Tower climbing anti-falling device based on unmanned aerial vehicle carrying
By installing tower climbing anti-fall device on the drone, and using detection components and lifting components to quickly respond to operator falls, the problem of safety hazards of operators falling during power line tower climbing operations is solved, and efficient and reliable safety rescue is achieved.
Patent Information
- Application Number
- CN202510117157.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-24
- Publication Date
- 2025-04-11
AI Technical Summary
During the tower maintenance process of the power line, if the operator accidentally falls, if the accompanying operator does not find out in time, and the falling operator cannot rescue himself by the angle of the anti-fall rope, there is a major safety hazard.
A tower climbing anti-fall device based on a drone is designed, including a mounting frame, a connecting frame, a detection assembly, a lifting assembly and a backup assembly. The detection component monitors the operator's fall status in real time. The lifting component acts immediately after the fall is detected and pulls the operator back to a safe position. The backup component provides backup rescue when the main lifting system fails.
By responding quickly and accurately judging the fall status of the operator, the lifting assembly can quickly pull the operator back to a safe position, and the backup assembly ensures effective rescue in the event of a main system failure, significantly improving the safety of the operator and the reliability of the system.
Smart Images
Figure CN119792845A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of power operation safety, and in particular to a tower climbing anti-fall device based on an unmanned aerial vehicle. Background Art
[0002] The drone-mounted anti-fall device is a new type of safety equipment used in scenarios such as tower climbing inspection, operation and maintenance of power lines. It flies to the top of the tower with a tower climbing protection fixed bracket and a security rope carried by the drone, and uses an innovatively designed gravity self-locking mechanical mechanism to achieve rapid installation and removal of the fixed bracket on the top of the tower with the assistance of real-time video transmission.
[0003] The invention patent application document with publication number "CN218919785U" discloses a device that uses an anti-fall rope to hang and remove an unmanned aerial vehicle, including a fixing component, a high-altitude suspension component and a lifting hook. The fixing component includes a main body and a locking device. An opening is provided at the bottom end of the main body. The main body is suspended on a tower material through the opening. An anti-fall rope is connected to the main body. The bottom end of the high-altitude suspension component is connected to a second mechanical arm.
[0004] However, when an operator falls accidentally, if the accompanying operator fails to discover the fall in time, and the fallen operator is hung by the anti-fall rope at an angle that makes it impossible to rescue the operator by himself, the operator will face a great safety hazard. Summary of the invention
[0005] In order to improve the safety of operators, the present application provides a tower climbing anti-fall device based on an unmanned aerial vehicle.
[0006] The present application provides a tower climbing anti-fall device based on an unmanned aerial vehicle, which adopts the following technical solutions: A tower climbing anti-fall device based on an unmanned aerial vehicle, comprising: A carrying frame, connected to the drone; A connecting frame, hung on the carrying frame; Wherein, a traction rope is fixed on the connection frame, and the traction rope is connected to the operator; A detection component, two ends of which are respectively connected to the carrying frame and the connecting frame, and the detection component is used to detect the falling state of the operator; A lifting assembly is provided on the carrying frame and is used to pull up a fallen operator; A spare component is arranged on the lifting component. When the lifting component is damaged, the spare component is used to pull up a fallen operator.
[0007] By adopting the above technical solution, the detection component can respond quickly and accurately determine whether the operator has fallen. When the operator has fallen, the lifting component can immediately act after detecting the fall and pull the operator back to a safe position. When the lifting component fails, the spare component will pull up the fallen operator, thereby improving the reliability of the system, avoiding protection failure due to single point failure, and thus improving the safety of the operator.
[0008] Optionally, a recess is provided on the inner side of the mounting frame, and the detection component includes: Two detection rods, the two detection rods are hinged and both are slidably connected in the clearance slots of the carrying frame; wherein, when the operator falls, the connection frame can fall into the hinge ports of the two detection rods; Two telescopic rods, corresponding to the two detection rods one by one, and two ends of the telescopic rods are respectively hinged to the carrying frame and the detection rods; The two ends of the pressure-bearing spring are respectively fixedly connected to the two detection rods. In the initial state, the pressure-bearing spring is in a compressed state.
[0009] By adopting the above technical solution, when the operator falls, the connection frame will fall into the hinged ports of the two detection rods, the two detection rods will be suddenly stressed, the connection frame will squeeze the two detection rods to move, the two detection rods will rotate away from each other, the detection rods will act on the lifting assembly, so that the lifting assembly will pull the operator back to a safe position; When the dangerous state is released, the pressure on the two detection rods is reduced. Under the elastic force of the pressure spring, the telescopic rod guides the detection rod to reset, avoiding excessive lifting of the lifting assembly and causing danger to personnel, thereby improving the reliability and safety of the device and effectively preventing injuries to operators caused by falling.
[0010] Optionally, the lifting assembly includes: Control unit, including: Cam 1, rotatably connected in the give way groove; Cam 2, coaxially fixedly connected with the cam; A moving rod is slidably connected in the carrying frame and is located above the second cam; A first induction block, fixedly mounted on the moving rod; A second induction block is fixedly disposed in the carrying frame; Wherein, when the detection rod squeezes the moving rod, the first sensing block abuts against the second sensing block; The lifting part is arranged on the carrying frame and is used for pulling up the fallen operator.
[0011] By adopting the above technical solution, when an operator falls, the connection frame will move down and press the detection rod, the connection frame squeezes the two detection rods to move, the two detection rods rotate in the direction away from each other, the detection rod squeezes the tip of cam 1, cam 1 rotates, cam 1 drives cam 2 to rotate, the tip of cam 2 squeezes the moving rod, as the moving rod slides, the induction block 1 fixed thereon will contact the induction block 2 fixed inside the carrying frame, thereby triggering the start of the lifting assembly, the lifting part immediately moves, and the fallen operator is quickly pulled up, effectively preventing the operator from being injured by falling. Thus, the safety performance is improved.
[0012] Optionally, the lifting part includes: A stabilizing frame, fixedly mounted on the carrying frame; A lifting motor is fixed on the stabilizing frame; A controller is fixed on the stabilizing frame, and the lifting motor and the second induction block are both electrically connected to the controller; A lifting wheel, coaxially connected to the output shaft of the lifting motor; One end of the lifting rope is fixedly connected to the lifting wheel and is wound around the lifting wheel.
[0013] By adopting the above technical solution, when a fall occurs, the induction block 1 abuts against the induction block 2, and the induction block 2 outputs an electrical signal to the controller. The controller responds to the electrical signal output by the induction block 2 and controls the lifting motor to start. The lifting motor drives the lifting wheel to rotate, thereby driving the lifting rope to rise, and quickly pulling the fallen operator to a safe position, thereby improving the overall safety of the anti-fall device.
[0014] Optionally, the backup component includes: A friction wheel, rotatably connected to the stabilizing frame and abutting against the lifting rope; An angle sensor, fixedly mounted on the friction wheel and electrically connected to the controller; The backup motor is fixedly mounted on the stabilizing frame and coaxially connected to the hanging wheel. The backup motor is electrically connected to the controller.
[0015] By adopting the above technical solution, when the hoisting wheel is retracting the rope, the friction wheel rotates forward under the action of friction force. When the lifting motor fails, the rotation fails. Under the action of the gravity of the operator, the hoisting wheel reverses and the rope is released. At this time, the friction wheel reverses, and the angle sensor outputs a rotation signal of the friction wheel to the controller. The controller responds to the angle signal output by the angle sensor and controls the standby motor to start. The standby motor retracts the rope and drives the hoisting wheel to rotate, thereby pulling up the fallen operator, thereby effectively improving the reliability of the system and ensuring that the operator can be safely rescued when the main lifting system fails.
[0016] Optionally, an accidental touch component is further included, and the accidental touch component includes: Two half rings are located directly above the hinged ports of the two detection rods, the half rings are hinged to the carrying frame, and in an initial state, the two half rings are in a closed state, and the connection frame is located inside the half rings; The two ends of the tightening spring are respectively fixedly connected to the two half rings. In the initial state, the tightening spring is in a compressed state.
[0017] By adopting the above technical solution, it is possible to prevent external objects from accidentally contacting or colliding with the detection rod and causing malfunction. At the same time, the tightening spring maintains the closed state of the half ring, ensuring that the half ring will not open easily even if it is slightly disturbed, further improving the reliability and safety of the system.
[0018] Optionally, two groups of the control parts are provided, and the two groups of the control parts are arranged opposite to each other and correspond one-to-one to the two detection rods.
[0019] By adopting the above technical solution, when the operator falls, the connection frame can quickly fall into the hinged ports of the two detection rods, so that the detection rods move, thereby triggering the sliding of the moving rod in the control part, so that the sensing block 1 abuts against the sensing block 2; At this time, the two groups of control parts respond to the corresponding detection rod signals respectively, which improves the redundancy and reliability of the system and ensures that even if one control part fails, the other group can still start the lifting assembly in time to safely pull up the fallen operator, thereby effectively improving the safety performance of the overall device.
[0020] Optionally, the ends of the two detection rods close to the drone are bent in a direction toward each other.
[0021] By adopting the above technical solution, when an operator falls, the connection frame can more easily fall into the hinged ports of the two detection rods, thereby easily improving the response speed and reliability of the detection component.
[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. The real-time monitoring of the operator's falling status through the connection between the carrying frame and the drone and the detection components ensures rapid response and timely measures in complex working environments, thus improving the safety and reliability of high-altitude operations; 2. The design of the lifting components and backup components allows for rapid switching to the backup system even if the main lifting system fails, ensuring that operators will not be harmed by the failure of a single system, thus improving the overall safety of the system; 3. The detection rod, telescopic rod and pressure spring structure in the detection component are reasonably designed, which can quickly trigger the control system when a person falls, shortening the time interval from detection to lifting, and further reducing the risk of falling. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 It is a schematic diagram of the structure of an embodiment of the present application; Figure 2 is a cross-sectional view intended to illustrate a detection component in an embodiment of the present application; Figure 3 yes Figure 1 Magnified view at A in the middle.
[0024] Description of reference numerals: 1. Carrying frame; 11. Give way groove; 2. Connecting frame; 3. Mis-touch component; 31. Half ring; 32. Tightening spring; 4. Detection component; 41. Detection rod; 42. Telescopic rod; 43. Pressure spring; 5. Lifting component; 51. Control unit; 511. Cam 1; 512. Cam 2; 513. Moving rod; 514. Sensor block 1; 515. Sensor block 2; 52. Lifting unit; 521. Stabilizing frame; 522. Lifting motor; 523. Controller; 524. Lifting wheel; 525. Lifting rope; 6. Spare component; 61. Friction wheel; 611. Connecting rod; 62. Angle sensor; 63. Spare motor. DETAILED DESCRIPTION
[0025] The following is combined with Figure 1-3 This application is described in further detail.
[0026] The present application embodiment discloses a tower climbing anti-fall device based on a drone. Figure 1 and Figure 2 A tower climbing anti-fall device based on an unmanned aerial vehicle includes a carrying frame 1, a connecting frame 2, an error-touch component 3, a detection component 4, a lifting component 5 and a spare component 6. The carrying frame 1 is fixedly connected to the unmanned aerial vehicle; the connecting frame 2 is hung on the carrying frame 1; wherein a traction rope is fixedly provided on the connecting frame 2, and the traction rope is connected to an operator.
[0027] The false touch component 3 is arranged on the carrying frame 1, and is used to prevent the detection component 4 from being accidentally started; the two ends of the detection component 4 are respectively connected to the carrying frame 1 and the connecting frame 2, and the detection component 4 is used to detect the falling state of the operator; the lifting component 5 is arranged on the carrying frame 1, and is used to pull up the fallen operator; the spare component 6 is arranged on the lifting component 5, and when the lifting component 5 is damaged, the spare component 6 is used to pull up the fallen operator.
[0028] When in use, when the operator falls accidentally, the operator pulls the traction rope, the traction rope separates the connection frame 2 from the false touch component 3, and enters the detection component 4, the detection component 4 transmits a signal to the lifting component 5, controls the lifting component 5 to act immediately, and pulls the operator back to a safe position, ensuring the safety of the operator; When the lifting component 5 fails, the backup component 6 pulls up the fallen operator, thereby improving the reliability of the system, avoiding the protection failure due to a single point failure, and further improving the safety of the operator.
[0029] Reference Figure 1 The mounting frame 1 and the connecting frame 2 are both rectangular frames, and the two are interlocked. The false touch component 3 includes a half ring 31 and a tightening spring 32. Two half rings 31 are provided. The two half rings 31 are both located on the top of the mounting frame 1 and on one side of the inner frame of the mounting frame 1. The half ring 31 is hinged to the mounting frame 1. In the initial state, the two half rings 31 are in a closed state, and the connecting frame 2 is located in the half ring 31. The two ends of the tightening spring 32 are respectively fixedly connected to the two half rings 31. In the initial state, the tightening spring 32 is in a compressed state.
[0030] Reference Figure 1 and Figure 2 A clearance groove 11 is provided inside the carrying frame 1. The detection assembly 4 includes a detection rod 41, a telescopic rod 42 and a pressure spring 43. Two detection rods 41 are provided. The two detection rods 41 are hinged and slidably connected in the clearance groove 11 of the carrying frame 1. The hinge ports of the two detection rods 41 are located directly below the two semi-rings 31. The ends of the two detection rods 41 close to the semi-rings 31 are bent toward each other. When the traction rope is stressed, the connection frame 2 can fall into the hinge ports of the two detection rods 41.
[0031] Reference Figure 1 and Figure 2 The two telescopic rods 42 correspond to the two detection rods 41 one by one, and the two ends of the telescopic rod 42 are respectively hinged to the carrying frame 1 and the detection rod 41. The two ends of the pressure spring 43 are respectively fixedly connected to the two detection rods 41. In the initial state, the pressure spring 43 is in a compressed state.
[0032] When in use, when the operator falls, the traction rope is pulled, and the traction rope drives the connection frame 2 to break away from the half ring 31 and fall into the hinged ports of the two detection rods 41. The two detection rods 41 are suddenly stressed, and the connection frame 2 squeezes the two detection rods 41 to move. The two detection rods 41 rotate in a direction away from each other, and the detection rods 41 act on the lifting assembly 5, so that the lifting assembly 5 pulls the operator back to a safe position; When the operator returns to the operating position, under the elastic force of the pressure spring 43, the telescopic rod 42 guides the detection rod 41 to reset, avoiding excessive lifting of the lifting assembly 5 and causing danger to personnel, thereby improving the reliability and safety of the device and effectively preventing injuries to the operator caused by falling.
[0033] Reference Figure 1 and Figure 2 The lifting assembly 5 includes a control unit 51 and a lifting unit 52. The control unit 51 is provided with two groups. The two groups of control units 51 are arranged opposite to each other and correspond to the two detection rods 41 one by one. The control unit 51 includes a cam 1 511, a cam 2 512, a moving rod 513, a sensing block 1 514 and a sensing block 2 515. The cam 1 511 is rotatably connected in the clearance groove 11, and the cam 2 512 is coaxially fixedly connected to the cam 1 511.
[0034] Reference Figure 1 and Figure 2 The moving rod 513 is slidably connected in the carrying frame 1 and is located above the cam 2 512. The sensing block 1 514 is fixed on the moving rod 513, and the sensing block 2 515 is fixed in the carrying frame 1. When the detection rod 41 presses the moving rod 513, the sensing block 1 514 and the sensing block 2 515 abut against each other.
[0035] Reference Figure 1 and Figure 2 The lifting part 52 includes a stabilizing frame 521, a lifting motor 522, a controller 523, a lifting wheel 524 and a lifting rope 525. The stabilizing frame 521 is in a rectangular frame shape and is bent. One end of the stabilizing frame 521 is fixed to the end of the carrying frame 1 away from the drone.
[0036] Reference Figure 1 and Figure 2 The lifting motor 522 is fixed on the stabilizing frame 521 and is located at one end away from the carrying frame 1. The controller 523 is fixed on the stabilizing frame 521, and the lifting motor 522 and the induction block 2 515 are both electrically connected to the controller 523. The hanging wheel 524 is coaxially fixedly connected to the output shaft of the lifting motor 522. One end of the lifting rope 525 is fixedly connected to the hanging wheel 524 and is wound around the hanging wheel 524.
[0037] During use, when the operator falls, the connecting frame 2 moves down and presses the detection rod 41, the connecting frame 2 squeezes the two detection rods 41 to move, the two detection rods 41 rotate in the direction away from each other, the detection rod 41 squeezes the tip of cam one 511, the cam one 511 rotates, the cam one 511 drives the cam two 512 to rotate, the tip of the cam two 512 squeezes the moving rod 513 to move, the sensing block one 514 contacts the sensing block two 515, the sensing block two 515 outputs an electrical signal to the controller 523, the controller 523 responds to the electrical signal output by the sensing block two 515, and controls the lifting motor 522 to start, the lifting motor 522 drives the lifting wheel 524 to rotate, thereby driving the lifting rope 525 to rise, and quickly pulling the fallen operator to a safe position, thereby improving the overall safety of the anti-fall device.
[0038] Reference Figure 1 and Figure 3 The backup assembly 6 includes a friction wheel 61, an angle sensor 62 and a backup motor 63. The friction wheel 61 is rotatably connected to the stabilizing frame 521 through a connecting rod 611 and abuts against the lifting rope 525. The angle sensor 62 is fixed on the connecting rod 611 and is electrically connected to the controller 523.
[0039] Reference Figure 1 and Figure 3 The backup motor 63 is arranged opposite to the lifting motor 522 , the backup motor 63 is fixed on the stabilizing frame 521 , and is coaxially fixedly connected to the lifting wheel 524 , and the backup motor 63 is electrically connected to the controller 523 .
[0040] During use, when the hanging wheel 524 is retracting the rope, the friction wheel 61 rotates forward. When the lifting motor 522 fails, the hanging wheel 524 reverses and the rope is released. At this time, the friction wheel 61 reverses, and the angle sensor 62 outputs a rotation signal of the friction wheel 61 to the controller 523. The controller 523 responds to the angle signal output by the angle sensor 62 and controls the standby motor 63 to start. The standby motor 63 retracts the rope again and drives the hanging wheel 524 to rotate, thereby pulling up the fallen operator, thereby effectively improving the reliability of the system and ensuring that the operator can still be safely rescued when the main lifting system fails.
[0041] The implementation principle of the tower climbing anti-falling device based on the drone in the embodiment of the present application is as follows: when the operator falls, the traction rope is pulled to drive the connection frame 2 to break away from the half ring 31 and fall into the hinged ports of the two detection rods 41, the connection frame 2 squeezes the two detection rods 41 to rotate in the direction away from each other, the detection rod 41 squeezes the tip of the cam 1 511, the cam 1 511 rotates, the cam 1 511 drives the cam 2 512 to rotate, the tip of the cam 2 512 squeezes the moving rod 513 to move, the induction block 1 514 contacts the induction block 2 515, the induction block 2 515 outputs an electrical signal to the controller 523, the controller 523 controls the lifting motor 522 to drive the lifting wheel 524 to rotate, the friction wheel 61 rotates forward, thereby driving the lifting rope 525 to rise, and the fallen operator is quickly pulled to a safe position, thereby improving the overall safety of the anti-falling device; When the lifting motor 522 fails, the hanging wheel 524 reverses, the friction wheel 61 reverses, and the angle sensor 62 outputs a rotation signal of the friction wheel 61 to the controller 523. The controller 523 controls the backup motor 63 to reel in the rope and drives the hanging wheel 524 to rotate, thereby pulling up the fallen operator, thereby effectively improving the reliability of the system and ensuring that the operator can still be safely rescued when the main lifting system fails.
[0042] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A tower climbing anti-fall device based on an unmanned aerial vehicle, characterized in that: include: A carrying frame (1), connected to the drone; A connecting frame (2) is hung on the carrying frame (1); Wherein, a traction rope is fixedly provided on the connection frame (2), and the traction rope is connected to the operator; A detection component (4), two ends of which are respectively connected to the carrying frame (1) and the connecting frame (2), and the detection component (4) is used to detect the falling state of the operator; A lifting assembly (5) is arranged on the carrying frame (1) and is used to pull up a fallen operator; A spare component (6) is arranged on the lifting component (5); when the lifting component (5) is damaged, the spare component (6) is used to pull up a fallen operator.
2. The tower climbing anti-falling device based on an unmanned aerial vehicle according to claim 1 is characterized in that: The inner side of the carrying frame (1) is provided with a clearance groove (11), and the detection component (4) comprises: Two detection rods (41), the two detection rods (41) are hinged and both are slidably connected in the clearance groove (11) of the carrying frame (1); wherein when the operator falls, the connection frame (2) can fall into the hinged ports of the two detection rods (41); Two telescopic rods (42) corresponding one to the two detection rods (41), and two ends of the telescopic rods (42) are respectively hinged to the carrying frame (1) and the detection rods (41); The pressure-bearing spring (43) has two ends respectively fixedly connected to the two detection rods (41); in an initial state, the pressure-bearing spring (43) is in a compressed state.
3. The tower climbing anti-falling device based on an unmanned aerial vehicle according to claim 2 is characterized in that: The lifting assembly (5) comprises: The control unit (51) comprises: A cam (511) is rotatably connected in the clearance groove (11); Cam 2 (512) is coaxially fixedly connected to cam 1 (511); A moving rod (513) is slidably connected in the carrying frame (1) and is located above the second cam (512); A first induction block (514) is fixedly mounted on the moving rod (513); A second induction block (515) is fixedly mounted in the carrying frame (1); Wherein, when the detection rod (41) presses the moving rod (513), the first sensing block (514) abuts against the second sensing block (515); The lifting part (52) is arranged on the carrying frame (1) and is used to pull up a fallen operator.
4. The tower climbing anti-falling device based on an unmanned aerial vehicle according to claim 3 is characterized in that: The lifting part (52) comprises: A stabilizing frame (521) is fixedly mounted on the carrying frame (1); A lifting motor (522) is fixedly mounted on the stabilizing frame (521); A controller (523) is fixedly mounted on the stabilizing frame (521); the lifting motor (522) and the second induction block (515) are both electrically connected to the controller (523); A lifting wheel (524) coaxially fixedly connected to the output shaft of the lifting motor (522); One end of the lifting rope (525) is fixedly connected to the lifting wheel (524) and is wound around the lifting wheel (524).
5. The tower climbing anti-falling device based on an unmanned aerial vehicle according to claim 4 is characterized in that: The backup component (6) comprises: A friction wheel (61) is rotatably connected to the stabilizing frame (521) and abuts against the lifting rope (525); An angle sensor (62) is fixedly mounted on the friction wheel (61) and is electrically connected to the controller (523); The standby motor (63) is fixedly mounted on the stabilizing frame (521) and is coaxially fixedly connected to the hanging wheel (524). The standby motor (63) is electrically connected to the controller (523).
6. The tower climbing anti-falling device based on an unmanned aerial vehicle according to claim 5, characterized in that: It also includes an accidental touch component (3), the accidental touch component (3) comprising: Two half rings (31) are located directly above the hinged ports of the two detection rods (41); the half rings (31) are hinged to the carrying frame (1); in an initial state, the two half rings (31) are in a closed state, and the connection frame (2) is located inside the half rings (31); The tightening spring (32) has two ends respectively fixedly connected to the two half rings (31); in an initial state, the tightening spring (32) is in a compressed state.
7. The tower climbing anti-falling device based on an unmanned aerial vehicle according to claim 3 is characterized in that: Two groups of the control parts (51) are provided, and the two groups of the control parts (51) are arranged opposite to each other and correspond one to one to the two detection rods (41).
8. The tower climbing anti-falling device based on an unmanned aerial vehicle according to claim 3 is characterized in that: The ends of the two detection rods (41) close to the drone are bent in a direction toward each other.