Device and method for assisting guide rope to penetrate through tackle window
By using technical means such as mounting frames and drive components to achieve the guidance rope without manually passing through the pulley window, the safety risks of high altitude operations and the high cost of pulley transformation in the existing technology are solved, and construction efficiency and safety are improved.
Patent Information
- Application Number
- CN202411847402.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-03-11
AI Technical Summary
The prior art requires high-altitude personnel cooperation when unmanned aerial vehicle is deployed, which poses safety risks and requires the transformation of the tackle structure. It is costly and cannot be applied to existing stock tackles.
A device and method for assisting the guide rope through the window of the pulley. By using a mounting frame, docking and adsorption assembly, guide wheel assembly and drive assembly, the guide rope does not need to pass through the pulley window manually, and is suitable for most existing single-wheel and multi-wheeled pulleys.
The device can improve construction efficiency, reduce construction costs and labor intensity of personnel, reduce safety hazards, and is suitable for complex terrain and harsh environments.
Smart Images
Figure CN119602126A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of power transmission and transformation, and in particular to a device and method for assisting a guide rope to pass through a pulley window. Background Art
[0002] When laying out overhead transmission lines, pulleys are used to lay out primary guide ropes, traction ropes, conductors, etc. step by step. Laying out the Dyneema guide rope is the first step. Large multi-rotor drones that have appeared in recent years have the characteristics of long flight distance, large load, and flexible maneuverability, and are more suitable for laying out primary guide ropes for long-distance overhead line sections.
[0003] At present, the use of drones to deploy guide ropes is mostly carried out by workers on the tower to assist in the operation. The drone carries the guide rope and deploys it to the cross arm of the tower. The construction workers on the tower cut the guide rope, pass it through the window of the wire laying pulley, and reconnect it. The drone continues to fly to the next tower to repeat the deployment operation; or the construction workers open the pulley arm and put the guide rope into the window. This method gets rid of the restrictions of complex terrain conditions on the deployment of guide ropes, and has low requirements for drone operators. However, the construction process requires the cooperation of high-altitude personnel, which has high safety risks. In addition, the guide rope passing the pulley operation requires the drone to hover and wait for manual operation, and the construction efficiency is not significantly improved.
[0004] In order to improve the disadvantage that the UAV guide rope deployment requires manual operation on the tower, and to realize the continuous operation of the UAV guide rope deployment, the research of relevant domestic and foreign companies and research institutions is currently focused on the modification of the line-laying pulley structure.
[0005] For example, Chinese patents CN2018112089353, CN2019112424093, and CN2023111160639 propose to modify the pulley structure, add a guide mechanism, and guide the guide rope into the pulley under the traction of the drone.
[0006] However, the disadvantages of these solutions are that they require modification of a wide variety of pulley structures that are themselves subject to heavy loads, resulting in a low safety factor and high modification costs, and they are not applicable to a large number of pulleys in existing inventory. Summary of the invention
[0007] The present invention aims to solve the technical problems mentioned in the above background technology, and provides a device and method for assisting a guide rope to pass through a pulley window, which can enable a UAV to pass the guide rope through the pulley window under the remote control of ground personnel or autonomously, and is suitable for most existing single-wheel and multi-wheel pulleys without the need for structural modifications to the existing pulleys.
[0008] According to the subject of the first aspect of the present invention, the technical solution provided by the present invention is: a device for assisting a guide rope to pass through a pulley window, the lower end of the UAV is fixedly connected to a mounting frame, the other end of the mounting frame is fixedly connected to the pulley frame through a docking adsorption assembly, the end of the mounting frame close to the pulley is bridged across the two sides of the pulley frame and extends along the threading direction of the pulley, the lower end of the mounting frame close to the pulley is slidably connected to a guide rope traction assembly through a guide wheel assembly A and a guide wheel assembly B, the mounting frame is fixedly connected to a driving assembly that is transmission-connected to the guide rope traction assembly, and the guide rope traction assembly moves from the lower end of the mounting frame on one side of the pulley to the other side of the pulley under the drive of the driving assembly to complete the threading of the guide rope.
[0009] In some embodiments, the mounting frame includes two sets of first bracket groups fixed in parallel to the bottom of the drone fuselage, the two first bracket groups are fixedly connected by two parallel brackets B, a docking adsorption component is fixedly connected to one side of the bracket B close to the pulley, and an end of the docking adsorption component close to the pulley is adsorbed and connected to the pulley frame, and the bracket B is fixedly connected to the pulley through the docking adsorption component to keep the position between the mounting frame and the pulley frame fixed; The two first bracket groups are respectively and vertically fixedly connected with brackets D and brackets E at one end close to the pulley, and the brackets D and brackets E are in the same straight line and extend along the threading direction of the pulley. The lower ends of the brackets D and brackets E away from the pulley are both installed with guide wheel assemblies A, and the sides of the brackets D and brackets E close to the pulley are installed with multiple guide wheel assemblies B; The guide wheel assembly A comprises a guide wheel seat A and two wire rod guide wheels, the lower ends of the two sides of the cross beam of the guide wheel seat A are vertically rotatably connected to the wire rod guide wheels, the guide wheel assembly B comprises a guide wheel seat B and two wire rod guide wheels, the lower ends of the two sides of the cross beam of the guide wheel seat B are vertically rotatably connected to the wire rod guide wheels, the cross beams of the guide wheel seat A and the cross beams of the guide wheel seat B are both perpendicular to the extension direction of the bracket D, the cross section of the wire rod guide wheels is I-shaped, the guide rope traction assembly is slidably connected between the wire rod guide wheels under the same guide wheel seat A, and the guide rope traction assembly is slidably connected between the wire rod guide wheels under the same guide wheel seat B; A limiting protrusion is provided at the middle of the lower end of the crossbeam of the guide wheel seat A; A position monitoring component and a driving component are also installed on the middle side of bracket D, and a plurality of position detection components and driving components are installed on the middle side of bracket E.
[0010] In some embodiments, the docking adsorption assembly includes an electromagnet seat, one end of which is provided with a slot to be clamped on the mounting frame, and the slot is provided with a fastener, which fixes the electromagnet seat to the mounting frame, and the other end of the electromagnet seat is fixedly connected to the electromagnet.
[0011] In some embodiments, the drive assembly includes a motor seat, one side of the motor seat is fixedly connected to a reduction reduction motor, a gear is installed on the output shaft of the reduction reduction motor, and the other end of the motor seat is fixedly connected to the mounting frame by a fastener, and the reduction reduction motor is located on one side of the mounting frame.
[0012] In some embodiments, the guide rope traction assembly includes a wire binding rod and a wire threading rod, the wire threading rod extends in a horizontal direction, and the first end of the wire threading rod is rotatably connected to the wire binding rod, the upper end surface of the wire threading rod is provided with a first slide groove and a second slide groove, the first slide groove and the second slide groove extend along the extension direction of the wire threading rod, the opening of the first slide groove is provided at the end of the first end of the wire threading rod, the stop point of the first slide groove is provided at the second end of the wire threading rod, the opening of the second slide groove is provided at the end of the second end of the wire threading rod, and the stop point of the second slide groove is provided at the first end of the wire threading rod; The lower end of the threading rod is fixedly connected with a plurality of induction seats, and the induction seats are fixedly connected with induction devices for use with the position monitoring component; A guide wheel slider is fixed on one side of the threading rod, and a rack slider is fixed on the other side of the threading rod. The rack slider is meshed with the driving assembly for transmission, and both the guide wheel slider and the rack slider extend along the extension direction of the threading rod; The wire binding rod extends in a vertical direction under the action of its own weight. A plurality of wire binding holes are arranged on the wire binding rod. The plurality of wire binding holes are arranged along the extension direction of the wire binding rod. The wire binding holes are used to connect the guide rope.
[0013] In some embodiments, the guide rope traction assembly includes a wire binding rod and a wire threading rod, the wire threading rod extends in a horizontal direction, and the first end of the wire threading rod is rotatably connected to the wire binding rod, the upper end surface of the wire threading rod is provided with a first slide groove and a second slide groove, the first slide groove and the second slide groove extend along the extension direction of the wire threading rod, the opening of the first slide groove is arranged at the end of the first end of the wire threading rod, the stop point of the first slide groove is arranged at the second end of the wire threading rod, the opening of the second slide groove is arranged at the end of the second end of the wire threading rod, the stop point of the second slide groove is arranged at the first end of the wire threading rod, the limiting protrusion of the guide wheel seat A fixedly connected to the bracket D is arranged in the first slide groove, the limiting protrusion of the guide wheel seat A fixedly connected to the bracket E is arranged in the second slide groove, and the stop points of the first slide groove and the second slide groove play a limiting role on the limiting protrusion; A guide wheel slider is fixed to one side of the threading rod, and a rack slider is fixed to the other side of the threading rod. The rack slider is engaged with the driving assembly for transmission. The guide wheel slider and the rack slider both extend along the extension direction of the threading rod, and the guide wheel slider and the rack slider are respectively arranged in the I-shaped recesses of the two wire rod guide wheels of the same guide wheel seat.
[0014] In some embodiments, the position monitoring assembly includes a sensor seat, one end of which is fixedly connected to the mounting frame, and the other end of the sensor is fixedly connected to a micro proximity switch, which is used to detect the position of the sensing device on the sensing seat.
[0015] According to the subject of the second aspect of the present invention, the present invention provides a method, which is applied to the device for assisting the guide rope to pass through the pulley window provided in the first aspect, and the method comprises: S1. Check and confirm that all aspects of each equipment are in working condition; S2, control the UAV to hover on one side of the pulley frame after taking off, and control the docking adsorption component to be electromagnetically adsorbed on the side of the pulley frame after being powered on; S3, start the driving assembly to move the guide rope traction assembly to the lower end of the bracket E after passing through the pulley window, until the guide rope traction assembly completely passes through the pulley window; S4. Start the drone and keep it hovering, and control the docking adsorption component to cut off the power, and then control the drone to fly away from the current pulley. When the drone flies away from the pulley, the position of the wire tie rod needs to be kept stable; S5. Control the UAV to fly to another pulley to be threaded, and start the driving component during the flight to return the guide rope traction component to the initial position.
[0016] Further: S1. Check and confirm that all aspects of each equipment are in working condition; S11. Check and confirm that the information feedback of the control system is quick and that each mechanical transmission part is smooth; S12. Tie the guide rope and the wire-binding rod of the pulley threading device securely; S13, adjusting the distance L2 between the center of the guide rope traction assembly and the end face of the docking adsorption assembly according to the distance L1 between the center of the rotating wheel of the wire-laying pulley and the side of the upright column of the wire-laying pulley, so that L1=L2; S14. Before takeoff, keep the guide rope traction assembly at the initial position below the bracket D.
[0017] Further: S3, start the driving assembly to move the guide rope traction assembly to the lower end of the bracket E after passing through the pulley window, until the guide rope traction assembly completely passes through the pulley window; S31, the reduction motor of the driving assembly on bracket D is started, and the gear moves the rack slider to drive the threading rod to move toward bracket E, until the sensing seat at the front end of the threading rod approaches the proximity switch of the position monitoring assembly on the left side of bracket E; S32, the reduction motor of the driving assembly on the left side of bracket E is started, and the threading rod continues to move rightward until the sensing seat at the front end of the threading rod approaches the proximity switch of the position monitoring assembly on the right side of bracket E; S33, the reduction motor of the drive assembly on the right side of bracket E is started, and the threading rod continues to move rightward until the induction seat at the rear end of the threading rod approaches the proximity switch of the position monitoring assembly on the other side of the right side of bracket E.
[0018] Compared with the prior art, the advantages of the present invention are: 1. It eliminates the need for workers to perform auxiliary threading operations at high altitudes; 2. There is no need to make large-scale structural modifications to the existing pulleys, thereby reducing costs; 3. The device is highly integrated, small and light, has good maneuverability, is easy to maintain, and information exchange during construction operations is timely, accurate, and convenient, which can improve construction efficiency, reduce construction costs, and reduce labor intensity and safety hazards of personnel.
[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 is a schematic diagram of a device for assisting a guide rope to pass through a pulley window according to an embodiment of the present invention; Figure 2 is a schematic diagram of the mounting frame of an embodiment of the present invention; Figure 3 yes Figure 2 A schematic diagram of the first stent group shown in FIG. Figure 4 yes Figure 2 Schematic diagram of the D part of the stent shown in ; Figure 5 yes Figure 2 Schematic diagram of the stent E portion shown in ; Figure 6 is a schematic diagram of a docking adsorption assembly according to an embodiment of the present invention; Figure 7 is a schematic diagram of a guide wheel assembly A according to an embodiment of the present invention; Figure 8 is a schematic diagram of a guide wheel assembly B according to an embodiment of the present invention; Fig. 9 is a schematic diagram of a drive assembly according to an embodiment of the present invention; Fig.10 is a schematic diagram of a guide rope traction assembly according to an embodiment of the present invention; Fig.11 yes Fig.10 The oblique side view of the threading rod part shown in FIG. Fig.12 yes Fig.10 A top view of the threading rod portion shown in FIG. Fig.13 is a schematic diagram of a position monitoring component according to an embodiment of the present invention; Fig.14 is a schematic diagram of the device according to an embodiment of the present invention when adjusting the position of the guide rope traction assembly; Fig.15 2 is a schematic diagram of a first process of a device-assisted guide rope passing through a pulley window according to an embodiment of the present invention; Fig.16 is a schematic diagram of the second process of the device-assisted guide rope passing through the pulley window according to an embodiment of the present invention; Fig.17 2 is a schematic diagram of the third process of the device-assisted guide rope passing through the pulley window according to an embodiment of the present invention; Fig.18 is a schematic diagram of a device according to an embodiment of the present invention flying off a pulley; Fig.19 It is a schematic diagram of the first process of retracting the guide rope traction assembly when the device of the embodiment of the present invention flies toward the pulley to be threaded; Fig. 20 It is a schematic diagram of the second process of retracting the guide rope traction assembly when the device of the embodiment of the present invention flies toward the pulley to be threaded; Fig.21 It is a schematic diagram of the third process of retracting the guide rope traction assembly when the device of the embodiment of the present invention flies toward the pulley to be threaded; In the attached figure: 1. line-laying pulley; 2. drone; 3. mounting frame; 4. docking adsorption assembly; 5. guide wheel assembly A; 6. guide wheel assembly B; 7. drive assembly; 8. guide rope traction assembly; 9. position monitoring assembly; 31. Bracket A; 32. Bracket B; 33. Bracket C; 34. Bracket D; 35. Bracket E; 36. First bracket group; 37. L-shaped connecting seat; 38. Connecting plate; 39. Die-casting angle seat; 41. electromagnet seat; 42. electromagnet; 43. notch; 51. Guide wheel seat A; 52. Crossbeam; 53. Limiting protrusion; 54. Wire rod guide wheel; 61. Guide wheel seat B; 71. gear; 72. motor seat; 73. reduction motor; 81. Wire-binding rod; 82. Swing seat; 83. First slide slot; 84. Threading rod; 85. Induction seat; 86. Guide rope; 87. Guide wheel slider; 88. Rack slider; 89. Second slide slot; 91. Sensor seat; 92. Miniature proximity switch. DETAILED DESCRIPTION
[0021] The present invention is described in further detail below.
[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.
[0023] The present embodiment is a device for assisting a guide rope to pass through a pulley window as mentioned in the first aspect, and is suitable for a single-wheel line-paying pulley 1, with an outer diameter of the pulley of 660 mm and a thickness of 100 mm; the theoretical mass of the mechanical part excluding the UAV 2 is estimated to be 3.8 kg. Considering the mass of the equipment control components and the power supply, and the safety factor of 1.2-1.5, the UAV 2 is estimated to require a 10 kg load model.
[0024] Combination Figure 1 , Figure 2 As shown, the lower end of the drone 2 equipped with a multi-angle visual observation system is fixedly connected to the mounting frame 3, the main body of the mounting frame 3 is made of aluminum profiles, the front end of the mounting frame 3 is fixedly connected to the docking adsorption component 4 on the bracket B32, and the mounting frame 3 is fixedly connected to the pulley frame through the docking adsorption component 4. The front end of the mounting frame 3 close to the pulley is connected to the two sides of the pulley frame and is provided with a bracket D34 and a bracket E35 extending along the threading direction of the pulley. The lower end of the bracket D34 is provided with a group of guide wheel assemblies A5 and a group of guide wheel assemblies B32 in sequence from left to right. 6. The guide rope 86 traction assembly 8 is slidably connected to the guide wheel assembly A5 and the guide wheel assembly B6. The lower end of the bracket E35 is provided with six groups of guide wheel assemblies B6 and one group of guide wheel assemblies A5 from left to right, and one group of drive assemblies 7 and two groups of drive assemblies 7 are fixedly connected to the bracket D34 and the bracket E35 respectively, which are used to drive the guide rope 86 traction assembly 8. The guide rope 86 traction assembly 8 moves from the bracket D34 to the bracket E35 under the drive of the drive assembly 7 to complete the threading of the guide rope 86.
[0025] The power supply of each component is 24V power supply, which can be provided by the power supply of UAV 2 (it can also be configured separately); the control system is embedded control, and the control part of the threading actuator can be integrated into the control system of UAV 2 (it can also be controlled separately).
[0026] The mounting frame 3 is installed close to the lower part of the rotor of the UAV 2: this installation method can reduce the size of the entire equipment, and when working, it is helpful for the rotor of the UAV 2 to avoid the rope of the suspension pulley.
[0027] Combination Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the mounting frame 3 includes a bracket A31, a bracket B32, a bracket C33, a bracket D34, and a bracket E35. The bracket A31 and the bracket C33 constitute a first bracket group 36. The length of the first bracket group 36 can be adjusted by loosening the screws of the connecting plate 38 on the bracket A31 and the bracket C33, so as to conveniently control the distance between the front end face of the docking adsorption component 4 and the guide rope 86 traction component 8, so that the distance is equal to the distance from the center of the pulley wheel to the end face of the pulley frame.
[0028] Combination Figure 6As shown, the two brackets B32 are respectively fixed between the two brackets A31 and the bracket C33 using die-cast angle seats 39 with screws to maintain the stability of the first bracket group 36. The front side of the bracket B32 close to the pulley is fixed to the docking adsorption component 4 by screws. The docking adsorption component 4 includes an electromagnet seat 41. One end of the electromagnet seat 41 is provided with a slot 43 to be clamped on the bracket B32. The slot 43 is provided with a fastening screw. The electromagnet seat 41 is fixedly connected to the bracket B32 by the fastening screw. The other end of the electromagnet seat 41 is fixedly connected to the electromagnet 42 by the fastening screw. After the electromagnet 42 is energized, its front end close to the pulley is adsorbed and fixed to the pulley frame. The bracket B32 is fixedly connected to the pulley through the docking adsorption component 4, thereby maintaining the position between the mounting frame 3 as a whole and the pulley frame fixed; the model of the electromagnet 42 is ELE-P6ELE-P60-30-25.
[0029] The front ends of the two brackets C33 are vertically connected to brackets D34 and brackets E35 respectively through L-shaped connecting seats 37 with screws. Brackets D34 and brackets E35 are on the same straight line and extend along the threading direction of the pulley. A set of position monitoring components 9 are also fixedly connected to bracket D34, and three sets of position monitoring components 9 are also fixedly connected to bracket E35.
[0030] Combination Figure 7 , Figure 8 As shown, the guide wheel assembly A5 includes a guide wheel seat A51 and two wire rod guide wheels 54, the cross beam 52 of the guide wheel seat A51 and the rotating shaft of the wire rod guide wheel 54 are made of aluminum, the wire rod guide wheel 54 is made of nylon, and the lower ends of the cross beam 52 on both sides of the guide wheel seat A51 are vertically rotatably connected to the wire rod guide wheel 54, and the guide wheel assembly B6 includes a guide wheel seat B61 and two wire rod guide wheels 54, and the lower ends of the cross beam 52 on both sides of the guide wheel seat B61 are vertically rotatably connected to the wire rod guide wheel 54. The guide wheel 54, the cross beam 52 of the guide wheel seat A51 and the cross beam 52 of the guide wheel seat B61 are all perpendicular to the extension direction of the bracket D34 and the bracket E35. The cross section of the wire rod guide wheel 54 is I-shaped. The guide rope 86 traction assembly 8 is slidably connected between the wire rod guide wheels 54 under the same guide wheel seat A51 and the same guide wheel seat B61. The difference from the guide wheel seat B61 is that a limiting protrusion 53 is provided on one side of the middle part of the lower end of the cross beam 52 of the guide wheel seat A51.
[0031] Combination Fig. 9 As shown, the drive assembly 7 includes a motor base 72, the right side of the motor base 72 is fixedly connected to a JGA25-370 DC gear 71 reduction motor 73, a gear 71 is mounted on the output shaft of the reduction motor 73, the left side of the motor base 72 is fixedly connected to brackets D34 and E35 by T-nuts and screws, the reduction motor 73 is located on one side of the mounting frame 3, and the gear 71 is meshed with the guide rope 86 traction assembly 8 for transmission.
[0032] Combination Fig.10 , Fig.11, Fig.12 As shown, the guide rope 86 traction assembly 8 includes a wire binding rod 81 and a wire threading rod 84. The wire binding rod 81 is made of nylon material, and the wire threading rod 84 and the swing seat 82 are made of aluminum. The wire threading rod 84 extends in the horizontal direction, and the lower left end of the wire threading rod 84 is fixedly connected to the swing seat 82, and the lower end of the swing seat 82 is rotatably connected to the wire binding rod 81. The upper end surface of the wire threading rod 84 is provided with a first slide groove 83 and a second slide groove 89. The first slide groove 83 and the second slide groove 89 extend along the extension direction of the wire threading rod 84. The opening of the first slide groove 83 is arranged at the end on the left side of the wire threading rod 84, and the end point of the first slide groove 83 is arranged on the right side of the wire threading rod 84. The opening of the second slide groove 89 is arranged at the end on the right side of the wire threading rod 84, and the end point of the second slide groove 89 is arranged on the left side of the wire threading rod 84.
[0033] The lower end of the threading rod 84 is fixedly connected to two sensing seats 85 , and the sensing seats 85 are fixedly connected to sensing devices (position contacts) for use in conjunction with the position monitoring component 9 to determine the position of the threading rod 84 .
[0034] A guide wheel slider 87 is provided on the rear side of the threading rod 84, and a rack slider 88 is fixed on the front side of the threading rod 84. The rack slider 88 is meshed with the gear 71 of the drive assembly 7 for transmission. The guide wheel slider 87 and the rack slider 88 both extend along the extension direction of the threading rod 84. The guide wheel slider 87 and the rack slider 88 are installed as shown in FIG. Figure 4 Between the I-shaped recesses of the two wire rod guide wheels 54 under the same guide wheel seat shown.
[0035] The limiting protrusion 53 of the guide wheel seat A51 fixedly connected to the left side of the lower end of the bracket D34 is arranged in the first slide groove 83, and the limiting protrusion 53 of the guide wheel seat A51 fixedly connected to the right side of the lower end of the bracket E35 is arranged in the second slide groove 89. Figure 7 The guide wheel assembly A5 on the bracket D34 shown is rotated 180° around its vertical center to form the installation method of the guide wheel assembly A5 on the bracket E35, and the stop points of the first slide groove 83 and the second slide groove 89 play a limiting role on the limiting protrusion 53.
[0036] The wire binding rod 81 extends in the vertical direction due to its own weight without interference. The wire binding rod 81 is provided with a plurality of wire binding holes, which are arranged along the extension direction of the wire binding rod 81 and are used to connect the guide rope 86 .
[0037] Combination Fig.13 As shown, the position monitoring component 9 includes a sensor seat 91, one end of the sensor seat 91 is fixedly connected to the bracket D34 and the bracket E35 by a T-nut and screws, and the other end of the sensor seat 91 is fixedly connected to the miniature proximity switch 92 by screws. The miniature proximity quick switch model is GL-8H, which is used to detect the position of the sensing device on the sensing seat 85.
[0038] According to the subject of the second aspect of the present invention, this embodiment provides a method, which is applied to the device for assisting the guide rope 86 provided in the first aspect to pass through the pulley window. For the convenience of description, in this embodiment, the position monitoring component 9 and the driving component 7 on the bracket D34 are numbered from left to right as the position monitoring component 9 (position one) and the driving component 7 (drive one), and the position monitoring component 9 and the driving component 7 on the bracket E35 are numbered from left to right as the position monitoring component 9 (position two), the position monitoring component 9 (position three), the position monitoring component 9 (position four) and the driving component 7 (drive two), and the driving component 7 (drive three); in this embodiment, the sensing devices on the threading rod 84 are numbered from left to right as the sensing device (device one) and the sensing device (device two).
[0039] The complete method includes: S1. Check and confirm that all aspects of each equipment are in working condition; S11. Check and confirm that the information feedback of the control system is quick and that each mechanical transmission part is smooth; S12, securely tying the guide rope 86 to the wire-binding rod 81 of the pulley threading device; S13, such as Fig.14 The dimension L shown is to adjust the distance L2 between the center of the guide rope 86 traction assembly 8 and the end face of the docking adsorption assembly 4 according to the distance L1 between the center of the rotating wheel of the wire-laying pulley 1 and the side of the column of the wire-laying pulley 1, so that L1=L2=L; S14, before takeoff, keep the guide rope 86 traction assembly 8 at the initial position below the bracket D34; S2, control the drone 2 to take off and hover on one side of the pulley frame, and control the docking adsorption component 4 to be electromagnetically adsorbed on the side of the pulley frame after being powered on; S3, start the driving assembly 7 to move the guide rope 86 traction assembly 8 to the lower end of the bracket E35 after passing through the pulley window, until the guide rope 86 traction assembly 8 completely passes through the pulley window; S31, Combination Fig.15 As shown, the reduction motor 73 of the driving assembly 7 (driving one) on the bracket D34 is started, and the gear 71 moves the rack slider 88 to drive the threading rod 84 to move toward the bracket E35, until the sensing device (device two) at the front end of the threading rod 84 approaches the proximity switch of the position monitoring assembly 9 (position two) on the bracket E35, at which time the rack slider 88 smoothly meshes with the gear 71 of the driving assembly 7 (driving two), and the motor of the driving assembly 7 (driving one) stops working; S32, Combination Fig.16As shown, the reduction motor 73 of the driving assembly 7 (driving 2) on the left side of the bracket E35 is started, and the threading rod 84 continues to move rightward until the sensing device (device 2) at the front end of the threading rod 84 approaches the proximity switch of the position monitoring assembly 9 (position 3) on the right side of the bracket E35. At this time, the rack slider 88 smoothly meshes with the gear 71 of the driving assembly 7 (driving 3), and the motor of the driving assembly 7 (driving 2) stops working; S33, Combination Fig.17 As shown, the reduction motor 73 of the driving component 7 (drive three) on the right side of the bracket E35 is started, and the threading rod 84 continues to move right until the sensing device (device one) at the rear end of the threading rod 84 approaches the proximity switch of the position monitoring component 9 (position four) on the other side of the right side of the bracket E35. At this time, the motor of the driving component 7 (drive three) stops working, and the stop point of the second slide groove 89 limits the limiting protrusion 53 of the guide wheel component A5 on the right side of the bracket E35, which further protects the system equipment mechanically.
[0040] S4. Combination Fig.18 As shown, start the drone 2 to keep it hovering, control the docking adsorption component 4 to cut off the power, and then control the drone 2 to fly away from the current pulley. During the process of the drone 2 flying away from the pulley, it is necessary to keep the position of the wire tie rod 81 stable (that is, control the drone 2 to rotate horizontally with the wire tie rod 81 as the rotation center, so that the drone 2 drives the mounting frame 3 and other devices to smoothly leave the pulley); S5. Combination Fig.19 , Fig. 20 , Fig.21 As shown, the drone 2 is controlled to fly toward another pulley to be threaded, and the driving component 7 is started during the flight to make the guide rope 86 pull the component 8 return to the initial position (the process of the guide rope 86 pulling the component 8 back to the initial position is opposite to S3).
[0041] The device is highly integrated, small and light, has good maneuverability, is easy to maintain, and information exchange during construction operations is timely, accurate, and convenient.
[0042] Using this device to replace the existing construction method can improve construction efficiency, reduce construction costs, reduce labor intensity and safety hazards of personnel, has strong adaptability to complex terrain and harsh environment, and improves the safety factor of personnel when working.
[0043] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.
Claims
1. A device for guiding a rope to assist in passing through a pulley window, comprising a drone (2) equipped with a multi-angle visual observation system, characterized in that: The lower end of the drone (2) is fixedly connected to a mounting frame (3), and the other end of the mounting frame (3) is fixedly connected to the pulley frame via a docking adsorption assembly (4). The end of the mounting frame (3) close to the pulley is straddled on both sides of the pulley frame and extends along the threading direction of the pulley. The lower end of the mounting frame (3) close to the pulley is slidably connected to a guide rope (86) traction assembly (8) via a guide wheel assembly A (5) and a guide wheel assembly B (6). The mounting frame (3) is fixedly connected to a driving assembly (7) which is transmission-connected to the guide rope (86) traction assembly (8). Driven by the driving assembly (7), the guide rope (86) traction assembly (8) moves from the lower end of the mounting frame (3) on one side of the pulley to the other side of the pulley, thereby completing the threading of the guide rope (86).
2. The device for assisting the guide rope to pass through the pulley window according to claim 1, characterized in that: The mounting frame (3) comprises two sets of first bracket groups (36) fixed in parallel to the bottom of the fuselage of the drone (2), the two first bracket groups (36) are fixedly connected via two parallel brackets B (32), a docking adsorption component (4) is fixedly connected to one side of the bracket B (32) close to the pulley, and an end of the docking adsorption component (4) close to the pulley is adsorbed and connected to the pulley frame, and the bracket B (32) is fixedly connected to the pulley via the docking adsorption component (4) so as to keep the position between the mounting frame (3) and the pulley frame fixed; The two groups of the first bracket groups (36) are respectively and vertically fixedly connected to a bracket D (34) and a bracket E (35) at one end close to the pulley, the bracket D (34) and the bracket E (35) are located on the same straight line and extend along the threading direction of the pulley, the lower ends of the brackets D (34) and the brackets E (35) away from the pulley are both installed with guide wheel assemblies A (5), and the sides of the brackets D (34) and the brackets E (35) close to the pulley are installed with a plurality of guide wheel assemblies B (6); The guide wheel assembly A (5) comprises a guide wheel seat A (51) and two wire rod guide wheels (54), the lower ends of both sides of the cross beam (52) of the guide wheel seat A (51) are vertically rotatably connected to the wire rod guide wheels (54), the guide wheel assembly B (6) comprises a guide wheel seat B (61) and two wire rod guide wheels (54), the lower ends of both sides of the cross beam (52) of the guide wheel seat B (61) are vertically rotatably connected to the wire rod guide wheels (54), the guide wheel seat A (51) The crossbeam (52) of the guide wheel seat A (51) and the crossbeam (52) of the guide wheel seat B (61) are both perpendicular to the extension direction of the bracket D (34); the cross section of the wire rod guide wheel (54) is I-shaped; the guide rope (86) traction assembly (8) is slidably connected between the wire rod guide wheels (54) under the same guide wheel seat A (51); and the guide rope (86) traction assembly (8) is slidably connected between the wire rod guide wheels (54) under the same guide wheel seat B (61); A limiting protrusion (53) is provided at the middle of the lower end of the crossbeam (52) of the guide wheel seat A (51); A position monitoring component (9) and a driving component (7) are also installed on the middle side of the bracket D (34), and a plurality of position detection components and driving components (7) are installed on the middle side of the bracket E (35).
3. The device for assisting the guide rope to pass through the pulley window according to claim 1, characterized in that: The docking adsorption assembly (4) comprises an electromagnet seat (41), one end of the electromagnet seat (41) is provided with a notch (43) for clamping on the mounting frame (3), the notch (43) is provided with a fastener, the electromagnet seat (41) is fixedly connected to the mounting frame (3) by the fastener, and the other end of the electromagnet seat (41) is fixedly connected to the electromagnet (42).
4. The device for assisting the guide rope to pass through the pulley window according to claim 1, characterized in that: The driving assembly (7) comprises a motor seat (72), one side of the motor seat (72) being fixedly connected to a reduction reduction motor (73), a gear (71) being mounted on an output shaft of the reduction reduction motor (73), the other end of the motor seat (72) being fixedly connected to a mounting frame (3) via a fastener, and the reduction reduction motor (73) being located on one side of the mounting frame (3).
5. The device for assisting the guide rope to pass through the pulley window according to claim 1, characterized in that: The guide rope (86) traction assembly (8) comprises a wire binding rod (81) and a wire threading rod (84), wherein the wire threading rod (84) extends in a horizontal direction, and a first end of the wire threading rod (84) is rotatably connected to the wire binding rod (81), and an upper end surface of the wire threading rod (84) is provided with a first slide groove (83) and a second slide groove (89), wherein the first slide groove (83) and the second slide groove (89) extend in an extending direction of the wire threading rod (84), an opening of the first slide groove (83) is provided at an end portion of a first end of the wire threading rod (84), an end point of the first slide groove (83) is provided at a second end of the wire threading rod (84), an opening of the second slide groove (89) is provided at an end portion of a second end of the wire threading rod (84), and an end point of the second slide groove (89) is provided at the first end of the wire threading rod (84); A plurality of sensing seats (85) are fixedly connected to the lower end of the threading rod (84), and a sensing device is fixedly connected to the sensing seat (85) for use in conjunction with the position monitoring component (9); A guide wheel slider (87) is fixed to one side of the threading rod (84), and a rack slider (88) is fixed to the other side of the threading rod (84). The rack slider (88) is meshed with the driving assembly (7) for transmission. Both the guide wheel slider (87) and the rack slider (88) extend along the extension direction of the threading rod (84); The wire binding rod (81) extends in a vertical direction under the action of its own weight, and a plurality of wire binding holes are provided on the wire binding rod (81). The plurality of wire binding holes are arranged along the extension direction of the wire binding rod (81), and the wire binding holes are used to connect the guide rope (86).
6. The device for assisting the guide rope to pass through the pulley window according to claim 2, characterized in that: The guide rope (86) traction assembly (8) comprises a wire binding rod (81) and a wire threading rod (84), wherein the wire threading rod (84) extends in a horizontal direction, and a first end of the wire threading rod (84) is rotatably connected to the wire binding rod (81), and an upper end surface of the wire threading rod (84) is provided with a first slide groove (83) and a second slide groove (89), wherein the first slide groove (83) and the second slide groove (89) extend in an extending direction of the wire threading rod (84), an opening of the first slide groove (83) is provided at an end portion of the first end of the wire threading rod (84), and a stop point of the first slide groove (83) is provided at a position where the wire threading rod (84) is engaged. The second end of the rod (84), the opening of the second slide groove (89) is arranged at the end of the second end of the threading rod (84), the stop point of the second slide groove (89) is arranged at the first end of the threading rod (84), the limiting protrusion (53) of the guide wheel seat A (51) fixedly connected to the bracket D (34) is arranged in the first slide groove (83), the limiting protrusion (53) of the guide wheel seat A (51) fixedly connected to the bracket E (35) is arranged in the second slide groove (89), and the stop points of the first slide groove (83) and the second slide groove (89) play a limiting role on the limiting protrusion (53); A guide wheel slider (87) is fixed to one side of the threading rod (84), and a rack slider (88) is fixed to the other side of the threading rod (84). The rack slider (88) is meshed with the driving assembly (7) for transmission. The guide wheel slider (87) and the rack slider (88) both extend along the extension direction of the threading rod (84), and the guide wheel slider (87) and the rack slider (88) are respectively arranged at the I-shaped recesses of two thread rod guide wheels (54) of the same guide wheel seat.
7. The device for assisting the guide rope to pass through the pulley window according to claim 5, characterized in that: The position monitoring assembly (9) comprises a sensor seat (91), one end of the sensor seat (91) is fixedly connected to the mounting frame (3), and the other end of the sensor is fixedly connected to a micro proximity switch (92), the micro proximity quick switch is used to detect the position of the sensing device on the sensing seat (85).
8. A method, characterized in that: The device for assisting the guide rope to pass through the pulley window according to any one of claims 1 to 7 comprises the following steps: S1. Check and confirm that all aspects of each equipment are in working condition; S2, controlling the drone (2) to hover on one side of the trolley frame after taking off, and controlling the docking adsorption component (4) to be electromagnetically adsorbed on the side of the trolley frame after being powered on; S3, starting the driving assembly (7) to move the guide rope (86) and the traction assembly (8) through the pulley window to the lower end of the bracket E (35), until the guide rope (86) and the traction assembly (8) completely pass through the pulley window; S4, starting the drone (2) to keep it hovering, controlling the docking adsorption component (4) to cut off power, and then controlling the drone (2) to fly away from the current pulley. During the process of the drone (2) flying away from the pulley, the position of the wire tie rod (81) needs to be kept stable; S5, controlling the drone (2) to fly towards another pulley to be threaded, and during the flight, starting the driving assembly (7) to make the guide rope (86) and the traction assembly (8) return to the initial position.
9. The method according to claim 8, characterized in that: S1. Check and confirm that all aspects of each equipment are in working condition; S11. Check and confirm that the information feedback of the control system is quick and that each mechanical transmission part is smooth; S12, securely tying the guide rope (86) to the wire-binding rod (81) of the pulley threading device; S13, adjusting the distance L2 between the center of the guide rope (86) traction assembly (8) and the end surface of the docking adsorption assembly (4) according to the distance L1 between the center of the rotating wheel of the wire-laying pulley (1) and the side of the column of the wire-laying pulley (1), so that L1=L2; S14. Before takeoff, keep the guide rope (86) traction assembly (8) at the initial position below the bracket D (34).
10. The method according to claim 8, characterized in that: S3, starting the driving assembly (7) to move the guide rope (86) and the traction assembly (8) through the pulley window to the lower end of the bracket E (35), until the guide rope (86) and the traction assembly (8) completely pass through the pulley window; S31, the reduction motor (73) of the driving assembly (7) on the bracket D (34) is started, and the gear (71) moves the rack slider (88) to drive the threading rod (84) to move toward the bracket E (35) until the sensing seat (85) at the front end of the threading rod (84) approaches the proximity switch of the position monitoring assembly (9) on the left side of the bracket E (35); S32, the reduction motor (73) of the driving assembly (7) on the left side of the bracket E (35) is started, and the threading rod (84) continues to move rightward until the sensing seat (85) at the front end of the threading rod (84) approaches the proximity switch of the position monitoring assembly (9) on the right side of the bracket E (35); S33, the reduction motor (73) of the driving assembly (7) on the right side of the bracket E (35) is started, and the threading rod (84) continues to move rightward until the sensing seat (85) at the rear end of the threading rod (84) approaches the proximity switch of the position monitoring assembly (9) on the other side of the right side of the bracket E (35).