In-station interval multifunctional operation vehicle and use method

Abstract

The invention relates to an in-station interval multifunctional operation vehicle and a using method, the in-station interval multifunctional operation vehicle comprises a rotary telescopic mechanism and a hoisting mechanism which are installed on a walking platform, a lifting platform which lifts in the vertical direction is installed at the output end of the rotary telescopic mechanism, and the in-station interval multifunctional operation vehicle further comprises an angle monitoring module and a distance measuring instrument; hoisting operation can be carried out in a narrow operation space, an operation device integrated with an aerial work platform is integrated, the safety, efficiency and precision in the maintenance and overhaul process of the transformer substation are improved, the transformer substation can adapt to the complex environment, and manpower resources are saved; the relative positions of the hoisting mechanism and the lifting platform are automatically judged according to position data, collected in real time, of the hoisting mechanism and the lifting platform. The rotating angle is obtained through the angle monitoring module installed on the rotating shaft, the telescopic length is measured through the range finder, and the pitching angle of the hoisting mechanism is obtained through the angle sensor. By means of the data, the system calculates the lifting height of the hoisting mechanism and the lifting height of the lifting platform, and it is guaranteed that interference does not occur between the hoisting mechanism and the lifting platform.

Description

Technical Field

[0001] The invention relates to an intra-station interval multifunctional operation vehicle and a use method thereof, belonging to the technical field of engineering construction vehicles. Background Art

[0002] During the maintenance and inspection of substations, heavy objects such as transformers and electric porcelain bottles often need to be moved and installed. Due to the limited space, narrow passages and dense electrical equipment in substations, crane construction is increasingly unable to meet the needs of maintenance and construction personnel (complex operation, risk of falling from height, limited operation in narrow spaces, etc.). At present, crawler cranes and lifting platforms are mainly used in combination, but the two sets of equipment are independently driven and need to be in their respective designated positions when working, and require the cooperation of multiple people to operate. For positions where the working space is too small to accommodate two vehicles, it is impossible to operate.

[0003] Therefore, there is a need for a work vehicle that can be used in a narrow working space and integrates a crane and a lifting device at the same time; for example, the patent publication number CN118164407A discloses a "substation manned lifting device and method capable of flexibly controlling a manned platform", which reduces the overall volume of the lifting device by controlling the height of the manned platform, controlling the angle of the manned platform, and controlling the distance between the worker and the lifting position through a telescopic ladder, so that the lifting device can better adapt to the complex environment and dense equipment of the substation;

[0004] However, when a crane and a lifting platform are integrated on one vehicle, and the integrated crane and the lifting platform are controlled independently, improper operation may easily lead to unstable center of gravity and mutual interference and collision. Summary of the invention

[0005] The object of the present invention is to provide an intra-station interval multifunctional operation vehicle and a method of use to solve the problems raised in the above-mentioned background technology.

[0006] The technical solution of the present invention is as follows:

[0007] A multifunctional work vehicle for station intervals, comprising a rotating telescopic mechanism and a hoisting mechanism installed on a walking platform, wherein a lifting platform for lifting in a vertical direction is installed at the output end of the rotating telescopic mechanism, and further comprising:

[0008] The first angle monitoring module is used to monitor the rotation angle of the hoisting mechanism on the horizontal plane;

[0009] The second angle monitoring module is used to monitor the rotation angle of the lifting platform on the horizontal plane;

[0010] A first distance meter is used to measure the telescopic length of the lifting mechanism;

[0011] The third - angle monitoring module is used to monitor the pitching angle of the hoisting mechanism;

[0012] The second rangefinder is used to measure the horizontal moving distance of the lifting platform.

[0013] Preferably, the walking platform adopts a crawler vehicle.

[0014] Preferably, outriggers are installed at the four corners of the walking platform.

[0015] Preferably, pressure sensors are installed on the outriggers for pressure feedback.

[0016] Preferably, the rotary telescopic mechanism includes a rotary platform and a horizontal telescopic component. The rotary platform is installed on the walking platform, the horizontal telescopic component is installed on the rotary platform, and the lifting platform is installed at the output end of the horizontal telescopic component.

[0017] Preferably, moving wheels that roll on the walking platform are provided at the bottom of the horizontal telescopic component.

[0018] Preferably, the rotary telescopic mechanism is arranged in the middle of the walking platform, the hoisting mechanism is arranged at the head of the walking platform, and a manual operation console is arranged at the tail of the walking platform.

[0019] Preferably, when in use, the lifting platform is located below the hoisting mechanism.

[0020] The usage method of the in - station interval multi - functional operation vehicle includes the following steps:

[0021] Construct a plane with the upper plane of the walking platform;

[0022] The rotation base point of the lifting platform on the plane is B, the rotation angle of the lifting platform relative to the initial position is α, and D is the lifting platform;

[0023] The rotation base point of the hoisting mechanism on the plane is A, the rotation angle of the hoisting mechanism relative to the initial position is β, C is the intersection point where the hoisting mechanism extends to BD, and the projected length of the hoisting mechanism on the plane is set as n;

[0024] The distances between the base points A and B in the X - axis and Y - axis directions are x and y respectively;

[0025] The rotary telescopic mechanism drives the lifting platform to rotate horizontally and telescopic, selects a suitable working angle and distance for the lifting platform, and hoists the equipment through the hoisting mechanism. During this process, if the extended line of the projection of the hoisting mechanism on the plane has an intersection with BD, then keep n < AC;

[0026] The length of AC is: (y - x cotα)sinα / sin(α + β);

[0027] When the lifting platform performs the lifting action, the rotary telescopic mechanism and the hoisting mechanism remain fixed.

[0028] Preferably, the rotary telescopic mechanism can perform the horizontal action only after the lifting platform descends to the original height;

[0029] When the lifting platform carries people, the telescopic movement of the hoisting mechanism is limited within the range of ±0.5 m.

[0030] The present invention has the following beneficial effects:

[0031] It realizes the hoisting operation in a narrow working space and integrates an aerial work platform, improving the safety, efficiency and accuracy in the maintenance and repair process of the substation, adapting to complex environments and saving human resources;

[0032] According to the position data of the hoisting mechanism and the lifting platform collected in real time, the relative positions of the two are automatically judged. The rotation angle is obtained through the angle monitoring module installed on the rotating shaft, the telescopic length is measured by the rangefinder, and the pitching angle of the hoisting mechanism is obtained by the angle sensor. Using these data, the system calculates the lifting height of the hoisting mechanism and the rising height of the lifting platform to ensure that there is no interference between the two. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a three-dimensional structure diagram of the present invention.

[0034] Figure 2 is a side view of the present invention.

[0035] Figure 3 is a schematic plan view constructed by the present invention.

[0036] Figure 4 is an analysis table of the change trend of the overall center of gravity of the safety mode equipment of the present invention.

[0037] The reference numerals in the drawings are represented as:

[0038] 1, manual control console; 2, lifting platform; 3, hoisting mechanism; 4, rotary telescopic mechanism; 5, outrigger; 6, walking platform. DETAILED DESCRIPTION OF THE INVENTION

[0039] The present invention will be described in detail below with reference to the drawings and specific embodiments.

[0040] As Figures 1-4 shown, it includes:

[0041] The walking platform 6 can adopt a tracked vehicle, including a vehicle chassis and a traveling mechanism (tracked or wheeled), ensuring the mobility of the equipment in a narrow working environment.

[0042] The hoisting mechanism 3 uses a telescopic boom and can perform precise hoisting operations in three-dimensional space to lift goods to the designated working point. The hoisting mechanism 3 is installed at the head of the walking platform 6. The hoisting mechanism 3 can achieve horizontal rotation, vertical rotation, and telescoping of the boom. This is an existing structure and will not be elaborated here.

[0043] The rotary telescopic mechanism 4 is installed in the middle of the walking platform 6. The rotary telescopic mechanism 4 includes a rotary platform and a horizontal telescopic component. The rotary platform is installed on the walking platform 6 for horizontal rotation, and the horizontal telescopic component is installed on the rotary platform to adjust the length telescopically in the horizontal direction; a moving wheel is installed at the bottom of the horizontal telescopic component, and the moving wheel rolls relative to the upper surface of the walking platform 6. The moving wheel also acts as a lever fulcrum to improve the stability when the horizontal telescopic component extends; the horizontal telescopic component is always located close to the walking platform 6 rather than at a high altitude to avoid the center of gravity shift.

[0044] The lifting platform 2 is installed at the end of the horizontal telescopic component. The telescoping of the horizontal telescopic component drives the lifting platform 2 to move horizontally closer to or away from the rotary platform; the lifting platform 2 is configured with a lifting mechanism to achieve the vertical lifting function to meet the needs of personnel working at high altitudes. The function of the lifting platform 2 is to replace the lifting rope or for people to install operations on the lifting platform 2.

[0045] The outriggers 5 with pressure feedback alarm are realized through pressure sensors at the four corners of the tracked vehicle. The outriggers 5 can use hydraulic telescopic cylinders. Through comprehensive calculation by four groups of pressure sensors, it is ensured that the lifting platform 2 is firmly supported and a reminder is given when the inclination exceeds the set threshold.

[0046] The manual control console 1 is installed at the tail of the walking platform 6 and is used to control with a joystick in case of emergency;

[0047] Intelligent control module: including a first angle monitoring module, a second angle monitoring module, a third angle monitoring module, a first rangefinder, a second rangefinder, and a processor, etc., which monitors the equipment status in real time and executes the linkage safety control strategy.

[0048] The first angle monitoring module can use a rotary encoder to monitor the rotation angle of the rotary platform in real time;

[0049] The second angle monitoring module can use a rotary encoder to monitor the horizontal rotation angle of the hoisting mechanism 3 in real time; the third angle monitoring module can use an angle sensor to monitor the pitching angle of the boom in the hoisting mechanism 3 in real time;

[0050] The first rangefinder and the second rangefinder can use laser rangefinders to monitor the telescopic lengths of the corresponding horizontal telescopic component and the boom in the hoisting mechanism 3.

[0051] Based on the obtained boom elevation angle and length of the hoisting mechanism, the lifting height at the end of the boom can be obtained. The lifting platform 2 has no elevation angle, and the height between it and the traveling platform 6 can be monitored in real time by the third rangefinder.

[0052] The first working mode: Drive the traveling platform 6 to the designated position through the wireless remote control, press the outrigger 5 fixing button, the outriggers will automatically open and prompt that the fixing is completed. After operating the hoisting mechanism 3 to lift the equipment to be installed to the designated position, switch to the function of the rotary telescopic mechanism 4, and the hoisting mechanism 3 will be automatically locked. People board the lifting platform 2, and remotely control the rotary telescopic mechanism 4 to move (rotate and extend) the lifting platform to the designated position, then operate the lifting platform 2 to rise to the required height to start the installation operation. After the installation is completed, the lifting platform 2 rises to the hook, removes the lifting rope, the lifting platform 2 descends and retracts to the original position, switches to the crane function, and retracts the boom.

[0053] The control system realizes the intelligent linkage between the hoisting mechanism 3 and the lifting platform 2. When there is no one in the lifting platform 2, the hoisting mechanism 3 can freely perform hoisting operations; an optoelectronic sensor is installed on the lifting platform 2 to judge whether there is anyone on the lifting platform 2, and once the manned state is detected, the system automatically enters the safety mode.

[0054] Safety mode:

[0055] 1) The boom of the hoisting mechanism 3 can only contract and rise within the range of plus or minus 0.5 m. This not only avoids the risk of the boom extending and descending, which is likely to cause the whole vehicle to overturn, but also facilitates fine-tuning the boom for better installation operations;

[0056] 2) The elevation and horizontal movement of the lifting platform 2 are mutually exclusive, that is, the lifting platform 2 cannot move horizontally when it is rising. Therefore, at this time, the rotary telescopic mechanism 4 cannot perform horizontal rotation and telescoping; to make the rotary telescopic mechanism 4 move horizontally, it is necessary to first lower the rotary telescopic mechanism 4 below the set height, which avoids the risk caused by horizontal movement when people are at high altitude.

[0057] The system is built-in with a motion trajectory calculation program, which automatically judges the relative positions of the hoisting mechanism 3 and the lifting platform 2 according to the position data of the hoisting mechanism 3 and the lifting platform 2 collected in real time.

[0058] As Figure 3 shown, a horizontal plane is constructed on the upper surface of the traveling platform 6. The rotation base point of the lifting platform 2 on the plane is B, the rotation angle of the lifting platform 2 relative to the initial position is α, and D is the lifting platform 2; the rotation base point of the hoisting mechanism 3 on the plane is A, the rotation angle of the hoisting mechanism 3 relative to the initial position is β, C is the intersection point where the hoisting mechanism 3 extends to BD, and the projected length of the hoisting mechanism 3 on the plane is set as n;

[0059] The distances between the base points A and B in the X-axis and Y-axis directions are x and y respectively;

[0060] The rotary telescopic mechanism 4 drives the lifting platform 2 to rotate horizontally and telescope, selects a suitable working angle and distance for the lifting platform 2, and hoists the equipment through the hoisting mechanism 3. During this process, if the extension line of the projection of the hoisting mechanism 3 on the plane intersects with BD, then keep n < AC;

[0061] When β starts to increase from 0, the extended length n of the hoisting mechanism 3 should be less than the length of AC; the length of AC is: (y - x cotα)sinα / sin(α + β); when β increases so that points C and D coincide, it is the critical position; when β increases further, there is no limit to the extended length n of the hoisting mechanism.

[0062] After that, the lifting platform 2 performs a lifting action and the rotary telescopic mechanism 4 and the hoisting mechanism 3 remain fixed, or the hoisting mechanism 3 can maintain a small range of movement, that is, the boom of the hoisting mechanism 3 can only contract and rise within the range of plus or minus 0.5 m.

[0063] Before the lifting platform 2 carrying people rises, first determine the postures of the rotary telescopic mechanism 4 and the hoisting mechanism 3, and the center of gravity of the work vehicle at this time can be comprehensively calculated through four groups of pressure sensors. If the center of gravity is unstable and exceeds the set threshold, it can be adjusted through external components before carrying people;

[0064] Through the above safety mode, it can be ensured that the lifting arm of the lifting platform 2 carrying people will never enter directly below the boom of the hoisting mechanism 3.

[0065] Through intelligent linkage and strict calculation of the movement trajectory, it is ensured that a safe distance is always maintained between the manned platform and the hoisting mechanism, thereby effectively reducing the safety risks of vehicle overturning caused by the operation of the hoisting mechanism and the risks to personnel caused by the rotation and telescopic operation of the platform. On the premise of ensuring safety, the complexity of multi-equipment collaborative operation is reduced, and it is applicable to various high-difficulty operations in narrow working environments.

[0066] In the safety mode, the hoisting mechanism 3 restricts the extension and large-angle change of the boom to prevent the equipment from tipping forward or sideways. The manned lifting platform 2 adopts a mutually exclusive strategy of lifting and horizontal movement to avoid additional swing or center-of-gravity shift during high-altitude operations.

[0067] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A multifunctional work vehicle for station interval, comprising a rotating telescopic mechanism (4) and a hoisting mechanism (3) installed on a walking platform (6), wherein a lifting platform (2) for lifting in a vertical direction is installed at the output end of the rotating telescopic mechanism (4), characterized in that: Also includes: A first angle monitoring module, used for monitoring the rotation angle of the lifting mechanism (3) on a horizontal plane; A second angle monitoring module, used for monitoring the rotation angle of the lifting platform (2) on a horizontal plane; A first distance meter, used for measuring the telescopic length of the lifting mechanism (3); A third angle monitoring module, used for monitoring the pitch angle of the hoisting mechanism (3); The second distance meter is used to measure the horizontal moving distance of the lifting platform (2).

2. The multifunctional work vehicle for station interval according to claim 1, characterized in that: The walking platform (6) is a crawler vehicle.

3. The multifunctional work vehicle for station interval according to claim 1, characterized in that: Support legs (5) are installed at the four corners of the walking platform (6).

4. The multifunctional work vehicle for station interval according to claim 3, characterized in that: A pressure sensor is installed on the supporting leg (5) for pressure feedback.

5. The multifunctional work vehicle for station interval according to claim 1, characterized in that: The rotating telescopic mechanism (4) comprises a rotating platform and a horizontal telescopic assembly, the rotating platform being mounted on a walking platform (6), the horizontal telescopic assembly being mounted on the rotating platform, and the lifting platform (2) being mounted at the output end of the horizontal telescopic assembly.

6. The multifunctional work vehicle for station interval according to claim 5, characterized in that: The bottom of the horizontal telescopic component is provided with moving wheels that roll on the walking platform (6).

7. The multifunctional work vehicle for station interval according to claim 1, characterized in that: The rotating and telescopic mechanism (4) is arranged in the middle of the walking platform (6), the hoisting mechanism (3) is arranged at the head of the walking platform (6), and a hand-controlled operating table (1) is arranged at the tail of the walking platform (6).

8. The multifunctional work vehicle for station interval according to claim 1, characterized in that: When in use, the lifting platform (2) is located below the lifting mechanism (3).

9. A method for using the in-station interval multifunctional operation vehicle according to any one of claims 1 to 8, characterized in that: The following steps are involved: Constructing a plane with the plane on the walking platform (6); The rotation base point of the lifting platform (2) on the plane is B, the rotation angle of the lifting platform (2) relative to the initial position is α, and D is the lifting platform (2); The rotation base point of the lifting mechanism (3) on the plane is A, the rotation angle of the lifting mechanism (3) relative to the initial position is β, C is the intersection point of the lifting mechanism (3) with BD, and the projection length of the lifting mechanism (3) on the plane is n; The distances between base points A and B in the X-axis and Y-axis directions are x and y respectively; The rotating and telescopic mechanism (4) drives the lifting platform (2) to rotate horizontally and telescope, selects a suitable working angle and distance for the lifting platform (2), and hoists the equipment through the hoisting mechanism (3). During this process, if the projection extension line of the hoisting mechanism (3) on the plane intersects with BD, then n<AC is maintained; The length of AC is: (y-xcotα)sinα / sin(α+β); When the lifting platform (2) performs a lifting action, the rotating telescopic mechanism (4) and the hoisting mechanism (3) remain fixed.

10. The method for using the multifunctional work vehicle within a station as claimed in claim 9, characterized in that: The lifting platform (2) is lowered to the original height before the rotating telescopic mechanism (4) can move horizontally; When the lifting platform (2) is carrying people, the extension and retraction of the hoisting mechanism (3) is limited within the range of ±0.5m.

Images