Multi-purpose intelligent high-altitude insulation operation platform for distribution network maintenance and operation method
By designing a multi-purpose intelligent high-altitude insulated operation platform for distribution network maintenance, the problems of large area, high cost and insufficient flexibility in the existing technology are solved, and more efficient and safer high-altitude operation is achieved.
Patent Information
- Application Number
- CN202411778392.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-05
- Publication Date
- 2025-02-25
AI Technical Summary
The existing lifting operation platform is complex and is carried by an insulated boom truck. It covers a large area and is too expensive. It is difficult to operate overhead lines under complex and narrow terrain, and lacks flexibility in fixing and position adjustment, which affects the work efficiency of the staff.
A multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance is designed, including an insulated working platform, a telescopic ladder lifting device, a leg moving mechanism and a full-touch color display. Through the cooperation of hydraulic cylinders and sensors, the stability and flexibility of the platform are achieved; the telescopic ladder and rod holding device are adapted to the operation needs of different locations.
It improves the stability and flexibility of the operating platform, reduces the footprint and cost, enhances the ability to operate overhead lines under complex and narrow terrain, and improves the work efficiency and safety of staff.
Smart Images
Figure CN119503700A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the field of aerial work, and in particular relates to a multi-purpose intelligent aerial insulation work platform and an operation method for distribution network maintenance. Background Art
[0002] In pole-climbing operations, workers directly climb to the designated working position. During this process, workers can easily adjust their own positions, with good accuracy and flexibility. However, due to the harsh working environment and complex influencing factors, especially for double-circuit vertically arranged overhead lines, single-side power outage operation and maintenance are difficult. Even if certain protective measures are taken, safety is difficult to be fully guaranteed, and the risk of electric shock or falling accidents is high. The aerial work platform can send workers to the working position through mechanical lifting, while providing a certain safe working space, improving the safety and quality of the operation process.
[0003] At present, most lifting work platforms are carried by insulated boom trucks, which occupy a large area and are too expensive. They are difficult to operate overhead lines in complex and narrow terrain, and lack flexibility in fixing and position adjustment, which greatly affects the work efficiency of the staff. Summary of the invention
[0004] In view of this, the present invention aims to propose a multi-purpose intelligent high-altitude insulated working platform and operating method for distribution network maintenance, so as to solve the problems that the lifting working platform is complicated and carried by an insulated boom truck, occupies a large area and is too expensive, is difficult to operate overhead lines in complex and narrow terrain, and lacks flexibility in fixing and position adjustment, which greatly affects the work efficiency of the staff.
[0005] To achieve the above object, the technical solution of the present invention is achieved as follows: The present invention provides a multi-purpose intelligent high-altitude insulating working platform for distribution network maintenance, comprising: an insulating working platform, which is used for working personnel to perform working tasks, wherein a standing platform, a first level sensor, and a first hydraulic cylinder are arranged in the insulating working platform, wherein the first hydraulic cylinder is connected to the first level sensor, and the first hydraulic cylinder is fixed to the standing platform; a telescopic ladder lifting device, which is used to lift the telescopic ladder, wherein a variable amplitude mechanism is arranged in the telescopic ladder lifting device and is connected to the telescopic ladder, and the first hydraulic cylinder is fixed to the outer side of the top ladder frame of the telescopic ladder; an outrigger moving mechanism, which is used to control the walking of the multi-purpose intelligent high-altitude insulating working platform, wherein a crawler chassis of the outrigger moving mechanism is provided with a second level sensor, a turntable, and folding outriggers, wherein the variable amplitude mechanism is installed on the turntable, and a third hydraulic cylinder is connected to the folding outriggers; and a full-touch color display, which is used to display and control the multi-purpose intelligent high-altitude insulating working platform in real time, wherein a controller is arranged inside the full-touch color display, and the controller is respectively connected to the insulating working platform, the telescopic ladder lifting device, and the outrigger moving mechanism.
[0006] Furthermore, the leg moving mechanism includes a folding leg, a leg support plate, a crawler chassis, a third hydraulic cylinder, a turntable, a laser radar, and a second level sensor; the folding leg is fixed at the four corners of the crawler chassis by pins, and the bottom of any folding leg is fixed with a leg support plate by bolts, and the part of the leg support plate in contact with the ground is toothed, and the folding leg includes an upper leg and a lower leg, and the upper leg is connected to the lower leg by a rotating shaft, and the upper leg is connected to the crawler chassis by a pin, and hydraulic cylinder fixing shafts are arranged at the ends of the upper leg and the lower leg; the third hydraulic cylinder is connected to any folding leg, and one end of the third hydraulic cylinder It is connected to the hydraulic fixed shaft on the upper leg, and the other end is connected to the hydraulic fixed shaft of the lower leg. The first proportional valve is arranged on the third hydraulic cylinder; a second horizontal sensor is arranged in the crawler chassis and a dual-axis inclination sensor is arranged at the lower part, the dual-axis inclination sensor is installed parallel to an edge line of the crawler chassis, the second horizontal sensor, the dual-axis inclination sensor, the first proportional valve are connected to the controller; the turntable is arranged on the crawler chassis, and the turntable is driven by gear transmission to realize 360° rotation of the amplitude change mechanism, the laser radar is arranged on the turntable of the crawler chassis and is located on the front side of the telescopic ladder, and the laser radar and the turntable are connected to the motor and the controller.
[0007] Furthermore, the amplitude changing mechanism includes a second hydraulic cylinder, a pulley system, a steel wire rope, a winch, and a telescopic ladder. The second hydraulic cylinder is symmetrically arranged with respect to the center line of the telescopic ladder. One side of any second hydraulic cylinder is fixed to the outer side of the lowest ladder frame of the telescopic ladder by a pin, and the other side is fixed to the turntable by a pin; the telescopic ladder is divided into three telescopic sections, including a first telescopic section, a second telescopic section, and a third telescopic section; the winch and the inclination sensor are fixed to the bottom of the telescopic ladder, the winch is used to pull the steel wire rope to make the telescopic ladder perform telescopic action, and the steel wire rope passes around the pulley system from the winch; the pulley system includes a first fixed pulley, a second fixed pulley, a third fixed pulley, and a fourth fixed pulley A wheel and a fifth fixed pulley are provided, any of which is fixed to the telescopic section where it is located by bolts; a first fixed pulley is provided on the left side of the first telescopic section and a second fixed pulley is provided on the right side, and the first fixed pulley is located above the second fixed pulley; a third fixed pulley is provided on the left side of the second telescopic section and a fourth fixed pulley is provided on the right side, and the third fixed pulley is located above the fourth fixed pulley; a fifth fixed pulley is provided on the top of the third telescopic section, and the wire rope is passed from the winch upward in sequence around the first fixed pulley, the second fixed pulley, the third fixed pulley, the fourth fixed pulley and the fifth fixed pulley, the telescopic ladder adopts lightweight insulating material, and the winch, the second hydraulic cylinder, the inclination sensor and the controller are connected.
[0008] Furthermore, the insulating working platform includes a standing platform, a handrail, a pole holding device, a first hydraulic cylinder, a first level sensor, and an inclination sensor; the standing platform has a three-quarter circular shape, a groove in the middle and handrails on the periphery, and the groove is trumpet-shaped for embedding into an electric pole; the pole holding device is used to lock the electric pole, and the pole holding device is connected to the standing platform by bolts; the first hydraulic cylinder is fixed to the standing platform by pins, and the first hydraulic cylinder is used to adjust the angle between the standing platform and the telescopic ladder. The first hydraulic cylinder is provided with a second proportional valve, and the first level sensor is provided inside the insulating working platform, and the first level sensor is connected to the second proportional valve and a controller; the insulating working platform is made of lightweight insulating material as a whole, a three-axis accelerometer and a three-axis gyroscope are fixed under the insulating working platform, a mobile station is fixed under the insulating working platform and moves with it, and a base station is elevated and placed statically in an open environment around the work; the three-axis accelerometer, the three-axis gyroscope, the mobile station, and the base station are connected to the controller.
[0009] Furthermore, the pole holding device includes a pole holding motor, a pole holding rack, and a driving gear; the driving gear is arranged on a gear shaft, one end of the gear shaft is connected to the pole holding motor, and the other end is connected to a gear shaft fixing seat through a bearing; the gear shaft fixing seat is fixed to the standing platform through bolts, and the pole holding motor is fixed to the standing platform through bolts; the pole holding rack and the driving gear are meshed with each other, the pole holding rack is semicircular and slides in a groove of the standing platform, and a first limit switch and a second limit switch are provided at the opening of the groove of the standing platform, and the first limit switch and the second limit switch are respectively fixed to the groove opening below the standing platform by bolts, the first limit switch is away from the pole holding motor, and the second limit switch is close to the pole holding motor, and the pole holding motor is respectively connected to the first limit switch, the second limit switch, and a controller.
[0010] Furthermore, when the multi-purpose intelligent high-altitude insulated work platform comes to a stop, the controller determines the positions of the support points of the four folding legs by receiving the horizontal inclination angle between the track chassis and the horizontal plane detected by the dual-axis inclination sensor, and finds the highest point, outputs a PWM pulse width modulation signal to drive the first proportional valve installed on the folding leg corresponding to the highest point to open, and drives the third hydraulic cylinder to perform leveling action; the leveling process of the track chassis only rises but does not fall, and first performs lateral leveling, and then performs longitudinal leveling, until the remaining three support points are raised to the same horizontal plane as the highest point; when the inclination angle detected by the dual-axis inclination sensor is within a certain range, the leveling process of the track chassis ends.
[0011] Furthermore, when the leveling of the crawler chassis is completed, the standing platform is leveled. The inclination sensor converts the measured inclination of the telescopic ladder into an inclination value for leveling the standing platform and feeds it back to the second proportional valve. After the second proportional valve is opened, the hydraulic oil drives the first hydraulic cylinder to level through the second proportional valve until the value fed back by the inclination sensor is reached. During the leveling process of the standing platform, the standing platform and the crawler chassis are parallel to each other.
[0012] Furthermore, when the multi-purpose intelligent high-altitude insulating work platform performs a pole-holding action, the controller generates a three-dimensional point cloud map in the full-touch color display by receiving the pole position, insulating platform position, and surrounding environment conditions obtained by the laser radar, and drives the pole-holding device and turntable to perform the pole-holding action based on the data of the three-dimensional point cloud map in combination with the cloud precision matching algorithm; when the three-dimensional point cloud map detects that the pole is located in the middle of the bell mouth of the insulating work platform, the pole-holding motor drives the pole-holding rack to lock the pole, and after the pole-holding rack reaches the first limit switch position, the pole-holding motor stops driving and locks it; after the operation is completed, the pole-holding motor releases the pole-holding device from the clamping state and drives the pole-holding rack to rotate to the second limit switch position, and the pole-holding motor stops rotating.
[0013] The present invention also provides an operation method of a multi-purpose intelligent high-altitude insulating working platform for distribution network maintenance, which is based on the multi-purpose intelligent high-altitude insulating working platform for distribution network maintenance described in the previous aspect, including: step S1, operating the crawler chassis to walk to the side of the electric pole, aligning the telescopic ladder with the electric pole, extending the four folding legs at the four corners of the crawler chassis, raising the crawler chassis, and leveling the insulating working chassis according to the detection result of the dual-axis inclination sensor; step S2, first rotating the telescopic ladder from flat to inclined 70 degrees, and through the horizontal sensor on the insulating working platform, the working platform follows the telescopic ladder and adjusts synchronously to ensure that the platform is always in horizontal position; step S3, the multi-purpose intelligent high-altitude insulated working platform extends the telescopic ladder to the trumpet mouth on the top of the insulating platform according to the calculated distance and inserts it into the pole, and when the trumpet mouth reaches the appropriate position of the pole, the pole holding device rotates and closes; step S4, the operating worker climbs onto the platform along the telescopic ladder to work, and after the work is completed, the operating worker returns to the ground along the telescopic ladder; step S5, the holding state of the pole holding device is released, the telescopic ladder is retracted, the telescopic ladder is laid flat, the folding legs at the four corners of the crawler chassis are retracted, and the crawler chassis is controlled by the operating personnel to move to the vicinity of the next working pole to continue working or return to the transfer vehicle.
[0014] Furthermore, in step S5, manual unlocking is required to release the clamping state of the holding rod device. After the holding rod device is unlocked, the winch is operated to retract the telescopic ladder. When the telescopic ladder is retracted, the second hydraulic cylinder is retracted to make the standing platform naturally drooping; when it is necessary to return to the transfer vehicle, the third hydraulic cylinder on the folding leg is retracted to make the folding leg stand up, and the operator turns the folding leg back to the top of the crawler track, and then fixes the folding leg to prepare for loading and transfer.
[0015] Compared with the prior art, the multi-purpose intelligent high-altitude insulated working platform and working method for distribution network maintenance described in the present invention have the following advantages: (1) In the present invention, a third hydraulic cylinder is provided on each folding leg, and a second level sensor is provided in the crawler chassis for adjustment. The level of the chassis is adjusted by telescoping the third hydraulic cylinder. The leg support plate is used to increase the ground contact area to prevent the legs from sinking into the ground due to soft ground during operation, thereby improving the stability of the insulating work platform. The turntable realizes 360° rotation of the telescopic ladder, and the second hydraulic cylinder controls the pitch angle of the telescopic ladder. The telescopic operation height of the telescopic ladder is controlled by a winch combined with a pulley system and a wire rope. A first level sensor is provided in the insulating work platform, and the standing flat belt is controlled by the first hydraulic cylinder to ensure that the operator's standing platform is always in a horizontal position.
[0016] (2) The telescopic ladder of the present invention uses a winch in conjunction with a wire rope and a pulley system to control the extension and shortening of the ladder frame. The turntable is combined with a variable amplitude mechanism to enable the insulating ladder to rotate 360° and adjust the pitch angle of the insulating ladder to adapt to any position near the pole and align it with the pole. When the pole is located in the middle of the bell mouth, the pole holding device under the insulating platform will rotate and clamp, and the working platform cannot be separated from the pole, ensuring the safety of the workers. Both the working platform and the telescopic ladder are made of insulating materials to ensure the overall insulation performance.
[0017] (3) In the present invention, the crawler chassis leveling is detected by a dual-axis tilt sensor, and the tilt change between the crawler chassis and the horizontal plane is fed back to the controller. After receiving the feedback, the controller controls the actions of related components and drives the chassis to move in the direction of reducing the tilt change. When the multi-purpose intelligent high-altitude insulated working platform performs the pole holding action, a fusion positioning method based on the combined navigation technology of RTK and inertial measurement unit and supplemented by laser point cloud map matching technology is adopted, which gives full play to the complementary advantages of the three sensors of RTK, laser radar and IMU, and improves the positioning stability in the distribution network line operation scenario. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.
[0019] In the attached picture: Figure 1 It is an overall axial side schematic diagram of a multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Figure 2 It is an enlarged front view schematic diagram of position I in the overall axonometric view of the multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Figure 3 It is an enlarged schematic diagram of point II in the overall axonometric view of the multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Figure 4 It is an enlarged schematic diagram of point III in the overall axonometric view of the multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Figure 5 A side view schematic diagram of a multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention Figure 6 A schematic diagram of a pulley system in an overall axonometric view of a multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the axial side view of the pole holding device in the overall axial side view of the multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the internal connections of the pole holding device of the multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Fig. 9 A schematic top view of a pole holding device of a multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to an embodiment of the present invention; Fig.10 A schematic diagram of a process flow of an operation method of a multi-purpose intelligent high-altitude insulated operation platform for distribution network maintenance according to an embodiment of the present invention; Fig.11 It is an axial side schematic diagram of the working platform in a state of being ready for shipment in the working method of the multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance described in an embodiment of the present invention.
[0020] Description of reference numerals: 1. Outrigger moving mechanism; 2. Telescopic ladder lifting device; 3. Insulated working platform; 4. First fixed pulley; 5. Second fixed pulley; 6. Third fixed pulley; 7. Fourth fixed pulley; 8. Fifth fixed pulley; 9. Electric pole; 10. Turntable; 11. Laser radar; 101. Crawler chassis; 102. Outrigger support plate; 103. Folding outrigger; 104. Third hydraulic cylinder; 106. Second level sensor; 107. Hydraulic cylinder fixed shaft; 201. Second hydraulic cylinder; 202. Winch; 203. Telescopic ladder; 204 , wire rope; 205, pulley system; 301, standing platform; 302, handrail; 303, pole holding device; 304, first hydraulic cylinder; 305, first level sensor; 1031, upper leg; 1032, lower leg; 2031, first telescopic section; 2032, second telescopic section; 2033, third telescopic section; 3031, pole holding rack; 3032, gear shaft; 3033, gear shaft fixing seat; 3034, pole holding motor; 3035, first limit switch; 3036, second limit switch. DETAILED DESCRIPTION
[0021] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.
[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.
[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.
[0024] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.
[0025] See also Figure 1-Figure 9 As shown, this embodiment provides a multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance, including an insulated working platform 3, which is used for workers to perform work tasks, and the insulated working platform 3 is provided with a standing platform 301, a first level sensor 305, and a first hydraulic cylinder 304, the first hydraulic cylinder 304 is connected to the first level sensor 305, and the first hydraulic cylinder 304 is fixed to the standing platform 301; a telescopic ladder lifting device 2 is used to lift the telescopic ladder 203, the telescopic ladder lifting device 2 is provided with a variable amplitude mechanism connected to the telescopic ladder 203, and the first hydraulic cylinder 304 is connected to the telescopic ladder The outer side of the top ladder is fixed; the outrigger moving mechanism 1 is used to control the walking of the multi-purpose intelligent high-altitude insulating work platform. The crawler chassis 101 in the outrigger moving mechanism 1 is provided with a second horizontal sensor 106, a turntable 10 and a folding outrigger 103. The amplitude varying mechanism is installed on the turntable 10. The third hydraulic cylinder 104 is connected to the folding outrigger 103; a full-touch color display is used to display and control the multi-purpose intelligent high-altitude insulating work platform in real time. A controller is arranged inside the full-touch color display. The controller is respectively connected to the insulating work platform 3, the telescopic ladder lifting device 2 and the outrigger moving mechanism 1.
[0026] In the embodiment, the first level sensor 305 is used to detect the levelness of the standing platform, the second level sensor 106 is used to detect the levelness of the crawler chassis, and the outrigger support plate 102 is used to increase the ground contact area.
[0027] Specifically, in this embodiment, the leg moving mechanism 1 includes a folding leg 103, a leg support plate 102, a crawler chassis 101, a third hydraulic cylinder 104, a turntable 10, a laser radar 11, and a second level sensor 106; the folding leg 103 is fixed at the four corners of the crawler chassis 101 by pins, and the bottom of any folding leg is fixed to the leg support plate 102 by bolts, and the part of the leg support plate 102 in contact with the ground is toothed, and the folding leg 103 includes an upper leg 1031 and a lower leg 1032, the upper leg 1031 is connected to the lower leg 1032 by a rotating shaft, the upper leg 1031 is connected to the crawler chassis 101 by a pin, and a hydraulic cylinder fixing shaft 107 is provided at the ends of the upper leg 1031 and the lower leg 1032; the third hydraulic cylinder 104 is connected to any folding leg The folded legs 103 are connected, one end of the third hydraulic cylinder 104 is connected to the hydraulic fixed shaft 107 on the upper leg 1031, and the other end is connected to the hydraulic fixed shaft 107 of the lower leg 1032. The third hydraulic cylinder 104 is provided with a first proportional valve; a second horizontal sensor 106 is provided in the crawler chassis 101 and a dual-axis inclination sensor is provided at the lower part, the dual-axis inclination sensor is installed parallel to an edge line of the crawler chassis 101, the second horizontal sensor 106, the dual-axis inclination sensor, the first proportional valve are connected to the controller; the turntable 10 is provided on the crawler chassis 101, and the turntable 10 is driven by gear transmission to realize a 360° rotation of the amplitude change mechanism, the laser radar 11 is provided on the turntable of the crawler chassis 101 and is located in front of the telescopic ladder 203, and the laser radar 11 and the turntable are connected to the controller.
[0028] Specifically, in this embodiment, the amplitude changing mechanism includes a second hydraulic cylinder 201, a pulley system 205, a steel wire rope 204, a winch 202, and a telescopic ladder 203. The second hydraulic cylinder 201 is symmetrically arranged with respect to the center line of the telescopic ladder 203. One side of any second hydraulic cylinder 201 is fixed to the outer side of the lowest ladder frame of the telescopic ladder by a pin, and the other side is fixed to the turntable 10 by a pin; the telescopic ladder 203 is divided into three telescopic sections, including a first telescopic section 2031, a second telescopic section 2032, and a third telescopic section 2033; the winch 202 and the inclination sensor are fixed to the bottom of the telescopic ladder 203, the winch 202 is used to pull the steel wire rope 204 to make the telescopic ladder 203 perform telescopic action, and the steel wire rope 204 bypasses the pulley system 205 from the winch 202; the pulley system 205 includes a first fixed pulley 4, a second fixed pulley 2032, and a third fixed pulley 2033. The second fixed pulley 5, the third fixed pulley 6, the fourth fixed pulley 7, and the fifth fixed pulley 8, any fixed pulley is fixed to the telescopic section where it is located by bolts; the first fixed pulley 4 is provided on the left side of the first telescopic section 2031 and the second fixed pulley 5 is provided on the right side, and the first fixed pulley 4 is located above the second fixed pulley 5; the third fixed pulley 6 is provided on the left side of the second telescopic section 2032 and the fourth fixed pulley 7 is provided on the right side, and the third fixed pulley 6 is located above the fourth fixed pulley 7; the fifth fixed pulley 8 is provided on the top of the third telescopic section 2033, and the wire rope 204 is passed from the winch 202 upward in sequence around the first fixed pulley 4, the second fixed pulley 5, the third fixed pulley 6, the fourth fixed pulley 7, and the fifth fixed pulley 8, the telescopic ladder 203 is made of lightweight insulating material, and the winch 202, the second hydraulic cylinder 201, and the inclination sensor are connected to the controller.
[0029] Specifically, in this embodiment, the insulating working platform 3 includes a standing platform 301, a handrail 302, a pole holding device 303, a first hydraulic cylinder 304, a first level sensor 305, and an inclination sensor; the standing platform 301 is three-quarter circular in shape, with a groove in the middle and a handrail 304 on the periphery, and the groove is a trumpet shape for embedding the electric pole 9; the pole holding device 303 is used to lock the electric pole, and the pole holding device 303 is connected to the standing platform 301 by bolts; the first hydraulic cylinder 304 is fixed to the standing platform 301 by pins, and the first hydraulic cylinder 304 is used to To adjust the angle between the standing platform 301 and the telescopic ladder 203, a second proportional valve is arranged on the first hydraulic cylinder 304, a first level sensor 305 is arranged inside the insulating working platform 3, and the first level sensor 305 is connected to the second proportional valve and the controller; the insulating working platform 3 is made of lightweight insulating material as a whole, a three-axis accelerometer and a three-axis gyroscope are fixed under the insulating working platform 3, a mobile station is fixed under the insulating working platform 3 and moves with it, and a base station is elevated and placed statically in an open environment around the work; the three-axis accelerometer, the three-axis gyroscope, the mobile station, and the base station are connected to the controller.
[0030] A third hydraulic cylinder is set on each folding leg, and a second level sensor is set in the crawler chassis for adjustment. The level of the chassis is adjusted by the third hydraulic cylinder. The leg support plate is used to increase the ground contact area to prevent the legs from sinking into the ground due to soft ground collapse during operation, thereby improving the stability of the insulating work platform. The turntable realizes the 360° rotation of the telescopic ladder. The second hydraulic cylinder controls the pitch angle of the telescopic ladder. The telescopic height of the telescopic ladder is controlled by the winch combined with the pulley system and the wire rope. The first level sensor is set in the insulating work platform, and the standing flat belt is controlled by the first hydraulic cylinder to ensure that the standing platform of the operator is always in a horizontal position. The telescopic ladder uses a winch combined with a wire rope and a pulley system to control the extension and shortening of the ladder frame. The turntable is combined with a variable amplitude mechanism to enable the insulating ladder to rotate 360° and adjust the pitch angle of the insulating ladder to adapt to any position near the pole and align with the pole. When the pole is in the middle of the bell mouth, the pole holding device under the insulating platform will rotate and clamp, and the working platform cannot be separated from the pole, ensuring the safety of the operator. The working platform and telescopic ladder are both made of insulating materials, and the pole holding device is independently powered by a battery pack under the platform to ensure overall insulation performance.
[0031] Specifically, in this embodiment, the pole holding device 303 includes a pole holding motor 3034, a pole holding rack 3031, and a driving gear; the driving gear is arranged on the gear shaft 3032, the gear shaft 3032 is connected to the pole holding motor 3034, and the other end is connected to the gear shaft fixing seat 3033 through a bearing; the gear shaft fixing seat 3033 is fixed to the standing platform 301 by bolts, and the pole holding motor 3034 is fixed to the standing platform 301 by bolts; the pole holding rack 3031 is meshed with the driving gear, and the pole holding rack 3031 is semicircular and is on the standing platform The pole rack 3031 slides in the groove of 301, and the first limit switch 3035 and the second limit switch 3036 are provided at the opening of the groove of the standing platform 301. The first limit switch 3035 and the second limit switch 3036 are respectively fixed to the opening of the groove below the standing platform 301 by bolts. The first limit switch 3035 is away from the pole motor 3034, and the second limit switch 3036 is close to the pole motor 3034. The pole motor 3034 is connected to the first limit switch 3035, the second limit switch 3036 and the controller respectively.
[0032] Specifically, in this embodiment, when the multi-purpose intelligent high-altitude insulated work platform comes to a stop, the controller determines the positions of the support points of the four folding legs 103 by receiving the horizontal inclination angle between the track chassis 101 and the horizontal plane detected by the dual-axis inclination sensor, and finds the highest point therein, and outputs a PWM pulse width modulation signal to drive the first proportional valve installed on the folding leg 103 corresponding to the highest point to open, and drives the third hydraulic cylinder 104 to perform leveling action; the leveling process of the track chassis only rises but does not fall, and first performs lateral leveling, and then performs longitudinal leveling, until the remaining three support points are raised to the same horizontal plane as the highest point; when the inclination angle detected by the dual-axis inclination sensor is within a certain range, the leveling process of the track chassis 101 ends.
[0033] The track chassis leveling is detected by the dual-axis tilt sensor, and the tilt change between the track chassis and the horizontal plane is fed back to the controller. After receiving the feedback, the controller controls the actions of related components and drives the chassis to move in the direction of reducing the tilt change. The specific control process is as follows: After the operator stops the vehicle by remote control, press the chassis automatic leveling button. The chassis leveling adopts the leveling method of the four-point support chassis platform. The dual-axis tilt sensor is installed parallel to one side of the chassis platform. The chassis completes the track off the ground during the rising process. The controller can determine the height of the four support points based on the horizontal tilt angle measured by the dual-axis tilt sensor, find the highest point, and output a PWM pulse width modulation signal to drive the corresponding first proportional valve. After the first proportional valve is opened, the hydraulic oil passes through the first proportional valve to the third hydraulic cylinder to complete the leveling action. The crawler chassis leveling process adopts the lifting and leveling technology. According to the principle of only lifting but not lowering, the horizontal leveling is performed first, and then the longitudinal leveling is performed until the remaining three support points are raised to the same level as the highest point. The tilt angle detected by the dual-axis tilt sensor X-axis and Y-axis is within ±0.3°, and the leveling process is completed. Since the ground may collapse and deform during the lifting process, it is necessary to use two leveling methods, coarse adjustment and fine adjustment. Leveling is performed after the crawler is off the ground. If the tilt angle is greater than or equal to ±0.5°, coarse adjustment is performed, and the movement speed of each folding leg is faster; if the tilt angle is less than ±0.5°, fine adjustment is performed, and the movement speed of each folding leg is slower. When the detected tilt angle is within ±0.3°, the leveling is completed.
[0034] Specifically, in this embodiment, after the leveling of the crawler chassis 101 is completed, the standing platform 301 is leveled. The inclination sensor converts the measured inclination of the telescopic ladder 203 into an inclination value for leveling the standing platform 301 and feeds it back to the second proportional valve. After the second proportional valve is opened, the hydraulic oil drives the first hydraulic cylinder 304 to level through the second proportional valve until the value fed back by the inclination sensor is reached. During the leveling process of the standing platform 301, the standing platform 301 and the crawler chassis 101 are parallel to each other.
[0035] The top working platform and the chassis should maintain a parallel horizontal relationship. After the chassis is adjusted, the inclination sensor installed at the bottom of the telescopic ladder converts the measured inclination of the telescopic ladder into the inclination value of the platform leveling and feeds it back to the second proportional valve of the standing platform. After the second proportional valve is opened, the hydraulic oil drives the first hydraulic cylinder to level through the second proportional valve to reach the value fed back by the inclination sensor. Similarly, if the inclination angle is greater than or equal to ±0.5°, a coarse adjustment is performed, and the movement speed of the first hydraulic cylinder is faster; if the inclination angle is less than ±0.5°, a fine adjustment is performed, and the movement speed of the hydraulic cylinder is slower. When the detected inclination angle is within ±0.3°, the leveling is completed. The system parameters of the multi-purpose intelligent high-altitude insulated working platform mainly include the inclination angle of the chassis and working platform, the working height and amplitude, and the telescopic length. The information is read from the controller through the CAN bus and displayed in real time through a full-touch color display.
[0036] Specifically, in this embodiment, when the multi-purpose intelligent high-altitude insulating work platform performs a pole holding action, the controller generates a three-dimensional point cloud map in the full-touch color display by receiving the pole position, the insulating platform position, and the surrounding environment obtained by the laser radar 11, and drives the pole holding device and the turntable 10 to perform the pole holding action according to the data of the three-dimensional point cloud map combined with the cloud precision matching algorithm; when the three-dimensional point cloud map detects that the pole is located in the middle of the bell mouth of the insulating work platform 3, the pole holding motor 3034 drives the pole holding rack 3031 to lock the pole, and after the pole holding rack 3031 reaches the first limit switch 3035 position, the pole holding motor 3034 stops driving and locks it; after the operation is completed, the pole holding motor 3034 releases the pole holding device from the clamping state and drives the pole holding rack 3031 to rotate to the second limit switch 3036 position, and the pole holding motor 3034 stops rotating.
[0037] When the multi-purpose intelligent high-altitude insulation work platform performs pole holding action, it adopts a fusion positioning method that mainly uses the combined navigation technology of RTK and inertial measurement unit, supplemented by laser point cloud map matching technology, giving full play to the complementary advantages of the three sensors of RTK, laser radar and IMU, and improving the positioning stability in the distribution line operation scenario. The combined system of IMU, RTK and laser radar includes: IMU usually includes a three-axis accelerometer and a three-axis gyroscope, which measure the linear acceleration and angular velocity of the object respectively, and the IMU is fixed under the insulation work platform; RTK is mainly composed of a base station and a mobile station. The base station and the mobile station transmit differential data through a radio or network to realize the high-frequency data of the mobile station combined with the IMU, and adjust and optimize the model parameters in real time, thereby effectively offsetting the influence of electromagnetic interference and ensuring the accuracy and stability of positioning. The base station is usually elevated and placed statically in an open environment around the operation, and the mobile station is fixed under the work platform and moves with the platform. Lidar is used to measure and obtain information such as the distance, position and shape of the target object. It measures the distance and position by emitting a laser beam and receiving the reflected signal of the laser beam. Modeling of working objects such as poles, laser scanning and mapping of the environment, and generating a three-dimensional point cloud map. Based on the laser point cloud map data, the position and confidence are solved in combination with the point cloud precision matching algorithm, and the laser radar is installed on the front side of the crawler chassis telescopic ladder. Through the fusion of the three, it is ensured that the semicircular notch position of the insulating working platform can be aligned with the pole position, and the relative position of the insulating working platform and the pole is accurately measured, and the insulating working platform is accurately in place, and the pole holding device is closed to lock the pole. Since positioning errors are inevitable, the groove of the insulating working platform is designed to be a trumpet shape, which is convenient for correction in case of misalignment. The pole holding device drives the active gear through the rotation of the pole holding motor, and the active gear drives the semicircular pole holding rack to rotate, locking the pole in the circle formed by the semicircular groove of the pole holding device and the standing platform. In this way, although there is a certain amount of activity, the platform has no contact with the pole, and will not exert other forces on the pole, effectively avoiding damage to the pole surface. At the same time, once a danger occurs, the platform will not fall over, effectively ensuring the safety of the operator. The opening and closing rotation of the pole rack is determined by the limit switches installed on both sides of the semicircular groove of the standing platform. The motor stops when the first limit switch of the pole rack on the left is detected, and stops when the limit switch on the right is detected.
[0038] See also Fig.10As shown, the present embodiment also provides an operation method of a multi-purpose intelligent high-altitude insulating work platform for distribution network maintenance, which is based on the multi-purpose intelligent high-altitude insulating work platform for distribution network maintenance described in the previous aspect, including: step S1, operating the crawler chassis to walk to the side of the pole, aligning the telescopic ladder with the pole, extending the four folding legs at the four corners of the crawler chassis, raising the crawler chassis, and leveling the insulating work chassis according to the detection result of the dual-axis inclination sensor; step S2, first rotating the telescopic ladder from flat to inclined 70 degrees, and through the horizontal sensor on the insulating work platform, the work platform follows the telescopic ladder and adjusts synchronously to ensure that the platform is always In a horizontal position; step S3, the multi-purpose intelligent high-altitude insulated working platform extends the telescopic ladder to the trumpet mouth on the top of the insulating platform according to the calculated distance and inserts it into the pole, and when the trumpet mouth reaches the appropriate position of the pole, the pole holding device rotates and closes; step S4, the operating worker climbs onto the platform along the telescopic ladder to work, and after the work is completed, the operating worker returns to the ground along the telescopic ladder; step S5, the holding state of the pole holding device is released, the telescopic ladder is retracted, the telescopic ladder is laid flat, the folding legs at the four corners of the crawler chassis are retracted, and the crawler chassis is controlled by the operating personnel to move to the vicinity of the next working pole to continue working or return to the transfer vehicle.
[0039] like Fig.11 As shown, specifically, in this embodiment, in step S5, manual unlocking is required to release the clamping state of the holding rod device. After the holding rod device is unlocked, the winch 202 is operated to retract the telescopic ladder 203. When the telescopic ladder 203 is retracted, the second hydraulic cylinder 201 is retracted to make the standing platform 301 naturally drooping; when it is necessary to return to the transfer vehicle, the third hydraulic cylinder 104 on the folding leg 103 is retracted to make the folding leg 103 stand up, and the operator turns the folding leg 103 back to the top of the crawler track, and then fixes the folding leg 103 to prepare for loading and transfer.
[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance, characterized in that: The invention comprises an insulating working platform (3) for workers to perform working tasks, wherein the insulating working platform (3) is provided with a standing platform (301), a first level sensor (305), and a first hydraulic cylinder (304), wherein the first hydraulic cylinder (304) is connected to the first level sensor (305), and the first hydraulic cylinder (304) is fixed to the standing platform (301); a telescopic ladder lifting device (2) for lifting a telescopic ladder (203), wherein the telescopic ladder lifting device (2) is provided with a variable amplitude mechanism connected to the telescopic ladder (203), and the first hydraulic cylinder (304) is fixed to the outer side of the topmost ladder frame of the telescopic ladder; a supporting device (2) for lifting a telescopic ladder (203); and a supporting device (2) for lifting a telescopic ladder (203). A leg moving mechanism (1) is used to control the walking of a multi-purpose intelligent high-altitude insulating working platform, wherein the crawler chassis (101) of the leg moving mechanism (1) is provided with a second level sensor (106), a turntable (10) and folding legs (103), the amplitude changing mechanism is installed on the turntable (10), and the third hydraulic cylinder (104) is connected to the folding legs (103); a full touch color display is used to display and control the multi-purpose intelligent high-altitude insulating working platform in real time, and a controller is provided inside the full touch color display, and the controller is respectively connected to the insulating working platform (3), the telescopic ladder lifting device (2), and the leg moving mechanism (1).
2. The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 1 is characterized in that: The outrigger moving mechanism (1) comprises a folding outrigger (103), an outrigger support plate (102), a crawler chassis (101), a third hydraulic cylinder (104), a turntable (10), a laser radar (11), and a second level sensor (106); the folding outrigger (103) is fixed to the four corners of the crawler chassis (101) by pins, the bottom of any folding outrigger is fixed to the outrigger support plate (102) by bolts, and the outrigger support plate (102) is fixed to the crawler chassis (101) by bolts. The ground contact portion is tooth-shaped, the folding leg (103) comprises an upper leg (1031) and a lower leg (1032), the upper leg (1031) is connected to the lower leg (1032) via a rotating shaft, the upper leg (1031) is connected to the crawler chassis (101) via a pin, and hydraulic cylinder fixing shafts (107) are provided at the ends of the upper leg (1031) and the lower leg (1032); the third hydraulic cylinder (104) is connected to any folding leg (103), one end of the third hydraulic cylinder (104) is connected to the hydraulic fixed shaft (107) on the upper leg (1031), and the other end is connected to the hydraulic fixed shaft (107) of the lower leg (1032), and the third hydraulic cylinder (104) is provided with a first proportional valve; a second level sensor (106) is provided inside the crawler chassis (101) and a dual-axis tilt sensor is provided at the lower part, the dual-axis tilt sensor is installed parallel to a side line of the crawler chassis (101), the second level sensor (106), the dual-axis tilt sensor, and the first proportional valve are connected to a controller; the turntable (10) is provided on the crawler chassis (101), the turntable (10) is driven by gear transmission to realize 360° rotation of the variable amplitude mechanism, the laser radar (11) is provided on the turntable of the crawler chassis (101) and is located at the front side of the telescopic ladder (203), and the laser radar (11) and the turntable connection motor are connected to the controller.
3. The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 1 is characterized in that: The luffing mechanism comprises a second hydraulic cylinder (201), a pulley system (205), a steel wire rope (204), a winch (202), and a telescopic ladder (203). The second hydraulic cylinder (201) is symmetrically arranged about the center line of the telescopic ladder (203). One side of any second hydraulic cylinder (201) is fixed to the outer side of the bottom ladder frame of the telescopic ladder by a pin, and the other side is fixed to the turntable (10) by a pin. The telescopic ladder (203) is divided into three telescopic sections, including a first telescopic section (20 31), a second telescopic section (2032), and a third telescopic section (2033); the hoist (202) and the inclination sensor are fixed at the bottom of the telescopic ladder (203); the hoist (202) is used to pull the steel wire rope (204) to make the telescopic ladder (203) perform a telescopic action; the steel wire rope (204) passes through the pulley system (205) from the hoist (202); the pulley system (205) includes a first fixed pulley (4), a second fixed pulley (5), A third fixed pulley (6), a fourth fixed pulley (7), and a fifth fixed pulley (8), any of which is fixed to the telescopic section where it is located by bolts; a first fixed pulley (4) is provided on the left side of the first telescopic section (2031) and a second fixed pulley (5) is provided on the right side, and the first fixed pulley (4) is located above the second fixed pulley (5); a third fixed pulley (6) is provided on the left side of the second telescopic section (2032) and a fourth fixed pulley (7) is provided on the right side, and the third fixed pulley (6) is located above the fourth fixed pulley (7); a fifth fixed pulley (8) is provided on the top of the third telescopic section (2033), and a steel wire rope (204) passes upward from the winch (202) and sequentially passes around the first fixed pulley (4), the second fixed pulley (5), the third fixed pulley (6), the fourth fixed pulley (7), and the fifth fixed pulley (8); the telescopic ladder (203) is made of light insulating material, and the winch (202), the second hydraulic cylinder (201), and the inclination sensor are connected to a controller.
4. The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 3 is characterized in that: The insulating working platform (3) comprises a standing platform (301), a handrail (302), a pole holding device (303), a first hydraulic cylinder (304), a first level sensor (305), and an inclination sensor; the standing platform (301) is three-quarters circular in shape, with a groove provided in the middle and a handrail (304) provided on the periphery, the groove being in a trumpet shape for embedding into an electric pole (9); the pole holding device (303) is used for locking the electric pole, and the pole holding device (303) is connected to the standing platform (301) by bolts; the first hydraulic cylinder (304) is fixed to the standing platform (301) by pins, and the first hydraulic cylinder (304) ) is used to adjust the angle between the standing platform (301) and the telescopic ladder (203), the first hydraulic cylinder (304) is provided with a second proportional valve, the first level sensor (305) is provided inside the insulating working platform (3), the first level sensor (305) is connected to the second proportional valve and the controller; the insulating working platform (3) is made of lightweight insulating material as a whole, a three-axis accelerometer and a three-axis gyroscope are fixed below the insulating working platform (3), a mobile station is fixed below the insulating working platform (3) and moves with it, and a base station is elevated and statically placed in an open environment around the working area; the three-axis accelerometer, the three-axis gyroscope, the mobile station, and the base station are connected to the controller.
5. The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 4 is characterized in that: The pole holding device (303) comprises a pole holding motor (3034), a pole holding rack (3031), and a driving gear; the driving gear is arranged on a gear shaft (3032); one end of the gear shaft (3032) is connected to the pole holding motor (3034), and the other end is connected to a gear shaft fixing seat (3033) via a bearing; the gear shaft fixing seat (3033) is fixed to the standing platform (301) via bolts, and the pole holding motor (3034) is fixed to the standing platform (301) via bolts; the pole holding rack (3031) and the driving gear are meshed with each other, and the pole holding rack (3031) is semicircular and is disposed on the standing platform (3 01), a first limit switch (3035) and a second limit switch (3036) are provided at the opening of the groove of the standing platform (301), the first limit switch (3035) and the second limit switch (3036) are respectively fixed to the opening of the groove below the standing platform (301) by bolts, the first limit switch (3035) is away from the holding pole motor (3034), the second limit switch (3036) is close to the holding pole motor (3034), and the holding pole motor (3034) is respectively connected to the first limit switch (3035), the second limit switch (3036) and the controller.
6. The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 2 is characterized in that: When the multi-purpose intelligent high-altitude insulated working platform stops steadily, the controller determines the positions of the support points of the four folding legs (103) by receiving the horizontal inclination angle between the crawler chassis (101) and the horizontal plane detected by the dual-axis inclination sensor, finds the highest point among them, and outputs a PWM pulse width modulation signal to drive the first proportional valve installed on the folding leg (103) corresponding to the highest point to open, thereby driving the third hydraulic cylinder (104) to perform a leveling action; the leveling process of the crawler chassis only rises but does not fall, and first performs horizontal leveling, then performs longitudinal leveling, until the remaining three support points are raised to the same horizontal plane as the highest point; when the inclination angle detected by the dual-axis inclination sensor is within a certain range, the leveling process of the crawler chassis (101) ends.
7. The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 6 is characterized in that: When the crawler chassis (101) is leveled, the standing platform (301) is leveled. The inclination sensor converts the measured inclination of the telescopic ladder (203) into an inclination value for leveling the standing platform (301) and feeds it back to the second proportional valve. After the second proportional valve is opened, hydraulic oil drives the first hydraulic cylinder (304) to level through the second proportional valve until the value fed back by the inclination sensor is reached. During the leveling process of the standing platform (301), the standing platform (301) and the crawler chassis (101) are parallel to each other.
8. The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 5 is characterized in that: When the multi-purpose intelligent high-altitude insulating working platform performs a pole holding action, the controller generates a three-dimensional point cloud map in a full-touch color display by receiving the electric pole position, the insulating platform position, and the surrounding environment obtained by the laser radar (11), and drives the pole holding device and the turntable (10) to perform the pole holding action according to the data of the three-dimensional point cloud map in combination with the cloud precision matching algorithm; when the three-dimensional point cloud map detects that the electric pole is located in the middle of the bell mouth of the insulating working platform (3), the pole holding motor (3034) drives the pole holding rack (3031) to lock the electric pole, and after the pole holding rack (3031) reaches the position of the first limit switch (3035), the pole holding motor (3034) stops driving and locks it; after the operation is completed, the pole holding motor (3034) releases the pole holding device from the clamping state and drives the pole holding rack (3031) to rotate to the position of the second limit switch (3036), and the pole holding motor (3034) stops rotating.
9. An operating method of a multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance, characterized in that: The multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance based on any one of claims 1 to 8 comprises: step S1, operating the crawler chassis to walk to the side of the electric pole, aligning the telescopic ladder with the electric pole, extending the four folding legs at the four corners of the crawler chassis, raising the crawler chassis, and leveling the insulating working chassis according to the detection result of the dual-axis inclination sensor; step S2, first rotating the telescopic ladder from flat to 70 degrees, and adjusting the working platform synchronously with the telescopic ladder through the level sensor on the insulating working platform to ensure that the platform is always in a horizontal position; step S3, According to the calculated distance, the empty insulated working platform extends the telescopic ladder to the trumpet mouth on the insulating platform at the top and inserts it into the pole, and when the trumpet mouth reaches the appropriate position of the pole, the pole holding device rotates and closes; step S4, the worker climbs onto the platform along the telescopic ladder to work, and after the work is completed, the worker returns to the ground along the telescopic ladder; step S5, the holding state of the pole holding device is released, the telescopic ladder is retracted, the telescopic ladder is laid flat, the folding legs at the four corners of the crawler chassis are retracted, and the crawler chassis is controlled by the operator to move to the vicinity of the next working pole to continue working or return to the transfer vehicle.
10. The method for operating a multi-purpose intelligent high-altitude insulated working platform for distribution network maintenance according to claim 9 is characterized in that: In step S5, the clamping state of the holding rod device needs to be released manually. After the holding rod device is unlocked, the winch (202) is operated to retract the telescopic ladder (203). When the telescopic ladder (203) is retracted, the second hydraulic cylinder (201) is retracted to make the standing platform (301) naturally drooping. When it is necessary to return to the transfer vehicle, the third hydraulic cylinder (104) on the folding leg (103) is retracted to make the folding leg (103) stand up. The operator rotates the folding leg (103) back above the crawler track and then fixes the folding leg (103) to prepare for loading and transfer.