A self-lifting rotating platform and control method thereof

Abstract

The present invention discloses a pole-holding self-lifting rotating platform and a control method, including a clamping mechanism, a crawling mechanism, a control system, and a fixed platform. The clamping mechanism is fixed to the fixed platform through the crawling mechanism, the control system is electrically connected to the clamping mechanism and the crawling mechanism, and the control system controls the clamping mechanism to clamp or release the pole; the control system controls the crawling mechanism to drive the platform to lift and lower with load from bottom to top, and can hover at any height on the pole. In the present invention, the fixed platform can be automatically lifted to the working height with load through the crawling structure, avoiding the time-consuming and labor-intensive high-altitude hoisting in the prior art, and the potential safety hazards, effectively improving the efficiency of live-line operations, saving precious time for operations in remote areas, and reducing the labor intensity of personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power maintenance equipment, and more specifically to a self-lifting rotating platform and a control method thereof. Background Art

[0002] In recent years, State Grid Corporation of China has been vigorously promoting the high-quality development of distribution network non-stop operation to improve the reliability of power supply and service quality for users. The distribution network is inspected and maintained as much as possible by non-stop operation to avoid power outages of 10kV lines due to inspection and maintenance. For field work sites that are difficult to reach by insulated boom trucks, the power maintenance platform is an effective equipment and has been widely used in complex terrain areas.

[0003] The current power maintenance platform has a simple structure and is safe to operate. However, it needs to be manually hoisted to a high altitude for high-altitude installation. Due to the large size and high weight of the power maintenance platform, manual high-altitude hoisting is time-consuming and laborious, and there are certain safety hazards, which restricts the efficiency of non-stop power distribution network operations.

[0004] The existing patent document with patent announcement number CN 106737621 A discloses a composite robot for climbing a pole using an auxiliary pole. The robot consists of three parts: a climbing part, a fixing part and a working arm, and the three parts are connected to each other; the climbing part consists of an upper plate, a lower plate, an asynchronous small clamp, a guide rod, a transmission screw and a gear; the fixing part consists of a synchronous large clamp, a gear pair and a gear; the working arm consists of a support frame, a fixing claw, a horizontal swivel joint, a shoulder flexion joint, an elbow flexion joint, a wrist joint and a clamp.

[0005] However, it cannot realize automatic load-bearing lifting and lowering, and is also not suitable for working in field work spots that are difficult to reach by insulated boom trucks.

[0006] In view of the above-mentioned pain points of non-stop power distribution equipment in complex terrain environments, it is urgent to develop automated equipment to effectively improve operating efficiency and reduce the labor intensity of operators. Summary of the invention

[0007] The technical problem to be solved by the present invention is how to realize automatic load-bearing lifting and lowering of an electric power maintenance platform at a field operation point which is difficult for an insulating boom truck to reach.

[0008] The present invention solves the above-mentioned technical problems through the following technical means: a pole-holding self-lifting rotating platform, including a clamping mechanism, a crawling mechanism, a control system, and a fixed platform. The clamping mechanism is fixed to the fixed platform through a crawling mechanism, and the control system is electrically connected to the clamping mechanism and the crawling mechanism. The control system controls the clamping mechanism to clamp or release the pole; the control system controls the crawling mechanism to drive the platform to lift and lower with load from bottom to top, and can hover at any height on the pole.

[0009] The fixed platform can be automatically lifted to the working height with load through the crawling structure, avoiding the time-consuming and labor-intensive high-altitude lifting in the existing technology, as well as the potential safety hazards. It effectively improves the efficiency of live working, saves precious time for working in remote areas, and reduces the labor intensity of personnel.

[0010] As a preferred technical solution, when the fixed platform is lifted or suspended, the clamping end of the clamping mechanism and the crawling part of the crawling mechanism always surround and hold the pole tightly. By the clamping end of the clamping mechanism and the crawling part of the crawling structure always surround and hold the pole tightly, it can be ensured that during maintenance operations, the fixed platform can provide sufficient clamping force, and the friction force generated between the platform and the pole is sufficient to support the load of all equipment and the gravity of the maintenance personnel, ensuring that the equipment will not slip.

[0011] As a preferred technical solution, the crawling mechanism includes a frame, a driving motor, a transmission gear group, and a crawling wheel group. The crawling wheel group is rotatably connected to the frame, the driving motor is fixed in the frame, and its output end is transmission-connected to the input end of the crawling wheel group through the transmission gear group. The driving motor is communicatively connected to the control system, and the control system drives the crawling wheel group to lift and lower the load along the rod through the driving motor.

[0012] As a preferred technical solution, the crawling frame includes an upper mounting plate, a lower mounting plate, and a support frame. The upper mounting plate is fixedly connected to the lower mounting plate through a plurality of support frames, and gaps are left between adjacent support frames. The end of the upper mounting plate facing the pole is concave inward to form an arc-shaped surface, and the end of the upper mounting plate away from the pole is convex outward to form a V-shaped structure.

[0013] As a preferred technical solution, the crawling frame is made of carbon fiber plates, which can reduce the overall weight of the equipment and at the same time have high strength to achieve load-bearing lifting.

[0014] As an optimal technical solution, the crawling wheel groups are provided with two groups, and are symmetrically arranged at both ends of the frame. The control system drives the two groups of crawling wheel groups to rise and fall along the pole at the same time through a driving motor. The two groups of crawling wheel groups and the telescopic end of the clamping mechanism form a circular structure and are in direct contact with the pole to form a stable pole holding structure.

[0015] As a preferred technical solution, the poles include poles of unequal diameters, and the control system controls the clamping mechanism to extend and retract according to changes in the diameter of the cement poles and to apply a constant clamping force.

[0016] As a preferred technical solution, the clamping mechanism includes a clamping frame and a sliding bracket, an electric push rod, a compression spring, and a pressure sensor arranged in the clamping frame. The sliding bracket is slidably connected in the clamping frame. The end of the sliding bracket facing the pole is provided with a waist-shaped rubber wheel, and the end of the sliding bracket facing away from the pole is connected to the telescopic end of the electric push rod. The other end of the electric push rod is connected to a pressure sensor fixed at the tail end of the sliding bracket through a compression spring. The pressure sensor is communicatively connected to the control system. The variable diameter rod can be fixed by the sliding bracket, the electric push rod, and the waist-shaped rubber wheel of the clamping mechanism. At the same time, the pressure data can be transmitted to the control system in real time through the compression spring and the pressure sensor, and the electric push rod can be controlled by the control system to execute the tightening or loosening instructions, thereby improving the operating stability of the clamping mechanism.

[0017] As a preferred technical solution, one end of the clamping mechanism is hinged to one end of the crawling mechanism, the clamping mechanism can be opened and closed around the hinge axis, and the other end of the clamping mechanism is fixed to the other end of the crawling mechanism by a pin.

[0018] As a preferred technical solution, it also includes a rotating mechanism, one end of which is rotatably connected to the end of the crawling mechanism away from the pole via a rotating shaft, and can rotate 120° around the rotating shaft. The fixed platform is fixedly connected to the rotating mechanism. The rotating mechanism includes a rotating bracket and a knob and a worm gear transmission group rotatably arranged on the rotating bracket. The input end of the worm gear transmission group is fixedly connected to the knob, and the output end of the worm gear transmission group is connected to the rotating shaft.

[0019] The present invention also provides a control method for a pole-holding self-lifting rotating platform, wherein the control system comprises a control module and a power supply, wherein the control module comprises an AVR module, a DC-DC module, and a wireless communication module, wherein the wireless communication module is communicatively connected to an external remote control device, and the power supply is electrically connected to the DC-DC module;

[0020] The clamping mechanism includes a clamping frame and a sliding bracket, an electric push rod, a compression spring, and a pressure sensor arranged in the clamping frame. The sliding bracket is slidably connected in the clamping frame. The end of the sliding bracket facing the pole is provided with a waist-shaped rubber wheel. The end of the sliding bracket facing away from the pole is connected to the telescopic end of the electric push rod. The other end of the electric push rod is connected to the pressure sensor fixed at the tail end of the sliding bracket through the compression spring. The pressure sensor is connected to the AVR module for communication;

[0021] It also includes a rotating mechanism, one end of which is rotatably connected to the end of the crawling mechanism away from the pole through a rotating shaft and can rotate 120° around the rotating shaft, and the fixed platform is fixedly connected to the rotating mechanism;

[0022] The steps include:

[0023] S1. Clamp the pole: by extending the electric push rod, the waist-shaped rubber wheel at the telescopic end and the crawling part of the crawling mechanism hold the pole tightly;

[0024] S2, crawling along the pole: the control module compares the pressure value transmitted to the AVR module by the pressure sensor with the preset pressure range in the AVR module. 压 Within the preset pressure range, the control system controls the crawling mechanism to drive the platform to lift up and down with load, and can hover at any (operating) height on the rod; otherwise, the electric push rod is adjusted according to the pressure value F 压 Continue to compare;

[0025] S3. Rotation around the axis: adjust the position of the rotating mechanism and the fixed platform according to actual operation requirements.

[0026] The advantages of the present invention are:

[0027] (1) In the present invention, the fixed platform can be automatically lifted to the working height with a load by means of a crawling structure, thus avoiding the time-consuming and labor-intensive high-altitude lifting in the prior art and the potential safety hazards, effectively improving the efficiency of live-line operations, saving precious time for operations in remote areas, and reducing the labor intensity of personnel.

[0028] (2) In the present invention, the clamping end of the clamping mechanism and the crawling part of the crawling structure always surround and hold the electric pole tightly, which can ensure that during maintenance work, the fixed platform can provide sufficient clamping force, and the friction force generated between the fixed platform and the electric pole is sufficient to support the load of all equipment and the gravity of the maintenance personnel, ensuring that the equipment will not slip.

[0029] (3) In the present invention, by setting the material of the crawling frame to a carbon fiber plate, the overall weight of the equipment can be reduced while having high strength. At the same time, the end of the upper mounting plate facing the pole is concave inward to form an arc-shaped surface to match the mating surface of the pole, and the end of the upper mounting plate away from the pole is convex outward to form a V-shaped structure, thereby improving the load-bearing strength of the overall crawling structure.

[0030] (4) In the present invention, the variable diameter rod can be fixed by the sliding bracket, electric push rod and waist-shaped rubber wheel of the clamping mechanism. At the same time, the pressure data can be transmitted to the control system in real time through the compression spring and the pressure sensor, and the electric push rod can be controlled by the control system to execute the tightening or loosening instructions, thereby improving the operating stability of the clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the three-dimensional structure of a pole-holding self-lifting rotating platform provided in an embodiment of the present invention;

[0032] Figure 2A schematic diagram of the structure of a clamping mechanism of a self-lifting rotating platform for a holding pole provided in an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the structure of a crawling mechanism of a pole-holding self-lifting rotating platform provided in an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the structure of a rotating mechanism of a self-lifting rotating platform for a holding pole provided in an embodiment of the present invention;

[0035] Figure 5 A system block diagram of a control method for a pole-holding self-lifting rotating platform provided by an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of a control flow of a pole-holding self-lifting rotating platform and a control method provided in an embodiment of the present invention;

[0037] Figure Number:

[0038] 1. Clamping structure; 11. Sliding bracket; 12. Waist-shaped rubber wheel; 13. First lower carbon plate; 14. First upper carbon plate; 15. Pressure sensor; 16. Compression spring; 17. Support column; 18. Electric push rod; 19. Fixed bracket;

[0039] 2. Crawling mechanism; 21. Support frame; 22. Chain; 23. Sprocket; 24. Rotating shaft; 25. Rotating motor; 26. Motor seat; 27. Lower mounting plate; 28. Upper mounting plate; 29. ​​Double-row V-shaped rubber wheel; 210. First bevel gear; 211. Second bevel gear; 212. Third bevel gear;

[0040] 3. Rotating mechanism; 31. Star handle; 32. Bevel gear; 33. Worm gear transmission group; 34. Second upper carbon plate; 35. Second lower carbon plate; 36. Buckle; 37. Long rotating shaft; 38. Fixed rod;

[0041] 4. Electric poles. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1A pole-holding self-lifting rotating platform comprises a clamping mechanism 1, a crawling mechanism 2, a rotating mechanism 3, an electric pole 4, a fixed platform (not shown), and a control system. One end of the clamping mechanism 1 is hinged to one end of the crawling mechanism 2. The clamping mechanism 1 can be opened and closed around the hinge axis. The other end of the clamping mechanism 1 is fixed to the other end of the crawling mechanism 2 by a pin. The outer end of the clamping mechanism 1 is a V-shaped structure, and the clamping mechanism 1 is a Y-shaped structure. The end of the crawling mechanism 2 away from the electric pole 4 is rotatably connected to the rotating mechanism 3. The rotating mechanism The control system is electrically connected to the clamping mechanism 1 and the crawling mechanism 2. The control system controls the clamping mechanism to clamp or release the pole. The control system controls the crawling mechanism to drive the platform to lift and lower with load from bottom to top, and can hover at any height on the pole. When the fixed platform is lifted or hovered, the clamping end of the clamping mechanism and the crawling part of the crawling mechanism always surround and clamp the pole. The crawling wheel of the crawling mechanism 2 and the telescopic end of the clamping mechanism form a circular structure and are in direct contact with the pole to form a stable pole-holding structure.

[0044] See also Figure 3 The crawling mechanism 2 includes a support frame 21, a chain 22, a sprocket 23, a rotating shaft 24, a rotating motor 25, a motor seat 26, a lower mounting plate 27, an upper mounting plate 28, a double-row V-shaped rubber wheel 29, a first bevel gear 210, a second bevel gear 211, and a third bevel gear 212;

[0045] The support frame 21, the upper mounting plate 27, and the lower mounting plate 28 constitute a crawling frame of the crawling mechanism. The upper mounting plate 27 is fixedly connected to the lower mounting plate 28 through multiple support frames 21. In this embodiment, six support frames 21 are taken as an example, and gaps are left between adjacent support frames 21. The end of the upper mounting plate 27 facing the pole 4 is concave inward to form an arcuate surface, and the end of the upper mounting plate 27 away from the pole 4 is convex outward to form a V-shaped structure. The arcuate surface is used to adapt to the outer wall of the pole 4, and the V-shaped structure is used to increase the strength of the component. 28 has the same structure as the upper mounting plate 28, wherein three support frames 21 are symmetrically arranged on the left and right sides of the crawling frame, and are numbered as the first, second, and third left support frames and the first, second, and third right support frames respectively along the end close to the pole 4 to the end away from the pole 4, wherein a set of installation positions for the crawling wheel set is formed between the second left support frame and the third left support frame, and another set of installation positions for the crawling wheel set is formed between the second right support frame and the third right support frame; that is, the two sets of crawling wheel sets are symmetrically arranged about the middle of the crawling frame;

[0046] The rotating motor 25 is fixedly connected to the top of the lower mounting plate 27. The rotating motor 25 is fixedly connected to the right end of the third left support frame through the motor seat 26. The output end of the rotating motor 25 is fixedly connected to the first bevel gear 210. The third left support frame and the second left support frame are rotatably connected with a double-row V-shaped rubber wheel 29 through a rotating shaft 24. The ends of the two V-shaped rubber wheels are fixedly connected to sprockets 23. The two sprockets 23 are synchronously driven by chains, wherein the end of the rotating shaft 24 of the top V-shaped rubber wheel is fixedly connected to the second bevel gear 211. The first bevel gear 210 is meshed with the second bevel gear 211 for transmission. Similarly, the third right support frame and the second right support frame are fluidly connected. A double-row V-shaped rubber wheel 29 is rotatably connected to the rotating shaft 24, wherein the end of the rotating shaft 24 of the top V-shaped rubber wheel is fixedly connected to the third bevel gear 212, and the third bevel gear 212 is meshed with the first bevel gear 210 for transmission, wherein the first bevel gear 210 and the third bevel gear 212 are spatially staggered and do not contact each other; when the rotating motor 25 rotates, the first bevel gear 210, the second bevel gear 211 and the third bevel gear 212 on the motor shaft are driven to rotate synchronously, and the rotating motor 25 has a power-off braking function. When the power is off in an unexpected situation, the rotating motor 25 will automatically lock to make the platform hover on the pole 5, so as to ensure the life safety of the construction workers to the greatest extent.

[0047] See also Figure 2 The clamping mechanism 1 includes a sliding bracket 11, a waist-shaped rubber wheel 12, a first lower carbon plate 13, a first upper carbon plate 14, a pressure sensor 15, a compression spring 16, a support column 17, an electric push rod 18, and a fixed bracket 19;

[0048] The sliding bracket 11, the first lower carbon plate 13, the first upper carbon plate 14, and the support column 17 constitute a clamping frame. The outer side of the clamping frame is a Y-shaped structure, and its large end face is close to the pole 4. The first upper carbon plate 14 includes a horizontal section and an inclined section. The horizontal section is fixedly connected to the two inclined sections. The first lower carbon plate 13 has the same structure as the first upper carbon plate 14. The first lower carbon plate 13 is fixedly connected to the first upper carbon plate 14 through a plurality of support columns 17. The horizontal section of the clamping frame is slidably connected to the sliding bracket 11 at one end of the pole 4, and the sliding bracket 11 is rotatably connected to the waist bracket 11 at one end of the pole 4. The rubber wheel 12 has one end facing away from the pole 4 and is fixedly connected to the telescopic end of the electric push rod 18. The tail end of the electric push rod 18 is fixedly connected to the pressure sensor 15 via a compression spring 16, wherein the pressure sensor 15 is communicatively connected to the control system, and the pressure sensor 15 is fixedly connected to the tail end of the horizontal section of the clamping frame, wherein the two rows of support columns 17 of the horizontal section are limited by the compression spring 16 and the electric push rod 18, and the first lower carbon plate 13 and the first upper carbon plate 14 are also fixedly connected via a fixed bracket 19, and the fixed bracket 19 is arranged at the left end of the horizontal section of the first lower carbon plate 13.

[0049] See also Figure 5The control system includes a control module and a power supply. The control module includes an AVR module (single-chip microcomputer), a DC-DC module (voltage converter), and a wireless communication module. The wireless communication module is connected to an external remote control device for communication, and the power supply is electrically connected to the DC-DC module; the control module is connected to the rotating motor 25 and the electric push rod 18 for communication, and the pressure sensor 15 is connected to the AVR module (single-chip microcomputer for communication. F 压 is the pressure between the double-row V-shaped rubber wheel 29 and the electric pole 4, F1 is set as the set minimum pressure, and F2 is set as the set maximum pressure. From a safety perspective, when the pressure between the double-row V-shaped rubber wheel 29 and the electric pole 4 is within the specified pressure range, that is, between F1 and F2, the operator is allowed to issue a climbing or descending command through the remote controller, and the control module is connected to the remote controller through the wireless communication module.

[0050] See also Figure 4 The rotating mechanism 3 includes a star-shaped handle 31, a bevel gear 32, a worm gear 33, a second upper carbon plate 34, a second lower carbon plate 35, a buckle 36, a long rotating shaft 37, and a fixing rod 38;

[0051] The second upper carbon plate 34, the second lower carbon plate 35, and three fixing rods 310 constitute a rotating frame. The second upper carbon plate 34 is a triangular plate, and its three ends are fixedly connected to the second lower carbon plate 35 through the fixing rods 310 respectively. The second lower carbon plate 35 has the same structure as the second upper carbon plate 34; wherein the lower mounting plate 27 and the upper mounting plate 28 are both located between the second upper carbon plate 34 and the second lower carbon plate 35, the large end face of the second upper carbon plate 34 is away from the pole 4, and the fixing rod 340 at the small end face thereof penetrates the lower mounting plate 27 and the upper mounting plate 28 and is rotatably connected thereto. It should be noted that the fixing rod 340 at the small end face forms a long rotating shaft 29;

[0052] A worm gear transmission group 33 is fixedly connected to the bottom of the second upper carbon plate 34, the worm wheel is fixedly connected to the bottom of 29 and meshingly connected to the worm rotatably connected to the top of the second upper carbon plate 34, one end of the worm is fixedly connected to a bevel gear 32, and the bottom of the second upper carbon plate 34 is also rotatably connected to a rotating rod through a support seat, one end of the rotating rod is fixedly connected to another bevel gear 32 meshingly connected to the above-mentioned bevel gear 32, and the other end is fixedly connected to a star-shaped handle 31, so that the rotating mechanism 3 can rotate 120° around the long rotating shaft 29, and the star-shaped handle 31 can be locked at any position within this angle range by stopping the rotation.

[0053] Control method:

[0054] S1. Clamping the pole: After the device embraces the pole 4, the waist-shaped rubber wheel 12 at the front end of the electric push rod 18 presses against one end of the pole 4, and the electric push rod 18 continues to extend and press the compression spring 16 and the pressure sensor 15 at the rear end. The real-time pressure data of the rubber wheel 12 and the pole 4 is input into the control chip through the pressure sensor 15. The control program outputs a control signal corresponding to the pressure signal to control the electric push rod 18 to execute the pressing or loosening instruction, and detects and controls the pressure value through the pressure sensor 15, and extends the electric push rod 18 so that the waist-shaped rubber wheel at the telescopic end and the crawling part of the crawling mechanism hold the pole tightly;

[0055] S2, crawling along the pole: the control module compares the pressure value transmitted to the AVR module by the pressure sensor with the preset pressure range in the AVR module. 压 When the pressure is within the preset range (between F1 and F2), the control system controls the crawling mechanism to drive the platform to lift up and down with load, and can hover at any (operating) height on the pole; otherwise, the electric push rod 18 is adjusted according to the pressure value F 压 Continue to compare; the control system is connected to the rotating motor 25 for communication, and can control the rotating motor 25 to hover at any height of the pole 4; specifically, when the motor 25 rotates, the double-row V-shaped rubber wheels 29 rotate in the same direction at the same time, pushing the device to crawl along the pole 4, and the actuator of the crawling mechanism 2 is the rotating motor 25. The operator sends the command of rising, falling or hovering through the remote control, and the wireless module of the control module receives these commands and outputs the corresponding control signal to the rotating motor 25, so that the device can rise, fall or hover along the pole 4;

[0056] S3, rotation around the axis: rotating the star-shaped handle 31, the star-shaped handle 31 drives the bevel gear 32 through the rotating rod, and the bevel gear 32 drives the long rotating shaft 39 to rotate through the worm gear transmission group 33, that is, the rotating mechanism 3 can rotate around the long rotating shaft 29.

[0057] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-lifting rotating platform with a holding rod, comprising a clamping mechanism and a crawling mechanism, characterized in that: It also includes a control system, a fixed platform, and a rotating mechanism. The clamping mechanism is fixed to the fixed platform through a crawling mechanism. The control system is electrically connected to the clamping mechanism and the crawling mechanism. The control system controls the clamping mechanism to clamp or release the pole. The control system controls the crawling mechanism to drive the platform to lift and lower with load from bottom to top, and can hover at any height on the pole. One end of the rotating mechanism is rotatably connected with the end of the crawling mechanism away from the pole through a rotating shaft. The pole includes an unequal diameter pole. The crawling mechanism includes a frame, a driving motor, a transmission gear set, and a crawling wheel set. The crawling wheel set is rotatably connected to the frame. The driving motor is fixedly arranged in the frame, and its output end is transmission-connected with the input end of the crawling wheel set through the transmission gear set. The driving motor is communicatively connected with the control system. The control system drives the crawling wheel set to lift and lower along the pole with load through the driving motor. The crawling wheel set is provided with two sets, and is symmetrically arranged at both ends of the frame. The transmission gear set includes a first bevel gear, a second bevel gear, and a third bevel gear. The output end of the driving motor is transmission-connected with the first bevel gear, and can drive the second bevel gear and the third bevel gear to rotate synchronously. The second bevel gear and the third bevel gear are transmission-connected with the two crawling wheel sets respectively. The clamping mechanism includes a clamping frame and a sliding bracket, an electric push rod, a compression spring, and a pressure sensor arranged in the clamping frame. The sliding bracket is slidably connected in the clamping frame. The end of the sliding bracket facing the pole is provided with a waist-shaped rubber wheel, and the end of the sliding bracket facing away from the pole is connected to the telescopic end of the electric push rod. The other end of the electric push rod is connected to the pressure sensor fixed at the tail end of the sliding bracket through a compression spring, and the pressure sensor is communicatively connected to the control system; the rotating mechanism includes a rotating bracket and a knob rotatably arranged on the rotating bracket, and a worm gear transmission group, the input end of the worm gear transmission group is fixedly connected to the knob, and the output end of the worm gear transmission group is connected to the rotating shaft.

2. The self-lifting rotating platform for holding poles according to claim 1 is characterized in that: When the fixed platform is lifted or suspended, the clamping end of the clamping mechanism and the crawling part of the crawling mechanism always surround and hold the pole tightly.

3. The self-lifting rotating platform for holding poles according to claim 1 is characterized in that: The frame includes an upper mounting plate, a lower mounting plate, and a support frame. The upper mounting plate is fixedly connected to the lower mounting plate through a plurality of support frames, and gaps are left between adjacent support frames. One end of the upper mounting plate facing the pole is concave inward to form an arc-shaped surface, and the end of the upper mounting plate away from the pole is convex outward to form a V-shaped structure.

4. The self-lifting rotating platform for holding poles according to claim 1 is characterized in that: The control system controls the clamping mechanism to expand and contract according to the change of the cement pole diameter and applies a constant clamping force.

5. The self-lifting rotating platform for holding poles according to claim 1 is characterized in that: One end of the clamping mechanism is hinged to one end of the crawling mechanism, the clamping mechanism can be opened and closed around the hinge axis, and the other end of the clamping mechanism is fixed to the other end of the crawling mechanism through a pin.

6. The self-lifting rotating platform for holding poles according to claim 1, characterized in that: The rotating mechanism can rotate 120° around the rotating axis, and the fixed platform is fixedly connected to the rotating mechanism.

7. A control method for a self-elevating rotating platform of a holding pole according to any one of claims 1 to 6, characterized in that: The steps include: S1. Clamp the pole: by extending the electric push rod, the waist-shaped rubber wheel at the telescopic end and the crawling part of the crawling mechanism hold the pole tightly; S2, crawling along the pole: the control system compares the pressure value of the pressure sensor with the preset pressure range therein. If the pressure value is within the preset pressure range, the control system controls the crawling mechanism to drive the platform to lift up and down with load, and can hover at any height on the pole; otherwise, the electric push rod is adjusted to continue the comparison according to the pressure value; S3. Rotation around the axis: adjust the position of the rotating mechanism and the fixed platform according to actual operation requirements.

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