The invention relates to a hoisting method for a pole-mounted distribution transformer. The hoisting method comprises the steps that a to-be-hoisted transformer is forked through a forking platform of a forking robot; controlling a crawler-type moving chassis of the fork loading robot to move to the position below the electric pole to be mounted; a lifting structure of the forking robot is controlled to lift the forking platform and the to-be-hoisted transformer to the hoisting position of the to-be-installed electric pole; acquiring acquired data through each detection element of the fork-mounted robot, and performing multi-detection data fusion on the acquired data to obtain motion planning data; and according to the motion planning data, a lifting structure and a forking platform of the forking robot are controlled to adjust the position of the to-be-hoisted transformer in the up-down direction, the front-back direction and the left-right direction, so that the to-be-hoisted transformer is placed on a cross arm at the hoisting position. Compared with crane hoisting, the hoisting method of the pole-mounted distribution transformer has the advantages that the transformer to be hoisted can be accurately mounted on the cross arm at the hoisting position in the electric pole to be mounted; the problem that a transformer is inconvenient to hoist in an existing hoisting process of the distribution transformer is solved.
本申请涉及一种柱上配电变压器的吊装方法,包括采用叉装机器人的叉装平台将待吊装变压器叉起;控制叉装机器人的履带式移动底盘移动至待安装电杆下方;控制叉装机器人的升降结构将叉装平台和待吊装变压器升起至待安装电杆的吊装位置处;通过叉装机器人的各个检测元件获取采集数据,对采集数据进行多检测数据融合得到运动规划数据;根据运动规划数据控制叉装机器人的升降结构和叉装平台上下、前后和左右方向上调整待吊装变压器的位置,以将待吊装变压器放至吊装位置的横担上。该柱上配电变压器的吊装方法相比于吊车吊装,能够精准将待吊装变压器安装在待安装电杆中吊装位置的横担上;解决现有配电变压器的吊装工序存在不便于变压器的吊装的问题。
Hoisting method of pole-mounted distribution transformer
一种柱上配电变压器的吊装方法
2024-05-28
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
Pole-mounted transformer hoisting mechanism and hoisting device and system
European Patent Office | 2021
|