CN109331432B - Manned pole climbing device for pole climbing operation of power system - Google Patents
Manned pole climbing device for pole climbing operation of power system Download PDFInfo
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- CN109331432B CN109331432B CN201811270735.0A CN201811270735A CN109331432B CN 109331432 B CN109331432 B CN 109331432B CN 201811270735 A CN201811270735 A CN 201811270735A CN 109331432 B CN109331432 B CN 109331432B
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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
- A63B27/02—Climbing devices for round poles or trees attachable to the feet
Abstract
The invention discloses a manned pole climbing device for pole climbing operation of an electric power system, which comprises a shell, wherein a pole holding mechanism, a travelling mechanism and a control system are arranged in the shell; the walking mechanism is fixed on the shell and comprises a driving wheel, and the driving wheel drives the whole manned pole climbing device to move up and down along the pole tower through rotation when being clamped on the pole tower; the pole holding mechanism is used for being matched with the travelling mechanism, so that the manned pole climbing device can hold a pole tower tightly; the control system comprises a battery and a controller; the battery is used for providing power for the travelling mechanism and the pole holding mechanism, and the controller is used for controlling the pole holding mechanism and the travelling mechanism. The manned pole climbing device has the advantages of being capable of replacing a robot to climb a pole, reducing the labor intensity of pole climbing operation, improving the safety and reliability of pole climbing high-altitude operation and the like.
Description
Technical Field
The invention relates to an auxiliary device for electric power system operation, in particular to a manned pole climbing device for pole climbing operation of an electric power system.
Background
In the power industry, towers are supports in overhead transmission lines that are used to support the transmission line. The tower is mostly made of steel or reinforced concrete, and is a main supporting structure of the overhead transmission line. The line towers of all countries in the world adopt steel structures, wood structures and reinforced concrete structures. Generally, the wood and reinforced concrete pole-shaped structures are referred to as poles, and the tower-shaped steel structures and reinforced concrete chimney-shaped structures are referred to as towers. The towers without the stay wires are called free-standing towers, and the towers with the stay wires are called stay wire towers.
For line maintenance personnel, the pole climbing operation is an indispensable link for maintaining the power line, and the standardized operation directly relates to the personal safety of the operation personnel and the safe operation of a power system. In the climbing operation of the pole tower, a climbing auxiliary tool is one of indispensable important tools. In recent years, casualties frequently occur when a power system climbs a pole due to a climbing auxiliary tool.
Currently, the most common, most used pole climbing tool is the "climbers". The climbers are arc iron tools sleeved on shoes and used for climbing the electric wire rods, and have the advantages of light weight, high strength and good toughness; the adjustability is good, and the device is light and flexible; the tool is safe, reliable, convenient to carry and the like, and is an ideal tool for electricians to climb cement poles or wood poles with different specifications. But the use of a grappler has several problems: (1) When the climbers are in formal use, professional training is required to be carried out on pole climbing personnel; the safety can be ensured only by the conversion balance of the user alignment force, and the up-down conversion of the left foot and the right foot of the climber is realized by the balance of the operator alignment force; (2) Whether the climbers can fasten the electric pole or not is completely mastered by an operator, and is judged by personal experience, so that the safety and the reliability are low; (3) The pole climbing mode of the climbers has high labor intensity, short standing time, high physical strength consumption and easy fatigue. For the reasons, the operator who ascends a height feels heavy during operation, and mental panic is easy to cause the operation to be concentrated, so that accidents occur.
The Chinese patent application No. 201711261930.2 is an anti-skid climbers for climbing telegraph poles, comprising movable hooks and foot pedals; the movable hook consists of an arc section and a straight line section; the arc section of the movable hook is provided with a long rubber pad which is clung to the telegraph pole, and the tail end of the straight line section of the movable hook is connected with one end of the connecting rod; the other end of the connecting rod is fixedly connected with the pedal; one side of the foot pedal corresponding to the arc section of the movable hook is fixedly connected with a T-shaped claw. The foot climbing device is simple in structure, convenient to operate and detach and capable of effectively preventing the foot buckles from slipping and the soles from slipping off the foot buckles in the climbing process. However, the traditional mode of operation of the climbers is still not eliminated.
Therefore, operators hope to design an intelligent pole-climbing device, assist the staff to climb the pole through the auxiliary power provided by the machine, save the physical strength, reduce the labor intensity and the physical consumption, and enable the staff to use the main physical strength and the energy for the operation after the climbing, thereby improving the efficiency and the reliability of the pole-tower climbing operation.
Disclosure of Invention
The invention provides the manned pole climbing device for the pole climbing operation of the electric power system, so as to provide auxiliary power in the pole climbing process of the staff and save the physical power and energy consumed in the pole climbing process of the staff.
The invention adopts the following technical scheme for solving the technical problems.
The manned pole climbing device for pole climbing operation of the electric power system is structurally characterized by comprising a shell provided with an opening, wherein a pole holding mechanism, a travelling mechanism and a control system are arranged in the shell; when climbing the pole, the pole tower is positioned in the opening, and the shell, the pole holding mechanism and the travelling mechanism encircle the pole tower and clamp the pole tower;
the walking mechanism is fixed on the shell and comprises a driving wheel, the driving wheel is clamped on the pole tower, and the whole manned pole climbing device is driven to move up and down along the pole tower through the rotation of the driving wheel;
the pole holding mechanism is used for being matched with the travelling mechanism, so that the manned pole climbing device can hold a pole tower tightly;
the control system comprises a battery and a controller; the battery is used for providing power for the travelling mechanism and the pole holding mechanism, and the controller is used for controlling the pole holding mechanism and the travelling mechanism.
The invention relates to a man-carrying pole climbing device for pole climbing operation of an electric power system, which is also characterized in that:
the shell is a metal shell, and a handle is arranged at the top end of the shell; the shell is also provided with an operation button and an operation control screen.
The shell is in a shape with three sides closed and one end open.
The pole holding mechanism comprises two sets of pole holding mechanisms, the pole holding mechanisms are respectively propped against the pole tower from the left side and the right side of the pole tower, and the pole tower is clamped together with the driving wheel of the travelling mechanism; the pole holding mechanism comprises a sliding retraction arm, a connecting rod mechanism, a clamp arm and an electric cylinder; the sliding retractable arm is connected with the shell in a sliding manner and can move linearly along a sliding groove clamping rail on the shell; the body of the electric cylinder is hinged to the shell, and the end part of the piston rod of the electric cylinder, which extends out of one end, is hinged to the connecting rod mechanism; the connecting rod mechanism is also hinged with the sliding retractable arm and the pincer-shaped arm respectively; the clamp arm is hinged with the sliding retractable arm;
the clamp-shaped arm is provided with a groove, and a driven wheel is arranged in the groove.
The travelling mechanism comprises a driving wheel and a positioning auxiliary wheel, and the driving wheel and the positioning auxiliary wheel are both positioned at one end of the opening of the shell, which is far away from the opening part; the driving wheel is arranged below the shell, the positioning auxiliary wheel is arranged above the shell, and the positioning auxiliary wheel is arranged right above the driving wheel.
The control system comprises a battery and a controller;
the battery comprises a main battery and a standby battery;
the controller is used for controlling the start and stop and the movement direction of the electric cylinder and the driving wheel.
The driving wheel is provided with a driving wheel pressure sensor, and the positioning auxiliary wheel is provided with a positioning auxiliary wheel pressure sensor.
The shell is provided with a limit stop for limiting the position of the sliding retractable arm to linearly move outwards so as to prevent the sliding retractable arm from falling off from the chute clamping rail.
A centrifugal ratchet device for preventing falling is arranged on the wheel shaft of the driven wheel; the centrifugal ratchet device comprises a ratchet shell S, a first pawl J1, a first pawl rotating shaft K1, a first pawl reset spring, a second pawl J2, a second pawl rotating shaft K2 and a second pawl reset spring; the ratchet shell S is hollow and cylindrical, and a plurality of clamping grooves which are uniformly distributed are formed in the inner peripheral surface of the ratchet shell S; the ratchet shell S is fixed in a cavity where the wheel shaft of the driven wheel is located; the first pawl J1, the first pawl rotating shaft K1, the first pawl reset spring, the second pawl J2, the second pawl rotating shaft K2 and the second pawl reset spring are all arranged on the end face of the wheel shaft of the driven wheel.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a manned pole climbing device for pole climbing operation of an electric power system, which comprises a shell, wherein a pole holding mechanism, a travelling mechanism and a control system are arranged in the shell; the walking mechanism is fixed on the shell and comprises a driving wheel, and the driving wheel drives the whole manned pole climbing device to move up and down along the pole tower through rotation when being clamped on the pole tower; the pole holding mechanism is used for being matched with the travelling mechanism, so that the manned pole climbing device can hold a pole tower tightly; the control system comprises a battery and a controller; the battery is used for providing power for the travelling mechanism and the pole holding mechanism, and the controller is used for controlling the pole holding mechanism and the travelling mechanism.
The invention relates to an operation module for climbing up and down on rod-like and columnar objects. The staff and the related tools are sent to the high place of the rod-like and columnar objects through the travelling mechanism, the power assembly, the control system and the like, thereby replacing the common pole climbing tool 'climbers'.
The manned pole climbing device for pole climbing operation of the electric power system has the following advantages.
1. The man-carrying pole-climbing unit module realizes that a robot replaces a manual pole-climbing mode, so that people are released from dangerous, severe and heavy labor environments.
2. This patent carries out intellectuality, standardization optimization to pole-climbing robot pole-climbing, carries out pole-climbing safe and reliable more than the manual work according to personal experience.
The manned pole climbing device for pole climbing operation of the electric power system has the advantages that a robot can replace manual pole climbing, labor intensity of pole climbing operation is reduced, safety and reliability of pole climbing high-altitude operation are improved, and the like.
Drawings
Fig. 1 is a front view of a man-carrying pole climbing device for pole climbing operation of an electric power system according to the present invention.
Fig. 2 is a left side view of a man-carrying pole climbing device for pole climbing operation of an electric power system according to the present invention.
Fig. 3 is a top view of a manned pole climbing device for pole climbing operation of the power system of the present invention.
Fig. 4 is a control block diagram of a manned pole climbing device for pole climbing operation of the power system of the present invention.
Fig. 5 is an expanded view of a manned climbing pole device for climbing poles of an electric power system according to the present invention.
Fig. 6 is a drawing showing a closed state of a manned climbing pole device for climbing poles and towers in an electric power system according to the present invention.
Fig. 7 is a clasping state diagram of the manned climbing pole device for climbing poles and towers in an electric power system.
Fig. 8 is a schematic diagram of a climbing device of the present invention for climbing a power system on a tower.
Fig. 9 is a schematic view of a manned climbing device for climbing a power system.
Fig. 10 is a manned force analysis diagram of a manned climbing device for climbing poles and towers in an electric power system according to the present invention.
Fig. 11 is a cross-sectional view of a centrifugal ratchet apparatus of a manned climbing pole apparatus for use in power system pole climbing operations of the present invention.
Fig. 12 is a schematic installation view of a centrifugal ratchet device of a manned climbing device for climbing poles and towers in an electric power system according to the present invention.
Fig. 13 is a partial schematic view of a centrifugal ratchet device of a manned climbing device for use in power system pole climbing operations of the present invention.
The invention is further described below by means of specific embodiments in connection with the accompanying drawings.
Detailed Description
Referring to fig. 1-3, a manned pole climbing device for pole climbing operation of an electric power system is characterized by comprising a shell provided with an opening, wherein a pole holding mechanism, a travelling mechanism and a control system are arranged in the shell; when climbing the pole, the pole tower is positioned in the opening, and the shell, the pole holding mechanism and the travelling mechanism encircle the pole tower and clamp the pole tower;
the walking mechanism is fixed on the shell and comprises a driving wheel, the driving wheel is clamped on the pole tower, and the whole manned pole climbing device is driven to move up and down along the pole tower through the rotation of the driving wheel;
the pole holding mechanism is used for being matched with the travelling mechanism, so that the manned pole climbing device can hold a pole tower tightly;
the control system comprises a battery and a controller; the battery is used for providing power for the travelling mechanism and the pole holding mechanism, and the controller is used for controlling the pole holding mechanism and the travelling mechanism.
The manned pole climbing device for pole climbing operation of the electric power system can realize pole climbing operation. Through intrinsically safe design, the device can unconditionally self-lock under the condition of losing electric energy, and the personal safety of operators is ensured.
The left and right sides of the outside of the housing are provided with a first belt fixing ring 31-1 and a second belt fixing ring 31-2, respectively, for connecting the belts.
The shell is a metal shell, and a handle is arranged at the top end of the shell; the shell is also provided with an operation button and an operation control screen.
The handle comprises a first handle 9-1 and a second handle 9-2, which are arranged on the top surface of the shell. The first handle 9-1 and the second handle 9-2 are respectively positioned at the left side and the right side, so that two hands of a worker can hold the handles, and the safety and the reliability are improved. The first handle 9-1 corresponds to the left hand position of the staff, and an ascending button 12 and a descending button 13 are arranged beside the first handle, and the ascending button 12 and the descending button 13 are respectively used for controlling the forward rotation and the reverse rotation of the driving wheel to drive the manned climbing pole device to ascend and descend. A parking button 14 and a first scram power-off button 15 are provided beside the second handle 9-2. The driver stops when the park button 14 is depressed, but does not power down.
The operation control screen 10 is a touch screen and is positioned right opposite to the worker, so that the operation is convenient; a retracting arm button 27 and a second scram power-off button 30 are also provided beside the operation control screen 10. The first and second scram power-off buttons 15 and 30 are used to cut off the power supply line of the battery in case of emergency, so that the device is powered off.
The seat 8 is used for enabling a worker to sit down, and is arranged opposite to the operation control screen 10, so that operation control is facilitated. )
The shell is in a shape with three sides closed and one end open, so that the tower can be placed in the opening of the shell. As shown in figure 1, the shell is U-shaped, the driving wheel is positioned at the bottom of the U-shaped groove, and the two sets of holding rod mechanisms are respectively arranged at the tops of the two side arms of the U-shaped groove.
The invention relates to a manned pole climbing device for pole climbing operation of an electric power system, wherein a shell is subjected to finish machining after a 7075 aluminum alloy (national standard 7A 75) is molded, and the outline dimension is 65 multiplied by 53 multiplied by 18 m.
As shown in fig. 1, the sliding groove clamping rails are embedded and fixed in the shell, and the left and right groups of sliding groove clamping rails are respectively arranged radially left and right to ensure that the sliding path of the pole holding mechanism is matched with the outer diameter of the changed pole tower 11.
The pole holding mechanism comprises two sets of pole holding mechanisms, the pole holding mechanisms are respectively propped against the pole tower from the left side and the right side of the pole tower, and the pole tower is clamped together with the driving wheel of the travelling mechanism; the pole holding mechanism comprises a sliding retraction arm, a connecting rod mechanism, a clamp arm and an electric cylinder; the sliding retractable arm is connected with the shell in a sliding manner and can move linearly along a sliding groove clamping rail on the shell; the body of the electric cylinder is hinged to the shell, and the end part of the piston rod of the electric cylinder, which extends out of one end, is hinged to the connecting rod mechanism; the connecting rod mechanism is also hinged with the sliding retractable arm and the pincer-shaped arm respectively; the clamp arm is hinged with the sliding retractable arm;
the clamp-shaped arm is provided with a groove, and a driven wheel is arranged in the groove.
The invention relates to a manned pole climbing device for pole climbing 11 operation of an electric power system, which comprises two sets of pole holding mechanisms.
As shown in fig. 1-3, the sliding retraction arm includes a first sliding retraction arm 5-1 and a second sliding retraction arm 5-2; the linkage mechanism comprises a first linkage mechanism 6-1 and a second linkage mechanism 6-2; the clamp arm comprises a first clamp arm 7-1 and a second clamp arm 7-2; the electric cylinders comprise a first electric cylinder 4-1 and a second electric cylinder 4-2; the driven wheels include a first driven wheel 3-1 and a second driven wheel 3-2.
As shown in fig. 1, the linkage mechanism includes two links. One end of the first connecting rod is hinged with the shell, and the other end of the first connecting rod is hinged with the end part of one end, extending outwards, of the piston rod of the electric cylinder; one end of the second connecting rod is hinged with one end of the piston rod of the electric cylinder, which extends outwards, and the other end of the second connecting rod is hinged with the pincer-shaped arm; the pincer-shaped arm is also hinged with the sliding retractable arm. When the piston rod of the electric cylinder is retracted, the connecting rod mechanism is driven to rotate, and the connecting rod mechanism drives the sliding retraction arm to rotate around the hinge shafts of the sliding retraction arm and the shell, so that the driven wheel on the pincer arm is driven to rotate, and the driven wheel can approach a tower inside the opening (as shown in fig. 6 and 7, wherein fig. 7 is in a clamped state, and fig. 6 is in a state of approaching the tower 11 but not clamping the tower). Conversely, when the piston rod of the electric cylinder is extended, the driven wheel is moved away from the tower within the opening (as shown in FIG. 5)
The clamp arm is provided with a lock tongue 24, the sliding retraction arm is provided with a lock tongue groove corresponding to the lock tongue, and the lock tongue groove is internally provided with an automatic locking pin 21.
The travelling mechanism comprises a driving wheel and a positioning auxiliary wheel, and the driving wheel and the positioning auxiliary wheel are both positioned at one end of the opening of the shell, which is far away from the opening part, namely positioned at the bottom of an opening groove of the opening, as shown in figures 1-3; the driving wheel is arranged below the shell, the positioning auxiliary wheel is arranged above the shell, and the positioning auxiliary wheel is arranged right above the driving wheel. The positioning auxiliary wheels 2 and the two driven wheel clamping towers are positioned on the same horizontal plane, the clamping towers of the driving wheel 1 are positioned below the driven wheels, and the manned climbing device is driven to move up and down through rotation of the driving wheels.
The control system comprises a battery and a controller;
the battery comprises a main battery and a standby battery; the main battery 26 is used for supplying power to the electric cylinder, the driving wheel and the controller, and the standby battery 25 is used as a backup. The staff can change the battery at any time in the up-and-down process.
The controller is used for controlling the start and stop and the movement direction of the electric cylinder and the driving wheel. The controller 20 is located in the housing, and is connected with a control button, an operation control screen, a pressure sensor and the like, and is used for detecting a pressure value of the pressure sensor, and adjusting the electric cylinder according to the pressure value, so that the pole holding mechanism can be made to prop against the pole tower 11. The controller 20 is connected to the interface board 19, and is connected to the debugging device by writing a program into the interface board.
The powertrain 16 includes a primary planetary reduction motor and a primary worm gear reducer. The worm gear speed reducer has an angular speed transmission ratio of 1/40, and can perform unconditional self-locking under the condition of losing electric energy.
The driving wheel is provided with a driving wheel pressure sensor, and the positioning auxiliary wheel is provided with a positioning auxiliary wheel pressure sensor. The driving wheel pressure sensor and the positioning auxiliary wheel pressure sensor are respectively used for detecting the pressure value of the two wheels to the tower, and the extension and the contraction of the two electric cylinders are controlled through the detection of the pressure value, so that the conical tower is clamped by the driving wheel, the driven wheel, the positioning auxiliary wheel and the like.
The shell is provided with a limit stop for limiting the position of the sliding retractable arm to linearly move outwards so as to prevent the sliding retractable arm from falling off from the chute clamping rail. As shown in FIG. 2, the second limit stop 22-2 limits the outward extending travel of the sliding retraction arm to prevent it from falling from the housing and thereby causing an accident.
A centrifugal ratchet device for preventing falling is arranged on the wheel shaft of the driven wheel; the centrifugal ratchet device comprises a ratchet shell S, a first pawl J1, a first pawl rotating shaft K1, a first pawl reset spring, a second pawl J2, a second pawl rotating shaft K2 and a second pawl reset spring; the ratchet shell S is hollow and cylindrical, and a plurality of clamping grooves which are uniformly distributed are formed in the inner peripheral surface of the ratchet shell S; the ratchet shell S is fixed in a cavity where the wheel shaft of the driven wheel is located; the first pawl J1, the first pawl rotating shaft K1, the first pawl reset spring, the second pawl J2, the second pawl rotating shaft K2 and the second pawl reset spring are all arranged on the end face of the wheel shaft of the driven wheel.
As shown in fig. 11-13, the ratchet housing S is located inside and integrally secured to the clamp arm. When the wheel shaft of the driven wheel rotates clockwise, the manned pole climbing device rises, and rotates anticlockwise to descend. The stiffness coefficient of the spring is determined, the stroke of the spring is set, the pawls J1 and J2 can be lifted under the action of centrifugal force when the rotation speed is regulated, and the pawl is clamped on the clamping groove in the ratchet wheel shell S, so that the driven wheel shaft is clamped and fixed with the ratchet wheel shell S, and the purpose of limiting the rotation of the driven wheel shaft is achieved. K1, K2 are the axes of rotation of pawls J1, J2. The worst case is: when the manned pole climbing device climbs to the highest working height of the electric pole, the action of the electric cylinder is abnormally pushed outwards, so that the time for opening the retraction arm at the fastest speed according to the 90W motor of the electric cylinder is 37 seconds, and the manned pole climbing device can fall at a high speed. The driven wheel shaft can rotate at a high speed, and under the action of centrifugal force, the pawls J1 and J2 open to clamp the clamping groove in the ratchet wheel shell S. At this time, the mechanism is in a protection state, and the manned climbing pole device slides to the ground in a low-speed dragging mode at a speed close to a uniform speed.
The control method of the manned pole climbing device for pole climbing operation of the electric power system comprises the following steps:
step 1: the manned pole climbing device is close to the pole tower, and the pole holding mechanism is controlled to hold the pole tower tightly through the control button;
step 2: the staff climbs the manned pole climbing device and ties a safety belt;
step 3: the staff presses the up button, and the manned pole climbing device lifts along the pole tower with the personnel;
step 4: after the vehicle rises to a preset position, a parking button is pressed down, and a worker starts working;
step 5: after the working of the staff is finished, a descending button is pressed, and the manned pole climbing device brings people to descend along the pole tower;
step 6: after the vehicle descends to a preset height, the parking button is pressed, and the staff descends from the manned climbing pole device;
step 7: the pole holding mechanism is controlled to loosen the pole tower through the control button, and the manned pole climbing device is separated from the pole tower;
step 8: and (5) collecting the manned pole-climbing device to finish the operation.
In the step 1, the manned pole climbing device is firstly close to the pole tower, so that the pole tower is embedded into an opening of the manned pole climbing device, and the driving wheel and the positioning auxiliary wheel are abutted against the pole tower; the piston rod of the electric cylinder is retracted through the control button, the piston rod pulls the connecting rod mechanism, the connecting rod mechanism drives the pincer-shaped arm, and the pincer-shaped arm gradually approaches the tower so that the driven wheel gradually clamps the tower from the other side opposite to the driving wheel and the positioning auxiliary wheel.
In the step 7, a piston rod of the electric cylinder extends out through a control button, the piston rod pushes a connecting rod mechanism, the connecting rod mechanism drives a pincer-shaped arm to open outwards, the pincer-shaped arm is gradually far away from the tower, and the driven wheel gradually loosens the tower from the other side opposite to the driving wheel and the positioning auxiliary wheel; when the pincer-shaped arms are fully opened, the manned pole climbing device is separated from the pole tower, and the operation is completed.
With the advent and development of robotics, the invention developed a new device that uses robots to log on instead of operators. The intelligent control modularized climbing device is suitable for climbing of the constant diameter rod and the conical rod, achieves the functions of folding and unfolding the arm, holding the rod, locking and the like by utilizing mechanical linkage, and adopts an intrinsic safety structural design for ensuring safety and reliability of the device. The pole climbing device does not exist in the current market, so the pole climbing device has wide adaptability and can solve various problems of pole climbing operation.
As shown in fig. 1-13, the manned pole climbing device for pole climbing operation of the electric power system mainly comprises the following major parts.
1. A shell: the body frame 7075 aluminum alloy (national standard 7A 75) of the shell is molded and then finished, and the outline size is 65 multiplied by 53 multiplied by 18 m.
As shown in fig. 1-3, the chute clamping rails 23 are embedded and fixed in the body, and comprise a left group and a right group. The two groups of sliding groove clamping rails are radial, so that the sliding path of the sliding block is matched with the changed rod diameter. The sliding groove clamping rail is fixed on the shell, and the pole holding mechanism is clamped on the sliding groove clamping rail and can move linearly along the track of the sliding groove clamping rail;
2. the two sets of pole holding mechanisms are respectively arranged on the two sliding groove clamping rails. Each set of pole holding mechanism comprises: the clamp arm, the link mechanism, the sliding retraction arm and the electric cylinder. The pincer-shaped arm is provided with a driven wheel which is directly contacted with the surface of the pole tower. The electric cylinder is hinged with the connecting rod mechanism; the connecting rod mechanism is hinged with the pincer-shaped arm, the pincer-shaped arm is hinged with the sliding retraction arm, and the pincer-shaped arm can rotate at the end part of the sliding retraction arm; the sliding retraction arm is in sliding connection with the sliding groove clamping rail, and can linearly move along the track of the sliding groove clamping rail. The electric cylinder pulls the connecting rod mechanism, the connecting rod mechanism drives the pincerlike arm, the pincerlike arm is fixed on the sliding retraction arm, and the sliding retraction arm can move along the sliding groove clamping rail, so that the actions of closing, opening, locking and the like of the driven wheel to the tower are completed through the push and pull of the electric cylinder. In addition, for the pole diameter that changes in the motion, can initiatively adjust the stroke of electronic jar, make action wheel, location auxiliary wheel, follow driving wheel keep the positive pressure of settlement to the shaft tower, remain the state of holding tightly the shaft tower all the time. And the bearing seats of the driving wheel and the positioning auxiliary wheel are internally provided with pressure sensors for bearing force in the horizontal direction. The pressure sensor measures the pressure of the driving wheel and the positioning auxiliary wheel to the pole tower. When the pressure is smaller than a set value, the control system drives the electric cylinder to drive the pole holding mechanism to tighten; when the pressure is greater than a set value, the control system drives the electric cylinder to drive the pole holding mechanism to relax; therefore, the condition that the tower is held tightly can be always kept under the condition that the diameter of the tower is changed, the manned pole climbing device cannot move up and down due to the fact that the pole climbing device is held tightly, and the manned pole climbing device cannot fall freely due to the fact that the pole climbing device is held loose.
3. Servo electric cylinder: DC36V direct current is adopted for power supply, the power is 90W, the telescopic travel is 150mm, the telescopic speed is 4mm/s, the tension is 6000N, the electromechanical integrated intelligent design is adopted, the integration level is high, the weight is light, and the power failure self-locking function is realized.
4. The walking mechanism comprises a driving wheel and a positioning auxiliary wheel, and the positioning auxiliary wheel is positioned right above the driving wheel. The driving wheel is made of polyurethane material, and has the advantages of high strength, large friction coefficient, good elasticity, certain deformation under the action of force and the like, and the capability of grabbing the rod is ensured. The auxiliary positioning wheel is made of nylon material, so that the positioning is accurate; the positioning auxiliary wheel and the driving wheel are positioned on the same side, and the positioning auxiliary wheel is positioned right above the driving wheel. The two driven wheels are made of hard rubber materials, so that climbing resistance is reduced, and sliding friction force during emergency falling is increased.
5. And (3) a power assembly: comprises a driving motor and a speed reducing mechanism. The driving motor adopts a DC 36V/400W permanent magnet high-efficiency servo motor and is matched with a primary planetary reduction motor and a primary worm gear reducer. Output torque 110Nm, output speed 60rpm. The weight is light, and the power failure can be self-locking.
6. Safety and reliability design: the invention is an intrinsically safe device.
(1) The electric cylinder of the pole holding mechanism is a screw rod transmission part, and can be unconditionally self-locked under the condition of losing electric energy. In the screw-nut transmission pair, self-locking of the screw pair can be realized by reasonably designing the thread lead angle of the screw.
(2) The worm gear speed reducer of the power mechanism has an angular speed transmission ratio of 1/40, and can perform unconditional self-locking under the condition of losing electric energy. Meanwhile, the designed moving parts have the self-locking property of outage energy, so that the power supply is cut off when general faults exist.
(3) The rising is out of control, the motor of the power mechanism is 400W, the climbing speed of a full-power manned is only 0.3m/s, and the power-off switch can be pressed to escape when overspeed occurs.
(4) When the falling is out of control, the falling protection unit arranged in the driven wheel immediately clamps the wheel shaft of the driven wheel, so that the falling protection is realized.
(5) A standby battery is arranged in the shell, and when the power of the main battery is insufficient, the standby battery can be replaced at any time in the climbing process.
Through the design of the aspects, the manned pole climbing device provided by the invention has the characteristic of intrinsic safety.
7. And (3) a control system: the control system comprises a battery and a controller, and a plurality of control buttons are arranged on a shell, so that the logic control, analog quantity control, motion control, process control, data processing, communication and intelligent safety control of the switching value are realized.
8. Protection unit: the axle of driven wheel has a centrifugal ratchet device in the interior of pincer-shaped arm, and has reliable unidirectional brake and locking function. When the descending speed reaches the set value of 0.5m/s, the protection unit can act instantaneously without any control, and the driven wheel axle is blocked to prevent sudden drop.
As shown in fig. 1-3, the positive pressure of the electric pole is sampled in real time through the driving wheel pressure sensor 17 and the positioning auxiliary wheel pressure sensor 18, and functions of pole holding, people carrying, climbing, parking, descending, evacuation and the like are completed through the programmable controller. The electric cylinder drives the two driving motors M1 and M2, and ensures that the M1 and the M2 work synchronously through feedback pulses, so that the device is in a horizontal and stable state in the running process. The lifting motor driving motor M3 controls the climbing speed through feedback pulses.
As shown in fig. 1-4, before climbing, a climbing mode button is selected according to the type of an electric pole (a constant diameter rod/a conical rod), then a power supply is turned on, the whole machine enters a working state, an arm releasing button is pressed, a folding arm is pushed out to be unfolded, a first clamp arm 7-1 and a second clamp arm 7-2 are in an open state, and the device is leaned against the electric pole to prepare the climbing pole.
As shown in fig. 5-7, the main body is manually leaned against the rod and applies more than 20n of thrust, the driving wheel pressure sensor 17 and the positioning auxiliary wheel pressure sensor 18 convert the pressure into electric signals and transmit the electric signals to the controller, the controller can output an arm retracting instruction to the two electric cylinder drivers, the electric cylinder motors M1 and M2 start to synchronously operate, the first electric cylinder 4-1 and the second electric cylinder 4-2 retract at the speed of 4mm/s, the first connecting rod mechanism 6-1 and the second connecting rod mechanism 6-2 are pulled to retract, the first clamp arm 7-1 and the second clamp arm 7-2 are retracted until the first clamp arm 5-1 and the second clamp arm 5-2 are retracted, at the moment, the lock tongue 24 is inserted into the sliding arm, the electric cylinders continue to retract, the second sliding arm 5-2 gradually leaves the limit stop 22-2 under the action of the return spring 28, the automatic locking pin 21 is locked in place, and after the automatic locking pin 21 is locked in place, the operation of the two sliding arm is guided by the sliding groove clamping rail 23 to retract, and the two sliding arms reach the retracted state.
As shown in fig. 8-10, after the driving wheel 1 and the positioning auxiliary wheel 2 and the driven wheel contact the electric pole, the symmetrical arms are simultaneously operated until the pressure signal value fed back by the driving wheel pressure sensor 18 rises to a preset value Fn (Fn), and the M1 and M2 stop running to complete the pole holding action. The retraction arm button 27 and the selection fork 29 are both blocked from operation during ascent.
Analysis and calculation of Fn value: the climbing of the body is a process that the driving wheel generates upward friction force to overcome gravity to do work, so that the driving wheel needs to have positive pressure on the electric pole, the pressure value is Fn, the weight of a human body is 100kg, the weight of the body is 9 kg, and the downward total weight force G=mg= (100+9) multiplied by 9.8= 1068.2N. Friction force f=g= 1068.2N when rising at uniform speed, and friction force fspeed value a=0.25 m/s 2 required for rising in acceleration stage
f=ma=109 （9.8+0.25）=1096N
The table is looked up to obtain the friction coefficient of the rubber material to the cement material mu=0.42, and the friction coefficient of the rubber material to the steel material mu=0.38, so that the worst coefficient of 0.38 is not considered, because the electric pole only has the cement material and the steel material at present. The 2885N calculated by the friction formula f=μfn, fn=f/μ=1096/0.38=2885N is the climbing friction force required by the ideal state, and the climbing friction force is required to be amplified to be more than 3500N according to measurement and experience so as to reliably climb.
As shown in fig. 8, after the climbing staff ties the safety belt, the climbing button is pressed, the driving wheel 1 rotates clockwise, the controller instructs the lifting motor driver to start the operation of the M3, and the controller immediately stops when detecting any information exceeding the setting in the operation process. Particularly, when the conical rod is climbed, as the rod diameter is gradually reduced, the detection values of the driving wheel pressure sensor 17 and the positioning auxiliary wheel pressure sensor 18 are also reduced, the controller receives the change of the signals of the driving wheel pressure sensor 17 and the positioning auxiliary wheel pressure sensor 18 and processes the data, and controls the motors of the electric servo cylinders to correspondingly run, and the first electric cylinder 4-1 and the second electric cylinder 4-2 shrink inwards, so that the two driven wheels are driven to shrink inwards. The pole holding mechanism thus continues to maintain a certain range of pressure on the pole. The control system samples the pressure sensor in real time, so that the change of the rod diameter can be adapted by adjusting the expansion and contraction of the electric cylinder in the climbing process of the conical rod, and the pressure of the driving wheel can meet the friction force required by climbing. And a park button is provided so that the entire system will be in a suspended state. The emergency stop button enables the whole equipment to be in a power-off state, and the body in the two states can be self-locked on the electric pole.
As shown in fig. 9, when the climbing pole is pushing the down button, the driving wheel 1 rotates anticlockwise, especially when the taper pole descends, the pole diameter gradually increases, at this time, the detection values of the driving wheel pressure sensor 17 and the positioning auxiliary wheel pressure sensor 18 also increase, the controller receives the signal changes of the driving wheel pressure sensor 17 and the positioning auxiliary wheel pressure sensor 18 and processes the data, controls the motor of the electric servo cylinder to do corresponding operation, the first electric cylinder 4-1 and the second electric cylinder 4-2 push outwards, and then the pole holding mechanism continuously maintains the pressure to the pole within a certain range. The control system samples the pressure sensor in real time, so that the change of the rod diameter can be adapted by adjusting the expansion and contraction of the electric cylinder in the climbing process of the conical rod, and the pressure of the driving wheel can meet the friction force required by descending. After falling, the whole machine enters a suspension working state, the locking function of the arm release button is released after an operator falls, and the arm release button can be operated.
As shown in fig. 10, because the stiffness of the clamp arm is extremely high, we assume for the sake of convenience of calculation one driven wheel Q as the equivalent driven wheel of the first driven wheel 3-1 and the second driven wheel 3-2. Then a vertical plane is established with the two points of contact of the driven wheel Q and the driving wheel with the electric pole. When the weight of the human body is pressed on the seat, the stress is redistributed immediately, such as a=40 cm, b=40 cm and c=12 cm in a stress analysis chart, G-O-Q is an equivalent lever, and O point is a fulcrum, because the weight of the human body is pressed behind G point, the positioning auxiliary wheel 2 has a tendency to leave an electric pole when the stroke of the electric cylinder is unchanged, the pressure of the positioning auxiliary wheel 2 is reduced and the pressure of the driving wheel 1 is increased according to the lever principle, the control system is again involved in adjustment, the electric cylinder continues to shrink until the detection pressure value of the driving wheel pressure sensor 17 is equal to 100 N+/-10N, and the electric cylinder stops; therefore, the driven wheel has 100N pressure on the electric pole, so that the body can be in a horizontal and stable state in the running process, and the running resistance of the positioning auxiliary wheel lightly clinging to the electric pole is small. The positive pressure Fn of the driving wheel to the electric pole can also be controlled in the interval of 3500 n+/-10N, but the state is relatively power-consuming, the electric cylinder is required to frequently act, and the interval of 3500N-4500N ensures that the driving wheel has enough friction to climb the electric pole and is relatively power-saving, so the pressure range of Fn is set to 4000N +/-500N, namely, the electric cylinder can not act when the detection value of the driving wheel pressure sensor 17 is in the interval of 3500N-4500N. In the stress analysis chart, the body frame is a rigid body, and factors such as verticality deviation of the electric pole, out-of-roundness of the electric pole, deformation degree and the like are considered, so that a permissible interval of a detection pressure value of the positioning auxiliary wheel pressure sensor 18 is widened to meet the actual working condition requirement.
According to the manned pole climbing device for pole climbing operation of the electric power system, the positive pressure signal of the pole is detected by the pressure sensor detection device, the pressure sensor is sampled in real time through analysis of the control system, and the motor is ensured to be capable of timely tightening and releasing in the climbing process, so that the pole tower is held tightly. When someone is on the device, the device is inclined due to the action of gravity, and the control system adjusts according to the pressure change of the positioning auxiliary wheel, so that new balance is achieved, and the device is in a horizontal and stable state in the running process. Meanwhile, the motor drives the driving wheel to perform ascending and descending actions, and a stop button and an emergency stop button are arranged in the ascending and descending processes.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (8)
1. The manned pole climbing device for pole climbing operation of the electric power system is characterized by comprising a shell provided with an opening, wherein a pole holding mechanism, a travelling mechanism and a control system are arranged in the shell; when climbing the pole, the pole tower is positioned in the opening, and the shell, the pole holding mechanism and the travelling mechanism encircle the pole tower and clamp the pole tower;
the walking mechanism is fixed on the shell and comprises a driving wheel, the driving wheel is clamped on the pole tower, and the whole manned pole climbing device is driven to move up and down along the pole tower through the rotation of the driving wheel;
the pole holding mechanism is used for being matched with the travelling mechanism, so that the manned pole climbing device can hold a pole tower tightly;
the control system comprises a battery and a controller; the battery is used for providing power for the travelling mechanism and the pole holding mechanism, and the controller is used for controlling the pole holding mechanism and the travelling mechanism;
the pole holding mechanism comprises two sets of pole holding mechanisms, the pole holding mechanisms are respectively propped against the pole tower from the left side and the right side of the pole tower, and the pole tower is clamped together with the driving wheel of the travelling mechanism; the pole holding mechanism comprises a sliding retraction arm, a connecting rod mechanism, a clamp arm and an electric cylinder; the sliding retractable arm is connected with the shell in a sliding manner and can move linearly along a sliding groove clamping rail on the shell; the body of the electric cylinder is hinged to the shell, and the end part of the piston rod of the electric cylinder, which extends out of one end, is hinged to the connecting rod mechanism; the connecting rod mechanism is also hinged with the sliding retractable arm and the pincer-shaped arm respectively; the pincer-shaped arm is hinged with the sliding retractable arm;
the clamp-shaped arm is provided with a groove, and a driven wheel is arranged in the groove.
2. The manned pole climbing device for pole climbing operation of an electric power system according to claim 1, wherein the housing is a metal shell, and a handle is arranged at the top end of the housing; the shell is also provided with an operation button and an operation control screen.
3. The manned pole climbing device for pole climbing operation of an electrical power system according to claim 1, wherein the housing has a three-sided closed shape with one end open.
4. The manned pole climbing device for pole climbing operation of an electric power system according to claim 1, wherein the travelling mechanism comprises a driving wheel and a positioning auxiliary wheel, and the driving wheel and the positioning auxiliary wheel are both positioned at one end of the opening of the housing, which is far away from the opening part; the driving wheel is located below the shell, the positioning auxiliary wheel is located above the shell, and the positioning auxiliary wheel is located right above the driving wheel.
5. A manned pole climbing device for use in electric power system pole climbing operations as claimed in claim 1, wherein the control system includes a battery and a controller;
the battery comprises a main battery and a standby battery;
the controller is used for controlling the start and stop and the movement direction of the electric cylinder and the driving wheel.
6. The manned pole climbing device for pole climbing operation of the electric power system according to claim 4, wherein the driving wheel is provided with a driving wheel pressure sensor, and the positioning auxiliary wheel is provided with a positioning auxiliary wheel pressure sensor.
7. The manned pole climbing device for pole climbing operation of electric power system according to claim 1, wherein the housing is provided with a limit stop for limiting the position of the sliding retractable arm to move linearly outwards so as to prevent the sliding retractable arm from falling off the sliding groove clamping rail.
8. The manned pole climbing device for pole climbing operation of an electric power system according to claim 1, wherein a centrifugal ratchet device for preventing falling is arranged on a wheel shaft of the driven wheel; the centrifugal ratchet device comprises a ratchet shell (S), a first pawl (J1), a first pawl rotating shaft (K1), a first pawl reset spring, a second pawl (J2), a second pawl rotating shaft (K2) and a second pawl reset spring; the ratchet shell (S) is hollow and cylindrical, and a plurality of clamping grooves which are uniformly distributed are formed in the inner peripheral surface of the ratchet shell (S); the ratchet wheel shell (S) is fixed in a cavity where the wheel shaft of the driven wheel is located; the first pawl (J1), the first pawl rotating shaft (K1), the first pawl reset spring, the second pawl (J2), the second pawl rotating shaft (K2) and the second pawl reset spring are all arranged on the end face of the wheel shaft of the driven wheel.
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| CN116752799B (en) * | 2023-08-17 | 2023-11-07 | 合肥工业大学 | Transmission tower overhauls device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104353225A (en) * | 2014-11-18 | 2015-02-18 | 郑州轻工业学院 | Self-locking type pole-climbing robot |
| CN106166371A (en) * | 2016-07-25 | 2016-11-30 | 国网江苏省电力公司常州供电公司 | Concrete bar climbing inspection platform |
| CN209270753U (en) * | 2018-10-29 | 2019-08-20 | 国网安徽省电力有限公司淮南供电公司 | Manned pole climbing device for electric system rod-rising tower operation |
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2018
- 2018-10-29 CN CN201811270735.0A patent/CN109331432B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104353225A (en) * | 2014-11-18 | 2015-02-18 | 郑州轻工业学院 | Self-locking type pole-climbing robot |
| CN106166371A (en) * | 2016-07-25 | 2016-11-30 | 国网江苏省电力公司常州供电公司 | Concrete bar climbing inspection platform |
| CN209270753U (en) * | 2018-10-29 | 2019-08-20 | 国网安徽省电力有限公司淮南供电公司 | Manned pole climbing device for electric system rod-rising tower operation |
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