CN113860216A - Distribution lines broken pole salvagees hoisting accessory based on image recognition - Google Patents
Distribution lines broken pole salvagees hoisting accessory based on image recognition Download PDFInfo
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- CN113860216A CN113860216A CN202111026635.5A CN202111026635A CN113860216A CN 113860216 A CN113860216 A CN 113860216A CN 202111026635 A CN202111026635 A CN 202111026635A CN 113860216 A CN113860216 A CN 113860216A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
- B66F7/18—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by a single central jack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The utility model provides a distribution lines broken pole salvagees hoisting accessory based on image recognition, when salvageing distribution lines broken pole, can pass through image recognition technology, dynamic adjustment hoisting accessory's the angle of lifting by crane, make hoisting accessory can self-adaptation broken pole position and angle, this hoisting accessory has combined the initiative, passive dual mode, realized accurate and accurate snatching and lifting to broken pole, can guarantee going on smoothly of broken pole salvageing progress, can solve the outer broken potential safety hazard of salvageing of distribution lines pole, improve personnel's personal safety greatly.
Description
Technical Field
The invention relates to the technical field of circuit maintenance, in particular to a distribution line broken rod emergency repair hoisting device based on image recognition.
Background
Distribution lines broken rod salvagees, is the fault repair situation that power supply enterprise often run into, and high-efficient, safe distribution lines broken rod salvagees the property safety of relation to people and the self development of enterprise, for this reason, has appeared having set up relevant hoisting accessory to the salvageing of distribution lines broken rod among the prior art. For example, patent document 1 discloses a lifting device for rush repair of a broken rod of an electric line and an installation method thereof, the lifting device comprises a movable vehicle body, a scissor mechanism arranged on the vehicle body, and a lifting device which is detachably connected with the scissor mechanism through an electromagnetic structure and can lift the broken rod, when the broken rod needs to be lifted, the vehicle body is moved to the broken rod, then the lifting device is lifted to a certain height through the lifting of the scissor mechanism, then the broken rod is grabbed, finally the lifting device is connected to the lifting device through a sling, finally the lifting device is separated from the scissor mechanism, so that the installation of the lifting device is realized, but in an actual application environment, the broken rod is inclined to a certain angle and is fragile, the breakage of the broken rod can be further aggravated after external force is applied, and the lifting device in the patent document 1 does not consider the above problems, the above-mentioned problem is not considered when the broken rod is established to the card to the equipment of lifting by crane wherein, when lifting by crane equipment and broken rod contact, probably can be because the equipment of lifting by crane is suddenly to the centre gripping of broken rod, and make the broken rod thoroughly break off for the condition is more complicated, and furtherly, the automobile body is at the removal of horizontal direction and the movement of scissors fork mechanism at the vertically, can not guarantee the broken rod of alignment that equipment of lifting by crane can be accurate, even aligned the broken rod, the clamping angle and the broken rod that probably lift by crane equipment do not correspond, further worsen the broken rod situation.
[ patent document 1] CN 110950269A.
In summary, in the prior art, the lifting device cannot reach an accurate broken rod position, the specific lifting position of the broken rod cannot be considered, the lifting device for the broken rod with different inclination angles and different inclination directions cannot be considered, and the influence of the deviation of the clamping angle between the lifting device and the broken rod on the broken rod cannot be considered, so that the application provides the distribution line broken rod emergency repair lifting device based on image recognition, the positioning and the adjustment of the lifting position of the broken rod to be lifted are realized by using an image recognition mode, the clamping height of each clamping device can be adaptively adjusted by the lifting device according to the inclination angles of different broken rods, and therefore, a pair of clamping devices for clamping the broken rod of the lifting device can synchronously clamp the broken rod when clamping the broken rod, and before the lifting is ensured, the minimum force borne by the broken rod is ensured to the maximum extent, so that the safety of rush repair and hoisting of the broken rod is ensured.
Disclosure of Invention
In order to overcome the defects of the conventional broken rod emergency repair hoisting device for the distribution line, the invention provides a technical scheme, the broken rod emergency repair hoisting device for the distribution line based on image recognition comprises a base, a driving wheel, a lifting device, a lifting platform and a hoisting fixture, wherein the driving wheel is positioned at the lower end of the base and is used for driving the base to move towards the left and right directions and the front and back directions, the lifting device is positioned above the base, the lifting platform is fixedly arranged at the upper end of the lifting device, the lifting platform is connected with the hoisting fixture through a detachable structure, the hoisting fixture comprises a hoisting disk, a flexible adjusting disk, a rotating ring and a clamping device, the flexible adjusting disk is fixedly arranged at the upper end of the hoisting disk, the rotating ring is arranged around the flexible adjusting disk and can rotate on the hoisting disk, the clamping device is fixedly arranged on the rotating ring, the flexible adjusting disk comprises a middle hollow shaft and a plurality of sector disks, and a camera is arranged at the upper end of the middle hollow shaft, each sector disc inboard all is provided with the rectangle opening, is provided with the location in the rectangle opening and presss from both sides, and after the disconnected pole was shot to the camera, the drive base removed to make middle hollow shaft be located the below of disconnected pole, lift by crane when anchor clamps rise, disconnected pole extrusion flexible adjustment dish's sector disc, the rotatory ring rotation of adjustment makes clamping device also be located disconnected pole below, and the height of clamping device can be adjusted to the fluid in the sector disc simultaneously, makes clamping device can suit with the disconnected pole of slope.
Preferably, the intermediate hollow shaft is located right below the breaking rod through remote control.
Preferably, the clamping devices are provided with a pair of clamping devices which are arranged in opposite directions, an angle sensor is further arranged on the middle hollow shaft and used for measuring an included angle beta between the broken rod and the horizontal plane, and finally, the height difference delta h which is finally required to be adjusted of the two clamping devices is calculated, wherein l is the distance between the two clamping devices.
Preferably, the rigid top plate of the flexible adjusting disk is rotatably arranged on the middle hollow shaft through one hinge shaft, the flexible adjusting disk further comprises a fluid arranged in a closed space formed by the rigid top plate, the elastic shell and the rigid bottom plate, the positioning clamp comprises a rotating shaft fixedly arranged on the hanging scaffold, and a left clamping plate and a right clamping plate which are arranged around the rotating shaft, the left clamping plate and the right clamping plate are arranged in a crossed manner in a scissor-fork manner, a return spring is arranged between the left clamping plate and the right clamping plate, the upper ends of the left clamping plate and the right clamping plate are flush with the upper end of the rigid top plate, the distance from the upper ends of the left clamping plate and the right clamping plate to the rotating shaft is larger than the distance from the lower ends of the left clamping plate and the right clamping plate to the rotating shaft, in an initial state, the distance between the upper ends of the left clamping plate and the right clamping plate is adaptive to the rectangular opening, the rotating shaft is provided with an angle sensor, when the angle change is detected, for example, the angle of the left clamping plate and the right clamping plate is increased, a control signal can be issued.
Preferably, the rotating ring is provided with a driving motor, and the driving motor is started after receiving the control signal to drive the rotating ring to rotate, so that the two clamping devices move to the position of the positioning clamp where action occurs, and finally the positioning clamp and the two clamping devices are located on the same straight line.
Preferably, clamping device includes hydraulic telescoping rod and grip ring, and hydraulic telescoping rod's no pole chamber passes through oil pipe with the sector disc and links to each other to when disconnected pole extrusion sector disc, the fluid in the sector disc can flow into hydraulic telescoping rod, thereby can adjust the length of hydraulic telescoping rod, thereby can adjust clamping device's height.
Preferably, the hydraulic telescopic rod comprises a left hydraulic telescopic rod and a right hydraulic telescopic rod, the sector disc comprises a sector disc I, a sector disc II, a sector disc III, a sector disc IV, a sector disc V and a sector disc VI, the sector disc I, the sector disc II and the sector disc III form a semicircle, and the right hydraulic telescopic rod is arranged at the same side of the semicircle; the right hydraulic telescopic rod only rotates in the range of the semicircle consisting of the first fan disc, the second fan disc and the third fan disc, the left hydraulic telescopic rod only rotates in the range of the other semicircle consisting of the fourth fan disc, the second fan disc and the third fan disc, the first fan disc, the second fan disc and the third fan disc are respectively connected with the rodless cavity of the left hydraulic telescopic rod, and the fourth fan disc, the fifth fan disc and the sixth fan disc are respectively connected with the rodless cavity of the right hydraulic telescopic rod.
Preferably, the rodless cavity of the left hydraulic telescopic rod is connected with a third oil pipe, the rodless cavity of the right hydraulic telescopic rod is connected with a second oil pipe, the third oil pipe is connected with the second oil pipe, the third oil pipe is connected with a fluid infusion pump through the first oil pipe, the first oil pipe is provided with a first stop valve, the second oil pipe is provided with a second stop valve, and the third oil pipe is provided with a third stop valve.
Preferably, the central hollow shaft is a telescopic sleeve structure, and after the angle sensor detects the inclination angle β and calculates the height difference Δ h, the controller calculates the amount of fluid required for adjusting the height difference, and then adjusts the height of the central hollow shaft, so as to adjust the amount of fluid in the sector disc.
Preferably, the grip ring includes left centre gripping ring body and right centre gripping ring body, and left centre gripping ring body and right centre gripping ring body pass through two articulated shafts and rotate to set up on hydraulic telescoping rod, and still including driving left centre gripping ring body pivoted left actuating lever one, drive right centre gripping ring body pivoted right actuating lever two.
Preferably, when the lifting fixture continuously goes up and down, after the middle hollow shaft touches the broken rod, the lifting of the lifting device is stopped, at the moment, the distance from the clamping rings of the two clamping devices to the broken rod is the same, then, the left driving rod I and the right driving rod are started to act, the left clamping ring body and the right clamping ring body are driven to be opened, then the stop valve between the hydraulic telescopic rod and the fan-shaped disc is closed, the stop valve I is opened, the stop valve II and the stop valve III are opened, then the liquid supplementing pump is started to drive the left hydraulic telescopic rod and the right hydraulic telescopic rod to be synchronously lifted, so that the clamping of the broken rod by the clamping rings is realized, when the broken rod is touched by the bottom of the clamping rings, the liquid supplementing pump is stopped, then the left driving rod I and the right driving rod are driven to act, the left clamping ring body and the right clamping ring body are driven to be closed, and the clamping of the broken rod is completed.
Preferably, the hanging scaffold is further provided with two lifting lugs, and the lifting lugs are provided with lifting ropes.
Preferably, the detachable structure that the lifting platform is connected with the lifting fixture is specifically in an electromagnet structure mode, the electromagnet structure is controlled by closing of the clamping ring, after the clamping ring is completely closed to clamp the broken rod, the electromagnet is controlled to be powered off, the lifting fixture is separated from the lifting platform, and at the moment, the sling 48 is lifted, so that the lifting of the broken rod is realized.
Preferably, a touch switch is arranged at the bottom of the clamping ring, and the clamping ring is closed when the broken rod touches the switch.
Preferably, the lifting device is in a structure of a scissor fork structure, a hydraulic telescopic rod structure or a threaded telescopic rod structure
The invention has the beneficial effects that:
1) the distribution line broken rod emergency repair hoisting device based on image recognition uses an image recognition technology to enable the hoisting device to accurately reach the position right below a broken rod of a distribution line, so that accurate coordination can be performed when the distribution line is hoisted, meanwhile, a flexible adjusting disc is further arranged on the hoisting device, the flexible adjusting disc can be automatically adjusted according to any inclination angle of the broken rod, the connecting direction of the two clamping devices is enabled to be parallel to the broken rod of the distribution line, the broken rod can be accurately matched for clamping, the broken rod can be guaranteed to be subjected to the minimum external force effect before hoisting, the situation that the broken rod is degraded before the hoisting and clamping are performed on the broken rod by the hoisting device is guaranteed, and the situation that the broken rod is broken and falls off when the broken rod is not hoisted in a clamping mode is prevented;
2) furthermore, the clamping device adjusting device can adjust the rotation angle of the clamping device and can also automatically adjust the relative height of the two clamping devices, so that the two clamping devices can adapt to broken rods with different inclination angles, the distances from the two clamping devices to the broken rods are the same, the two clamping devices are ensured to be synchronously clamped when clamping the broken rods, and the occurrence probability of deteriorated broken rods can be further reduced;
3) furthermore, the flexible adjusting disc is formed by surrounding a plurality of independent sector discs, the structure of the independent sector discs enables the flexible adjusting disc to adapt to broken rods with different inclination angles, the movement of a vehicle body is simplified without rotating and adjusting the vehicle body, and meanwhile, the sector discs are also internally provided with positioning clamps which can extend out of the sector discs to clamp and fix the broken rods when the broken rods are pressed to the sector discs.
4) Furthermore, the action between the flexible adjusting disk and the clamping device is linked, the clamping device is arranged on the rotating ring, so that the lifting device is lifted, when a rigid top plate on a fan-shaped disk in the flexible adjusting disk 8 rotates due to the extrusion of a broken rod, the rigid top plate corresponds to the action of a positioning clamp arranged in a rectangular opening in the fan-shaped disk, so that the broken rod is clamped, meanwhile, a sensor structure arranged in the positioning clamp enables the rotating ring to rotate, and the clamping device is rotated to the position coaxial with the positioning clamp, so that the clamping ring can clamp the broken rod;
5) further, the lifting device is continuously lifted, at the moment, the fan-shaped disc of the flexible adjusting disc continuously deforms, fluid in the fan-shaped disc is squeezed into the hydraulic telescopic rod in the other direction, so that the hydraulic telescopic rod in the other direction extends and becomes long, finally, after the broken rod 6 touches the top of the middle hollow shaft 13 in the middle of the flexible adjusting disc, the lifting device stops lifting, at last, the distance from the two hydraulic telescopic rods to the broken rod is the same, at the moment, the clamping ring is just positioned at the lower end of the broken rod and is the same with the distance from the broken rod, then the clamping ring is opened, then the liquid supplementing pump is driven to act to supplement liquid, so that the clamping ring is driven to clamp the broken rod, the clamping ring is driven to close after the clamping ring is in place, and finally the clamping of the broken rod is finished;
6) furthermore, the hoisting fixture disclosed by the invention has the advantages that the broken rod is positioned by using three points of the two clamping rings and the middle hollow shaft, the stability of clamping the broken rod can be greatly improved, the fan-shaped disc is a closed cavity formed by enclosing the rigid top plate, the elastic shell and the rigid bottom plate, and the rigid top plate is hinged to the middle hollow shaft through the hinged shaft, so that when the broken rod is extruded, the rigid top plate can rotate around the hinged shaft, the positioning clamp in the rigid top plate is exposed, and the primary positioning of the broken rod is realized.
Drawings
FIG. 1 is a schematic structural view of a lifting device of the present invention;
FIG. 2 is a top view of the lifting fixture of FIG. 1;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a schematic view of a broken rod clamped by the lifting fixture;
FIG. 5 is a schematic view of a clamp ring structure;
fig. 6 is a hydraulic circuit diagram of a lifting clamp.
Description of the reference symbols
1. A base; 2. a drive wheel; 3. a lifting device; 4. a lifting platform; 5. hoisting the clamp; 6. breaking the rod; 7. a hanging scaffold; 8. a flexible adjustment disc; 9. a rotating ring; 10. a clamping device; 11. a hydraulic telescopic rod; 12. a clamp ring; 13. a middle hollow shaft; 14. a sector disc; 15. a rectangular opening; 16. positioning clips; 17. a rigid top plate; 18. a rigid chassis; 19. an elastic housing; 20. a fluid; 21. a left clamping plate; 22. a right clamping plate; 23. a rotating shaft; 24. a return spring; 25. a camera; 26. a first hinge shaft; 27. a left clamping ring body; 28. a right clamping ring body; 29. a second hinge shaft; 30. a first left driving rod; 31. a second right driving rod; 32. a left hydraulic telescopic rod; 33. a right hydraulic telescopic rod; 34. a first sector disc; 35. a second sector disc; 36. a third sector disc; 37. a fourth sector disc; 38. a fifth sector disc; 39. a fan-shaped disc six; 40. a liquid supplementing pump; 41. an oil pipe I; 42. an oil pipe II; 43. an oil pipe III; 44. a first stop valve; 45. a second stop valve; 46. a third stop valve; 47. lifting lugs; 48. a sling.
Detailed Description
The present invention is further illustrated by the following examples, which are not intended to be limiting in any way, and any modifications or alterations based on the teachings of the present invention are intended to fall within the scope of the present invention.
As shown in figures 1-4, a distribution line broken rod emergency repair hoisting device based on image recognition comprises a base 1, a driving wheel 2, a lifting device 3, a lifting platform 4 and a hoisting clamp 5, wherein the driving wheel 2 is positioned at the lower end of the base 1 and is used for driving the base 1 to move towards the left, the right and the front and back directions, the lifting device 3 is positioned above the base 1, the lifting platform 4 is fixedly arranged at the upper end of the lifting device 3, the lifting clamp 5 is connected to the lifting platform 4 through a detachable structure, the hoisting clamp 5 comprises a hanging disc 7, a flexible adjusting disc 8, a rotating ring 9 and a clamping device 10, the flexible adjusting disc 8 is fixedly arranged at the upper end of the hanging disc 7, the rotating ring 9 is arranged around the flexible adjusting disc 8 and can rotate on the hanging disc 7, the clamping device 10 is fixedly arranged on the rotating ring 9, the flexible adjusting disc 8 comprises a middle hollow shaft 13 and a plurality of sector discs 14, the upper end of the middle hollow shaft 13 is provided with a camera 25, the inner sides of the fan-shaped discs 14 are provided with rectangular openings 15, positioning clamps 16 are arranged in the rectangular openings 15, after the broken rods 6 are shot by the camera 25, the driving base 1 moves, so that the middle hollow shaft 13 is located below the broken rods 6, when the hoisting clamp 5 ascends, the broken rods 6 extrude the fan-shaped discs 14 of the flexible adjusting discs 8, the clamping device 10 is opened, the adjusting rotating ring 9 rotates, the clamping device 10 is also located below the broken rods 6, and meanwhile, the height of the clamping device 10 can be adjusted by fluid 20 in the fan-shaped discs 14, so that the clamping device can be adapted to the inclined broken rods 6.
Preferably, the middle hollow shaft 13 can be located under the broken rod 6 through remote control, for example, real-time shooting is performed through the camera 25, then the shot image is transmitted to the remote monitoring terminal, an operator uses a remote controller to control the driving wheel 2 to move according to the real-time shot image, and finally the base 1 is controlled to move, so that the middle hollow shaft 13 is located under the broken rod 6;
preferably, a pair of clamping devices 10 is provided, the pair of clamping devices 10 are arranged in opposite directions, an angle sensor is further provided on the intermediate hollow shaft 13, and the angle sensor is used for measuring an included angle β between the broken rod 6 and a horizontal plane, or calculating an included angle between the broken rod 6 and a vertical rod, then calculating β, and after calculating β, calculating a height difference Δ h ═ l × tan β, l between the two clamping devices 10, which finally needs to be adjusted.
Preferably, the rigid top plate 17 of the flexible adjusting disk 8 is rotatably disposed on the intermediate hollow shaft 13 through a first hinge shaft 26, the flexible adjusting disk 8 further comprises a fluid 20 disposed in the enclosed space formed by the rigid top plate 17, the elastic housing 19 and the rigid bottom plate 18, the positioning clip 16 comprises a rotating shaft 23 fixedly disposed on the hanging disk 7, a left clamping plate 21 and a right clamping plate 22 disposed around the rotating shaft 23, the left clamping plate 21 and the right clamping plate 22 are arranged in a crossed manner in a scissor manner, a return spring 24 is disposed between the left clamping plate 21 and the right clamping plate 22, the upper ends of the left clamping plate 21 and the right clamping plate 22 are flush with the upper end of the rigid top plate 17, the distance from the upper ends of the left clamping plate 21 and the right clamping plate 22 to the rotating shaft 23 is greater than the distance from the lower ends of the left clamping plate 21 and the right clamping plate 22 to the rotating shaft 23, and the distance between the upper ends of the left clamping plate 21 and the right clamping plate 22 in an initial state is adapted to the rectangular opening 15, the rotating shaft 23 is provided with an angle sensor which can send out a control signal when detecting that the angle changes, such as the angle of the left clamping plate and the angle of the right clamping plate are increased.
Preferably, the rotating ring 9 is provided with a driving motor, which is started after receiving the control signal to drive the rotating ring 9 to rotate, so that the two clamping devices move to the position of the actuated positioning clamp 16, and finally the positioning clamp 16 and the two clamping devices 10 are located on the same straight line.
Preferably, the clamping device 10 comprises a hydraulic telescopic rod 11 and a clamping ring 12, and a rodless cavity of the hydraulic telescopic rod 11 is connected with the sector disc 14 through an oil pipe, so that when the broken rod extrudes the sector disc 14, fluid in the sector disc 14 can flow into the hydraulic telescopic rod, and therefore the length of the hydraulic telescopic rod 11 can be adjusted, and therefore the height of the clamping device 10 can be adjusted.
Preferably, as shown in fig. 2 and 6, the hydraulic telescopic rod 11 comprises a left hydraulic telescopic rod 32 and a right hydraulic telescopic rod 33, the sector plate 14 comprises a first sector plate 34, a second sector plate 35, a third sector plate 36, a fourth sector plate 37, a fifth sector plate 38 and a sixth sector plate 39, the first sector plate 34, the second sector plate 35 and the third sector plate 36 form a semicircle, and the right hydraulic telescopic rod 33 is on the same side as the semicircle; the four fan-shaped discs 37, the five fan-shaped discs 38 and the six fan-shaped discs 39 form another semicircle, the left hydraulic telescopic rod 32 is at the same side of the other semicircle, the right hydraulic telescopic rod 33 only rotates in the range of the semicircle formed by the first fan-shaped disc 34, the second fan-shaped disc 35 and the third fan-shaped disc 36, the left hydraulic telescopic rod 32 only rotates in the range of the other semicircle formed by the fourth fan-shaped disc 37, the fifth fan-shaped disc 38 and the six fan-shaped disc 39, the first fan-shaped disc 34, the second fan-shaped disc 35 and the third fan-shaped disc 36 are respectively connected with the rodless cavity of the left hydraulic telescopic rod 32, and the fourth fan-shaped disc 37, the fifth fan-shaped disc 38 and the sixth fan-shaped disc 39 are respectively connected with the rodless cavity of the right hydraulic telescopic rod 33.
Preferably, as shown in fig. 6, the rodless cavity of the left hydraulic telescopic rod 32 is connected with a third oil pipe 43, the rodless cavity of the right hydraulic telescopic rod 33 is connected with a second oil pipe 42, the third oil pipe 43 is connected with the second oil pipe 42, and both the first oil pipe 41 and the second oil pipe 42 are connected with a fluid infusion pump 40 through a first oil pipe 41, the first oil pipe 41 is provided with a first stop valve 44, the second oil pipe 42 is provided with a second stop valve 45, and the third oil pipe 43 is provided with a third stop valve 46.
Preferably, the hollow central shaft 13 is a retractable sleeve structure, and after the angle sensor detects the inclination angle β and calculates the height difference Δ h, the controller calculates the amount of fluid 20 required to adjust the height difference, and then adjusts the height of the hollow central shaft 13, thereby adjusting the amount of fluid 20 in the sector plate 14. The height of the telescopic sleeve structure can be completely adjusted by an electric telescopic rod.
Preferably, the initial height of the clamping device 10 is such that the rotating ring 9 does not collide with the break bar 6 when the adjusting clamping device is rotated to the lower end of the break bar 6.
As shown in fig. 5, the clamping ring 12 includes a left clamping ring body 27 and a right clamping ring body 28, the left clamping ring body 27 and the right clamping ring body 28 are rotatably disposed on the hydraulic telescopic rod 11 through a second hinge shaft 29, and further includes a first left driving rod capable of driving the left clamping ring body 27 to rotate and a second right driving rod 31 capable of driving the right clamping ring body 28 to rotate.
Preferably, after the lifting fixture 5 is lifted continuously and the intermediate hollow shaft 13 touches the breaking bar 6, the lifting device 3 is stopped, and at this time, the distance from the clamping ring 12 of the two clamping devices 10 to the breaking bar 6 is the same, then, the first left driving rod 30 and the right driving rod 31 are started to act to drive the left clamping ring body 27 and the right clamping ring body 28 to open, then the stop valve between the hydraulic telescopic rod and the sector disc is closed, the first stop valve 44, the second stop valve 45 and the third stop valve 46 are opened, then the liquid supplementing pump 40 is started to drive the left hydraulic telescopic rod and the right hydraulic telescopic rod to be synchronously lifted, so that the clamping of the clamping ring 12 on the broken rod 6 is realized, when the bottom of the clamping ring 12 touches the broken rod 6, the liquid supplementing of the liquid supplementing pump 40 is stopped, then, the first left driving rod 30 and the right driving rod 31 are driven to close the left clamping ring body 27 and the right clamping ring body 28, and the broken rod 6 is clamped.
Preferably, as shown in fig. 1, two lifting lugs 47 are further provided on the hanging scaffold 7, and a suspension cable 48 is provided on the lifting lug 47.
Preferably, the detachable structure of the lifting platform 4 connected to the lifting fixture 5 may be specifically an electromagnet structure manner as in patent document 1, and the electromagnet structure may be controlled by closing the clamping ring 12, for example, after the clamping ring 12 is completely closed to clamp the breaking rod 6, the electromagnet is controlled to be powered off, the lifting fixture 5 is separated from the lifting platform 4, and at this time, the sling 48 is lifted, so as to lift the breaking rod.
Preferably, a touch switch is arranged at the bottom of the clamping ring, and the clamping ring is closed when the broken rod touches the switch.
Preferably, the structure of the lifting device 3 may be a scissor structure, a hydraulic telescopic rod structure, a threaded telescopic rod structure, or the like.
The working principle of the distribution line broken rod emergency repair hoisting device based on image recognition is as follows: when the broken rod needs to be salvageed and lifted, the driving wheel is controlled to walk to the position near the broken rod, then the camera 25 is opened, a real-time image is shot, then the image is transmitted to the remote monitoring terminal to be displayed, an operator controls the driving wheel 2 to move by using a remote controller according to the real-time shot image, finally the base 1 is controlled to move, finally the middle hollow shaft 13 is positioned under the broken rod 6, then the broken rod inclination angle beta is obtained by shooting through an angle sensor or the camera, then the height difference delta h which needs to be adjusted finally of the two clamping devices 10 is calculated, the l is the distance between the two clamping devices 10, the height of the middle hollow shaft 13 is calculated according to the amount of the fluid 20 which needs to be adjusted by the height difference delta h, then the lifting device 3 is driven to rise, when one fan-shaped disc of the flexible adjusting disc 8 is extruded and deformed, the positioning clamp 16 which is exposed out of the inner part is opened, a control signal is sent, then the rotating ring 9 is rotated, the axes of the two clamping devices 10 are parallel to the axis of the breaking rod 6, then the lifting device 3 is continuously lifted, the breaking rod 6 continuously extrudes the sector disc, then the fluid in the sector disc is extruded into the hydraulic telescopic rod, so that the hydraulic telescopic rod at the end far away from the breaking rod is driven to extend, the breaking rod touches the middle hollow shaft 13, the action of the lifting device 3 is stopped, at the moment, the distance from the two clamping rings to the breaking rod is the same, then the clamping rings are opened, the two clamping rings are synchronously lifted through the first oil pipe, the second oil pipe and the third oil pipe by the fluid supplementing pump 40, when the breaking rod touches the bottom of the clamping rings, the fluid supplementing pump is stopped to supply oil, then the clamping rings are driven to be closed, the clamping of the breaking rod is finally completed, then the lifting clamp is separated from the lifting platform, the broken rod is lifted by the sling 48.
To sum up, the distribution lines broken pole salvagees hoisting accessory based on image recognition of this application, when salvageing the broken pole of distribution lines, can pass through image recognition technology, dynamic adjustment hoisting accessory's the angle of lifting by crane for hoisting accessory can self-adaptation broken pole's position and angle, this hoisting accessory has combined initiative, passive dual mode, realized snatching and lifting the accurate and accurate of broken pole, can guarantee going on smoothly of broken pole salvageing progress, can solve the outer broken potential safety hazard of salvageing of distribution lines pole, improve personnel's personal safety greatly.
Claims (10)
1. The utility model provides a distribution lines broken pole salvagees hoisting accessory based on image recognition, it includes base (1), drive wheel (2), elevating gear (3), lift platform (4) and lift by crane anchor clamps (5), drive wheel (2) are located base (1) lower extreme for drive base (1) is about towards and the fore-and-aft direction removes, elevating gear (3) are located base (1) top, lift platform (4) are fixed to be set up in elevating gear (3) upper end, lift by crane anchor clamps (5) through detachable construction connection on lift platform (4), its characterized in that: the hoisting fixture (5) comprises a hanging scaffold (7), a flexible adjusting disc (8), a rotating ring (9) and a clamping device (10), wherein the flexible adjusting disc (8) is fixedly arranged at the upper end of the hanging scaffold (7), the rotating ring (9) is arranged around the flexible adjusting disc (8) and can rotate on the hanging scaffold (7), the clamping device (10) is fixedly arranged on the rotating ring (9), the flexible adjusting disc (8) comprises a middle hollow shaft (13) and a plurality of fan-shaped discs (14), a camera (25) is arranged at the upper end of the middle hollow shaft (13), rectangular openings (15) are formed in the inner sides of the fan-shaped discs (14), positioning clamps (16) are arranged in the rectangular openings (15), after the broken rods (6) are shot by the camera (25), the base (1) is driven to move, so that the middle hollow shaft (13) is positioned below the broken rods (6), and when the hoisting fixture (5) is lifted, the broken rod (6) extrudes the sector disc (14) of the flexible adjusting disc (8), the rotating ring (9) is adjusted to rotate, so that the clamping device (10) is also positioned below the broken rod (6), and meanwhile, the fluid (20) in the sector disc (14) can adjust the height of the clamping device (10), so that the clamping device (10) can adapt to the inclined broken rod (6).
2. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 1, characterized in that: the middle hollow shaft (13) is positioned right below the broken rod (6) through remote control.
3. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 2, characterized in that: the clamping devices (10) are provided with a pair of clamping devices (10) which are arranged oppositely, an angle sensor is further arranged on the middle hollow shaft (13) and used for measuring an included angle beta between the broken rod (6) and the horizontal plane, and finally, the height difference delta h which is finally required to be adjusted of the two clamping devices (10) is calculated to be l multiplied by tan beta, wherein l is the distance between the two clamping devices (10).
4. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 3, wherein: the rigid top plate (17) of the flexible adjusting disc (8) is rotatably arranged on the middle hollow shaft (13) through a first hinge shaft (26), the flexible adjusting disc (8) further comprises a fluid (20) arranged in a closed space formed by the rigid top plate (17), an elastic shell (19) and a rigid bottom plate (18), the positioning clamp (16) comprises a rotating shaft (23) fixedly arranged on the hanging disc (7), a left clamping plate (21) and a right clamping plate (22) are arranged around the rotating shaft (23), the left clamping plate (21) and the right clamping plate (22) are arranged in a cross mode in a shearing fork mode, a return spring (24) is arranged between the left clamping plate (21) and the right clamping plate (22), the upper ends of the left clamping plate (21) and the right clamping plate (22) are flush with the upper end of the rigid top plate (17), and the distance from the upper ends of the left clamping plate (21) and the right clamping plate (22) to the rotating shaft (23) is larger than the distance from the lower ends of the left clamping plate (21) and the right clamping plate (22) to the rotating shaft (23) And when the angle sensor is in an initial state, the distance between the upper ends of the left clamping plate (21) and the right clamping plate (22) is matched with the rectangular opening (15), the rotating shaft (23) is provided with an angle sensor, and when the angle sensor detects that the angle changes, such as the angle of the left clamping plate and the angle of the right clamping plate becomes larger, the angle sensor can send a control signal.
5. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 4, wherein: the rotating ring (9) is provided with a driving motor, and the driving motor is started after receiving the control signal to drive the rotating ring (9) to rotate, so that the two clamping devices move to the position of the positioning clamp (16) which acts, and finally the positioning clamp (16) and the two clamping devices (10) are positioned on the same straight line.
6. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 5, wherein: the clamping device (10) comprises a hydraulic telescopic rod (11) and a clamping ring (12), a rodless cavity of the hydraulic telescopic rod (11) is connected with the sector disc (14) through an oil pipe, so that when the sector disc (14) is extruded by a broken rod, fluid in the sector disc (14) can flow into the hydraulic telescopic rod, the length of the hydraulic telescopic rod (11) can be adjusted, and the height of the clamping device (10) can be adjusted.
7. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 6, wherein: the hydraulic telescopic rod (11) comprises a left hydraulic telescopic rod (32) and a right hydraulic telescopic rod (33), the sector disc (14) comprises a first sector disc (34), a second sector disc (35), a third sector disc (36), a fourth sector disc (37), a fifth sector disc (38) and a sixth sector disc (39), the first sector disc (34), the second sector disc (35) and the third sector disc (36) form a semicircle, and the right hydraulic telescopic rod (33) is arranged on the same side of the semicircle; the four (37) sector plates, the five (38) sector plates and the six (39) sector plates form another semicircle, the left hydraulic telescopic rod (32) is arranged at the same side of the other semicircle, the right hydraulic telescopic rod (33) only rotates in the semicircle range formed by the first sector plate (34), the second sector plate (35) and the third sector plate (36), the left hydraulic telescopic rod (32) only rotates in the other semicircle range formed by the fourth sector plate (37), the fifth sector plate (38) and the six (39) sector plates, the first sector plate (34), the second sector plate (35) and the third sector plate (36) are respectively connected with the rodless cavity of the left hydraulic telescopic rod (32), and the fourth sector plate (37), the fifth sector plate (38) and the sixth sector plate (39) are respectively connected with the rodless cavity of the right hydraulic telescopic rod (33).
8. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 7, wherein: the rodless cavity of the left hydraulic telescopic rod (32) is connected with a third oil pipe (43), the rodless cavity of the right hydraulic telescopic rod (33) is connected with a second oil pipe (42), the third oil pipe (43) is connected with the second oil pipe (42), all the first oil pipe (41) is connected with a liquid supplementing pump (40), the first oil pipe (41) is provided with a first stop valve (44), the second oil pipe (42) is provided with a second stop valve (45), and the third oil pipe (43) is provided with a third stop valve (46).
9. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 8, wherein: the intermediate hollow shaft (13) is of a telescopic sleeve structure, after the angle sensor detects the inclination angle beta and calculates the height difference delta h, the controller calculates the amount of the fluid (20) required for adjusting the height difference, and then the height of the intermediate hollow shaft (13) is adjusted, so that the amount of the fluid (20) in the fan-shaped disc (14) is adjusted.
10. The distribution line broken rod emergency repair hoisting device based on image recognition of claim 1, characterized in that: the clamping ring (12) comprises a left clamping ring body (27) and a right clamping ring body (28), the left clamping ring body (27) and the right clamping ring body (28) are rotatably arranged on the hydraulic telescopic rod (11) through two hinge shafts (29), and the clamping ring further comprises a left driving rod I capable of driving the left clamping ring body (27) to rotate and a right driving rod II (31) capable of driving the right clamping ring body (28) to rotate.
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| CN202111026635.5A CN113860216B (en) | 2021-09-02 | 2021-09-02 | Distribution line broken pole rush repair hoisting accessory based on image recognition |
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| CN202111026635.5A CN113860216B (en) | 2021-09-02 | 2021-09-02 | Distribution line broken pole rush repair hoisting accessory based on image recognition |
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| CN113860216B CN113860216B (en) | 2023-05-23 |
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2021
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| US20110155980A1 (en) * | 2009-12-28 | 2011-06-30 | Kenneth Thurm | Combination scissor lift |
| WO2013149321A1 (en) * | 2012-04-04 | 2013-10-10 | Lifty Technologies, Inc. | Lift device, method and system for manipulating energized overhead electrical lines |
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| CN113860216B (en) | 2023-05-23 |
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