CN113013784B - Anti-falling rail crawling device for 1000kV power transmission line tower - Google Patents
Anti-falling rail crawling device for 1000kV power transmission line tower Download PDFInfo
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- CN113013784B CN113013784B CN202110269612.0A CN202110269612A CN113013784B CN 113013784 B CN113013784 B CN 113013784B CN 202110269612 A CN202110269612 A CN 202110269612A CN 113013784 B CN113013784 B CN 113013784B
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- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
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Abstract
The patent discloses a 1000kV transmission line pole tower anti-falling rail crawling device which comprises a clamping guide mechanism, a travelling mechanism, a pressing mechanism and a control platform; four T-shaped wheels (3) of the clamping and guiding mechanism are arranged on two sides below the lower platform (12), and the inner sides of flanges of the T-shaped wheels (3) are clamped on two sides of wing plates of the anti-falling track (1); the walking mechanism consists of a synchronous belt (10) and a synchronous belt wheel (11), and the two pressing belt wheels (4) of the pressing mechanism are pressed and held in the middle of the lower part of the synchronous belt (10); the control platform is arranged on the ground, and a clamping state display (28) and a pressing state display (27) are arranged on the control platform; a current-limiting protection device is arranged in the controller (20); the advantages are that: the structure is compact, the volume is small, and the weight is light; the installation is convenient and fast; the clamping force and the pressing force are controllable, the electricity is saved, the power utilization rate is high, and the operation is safe and reliable.
Description
Technical Field
The patent relates to a transmission line overhauls instrument, especially relates to a track device of crawling that prevents falling of 1000kV transmission line shaft tower.
Background
With the rapid development of national economy, the electrical load is larger and larger, the voltage grade of the transmission line in China is higher and higher, and more lines for transmitting electric energy by adopting an extra-high voltage line are adopted. The power of the transmitted electric energy of the 1000kV extra-high voltage alternating current transmission line is about 4 to 5 times of that of a 500kV line; the positive and negative 800kV direct-current extra-high voltage transmission capacity is about more than 2 times of that of a positive and negative 500kV line. Meanwhile, along with the improvement of the transmission voltage grade, the transmission distance is lengthened, and the transmission power consumption is reduced.
However, the extra-high voltage transmission line is high in voltage level and high in pole tower height, time and labor are wasted when a user climbs the tower, the work intensity of daily maintenance and overhaul personnel for climbing the tower is high, the work efficiency is low, and potential safety hazards such as electric shock and falling exist.
The anti-falling rail is a T-shaped steel rail arranged along a tower for preventing tower climbing personnel from falling accidentally when the tower is built, the effect of the anti-falling rail is limited to the fact that the tower climbing personnel hang safety ropes at present, and the working strength of operators cannot be reduced. Therefore, the development direction of the robot or the automatic tower climbing device for daily inspection instead of the tower climbing inspection by personnel is in the future. At present, some researches have been carried out on devices or robots for climbing towers instead of people, for example, chinese patent CN201510114030X discloses a climbing robot for transmission line towers, which climbs along falling-proof tracks in a magnetic wheel permanent magnetic adsorption mode, and this mode requires a gear transmission mechanism robot with large self volume and weight, large friction force between the magnetic wheel and the guide rail, large power consumption, large power volume and weight, and high reliability because of easy falling of the robot requiring electromagnetic force to maintain balance. Meanwhile, the section size of the anti-falling track is very small (the width size of a wing plate is only 36 mm, the thickness of the wing plate is less than 10 mm), the pole tower climbing device or the robot needs to carry a power part, a detection instrument, a camera and the like, the weight of the pole tower climbing device or the robot is relatively large, the size and the weight of the pole tower climbing device or the robot are required to be small, the defect needs to be overcome or the climbing path needs to be changed at high altitude in the climbing process of the robot, high altitude installation and clamping need to be facilitated, and the installation convenience and the walking reliability are relatively high. However, currently, due to the size, weight, installation convenience, crawling reliability and the like of the tower climbing robot or the tower climbing device, practical application is not much.
Disclosure of Invention
The invention aims to design a 1000kV transmission line pole tower anti-falling rail crawling device, which realizes automatic tower climbing by utilizing the existing anti-falling rail on a pole tower, has small volume, light weight, convenient clamping and high crawling reliability, and is used for daily inspection and detection of the pole tower, an insulator, a line and the like.
The technical scheme of the invention is as follows: 1000kV transmission line shaft tower prevents track creeping device that falls, characterized by: the lower platform is provided with a clamping guide mechanism, a walking mechanism and a pressing mechanism, the upper platform is provided with a power supply, a controller, wireless communication equipment and a camera head, and the lower platform is connected with the upper platform through an upright post;
the four T-shaped wheels of the clamping and guiding mechanism are arranged on two sides below the lower platform, wheel shafts of the two T-shaped wheels on the left side are fixed on the lower platform, and the inner sides of flanges of the T-shaped wheels are clamped on the left side of the anti-falling track wing plate; the wheel shafts of the two T-shaped wheels on the right side respectively penetrate through the through holes on the lower platform, and the end parts of the two T-shaped wheels are rigidly connected to the two ends of a longitudinal connecting rod; a first electric push rod is arranged on the left side of the upper surface of the lower platform, and a telescopic rod of the first electric push rod stretches longitudinally; a pulley is arranged on the right side of the lower platform; one end of a steel wire rope is connected to the end part of the first electric push rod telescopic rod, bypasses the front end of the lower platform to the right side of the lower platform, and then passes through the pulley and then the other end of the steel wire rope is connected to the middle part of the connecting rod; the first electric push rod drives the steel wire rope to tighten and pulls the connecting rod outwards, so that the two T-shaped wheels on the right side are driven to tighten inwards, and the inner sides of flanges of the T-shaped wheels are clamped on the right side of the anti-falling rail wing plate;
the walking mechanism comprises two synchronous belt wheels, a synchronous belt and a walking motor, the synchronous belt is longitudinally arranged in the middle of the lower part of the lower platform, wheel shafts of the two synchronous belt wheels are installed at two ends of the lower surface of the lower platform through a support, the synchronous belt is installed on the two synchronous belt wheels, the lower part of the synchronous belt is attached to the plane of a wing plate, the walking motor is installed in the middle of the rear end of the upper surface of the lower platform, and the walking motor drives the synchronous belt wheels to rotate through a transmission chain;
the pressing mechanism comprises two pressing belt wheels and a second electric push rod, the second electric push rod is installed in the middle position of the front end on the lower platform, the two pressing belt wheels are pressed and held in the middle of the lower portion of the synchronous belt, two ends of two wheel shafts of the two pressing belt wheels are respectively connected to the pressing plates on two sides of the lower portion of the lower platform, through grooves are formed in two sides of the lower platform, two L-shaped pull rods respectively penetrate through the through grooves on two sides, the upper ends of the two L-shaped pull rods are hinged to the end portion of a telescopic rod of the second electric push rod, and the lower ends of the L-shaped pull rods are hinged to the pressing plates;
the control platform is arranged on the ground, and a clamping state display and a pressing state display are arranged on the control platform; a current-limiting protection device is arranged in the controller;
the power supply respectively supplies power to the clamping guide mechanism, the pressing mechanism, the travelling mechanism, the controller, the wireless communication equipment and the camera shooting pan-tilt, the controller controls the actions of the clamping mechanism, the pressing mechanism and the travelling mechanism, and the camera shooting pan-tilt and the controller are respectively communicated with the control platform through the wireless communication equipment;
a first electric push rod current detection device and a second electric push rod current detection device are arranged in the controller and are respectively used for detecting the motor current of the first electric push rod and the motor current of the second electric push rod;
the control platform comprises an industrial personal computer, a panel and a display screen, wherein a wireless communication module and a switching value input module are arranged in the industrial personal computer, and a pressing rocker, a clamping rocker, a walking rocker, a power switch and a video switching button are arranged on the panel; the industrial personal computer is connected with a display screen, the display screen is used for displaying image information in the patrol process in real time, and a video switching button is used for switching video pictures of the display screen; the pressing rocker, the clamping rocker and the walking rocker are respectively connected with the switching value input module, and an operation instruction is sent out through the manual operation of an industrial personal computer in cooperation with the rocker;
the first electric push rod and the second electric push rod are respectively a micro electro-hydraulic actuator.
The advantage of this patent is:
1) compact structure, small, light in weight:
the clamping guide mechanisms are arranged on two sides of the upper surface of the lower platform, the first electric push rod is arranged on the left side of the lower platform, and the power is transmitted through the steel wire rope to enable the T-shaped wheel on the right side to act, so that clamping force is generated on two sides of the anti-falling rail wing plate; a second electric push rod of the pressing mechanism is arranged in the middle of the front end of the upper surface of the lower platform, and the pressing force is transmitted through the L-shaped pull rod; the walking motor of the walking mechanism is arranged at the rear end of the upper surface of the lower platform; the layout is ingenious, and the space is saved; the casing is bilayer structure, places power, controller, wireless communication equipment, the cloud platform of making a video recording on the upper mounting plate, and the upper mounting plate passes through the stand with lower platform and connects, and each part is synthesized the overall arrangement, and space utilization is high, has reduced the volume of casing.
2) The installation is convenient and quick:
the clamping guide mechanism adopts four T-shaped wheels, wheel shafts of the two T-shaped wheels on one side are fixed, the inner sides of flanges of the two T-shaped wheels on the side are clamped on one side of the T-shaped anti-falling track wing plate, the inner sides of flanges of the two T-shaped wheels on the other side are controlled by a first electric push rod to realize automatic tightening and then clamped on the other side of the anti-falling track wing plate, the flanges of the T-shaped wheels are stepped, quick and convenient installation at high altitude is facilitated, and quick clamping of an operator on the ground can be realized according to videos.
3) The clamping force and the pressure holding force are controllable, the power saving and power utilization rate is high, and the operation is safe and reliable:
because the controller is internally provided with the first electric push rod current detection device and the second electric push rod current detection device, the clamping force and the pressing force can be ensured to reach the optimal values through the prior experimental data; be provided with clamping status display and pressure on controlling the platform and hold the status display, operating personnel just can know actual clamping status and pressure at any time on ground and hold the state, if have unusual warning display, thereby make things convenient for the ground operation, guarantee that centre gripping guiding mechanism's centre gripping is reliable, the pressure holding power size of the device of guaranteeing to creep is suitable, control pressure holding power and clamping-force, under the circumstances of guaranteeing safe operation, frictional resistance reduces as far as possible, reduce the operation consumption, make power utilization improve, and prevent that the device of crawling from falling dangerous and taking place.
Drawings
FIG. 1 is a schematic view of the construction of the crawling apparatus of the present patent;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a cross-sectional view B-B of FIG. 1;
FIG. 4 is a schematic view of the pressing mechanism;
FIG. 5 is a schematic structural diagram of a control platform;
in the drawings, 1-a fall arrest track; 2-a transmission chain; 3-T type wheel; 4-pressing and holding the belt wheel; 5-a connecting rod; 6-pressing a plate; 7-L-shaped pull rods; 8-pulley seat; 9-a steel wire rope; 10-synchronous belt; 11-a synchronous pulley; 12-a lower platform; 13-upright column; 14-an upper platform; 15-camera cloud platform; 16-a second electric push rod; 17-a power supply; 18-a pulley; 19-a first electric push rod; 20-a controller; 21-a walking motor; 22-a wireless communication device; 23-a sprocket; 24-an industrial personal computer; 25-a panel; 26-a display; 27-a pressure holding status display; 28-a grip status display; 29-pressing the rocker; 30-clamping the rocker; 31-a walking rocker; 32-a power switch; 33-video switch button.
Detailed Description
As shown in fig. 1-3, the 1000kV transmission line pole tower anti-falling rail crawling device disclosed in the present patent comprises a housing and a control platform arranged on the ground; the shell is of a double-layer structure, and the lower platform 12 and the upper platform 14 are fixedly connected through four upright posts 13; a clamping guide mechanism and a crawling mechanism are arranged on the lower platform 12, and a power supply 17, a controller 20, wireless communication equipment 22 and a camera head 15 are arranged on the upper platform 14;
the clamping and guiding mechanism comprises four T-shaped wheels 3, the four T-shaped wheels 3 are respectively arranged on two sides of the lower part of the lower platform 12, wheel shafts of the two T-shaped wheels 3 on the left side are fixed on the lower platform 12, and the inner sides of flanges of the T-shaped wheels 3 are clamped on the left side of a wing plate of the anti-falling track 1; the wheel shafts of the two right T-shaped wheels 3 respectively pass through the through holes on the lower platform 12, the end parts of the two right T-shaped wheels are rigidly connected to the two ends of a connecting rod 5 which is longitudinally arranged, the diameter of each through hole is larger than that of each wheel shaft, and the wheel shafts respectively swing by taking the corresponding through hole as a fulcrum; a first electric push rod 19 is arranged on the left side of the upper part of the lower platform 12, and a telescopic rod of the first electric push rod 19 longitudinally extends and retracts along the lower platform 12; a pulley seat 8 is arranged on the right side of the lower platform 12, a pulley 18 is arranged on the pulley seat 8, and the axle of the pulley 18 is vertical to the lower platform 12; one end of a steel wire rope 9 is connected with the end part of a telescopic rod of a first electric push rod 19, bypasses the front end of the lower platform 12 to the right side of the lower platform 12, passes through the pulley 18 and then is connected with the middle part of the longitudinal connecting rod 5 at the other end; the first electric push rod 19 drives the steel wire rope 9 to tighten, the connecting rod 5 is pulled outwards, at the moment, the two wheel shafts respectively swing by taking respective via holes on the lower platform 12 as pivots, so that the two T-shaped wheels 3 on the right side are driven to tighten inwards, and the inner sides of the flanges of the two T-shaped wheels 3 are clamped on the right side of the wing plate of the anti-falling track 1.
The crawling mechanism comprises a traveling mechanism consisting of two synchronous belt wheels 11, a synchronous belt 10 and a traveling motor 21 and a pressing mechanism consisting of two pressing belt wheels 4 and a second electric push rod 16; the synchronous belt 10 of the walking mechanism is longitudinally arranged in the middle of the lower part of the lower platform 12, wheel shafts of the two synchronous belt wheels 11 are arranged below two ends of the lower platform 12 through supports, the synchronous belt 10 is arranged on the two synchronous belt wheels 11, the lower part of the synchronous belt 10 is attached to the surface of a wing plate of the anti-falling track 1, the walking motor 21 is arranged in the middle of the rear end of the upper part of the lower platform 12, chain wheels 23 are respectively connected to a motor shaft of the walking motor 21 and a wheel shaft of one of the synchronous belt wheels 10, the chain wheel 23 on the wheel shaft of the synchronous belt wheel 10 rotates synchronously with the synchronous belt wheel 10, the walking motor 21 drives the synchronous belt wheel 10 to rotate through a transmission chain 2, and the synchronous belt 10 is tensioned on the synchronous belt wheels 11 at two ends and rotates along with the walking belt wheel 11.
A second electric push rod 16 of the pressing and holding mechanism is arranged in the middle of the front end of the lower platform 12, as shown in fig. 1 and 4, two pressing and holding belt wheels 4 are pressed and held in the middle of the lower part of the synchronous belt 10, two ends of two wheel shafts of the two pressing and holding belt wheels 4 are respectively connected to pressing plates 6 on two sides of the lower part of the lower platform 12, and the pressing plates 6 are connected to the end parts of telescopic rods of the second electric push rod 16 through L-shaped pull rods 7; the two sides of the lower platform 12 are provided with the passing grooves of the L-shaped pull rods 7, the L-shaped pull rods 7 on the two sides respectively penetrate through the passing grooves on the two sides, the upper ends of the L-shaped pull rods 7 are hinged to the end parts of the telescopic rods of the second electric push rods 16, the lower ends of the L-shaped pull rods 7 are hinged to the middle parts of the pressing plates 6, the second electric push rods 16 act to drive the L-shaped pull rods 7 to swing up and down, the pressing plates 6 on the two sides are driven to move up and down, wheel shafts of the two pressing belt wheels 4 move up and down, and therefore the synchronous belts 10 are pressed on the surface of a wing plate of the anti-falling trochoid track 1 through the pressing belt wheels 4 or the synchronous belts 10 are separated from the surface of the wing plate.
The power supply 17 supplies power to the clamping guide mechanism, the crawling mechanism, the controller 20, the wireless communication equipment 22 and the camera head 15 respectively, the controller 20 controls the clamping mechanism and the crawling mechanism to act, and the camera head 15 is used for shooting images of a tower, an insulator, a wire and the like in real time and transmitting the images to the ground control platform for display and storage in real time; the camera platform 15 and the controller 20 are in wireless communication with the control platform through wireless communication equipment 22. The camera platform 15 can be a plurality of groups of cameras, and the cameras are distributed on the upper platform 14 or the lower platform 12.
The control platform is used for remotely controlling the clamping guide mechanism and the crawling mechanism to act on the ground, is portable equipment and is placed on the ground under the tower during operation; as shown in fig. 5, the control platform includes an industrial personal computer 24, a panel 25, and a display screen 26, a wireless communication module and a switching value input module are disposed in the industrial personal computer 24, and a pressing state display 27, a clamping state display 28, a pressing rocker 29, a clamping rocker 30, a walking rocker 31, a power switch 32, a video switching button 33, and the like are disposed on the panel 25 on the control platform; the industrial personal computer 24 is connected with a display screen 26, the display screen 26 is used for displaying image information sent by the camera holder 15 in the patrol process in real time, and the video switching button 33 is used for switching video pictures of different cameras; the industrial personal computer 24 is provided with control software for controlling the analysis and the receiving and sending of instructions and the decoding and playing of eight-channel video data; the pressure rocker 29, the clamping rocker 30, the switching value input module in the industrial computer 24 is connected respectively to walking rocker 31, cooperate the manual operation of rocker to send operating command through industrial computer 24, the clamping rocker 30 is used for controlling the action of centre gripping guiding mechanism, the pressure rocker 29 is used for controlling the action of pressure mechanism, walking rocker 31 is used for controlling the action of walking mechanism, the control signal of each rocker converts RS485 communication data into after switching value input module and sends for industrial computer 24, be provided with wireless communication module in industrial computer 24, industrial computer 24 converts the control command into after resolving the data received and sends for controller 20 through wireless communication module, thereby control various actions of the device of crawling.
A current-limiting protection device is arranged in the controller 20, when the current exceeds a set value, the shutdown protection is started, and the working state is displayed by a corresponding state display; a first electric putter current detecting means and a second electric putter current detecting means are provided in the controller 20 for detecting the motor current of the first electric putter 19 and the motor current of the second electric putter 16, respectively.
The clamping force between the inner sides of the flanges of the four T-shaped wheels 3 and the two sides of the wing plate of the anti-falling track 1 and the pressing force between the synchronous belt 10 and the plane of the wing plate of the anti-falling track 1 are key factors for ensuring the normal operation of the crawling device, and if the clamping force of the clamping guide mechanism is too large, the guide resistance is larger, so that the current of the motor of the first electric push rod 19 is too large; when the clamping force is too small, accurate guiding cannot be realized, and the motor current of the first electric push rod 19 is too small; if the pressing force of the pressing mechanism in the crawling mechanism is too large, the friction force between the synchronous belt 10 and the plane of the wing plate of the anti-falling track 1 is larger, so that the motor current of the second electric push rod 16 is larger, the consumed and wasted power supply is larger, and even the crawling cannot be performed; if the pressing force is too small, the synchronous belt 10 cannot walk due to too small friction force; therefore, according to theoretical calculation and multiple experiments, the optimal current values of the clamping force and the pressing force which can ensure the normal operation of the device are determined as rated current values, and the maximum limit current values of the clamping force and the pressing force which can ensure the normal operation of the device are determined as alarm threshold values; a first electric push rod current detection device and a second electric push rod current detection device are arranged in the controller 20 and are respectively used for detecting the motor current of the first electric push rod 19 and the motor current of the second electric push rod 16; when the actually measured current value of the first electric push rod current detection device reaches a set rated current value, the clamping state display 28 displays 'normal work', when the actually measured current value reaches an alarm threshold value, the controller 20 controls the motor of the first electric push rod 19 to be powered off and protected, and meanwhile, the clamping state display 28 displays 'abnormal work'; similarly, when the measured current value of the second electric putter current detection device reaches the set rated current value, the pressing state display 27 displays "work is normal", and when the measured current value reaches the alarm threshold value, the controller 20 controls the second electric putter 16 to power off for protection, and simultaneously the pressing state display 27 displays "work is abnormal".
The first electric push rod 19 and the second electric push rod 16 are respectively a miniature electro-hydraulic actuator, and the miniature electro-hydraulic actuator is stable in pressure, small in size and good in flexibility.
When the anti-falling rail is in work, the clamping guide mechanism is adjusted firstly, the two T-shaped wheels 3 on the left side of the clamping guide mechanism are clamped on one side of the plane of the wing plate of the anti-falling rail 1, the two T-shaped wheels 3 on the other side are arranged on the other side of the plane of the wing plate, and the lower surface of the synchronous belt 10 is attached to the plane of the wing plate; the clamping rocker 30 is operated to manually adjust the clamping force, and when the clamping state display 28 shows 'normal work', the clamping guide mechanism is adjusted completely;
then, the pressing and holding mechanism is adjusted, the pressing and holding rocker 29 is operated to manually adjust the pressing and holding force, and when the pressing and holding state display 27 displays 'normal work', the adjustment of the pressing and holding mechanism is finished;
the walking mechanism is started, the walking rocker 31 is operated, the walking motor 21 is driven to act, and the crawling mechanism crawls up and down along the anti-falling track 1.
Claims (4)
1.1000kV transmission line shaft tower prevents falling track device of crawling, characterized by: a clamping guide mechanism, a walking mechanism and a pressing mechanism are arranged on the lower platform (12), a power supply (17), a controller (20), wireless communication equipment (22) and a camera head (15) are arranged on the upper platform (14), and the lower platform (12) is connected with the upper platform (14) through an upright post (13);
the four T-shaped wheels (3) of the clamping and guiding mechanism are arranged on two sides below the lower platform (12), wheel shafts of the two T-shaped wheels (3) on the left side are fixed on the lower platform (12), and the inner sides of flanges of the T-shaped wheels (3) are clamped on the left side of a wing plate of the anti-falling track (1); the wheel shafts of the two T-shaped wheels (3) on the right side respectively penetrate through the through holes on the lower platform (12), and the end parts of the two T-shaped wheels are rigidly connected to the two ends of a longitudinal connecting rod (5); a first electric push rod (19) is arranged on the left side of the upper surface of the lower platform (12), and a telescopic rod of the first electric push rod (19) longitudinally stretches; a pulley (18) is arranged on the right side of the lower platform (12); one end of a steel wire rope (9) is connected with the end part of a telescopic rod of the first electric push rod (19), bypasses the front end of the lower platform (12) to the right side of the lower platform (12), and then passes through the pulley (18) and then the other end is connected with the middle part of the connecting rod (5); the first electric push rod (19) drives the steel wire rope (9) to be tightened, the connecting rod (5) is pulled outwards, so that the two T-shaped wheels (3) on the right side are driven to be tightened inwards, and the inner sides of flanges of the T-shaped wheels (3) are clamped on the right side of a wing plate of the anti-falling track (1);
the traveling mechanism comprises two synchronous belt wheels (11), synchronous belts (10) and a traveling motor (21), wherein the synchronous belts (10) are longitudinally arranged in the middle of the lower part of the lower platform (12), wheel shafts of the two synchronous belt wheels (11) are arranged at two ends of the lower part of the lower platform (12) through supports, the synchronous belts (10) are arranged on the two synchronous belt wheels (11), the lower parts of the synchronous belts (10) are attached to the plane of a wing plate, the traveling motor (21) is arranged in the middle of the rear end of the upper part of the lower platform (12), and the traveling motor (21) drives the synchronous belt wheels (11) to rotate through a transmission chain (2);
the pressing mechanism comprises two pressing belt wheels (4) and a second electric push rod (16), the second electric push rod (16) is installed in the middle position of the front end of the upper surface of the lower platform (12), the two pressing belt wheels (4) are pressed and held in the middle of the lower part of the synchronous belt (10), two ends of two wheel shafts of the two pressing belt wheels (4) are respectively connected to the pressing plates (6) on two sides of the lower part of the lower platform (12), through grooves are formed in two sides of the lower platform (12), two L-shaped pull rods (7) respectively penetrate through the through grooves on two sides, then the upper ends of the two L-shaped pull rods are hinged to the end parts of telescopic rods of the second electric push rod (16), and the lower ends of the L-shaped pull rods (7) are hinged to the pressing plates (6);
the control platform is arranged on the ground, and a clamping state display (28) and a pressing state display (27) are arranged on the control platform; a current-limiting protection device is arranged in the controller (20);
the power supply (17) supplies power to the clamping guide mechanism, the pressing and holding mechanism, the travelling mechanism, the controller (20), the wireless communication equipment (22) and the camera shooting platform (15) respectively, the controller (20) controls the clamping mechanism, the pressing and holding mechanism and the travelling mechanism to act, and the camera shooting platform (15) and the controller (20) are communicated with the control platform through the wireless communication equipment (22) respectively.
2. The 1000kV transmission line pole tower anti-falling rail crawling device as claimed in claim 1, wherein: and a first electric push rod current detection device and a second electric push rod current detection device are arranged in the controller (20) and are respectively used for detecting the motor current of the first electric push rod (19) and the motor current of the second electric push rod (16).
3. The 1000kV transmission line pole tower anti-falling rail crawling device as claimed in claim 1, wherein: the control platform comprises an industrial personal computer (24), a panel (25) and a display screen (26), wherein a wireless communication module and a switching value input module are arranged in the industrial personal computer (24), and a pressing rocker (29), a clamping rocker (30), a walking rocker (31), a power switch (32) and a video switching button (33) are arranged on the panel (25); the industrial personal computer (24) is connected with the display screen (26), the display screen (26) is used for displaying image information in the patrol process in real time, and the video switching button (33) is used for switching video pictures of the display screen; the pressing rocker (29), the clamping rocker (30) and the walking rocker (31) are respectively connected with the switching value input module, and an operation instruction is sent out through the manual operation of the industrial personal computer (24) in cooperation with the rockers.
4. The 1000kV transmission line pole tower anti-falling rail crawling device as claimed in claim 1, wherein: the first electric push rod (19) and the second electric push rod (16) are micro electro-hydraulic actuators respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110269612.0A CN113013784B (en) | 2021-03-12 | 2021-03-12 | Anti-falling rail crawling device for 1000kV power transmission line tower |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110269612.0A CN113013784B (en) | 2021-03-12 | 2021-03-12 | Anti-falling rail crawling device for 1000kV power transmission line tower |
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| CN113013784A CN113013784A (en) | 2021-06-22 |
| CN113013784B true CN113013784B (en) | 2022-05-06 |
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