CN111003071A - Manned pole-climbing operation platform - Google Patents
Manned pole-climbing operation platform Download PDFInfo
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- CN111003071A CN111003071A CN201911083569.8A CN201911083569A CN111003071A CN 111003071 A CN111003071 A CN 111003071A CN 201911083569 A CN201911083569 A CN 201911083569A CN 111003071 A CN111003071 A CN 111003071A
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000009194 climbing Effects 0.000 claims description 40
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 abstract description 5
- 230000007423 decrease Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 10
- 241001503987 Clematis vitalba Species 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a manned pole-climbing operation platform, which comprises: host computer, left truck, right truck, lift actuating mechanism, seat, control hold up the handle, be located two holding rod mechanisms on the left truck and be located two holding rod mechanisms on the right truck, left safe depended wheel and right safe depended wheel, lift actuating mechanism includes by host computer driven double sprocket, go up pocket chain, lower pocket chain, fixed connection to at least a left slide rail on the left truck, fixed connection to at least a right slide rail on the right truck and with a left slide rail and a right slide rail respectively a complex at least slider. This manned pole-climbing operation platform passes through the host computer and provides power, four limbs and trunk rigidity connector to can be rotatory around the outside axis of ordinates of trunk, the terminal holding rod manipulator of four limbs, the pole of clenching, the vertical direction motion is done in turn mutually to left side trunk and right trunk, realizes rising and decline function.
Description
Technical Field
The invention relates to an operation platform for climbing up and down on pole-like and columnar objects, in particular to a manned pole-climbing operation platform which is used for replacing a pole climber which is a common pole-climbing tool.
Background
In the power industry, the work of maintaining a power line by climbing tower operation is an indispensable link, and the standardized operation of the work is directly related to the personal safety of operating personnel and the safe operation of a power system. In particular to the frequent casualty accidents of pole climbing operation in recent years.
Currently, the most common pole climbing tool used is a climber.
(1) The foot buckle is used formally and is bound to carry out professional training on pole climbing personnel. The vertical conversion of the left and right feet of the climber is realized by the balance of the alignment force of the operator because the user is required to balance the alignment force;
(2) whether the pole can be fastened by the climbers or not is completely mastered by an operator, and is judged by personal experience, so that the safety and reliability are low;
(3) the pole climbing mode of the climbers has high labor intensity, short standing time and large physical consumption, and is easy to cause fatigue. The climbing worker feels heavy during operation, is panic in mind, and is easy to cause non-centralized operation energy, so that accidents occur.
At present, there are various climbing apparatuses for performing dangerous work instead of manually climbing poles, which are classified into an inchworm type and a roller type according to the climbing manner. The roller type climbing pole is mainly characterized in that positive pressure on a cylindrical pole is actively exerted through a roller, so that friction force is generated to overcome gravity. The inchworm-type climbing rod is mainly characterized in that the upper end and the lower end are alternately clamped and loosened, and climbing is realized through movement or rotation of the connecting part.
For complex working conditions, manned pole climbing operation is still needed. Compared with the manned climbing pole, the manned climbing pole has large load to be carried and strict requirements on safety and reliability.
Disclosure of Invention
The invention aims to provide a manned pole-climbing operation platform to replace a common pole-climbing tool climber.
Therefore, the invention provides a manned pole-climbing operation platform, which comprises: the lifting executing mechanism comprises a double chain wheel driven by the host, an upper pocket chain, a lower pocket chain, at least one left sliding rail fixedly connected to the left trunk, at least one right sliding rail fixedly connected to the right trunk, and a sliding seat respectively matched with the left sliding rail and the right sliding rail, wherein the upper pocket chain and the lower pocket chain are meshed with the double chain wheel, two ends of the upper pocket chain are respectively connected to the upper end of the left trunk and the upper end of the right trunk, two ends of the lower pocket chain are respectively connected to the lower end of the left trunk and the lower end of the right trunk, and the double chain wheel can be freely rotatably supported on the sliding seat and driven by the host to rotate, one of the left trunk and the right trunk is held tightly on the rod body through the two rod holding mechanisms, the other of the left trunk and the right trunk is driven to ascend by the lifting execution mechanism, and the left trunk and the right trunk alternately act to realize the climbing of the host machine.
Further, each of the two grip mechanisms on the left torso includes a cantilever and an end grip manipulator, wherein the two grip mechanisms are actuated by the clasping mechanism to either clasp or open synchronously about the longitudinal axis of the left torso.
Further, above-mentioned armful of pole mechanism includes hollow shaft gear motor, last transmission shaft, underdrive axle, bearing and anti-torsion beam, wherein, go up transmission shaft, underdrive axle all with hollow shaft gear motor rigid connection to fix on the bearing of end about left truck is inside, anti-torsion beam is used for fixed hollow shaft gear motor, the position of left side truck is at the cantilever and the last transmission shaft fixed connection of last holding rod mechanism, the cantilever and the underdrive axle fixed connection of a holding rod mechanism of position on the truck of a left side under.
Further, the at least one left slide rail comprises a front left slide rail and a rear left slide rail, the at least one right slide rail comprises a front right slide rail matched with the front left slide rail and a rear right slide rail matched with the rear left slide rail for use, and the sliding seat comprises a front sliding block matched with the front left slide rail and the front right slide rail and a rear sliding block matched with the rear left slide rail and the rear right slide rail.
Further, the at least one left slide rail extends the full height of the left torso, the at least one right slide rail extends the full height of the right torso, and the height of the front or rear slider is between 1/2-1/3 of the full height of the left torso.
Further, the cross sections of the outer side wall of the left trunk and the outer side wall of the right trunk are both V-shaped.
Further, above-mentioned manned pole operation platform of climbing still includes left safe depended wheel and right safe depended wheel, wherein, the host computer is located the front side of left truck and right truck, left side safe depended wheel and right safe depended wheel are connected to the host computer, left side safe depended wheel rolls the cooperation with the lateral wall of left truck, right side safe depended wheel rolls the cooperation with the lateral wall of right truck.
This manned pole-climbing operation platform passes through the host computer and provides power, four limbs and trunk rigidity connector to can be rotatory around the outside axis of ordinates of trunk, the terminal holding rod manipulator of four limbs, the pole of clenching, the vertical direction motion is done in turn mutually to left side trunk and right trunk, realizes rising and decline function. Meanwhile, the motor drives the double chain wheels to ascend and descend, and a stop button and an emergency stop button are arranged in the ascending and descending processes.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a first schematic structural view of a manned pole-climbing work platform according to the present invention;
FIG. 2 is a second schematic structural view of the manned pole-climbing work platform according to the present invention;
fig. 3 is a first structural schematic diagram of a holding pole executing mechanism of the manned pole-climbing work platform according to the invention;
fig. 4a to 4c sequentially show a half holding pole state, a full holding pole state and a half holding pole state of the upper left holding pole mechanism;
fig. 5 is a first schematic internal structural diagram of a holding pole executing mechanism of the manned pole-climbing work platform according to the invention;
fig. 6 is a second schematic internal structural diagram of a pole holding executing mechanism of the manned pole-climbing work platform according to the invention;
figures 7a to 7c illustrate the climbing process of the pole embracing actuator of the man-carrying pole climbing work platform according to the present invention, wherein figure 7a illustrates a state in which the right torso is down; FIG. 7b shows the right torso lifted flush with the left torso; FIG. 7c shows the right torso lifted above the left torso;
figure 8 shows a schematic cross-sectional view of a pole embracing actuator for a manned pole climbing work platform according to the present invention; and
fig. 9a to 9c show the pole climbing process of the manned pole climbing work platform according to the invention, wherein fig. 9a shows the pole climbing state with the left trunk under, fig. 9b shows the pole climbing state with the right trunk under, and fig. 9c shows the pole holding state of the left trunk and the right trunk simultaneously.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1-9 c illustrate some embodiments according to the invention.
As shown in fig. 1 and 2, the manned pole-climbing work platform of the present invention includes a main frame 1, a control handle 2, a left trunk 3, a right trunk 4, a seat 6, four limbs (a left upper holding rod mechanism 7, a left lower holding rod mechanism 8, a right upper holding rod mechanism 9, and a right lower holding rod mechanism 10), a left safety wheel 17, and a right safety wheel 18.
The left trunk 3 and the right trunk 4 are in a bilateral symmetry structure, and the left trunk 3 and the right trunk 4 are driven by the lifting execution mechanism to alternately move in the vertical direction.
Each gripper mechanism includes a cantilever and an end gripper manipulator. The tail end holding manipulator is used for holding the electric pole within a certain diameter range, and corresponding tail end holding tools can be replaced if special specifications exist. The boom is rotated about the longitudinal axis of the torso by a set angle, for example 100, driven by a clasping mechanism.
The main machine 1 is internally provided with a lifting power assembly, a battery pack, a control unit (controller) and a driving unit.
The control handle 2 and the seat 6 are fixedly connected to the main machine 1.
The left safety idler 17 rolls on the left side wall of the left torso 3 and the right safety idler 18 rolls on the right end wall of the right torso 4.
The left trunk 3, the right trunk 4, the left upper holding rod mechanism 7 and the right upper holding rod mechanism 9 are provided with ultrasonic transceiving sensors 11, 12, 13 and 14 and high- voltage sensors 15 and 16.
The control handle is held by an operator on one hand, has a function of manually controlling climbing on the other hand, has an emergency parking button 3, also comprises other function keys, can suspend an automatic program and terminate the automatic program at any time, can actively intervene the execution of the automatic program when obstacle avoidance and obstacle surmounting are needed, and a change-over switch can realize function conversion between manual operation and automatic operation.
As shown in fig. 3, the holding bar mechanism on the left torso 3 includes a hollow shaft reduction motor 101, an upper transmission shaft 102, a lower transmission shaft 103, a bearing 104, and a counter torsion beam 105.
The upper transmission shaft 102 and the lower transmission shaft 103 are rigidly connected with the hollow shaft speed reducing motor 101 and fixed on a bearing 104 at the upper and lower ends of the left side inside the left trunk 3. The reaction beam serves to fix the motor 101.
The hollow shaft speed reducing motor 101 is a combination of a servo motor and a hollow speed reducer RV-20C-121, and a hollow part can penetrate through a cable. The motion of the pole embracing mechanism is horizontal rotation, the earth gravity is not overcome to do work, only very small bearing rolling friction force and other comprehensive resistance are overcome to do work, so that the power of the servo motor is very small, and a 90W motor is selected after experiments.
The cantilever 7-1 of the upper left derrick mechanism 7 and the cantilever 8-1 of the lower left derrick mechanism 8 are rigidly connected with an upper transmission shaft 102 and a lower transmission shaft 103 in the left trunk 4 and can rotate 100 degrees around the outer longitudinal axis of the left trunk 4. The hollow shaft speed reducing motor 101 drives the holding rod action and the opening action of the upper left holding rod mechanism 7 and the lower left holding rod mechanism 8. The right upper holding pole mechanism and the right lower holding pole mechanism are symmetrically arranged with the left upper holding pole mechanism and the left lower holding pole mechanism.
Fig. 4a to 4c sequentially show a half holding state, a full holding state and a half holding state of the upper left holding mechanism 7 and the upper right holding mechanism 9.
Referring to fig. 5 to 8 in combination, the lifting actuator includes a servo motor 201, an NMRV reducer 202, a transmission shaft 203, a double sprocket 204, a lower pocket chain 205, and an upper pocket chain 206.
The lifting executing mechanism further comprises a left trunk lower end transmission chain fixing seat 231, a right trunk lower end transmission chain fixing seat 232, a left trunk front sliding rail 241, a left trunk rear sliding rail 251, a right trunk front sliding rail 261, a right trunk rear sliding rail 271, sliding seats (a left trunk front sliding block 242, a left trunk rear sliding block 252, a right trunk front sliding block 262 and a right trunk rear sliding block 272), a left trunk shell 208, a right trunk shell 209, a main machine girder 210, a power unit 211 (a servo motor 201 and an NMRV reducer 202), a right safety idler 18 and a main machine shell 213.
Wherein the left torso front slide rail 241 and the left torso rear slide rail 251 are fixedly connected to the left torso and extend over the entire height of the left torso, and the right torso front slide rail 261 and the right torso rear slide rail 271 are fixed to the right torso and extend over the entire height of the right torso. The left body front sliding block 242 is matched with the left body front sliding rail 241 in an inserting mode, and the left body rear sliding block 252 is matched with the left body rear sliding rail 251 in an inserting mode. The right body front slide block 262 is matched with the right body front slide rail 261 in an inserting way, and the right body rear slide block 272 is matched with the right body rear slide rail 271 in an inserting way.
The left torso front slide block 242 and the right torso front slide block 262 are fixedly connected together, the left torso rear slide block 252 and the right torso rear slide block 272 are fixedly connected together for supporting two ends of the double chain wheel, the upper part and the lower part of the double chain wheel are fixedly connected with the main machine, and the height of the double chain wheel is 1/3-1/2 of the height of the left torso.
One end of the two ends of the upper pocket chain 206 is connected with the upper transmission chain fixing seat of the left trunk, the other end of the two ends of the upper pocket chain 206 is connected with the upper transmission chain fixing seat of the right trunk, one end of the two ends of the lower pocket chain 205 is connected with the lower transmission chain fixing seat of the left trunk, and the other end of the two ends of the lower pocket chain is connected with the lower transmission chain fixing seat of the right trunk.
In the invention, the left trunk and the right trunk alternately move up and down under the driving of the lifting actuating mechanism, and are safely interlocked; the length of the interlocked cross coverage is 0.2 second, namely the left trunk climbs after the interval of 0.2 second, and then the right trunk climbs again, so that the safety of reliable alternate operation is ensured. The safe riding wheels 17 and 18 at the two sides of the main machine play a role in safely wrapping the left trunk and the right trunk.
In one embodiment, the trunk moving speed is 0.6 m/s, and the ascending speed of the main machine and the seat is 0.3 m/s because the power assembly output gear is in a movable pulley structure.
Fig. 9a shows the pole-climbing state with the left torso down, fig. 9b shows the pole-climbing state with the right torso down, and fig. 9c shows the state where the left torso and the right torso are holding the poles simultaneously. When the limbs hold the rod, the left and right parts are staggered up and down and can not be as high as each other.
The pole climbing process of the manned pole climbing platform is as follows:
1) pole is embraced to left truck: the two holding rod mechanisms synchronously deflect towards the direction close to the rod body around the longitudinal axis of the left trunk, wherein the moment when the holding rod action is finished is the moment when the holding rod action is started;
2) left torso holding: after the holding pole is in place, the tail-end holding manipulator of the two holding pole mechanisms performs holding pole action and keeps the posture;
3) right torso rising: after the holding rod action is finished, the right trunk rises for 0.2 second, and stops after the maximum stroke, the rising is finished, and the holding rod action stage of the right trunk is started;
4) the holding rod mechanism comprises a right trunk holding rod, two holding rod mechanisms and a control mechanism, wherein the two holding rod mechanisms synchronously deflect towards the direction close to the rod body around the longitudinal axis of the right trunk, and the moment when the holding rod action is finished is the moment when the holding rod action is started;
5) the holding rod manipulator at the tail ends of the two holding rod mechanisms performs holding rod actions and keeps the posture after the holding rod is in place;
6) and (3) disconnecting the left trunk: after 0.2 second, the left trunk 4 starts to execute the rod releasing action, the rod releasing action is the reverse movement of the holding rod and the holding rod, namely the tail end holding manipulator is changed from the holding state to the opening state, the cantilever swings in the direction far away from the rod body, and the rod holding mechanism returns;
7) rising of the left trunk: and (3) the left trunk ascends to the maximum stroke, the ascending is completed, the steps 1-6 are repeatedly executed, the automatic climbing is realized through the cycle work, and the system stops after the operation at any stage is finished by pressing the stop key. But the scram key may be immediately stopped.
Compared with the prior art, the invention has the following technical effects:
1. in the manned pole-climbing operation platform, the climbing of the main machine is realized by the upper pocket chain, the lower pocket chain and the double-chain wheel driven by the main machine to realize the alternate pole climbing of the left trunk and the right trunk, so that people are liberated from dangerous, severe and heavy working environments.
2. The automatic climbing device has the functions of automatic climbing and artificial assistance in crossing obstacles, and can cross obstacles with a certain amount.
3. And the function of automatically forcing the vehicle to stop when the distance of the obstacle exceeds an early warning threshold value is realized.
4. The battery power supply, the electric quantity shows, and weak current is reported to the police, can lock the pole safely after the unexpected outage, can change the battery on the pole.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a manned pole-climbing work platform which characterized in that includes: a main machine, a left trunk, a right trunk, a lifting executing mechanism, a seat, a control handle, two holding rod mechanisms positioned on the left trunk and two holding rod mechanisms positioned on the right trunk,
the lifting executing mechanism comprises a double chain wheel driven by the main machine, an upper pocket chain, a lower pocket chain, at least one left slide rail fixedly connected to the left trunk, at least one right slide rail fixedly connected to the right trunk, and a slide seat respectively matched with the left slide rail and the right slide rail,
the upper pocket chain and the lower pocket chain are meshed with the double chain wheels, wherein two ends of the upper pocket chain are respectively connected to the upper end of the left trunk and the upper end of the right trunk, two ends of the lower pocket chain are respectively connected to the lower end of the left trunk and the lower end of the right trunk, the double chain wheels can be freely and rotatably supported on the sliding seat and are driven by the host to do rotary motion,
one of the left trunk and the right trunk is tightly held on the rod body through the two rod holding mechanisms, the other of the left trunk and the right trunk is driven to ascend by the lifting execution mechanism, and the left trunk and the right trunk alternately act to realize the climbing of the host machine.
2. The manned pole climbing work platform of claim 1 wherein each of the two grip mechanisms on the left torso includes a cantilever and an end grip manipulator, wherein the two grip mechanisms are actuated by the clasping mechanism to either clasp or unfold synchronously about the longitudinal axis of the left torso.
3. The manned pole climbing work platform according to claim 2, wherein the pole holding mechanism comprises a hollow shaft gear motor, an upper transmission shaft, a lower transmission shaft, a bearing and a counter torsion beam, wherein the upper transmission shaft and the lower transmission shaft are both rigidly connected with the hollow shaft gear motor and fixed on the bearings at the upper end and the lower end inside the left trunk, the counter torsion beam is used for fixing the hollow shaft gear motor, the upper transmission shaft is fixedly connected with the cantilever of the upper holding rod mechanism at the position of the left trunk, and the lower transmission shaft is fixedly connected with the cantilever of the lower holding rod mechanism at the position of the left trunk.
4. The manned pole climbing work platform of claim 1, wherein the at least one left slide rail comprises a front left slide rail and a rear left slide rail, wherein the at least one right slide rail comprises a front right slide rail paired with the front left slide rail and a rear right slide rail paired with the rear left slide rail, and wherein the slide carriage comprises a front slide block mated with the front left slide rail and the front right slide rail and a rear slide block mated with the rear left slide rail and the rear right slide rail.
5. The manned pole climbing work platform of claim 4 wherein the at least one left slide rail extends the full height of the left torso, the at least one right slide rail extends the full height of the right torso, and the front or rear slide has a height between 1/2-1/3 of the full height of the left torso.
6. The manned pole climbing work platform of claim 1 wherein the lateral walls of the left torso and the right torso are each V-shaped in cross section.
7. The manned pole climbing work platform of claim 1, further comprising a left safety idler and a right safety idler, wherein the main frame is located at the front side of the left trunk and the right trunk, the left safety idler and the right safety idler are connected to the main frame, the left safety idler is in rolling fit with the outer side wall of the left trunk, and the right safety idler is in rolling fit with the outer side wall of the right trunk.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910716283 | 2019-08-02 | ||
| CN2019107162832 | 2019-08-02 |
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| Publication Number | Publication Date |
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| CN111003071A true CN111003071A (en) | 2020-04-14 |
| CN111003071B CN111003071B (en) | 2024-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911083569.8A Active CN111003071B (en) | 2019-08-02 | 2019-11-07 | Manned pole climbing operation platform |
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Cited By (1)
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| CN111408116A (en) * | 2020-04-21 | 2020-07-14 | 杭州锐石电子科技有限公司 | Electrician is with electronic pole-climbing device of turning to function in area |
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| Publication number | Publication date |
|---|---|
| CN111003071B (en) | 2024-02-23 |
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