CN210122460U - Rope climbing type self-conveying device for heavy objects - Google Patents
Rope climbing type self-conveying device for heavy objects Download PDFInfo
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- CN210122460U CN210122460U CN201920729788.8U CN201920729788U CN210122460U CN 210122460 U CN210122460 U CN 210122460U CN 201920729788 U CN201920729788 U CN 201920729788U CN 210122460 U CN210122460 U CN 210122460U
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- rope
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- climbing
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Abstract
The utility model relates to a rope climbing type heavy object self-conveying device, including frame and rope climbing wheel, servo motor passes through the reduction gear and climbs the rope wheel and links to each other, still include controller and rechargeable battery of fixed connection in the frame, the controller includes power source, voltage stabilizing module, singlechip master controller and the wireless instruction receiving module who links to each other with the singlechip master controller, the drive signal converter, power electric quantity monitoring module, status display and alarm module, power source passes through the power cord and links to each other with rechargeable battery, servo motor's driver passes through the drive signal converter and links to each other with the singlechip master controller, wireless instruction receiving module is used for receiving remote controller's instruction; by adopting the technical scheme, the remote control of the real-time action of the servo motor can be realized through the remote controller, and the operation is flexible; the real-time working condition of the servo motor can be set and monitored through the controller, the action of the servo motor is decided and controlled according to the actual measurement condition, and the operation safety is guaranteed.
Description
Technical Field
The invention relates to the field of power rope climbers, in particular to a rope-climbing type weight self-conveying device.
Background
In the process of high-altitude operation, because the weight of the carried workers is limited, necessary accessories, tools and the like between the high altitude and the ground are not convenient to convey quickly, fatigue operation is easy to occur due to repeated conveying or direct hoisting by using ropes, accidental injury is caused, heavy tools and accessories cannot be carried manually due to weather or geographical conditions, and the construction difficulty is increased; the existing method for completing the operation is still mainly manual operation, particularly, the labor intensity of operators is increased by heavy object conveying between the high altitude and the ground, great potential safety hazards are brought to the operators working high above the ground, and the rope climbing and load carrying device is one of effective methods for solving the problems.
The load rope climbing device in the prior art generally controls the rotation direction of the driving rope climbing wheel through a forward and reverse circuit of the motor, so that the load rope climbing device is controlled to integrally lift and stop, the motor cannot be controlled according to the real-time condition of the servo motor, potential dangers cannot be known and timely treated, and the safety is poor.
Disclosure of Invention
The invention aims to solve the technical problem of making up the defects of the prior art, and provides a climbing rope type weight self-conveying device, which improves the safety of the operation process.
To solve the technical problems, the technical scheme of the invention is as follows: a rope climbing type weight self-conveying device comprises a rack, wherein a rope climbing wheel, a tensioning device and a rope climbing wheel driving device are arranged on the rack, a first rope guide wheel is arranged above the rope climbing wheel, a second rope guide wheel is arranged below the rope climbing wheel, a rope is arranged between the rope climbing wheel and the tensioning device, the rope is wound through the first rope guide wheel, the rope climbing wheel and the second rope guide wheel from top to bottom, and a lifting hook is arranged below the rack; the rope climbing wheel driving device comprises a servo motor and a worm and gear reducer which are fixed on the rack, an output shaft of the servo motor is connected with an input shaft of the worm and gear reducer, and an output shaft of the worm and gear reducer is connected with the rope climbing wheel; the controller comprises a power interface, a voltage stabilizing module, a single chip microcomputer main controller, a wireless instruction receiving module, a driving signal converter, a power supply electric quantity monitoring module and a state display and alarm module, wherein the wireless instruction receiving module, the driving signal converter, the power supply electric quantity monitoring module and the state display and alarm module are connected with the single chip microcomputer main controller; the power interface is connected with the high-energy-density rechargeable battery through a power line; the voltage stabilizing module is used for converting the power supply voltage into a stable voltage required by the controller; the servo motor is connected with the high-energy-density rechargeable battery through a power line, and a driver of the servo motor is connected with the single chip microcomputer main controller through the driving signal converter; the wireless instruction receiving module is used for receiving an instruction of the remote controller and transmitting the received instruction to the single chip microcomputer main controller; the power supply electric quantity monitoring module is used for monitoring the real-time electric quantity and voltage of the high-energy-density rechargeable battery in real time; and the state display and alarm module is used for displaying the working state and the alarm information in real time.
Further, the servo motor is a 24V permanent magnet direct current rare earth motor.
Further, the high energy density rechargeable battery is a 24V lithium battery pack.
Furthermore, an upper limit switch is arranged on the rack and connected with the single chip microcomputer main controller, a highest limit device is arranged at the highest point of operation, and when the rope climbing type heavy object runs to the highest point from the conveying device, the upper limit switch can be in contact with or induct the highest limit device to send an electric signal reaching the upper limit to the single chip microcomputer main controller for controlling the action of the servo motor.
Further, the controller still includes infrared range finding and data acquisition module, and infrared range finding sensor fixed connection is in the frame, infrared range finding sensor links to each other with singlechip master controller, and infrared range finding sensor is used for the height between its and the ground of real-time measurement, and the signal of telecommunication of surveying the height transmits for singlechip master controller for control servo motor's action.
And further, the system also comprises a motor temperature detection system, compares the real-time temperature of the servo motor with a set threshold value, and controls the action of the servo motor according to the comparison result.
Furthermore, the emergency stop device also comprises an emergency stop switch, wherein the emergency stop switch is connected with the single chip microcomputer main controller and used for controlling the emergency stop of the servo motor and guaranteeing the operation safety.
The invention can achieve the following beneficial effects: the remote controller sends a control signal to the controller, so that the remote control of the real-time action of the servo motor can be realized, and the operation is flexible; the real-time working condition of the servo motor can be set and monitored through the controller, the action of the servo motor is decided and controlled according to the actual measurement condition, and the safety of the operation process is guaranteed.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a front view of an embodiment of the present invention;
FIG. 3 is a schematic front view of the internal structure of the embodiment of the present invention;
FIG. 4 is a schematic perspective view of the internal structure of an embodiment of the present invention;
FIG. 5 is a schematic plan view of a frame according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an adjusting pull block according to an embodiment of the present invention;
FIG. 7 is a control schematic of an embodiment of the present invention;
in the figure: 1-a frame, 2-a base band, 3-an adjusting pull block, 301-a guide groove, 302-an adjusting bolt mounting threaded hole, 4-an adjusting bolt, 5-a second tensioning wheel, 6-a lifting hook, 7-a rope, 8-a first rope guiding wheel, 9-a floating block, 10-a first tensioning wheel, 11-a rope climbing wheel, 12-a tensioning adjusting plate, 13-a controller, 14-24V lithium battery pack, 15-24V permanent magnet direct current rare earth motor, 16-a worm gear reducer, 17-an infrared distance measuring sensor, 18-a floating block mounting shaft, 19-a circular arc long hole, 20-an adjusting long hole, 21-a tensioning plate positioning groove, 22-a support plate, 23-a second rope guiding wheel mounting shaft, 24-a lifting hook mounting shaft, 25-a climbing wheel mounting shaft, 26-guide frame, 27-upper limit switch.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
A rope climbing type weight self-conveying device comprises a frame 1, wherein a rope climbing wheel 11, a tensioning device and a rope climbing wheel driving device are arranged on the frame, a first rope guiding wheel 8 is arranged above the rope climbing wheel, a second rope guiding wheel is arranged below the rope climbing wheel, a rope 7 is arranged between the rope climbing wheel 11 and the tensioning device, the rope 7 is wound through the first rope guiding wheel 8, the rope climbing wheel 11 and the second rope guiding wheel from top to bottom, and a lifting hook 6 is arranged below the frame 1; the rope climbing wheel driving device comprises a 24V permanent magnet direct current rare earth motor 15 and a worm gear reducer 16 which are fixed on the frame 1, wherein an output shaft of the 24V permanent magnet direct current rare earth motor 15 is connected with an input shaft of the worm gear reducer 16, and an output shaft of the worm gear reducer 16 is connected with the rope climbing wheel 11.
The frame 1 is further provided with a tensioning device, the tensioning device comprises a first tensioning wheel 10, a second tensioning wheel 5 and a piece base belt 2, the first tensioning wheel 10 and the second tensioning wheel 5 are located between the first rope guiding wheel 8 and the second rope guiding wheel, the center connecting line of the first tensioning wheel 10, the second tensioning wheel 5 and the second rope guiding wheel is not a straight line, the piece base belt 2 is an annular belt and sequentially wraps the first tensioning wheel 10, the second tensioning wheel 5 and the second rope guiding wheel, the piece base belt 2 and the rope climbing wheel 11 can clamp the rope 7, and the piece base belt 2 and the second rope guiding wheel can clamp the rope 7.
The main structure of the frame 1 is composed of two identical sheet frame bodies which are arranged oppositely and connected into a whole through a support plate 22, and the frame 1 is provided with an arc long hole 19, an adjusting long circular hole 20 for installing a second rope guide wheel installation shaft, a tensioning plate positioning groove 21, a floating block installation shaft 18, a second rope guide wheel installation shaft 23, a lifting hook installation shaft 24 and a crawling wheel installation shaft 25; the climbing rope wheel 11 is rotatably installed on the rack through a climbing rope wheel installation shaft 25, the lifting hook 6 is installed on the rack 1 through a lifting hook installation shaft 24, the installation shaft of the first tensioning wheel 10 is installed in the arc long hole 19, the lower end of the floating block 9 is wide, the left half part of the lower end of the floating block 9 is rotatably arranged on the floating block installation shaft 18, the right half part of the lower end of the floating block 9 is provided with the installation shaft of the first tensioning wheel 10, and the floating block 9 and the first tensioning wheel 10 can rotate along the arc long hole 19 along with the installation shaft of the first tensioning wheel 10 within a certain angle range; a first rope guide wheel mounting shaft is arranged at the upper end of the floating block 9, and the first rope guide wheel 8 is mounted at the upper end of the floating block 9 through the first rope guide wheel mounting shaft; the second tensioning wheel mounting shaft is arranged in the adjusting long circular hole 20, and the mounting shaft of the second tensioning wheel 5 can move along the adjusting long circular hole 20; the tension adjusting plate 12 is caught in the tension plate positioning groove 21.
The frame 1 is further provided with an adjusting pull block 3, the adjusting pull block 3 is U-shaped, the opening end of the adjusting pull block 3 is connected with a second tensioning wheel mounting shaft through a bearing, two ends of the adjusting pull block 3 are provided with guide grooves 301, two ends of a tensioning adjusting plate 12 are arranged in the guide grooves 301, the bottom of the adjusting pull block 3 is further provided with an adjusting bolt mounting threaded hole 302, an adjusting bolt 4 is in threaded connection with the adjusting bolt mounting threaded hole 302, the adjusting pull block 3 can be pulled to drive the second tensioning wheel mounting shaft to move in an adjusting long round hole 20 by adjusting the adjusting bolt 4 with the tensioning adjusting plate 12 as a guide, then the adjusting piece base band 2 compresses the force of the rope 7, and the adjusting pull block 3, the adjusting bolt 4, the tensioning adjusting plate 28 and the second tensioning wheel 5 jointly form a tensioning adjusting device of the film base band 2.
The controller 13 and the 24V lithium battery pack 14 are fixedly connected to the rack 1, the controller 13 comprises a power interface, an L7805CV voltage stabilizing module, an STC single-chip microcomputer main controller, an RF wireless instruction receiving module connected with the STC single-chip microcomputer main controller, a driving signal converter, a power supply electric quantity monitoring module and a state display and alarm module, the power interface is connected with the 24V lithium battery pack 14 through a power line, and the voltage stabilizing module is used for converting power supply voltage into stable voltage required by the controller 1; the 24V permanent magnet direct current rare earth servo motor 15 is connected with the 24V lithium battery pack 14 through a power line, a driver of the 24V permanent magnet direct current rare earth servo motor 15 is connected with the STC single chip microcomputer main controller through a driving signal converter, the RF wireless instruction receiving module is used for receiving an instruction of a remote controller and transmitting the received instruction to the STC single chip microcomputer main controller, the remote controller can send a wireless instruction to the RF wireless instruction receiving module within the range of 70 meters, the remote controller is a two-way wireless instruction sending controller and corresponds to a rope threading mode and a normal mode, and the remote wireless instruction is shielded in the rope threading mode; the normal mode remote wireless command can be normally sent and received; the power supply electric quantity monitoring module is used for monitoring the real-time electric quantity and voltage of the high-energy-density rechargeable battery in real time; and the state display and alarm module is used for displaying the working state and alarm information in real time.
The upper end of the floating block 9 is fixedly connected with a guide frame 26, an upper limit switch 27 is arranged on the guide frame 26, the upper limit switch 27 is a proximity switch, the upper limit switch 27 is connected with an STC single chip microcomputer main controller, a highest limit induction sheet is arranged at the highest operation point, when the rope climbing type heavy object runs to the highest point from the conveying device, the upper limit switch 27 can be induced with the highest limit induction sheet, an electric signal reaching the upper limit is sent to the STC single chip microcomputer main controller, and the upper limit switch is used for controlling the action of the 24V permanent magnet direct current rare earth servo motor 15.
The controller 13 further comprises an infrared distance measurement and data acquisition module, an infrared distance measurement sensor 17 is fixedly connected with the lower end of the controller 1, the infrared distance measurement sensor 17 is connected with the STC single-chip microcomputer main controller, the infrared distance measurement sensor 17 is used for measuring the height between the infrared distance measurement sensor and the ground in real time, an electric signal of the measured height is transmitted to the STC single-chip microcomputer main controller, the STC single-chip microcomputer main controller compares the height value with a set threshold value, and when the height value is smaller than the set threshold value, a program starts a downlink prohibition function, so that the operation safety is improved.
The temperature measuring device further comprises a motor temperature detecting system, the real-time temperature of the 24V permanent magnet direct current rare earth servo motor is measured through the platinum thermal resistor PT1000, the measured real-time temperature is compared with a set threshold, the action of the servo motor is controlled according to a comparison result, and the servo motor is prevented from being burnt out due to overheating.
The emergency stop switch is connected with the STC single chip microcomputer main controller and used for controlling the emergency stop of the servo motor and guaranteeing the operation safety.
An intelligent low-voltage early warning mechanism is set in the controller, the power supply voltage is monitored in real time in the working process, when the residual electric quantity of the power supply or the real-time power supply voltage is lower than a low-voltage set threshold value, the low-voltage warning indicator lamp flickers, an uplink instruction is ignored, the servo motor is controlled to reversely rotate, downlink action is forcibly executed, and operation safety is guaranteed.
An overload early warning mechanism is set in the controller, before operation, the controller automatically completes real-time measurement of current load, climbing power and rope friction, when the load weight exceeds a maximum allowable load threshold value, the controller controls the servo motor to be self-locked and carries out overload early warning prompt, and when the load weight is smaller than the maximum allowable load threshold value, the controller controls the servo motor to be self-locked in a contact mode and carries out an uplink command, so that operation safety is guaranteed.
Use of this example:
1) an STC single chip main controller of the controller completes system initialization, and detects power supply voltage, motor temperature and working mode;
2) in the rope threading mode, the controller controls the rope climbing wheel to rotate forwards at a slower speed, and an operator can complete rope threading operation in the mode;
3) detecting the temperature of the motor, the voltage of a power supply and a current position signal in a normal mode;
4) when the remote controller sends an uplink command, the controller firstly detects the current position, if the current position is at the upper limit position, the command is ignored, and the servo motor is controlled to stop rotating; if the current position is lower than the upper limit position, comparing the real-time power supply voltage with the safe voltage value, if the current position is higher than the safe voltage value, controlling the servo motor to rotate forwards and executing an uplink command (note: if the uplink command is currently executed, the command is ignored; if the downlink command is currently executed, the servo motor is controlled to stop rotating for 2s, and then the servo motor is controlled to execute the uplink command); if the real-time power supply voltage value is smaller than the safe voltage value, ignoring the uplink command, controlling the speed reducer to reversely rotate, and forcibly executing downlink action;
5) when the remote controller sends a downlink command, the controller firstly detects the current position, if the height value between the infrared distance measuring sensor and the ground is less than a set threshold value, the command is ignored, and the downlink forbidding function is started by a program; if the downlink command is currently executed, ignoring the command; if the uplink command is currently executed, controlling the servo motor to stop rotating for 2S, and then controlling the servo motor to execute the downlink command;
6) when the remote controller sends a pause command, the controller controls the servo motor to stop rotating.
In addition, when the commands of ascending, descending and stopping are executed, the power supply voltage and the temperature of the servo motor are monitored in real time, and corresponding actions and alarm prompts are executed according to set threshold values.
In the description of the present invention, words such as "inner", "outer", "upper", "lower", "front", "rear", etc., indicating orientations or positional relationships, are used for convenience in describing the present invention, and do not indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The above description is only one embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the spirit of the present invention.
Claims (7)
1. A rope climbing type weight self-conveying device comprises a rack, wherein a rope climbing wheel, a tensioning device and a rope climbing wheel driving device are arranged on the rack, a first rope guide wheel is arranged above the rope climbing wheel, a second rope guide wheel is arranged below the rope climbing wheel, a rope is arranged between the rope climbing wheel and the tensioning device, the rope is wound through the first rope guide wheel, the rope climbing wheel and the second rope guide wheel from top to bottom, and a lifting hook is arranged below the rack; the method is characterized in that: the rope climbing wheel driving device comprises a servo motor and a worm and gear reducer which are fixed on the rack, an output shaft of the servo motor is connected with an input shaft of the worm and gear reducer, and an output shaft of the worm and gear reducer is connected with the rope climbing wheel; the controller comprises a power interface, a voltage stabilizing module, a single chip microcomputer main controller, a wireless instruction receiving module, a driving signal converter, a power supply electric quantity monitoring module and a state display and alarm module, wherein the wireless instruction receiving module, the driving signal converter, the power supply electric quantity monitoring module and the state display and alarm module are connected with the single chip microcomputer main controller; the power interface is connected with the high-energy-density rechargeable battery through a power line; the voltage stabilizing module is used for converting the power supply voltage into a stable voltage required by the controller; the servo motor is connected with the high-energy-density rechargeable battery through a power line, and a driver of the servo motor is connected with the single chip microcomputer main controller through the driving signal converter; the wireless instruction receiving module is used for receiving an instruction of the remote controller and transmitting the received instruction to the single chip microcomputer main controller; the power supply electric quantity monitoring module is used for monitoring the real-time electric quantity and voltage of the high-energy-density rechargeable battery in real time; and the state display and alarm module is used for displaying the working state and the alarm information in real time.
2. The self-advancing apparatus of a climbing rope type weight according to claim 1, wherein: the servo motor is a 24V permanent magnet direct current rare earth motor.
3. The self-advancing apparatus of a climbing rope type weight according to claim 1, wherein: the high-energy-density rechargeable battery is a 24V lithium battery pack.
4. The self-advancing apparatus of a climbing rope type weight according to claim 1, wherein: the upper limit switch is arranged on the rack and connected with the single chip microcomputer main controller, the highest limit device is arranged at the highest point of operation, when the rope climbing type heavy object runs to the highest point from the conveying device, the upper limit switch can be in contact with or inducted by the highest limit device, and an electric signal reaching the upper limit is sent to the single chip microcomputer main controller and used for controlling the action of the servo motor.
5. The self-advancing apparatus of a climbing rope type weight according to claim 1, wherein: the controller still includes infrared range finding and data acquisition module, and infrared range finding sensor fixed connection is in the frame, infrared range finding sensor links to each other with the singlechip master controller, and infrared range finding sensor is used for the height between its and the ground of real-time measurement, and the signal of telecommunication transmission of height of surveying gives singlechip master controller for control servo motor's action.
6. The self-advancing apparatus of a climbing rope type weight according to claim 1, wherein: the servo motor temperature control system is characterized by further comprising a motor temperature detection system, the real-time temperature of the servo motor is compared with a set threshold value, and the action of the servo motor is controlled according to a comparison result.
7. The self-advancing apparatus of a climbing rope type weight according to claim 1, wherein: the emergency stop switch is connected with the single chip microcomputer main controller and used for controlling the emergency stop of the servo motor and guaranteeing the operation safety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920729788.8U CN210122460U (en) | 2019-05-21 | 2019-05-21 | Rope climbing type self-conveying device for heavy objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920729788.8U CN210122460U (en) | 2019-05-21 | 2019-05-21 | Rope climbing type self-conveying device for heavy objects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210122460U true CN210122460U (en) | 2020-03-03 |
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ID=69632777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920729788.8U Expired - Fee Related CN210122460U (en) | 2019-05-21 | 2019-05-21 | Rope climbing type self-conveying device for heavy objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210122460U (en) |
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2019
- 2019-05-21 CN CN201920729788.8U patent/CN210122460U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210720 Address after: 010000 Jinchuan Development Zone, Hohhot, the Inner Mongolia Autonomous Region Patentee after: INNER MONGOLIA EHV POWER SUPPLY BUREAU, INNER MONGOLIA POWER (Group) Co.,Ltd. Address before: 014030 Finance Plaza, Huanghe street, rare earth hi tech Zone, Baotou City, Inner Mongolia Autonomous Region Patentee before: INNER MONGOLIA GUOLING TECHNOLOGY CO.,LTD. Patentee before: INNER MONGOLIA EHV POWER SUPPLY BUREAU, INNER MONGOLIA POWER (Group) Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200303 |