CN109224399A - The working method of manned pole climbing device for electric system rod-rising tower operation - Google Patents
The working method of manned pole climbing device for electric system rod-rising tower operation Download PDFInfo
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- CN109224399A CN109224399A CN201811269331.XA CN201811269331A CN109224399A CN 109224399 A CN109224399 A CN 109224399A CN 201811269331 A CN201811269331 A CN 201811269331A CN 109224399 A CN109224399 A CN 109224399A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
- A63B27/04—Climbing devices for profile poles attachable to the feet
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Abstract
The invention discloses a kind of working methods of manned pole climbing device for electric system rod-rising tower operation, and manned pole climbing device includes shell；Pole mechanism, walking mechanism and control system are provided within shell；Walking mechanism includes a driving wheel, and the driving wheel drives entire manned pole climbing device to move up and down along shaft tower when being clamped on shaft tower by rotation；The pole mechanism is used for and the walking mechanism cooperates, and manned pole climbing device is enabled to hold shaft tower tightly.It is acted by staff by lifting, holding or the release shaft tower etc. that controller controls manned pole climbing device, realizes the manned function of going up and down on wire pole tower.The working method of manned pole climbing device of the invention has many advantages, such as the security reliability that can be replaced the artificial labor intensity for carrying out pole-climbing, reducing pole-climbing operation with robot, improve pole-climbing high altitude operation.
Description
Technical field
It is especially a kind of for electric system rod-rising tower operation the present invention relates to a kind of electric system work auxiliary device
The working method of manned pole climbing device.
Background technique
In power industry, shaft tower is the supporter for being used to support power transmission line in overhead transmission line.Shaft tower mostly by steel or
Armored concrete is made, and is the main support structure of overhead transmission line.Countries in the world overhead line structures use steel construction, timber structure
And reinforced concrete structure.Bar, tower-shaped steel construction and reinforced concrete usually are known as to the rod shaped structure of wood and armored concrete
Native chimney structure is known as tower.It is known as self-supporting tower without the shaft tower of bracing wire, the shaft tower with bracing wire is known as bracing wire shaft tower.
For line maintenance maintenance personnel, rod-rising tower operation is indispensable one to the work that power circuit repairs
A link, normalizing operation are directly related to the personal safety of operating personnel and the safe operation of electric system.Rod-rising tower is made
In industry, auxiliary tool of ascending a height is one of essential important tool.In recent years, due to auxiliary tool of ascending a height, electric power
When system pole ascending operation, take place frequently human casualty accident.
Currently, the use of most common, most bar tool of stepping on being " climbers ".Climbers are to cover to swash the one of wire pole in shoes
Kind arc iron implements, with light-weight, intensity is high, good toughness；Adjustability is good, light and flexible；Securely and reliably, easy to carry
The advantages that, it is that electrician climbs the cement pole of different size or the ideal tools of wooden stick.But it is following to use climbers to have
The problem of aspect: (1) climbers are formal in use, having to carry out professional training to stepping on bar personnel；User is needed to find power accurately
Shift equilibrium just can ensure that safety, the conversion up and down of the left and right foot of mountaineer is stepped on entirely by the balance that operator finds power accurately to realize
High；(2) can climbers, which fasten electric pole completely, operator oneself grasp, is judged entirely by personal experience, security reliability
It is low；(3) labor intensity for stepping on bar mode of climbers is high, and stand up time is short, and physical strength expends greatly, be easy to cause fatigue.More than being based on
Several reasons, the operator that makes to ascend a height feel heavy in operation, and psychology is panic, and operation energy is be easy to cause not concentrate, to go out
Existing accident.
Application No. is 201711261930.2 Chinese invention patent " a kind of for climbing the Skidproof climbers of electric pole ", packets
Include movable hook and foot pedal；Movable hook is made of segmental arc and straightway；The segmental arc of movable hook is equipped with the length for being close to electric pole
Rubber pad, the straightway end of movable hook and one end of connecting rod form and connect；The other end and foot pedal of connecting rod are fixed to be connected
It connects；The side that foot pedal corresponds to movable hook segmental arc is fixedly connected with T shape pawl.The inventive structure is simple, convenient for operation, disassembly, energy
Effectivelying prevent climbers to skid, there is a phenomenon where slide from climbers during ascending a height with sole.But tradition is not still got rid of
The work pattern of climbers.
Therefore, operating personnel is intended to that a kind of intelligentized pole climbing device can be designed, and provides auxiliary power by machine
It helps staff's pole-climbing, saves physical strength, reduce labor intensity and physical demands, enable staff main body
Power and energy be used to ascend a height after operation up, ascend a height the efficiency and reliability of operation to improve shaft tower.
Summary of the invention
The present invention is provided a kind of for electric system rod-rising tower to avoid shortcoming present in above-mentioned prior art
The working method of the manned pole climbing device of operation saves work people to provide auxiliary power during staff's pole-climbing
The physical strength and energy consumed during the pole-climbing of member.
The present invention uses following technical scheme in order to solve the technical problem.
A kind of control method of the working method of the manned pole climbing device for electric system rod-rising tower operation comprising such as
Lower step:
Step 1: by manned pole climbing device close to shaft tower, pole mechanism is controlled by control button and holds shaft tower tightly；
Step 2: staff climbs up manned pole climbing device, and fastens one's safety belt；
Step 3: staff presses rising button, is risen by manned pole climbing device band people along shaft tower；
Step 4: after rising to scheduled position, pressing stop button, staff starts operation；
Step 5: after staff's operation, pressing declines button, declined by manned pole climbing device band people along shaft tower；
Step 6: after dropping to scheduled height, pressing stop button, staff gets off from manned pole climbing device；
Step 7: controlling pole mechanism by control button and unclamp shaft tower, manned pole climbing device is taken off from shaft tower
From；
Step 8: packing up manned pole climbing device, fulfil assignment.
In the step 1, first by manned pole climbing device close to shaft tower, so that shaft tower is embedded in the opening of manned pole climbing device
In, driving wheel and auxiliary positioning wheel are close on shaft tower；By control button the piston rod of electric cylinder is retracted, piston rod is drawn
Dynamic link mechanism, link mechanism drive pincerlike arm, pincerlike arm move closer to shaft tower make driven wheel gradually from driving wheel and auxiliary
The other side for helping locating wheel opposite clamps shaft tower.
In the step 6, during the decline, if decrease speed is more than predetermined value, the driven wheel of pole mechanism
Centrifugal ratchet device on wheel shaft locks follower shaft and driven wheel, so that manned pole climbing device is stuck in shaft tower
On, to prevent the accident of high-speed falling from occurring.
It is provided on the wheel shaft of the driven wheel for preventing the centrifugal ratchet device to fall；The centrifugal ratchet dress
It sets including ratchet housing S, the first pawl J1, the first pawl shaft K1, the first pawl restoring spring, the second pawl J2, the second spine
Pawl shaft K2 and the second pawl restoring spring；The ratchet housing S is hollow cylindrical shape, the inner peripheral surface of the ratchet housing S
It is provided with multiple equally distributed card slots；The ratchet housing S is fixed in the cavity where the wheel shaft of the driven wheel；It is described
First pawl J1, the first pawl shaft K1, the first pawl restoring spring, the second pawl J2, the second pawl shaft K2 and the second spine
Pawl reset spring is all set on the end face of the wheel shaft of the driven wheel.
When the manned pole climbing device high speed falls, follower shaft also can high-speed rotation, under the influence of centrifugal force, pawl
J1, J2 open the card slot blocked inside ratchet housing S, thus stuck follower shaft, and then realize manned pole climbing device clamping bar
Tower is not falling.
The manned pole climbing device it is stuck on shaft tower after, staff open rising button；On manned pole climbing device
Pawl J1, J2 is rotated with follower shaft when rising, the card slot being detached from inside ratchet housing S, the locked solution of centrifugal ratchet device
It removes.
In the step 7, by control button the piston rod of electric cylinder is stretched out, piston rod pushes link mechanism, even
Linkage drives pincerlike arm to be flared out, and pincerlike arm is gradually distance from shaft tower, so that driven wheel is gradually from fixed with driving wheel and auxiliary
It takes turns opposite other side and unclamps shaft tower in position；When pincerlike arm opens completely, manned pole climbing device is detached from from shaft tower, is completed
Operation.
Manned pole climbing device for electric system rod-rising tower operation includes the shell for being provided with opening, within the shell
It is provided with pole mechanism, walking mechanism and control system；Shaft tower is located within opening when pole-climbing, by shell, pole mechanism, walking
Mechanism is around shaft tower and clamps shaft tower；
The walking mechanism is fixed on the shell, and walking mechanism includes a driving wheel, and the driving wheel is in clamping
On shaft tower, entire manned pole climbing device is driven to move up and down along shaft tower by the rotation of driving wheel；
The pole mechanism is used for and the walking mechanism cooperates, and manned pole climbing device is enabled to hold shaft tower tightly；
The control system includes battery and controller；The battery is used to provide for walking mechanism and pole mechanism dynamic
Power, the controller is for controlling the pole mechanism and the walking mechanism.
The shell is metal shell, and the top of shell is provided with handle；Operation button, operation control are additionally provided on shell
System screen.
The shell be three side sealing close, shape open at one end.
Compared with the prior art, the invention has the advantages that:
It is manned to climb the invention discloses a kind of working method of manned pole climbing device for electric system rod-rising tower operation
Lever apparatus includes shell；Pole mechanism, walking mechanism and control system are provided within shell；；Walking mechanism includes a master
Driving wheel, the driving wheel drive entire manned pole climbing device to move up and down along shaft tower when being clamped on shaft tower by rotation；
The pole mechanism is used for and the walking mechanism cooperates, and manned pole climbing device is enabled to hold shaft tower tightly.By the people that works
Member controls the movements such as lifting, holding or the release shaft tower of manned pole climbing device by controller, realizes manned on wire pole tower
The function of lifting.
The present invention is the operation module for climb up and down in bar class, columnar object.It is total by walking mechanism, power
Staff and related tool is sent at, control system etc. the eminence of bar class, columnar object, to step on bar instead of common
Tool " climbers ".
A kind of working method of manned pole climbing device for electric system rod-rising tower operation of the invention has following several
A advantage.
1, the manned pole-climbing unit module of this patent realize with robot replace it is artificial carry out pole-climbing, thus people from danger,
Badly, it frees in onerous toil environment.
2, this patent carries out intelligent, standardization to climbing level robot pole-climbing, standardization optimizes, than manually being passed through according to individual
It is more safe and reliable to test progress pole-climbing.
A kind of working method of manned pole climbing device for electric system rod-rising tower operation of the invention, having can be with machine
Device people replaces the artificial labor intensity for carrying out pole-climbing, reducing pole-climbing operation, the security reliability for improving pole-climbing high altitude operation etc. excellent
Point.
Detailed description of the invention
Fig. 1 is the main view of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Fig. 2 is the left view of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Fig. 3 is the top view of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Fig. 4 is the control block diagram of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Fig. 5 is the unfolding state figure of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Fig. 6 is the rounding state figure of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Fig. 7 is the holding state diagram of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Fig. 8 is schematic diagram when climbing of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Schematic diagram when Fig. 9 is the decline of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Figure 10 is the manned force analysis figure of the manned pole climbing device for the operation of electric system rod-rising tower of the invention.
Figure 11 is the centrifugal ratchet device of the manned pole climbing device for the operation of electric system rod-rising tower of the invention
Cross-sectional view.
Figure 12 is the centrifugal ratchet device of the manned pole climbing device for the operation of electric system rod-rising tower of the invention
Scheme of installation.
Figure 13 is the centrifugal ratchet device of the manned pole climbing device for the operation of electric system rod-rising tower of the invention
Partial schematic diagram.
Below by way of specific embodiment, and in conjunction with attached drawing, the invention will be further described.
Specific embodiment
Referring to Fig. 1-3, a kind of controlling party of the working method of the manned pole climbing device for electric system rod-rising tower operation
Method includes the following steps:
Step 1: by manned pole climbing device close to shaft tower, pole mechanism is controlled by control button and holds shaft tower tightly；
Step 2: staff climbs up manned pole climbing device, and fastens one's safety belt；
Step 3: staff presses rising button, is risen by manned pole climbing device band people along shaft tower；
Step 4: after rising to scheduled position, pressing stop button, staff starts operation；
Step 5: after staff's operation, pressing declines button, declined by manned pole climbing device band people along shaft tower；
Step 6: after dropping to scheduled height, pressing stop button, staff gets off from manned pole climbing device；
Step 7: controlling pole mechanism by control button and unclamp shaft tower, manned pole climbing device is taken off from shaft tower
From；
Step 8: packing up manned pole climbing device, fulfil assignment.
In the step 1, first by manned pole climbing device close to shaft tower, so that shaft tower is embedded in the opening of manned pole climbing device
In, driving wheel and auxiliary positioning wheel are close on shaft tower；By control button the piston rod of electric cylinder is retracted, piston rod is drawn
Dynamic link mechanism, link mechanism drive pincerlike arm, pincerlike arm move closer to shaft tower make driven wheel gradually from driving wheel and auxiliary
The other side for helping locating wheel opposite clamps shaft tower.
In the step 6, during the decline, if decrease speed is more than predetermined value, the driven wheel of pole mechanism
Centrifugal ratchet device on wheel shaft locks follower shaft and driven wheel, so that manned pole climbing device is stuck in shaft tower
On, to prevent the accident of high-speed falling from occurring.
It is provided on the wheel shaft of the driven wheel for preventing the centrifugal ratchet device to fall；The centrifugal ratchet dress
It sets including ratchet housing S, the first pawl J1, the first pawl shaft K1, the first pawl restoring spring, the second pawl J2, the second spine
Pawl shaft K2 and the second pawl restoring spring；The ratchet housing S is hollow cylindrical shape, the inner peripheral surface of the ratchet housing S
It is provided with multiple equally distributed card slots；The ratchet housing S is fixed in the cavity where the wheel shaft of the driven wheel；It is described
First pawl J1, the first pawl shaft K1, the first pawl restoring spring, the second pawl J2, the second pawl shaft K2 and the second spine
Pawl reset spring is all set on the end face of the wheel shaft of the driven wheel.
When the manned pole climbing device high speed falls, follower shaft also can high-speed rotation, under the influence of centrifugal force, pawl
J1, J2 open the card slot blocked inside ratchet housing S, thus stuck follower shaft, and then realize manned pole climbing device clamping bar
Tower is not falling.
The manned pole climbing device it is stuck on shaft tower after, staff open rising button；On manned pole climbing device
Pawl J1, J2 is rotated with follower shaft when rising, the card slot being detached from inside ratchet housing S, the locked solution of centrifugal ratchet device
It removes.
After the locked releasing of centrifugal ratchet device, staff stops manned pole climbing device, is then again turned on down
Button drops.If high-speed falling again, centrifugal ratchet device can lock again.It is secondary it is locked after, then staff will be manned
The emergency stop cut-off button of pole climbing device is pressed, and power-off parking, staff calls for help, and manned pole-climbing dress is released by external rescue
It sets.
As figs 11-13, ratchet housing S is located inside pincerlike arm, is fixed as one with pincerlike arm.The wheel shaft of driven wheel
Manned pole climbing device rises when rotating clockwise, and rotates to be decline counterclockwise.It determines the coefficient of stiffiness of spring and spring is set
Stroke, so that it may so that pawl J1, J2 are lifted due to the effect of centrifugal force in defined revolving speed, block inside ratchet housing S
On card slot, so that follower shaft also connects and fixes together with ratchet housing S, and then the mesh of limitation follower shaft rotation is realized
's.K1, K2 are the shaft of pawl J1, J2.Worst case is: when manned pole climbing device climbs to electric pole highest operation height, electricity
Dynamic cylinder remarkable action pushes out, then most opening the duration of folding and unfolding arm fastly according to the 90W motor of electric cylinder is 37 seconds, it is manned at this time
Pole climbing device can high speed whereabouts.Follower shaft also can high-speed rotation, under the influence of centrifugal force, pawl J1, J2 opening blocks spine
Take turns the card slot inside shell S.Mechanism has intervened guard mode at this time, and manned pole climbing device is dragged close to speed low speed at the uniform velocity
It drags and slips down to ground.
In the step 7, by control button the piston rod of electric cylinder is stretched out, piston rod pushes link mechanism, even
Linkage drives pincerlike arm to be flared out, and pincerlike arm is gradually distance from shaft tower, so that driven wheel is gradually from fixed with driving wheel and auxiliary
It takes turns opposite other side and unclamps shaft tower in position；When pincerlike arm opens completely, manned pole climbing device is detached from from shaft tower, is completed
Operation.
Manned pole climbing device for electric system rod-rising tower operation includes the shell for being provided with opening, within the shell
It is provided with pole mechanism, walking mechanism and control system；Shaft tower is located within opening when pole-climbing, by shell, pole mechanism, walking
Mechanism is around shaft tower and clamps shaft tower；
The walking mechanism is fixed on the shell, and walking mechanism includes a driving wheel, and the driving wheel is in clamping
On shaft tower, entire manned pole climbing device is driven to move up and down along shaft tower by the rotation of driving wheel；
The pole mechanism is used for and the walking mechanism cooperates, and manned pole climbing device is enabled to hold shaft tower tightly；
The control system includes battery and controller；The battery is used to provide for walking mechanism and pole mechanism dynamic
Power, the controller is for controlling the pole mechanism and the walking mechanism.
A kind of working method of manned pole climbing device for electric system rod-rising tower operation of the invention is, it can be achieved that step on bar
Operation.It is designed by essential safe type, enables to device can be unconditional self-locking in the case where losing electric energy, ensure operation
The personal safety of personnel.
It is respectively provided with the first safety belt fixed ring 31-1 at left and right sides of the outside of the shell and the second safety belt is solid
Determine ring 31-2, is used for safety harness.
The shell is metal shell, and the top of shell is provided with handle；Operation button, operation control are additionally provided on shell
System screen.
The handle includes first in command 9-1 and second handle 9-2, is arranged on the top surface of shell.First in command 9-1
It is located at the left and right sides with second handle 9-2, two hand of staff is enabled to hold handle, improves security reliability.The
Leader 9-1 corresponds to the position of the left hand of staff, is provided with rising button 12 and declines button beside the first in command
13, rising button 12 and declines button 13 are respectively used to rotating and reverse for control driving wheel, drive the upper of manned pole climbing device
It rises and declines.Stop button 14 and the first emergency stop cut-off button 15 are provided with beside second handle 9-2.Stop button 14 is pressed
When driving wheel stop working, but do not power off.
The operation control flow 10 is touch screen, positioned at the position of the right opposite of staff, convenient for operation；Operate control flow
10 side is additionally provided with folding and unfolding arm button 27 and the second emergency stop cut-off button 30.First emergency stop cut-off button 15 and the second emergency stop
Cut-off button 30 is in case of emergency, the power supply line of battery to be cut off, so that device powers off.
For enabling staff to sit down, seat face operates control flow 10 and is arranged at seat 8, convenient for operation control.
The shell be three side sealing close, shape open at one end, in order to which shaft tower is placed within the opening of shell.Such as figure
1, shell is in U-shape, and driving wheel is located at the bottom of U-lag, and two sets of pole mechanisms are respectively arranged at the top of the two side arms of U-lag.
A kind of working method of manned pole climbing device for electric system rod-rising tower operation of the invention, shell use
It is finished after 7075 aluminium alloy (national standard 7A75) molds, 65 × 53 × 18m of contour dimension3。
Such as Fig. 1, sliding slot clamp rail, which is inlayed, to be fixed in shell, each one group of left and right, and two groups of sliding slot clamp rails are in put to the left and right respectively
Shape setting is penetrated, to guarantee that the sliding path of pole mechanism is matched with 11 outer diameter of shaft tower of variation.
The pole mechanism includes two sets, holds out against shaft tower from the right and left of shaft tower respectively, the active with walking mechanism
Wheel clamps shaft tower together；The pole mechanism includes sliding folding and unfolding arm, link mechanism, pincerlike arm and electric cylinder；The sliding
Folding and unfolding arm and the shell are slidably connected and can move along a straight line along the sliding slot clamp rail on the shell；The ontology of the electric cylinder
It is articulated on the shell, the end of stretching one end of the piston rod of the electric cylinder is hinged with link mechanism；Shown connecting rod
Mechanism is also hinged with sliding folding and unfolding arm, pincerlike arm respectively；Shown pincer arm is hinged with sliding folding and unfolding arm；
It is arranged fluted on shown pincer arm, driven wheel is provided in groove.
A kind of manned pole climbing device for 11 operation of electric system rod-rising tower of the invention, pole mechanism includes two
Set.
As shown in Figure 1-3, sliding folding and unfolding arm includes the first sliding folding and unfolding arm 5-1 and the second sliding folding and unfolding arm 5-2；Connecting rod machine
Structure includes first connecting rod mechanism 6-1 and second connecting rod mechanism 6-2；Pincerlike arm includes the pincerlike arm 7- of the first pincer arm 7-1 and second
2；Electric cylinder includes the first electric cylinder 4-1 and the second electric cylinder 4-2；Driven wheel includes the first driven wheel 3-1 and the second driven wheel
3-2。
Such as Fig. 1, the link mechanism includes two connecting rods.One end of first connecting rod and housing hinge, first connecting rod it is another
The end of outwardly directed one end of the piston rod of one end and electric cylinder is hinged；One end of second connecting rod and the piston rod of electric cylinder
Outwardly directed one end between be hinged, the other end of second connecting rod is hinged with the pincerlike arm；The pincer arm is also
It is hinged with the sliding folding and unfolding arm.When the piston rod of electric cylinder retracts, link mechanism rotation is driven, link mechanism, which drives, to be slided
Dynamic folding and unfolding upper-arm circumference is rotated around the articulated shaft of the sliding folding and unfolding arm and shell, so that the driven wheel on pincerlike arm has been driven to rotate,
Enable driven wheel close to opening within shaft tower (as shown in Figure 6 and Figure 7, wherein Fig. 7 be clamp state, Fig. 6 be it is close
Shaft tower 11 but the state for not clamping shaft tower).Conversely, driven wheel is far from the bar within opening when the piston rod of electric cylinder stretches out
Tower (as shown in Figure 5)
It is provided with lock tongue 24 on the pincer arm, is provided with lock tongue corresponding with the lock tongue on the sliding folding and unfolding arm
Slot is provided with automatically lock pin 21 in the lock tongue slot.
The walking mechanism includes driving wheel and positioning auxiliary wheel, and driving wheel and positioning auxiliary wheel are respectively positioned on the shell
One end of the separate opening portion position of opening, that is, be located at the bottom of the open slot of opening, as shown in Figs. 1-3；Shown driving wheel is located at
Below shell, the positioning auxiliary wheel side of being located on the shell, and positioning auxiliary wheel is located at the surface of the driving wheel.The positioning is auxiliary
The position for helping wheel 2 and two driven wheels to clamp shaft tower is located in same level, the position position of the clamping shaft tower of the driving wheel 1
In the lower section of driven wheel, moved up and down by the manned pole climbing device of the rotate driving of driving wheel.
The control system includes battery and controller；
The battery includes main battery and reserve battery；The main battery 26 is used to be electric cylinder, driving wheel, control
Device power supply, the reserve battery 25 first do standby use.Staff can replace battery during up and down at any time.
The controller is used to control the start and stop and the direction of motion of electric cylinder and driving wheel.The controller 20 is located at shell
Within, it is connected with control button, operation control flow, pressure sensor etc., for detecting the pressure value of pressure sensor, and root
Electric cylinder is adjusted according to pressure value, so that pole mechanism holds out against shaft tower 11.The controller 20 is connected with interface board 19
It connects, by interface board write-in program, connects debugging apparatus.
Power assembly 16 includes primary planet decelerating motor, first-stage worm gear worm decelerating machine.Worm-gear speed reducer, angle speed
Spending transmission ratio is 1/40, can be unconditional self-locking in the case where losing electric energy.
It is provided with driving wheel pressure sensor on the driving wheel, is provided with auxiliary positioning wheel load on the auxiliary positioning wheel
Force snesor.Driving wheel pressure sensor and auxiliary positioning wheel pressure sensor are respectively used to two wheels of detection to the pressure of shaft tower
Force value controls the stretching and contraction of two electric cylinders by the detection of pressure value, to realize that driving wheel, driven wheel, auxiliary are fixed
The clamping to taper shaft tower such as position wheel.
It is provided with limited block on the shell, for the position that limit slippage folding and unfolding arm moves linearly outward, in order to avoid slide
Dynamic folding and unfolding arm falls off from sliding slot clamp rail.As shown in Fig. 2, the second limited block 22-2 limits the protruding of sliding folding and unfolding arm
Stroke, avoid it from falling from shell, and then cause accident.
With the emergence and development of robot technology, of the invention develops a kind of novel device, is replaced using robot
Operating personnel carries out stepping on bar.It is adapted to climbing for isometrical bar and tapered rod, and using mechanical linkage realize retractable arm, pole,
The functions such as locking, intelligent control moduleization design, to ensure that the intrinsic safety structure that securely and reliably uses of device designs.Existing market
Upper no such rod rising device, therefore the present apparatus has extensive adaptability, can solve the various problems of pole ascending operation.
Such as Fig. 1-13, a kind of working method of manned pole climbing device for electric system rod-rising tower operation of the invention,
It mainly include following most of composition.
1, it shell: is finished after body frame 7075 aluminium alloy (national standard 7A75) mold of shell, contour dimension 65 × 53
×18m3。
As shown in Figure 1-3, sliding slot clamp rail 23 is inlayed and is fixed in ontology, including each one group of left and right.Two groups of sliding slot clamp rails are in
It is radial, to guarantee that the sliding path of sliding block is matched with the bar diameter of variation.The sliding slot clamp rail is fixed on the shell,
The pole mechanism is connected in the sliding slot clamp rail and can move along the rail linearity of the sliding slot clamp rail；
2, two sets of pole mechanisms are separately positioned in two sliding slot clamp rails.Every set pole mechanism includes: pincerlike arm, connecting rod machine
Structure, sliding folding and unfolding arm, electric cylinder.Driven wheel is provided on pincerlike arm, driven wheel is directly contacted with shaft tower surface.Electric cylinder and company
Linkage is hinged；Link mechanism and pincerlike arm are hinged, and pincerlike arm and sliding folding and unfolding arm are hinged, and pincerlike arm can be in sliding folding and unfolding arm
End rotation；Sliding folding and unfolding arm is slidably connected with sliding slot clamp rail, and sliding folding and unfolding arm can be along the rail linearity of sliding slot clamp rail
It is mobile.Link mechanism is pulled by electric cylinder, link mechanism drives pincerlike arm, and pincerlike arm is fixed on sliding folding and unfolding arm, and sliding is received
Putting arm can move along sliding slot clamp rail, thus by the push-and-pull of electric cylinder complete driven wheel to the gathering of shaft tower, put and open and lock
It is tight to wait movement.In addition, for the bar diameter that changes in movement, can active adjusting electric cylinder stroke, keep driving wheel, auxiliary fixed
Position wheel, driven wheel keep the normal pressure of setting to shaft tower, remain the state for holding shaft tower tightly.Driving wheel, auxiliary positioning wheel
Installation water has square the pressure sensor to stress in bearing block.Pressure sensor measures driving wheel, auxiliary positioning wheel to shaft tower
Pressure.When pressure is less than setting value, control system drives electric cylinder, drives pole mechanism tightening；When pressure is greater than setting
When value, control system drives electric cylinder, and pole mechanism is driven to loosen；So as to realize in the case where shaft tower diameter change,
Also the state that can remain certain holding shaft tower, will not both embrace too tight and make manned pole climbing device can not on move down
It is dynamic, it will not embrace too loose and lead to manned pole climbing device free falling.
3, servo electric jar: using DC36V direct current supply, and power 90W, stretch stroke 150mm, stretching speed 4mm/s,
Pulling force 6000N, using the intelligentized design of electromechanical integration, integrated level is high, light-weight, and the function of having power-off energy self-locking.
4, walking mechanism, including driving wheel and auxiliary positioning wheel, auxiliary positioning wheel are located at the surface of driving wheel.Driving wheel
Material using polyurethane material, have that intensity is high, coefficient of friction is big, elasticity is good and has under force certain
Deformation the advantages that, this is also the guarantee for grabbing bar ability.Auxiliary positioning wheel is using nylon material, accurate positioning；Auxiliary is fixed
Position wheel is located at the same side with driving wheel, and auxiliary positioning wheel is located at the surface of driving wheel.Two driven wheels are all using hard rubber
Made of material, the resistance that climbs is reduced, increases force of sliding friction when anxious pendant.
5, power assembly: including driving motor and deceleration mechanism.Driving motor uses DC36V/400W permanent magnetism high efficient servo
Motor matches primary planet decelerating motor, first-stage worm gear worm decelerating machine.Output torque 110Nm exports revolving speed 60rpm.Weight
Gently, power-off can be self-locking.
6, security and Reliability Design: the present invention is the device of an essential safe type.
(1) electric cylinder of pole mechanism is a screw rod transmission component, can unconditionally certainly in the case where losing electric energy
Lock.In screw nut driving pair, by rationally designing the lead angle of screw rod, the self-locking of screw thread pair can be realized.
(2) worm-gear speed reducer of power mechanism, angular speed transmission ratio are 1/40, can in the case where losing electric energy
It is unconditional self-locking.Meanwhile the moving component of design all has the self-locking attribute of power-off energy, cuts off the power i.e. when so there is generic failure
It can.
(3) rise out of control, the motor of power mechanism is 400W, and the manned climbing speed of full power only has 0.3m/s, when hypervelocity
Cut-off switch can be pressed to be escaped danger.
(4) as long as speed is more than 0.5m/s when decline is out of control, the falling guard unit that driven wheel inside is arranged blocks immediately
The wheel shaft of driven wheel, to realize decline protection.
(5) reserve battery is set in the shell, when main battery electric power is inadequate, can be replaced at any time in midway of climbing spare
Battery.
By the design of above several aspects, enable to manned pole climbing device of the invention that there is the spy of essential safety
Property.
7, control system: control system battery and controller, and multiple control buttons are set on the shell, it is opened to realize
Logic control, Analog control, motion control, process control, data processing, communication and the intelligent and safe control of pass amount.
8, protection location: the wheel shaft of driven wheel has a centrifugal ratchet device in the inside of pincerlike arm, has reliable
Unidirectional brake and stuck function.When decrease speed reaches setting value 0.5m/s, protection location can snap action, do not need
The wheel shaft of driven wheel is blocked in any control, prevents anxious pendant.
As shown in Figure 1-3, by driving wheel pressure sensor 17, auxiliary positioning wheel pressure sensor 18 to the positive pressure of electric pole
Power in real time samples pressure sensor, by programmable controller complete pole, it is manned, climb, stop, decline, withdraw
Etc. functions.Electric cylinder drives two driving motors M1, M2 and guarantees that M1 works asynchronously with M2 by feedback pulse, it is ensured that device fortune
In horizontal and stable state during row.Lifting motor driving motor M3 controls the speed climbed by feedback pulse.
As shown in Figs 1-4, electricity is opened after selecting pole-climbing mode button according to electric pole type (isometrical bar/tapered rod) before pole-climbing
Source, complete machine enter working condition, press and put arm button, and folding and unfolding arm releases expansion, and the first pincerlike arm 7-1, the second pincer arm 7-2 are in
Opening state comes to device on electric pole, prepares pole-climbing.
As illustrated in figs. 5-7, manually by ontology lean rod and apply the thrust of 20n or more, driving wheel pressure sensor 17, auxiliary
This pressure conversion is reached controller at electric signal by locating wheel pressure sensor 18, and controller, that is, exportable receipts arm is instructed to two
Electric cylinder driver, electric cylinder motor M1 and M2 start to run simultaneously, and the first electric cylinder 4-1 and the second electric cylinder 4-2 are shunk, speed
4mm/s is spent, first connecting rod mechanism 6-1, second connecting rod mechanism 6-2 is pulled, is received in the first pincerlike arm 7-1, the second pincerlike arm 7-2,
Until closing up with the first sliding folding and unfolding arm 5-1 and the second sliding folding and unfolding arm 5-2, lock tongue 24 is already inserted into travelling arm at this time, electronic
Cylinder continues to receive, and the second sliding folding and unfolding arm 5-2 gradually leaves limited block 22-2, automatically lock pin under the action of return spring 28
In place, the operation of latter two sliding folding and unfolding arm is slided by the guiding of sliding slot clamp rail 23 to the locking of automatically lock pin 21 in place for 21 lockings
It is dynamic, reach rounding state.
As seen in figs. 8-10, driving wheel 1, auxiliary positioning wheel 2, after driven wheel contacts electric pole, what symmetrical arm carried out simultaneously,
When the pressure signal value of the feedback of driving wheel pressure sensor 18 rises to preset value Fn (Fn), M1 and M2 completion out of service
Pole movement.Folding and unfolding arm button 27 and selection shift fork 29 are all latched and can not operate during climbing.
The analytical calculation of Fn value: climbing for ontology is process that driving wheel generates that upward frictional force overcomes gravity acting,
Therefore driving wheel must have normal pressure to electric pole, this pressure value is exactly Fn, if human body weight 100kg, this body weight 9kg,
Then downward total force G=mg=(100+9) × 9.8=1068.2N.Frictional force f=G=1068.2N when at the uniform velocity rising accelerates
Stage rises required frictional force f acceleration value a=0.25m/s^2
F=ma=109 (9.8+0.25)=1096N
It tables look-up to obtain friction coefficient μ=0.42 of the rubber material to cement material, friction system of the rubber material to steel material
Number μ=0.38, we might as well take the coefficient 0.38 of worst situation, because electric pole only has cement material and steel at present.Friction
The power formula f=μ Fn 2885N that then Fn=f/ μ=1096/0.38=2885N is calculated is to climb to rub needed for perfect condition
Wipe power, according to measurement and experience we need to be amplified to 3500N or more, could reliably climb.
As shown in figure 8, pole-climbing personnel fasten seat belts after sitting straight by rising button, driving wheel 1 is rotated clockwise, controller
To the starting M3 operation of lifting motor driver, when controller detects any information beyond setting in operational process, M3 is for instruction
It can stop immediately.Especially when climbing tapered rod, since bar diameter is gradually reduced, at this moment driving wheel pressure sensor 17, auxiliary
18 detected value of locating wheel pressure sensor is also reducing, and controller receives driving wheel pressure sensor 17, auxiliary positioning wheel pressure
The variation of 18 signal of sensor simultaneously carries out data processing, and the motor for controlling electric servo cylinder does corresponding operation, the first electric cylinder
4-1, the second electric cylinder 4-2 are inside contracted, so that two driven wheels be driven inwardly to tighten.Then, pole mechanism just persistently maintains
The a certain range of pressure to electric pole.Control system in real time samples pressure sensor, in this way climbing in tapered rod
The pressure satisfaction of driving wheel by adjusting the flexible variation to adapt to bar diameter of electric cylinder, can be made to climb during rising required
Frictional force.And be arranged and press stop button, so that whole system will placed in a suspend state.Scram button, so that whole equipment will be located
In off-position, both state ontologies can be all self-locking on electric pole.
As shown in figure 9, pole-climbing personnel are by decline button, driving wheel 1 rotates counterclockwise at this time, especially declines in tapered rod
When, bar diameter is gradually increased, and at this moment driving wheel pressure sensor 17,18 detected value of auxiliary positioning wheel pressure sensor are also increasing,
Controller receive driving wheel pressure sensor 17,18 signal of auxiliary positioning wheel pressure sensor variation and carry out data processing,
The motor of control electric servo cylinder does corresponding operation, and the first electric cylinder 4-1, the second electric cylinder 4-2 are pushed out, then mast machine
Structure just persistently maintains the pressure to electric pole in a certain range.Control system in real time samples pressure sensor,
It can make the pressure of driving wheel during climbing in tapered rod in this way by adjusting the flexible variation to adapt to bar diameter of electric cylinder
Frictional force needed for power meets decline.It falls rear complete machine and enters pause mode, operating personnel puts closing for arm button after getting off
Lock function just releases, and can operate and put arm button.
As shown in Figure 10, it because the rigidity of pincerlike arm is high, is calculated for convenience we assume that a driven wheel Q,
Equivalent driven wheel as the first driven wheel 3-1 and the second driven wheel 3-2.So contacted with driven wheel Q and driving wheel with electric pole
Two points just establish a vertical plane.After human body weight is pressed on seat, stress redistributes immediately, such as force analysis figure
Middle a=40cm, b=40cm, c=12cm, G-O-Q are equivalent lever, and O point is fulcrum, after being pressed in G point due to the weight of people,
Auxiliary positioning wheel 2 will have the tendency that leaving electric pole when electric cylinder stroke is constant, be subtracted according to the pressure of lever principle auxiliary positioning wheel 2
Small, driving wheel 1 pressure will increase, and at this moment control system will intervene adjustment again, and electric cylinder continues to shrink, until active wheel load
When the detection pressure value of force snesor 17 is equal to 100N ± 10N, electric cylinder stops；In this way due to driven wheel have 100N to electricity
Rod pressure, so that it may which, so that ontology is in horizontal and stable state in the process of running, auxiliary positioning wheel gently againsts electric pole fortune
Row resistance is also smaller.Driving wheel can also be controlled in the section of 3500N ± 10N, but this shape to the normal pressure Fn of electric pole
State compares power consumption, and electric cylinder is needed frequently to act, and to ensure that driving wheel has electric pole enough in the section 3500N -4500N
While frictional force is climbed, and compare power saving, therefore set the pressure limit of Fn as 4000N ± 500N, is i.e. driving wheel pressure sensing
When the detected value of device 17 is in the section 3500N -4500N, electric cylinder can be failure to actuate.In force analysis figure, body frame is one
A rigid body, it is contemplated that the perpendicularity deviation of electric pole itself, the factors such as the mistake circularity of electric pole, degree of deformation, relax auxiliary positioning
The license section for taking turns the detection pressure value of pressure sensor 18 is more conform with actual condition needs.
The working method of manned pole climbing device for the operation of electric system rod-rising tower of the invention, passes through pressure sensor
Detection device samples the positive pressure signal of electric pole by the analysis of control system to pressure sensor in real time, it is ensured that climbs
Motor can make tightening, relieving movement in time during rising, to have the function that hold shaft tower tightly.When there is personnel on device
It waits, due to gravity run-off the straight, control system is adjusted device according to the pressure change of auxiliary positioning wheel, to reach
New balance guarantees in operational process in horizontal and stable state.Meanwhile motor driven driving wheel carries out rise and fall
Movement, and stopping, emergency stop button are set up in up and down process.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of control method of the working method of the manned pole climbing device for electric system rod-rising tower operation, characterized in that
Include the following steps:
Step 1: by manned pole climbing device close to shaft tower, pole mechanism is controlled by control button and holds shaft tower tightly；
Step 2: staff climbs up manned pole climbing device, and fastens one's safety belt；
Step 3: staff presses rising button, is risen by manned pole climbing device band people along shaft tower；
Step 4: after rising to scheduled position, pressing stop button, staff starts operation；
Step 5: after staff's operation, pressing declines button, declined by manned pole climbing device band people along shaft tower；
Step 6: after dropping to scheduled height, pressing stop button, staff gets off from manned pole climbing device；
Step 7: controlling pole mechanism by control button and unclamp shaft tower, manned pole climbing device is detached from from shaft tower；
Step 8: packing up manned pole climbing device, fulfil assignment.
2. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 1,
It is characterized in that in the step 1, first by manned pole climbing device close to shaft tower, so that shaft tower is embedded in the opening of manned pole climbing device
In, driving wheel and auxiliary positioning wheel are close on shaft tower；By control button the piston rod of electric cylinder is retracted, piston rod is drawn
Dynamic link mechanism, link mechanism drive pincerlike arm, pincerlike arm move closer to shaft tower make driven wheel gradually from driving wheel and auxiliary
The other side for helping locating wheel opposite clamps shaft tower.
3. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 1,
It is characterized in that in the step 6, during the decline, if decrease speed is more than predetermined value, the driven wheel of pole mechanism
Centrifugal ratchet device on wheel shaft locks follower shaft and driven wheel, so that manned pole climbing device is stuck in shaft tower
On, to prevent the accident of high-speed falling from occurring.
4. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 3,
It is characterized in that being provided on the wheel shaft of the driven wheel for preventing the centrifugal ratchet device to fall；The centrifugal ratchet
Device includes ratchet housing S, the first pawl J1, the first pawl shaft K1, the first pawl restoring spring, the second pawl J2, second
Pawl shaft K2 and the second pawl restoring spring；The ratchet housing S is hollow cylindrical shape, the inner circumferential of the ratchet housing S
Face is provided with multiple equally distributed card slots；The ratchet housing S is fixed in the cavity where the wheel shaft of the driven wheel；Institute
State the first pawl J1, the first pawl shaft K1, the first pawl restoring spring, the second pawl J2, the second pawl shaft K2 and second
Pawl restoring spring is all set on the end face of the wheel shaft of the driven wheel.
5. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 4,
It is characterized in that when the manned pole climbing device high speed falls, follower shaft also can high-speed rotation, under the influence of centrifugal force, spine
Pawl J1, J2 open the card slot blocked inside ratchet housing S, thus stuck follower shaft, and then realize manned pole climbing device clamping
Shaft tower is not falling.
6. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 5,
It is characterized in that the manned pole climbing device it is stuck on shaft tower after, staff open rising button；On manned pole climbing device
Pawl J1, J2 is rotated with follower shaft when rising, the card slot being detached from inside ratchet housing S, the locked solution of centrifugal ratchet device
It removes.
7. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 1,
It is characterized in that stretching out the piston rod of electric cylinder by control button in the step 7, piston rod pushes link mechanism, even
Linkage drives pincerlike arm to be flared out, and pincerlike arm is gradually distance from shaft tower, so that driven wheel is gradually from fixed with driving wheel and auxiliary
It takes turns opposite other side and unclamps shaft tower in position；When pincerlike arm opens completely, manned pole climbing device is detached from from shaft tower, is completed
Operation.
8. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 1,
It is characterized in that the manned pole climbing device for electric system rod-rising tower operation includes the shell for being provided with opening, the shell it
Inside it is provided with pole mechanism, walking mechanism and control system；Shaft tower is located within opening when pole-climbing, by shell, pole mechanism, row
Mechanism is walked around shaft tower and clamps shaft tower；
The walking mechanism is fixed on the shell, and walking mechanism includes a driving wheel, and the driving wheel is being clamped on bar
On tower, entire manned pole climbing device is driven to move up and down along shaft tower by the rotation of driving wheel；
The pole mechanism is used for and the walking mechanism cooperates, and manned pole climbing device is enabled to hold shaft tower tightly；
The control system includes battery and controller；The battery is used to provide power for walking mechanism and pole mechanism, institute
Controller is stated for controlling the pole mechanism and the walking mechanism.
9. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 8,
It is characterized in that, characterized in that the shell is metal shell, and the top of shell is provided with handle；Operation is additionally provided on shell
Button, operation control flow.
10. a kind of working method of manned pole climbing device for electric system rod-rising tower operation according to claim 8,
It is characterized in that the shell closes for three side sealing, shape open at one end.
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| CN201811269331.XA CN109224399A (en) | 2018-10-29 | 2018-10-29 | The working method of manned pole climbing device for electric system rod-rising tower operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811269331.XA CN109224399A (en) | 2018-10-29 | 2018-10-29 | The working method of manned pole climbing device for electric system rod-rising tower operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110327599A (en) * | 2019-06-28 | 2019-10-15 | 国网新疆电力有限公司昌吉供电公司 | A kind of rod rising device |
| CN111003071A (en) * | 2019-08-02 | 2020-04-14 | 国网安徽省电力有限公司淮南供电公司 | Manned pole-climbing operation platform |
| CN112451869A (en) * | 2020-11-23 | 2021-03-09 | 广东电网有限责任公司 | Electric power tower operation balancing unit |
| CN113856169A (en) * | 2021-09-07 | 2021-12-31 | 南京信息职业技术学院 | Automatic pole climbing device |
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| GB1188044A (en) * | 1968-10-29 | 1970-04-15 | Willi Loeoeck | An Apparatus for Climbing Pole-Like Objects. |
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Application publication date: 20190118 |