According to the transformer substation nuclear phase operation mechanism based on the lifting module and the method and algorithm of the transformer substation nuclear phase operation mechanism based on the lifting module, accurate position adjustment is achieved through a three-dimensional moving platform, the mechanism design of hanging and taking down of an overhead line bus nuclear instrument phase probe in a transformer substation is finally achieved, and a main body of the transformer substation nuclear phase operation mechanism is divided into a lifting trolley, the three-dimensional moving platform and a nuclear phase instrument hanging and taking mechanism module. Wherein the three-dimensional mobile platform is composed of a lead screw guide rail A, a lead screw guide rail B, an electric lifting rod in the vertical direction and a platform camera, the lead screw guide rail A and the lead screw guide rail B are perpendicular to each other in the plane direction, and the phasing tester hanging and taking mechanism is composed of a steering motor, an electromagnet and a mechanism camera. A lifting nuclear phase module dynamic modeling method is constructed by researching mutual cooperation of a plurality of modules, and a nuclear phase operation trajectory planning method is provided according to a collected image positioning lead position, so that a nuclear phase instrument probe on a substation overhead line bus can be automatically hooked, and nuclear phase operation is safely completed; and finally, a full-process nuclear phase task of automatically taking down the nuclear phase instrument probe is carried out.

    本发明设计一种基于升降模块的变电站核相作业机构及其方法与算法,通过三维移动平台实现位置精确调整,最终实现变电站内架空线母线核仪相探头挂接和取下的机构设计,它的主体分为升降车,三维移动平台和核相仪挂取机构模块。其中三维移动平台由两个平面方向相互垂直的丝杠导轨A和丝杠导轨B和竖直方向的电动升降杆以及平台摄像头组成,核相仪挂取机构由转向电机和电磁铁以及机构摄像头构成,通过研究多个模块相互配合构建升降核相模块动力学建模方法,并根据采集的图像定位导线位置提出了开展核相作业轨迹规划方法,可实现变电站架空线母线上核相仪探头自动挂接,安全完成核相作业,最后自主取下核相仪探头的全流程核相任务。


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    Title :

    Transformer substation nuclear phase operation mechanism based on lifting module and method and algorithm thereof


    Additional title:

    一种基于升降模块的变电站核相作业机构及其方法与算法


    Contributors:
    WANG ZHUNIAN (author) / CHEN TONG (author) / TANG CHENGYE (author) / ZHOU PENG (author) / GUO JINKUN (author) / GAO BINGTUAN (author) / LI JING (author) / SUN WENKAI (author) / HE JIAHONG (author) / LI XINGYU (author)

    Publication date :

    2024-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01R Messen elektrischer Größen , MEASURING ELECTRIC VARIABLES / B62D MOTOR VEHICLES , Motorfahrzeuge / B66C Krane , CRANES / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / H02B BOARDS, SUBSTATIONS, OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER , Schalttafeln, Unterstationen oder Schaltanordnungen für die Abgabe oder Verteilung elektrischer Energie



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