CN111470056B - Intelligent pulley and working method thereof - Google Patents
Intelligent pulley and working method thereof Download PDFInfo
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- CN111470056B CN111470056B CN202010291291.XA CN202010291291A CN111470056B CN 111470056 B CN111470056 B CN 111470056B CN 202010291291 A CN202010291291 A CN 202010291291A CN 111470056 B CN111470056 B CN 111470056B
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- pulley
- mechanical arm
- guide rope
- intelligent
- protective cover
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/32—Friction members
- F16H55/36—Pulleys
- F16H55/50—Features essential to rope pulleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
An intelligent pulley and a working method thereof. The intelligent pulley and the working method thereof can automatically thread a rope, save labor and improve safety. Including hanging frame, complementary unit, stopper, warning mechanism, hang the roof and the bottom plate and a pair of parallel side post that the frame set up including from top to bottom, the centre of roof is equipped with the lewis hole, complementary unit is including hookup safety cover, arm, laser radar, power, controller and remote controller. In the work of the invention, the connecting protective cover is opened to keep a horizontal state, namely the connecting protective cover is connected with the electric control lock through the draw hook; then, the unmanned aerial vehicle brings the carried guide rope to the side of the pulley block, the laser radar measures the space distance between the unmanned aerial vehicle and the guide rope and feeds the space distance back to the controller, and the controller controls the mechanical arm to act to grab the guide rope; the mechanical arm sends the guide rope into a pulley groove of the pulley from the notch, and the side column notch sensor conducts induction action. The invention saves labor and improves safety.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an intelligent pulley which is used for enabling a guide rope to pass through a pulley block in a matched mode when the guide rope is unfolded by the unmanned aerial vehicle and a working method of the intelligent pulley.
Background
In recent years, the unmanned aerial vehicle technology is rapidly developed, and the unmanned aerial vehicle is used for unfolding and placing the guide rope in engineering construction. Because the construction tool who matches with unmanned aerial vehicle is not ripe yet, do not be used for coordinating unmanned aerial vehicle exhibition to put the required professional pulley of guide rope on the market.
At present, the working method of unfolding the guide rope of the unmanned aerial vehicle is to directly buckle the guide rope on the unmanned aerial vehicle, and when the rope reaches a tower and needs to pass through a pulley block, a constructor ascends to a height to manually pass through the pulley.
The disadvantages of this method are: firstly, the guide rope that unmanned aerial vehicle exhibition was put can not realize automizing and pass the pulley: secondly, unmanned aerial vehicle exhibition is put the operation of guide rope and is needed to have constructor cooperation of ascending a height, and intensity of labour is big, danger coefficient is high: thirdly, unmanned aerial vehicle carries out the operation of leading rope exhibition and puts and can not realize the serialization and go on, and work efficiency is low.
Disclosure of Invention
Aiming at the problems, the invention provides the intelligent pulley and the working method thereof, which can automatically thread a rope, save labor and improve safety.
The technical scheme of the invention is as follows: comprises a hanging frame, an auxiliary mechanism, a limiter and a warning mechanism,
the hanging frame comprises a top plate, a bottom plate and a pair of parallel side columns, the top plate and the bottom plate are arranged up and down, a hanging hole is formed in the middle of the top plate, the pair of side columns are respectively connected between the top plate and the bottom plate, and at least two pulleys are arranged between the pair of side columns; wherein, the upper part of one side column is provided with a gap, and one side of the other side column facing the gap is provided with a side column gap sensor;
the auxiliary mechanism comprises a connecting protective cover, a mechanical arm, a laser radar, a power supply, a controller and a remote controller,
the connecting protective cover is movably connected to one side of the top plate through the locking assembly and is positioned outside the side column with the notch;
the locking assembly comprises an electric control lock and a hook, the electric control lock is arranged on the top plate, one end of the hook is arranged on the connecting protective cover, and the other end of the hook is used for connecting the electric control lock;
the mechanical arm is arranged on the side column with the notch and positioned above the notch, and is used for grabbing the guide rope and pulling the guide rope into the corresponding pulley; the mechanical arm and the connecting protective cover are arranged in a staggered manner;
the laser radar, the power supply and the controller are respectively arranged in the connecting protective cover,
the power supply is used for supplying power to the laser radar, the mechanical arm and the side column notch sensor;
the controller is used for connecting the laser radar, the mechanical arm and the side column notch sensor, and the remote controller is in communication connection with the controller;
the limiting stopper is arranged at the bottom of the top plate and is positioned above the pulley; the limiter comprises a double-shaft motor, two ends of the double-shaft motor are respectively sleeved with an L-shaped limiting rod, the double-shaft motor is connected with a top plate, and the double-shaft motor is connected with a controller;
the warning mechanism comprises a blue LED warning lamp group and a red LED warning lamp group, the blue LED warning lamp group and the red LED warning lamp group are respectively arranged on the top plate, and the blue LED warning lamp group and the red LED warning lamp group are respectively connected with the controller.
Also comprises a locking device, the locking device comprises a locking pawl and a locking connecting rod,
the bottom of the connecting protective cover is provided with a through hole, and the locking pawl is arranged on the connecting protective cover and positioned on one side of the through hole;
the locking connecting rod is connected to the outer side of the bottom of the side column with the notch, the locking connecting rod is movably positioned in the through hole, the outer side of the locking connecting rod extending out of the side column is arc-shaped and is uniformly provided with sawtooth grooves,
the locking pawl is used for connecting the sawtooth groove.
Still include dashpot and dashpot travel switch, the dashpot is established in the side post bottom outside that has the breach, dashpot travel switch is located the both sides of dashpot.
The mechanical arm homing device is characterized by further comprising a mechanical arm homing travel switch, wherein the mechanical arm homing travel switch is arranged on the outer side of the bottom of the side column with the notch.
The mechanical arm comprises a steering engine, a base, a multi-joint arm and a clamping jaw which are sequentially arranged, the steering engine drives the base, a paw laser radar is arranged at the front end of the multi-joint arm, finger sensors are respectively arranged on a pair of fingers of the clamping jaw,
the steering engine, the paw laser radar and the pair of finger sensors are respectively connected with the controller.
The solar cell panel is arranged on the outer side of the side column or the connecting protective cover and is connected with a power supply.
An operating method of an intelligent pulley comprises the following steps:
1) a constructor installs and hangs the intelligent pulley at a corresponding position on a tower through a hanging hole on an engineering site and starts an intelligent pulley power switch;
2) a constructor pulls the intelligent pulley block limiter to a horizontal standby state;
3) a constructor loosens a locking pawl and a locking connecting rod in the locking device, then upwards opens the connecting protective cover to a horizontal angle, and connects a hook on the connecting protective cover with the electric control lock;
4) when the unmanned aerial vehicle flies to approach the intelligent pulley, the remote controller turns on an intelligent pulley switch to enter a working state;
5) unfolding actions of mechanical arms of the intelligent pulleys;
6) the laser radar of the intelligent pulley starts to work;
7) controlling the unmanned aerial vehicle to fly past the intelligent pulley, so that a guide rope carried on the unmanned aerial vehicle enters the working range of the intelligent pulley laser radar;
8) measuring the space distance between the laser radar and the guide rope, and calculating and determining the space position of the guide rope by the controller according to the data measured by the laser radar;
9) when the space distance between the mechanical arm and the guide rope is judged to be smaller than the mechanical arm action distance, the mechanical arm acts, and a clamping jaw at the front end of the mechanical arm is opened;
10) the mechanical arm moves to a capture point with a preset distance, a mechanical arm paw laser radar carries out close-range measurement and guide, whether a guide rope enters a clamping jaw or not is judged according to a mechanical arm finger sensor, and if the guide rope enters the clamping jaw, the mechanical arm clamping jaw is closed to capture the guide rope;
11) if the capture is not successful, the mechanical arm repeats the attempt again;
12) if the catching is judged to be successful, the caught guide rope is sent to the side column gap of the intelligent pulley;
13) stopping the laser radar;
14) the side column notch sensor induces the guide rope to pass through the side column notch;
15) the mechanical arm pulls the guide rope to a pulley groove corresponding to the pulley in the intelligent pulley, and the clamping jaw is loosened;
16) the finger sensor senses that the guide rope is separated;
17) the limiting stopper rotates to a working position;
18) clamping a mechanical arm clamping jaw;
19) the mechanical arm is withdrawn and falls to be reset, and the mechanical arm reset travel switch is triggered to send a reset signal to the controller;
20) the side column notch sensor cannot sense that the guide rope passes through the side column notch, the mechanical arm repeatedly tries for three times, then the system enters a standby state, a fault alarm signal is sent out, and a fault alarm signal red LED warning lamp group on the intelligent pulley flickers until a fault is eliminated;
21) after the guide rope successfully enters the intelligent pulley, the blue LED warning lamp group on the intelligent pulley flickers for 30 seconds;
22) after the mechanical arm returns to the original position, the electric control lock on the intelligent pulley acts to be separated from the hook, the connecting protective cover falls under the action of gravity, and the connecting protective cover locking ratchet wheel is reliably connected with the locking connecting rod through impact;
meanwhile, the buffer groove on the side column slows down the impact of the connecting protective cover, and the connecting protective cover impacts a buffer groove travel switch to trigger a connection success signal;
23) the blue LED warning lamp group and the red LED warning lamp group on the intelligent pulley alternately flash for 30 seconds to prompt an unmanned aerial vehicle operator that the intelligent pulley is finished, and the unmanned aerial vehicle can continue to perform the operation of unfolding the guide rope;
24) the power supply of the intelligent pulley is closed through the remote controller, and the intelligent pulley is in a standby state;
25) and (4) finishing.
During work, a constructor installs and hangs the intelligent pulley at a corresponding position on a tower through a hanging hole in an engineering field, opens the connecting protective cover to keep a horizontal state, and connects the electric control lock through the draw hook;
then, the unmanned aerial vehicle brings the carried guide rope to the side of the pulley block, the laser radar measures the space distance between the unmanned aerial vehicle and the guide rope and feeds the space distance back to the controller, and the controller controls the mechanical arm to act to grab the guide rope; the mechanical arm sends the guide rope into a pulley groove of the pulley from the notch, and the side column notch sensor performs induction action;
the limiting device is arranged to limit the guide rope conveniently and is placed in the pulley groove of the corresponding pulley;
after the guide rope is placed, the mechanical arm withdraws from the pulley block. After the guide rope successfully enters the intelligent pulley, the blue LED warning lamp group on the intelligent pulley flickers for 30 seconds; if the result is unsuccessful, the red LED warning lamp group flickers;
finally, the electric control lock acts to disengage the drag hook, the connecting protective cover falls down, and the connecting protective cover is arranged, so that on one hand, space is provided, and laser radars and the like can be conveniently placed; on the other hand, the guide rope is prevented from falling off from the notch by sealing the notch of the side column.
The invention saves labor and improves safety.
Drawings
Figure 1 is a schematic block diagram of the present invention,
figure 2 is a schematic diagram of the structure of the present invention,
figure 3 is a left side view of figure 2,
figure 4 is a top view of figure 2,
figure 5 is an enlarged view of a portion of figure 2 at M,
figure 6 is a schematic view of the construction of the stopper,
in the figure, 1 is a hanging frame, 11 is a top plate, 110 is a hanging hole, 12 is a bottom plate, 13 is a side column, 14 is a pulley, 15 is a notch, 16 is a notch sensor,
2 is an auxiliary mechanism, 21 is a coupling boot, 210 is a through hole,
22 is a robotic arm, 221 is a steering engine, 222 is a base, 223 is a multi-jointed arm, 224 is a gripper jaw, 225 is a gripper lidar, 226 is a finger sensor,
23 is a laser radar, 24 is an electric control lock, 25 is a hook,
3 is a limiter, 31 is a double-shaft motor, 32 is a limiting rod,
4 is a warning mechanism, 41 is a blue LED warning lamp group, 42 is a red LED warning lamp group,
5 is a locking device, 51 is a locking pawl, 52 is a locking connecting rod, 520 is a sawtooth groove, 53 is a spring, 54 is a support rod,
61 is a buffer slot, 62 is a buffer slot travel switch,
7 is a return travel switch of the mechanical arm,
and 8 is a solar panel.
Detailed Description
The invention is shown in figures 1-6, which comprises a hanging frame 1, an auxiliary mechanism 2, a limiter 3 and a warning mechanism 4,
the hanging frame 1 comprises a top plate 11, a bottom plate 12 and a pair of parallel side posts 13 which are arranged up and down, wherein a hanging hole 110 is formed in the middle of the top plate, the pair of side posts are respectively connected between the top plate and the bottom plate, and at least two pulleys 14 are arranged between the pair of side posts; wherein, the upper part of one side column is provided with a gap 15, and one side of the other side column facing the gap is provided with a side column gap sensor 16;
the auxiliary mechanism 2 comprises a connecting protective cover 21, a mechanical arm 22, a laser radar 23, a power supply, a controller and a remote controller,
the connecting protective cover 21 is movably connected to one side of the top plate through a locking assembly and is positioned outside the side column with the notch;
the locking assembly comprises an electric control lock 24 and a hook 25, the electric control lock 24 is arranged on the top plate 11, one end of the hook is arranged on the connecting protective cover, and the other end of the hook is used for connecting the electric control lock;
the mechanical arm 22 is arranged on the side column with the notch and positioned above the notch, and is used for grabbing the guide rope and pulling the guide rope into the corresponding pulley; the mechanical arm and the connecting protective cover are arranged in a staggered manner;
the laser radar 23, the power supply and the controller are respectively arranged in the connecting protective cover,
the power supply is used for supplying power to the laser radar, the mechanical arm and the side column notch sensor;
the controller is used for connecting the laser radar, the mechanical arm and the side column notch sensor, and the remote controller is in communication connection with the controller;
the stopper 3 is arranged at the bottom of the top plate and is positioned above the pulley; the limiter comprises a double-shaft motor, two ends of the double-shaft motor are respectively sleeved with an L-shaped limiting rod, the double-shaft motor is connected with a top plate, and the double-shaft motor is connected with a controller; the three pulleys are arranged, and the limiting device is arranged in the middle of the pulley to play a limiting role; when the limiting stopper works, firstly, after the guide rope is observed to be in place, the limiting rod can be rotated to be in place to limit; and a trigger switch can be arranged in the pulley, and when the guide rope is in place, the trigger switch sends a signal to the controller, and the controller controls the action of the limiting rod.
The warning mechanism 4 comprises a blue LED warning lamp group 41 and a red LED warning lamp group 42, wherein the blue LED warning lamp group and the red LED warning lamp group are respectively arranged on the top plate, and the blue LED warning lamp group and the red LED warning lamp group are respectively connected with the controller.
During work, a constructor installs and hangs the intelligent pulley at a corresponding position on a tower through a hanging hole in an engineering field, opens the connecting protective cover to keep a horizontal state, and connects the electric control lock through the draw hook;
then, the unmanned aerial vehicle brings the carried guide rope to the side of the pulley block, the laser radar measures the space distance between the unmanned aerial vehicle and the guide rope and feeds the space distance back to the controller, and the controller controls the mechanical arm to act to grab the guide rope; the mechanical arm sends the guide rope into a pulley groove of the pulley from the notch, and the side column notch sensor performs induction action;
the limiting device is arranged to limit the guide rope conveniently and is placed in the pulley groove of the corresponding pulley;
after the guide rope is placed, the mechanical arm withdraws from the pulley block. After the guide rope successfully enters the intelligent pulley, the blue LED warning lamp group on the intelligent pulley flickers for 30 seconds; if the result is unsuccessful, the red LED warning lamp group flickers;
finally, the electric control lock acts to disengage the drag hook, the connecting protective cover falls down, and the connecting protective cover is arranged, so that on one hand, space is provided, and laser radars and the like can be conveniently placed; on the other hand, the guide rope is prevented from falling off from the notch by sealing the notch of the side column.
The locking device 5 is further included, the locking device comprises a locking pawl 51 and a locking connecting rod 52, one end of the locking pawl is connected with the connecting protective cover through a spring 53 in the installation process, the other end of the locking pawl is hinged to a supporting rod 54, and the supporting rod is connected to the connecting protective cover, so that the locking pawl can act conveniently;
the bottom of the connecting protective cover is provided with a through hole, and the locking pawl is arranged on the connecting protective cover and positioned on one side of the through hole;
the locking connecting rod is connected with the outer side of the bottom of the side column with the notch, the locking connecting rod is movably positioned in the through hole, the locking connecting rod 52 extends out of the outer side of the side column to be in an arc shape and is uniformly provided with sawtooth grooves 520,
the locking pawl is used for connecting the sawtooth groove.
The locking device is arranged, and the locking pawl is connected with the locking connecting rod, so that the connecting protective cover can be conveniently locked on the side column, and the locking device is convenient and reliable
Still include dashpot 61 and dashpot travel switch 62, the dashpot is established in the side post bottom outside that has the breach, dashpot travel switch is located the both sides of dashpot.
The buffer groove is arranged to play a role in buffering the connection protective cover; and impacting a travel switch of the buffer slot to trigger a connection success signal.
The mechanical arm resetting travel switch 7 is arranged on the outer side of the bottom of the side column with the notch.
Thus, the mechanical arm falls down to return, and triggers the travel switch to send a return signal to the control circuit.
The mechanical arm 22 comprises a steering engine 221, and a base 222, a multi-joint arm 223 and a clamping jaw 224 which are sequentially arranged, wherein the steering engine drives the base 222, the front end of the multi-joint arm is provided with a paw laser radar 225, a pair of fingers of the clamping jaw are respectively provided with a finger sensor 226,
the steering engine, the paw laser radar and the pair of finger sensors are respectively connected with the controller.
The mechanical arm acts, so that the rotation, the grabbing and the bending action of the multi-joint arm are facilitated, and the reliability is high; the gripper laser radar is arranged, so that the position state of the guide rope can be conveniently measured and guided in a short distance; the finger sensor is arranged, so that whether the guide rope enters the clamping jaw or not can be judged conveniently, and the grabbing reliability is improved.
The invention utilizes the laser radar to measure the distance between the sensing rope and the guide rope, and positions the spatial position of the guide rope. When the controller judges that the guide rope is in the action range of the intelligent pulley side mechanical arm according to the data sensed by the laser radar, the mechanical arm starts to work.
And when the mechanical arm clamping jaw is opened to a working state, the mechanical arm paw laser radar positions the approaching distance of the guide rope and guides the mechanical arm paw to capture the guide rope. The mechanical arm pulls the captured guide rope through the notch of the side column of the pulley block according to the command action and guides the guide rope into the corresponding pulley groove.
The robot arm is a conventional device, such as a jointed robot arm, 6-axis 6-degree-of-freedom motion.
The solar energy battery plate is arranged on the outer side of the side column or the connection protective cover and is connected with a power supply.
The solar cell panel is arranged for charging, and the solar cell panel is convenient and environment-friendly.
An operating method of an intelligent pulley comprises the following steps:
1) a constructor installs and hangs the intelligent pulley at a corresponding position on a tower through a hanging hole on an engineering site and starts an intelligent pulley power switch;
2) a constructor pulls the intelligent pulley block limiter to a horizontal standby state, namely pulls the limiting rod to a horizontal state;
3) a constructor loosens a locking pawl and a locking connecting rod in the locking device, then upwards opens the connecting protective cover to a horizontal angle, and connects a hook on the connecting protective cover with the electric control lock;
4) when the unmanned aerial vehicle flies to approach the intelligent pulley, the remote controller turns on an intelligent pulley switch to enter a working state;
5) unfolding actions of mechanical arms of the intelligent pulleys;
6) the laser radar of the intelligent pulley starts to work;
7) controlling the unmanned aerial vehicle to fly past the intelligent pulley, so that a guide rope carried on the unmanned aerial vehicle enters the working range of the intelligent pulley laser radar;
8) measuring the space distance between the laser radar and the guide rope, and calculating and determining the space position of the guide rope by the controller according to the data measured by the laser radar;
9) when the space distance between the mechanical arm and the guide rope is judged to be smaller than the mechanical arm action distance, the mechanical arm acts, and a clamping jaw at the front end of the mechanical arm is opened;
10) the mechanical arm moves to a capture point with a preset distance, a mechanical arm paw laser radar carries out close-range measurement and guide, whether a guide rope enters a clamping jaw or not is judged according to a mechanical arm finger sensor, and if the guide rope enters the clamping jaw, the mechanical arm clamping jaw is closed to capture the guide rope;
11) if the capture is not successful, the mechanical arm repeats the attempt again;
12) if the catching is judged to be successful, the caught guide rope is sent to the side column gap of the intelligent pulley;
13) stopping the laser radar;
14) the side column notch sensor induces the guide rope to pass through the side column notch;
15) the mechanical arm pulls the guide rope to a pulley groove corresponding to the pulley in the intelligent pulley, and the clamping jaw is loosened;
16) the finger sensor senses that the guide rope is separated;
17) the limiting stopper rotates to a working position;
18) clamping a mechanical arm clamping jaw;
19) the mechanical arm is withdrawn and falls to be reset, and the mechanical arm reset travel switch is triggered to send a reset signal to the controller;
20) the side column notch sensor cannot sense that the guide rope passes through the side column notch, the mechanical arm repeatedly tries for three times, then the system enters a standby state, a fault alarm signal is sent out, and a fault alarm signal red LED warning lamp group on the intelligent pulley flickers until a fault is eliminated;
21) after the guide rope successfully enters the intelligent pulley, the blue LED warning lamp group on the intelligent pulley flickers for 30 seconds;
22) after the mechanical arm returns to the original position, the electric control lock on the intelligent pulley acts to be separated from the hook, the connecting protective cover falls under the action of gravity, and the connecting protective cover locking ratchet wheel is reliably connected with the locking connecting rod through impact;
meanwhile, the buffer groove on the side column slows down the impact of the connecting protective cover, and the connecting protective cover impacts a buffer groove travel switch to trigger a connection success signal;
23) the blue LED warning lamp group and the red LED warning lamp group on the intelligent pulley alternately flash for 30 seconds to prompt an unmanned aerial vehicle operator that the intelligent pulley is finished, and the unmanned aerial vehicle can continue to perform the operation of unfolding the guide rope;
24) the power supply of the intelligent pulley is closed through the remote controller, and the intelligent pulley is in a standby state;
25) and (4) finishing.
The solar battery charges the intelligent pulley built-in power supply; and after the field work is finished, manually closing the power switch, and detaching the intelligent pulley from the tower.
The disclosure of the present application also includes the following points:
(1) the drawings of the embodiments disclosed herein only relate to the structures related to the embodiments disclosed herein, and other structures can refer to general designs;
(2) in case of conflict, the embodiments and features of the embodiments disclosed in this application can be combined with each other to arrive at new embodiments;
the above embodiments are only embodiments disclosed in the present disclosure, but the scope of the disclosure is not limited thereto, and the scope of the disclosure should be determined by the scope of the claims.
Claims (7)
1. An intelligent pulley is characterized by comprising a hanging frame, an auxiliary mechanism, a limiter and a warning mechanism,
the hanging frame comprises a top plate, a bottom plate and a pair of parallel side columns, the top plate and the bottom plate are arranged up and down, a hanging hole is formed in the middle of the top plate, the pair of side columns are respectively connected between the top plate and the bottom plate, and at least two pulleys are arranged between the pair of side columns; wherein, the upper part of one side column is provided with a gap, and one side of the other side column facing the gap is provided with a side column gap sensor;
the auxiliary mechanism comprises a connecting protective cover, a mechanical arm, a laser radar, a power supply, a controller and a remote controller,
the connecting protective cover is movably connected to one side of the top plate through the locking assembly and is positioned outside the side column with the notch;
the locking assembly comprises an electric control lock and a hook, the electric control lock is arranged on the top plate, one end of the hook is arranged on the connecting protective cover, and the other end of the hook is used for connecting the electric control lock;
the mechanical arm is arranged on the side column with the notch and positioned above the notch, and is used for grabbing the guide rope and pulling the guide rope into the corresponding pulley; the mechanical arm and the connecting protective cover are arranged in a staggered manner;
the laser radar, the power supply and the controller are respectively arranged in the connecting protective cover,
the power supply is used for supplying power to the laser radar, the mechanical arm and the side column notch sensor;
the controller is used for connecting the laser radar, the mechanical arm and the side column notch sensor, and the remote controller is in communication connection with the controller;
the limiting stopper is arranged at the bottom of the top plate and is positioned above the pulley; the limiter comprises a double-shaft motor, two ends of the double-shaft motor are respectively sleeved with an L-shaped limiting rod, the double-shaft motor is connected with a top plate, and the double-shaft motor is connected with a controller;
the warning mechanism comprises a blue LED warning lamp group and a red LED warning lamp group, the blue LED warning lamp group and the red LED warning lamp group are respectively arranged on the top plate, and the blue LED warning lamp group and the red LED warning lamp group are respectively connected with the controller.
2. The intelligent pulley according to claim 1, further comprising a locking device, wherein the locking device comprises a locking pawl and a locking link,
the bottom of the connecting protective cover is provided with a through hole, and the locking pawl is arranged on the connecting protective cover and positioned on one side of the through hole;
the locking connecting rod is connected to the outer side of the bottom of the side column with the notch, the locking connecting rod is movably positioned in the through hole, the outer side of the locking connecting rod extending out of the side column is arc-shaped and is uniformly provided with sawtooth grooves,
the locking pawl is used for connecting the sawtooth groove.
3. The intelligent pulley according to claim 1, further comprising a buffer slot and buffer slot travel switches, wherein the buffer slot is arranged outside the bottom of the side post with the notch, and the buffer slot travel switches are positioned on two sides of the buffer slot.
4. The intelligent pulley according to claim 1, further comprising a mechanical arm homing travel switch disposed outside a bottom of the notched jamb.
5. The intelligent pulley according to claim 1, wherein the mechanical arm comprises a steering engine, and a base, a multi-joint arm and a clamping jaw which are sequentially arranged, the steering engine drives the base, a paw laser radar is arranged at the front end of the multi-joint arm, a pair of fingers of the clamping jaw are respectively provided with a finger sensor,
the steering engine, the paw laser radar and the pair of finger sensors are respectively connected with the controller.
6. The intelligent pulley according to claim 1, further comprising a solar panel disposed outside the side post or coupling protective cover, wherein the solar panel is connected to a power source.
7. An operating method of an intelligent pulley is characterized by comprising the following steps:
1) a constructor installs and hangs the intelligent pulley at a corresponding position on a tower through a hanging hole on an engineering site and starts an intelligent pulley power switch;
2) a constructor pulls the intelligent pulley block limiter to a horizontal standby state;
3) a constructor loosens a locking pawl and a locking connecting rod in the locking device, then upwards opens the connecting protective cover to a horizontal angle, and connects a hook on the connecting protective cover with the electric control lock;
4) when the unmanned aerial vehicle flies to approach the intelligent pulley, the remote controller turns on an intelligent pulley switch to enter a working state;
5) unfolding actions of mechanical arms of the intelligent pulleys;
6) the laser radar of the intelligent pulley starts to work;
7) controlling the unmanned aerial vehicle to fly past the intelligent pulley, so that a guide rope carried on the unmanned aerial vehicle enters the working range of the intelligent pulley laser radar;
8) measuring the space distance between the laser radar and the guide rope, and calculating and determining the space position of the guide rope by the controller according to the data measured by the laser radar;
9) when the space distance between the mechanical arm and the guide rope is judged to be smaller than the mechanical arm action distance, the mechanical arm acts, and a clamping jaw at the front end of the mechanical arm is opened;
10) the mechanical arm moves to a capture point with a preset distance, a mechanical arm paw laser radar carries out close-range measurement and guide, whether a guide rope enters a clamping jaw or not is judged according to a mechanical arm finger sensor, and if the guide rope enters the clamping jaw, the mechanical arm clamping jaw is closed to capture the guide rope;
11) if the capture is not successful, the mechanical arm repeats the attempt again;
12) if the catching is judged to be successful, the caught guide rope is sent to the side column gap of the intelligent pulley;
13) stopping the laser radar;
14) the side column notch sensor induces the guide rope to pass through the side column notch;
15) the mechanical arm pulls the guide rope to a pulley groove corresponding to the pulley in the intelligent pulley, and the clamping jaw is loosened;
16) the finger sensor senses that the guide rope is separated;
17) the limiting stopper rotates to a working position;
18) clamping a mechanical arm clamping jaw;
19) the mechanical arm is withdrawn and falls to be reset, and the mechanical arm reset travel switch is triggered to send a reset signal to the controller;
20) the side column notch sensor cannot sense that the guide rope passes through the side column notch, the mechanical arm repeatedly tries for three times, then the system enters a standby state, a fault alarm signal is sent out, and a fault alarm signal red LED warning lamp group on the intelligent pulley flickers until a fault is eliminated;
21) after the guide rope successfully enters the intelligent pulley, the blue LED warning lamp group on the intelligent pulley flickers for 30 seconds;
22) after the mechanical arm returns to the original position, the electric control lock on the intelligent pulley acts to be separated from the hook, the connecting protective cover falls under the action of gravity, and the connecting protective cover locking pawl is reliably connected with the locking connecting rod through impact;
meanwhile, the buffer groove on the side column slows down the impact of the connecting protective cover, and the connecting protective cover impacts a buffer groove travel switch to trigger a connection success signal;
23) the blue LED warning lamp group and the red LED warning lamp group on the intelligent pulley alternately flash for 30 seconds to prompt an unmanned aerial vehicle operator that the intelligent pulley is finished, and the unmanned aerial vehicle can continue to perform the operation of unfolding the guide rope;
24) the power supply of the intelligent pulley is closed through the remote controller, and the intelligent pulley is in a standby state;
25) and (4) finishing.
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| CN112531571B (en) * | 2020-11-24 | 2021-06-11 | 国网江苏省电力有限公司扬州供电分公司 | Electric power rope threading system and working method thereof |
| CN112389653B (en) * | 2020-11-24 | 2022-01-14 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent rope threading device |
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| FR2409617A1 (en) * | 1977-11-18 | 1979-06-15 | Skogsflyg Cassel Aero | Installation of overhead power cable using aircraft - from which cable spool is rotatably suspended, to pay out cable as aircraft files along line of poles |
| CN201149973Y (en) * | 2008-01-31 | 2008-11-12 | 宁波东方电力机具制造有限公司 | Line-discharging tackle for helicopter |
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