgment means reach tower top, if reaching tower top, device is adjusted after fixing, and the state of device is four
Foil gauge is depressed entirely, and operation terminates；
3. because device does not reach tower top, now, whole device has two pairs of climbing clasp joints to touch with the brandreth of steel tower, and main control chip leads to
Control driving stepper motor is crossed, control climbing device is climbed upwards；
The output voltage of a pair of foil gauges for 4. contacting the brandreth with steel tower in detection means, is sentenced by the output voltage of foil gauge
Whether disconnected climbing hook reaches specified location, does not reach specified location, then motor continuous firing；
5. perform after climb operation terminates, before judgement or now whether receive new instruction, if not receiving, repeat the
2 steps are operated, and otherwise, terminate climb operation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610996460.3A CN106571597B (en) | 2016-11-13 | 2016-11-13 | Electric power tower automatic circular climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610996460.3A CN106571597B (en) | 2016-11-13 | 2016-11-13 | Electric power tower automatic circular climbing device |
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| CN106571597B CN106571597B (en) | 2019-04-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110867771A (en) * | 2019-11-21 | 2020-03-06 | 王乐琴 | High-altitude electric power climbing system |
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| CN205661561U (en) * | 2016-06-08 | 2016-10-26 | 燕山大学 | Novel non - intermittent type formula pole -climbing robot |
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| CN101552548A (en) * | 2008-12-15 | 2009-10-07 | 伊博电源（杭州）有限公司 | Power supply control system |
| CN102545099A (en) * | 2012-01-16 | 2012-07-04 | 孟祥山 | High post climbing device |
| CN106033873A (en) * | 2015-03-16 | 2016-10-19 | 北京国网富达科技发展有限责任公司 | Tower climbing patrol vehicle for power transmission line |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
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| CN110867771A (en) * | 2019-11-21 | 2020-03-06 | 王乐琴 | High-altitude electric power climbing system |
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