CN106571597B - Electric power tower automatic circular climbing device - Google Patents
Electric power tower automatic circular climbing device Download PDFInfo
- Publication number
- CN106571597B CN106571597B CN201610996460.3A CN201610996460A CN106571597B CN 106571597 B CN106571597 B CN 106571597B CN 201610996460 A CN201610996460 A CN 201610996460A CN 106571597 B CN106571597 B CN 106571597B
- Authority
- CN
- China
- Prior art keywords
- feet
- circuit
- power
- connect
- foot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 63
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000002093 peripheral effect Effects 0.000 claims abstract description 7
- 239000011888 foil Substances 0.000 claims description 31
- 239000003990 capacitor Substances 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 23
- 230000005611 electricity Effects 0.000 claims description 23
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 239000013078 crystal Substances 0.000 claims description 13
- 230000000087 stabilizing effect Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 238000011084 recovery Methods 0.000 claims description 7
- 230000001052 transient effect Effects 0.000 claims description 6
- 230000000994 depressogenic effect Effects 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000002045 lasting effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000001629 suppression Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 15
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 230000006266 hibernation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
A kind of electric power tower automatic circular climbing device, belongs to power accessories field.The object of the present invention is to provide a kind of for that can carry out the electric power tower automatic circular climbing device of detection maintenance to electric power pylon automatic climbing.Two rotating circular discs of the present invention pass through peripheral synchronizing bar and connect with middle part shaft, at middle part, shaft rod upper sleeve is equipped with axle sleeve, axle sleeve is fixedly mounted on the support frame, support frame is fixed in fixed ring, fixing sleeve is equipped with driven gear on the shaft of middle part, driven gear is engaged with driving gear, and driving gear is fixed on the motor shaft of motor, and motor is mounted in fixed ring；Climbing hook is installed in the outer rim of rotating circular disc.The present invention can mitigate labor intensity of workers, reduce electric shock and the danger of falling from high altitude, improve the efficiency and quality of maintenance, maintenance, create good economic benefit and social benefit.
Description
Technical field
The invention belongs to power accessories fields.
Background technique
The maintenance, maintenance of country's ultra-high-tension power transmission line at present is substantially using by the way of manually climbing and stepping on steel tower, using taking
The repair and maintenance equipment of band completes corresponding task, this not only largely consumes the physical strength of service personnel, influences working efficiency, also pole
It is dangerous.And with the continuous enlarging of electric system, in order to improve Automation of Electric Systems integration capability, for electric system
The climbing and inspection robot of detection and maintenance are increasingly becoming popular one of research, and there is an urgent need to energy to replace people for power department
The automation equipment that work climbing steel tower is monitored and safeguards.Some inspection robots are successively successfully developed both at home and abroad,
And the R&D work of inspection robot is carried out in further investment manpower and material resources, however for inspection and safeguard electric power tower
Climbing robot is not also common to relevant research and report, and domestic and international market is there is not yet finished product.
Summary of the invention
The object of the present invention is to provide a kind of for that can carry out the electric power of detection maintenance to electric power pylon automatic climbing
Steel tower automatic circular climbing device.
Two rotating circular discs of the present invention pass through peripheral synchronizing bar and connect with middle part shaft, and at middle part, shaft rod upper sleeve is equipped with axis
Set, axle sleeve are fixedly mounted on the support frame, and support frame is fixed in fixed ring, and fixing sleeve is equipped with driven tooth on the shaft of middle part
Wheel, driven gear are engaged with driving gear, and driving gear is fixed on the motor shaft of motor, and motor is mounted in fixed ring；?
Climbing hook is installed in the outer rim of rotating circular disc.
The present invention is stained with foil gauge on climbing hook, and electronic control includes main control chip, power protecting circuit, power supply
Filter circuit, power indicating circuit, 5V voltage regulator circuit, 12V voltage regulator circuit, 3.3V voltage regulator circuit, MCU filter circuit, AD benchmark
Circuit, MCU download circuit, MCU crystal oscillating circuit, camera power supply interface, wireless image transmission is arranged in circuit, MCU reset circuit, Boot
Module for power supply interface, foil gauge module interface, stepper motor drive control circuit, wireless serial interface；
Main control chip: STM32F103VET6 chip, 11,28,50,75,100 feet of main control chip U1 and 5V pressure stabilizing are used
The VCC-3.3 connection of circuit, 10,27,49,74,99 feet of main control chip U1 are connect with the 2 foot GND of power input interface J1；
Power protecting circuit: 1 foot of power input interface J1 is positive pole, and 2 feet are power supply GND；Power input interface
1 foot of J1 is connect with the left end of self-recovery fuse F1, the right end of self-recovery fuse F1 and the left end of Schottky diode D2
Connection, the right end of Schottky diode D2 and the left end of Transient Suppression Diode TVS D3 are connected as the output end of power supply, transient state
The right end of two pole TVS D3 is inhibited to connect with the 2 foot GND of power input interface J1；
Electric source filter circuit: the 1 foot VIN and electrolytic capacitor C4 of the power input interface J1 of power protecting circuit, nonpolarity
The left end of capacitor C5 connects, electrolytic capacitor C4, polarity free capacitor C5 right end and power protecting circuit in power input interface
The 2 foot GND connections of J1；
Power indicating circuit: the VCC power output end of power protecting circuit is connect with the left end of current-limiting resistance R1, current limliting electricity
Resistance R1 right end is connect with the left end of light emitting diode D1, the power input in the right end and power protecting circuit of light emitting diode D1
The 2 foot GND connections of interface J1；
5V voltage regulator circuit: the VCC power output end of power protecting circuit is connect with 1 foot of voltage stabilizing chip LM2576-5VU3,
VCC power output end is connect with the lower end of electrolytic capacitor C10, and the upper end of C10 and 3,5 feet of voltage stabilizing chip U3 are connected to power supply guarantor
On the GND of 2 feet of power input interface J1 in protection circuit；After the left end of inductance L1 is connect with the lower end of Schottky diode D4
It accesses on 2 feet of U3, the right end of L1 is connected on 4 feet for be followed by U3 with the lower end of electrolytic capacitor C11 as VCC-5V output end, Xiao
The upper end of special based diode D4 and the upper end connection of C11 are followed by the 2 foot GND of power input interface J1；
12V voltage regulator circuit: the VCC power output end of power protecting circuit and 1 foot of U4 voltage stabilizing chip LM2576-12V connect
It connects, VCC power output end is connect with the lower end of electrolytic capacitor C17, and the upper end of C17 and 3,5 feet of U4 are connected to power input and connect
On the 2 foot GND of mouth J1；The left end of inductance L3 is accessed on 2 feet of U3 after connecting with the lower end of Schottky diode D5, the right end of L3
Connected with the lower end of electrolytic capacitor C18 on 4 feet for be followed by U4 as VCC-12V output end, the upper end of Schottky diode D5 with
2 foot GND for the power input interface J1 that the upper end connection of C18 is followed by power protecting circuit；
3.3V voltage regulator circuit: the 5V voltage output end of 5V voltage regulator circuit is connect with the upper end of capacitor C6, C8 is connected to the 3 of U2
Foot, the lower end of C6, C7, C8, C9 and 2 foot GND phases after the 1 foot connection of U2 with the power input interface J1 in power protecting circuit
It even, is VCC-3.3V output end after the connection of 2 feet of the upper end of C7, C9 and U2；
MCU filter circuit: the upper end of VCC-3.3V output end and C12, C13, C14, C15, C16 in 3.3V voltage regulator circuit
It connects, the 2 foot GND connections of the power input interface J1 in the lower end and power protecting circuit of C12, C13, C14, C15, C16；
VCC-3.3V output end in 3.3V voltage regulator circuit is connect with the left end of inductance L2, the right end of L2 and the upper end of C19, C20, C21
After connection, the power input in the left end connection power protecting circuit of 22 foot VDDA being linked into main control chip, inductance L4 is connect
Behind the lower end of right end connection C19, C20, C21 of 2 the foot GND, L4 of mouthful J1, the 19 foot VSSA that are linked into main control chip；
AD reference circuit: the VCC-3.3V output end in 3.3V voltage regulator circuit is connect with the left end of inductance L5, the right end of L5
After connecting with the upper end of C22, C23, C24, the left end of 21 feet being connected in main control chip, inductance L6 connects power protecting circuit
In power input interface J1 2 foot GND, L6 right ends connection C22, C23, C24 lower end after, be linked into main control chip 20
Foot；
MCU reset circuit: the right end connection of VCC-3.3V output end and R2 in 3.3V voltage regulator circuit, the right end of key S1
End, the left end of R2, C2 right end and main control chip in U1 14 feet connection；Electricity in the right end and power protecting circuit of C2, S1
The 2 foot GND of source input interface J1；
Circuit is arranged in Boot: the 94 feet connection in the left end and main control chip of resistance R3, in right end and power protecting circuit
Power input interface J1 2 foot GND connections；
MCU download circuit: 1 foot of connector P1 is connect with the lower end of 72 feet of main control chip U1, pull-up resistor R5, P1's
2 feet are connect with the 2 foot GND of the power input interface J1 in power protecting circuit, 76 feet of 3 feet of P1 and main control chip U1, on
The lower end of pull-up resistor R4 connects；The upper end of pull-up resistor R4, R5 are connect with the VCC-3.3V output end in 3.3V voltage regulator circuit；
MCU crystal oscillating circuit: the upper end of crystal oscillator Y1, the right end of C1 are connect with 112 feet of main control chip U1, crystal vibration
The lower end and the right end of C3 and 13 feet of main control chip U1 for swinging device Y1 are connect, the electricity in the left end and power protecting circuit of C1, C3
The 2 foot GND connections of source input interface J1；
Camera power supply interface: 1 foot of connector J3 is connect with the output end of 12V voltage regulator circuit, 2 feet and power protection electricity
The 2 foot GND connections of power input interface J1 in road；
Wireless image transmission module for power supply interface: 1 foot of connector J4 is connect with the output end of 12V voltage regulator circuit, 2 feet and power supply
Protect the 2 foot GND connections of the power input interface J1 in circuit；
Foil gauge module interface: 1 foot of connector J2 is connect with the output end of 5V voltage regulator circuit, 2 feet and power protection electricity
The 2 foot GND connections of power input interface J1 in road, 3 feet are connect with 35 feet of main control chip U1 circuit；
Stepper motor drive control circuit: 1 foot of connector J8 is connect with the output end of 12V voltage regulator circuit, connector J8
8 feet connect with the 2 foot GND of the power input interface J1 in power protecting circuit, 2 feet of connector J8,4 feet, 6 feet and pull-up
The right end of resistance R7 connects, and 3 feet, 5 feet, 7 feet of connector J8 are connect with 65 feet of main control chip U1,31 feet, 66 feet respectively；On
The left end of pull-up resistor R7, R8 is connect with the output end of 5V voltage regulator circuit, 5 foot phases of the right end and connector J8 of pull-up resistor R8
Even；
Wireless serial interface: 1 foot of connector J5,2 feet, 3 feet, 4 feet, 5 feet respectively with 70 feet of main control chip U1,71
Foot, 68 feet, the connection of 69 feet, 6 feet are connect with the output end of 5V voltage regulator circuit, and 7 feet connect with the power input in power protecting circuit
The 2 foot GND connections of mouth J1.
The course of work of the present invention is:
1. start, equipment power supply is opened, the lithium electricity that system control panel is connect with the power interface in power protecting circuit
Pond starts to provide electric energy for system；Wherein 5V power supply is the control circuit of stepper motor, wireless serial module for power supply, 12V power supply
For camera, wireless image transmission, power supply for step-by-step motor power supply, 3.3V power supply is main control chip power supply；
2. intiating radio serial port module is connect with operation equipment；
3. operation equipment is shaken hands instruction to climbing device transmission, after climbing device receives instruction, send back should instruct to
Operate equipment；
4. after shaking hands successfully, device starts to carry out self detection, the output voltage of foil gauge is read, by the defeated of foil gauge
Out voltage judge buckle whether clamping, open camera, and send camera data, and the validity of monitoring data, by data
Effective judgement camera whether work normally；
5. operation equipment sends instructions to climbing device by serial ports, operation equipment is sent by host computer and is instructed, and is passed through
USB is sent after turning Transistor-Transistor Logic level to the port TXD of wireless serial, and wireless serial sends data；
6. climbing device starts to carry out the detection of working condition, if device is in a busy state, foil gauge has two panels not have
It is depressed, and through the lasting detection of row, until device is waited for and infrared tube has one to have output signal, strain
Piece has to be exported by pressure signal；
7. judging that instruction to be executed for non-open command, is specifically operated according to instruction；
8. waiting operation equipment to disconnect if the instruction received is open command, connect until operation equipment disconnects
It connects, then terminates.
The present invention process of climbing is:
1. starting, device receives climb command, and device begins preparing execution lifting operations；Main control chip is to stepper motor
Drive output signal rotates motor, so that device be made to begin to ramp up；
2. whether judgment means reach tower top, if reach tower top, device is adjusted fix after, the state of device is
Four foil gauges are depressed entirely, and operation terminates；
3. since device does not reach tower top, at this point, the brandreth of whole device and steel tower has two pairs of climbing clasp joint touchings, master control core
Piece is climbed upwards by control stepper motor driving, control climbing device；
4. the output voltage for a pair of of the foil gauge for contacting the brandreth with steel tower in detection device, by the output electricity of foil gauge
Pressure judges whether climbing hook reaches designated position, does not reach designated position, then motor continues working；
5. after executing climb operation, whether receiving new instruction before judgement or at this time, if not receiving, repeating to hold
Otherwise the operation of row step 2 terminates climb operation.
The present invention can mitigate labor intensity of workers, reduce electric shock and the danger of falling from high altitude, improve the efficiency of maintenance, maintenance
And quality, create good economic benefit and social benefit.The present invention be steel tower is carried out detection maintenance steel tower climb automatically
Device can be fed back to display equipment, worker is facilitated to judge by camera in real time by steel tower situation.With certain weight bearing ability,
Power worker or repair and maintenance equipment can be transported on steel tower, complete every maintenance task to steel tower.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the rotating circular disc structural 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 voltage regulator circuit figure；
Fig. 8 is 12V voltage regulator circuit figure；
Fig. 9 is 3.3V voltage regulator circuit figure；
Figure 10 is MCU filter circuit figure first part；
Figure 11 is MCU filter circuit figure second part；
Figure 12 is AD reference circuit figure；
Figure 13 is MCU reset circuit figure；
Figure 14 is Boot setting circuit diagram；
Figure 15 is MCU download circuit figure；
Figure 16 is MCU crystal oscillating circuit figure；
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 stepper motor drive 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, rotating circular disc；2, peripheral synchronizing bar；3, middle part shaft；4, support frame；5,
Fixed ring；6, hook is climbed；7, axle sleeve；8, driven gear；9, driving gear；10, motor；11, the bracket being mounted on pylon；
12, pylon.
Specific embodiment
The present invention includes stabilizing mechanism, transmission mechanism, climbing mechanism.Wherein stabilizing mechanism is used to be fixed as motion process to mention
For the motor of kinetic energy, it is ensured that transmission mechanism can work normally, and transmission mechanism provides kinetic energy, climbing mechanism finishing device for device
Climbing function.
It is that equipment can preferably keep flat during the motion that climbing mechanism in the present invention, which uses bilateral symmetry,
Weighing apparatus provides centre of the power motor in device of power for transmission mechanism, guarantees that it is equally loaded.To guarantee realization device energy
It is enough stable to be moved to tower top from column foot, it can reduce labor intensity of workers, reduce and get an electric shock and falling from high altitude danger, raising maintenance,
The efficiency of maintenance and the automatic climbing robot of quality.
Two rotating circular discs 1 of the invention pass through peripheral synchronizing bar 2 and middle part shaft 3 connects, and are set on middle part shaft 3
There is axle sleeve 7, axle sleeve 7 is fixedly mounted on support frame 4, and support frame 4 is fixed in fixed ring 5, the fixed suit on middle part shaft 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
In fixed ring 5；Climbing hook 6 is installed in the outer rim of rotating circular disc 1.
Motor is fixed in fixed ring, and fixed ring is fixed on entire equipment by support frame, is connected on motor actively
Gear, driving gear drive driven gear, and driven gear is connect by middle part shaft with left rotating circular disc and right rotating circular disc, and two
A rotating circular disc passes through peripheral synchronizing bar and is connected, and is fixedly installed with climbing hook on left rotating circular disc and dynamic first disk of turning right.
Entire equipment uses bilateral symmetry, and overall structure has fixed mechanism, transmission mechanism and climbing mechanism.It is wherein solid
Determine mechanism to be made of support frame and fixed ring, transmission mechanism by motor, driving gear, driven gear, concentric middle part shaft and
Peripheral synchronizing bar, climbing mechanism is by left rotating circular disc, right rotating circular disc and the climbing hook on each of which.
System rises process when two pairs of climbings of system are hooked on steel tower iron (as shown in figure 24), and motor starts turning band
Dynamic driving gear rotation thereon, since the rotation of driving gear drives driven gear rotation, because of driven gear, the dynamic circle of left-hand rotation
Disk connects realization by concentric middle part shaft with right rotating circular disc and rotates coaxially.Left rotating circular disc and right rotating circular disc pass through outer
It encloses synchronizing bar and realizes synchronous rotation.Two rotating circular discs realize coaxial synchronous rotation at this time, with the lower pair of climbing hook of rotation
Iron is left, upper pair of climbing hook is as fulcrum at this time, so that whole device starts to climb upwards, so that another pair climbs hook
Iron on hook, this process of repetition enable a device to be moved to tower top from column foot.Left rotating circular disc and dynamic disc rotary of turning right are climbed
During climbing, the motor in fixed mechanism and transmission mechanism that is formed due to support frame and fixed ring and driving gear composition
Middle section vertical ascent, to guarantee that motor can work normally.
The present invention is stained with foil gauge on climbing hook 6, and electronic control includes main control chip, power protecting circuit, electricity
Power filter, power indicating circuit, 5V voltage regulator circuit, 12V voltage regulator circuit, 3.3V voltage regulator circuit, MCU filter circuit, AD base
Quasi- circuit, MCU reset circuit, Boot setting circuit, MCU download circuit, MCU crystal oscillating circuit, camera power supply interface, without line chart
Transmission module power supply interface, foil gauge module interface, stepper motor drive control circuit, wireless serial interface；
Main control chip (Fig. 3): STM32F103VET6 chip, 11,28,50,75,100 feet and 5V of main control chip U1 are used
The VCC-3.3 connection of voltage regulator circuit (Fig. 5), 10,27,49,74,99 feet of main control chip U1 and 2 feet of power input interface J1
GND connection.
Power protecting circuit: 1 foot of power input interface J1 is positive pole, and 2 feet are power supply GND；Power input interface
1 foot of J1 is connect with the left end of self-recovery fuse F1, the right end of self-recovery fuse F1 and the left end of Schottky diode D2
Connection, the right end of Schottky diode D2 and the left end of Transient Suppression Diode TVS D3 are connected as the output end of power supply, transient state
The right end of two pole TVS D3 is inhibited to connect with the 2 foot GND of power input interface J1；Realize short-circuit protection, power supply reverse connection protection, with
And inhibit the function of moment surge.
Electric source filter circuit: the 1 foot VIN and electrolytic capacitor C4, nothing of the power input interface J1 of power protecting circuit (Fig. 4)
The left end of polar capacitor C5 connects, electrolytic capacitor C4, the right end of polarity free capacitor C5 and the power supply in power protecting circuit (Fig. 4)
The 2 foot GND connections of input interface J1；Realize the filter function of entire circuit power.
Power indicating circuit: the VCC power output end of power protecting circuit (Fig. 4) is connect with the left end of current-limiting resistance R1,
Current-limiting resistance R1 right end is connect with the left end of light emitting diode D1, the right end and power protecting circuit (Fig. 4) of light emitting diode D1
In power input interface J1 2 foot GND connections；It realizes system and has light prompt once being inserted into power supply.
5V voltage regulator circuit: the VCC power output end of power protecting circuit (Fig. 4) and 1 foot of voltage stabilizing chip LM2576-5VU3
Connection, VCC power output end are connect with the lower end of electrolytic capacitor C10, and the upper end of C10 and 3,5 feet of voltage stabilizing chip U3 are connected to
On the GND of 2 feet of power input interface J1 in power protecting circuit；The left end of inductance L1 and the lower end of Schottky diode D4
It is accessed after connection on 2 feet of U3, the right end of L1 connects defeated for VCC-5V on 4 feet for be followed by U3 with the lower end of electrolytic capacitor C11
Outlet, the upper end of Schottky diode D4 and the upper end connection of C11 are followed by the 2 foot GND of power input interface J1；This part electricity
Road provides stable 5V voltage for system.
12V voltage regulator circuit: the VCC power output end of power protecting circuit (Fig. 4) and the 1 of U4 voltage stabilizing chip LM2576-12V
Foot connection, VCC power output end connect with the lower end of electrolytic capacitor C17, and it is defeated that the upper end of C17 and 3,5 feet of U4 are connected to power supply
On the 2 foot GND of incoming interface J1；The left end of inductance L3 is accessed on 2 feet of U3 after connecting with the lower end of Schottky diode D5, L3's
Right end is connected with the lower end of electrolytic capacitor C18 for VCC-12V output end on 4 feet for be followed by U4, and Schottky diode D5's is upper
End connect 2 foot GND for the power input interface J1 being followed by power protecting circuit with the upper end of C18；It realizes and is mentioned for system
For the function of stable 12V voltage.
3.3V voltage regulator circuit: the 5V voltage output end of 5V voltage regulator circuit (Fig. 7) is connect with the upper end of capacitor C6, C8 is connected to U2
3 feet, with the power input interface J1's in power protecting circuit (Fig. 4) after the 1 foot connection of the lower end of C6, C7, C8, C9 and U2
2 foot GND are connected, and are VCC-3.3V output end after the upper end of C7, C9 and the 2 feet connection of U2；Realize provided for system it is stable
The function of 3.3V voltage.
MCU filter circuit: VCC-3.3V output end and C12, C13, C14, C15, C16 in 3.3V voltage regulator circuit (Fig. 9)
Upper end connection, the 2 of the lower end of C12, C13, C14, C15, C16 and the power input interface J1 in power protecting circuit (Fig. 4)
Foot GND connection；VCC-3.3V output end in 3.3V voltage regulator circuit is connect with the left end of inductance L2, the right end and C19, C20 of L2,
Electricity after the upper end connection of C21, in the left end connection power protecting circuit of 22 foot VDDA being linked into main control chip, inductance L4
Behind the lower end of right end connection C19, C20, C21 of 2 the foot GND, L4 of source input interface J1, it is linked into main control chip (Fig. 3)
19 foot VSSA；Figure 11 and Figure 10 together forms the filter circuit of MCU.
AD reference circuit: the VCC-3.3V output end in 3.3V voltage regulator circuit is connect with the left end of inductance L5, the right end of L5
After connecting with the upper end of C22, C23, C24, the left end of 21 feet being connected in main control chip, inductance L6 connects power protecting circuit
In power input interface J1 2 foot GND, L6 right ends connection C22, C23, C24 lower end after, be linked into main control chip 20
Foot；Voltage reference is provided to the inside AD of MCU, for using.
MCU reset circuit: the right end connection of VCC-3.3V output end and R2 in 3.3V voltage regulator circuit, the right end of key S1
End, the left end of R2, C2 right end and main control chip in U1 14 feet connection；Electricity in the right end and power protecting circuit of C2, S1
The 2 foot GND of source input interface J1；Realize that S1 presses the function of MCU reset.
Circuit is arranged in Boot: the 94 feet connection in the left end and main control chip of resistance R3, in right end and power protecting circuit
Power input interface J1 2 foot GND connections；Realize the function of the BOOT setting of single-chip microcontroller.
MCU download circuit: 1 foot of connector P1 connects with 72 feet of main control chip (Fig. 3) U1, the lower end of pull-up resistor R5
It connects, 2 feet of P1 are connect with the 2 foot GND of the power input interface J1 in power protecting circuit, and 3 feet of P1 are with main control chip U1's
The lower end connection of 76 feet, pull-up resistor R4；The upper end of pull-up resistor R4, R5 and the VCC-3.3V output end in 3.3V voltage regulator circuit
Connection；The downloading program function of realization system.
MCU crystal oscillating circuit: the upper end of crystal oscillator Y1, the right end of C1 are connect with 112 feet of main control chip U1, crystal vibration
The lower end and the right end of C3 and 13 feet of main control chip U1 for swinging device Y1 are connect, in the left end of C1, C3 and power protecting circuit (Fig. 4)
Power input interface J1 2 foot GND connections；The external clock that the circuit is entire MCU inputs.
Camera power supply interface: 1 foot of connector J3 is connect with the output end of 12V voltage regulator circuit, 2 feet and power protection electricity
The 2 foot GND connections of power input interface J1 in road；It realizes and gives camera function of supplying power.
Wireless image transmission module for power supply interface: 1 foot of connector J4 is connect with the output end of 12V voltage regulator circuit (Fig. 8), 2 feet
It is connect with the 2 foot GND of the power input interface J1 in power protecting circuit；It realizes and gives wireless image transmission module for power supply function.
Foil gauge module interface: 1 foot of connector J2 is connect with the output end of 5V voltage regulator circuit, 2 feet and power protection electricity
The 2 foot GND connections of power input interface J1 in road, 3 feet are connect with 35 feet of main control chip U1 circuit；It realizes and gives foil gauge mould
The function of block power supply and signal output.
Stepper motor drive control circuit: 1 foot of connector J8 is connect with the output end of 12V voltage regulator circuit, connector J8
8 feet connect with the 2 foot GND of the power input interface J1 in power protecting circuit, 2 feet of connector J8,4 feet, 6 feet and pull-up
The right end of resistance R7 connects, and 3 feet, 5 feet, 7 feet of connector J8 are connect with 65 feet of main control chip U1,31 feet, 66 feet respectively；On
The left end of pull-up resistor R7, R8 is connect with the output end of 5V voltage regulator circuit, 5 foot phases of the right end and connector J8 of pull-up resistor R8
Even；Realize the function of stepper motor power supply and control.
Wireless serial interface: 1 foot of connector J5,2 feet, 3 feet, 4 feet, 5 feet respectively with 70 feet of main control chip U1,71
Foot, 68 feet, the connection of 69 feet, 6 feet are connect with the output end of 5V voltage regulator circuit, and 7 feet connect with the power input in power protecting circuit
The 2 foot GND connections of mouth J1.Realize the function of power supply and the signal transmission of unlimited serial ports.
As shown in figure 22, it is the overall flow figure of system work, hardware initialization can be carried out first after system electrification, detected
Whether each hardware device works normally, and initialization unsuccessfully returns to error code, and provides corresponding prompt, handles event convenient for user
Barrier.After initializing successfully, it can always try to and whether detection device is connected to operation equipment, if it is not, repeating this always
Operation, until power-off, if being connected to operation equipment, enter receive operational order state, by different instruction make equipment into
Row corresponding operation, including rising, stopping, decline, detailed process is as follows: the course of work of the present invention is:
1. start, equipment power supply is opened, the lithium electricity that system control panel is connect with the power interface in power protecting circuit
Pond starts to provide electric energy for system；Fig. 4 circuit provides strong protection for system power supply.Self-recovery fuse F1 therein exists
It is disconnected automatically in the case where short circuit, certain elements can be prevented in circuit board, which to generate high current when something goes wrong, to be entirely
System is burnt out.Schottky diode D2 prevent lithium battery it is positive and negative it is reversed after system is burnt out, accordingly even when user is connecting
Misoperation system occurs when power supply to be therefore damaged.Power supply indicator after switch is opened in Fig. 6 shines, and prompt makes
User's system starts.If serious problems occur for system, system power supply indicator light can extinguish, convenient for users to probably judging
Whether system is 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, wherein
5V power supply is the control circuit of stepper motor, wireless serial module for power supply, and 12V power supply is camera, wireless image transmission, stepper motor
Power supply power supply, 3.3V power supply are main control chip power supply；Figure 10 is the decoupling capacitance of main control chip, can prevent circuit from passing through power supply shape
At positive feedback path caused by unwanted oscillation.So-called decoupling, that is, when preventing front and back circuital current size variation, in power supply electricity
Current russ formed in road has an impact the normal work of circuit, and in other words, decoupling circuit can effectively eliminate electricity
Parasitic couplings between road.Figure 11, Figure 12 connect the digital power of main control chip and analog power by magnetic bead, prevent
Analog power generates interference to digital power, improves the stability of system.
2. intiating radio serial port module is connect with operation equipment；Wireless serial module is wirelessly penetrated using Imported High-performance
Frequency chip and super low-power consumption High Performance SCM are constituted；Module has super low-power consumption reception pattern, supports different power consumptions etc.
Grade, while corresponding different response time.A variety of baud rates can be set in wireless serial module, and communicating pair can be with baud rate not
Together, the flexibility of equipment is improved.And support a variety of no line rates, it can be set as needed, thus in power consumption, distance, speed
Optimal balance point is obtained in rate.Wireless serial design comparison hommization, after the good parameter setting of user setting is good, module can will join
Number saves, and power-off is not lost, and after re-powering, module can work according to the parameter set.Wireless serial is mark
Quasi- TTL interface, and have anti-interference shielding case, receiving sensitivity can be improved.Signal is emitted through spring antenna, increases
Signal transmission, and cost is very low.Power consumption is extremely low in the hibernation mode for wireless serial module, the operating voltage of wider range,
And internally charged stream protects circuit.Efficient house dog built in wireless serial can also protect in extremely severe industrial environment
Card module never crashes, and improves the reliability of system.
3. operation equipment is shaken hands instruction to climbing device transmission, after climbing device receives instruction, send back should instruct to
Operate equipment；(instruction herein has sent and received communication protocol and has been packed and dismounted).It is counted by communication protocol
According to transmission, correctness, the reliability of data ensure that, and data can be encrypted, improve the safety of data.It prevents
Other people interfere device work.
4. after shaking hands successfully, device starts to carry out self detection, the output voltage of foil gauge is read, by the defeated of foil gauge
Out voltage judge buckle whether clamping, open camera, and send camera data, and the validity of monitoring data, by data
Effective judgement camera whether work normally；According to the state that obtains of feedback, can the modules of judgment means normal
Work, and result is fed back into operation equipment by wireless serial.If modules can work normally, continue to hold down
Row；Otherwise, it sends error code and gives operation equipment, go to check that processing problem reopens equipment later to user, until equipment
State is correctly started to work.
5. operation equipment sends instructions to climbing device by serial ports, operation equipment is sent by host computer and is instructed, and is passed through
USB is sent after turning Transistor-Transistor Logic level to the port TXD of wireless serial, and wireless serial sends data；Climbing device is by wirelessly going here and there
Mouth receives instruction, and is instructed main control chip U1 that data are transmitted in Fig. 3 and after parsing by RXD pin, so
The indicated movement of instruction is completed afterwards.After climbing device is completed to instruct, complete to refer to by sending operation to the TXD of wireless serial
Enable, instruction by wireless serial be transferred to operation equipment wireless serial, operate equipment wireless serial receive instruction after pass through
USB turns TTL chip and instruction is transmitted to host computer, and upper computer software obtains feedback command by parsing.Then system mode is shown
Show in host computer interface, allows user that can intuitively judge system mode.
6. climbing device starts to carry out the detection of working condition, if device is in a busy state, foil gauge has two panels not have
It is depressed, and through the lasting detection of row, until device is waited for and infrared tube has one to have output signal, strain
Piece has to be exported by pressure signal；
7. judging that instruction to be executed for non-open command, is specifically operated according to instruction；Specifically judged
Journey is provided by Fig. 5, and step 5 is returned to after execution.
8. waiting operation equipment to disconnect if the instruction received is open command, connect until operation equipment disconnects
It connects, then terminates.
It is illustrated in fig. 23 shown below the flow chart that climbs for device, after receiving and climbing order, it is first determined whether reaching tower
Top, if then terminating, otherwise motor is started to work, and judges whether to reach designated position by foil gauge, is that then motor stops work
Make, judge whether to receive 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. starting, device receives climb command, and device begins preparing execution lifting operations；Main control chip is to stepper motor
Drive output signal rotates motor, so that device be made to begin to ramp up.
2. whether judgment means reach tower top, if reach tower top, device is adjusted fix after, the state of device is
Four foil gauges are depressed entirely, and operation terminates；If not reaching, climb operation is executed.
3. since device does not reach tower top, at this point, the brandreth of whole device and steel tower has two pairs of climbing clasp joint touchings, master control core
Piece is climbed upwards by control stepper motor driving, control climbing device；At this moment climbing device, which releases, fixes, as device is climbed
Beginning, nethermost a pair of of the climbing hook and brandreth that whole device is contacted with the brandreth of steel tower be detached from, meanwhile, whole device with
Uppermost a pair of of climbing hook of the brandreth contact of steel tower provides fulcrum for whole device, guarantees that whole device can be realized
It rises.
4. the output voltage for a pair of of the foil gauge for contacting the brandreth with steel tower in detection device, by the output electricity of foil gauge
Pressure judges whether climbing hook reaches designated position, does not reach designated position, then motor continues working；Otherwise, illustrate to climb at this time
Hook arrived designated position, at this point, judge climb hook whether clamping, if being adjusted correspondingly without clamping, until card
Tightly, if clamping, rise completion, at this point, the case where checking steel tower, judging whether to need to continue up to climb by wireless image transmission
It climbs.
5. after executing climb operation, whether receiving new instruction before judgement or at this time, if not receiving, repeating to hold
Otherwise the operation of row step 2 terminates climb operation, executes new operation.
Claims (3)
1. a kind of electric power tower automatic circular climbing device, it is characterised in that: two rotating circular discs (1) pass through peripheral synchronizing bar
(2) it connects, is set on middle part shaft (3) axle sleeve (7), axle sleeve (7) is fixedly mounted on support frame (4) with middle part shaft (3)
On, support frame (4) is fixed on fixed ring (5), and fixing sleeve is equipped with driven gear (8) on middle part shaft (3), driven gear
(8) it is engaged with driving gear (9), driving gear (9) is fixed on the motor shaft of motor (10), and motor (10) is mounted on fixed ring
(5) on；Climbing hook (6) is installed in the outer rim of rotating circular disc (1)；
Foil gauge is stained in climbing hook (6), electronic control system includes main control chip, power protecting circuit, power supply filter
Wave circuit, power indicating circuit, 5V voltage regulator circuit, 12V voltage regulator circuit, 3.3V voltage regulator circuit, MCU filter circuit, AD benchmark electricity
Circuit, MCU download circuit, MCU crystal oscillating circuit, camera power supply interface, wireless image transmission mould is arranged in road, MCU reset circuit, Boot
Block power supply interface, foil gauge module interface, stepper motor drive control circuit, wireless serial interface；
Main control chip: STM32F103VET6 chip, 11,28,50,75,100 feet and 5V voltage regulator circuit of main control chip U1 are used
VCC-3.3 connection, 10,27,49,74,99 feet of main control chip U1 connect with the 2 foot GND of power input interface J1；
Power protecting circuit: 1 foot of power input interface J1 is positive pole, and 2 feet are power supply GND；The 1 of power input interface J1
Foot is connect with the left end of self-recovery fuse F1, and the right end of self-recovery fuse F1 is connect with the left end of Schottky diode D2,
The right end of Schottky diode D2 and the left end of Transient Suppression Diode TVS D3 are connected as the output end of power supply, and transient state inhibits two
The right end of pole TVS D3 is connect with the 2 foot GND of power input interface J1；
Electric source filter circuit: the 1 foot VIN and electrolytic capacitor C4, polarity free capacitor of the power input interface J1 of power protecting circuit
The left end of C5 connects, electrolytic capacitor C4, polarity free capacitor C5 right end and power protecting circuit in power input interface J1 2
Foot GND connection；
Power indicating circuit: the VCC power output end of power protecting circuit is connect with the left end of current-limiting resistance R1, current-limiting resistance R1
Right end is connect with the left end of light emitting diode D1, the power input interface in the right end and power protecting circuit of light emitting diode D1
The 2 foot GND connections of J1；
5V voltage regulator circuit: the VCC power output end of power protecting circuit is connect with 1 foot of voltage stabilizing chip LM2576-5VU3, VCC
Power output end is connect with the lower end of electrolytic capacitor C10, and the upper end of C10 and 3,5 feet of voltage stabilizing chip U3 are connected to power protection
On the GND of 2 feet of power input interface J1 in circuit；The left end of inductance L1 connect with the lower end of Schottky diode D4 and is followed by
Enter on 2 feet of U3, the right end of L1 is connected on 4 feet for be followed by U3 with the lower end of electrolytic capacitor C11 as VCC-5V output end, Xiao Te
The upper end of based diode D4 and the upper end connection of C11 are followed by the 2 foot GND of power input interface J1；
12V voltage regulator circuit: the VCC power output end of power protecting circuit is connect with 1 foot of U4 voltage stabilizing chip LM2576-12V,
VCC power output end is connect with the lower end of electrolytic capacitor C17, and the upper end of C17 and 3,5 feet of U4 are connected to power input interface J1
2 foot GND on；The left end of inductance L3 is accessed on 2 feet of U3 after connecting with the lower end of Schottky diode D5, the right end and electricity of L3
The lower end connection of solution capacitor C18 is followed by 4 feet of U4 as VCC-12V output end, the upper end of Schottky diode D5 and C18's
2 foot GND for the power input interface J1 that upper end connection is followed by power protecting circuit；
3.3V voltage regulator circuit: the 5V voltage output end of 5V voltage regulator circuit connect 3 feet for being connected to U2 with the upper end of capacitor C6, C8, C6,
The lower end of C7, C8, C9 are connected with after the connection of 1 foot of U2 with the 2 foot GND of the power input interface J1 in power protecting circuit, C7,
It is VCC-3.3V output end after the upper end of C9 and the 2 feet connection of U2；
MCU filter circuit: the upper end of VCC-3.3V output end and C12, C13, C14, C15, C16 in 3.3V voltage regulator circuit connects
It connects, the 2 foot GND connections of the power input interface J1 in the lower end and power protecting circuit of C12, C13, C14, C15, C16；3.3V
VCC-3.3V output end in voltage regulator circuit is connect with the left end of inductance L2, and the right end of L2 is connect with the upper end of C19, C20, C21
Afterwards, the power input interface J1 in the left end connection power protecting circuit of 22 foot VDDA being linked into main control chip, inductance L4
2 foot GND, L4 right end connection C19, C20, C21 lower end after, the 19 foot VSSA that are linked into main control chip；
AD reference circuit: the VCC-3.3V output end in 3.3V voltage regulator circuit is connect with the left end of inductance L5, the right end of L5 with
After the upper end connection of C22, C23, C24, the left end of 21 feet being connected in main control chip, inductance L6 is connected in power protecting circuit
Power input interface J1 2 foot GND, L6 right ends connection C22, C23, C24 lower end after, be linked into main control chip 20
Foot；
MCU reset circuit: the right end connection of VCC-3.3V output end and R2 in 3.3V voltage regulator circuit, right end, the R2 of key S1
Left end, C2 right end and main control chip in U1 14 feet connection；Power input in the left end and power protecting circuit of C2, S1
The 2 foot GND of interface J1；
Circuit is arranged in Boot: the 94 feet connection in the left end and main control chip of resistance R3, the electricity in right end and power protecting circuit
The 2 foot GND connections of source input interface J1；
MCU download circuit: 1 foot of connector P1 is connect with the lower end of 72 feet of main control chip U1, pull-up resistor R5,2 feet of P1
It is connect with the 2 foot GND of the power input interface J1 in power protecting circuit, 3 feet of P1 and 76 feet, the pull-up electricity of main control chip U1
Hinder the lower end connection of R4；The upper end of pull-up resistor R4, R5 are connect with the VCC-3.3V output end in 3.3V voltage regulator circuit；
MCU crystal oscillating circuit: the upper end of crystal oscillator Y1, the right end of C1 are connect with 12 feet of main control chip U1, crystal oscillator
The lower end of Y1 and the right end of C3 and 13 feet of main control chip U1 are connect, and the power supply in the left end and power protecting circuit of C1, C3 is defeated
The 2 foot GND connections of incoming interface J1；
Camera power supply interface: 1 foot of connector J3 is connect with the output end of 12V voltage regulator circuit, in 2 feet and power protecting circuit
Power input interface J1 2 foot GND connections；
Wireless image transmission module for power supply interface: 1 foot of connector J4 is connect with the output end of 12V voltage regulator circuit, 2 feet and power protection
The 2 foot GND connections of power input interface J1 in circuit；
Foil gauge module interface: 1 foot of connector J2 is connect with the output end of 5V voltage regulator circuit, in 2 feet and power protecting circuit
Power input interface J1 2 foot GND connections, the 3 of connector J2_1, J2_2, J2_3, J2_4, J2_5, J2_6, J2_7, J2_8
Foot is connect with 95,96,47,48,51,52,53,54 feet of main control chip U1 circuit；
Stepper motor drive control circuit: 1 foot of connector J8 is connect with the output end of 12V voltage regulator circuit, 8 feet of connector J8
It is connect with the 2 foot GND of the power input interface J1 in power protecting circuit, 2 feet, 4 feet, 6 feet and the pull-up resistor of connector J8
The right end of R7 connects, and 3 feet, 5 feet, 7 feet of connector J8 are connect with 65 feet of main control chip U1,31 feet, 66 feet respectively；Pull-up electricity
The left end of resistance R7, R8 are connect with the output end of 5V voltage regulator circuit, and the right end of pull-up resistor R8 is connected with 5 feet of connector J8；
Wireless serial interface: 1 foot of connector J5,2 feet, 3 feet, 4 feet, 5 feet respectively with 70 feet of main control chip U1,71 feet, 68
Foot, 69 feet, the connection of 77 feet, 6 feet are connect with the output end of 5V voltage regulator circuit, and 7 feet connect with the power input in power protecting circuit
The 2 foot GND connections of mouth J1.
2. electric power tower automatic circular climbing device described in claim 1, it is characterised in that: its electronic control system course of work
It is:
1. start, equipment power supply is opened, the lithium battery that system control panel is connect with the power interface in power protecting circuit is opened
Begin to provide electric energy for system；Wherein 5V power supply is the control circuit of stepper motor, wireless serial module for power supply, and 12V power supply is to take the photograph
As head, wireless image transmission, power supply for step-by-step motor power supply, 3.3V power supply is main control chip power supply；
2. intiating radio serial port module is connect with operation equipment；
3. operation equipment sends instruction of shaking hands to climbing device, after climbing device receives instruction, sending back should be instructed to operation
Equipment；
4. after shaking hands successfully, device starts to carry out self detection, the output voltage of foil gauge is read, by the output electricity of foil gauge
Pressure judge buckle whether clamping, unlatching camera and sends camera data, and the validity of monitoring data, by having for data
Effect property judges whether camera works normally；
5. operation equipment sends instructions to climbing device by serial ports, operation equipment is sent by host computer and is instructed, and is turned by USB
It is sent after Transistor-Transistor Logic level to the port TXD of wireless serial, wireless serial sends data；
6. climbing device starts to carry out the detection of working condition, if device is in a busy state, foil gauge has two panels not pressed
Under, and through the lasting detection of row, until device is waited for and infrared tube has one to have output signal, foil gauge is all
Have and is exported by pressure signal；
7. judging that instruction to be executed for non-open command, is specifically operated according to instruction；
8. waiting operation equipment to disconnect if the instruction received is open command, disconnected until operating equipment, then
Terminate.
3. electric power tower automatic circular climbing device described in claim 1, it is characterised in that: its electronic control system is climbed process
It is:
1. starting, device receives climb command, and device begins preparing execution lifting operations；Main control chip drives to stepper motor
Output signal rotates motor, so that device be made to begin to ramp up；
2. whether judgment means reach tower top, if reaching tower top, device is adjusted fix after, the state of device is four
Foil gauge is depressed entirely, and operation terminates；
3., at this point, the brandreth of whole device and steel tower has two pairs of climbing clasp joint touchings, main control chip is logical since device does not reach tower top
The driving of control stepper motor is crossed, control climbing device is climbed upwards；
4. the output voltage for a pair of of the foil gauge for contacting the brandreth with steel tower in detection device, is sentenced by the output voltage of foil gauge
Whether disconnected climbing hook reaches designated position, does not reach designated position, then motor continues working；
5. after executing climb operation, whether receiving new instruction before judgement or at this time, if not receiving, the is repeated
Otherwise the operation of 2 steps terminates climb operation.
Priority Applications (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 |
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106571597A CN106571597A (en) | 2017-04-19 |
| CN106571597B true CN106571597B (en) | 2019-04-05 |
Family
ID=58542453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610996460.3A Active CN106571597B (en) | 2016-11-13 | 2016-11-13 | Electric power tower automatic circular climbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106571597B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110867771B (en) * | 2019-11-21 | 2021-01-12 | 揭阳市顺峰电力机具有限公司 | High-altitude electric power climbing system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
| CN205608580U (en) * | 2016-05-11 | 2016-09-28 | 南京工程学院 | Adjustable voltage stabilizing circuit of intelligence |
| 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 |
| CN205661561U (en) * | 2016-06-08 | 2016-10-26 | 燕山大学 | Novel non - intermittent type formula pole -climbing robot |
-
2016
- 2016-11-13 CN CN201610996460.3A patent/CN106571597B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN205608580U (en) * | 2016-05-11 | 2016-09-28 | 南京工程学院 | Adjustable voltage stabilizing circuit of intelligence |
| CN205661561U (en) * | 2016-06-08 | 2016-10-26 | 燕山大学 | Novel non - intermittent type formula pole -climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106571597A (en) | 2017-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203204387U (en) | Vehicle-mounted information terminal based on Beidou communication | |
| CN101309396A (en) | Emergency cooperative monitoring system for dangerous chemical leakage accident and method thereof | |
| CN1710619A (en) | Wireless fire fighting detector network based on ZigBee and control method | |
| CN106571597B (en) | Electric power tower automatic circular climbing device | |
| CN103955213A (en) | Multifunctional intelligent probe vehicle based on WIFI | |
| CN201751898U (en) | 1553B bus test device | |
| CN104317691B (en) | Simulation debugging and code downloading tool | |
| CN204231558U (en) | Portable emergency supervising device | |
| CN206309100U (en) | The automatic square climbing device of electric power tower | |
| CN106481140B (en) | Electric power tower rectangular climbing device automatically | |
| CN203520592U (en) | Combustible gas alarm | |
| CN207249435U (en) | Access the things-internet gateway and remote monitoring system of automatic fire alarm control system | |
| CN206352432U (en) | The lock ring controlling organization that a kind of photoelectricity and magnetic control are combined | |
| CN209887598U (en) | Automatic patrol robot for campus | |
| CN205548572U (en) | Hand loop | |
| CN207644602U (en) | A kind of Multifunctional swing ring | |
| CN205304958U (en) | Emergent cloth ball control with show function | |
| CN214200078U (en) | Lamp pole inclination monitoring device | |
| CN108939360A (en) | Family's firefighting robot | |
| CN204537432U (en) | A kind of telechiric device | |
| CN203502769U (en) | Detaching prevention device for electric power equipment transportation quality data acquisition device | |
| CN103663029A (en) | Elevator remote monitoring and debugging system | |
| CN103064358A (en) | Injection molding machine separation type human machine interface (HMI) controller based on Android system and injection molding machine control system | |
| CN204315065U (en) | A kind of perambulator remote control stops safety guard | |
| CN206248149U (en) | A kind of filling machine parameter setting manual operator and filling machine parameter setting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |