Paying-off tackle capable of releasing remotely and control system

Abstract

The invention discloses a paying-off tackle capable of releasing remotely and a control system, which comprises a tackle frame and a pulley block arranged in a tackle seat, and is characterized in that the tackle frame comprises a top cross beam for positioning, a fixed side beam fixedly connected with the top cross beam, a bottom cross beam and a movable side beam, the control system is used for controlling the position and the state of the paying-off tackle and comprises a path planning module, a power driving control module and a detection module; the tackle can be installed and moved on the ground or in a remote control state through the arranged hanging module, the time of high-altitude operation of constructors is greatly shortened, the probability of occurrence of safety accidents such as falling and collision is reduced, hanging points can be automatically positioned through a laser radar and a path planning algorithm, hanging installation can be automatically completed, and the construction efficiency is improved. Extra auxiliary equipment is not needed, and the installation time is greatly shortened.

Description

Technical Field

[0001] The invention belongs to the field of electric power maintenance, and in particular relates to a wire-laying pulley capable of remotely tripping and a control system. Background Art

[0002] The wire-laying pulley is a commonly used tool in the construction of power transmission lines. It is used to lay out and pull the wires conveniently and safely when erecting power conductors. Its main function is to reduce the friction and tension of the wires during the laying process through the pulley structure, protect the surface of the wires from wear, and reduce the labor intensity of construction workers, thereby improving construction efficiency.

[0003] The wire-laying pulley is an important tool in the construction of power and communication lines. It plays an indispensable role in the installation and tightening of transmission lines by reducing friction, protecting conductors and improving wire-laying efficiency.

[0004] The Chinese patent with the authorization announcement number CN113629583A discloses a wire-laying pulley upgrade module and a wire-laying pulley. The wire-laying pulley upgrade module includes: an eccentric rotation module for allowing the guide rope to enter the wire-laying pulley, a first clamp connected to the eccentric rotation module, and a sensing module for being installed on the wire-laying pulley; wherein the first clamp includes: a slide plate, a first clamp plate, a second clamp plate and a tightening bolt, a slide groove and a mounting hole are provided on the slide plate, the first clamp plate and the second clamp plate can slide along the slide groove, and the tightening bolt is threadedly matched with the mounting hole. The wire-laying pulley upgrade module provided by the present invention can be used to transform and upgrade the existing wire-laying pulley. The eccentric rotation module is installed on the wire-laying pulley through the first clamp plate, and is used to allow the guide rope to enter the wire-laying pulley. The sensing module is installed on the wire-laying pulley, and can realize functions such as video recording and positioning and cruising of drones, thereby avoiding the waste problem caused by the scrapping of the wire-laying pulley due to failure to meet the requirements for the use of drone wire-laying.

[0005] The above technical solution has the following defects:

[0006] The above-mentioned technical solution and the traditional wire-laying pulley both require manual high-altitude operations or the use of drones to suspend and fix the wire-laying pulley before use. At the same time, the installation points of each wire-laying pulley are also estimated manually. For the staff, high-altitude operations are inevitably dangerous, and drone suspension also requires certain control technology. At the same time, for complex environments (such as wind and sand), the accuracy of the drone will also be affected, and manual estimation of the installation position cannot meet the requirements of efficient construction efficiency. Summary of the invention

[0007] In view of the above defects, the present invention provides a remotely-controlled release pulley, comprising a pulley frame and a pulley block installed inside a pulley seat, characterized in that: the pulley frame comprises a top crossbeam for positioning, a fixed side beam fixedly connected to the top crossbeam, a bottom crossbeam and a movable side beam;

[0008] The top crossbeam is provided with a mounting hole, and a suspension module for adjusting the position of the pulley frame is installed inside the mounting hole;

[0009] The pulley block is rotatably installed between the fixed side beam and the movable side beam via a rotating shaft, and the rotating shaft is installed with a tension sensor;

[0010] An equipment bin is fixed at the bottom end of the top cross beam, a release mechanism is installed at one end of the equipment bin on the same side as the movable side beam, the movable side beam comprises a side beam body fixed to the bottom cross beam, a lower side arm fixed to the top end of the side beam body and connected to the rotating shaft, and an upper side arm hinged to the lower side arm through a spring pin, a pull ring cooperating with the release mechanism is fixed at one end of the upper side arm close to the release mechanism;

[0011] The interior of the equipment warehouse is also equipped with a mobile power supply for power supply, a central control unit for controlling various electrical components, a wireless communication module for wirelessly sending and receiving signals, a laser radar and camera for positioning the pulley frame, and a photoelectric sensor for detecting the opening and closing status of the upper arm and the lower arm.

[0012] Furthermore, the suspension module includes a driving roller and a driven roller, which are movably mounted inside the suspension frame, and a fixed line is located between the driving roller and the driven roller, and a driving motor for driving the driving roller is fixedly mounted on the side of the suspension frame;

[0013] The driving motor is controlled by a central control unit and powered by a mobile power source.

[0014] Furthermore, the active roller and the driven roller are additionally provided with a limiting mechanism for adjusting the tightness of the cable clamping.

[0015] Furthermore, the release mechanism includes a plug-in puller movably installed at the notch of the upper arm through a spring pin, and the end of the plug-in puller away from the hinge is adsorbed and fixed by an electromagnet installed at the notch, and the electromagnet is controlled by the central control unit to limit the pull ring.

[0016] The present invention also discloses a control system for a wire-laying pulley capable of remote-control tripping, comprising the above-mentioned wire-laying pulley capable of remote-control tripping, and also comprising a control system for controlling the position and state of the wire-laying pulley, wherein the control system comprises a path planning module, a power drive control module and a detection module;

[0017] The path planning module uses a laser radar to scan the surrounding environment of the pole tower to generate three-dimensional point cloud data, and extracts key geometric features of the pole tower through a point cloud processing algorithm. Combined with the position information of the hanging point, the path planning module uses a path planning algorithm to generate the optimal moving path of the pulley, and calculates the relative displacement of the suspension module and the hanging point. The path data and relative distance information are transmitted to the central control unit through the wireless communication module;

[0018] The power drive control module includes a control switch I and a control switch II, wherein the control switch I is used to receive the distance information transmitted by the CCU, control the driving motor of the pulley according to the instruction of the path planning module, and drive the wire-laying pulley to move along the cable to the target hanging point position;

[0019] The control switch II is used to control the on and off of the electromagnet, and the electromagnet generates magnetic force to achieve the adsorption and fixation of the pull ring;

[0020] The detection module is used to detect the motion state of the wire-laying pulley, and includes an inertial measurement unit, a tension detection unit, and an opening and closing detection unit;

[0021] The inertial measurement unit is used to detect the acceleration, angular velocity and running posture information of the wire-laying block in real time, and assist path tracking and posture stabilization control;

[0022] The tension detection unit monitors the force applied by the cable pay-off pulley on the cable in real time through the tension sensor;

[0023] The opening and closing detection unit monitors the opening and closing states of the upper arm and the lower arm through a photoelectric sensor.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The installation and movement of the pulley can be completed on the ground or under remote control through the set suspension module, which greatly reduces the time construction workers spend working at high altitudes, thereby reducing the probability of safety accidents such as falling and collision;

[0026] 2. Through laser radar and path planning algorithms, it can autonomously locate the hanging point and automatically complete the hanging, without the need for additional auxiliary equipment, greatly shortening the installation time;

[0027] 3. Through the path planning module, the optimal path can be automatically calculated based on the lidar data and the target position, and the cable can be moved autonomously without manual pulling or adjustment of the position;

[0028] 4. The intelligent pulley equipped with laser radar and point cloud processing algorithm can accurately identify the geometric features of the tower, ensuring that the positioning error of the hanging point is within the millimeter range, avoiding uneven force or damage to the cable due to installation errors;

[0029] 5. It can be linked with the construction management platform to realize the digital, networked and intelligent management of the construction site. Managers can view the construction progress remotely in real time, reasonably dispatch resources and improve the level of project management. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the wire-laying pulley in the present invention.

[0031] Figure 2 It is a partial schematic diagram of the tripping mechanism in the present invention.

[0032] Figure 3 It is a schematic diagram of the working process of the control system in the present invention.

[0033] In the figure: 2, pulley block; 3, top crossbeam; 4, fixed side beam; 5, bottom crossbeam; 6, movable side beam; 61, side beam body; 62, lower side arm; 63, upper side arm; 631, plug and unplug; 632, electromagnet; 64, pull ring; 7, release mechanism; 801, active roller; 802, driven roller; 803, suspension frame; 804, drive motor; 9, tension sensor. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the present invention, the device of the present invention will be described more fully below with reference to the relevant drawings. Embodiments of the device are given in the drawings. However, the device can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Example 1

[0037] like Figure 1 As shown, this embodiment provides a remotely-controlled release line pulley, comprising a pulley frame and a pulley block 2 installed inside a pulley seat, wherein the pulley frame comprises a top crossbeam 3 for positioning, a fixed side beam 4 fixedly connected to the top crossbeam 3, a bottom crossbeam 5 connected to the fixed side beam 4, and a movable side beam 6 connected to the bottom crossbeam 5;

[0038] A mounting hole is provided at the top crossbeam 3, and a suspension module for adjusting the position of the pulley frame is installed inside the mounting hole. In detail, the suspension module includes an active roller 801 and a driven roller 802 (such as a winch or a pulley system), and adopts a friction wheel structure (that is, the active roller 801 and the driven roller 802 adopt this structure to increase the friction force), and the two are movably installed inside the suspension frame 803, and the fixed line is located between the active roller 801 and the driven roller 802. A driving motor 804 for driving the active roller 801 is fixedly installed on the side of the suspension frame 803. The driving motor 804 is used to drive the active roller 801, and can be moved along the fixed line on the clamped fixed line to adjust the suspension position;

[0039] The active roller 801 and the driven roller 802 are additionally provided with a limiting mechanism for adjusting the tightness of the clamping of the fixed line. The limiting mechanism in this embodiment uses a set of traditional clamping claw cylinders to clamp and fix the fixed line after the line-releasing pulley moves to a suitable position, thereby increasing the load capacity and stability;

[0040] It should be noted that the fixed line is a cable traditionally used to suspend the fixed pay-out pulley. Most of them are hanging cables hung on the tower body. There are also horizontal cables fixed between the two tower bodies. In order to achieve better movement and positioning effects, the fixed line can be replaced with a slide rail, and the suspension module can be replaced with an electric slider. The two are connected by sliding. I will not go into details here. Automatic adjustment of both vertical and horizontal positions can be achieved.

[0041] The drive motor 804 is controlled by a central control unit CCU and powered by a mobile power supply;

[0042] The pulley block 2 is rotatably installed between the fixed side beam 4 and the movable side beam 6 via a rotating shaft, and a tension sensor 9 is installed on the rotating shaft;

[0043] An equipment bin is fixed at the bottom end of the top cross beam 3, and a release mechanism 7 is installed at one end of the equipment bin on the same side as the movable side beam 6. The movable side beam 6 includes a side beam body 61 fixed to the bottom cross beam 5, a lower side arm 62 fixed to the top of the side beam body 61 and connected to the rotating shaft, and an upper side arm 63 hinged to the lower side arm 62 through a spring pin, and a pull ring 64 cooperating with the release mechanism 7 is fixed to one end of the upper side arm 63 close to the release mechanism 7;

[0044] like Figure 2 As shown, the tripping mechanism 7 includes a plug-in 631 movably installed at the notch of the upper arm 63 through a spring pin, and one end of the plug-in 631 away from the hinge is fixed by adsorption through an electromagnet 632 installed at the notch, and the electromagnet 632 is controlled by the CCU to limit the pull ring 64;

[0045] The interior of the equipment warehouse is also equipped with a mobile power supply for power supply, a central control unit for controlling various electrical components, a wireless communication module for wirelessly sending and receiving signals, a laser radar and camera for positioning the pulley frame (the use of laser radar can adapt to harsh environments, such as wind and sand, high altitude, etc., and provide accurate data in real time), and a photoelectric sensor for detecting the opening and closing status of the upper arm 62 and the lower arm 63. An ultrasonic sensor can also be installed as a supplement to the laser radar, which is used to detect the shape and distance of the pole tower or guide rail surface at close range, prevent the line-laying pulley from colliding with the pole tower, and improve accuracy within a smaller range.

[0046] It should be noted that the wire-laying pulley is made of 80 square tubes with a wall thickness of 4mm and a cross-sectional area of ​​11.747cm 2 Therefore, under the same positive tensile force, the square tube bears less positive stress per unit cross section, and has better mechanical properties, which can meet the load requirements of the pulley during normal use.

[0047] Example 2

[0048] like Figure 3 As shown, the control system of the above-mentioned wire-laying pulley with remote-controlled tripping is as follows:

[0049] The control system includes a path planning module, a power drive control module and a detection module. It should be noted that the path planning module can also be integrated into the terminal controller. The pulley only receives control commands and does not require separate calculation and recognition processing. It is suitable for scenarios with limited funds and large usage, so it will not be described in detail here.

[0050] The path planning module uses a laser radar to scan the surrounding environment of the tower to generate three-dimensional point cloud data, and extracts key geometric features of the tower, such as beams, columns, hanging points, etc., through a point cloud processing algorithm. Combined with the location information of the hanging points, the path planning module uses a path planning algorithm to generate the optimal moving path of the pulley and calculate the relative displacement between the suspension module and the hanging point. The path data and relative distance information are transmitted to the central control unit through the wireless communication module;

[0051] It should be noted that the above-mentioned point cloud processing algorithm uses deep learning algorithms (such as YOLO, Mask R-CNN) to detect bolt holes or hanging points on the surface of the tower, and then estimates the three-dimensional spatial position of the hanging points based on the depth information of the image (which can be combined with binocular vision or lidar data), and then calculates the optimal path through AI algorithms or reinforcement learning-based path optimization algorithms.

[0052] The power drive control module includes a control switch I and a control switch II. The control switch I is used to receive the distance information transmitted by the CCU, and control the driving motor 804 of the pulley according to the instruction of the path planning module, so as to drive the wire-laying pulley to move along the cable to the target hanging point position, thereby completing the work of moving the wire-laying pulley to the most suitable hanging position;

[0053] During this process, the detection module continues to work. The detection module is used to detect the motion state of the wire-laying pulley, including an inertial measurement unit (IMU), a tension detection unit, and an opening and closing detection unit;

[0054] Among them, the inertial measurement unit is used to detect the acceleration, angular velocity and running attitude information of the wire-laying pulley in real time, assist in path tracking and attitude stability control, and ensure that the alignment position of the pulley suspension device is parallel to the tower. When the wire-laying pulley moves to the hanging point position area, the inertial measurement unit transmits the detected information to the CCU via wireless to ensure the completion of the precise movement command;

[0055] The tension detection unit monitors the force of the pay-off pulley on the cable in real time through the tension sensor, and detects whether the suspension action is successful through the feedback of the tension sensor, that is, by reaching the preset tension value (which can be preset according to the actual operation staff), to ensure the firmness of the suspension and prevent the electric pulley from slipping due to inadequate fixation during subsequent pay-off;

[0056] The opening and closing detection unit monitors the opening and closing state of the upper arm 63 and the lower arm 62 through a photoelectric sensor, and its function is to ensure that the upper arm 63 and the lower arm 62 are always in a closed state during the wire release process to prevent the cable from escaping from the pulley block 2;

[0057] The control switch II is used to control the on and off of the electromagnet 632. The electromagnet 632 generates magnetic force to achieve the adsorption and fixation of the pull ring 64. When the wire-laying operation is completed, the control switch II can be controlled to cut off the power. When the pull ring 64 loses its magnetic adsorption, it automatically rebounds and resets through the torsion spring. At this time, the upper arm 63 and the lower arm 62 are always in an open state, and the plug-in 631 is disengaged from the pull ring 64, so that the subsequent cable and wire-laying pulley separation operation can be completed.

[0058] It should be noted that the structure described in the present invention can be implemented in a variety of different forms and is not limited to the described embodiments. Any equivalent transformations made by ordinary technicians in this field using the contents of the present invention description and drawings, or directly or indirectly applied to other related technical fields, such as the loading and unloading of other items, are included in the protection scope of the present invention.

Claims

1. A remotely controlled release pulley, comprising a pulley frame and a pulley block installed inside a pulley seat, characterized in that: The pulley frame includes a top crossbeam for positioning, a fixed side beam fixedly connected to the top crossbeam, a bottom crossbeam and a movable side beam; The top crossbeam is provided with a mounting hole, and a suspension module for adjusting the position of the pulley frame is installed inside the mounting hole; The pulley block is rotatably installed between the fixed side beam and the movable side beam via a rotating shaft, and the rotating shaft is installed with a tension sensor; An equipment bin is fixed at the bottom end of the top cross beam, a release mechanism is installed at one end of the equipment bin on the same side as the movable side beam, the movable side beam comprises a side beam body fixed to the bottom cross beam, a lower side arm fixed to the top end of the side beam body and connected to the rotating shaft, and an upper side arm hinged to the lower side arm through a spring pin, a pull ring cooperating with the release mechanism is fixed at one end of the upper side arm close to the release mechanism; The interior of the equipment warehouse is also equipped with a mobile power supply for power supply, a central control unit for controlling various electrical components, a wireless communication module for wirelessly sending and receiving signals, a laser radar and camera for positioning the pulley frame, and a photoelectric sensor for detecting the opening and closing status of the upper arm and the lower arm.

2. A remotely controlled release wire-laying pulley as claimed in claim 1, characterized in that: The suspension module includes a driving roller and a driven roller, which are movably mounted inside the suspension frame, and a fixed line is located between the driving roller and the driven roller. A driving motor for driving the driving roller is fixedly mounted on the side of the suspension frame; The driving motor is controlled by a central control unit and powered by a mobile power source.

3. A remotely controlled release wire-laying block as claimed in claim 2, characterized in that: The active roller and the driven roller are additionally provided with a limiting mechanism for adjusting the tightness of the cable clamping.

4. A remotely controlled release wire-laying pulley as claimed in claim 1, characterized in that: The release mechanism includes a pull-out plug movably installed at the notch of the upper arm through a spring pin. The end of the pull-out plug away from the hinge is adsorbed and fixed by an electromagnet installed at the notch, and the electromagnet is controlled by the central control unit to limit the pull ring.

5. A control system for a wire-laying pulley capable of remote tripping, characterized in that: A remotely trippable wire-laying block comprising any one of claims 1 to 4, further comprising a control system for controlling the position and state of the wire-laying block, the control system comprising a path planning module, a power drive control module and a detection module; The path planning module uses a laser radar to scan the surrounding environment of the pole tower to generate three-dimensional point cloud data, and extracts key geometric features of the pole tower through a point cloud processing algorithm. Combined with the position information of the hanging point, the path planning module uses a path planning algorithm to generate the optimal moving path of the pulley and calculate the relative displacement of the suspension module and the hanging point. The path data and relative distance information are transmitted to the central control unit through the wireless communication module; The power drive control module includes a control switch I and a control switch II, wherein the control switch I is used to receive the distance information transmitted by the CCU, control the driving motor of the pulley according to the instruction of the path planning module, and drive the wire-laying pulley to move along the cable to the target hanging point position; The control switch II is used to control the on and off of the electromagnet, and the electromagnet generates magnetic force to achieve the adsorption and fixation of the pull ring; The detection module is used to detect the motion state of the wire-laying pulley, and includes an inertial measurement unit, a tension detection unit, and an opening and closing detection unit; The inertial measurement unit is used to detect the acceleration, angular velocity and running posture information of the wire-laying block in real time, and assist path tracking and posture stabilization control; The tension detection unit monitors the force applied by the cable pay-off pulley on the cable in real time through the tension sensor; The opening and closing detection unit monitors the opening and closing states of the upper arm and the lower arm through a photoelectric sensor.

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