CN109462165A - The provision for disengagement and control method of flexible direct current converter valve power module - Google Patents
The provision for disengagement and control method of flexible direct current converter valve power module Download PDFInfo
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- CN109462165A CN109462165A CN201811324995.1A CN201811324995A CN109462165A CN 109462165 A CN109462165 A CN 109462165A CN 201811324995 A CN201811324995 A CN 201811324995A CN 109462165 A CN109462165 A CN 109462165A
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- power module
- shipping platform
- platform
- direct current
- current converter
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Abstract
The present invention provides the provisions for disengagement and control method of a kind of flexible direct current converter valve power module, wherein the device includes: connecting tooling, for connecting with power module to be removed；Shipping platform, under the control of industrial personal computer, power module to be removed being drawn on shipping platform from flexible direct current converter valve when with the connecting tooling to connecting；Position signal acquisition device, for acquiring the elevation information of shipping platform and the range information of shipping platform and power module to be removed；Industrial personal computer when for being promoted to the height of power module to be removed in shipping platform, according to range information, controls shipping platform and connecting tooling to connecting；Fork truck, under the control of industrial personal computer, shipping platform to be promoted to the height of power module to be removed according to elevation information；The power module being drawn on shipping platform is transported into valve tower bottom, then is transported to designated position.Above-mentioned technical proposal improves removal efficiency and the safety of power module.
Description
Technical field
The present invention relates to flexible DC transmission technology field, in particular to a kind of flexible direct current converter valve power module is torn open
Handler and control method.
Background technique
With the fast development of device for high-power power electronic, the flexible DC transmission technology of full control large power device is used
Electric system is widely used in recent years at home.Currently, what all flexible HVDC transmission system in China was all made of
It is modularization, more level topology.With the raising of power system voltage, the increase of capacity, the quantity of flexible direct current power module
More and more, volume weight is also gradually increased, this just replaces module to converter station service personnel and makes troubles.
When converter station overhauls at present, the power module in the valve tower of flexible direct current converter valve is replaced, being generally adopted by makes
With one easily the tooling with guide rail be placed on lifting platform truck, lifting platform truck is increased to the power module needed replacing
The height and position of place valve tower, then tooling is directed at connection with power module, then service personnel is by power module from converter valve
Valve tower on be dragged in the tooling with guide rail, power module is transported to from high by ground by lifting platform truck in the air.The program is deposited
The problem of be: tooling and power module are difficult to be directed at connection, and the fault power module for replacing flexible direct current converter valve is very laborious,
Efficiency and safety are all very low.
Summary of the invention
The embodiment of the invention provides a kind of provisions for disengagement of flexible direct current converter valve power module, flexible straight to improve
The removal efficiency and safety, the device for flowing converter valve power module include: connecting tooling, shipping platform, position signal acquisition
Device, industrial personal computer and fork truck；Wherein:
Connecting tooling is connect for the power module to be removed with flexible direct current converter valve；
Shipping platform, for when with the connecting tooling to connecting, under the control of industrial personal computer, by power mould to be removed
Block is drawn on shipping platform from flexible direct current converter valve；
Position signal acquisition device is arranged on shipping platform, and for acquiring the elevation information of shipping platform, and transport is flat
The range information of platform and power module to be removed；
Industrial personal computer, when for being promoted to the height of power module to be removed in shipping platform, according to the range information,
Control shipping platform and connecting tooling are to connecting；
The pallet fork of fork truck, fork truck is connect with shipping platform, is used for according to the elevation information, under the control of industrial personal computer,
Shipping platform is promoted to the height of power module to be removed；The power module being drawn on shipping platform is transported into valve tower bottom
Portion transports the power module for transporting valve tower bottom to designated position.
The embodiment of the invention also provides a kind of control methods of the provision for disengagement of flexible direct current converter valve power module, use
To improve removal efficiency and the safety of flexible direct current converter valve power module, this method comprises:
Position signal acquisition device acquire shipping platform elevation information and shipping platform and power module to be removed away from
From information；
Industrial personal computer controls the height that shipping platform is promoted to power module to be removed by fork truck according to the elevation information；
When shipping platform is promoted to the height of power module to be removed, industrial personal computer is according to the range information, control
Shipping platform and connecting tooling are to connecting；
When shipping platform and the connecting tooling are to connecting, industrial personal computer control shipping platform by power module to be removed from
Flexible direct current converter valve is drawn on shipping platform；
Industrial personal computer controls fork truck and the power module being drawn on shipping platform is transported valve tower bottom, will transport valve tower
The power module of bottom is transported to designated position.
The embodiment of the invention also provides a kind of computer equipments, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor execute the disassembly of the flexible direct current converter valve power module
The control method of device.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage
There is the computer program of the control method for the provision for disengagement for executing flexible direct current converter valve power module.
Compared with being placed on the scheme for carrying out power module disassembly on lifting platform truck with the existing tooling with guide rail, this hair
The technical solution that bright embodiment provides passes through: the elevation information and shipping platform of position signal acquisition device acquisition shipping platform
With the range information of power module to be removed；Industrial personal computer according to the elevation information, control fork truck by shipping platform be promoted to
Dismantle the height of power module；When shipping platform is promoted to the height of power module to be removed, industrial personal computer according to it is described away from
From information, shipping platform and connecting tooling are controlled to connecting；When shipping platform and the connecting tooling are to connecting, industrial personal computer control
Power module to be removed is drawn on shipping platform by shipping platform processed from flexible direct current converter valve；Industrial personal computer control fork truck will be led
The power module guided on shipping platform transports valve tower bottom, and the power module for transporting valve tower bottom is transported to specific bit
It sets, realizes and replace flexible direct current converter valve power module faster more labor-savingly, improve flexible direct current converter valve power module
Removal efficiency and safety.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, not
Constitute limitation of the invention.In the accompanying drawings:
Fig. 1 is the disassembly schematic illustration of flexible direct current converter valve power module in the embodiment of the present invention；
Fig. 2 is the schematic view of the front view of the provision for disengagement of flexible direct current converter valve power module in the embodiment of the present invention；
Fig. 3 is the schematic perspective view of the provision for disengagement of flexible direct current converter valve power module in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of shipping platform in the embodiment of the present invention；
Fig. 5 is the overlooking structure diagram of power module drag gear in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of traction mechanism in the embodiment of the present invention；
Fig. 7 is the schematic diagram of circuit connection structure of provision for disengagement in the embodiment of the present invention；
Fig. 8 is the positional structure schematic diagram of provision for disengagement all parts in the embodiment of the present invention；
Fig. 9 is that power module to be removed mainly dismounts flow diagram in the embodiment of the present invention；
Figure 10 is power module dismounting flow diagram to be removed in another embodiment of the present invention；
Figure 11 is that the process of the provision for disengagement control method of flexible direct current converter valve power module in the embodiment of the present invention is shown
It is intended to.
Figure 12 is the structural representation of the provision for disengagement controller of flexible direct current converter valve power module in the embodiment of the present invention
Figure.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right below with reference to embodiment and attached drawing
The present invention is described in further details.Here, exemplary embodiment and its explanation of the invention is used to explain the present invention, but simultaneously
It is not as a limitation of the invention.
Before introducing the embodiment of the present invention, technical term of the present invention is introduced first as follows.
Change of current valve tower is made of converter valve power module, valve section etc..General 4-6 power module constitutes 1 valve section, 4-6
A valve section constitutes 1 valve layer, and 4-5 valve layer constitutes 1 valve tower, and 1 bridge arm of valve hall is generally made of 2 valve towers in converter station.
Power module is the minimum unit of valve tower.
The object of the present invention is to provide one kind can be faster more labor-saving and can safely replace when converter valve is overhauled
The dismantlement scheme of soft straight converter valve power module that is, will be to as shown in Figure 1, the program can will need the power module that overhaul
Disassembly module is disassembled from flexible direct current converter valve.It describes in detail below to dismantlement scheme provided by the invention.
Fig. 2 is the structural schematic diagram of the provision for disengagement of flexible direct current converter valve power module in the embodiment of the present invention, such as Fig. 2
Shown, which includes: connecting tooling 11, shipping platform 10, position signal acquisition device, industrial personal computer 2 and fork truck 1；Wherein:
Connecting tooling 11 is connect for the power module to be removed with flexible direct current converter valve；
Shipping platform 10, will be to be removed under the control of industrial personal computer 2 for when with the connecting tooling 11 to connecting
Power module is drawn on shipping platform 10 from flexible direct current converter valve；
Position signal acquisition device is arranged on shipping platform 10, for acquiring the elevation information of shipping platform 10, Yi Jiyun
The range information of defeated platform 10 and power module to be removed；
Industrial personal computer 2 when for being promoted to the height of power module to be removed in shipping platform 10, is believed according to the distance
Breath, control shipping platform 10 and connecting tooling 11 is to connecting；
The pallet fork of fork truck 1, fork truck 1 is connect with shipping platform 10, is used for according to the elevation information, in the control of industrial personal computer 2
Under system, shipping platform 10 is promoted to the height of power module to be removed；The power module being drawn on shipping platform 10 is transported
It is defeated to arrive valve tower bottom, the power module for transporting valve tower bottom is transported to designated position.
When the provision for disengagement work of flexible direct current converter valve power module provided in an embodiment of the present invention: first by connecting tooling
11 are manually fixed on the power module (power module to be removed sends the power module etc. of failure) for needing to dismantle, and fork truck moves
Dynamic that shipping platform 10 is placed near the power module for needing to pull out, industrial personal computer 2 is acquired according to position signal acquisition device and is transported
Shipping platform 10 is promoted to the height of power module to be removed by the elevation information of platform, control fork truck 1；Industrial personal computer is according to
Range information, control shipping platform 10 and connecting tooling 11 is to connecting；Industrial personal computer 2 controls shipping platform 10 for power mould to be removed
Block is drawn on shipping platform 10 from flexible direct current converter valve；The power mould that industrial personal computer control fork truck will be drawn on shipping platform
Block transports valve tower bottom, and the power module for transporting valve tower bottom is transported to designated position.
Compared with being placed on the scheme for carrying out power module disassembly on lifting platform truck with the existing tooling with guide rail, this hair
The provision for disengagement that bright embodiment provides realizes faster more labor-saving and safely replaces flexible direct current converter valve power module, improves
The removal efficiency of flexible direct current converter valve power module and safety.
When it is implemented, power module to be removed can be the fault power module to break down, the power needed replacing
Module.
Below with reference to Fig. 2 to Fig. 8, the detailed construction of the provision for disengagement in the embodiment of the present invention is introduced as follows.
One, connecting tooling 11 (also referred to as power module side connecting tooling) is introduced first.
Power module side connecting tooling: referring to the tooling for installing and removing " valve tower power module ", and " load side transport is flat
Platform " should be able to carry out efficient and safe dock with it.
Two, shipping platform 10 (also referred to as load side shipping platform) is secondly introduced.
Inventor's discovery: it is torn open due to being placed on progress power module on lifting platform truck using the tooling easily with guide rail
In the scheme unloaded, lifting platform truck structure feature, shaking amplitude is larger after raising, when dismantling power module, tooling and function
Rate module is difficult alignment connection, and lifting platform truck run-off the straight is abnormally dangerous.Therefore, because inventor considers this technology
Problem proposes the scheme of following shipping platform.
Load side shipping platform: the electromechanical assembly being mounted on reach truck pallet fork is referred mainly to.Load side shipping platform
Structure design is based on shift-forward type alternating accumulator fork truck, carries out non-standard de-sign to pallet fork component, meets installation and removes power mould
The function of block:
(1) load side shipping platform may be implemented: near fault power module (power module to be removed) position, ±
It is moved left and right within the scope of 150mm.Moving left and right for mentioning in the embodiment of the present invention is referred in face of the left and right in power module direction
It is mobile.
(2) ± 15 degree of rotation function may be implemented in load side shipping platform.
(3) load side shipping platform self weight total weight is less than 200kg, and the applying working condition loaded within 300kg may be implemented.
(4) after load side shipping platform is installed on pallet fork, the weight center of gravity for installing part entirety and load additional meets fork truck
Relevant criterion safety requirements.
(5) load side shipping platform realizes release (or retracting) operation of product by electric cylinders etc., and operation stroke is greater than
2100mm。
(6) as shown in Fig. 2, load side shipping platform is equipped with safety guide rail 8, protective fence height is not less than 1100mm, protects
The safety of power module disassembly is demonstrate,proved.
(7) shipping platform should configure battery, which is mounted on reach truck, and range of capacity 600~800 is pacified
When, meet continuous operation 4h.
When it is implemented, as shown in Figure 4 and Figure 5, which mainly includes three mechanisms: translation mechanism, power
Module drag gear and rotating mechanism.The detailed construction of the shipping platform is introduced one by one below.
1, firstly, introducing translation mechanism.
When it is implemented, the lower section of connecting plate 32 is arranged in translation mechanism, which is used in shipping platform and company
During connecing tooling docking, by the component integral translation of 32 top of connecting plate.
In one embodiment, as shown in figure 4, the translation mechanism may include:
Guide rail 15, along on the lower frame 27, the side parallel with pallet fork side plate 40 set up；
Translation motor 13 is drivingly connected by screw mechanism and the guide rail 15, for driving the guide rail 15 to slide, band
The component parallel of dynamic 32 top of connecting plate is mobile in pallet fork side plate.
When it is implemented, under the control of industrial personal computer or remote controler, translation motor 13 is operated when the translation mechanism works,
Screw mechanism rotation is driven, screw mechanism rotation drives guide rail 15 in the square upward sliding parallel with pallet fork side plate 40, thus band
The component of dynamic 32 top of connecting plate moves on the direction parallel with pallet fork side plate 40, that is, relative to towards power to be removed
The left and right directions of module is mobile, realizes that the centering of shipping platform 10 and 11 docking operation of connecting tooling works, improves power mould
The removal efficiency of block.
2, secondly, introducing power module drag gear.
When it is implemented, power module drag gear can be set in the top of connecting plate 32, it is used for power to be removed
Module is drawn on shipping platform from flexible direct current converter valve.
In one embodiment, as shown in Figure 4 and Figure 5, the power module drag gear may include:
One end on upper frame 33 close to pallet fork side plate is arranged in traction sheave 23；
One end on upper frame 33 far from pallet fork side plate is arranged in expansion tightening wheel 22；
Wirerope 16 is set in the outside of traction sheave 23 and expansion tightening wheel 22；
Traction mechanism 17, first end are connect with the wirerope 16, the second end of traction mechanism 17 and power mould to be removed
The corresponding distracted position connection of block；
Traction electric machine 26 is drivingly connected with the traction sheave 23, is arranged on upper frame 33 close to the one of pallet fork side plate 40
End, for when the second end of traction mechanism 17 is connect with distracted position, the driving operating of traction sheave 23 to drive expansion tightening wheel 22 to transport
Turn, the operating driving traction mechanism 17 of expansion tightening wheel 22 is mobile to pallet fork side plate direction, and power module to be removed is changed from flexible direct current
Stream valve is drawn on shipping platform.
When it is implemented, as shown in figure 5, being equipped with motor 26, traction sheave 23, pulley 24 (totally 3), steel on upper frame 33
Cord 16, expansion tightening wheel 22, several balls 22, the traction mechanism 17 being fixed on wirerope 16.Wherein, as shown in Figure 4 and Figure 6,
Traction mechanism 17 may include Forward hook 18, electromagnetic core 19, compressed spring 20, push rod 21.When it is implemented, remote controler or work
Control machine control traction mechanism 17 moves to reach the one end of shipping platform close to power module, withstands push rod 21 and simultaneously compressed spring
20, push rod 21 moves down by 17 inner link mechanism of the traction mechanism hook 18 that move forward and catches on that power module to be removed is corresponding to be led
Drawing in the connection of position, remote controller/industrial personal computer stretches out electromagnetic core 19,17 inner link mechanism of traction mechanism is withstood,
To which locked Forward hook 18 is connect with distracted position.Remote controller/industrial personal computer makes traction mechanism 17 that power module be driven to move
It moves to pallet fork side plate 40, remote controller/industrial personal computer retracts electromagnetic core 19, realizes that Forward hook 18 and distracted position are de-
From being separated to complete traction mechanism 17 with power module.
When it is implemented, when the power module drag gear works: under the control of industrial personal computer or remote controler, traction mechanism
17 reach shipping platform close to one end of power module, the distracted position connection corresponding with power module to be removed of traction mechanism 17
On, the operating driving traction sheave 23 of traction electric machine 26 operates, and the operating of traction sheave 23 drives expansion tightening wheel 22 to operate, and the operating of expansion tightening wheel 22 is driven
Dynamic traction mechanism 17 is mobile to the direction of pallet fork side plate 40, i.e., power module to be removed is drawn to fortune from flexible direct current converter valve
On defeated platform, the removal efficiency of power module is improved.
When it is implemented, the driving form of wirerope 16 can also use synchronous belt or chain.
3, rotating mechanism then, is introduced.
When it is implemented, rotating mechanism can be set between connecting plate 32 and upper frame 33, for shipping platform with
During connecting tooling connects, the rotation of angle is realized, guarantee that shipping platform is steady, ensure that shipping platform and connecting tooling
Efficiently and safely dock.
In one embodiment, the rotating mechanism may include:
Reel 14 is rotated, is arranged between the connecting plate 32 and upper frame 33；
Ball 34 is supported, is arranged between the connecting plate 32 and upper frame 33；
Rotating electric machine 12 drives 34 turns of ball of support for driving the rotation reel 14 to rotate by a link mechanism
Dynamic, frame 33 and power module drag gear rotate predetermined angular in driving.
When it is implemented, being equipped with rotation reel 14, upper frame back-up roller pearl 34, rotating electric machine connecting rod machine on connecting plate 32
Structure (rotating electric machine 12 is combined with link mechanism), the rotating mechanism is for realizing the whole rotation function of upper frame 33, wherein revolving
Gyration limit is realized by the limit plate 25 on upper frame 33.
When it is implemented, above-mentioned predetermined angular can be 15 degree of anticlockwise, 15 degree of right rotation (referring herein to left and right be also
In face of the left and right of power module to be removed), the setting of rotating mechanism guarantees that shipping platform is horizontal, guarantees that transport is stablized, Jin Eryu
Hoistable platform, which rocks, in the prior art is easy to happen dangerous scheme and compares, and the program ensure that the safety of transport, in turn
Improve the disassembly safety of flexible direct current converter valve power module.
Three, position signal acquisition device is introduced again.
When it is implemented, position signal acquisition device may include: height distance inductor as shown in Fig. 2, Fig. 7 and Fig. 8
28, for acquiring the elevation information of shipping platform；Front end distance-sensor 29, for acquiring shipping platform and power mould to be removed
The range information of block.
Four, industrial personal computer and remote controller are then introduced (remote controller is also referred to as remote controler).
In one embodiment, the provision for disengagement of above-mentioned flexible direct current converter valve power module can also include: monitoring dress
It sets, is arranged on shipping platform, for acquiring the image information of shipping platform；
The industrial personal computer is also used to receive user according to the shipping platform position adjustment instruction of described image information input, root
According to shipping platform position adjustment instruction, shipping platform and connecting tooling are controlled to connecting.
When it is implemented, monitoring device may include: to be mounted on 7 front end of control cabinet as shown in Fig. 2, Fig. 7 and Fig. 8
A camera 9 and 2 cameras 9 being mounted on 8 two sides of guardrail (perpendicular to the two sides of fork truck side plate).
When it is implemented, the present invention implements the provision for disengagement of offer in addition to the control according to industrial personal computer may be implemented, automatically
It realizes except the docking of shipping platform and connecting tooling, can also manually be controlled by user, flexibility is high, such as Fig. 2, Fig. 7
And shown in Fig. 8, such as utilize monitoring device (camera 9) the feedback image information being arranged on shipping platform, image letter
Breath can be shown that user (such as driver) can input shipping platform position according to the image information by display 3
Adjustment instruction to industrial personal computer, industrial personal computer controls shipping platform and docks with connecting tooling according to the shipping platform position adjustment instruction
On.
When it is implemented, the picture that three cameras 9 monitor is shown on display 3.The angle of three cameras 9
It can any direction adjusting.
In one embodiment, the provision for disengagement of above-mentioned flexible direct current converter valve power module further include: remote controller
(remote controler 31 in figure), connect with the shipping platform, for receiving the fortune of user's input when obtaining shipping platform control
Defeated position of platform adjustment instruction controls shipping platform and connecting tooling to connecting according to shipping platform position adjustment instruction.
When it is implemented, the remote control that setting uses near valve tower fault power module (power module to be removed) position
Device has the characteristics that reliable using simple and function.The purpose of setting of remote controller (remote controler 31), is: driving when by fork truck
The industrial personal computer of the person of sailing position controls, and after shipping platform to be transferred to power module position to be removed and carries out fuzzy positioning, then leads to
It crosses industrial personal computer to be switched on remote controller, gives control to remote controler, remote controler is more quasi- to realize power module to be removed
True positioning.And when that can not be accurately positioned, truck driver position can also be switched to and carry out ambiguous location positioning, it is so real
With having showed shipping platform and connecting tooling rapid abutting joint, flexibility is high, high-efficient, and then improves flexible direct current converter valve power
The removal efficiency of module.
When it is implemented, being specifically to be controlled by industrial personal computer or controlled by remote controller, a control can be set
Power switch unit switches to realize.
In order to facilitate mechanical connection, as shown in Fig. 2, a control cabinet 7, the control cabinet 7 can be arranged in shipping platform side
(can be PLC as shown in Figure 7) connect with all parts of shipping platform, such as shown in fig. 7, with rotating electric machine 12, flat
Move motor 13, traction electric machine 26 etc..The control cabinet 7 can be communicated with the industrial personal computer 2 being arranged in fork truck, be issued by industrial personal computer
It instructs to control cabinet 7, control cabinet 7 issues instruction and controls equipment connected to it.Meanwhile remote controller (remote controler 31) can also
To control all parts of shipping platform by the control cabinet 7, remote control is received in particular by receiver as shown in Figure 7
Control instruction (can be position adjustment instruction) is transferred to the control cabinet 7 by the control instruction of device, the receiver, and control transport is flat
The movement of platform.
When it is implemented, industrial personal computer, video signal collection device (i.e. monitoring device, such as 3 cameras 9), distance signal
Collector (i.e. position signal collector, such as may include height distance inductor 28 and front end distance-sensor 29), electric power storage
The components such as pond, PLC (can be control cabinet 7) can be referred to as fork truck side integrated control system.Load side shipping platform is according to failure
Power module removes process calls, is based on shift-forward type alternating accumulator fork truck, the operation control to power module shipping platform
System carries out system hardware and Integrated Simulation.
The major programme of fork truck side integrated control system includes:
1) fork truck side integrated control system is realized to monitoring system (monitoring device) display, the control of load side shipping platform
System；
2) power supply: monitoring system and integrated control system power supply need additional configuration battery, and meet continuous operation 8h
Requirement.When accumulator electric-quantity deficiency, DC48V and AC220V can power for it, realize plug and play.
3) real-time monitoring and control of load side shipping platform or so and front suitable position trend of work can be achieved；
4) load side shipping platform elevating function can carry function by fork truck itself to realize；
5) fork truck side integrated control system may be implemented to adopt to load side transport deck height and with valve tower pitch information
Collection, integrated and display；
6) load side shipping platform and failure valve tower power module (power module to be removed) position alignment have two kinds of behaviour
Make mode, in addition to using push-botton operation mode, intelligent induction system can also be used to realize shipping platform in valve tower power
Module position left and right fine tuning nearby.
7) determining for fixation shipping platform is monitored in real time by fork truck side integrated control system screen in forklift steering room
Position, while the remote control of the control of fork truck steering position and shipping platform may be implemented in fork truck side integrated control system, to realize
More accurately positioning.The wherein control of fork truck steering position and remote control (fault power module accessories in valve tower), both controls
System when in use, can be switched over according to field demand situation.
8) function of load side shipping platform can be position (the valve tower power module by photosensitive sensors induction module
On need that photosensitive device is installed in advance), PLC by sensor (can be front end distance-sensor 29) feed back position control watch
It takes motor (can be translation motor 13, traction electric machine 26 and rotating electric machine 12) and is finally completed shipping platform and module position pair
It is quasi-.
9) load side shipping platform may be implemented after load side shipping platform is accurately connect with valve section I-beam and safe
Signal feedback after leaving valve tower, signal feedback are mentioned to fork truck side integrated control system with assisting user to carry out work judgement
The safety of height disassembly.
10) the rotation adjustment of appropriate angle may be implemented in load side intelligence platform, preferably to position, improves the efficiency of disassembly
And safety.
When it is implemented, industrial personal computer and remote controler may be implemented to carry out front and back to the shipping platform of above-described embodiment introduction
The control of left and right and rotation, after the accurate docking realized shipping platform with connect work, and docking, by function to be removed
The traction of rate module is to shipping platform.It describes in detail below to these of industrial personal computer and remote controler function.
By operation " advance " " retrogressing " button on remote controler 31, control traction mechanism 17 is forward/backward, and (power module is dragged
The control of drawing mechanism)；Button, the mobile (control of translation mechanism of control 10 left/right of shipping platform " are moved to right " by operation " moving to left "
System)；By operation " left-handed " " dextrorotation " button, 10 left/right of shipping platform rotation (control of rotating mechanism) is controlled；Pass through operation
" actuation " "off" button controls 19 retractions of electromagnetic core/stretching (traction mechanism 17 and distracted position company on traction mechanism 17
The control connect.
The operation mode of the system default of industrial personal computer 2 is that remote controler 31 operates, and presses that " touch screen control (can be above
The control switch unit mentioned) " after button, button becomes green, touch screen operation is switched to, at this time in operation touch-screen
" advance "/" retrogressing ", " moving to left "/" moving to right ", " left-handed "/" dextrorotation ", " actuation "/"off" are effective, 31 operation failure of remote controler.
Five, fork truck is then introduced.
Inventor is it is also found that: the spatial design of flexible direct current transmission converter valve valve hall is more compact, and lifting platform truck
The size of load-carrying and lifting platform truck is directly proportional, when power module is heavier, it is necessary to especially large-scale lifting platform truck cooperation
Power module is dismantled, however large-scale hoistable platform again can not be mobile in the valve hall of flexible direct current transmission converter valve.Therefore, because
Inventor considers this technical problem, proposes the scheme that the dismounting of power module quick and stable is realized using fork truck.
When it is implemented, fork truck can be with are as follows: shift-forward type alternating accumulator fork truck.
The method for dismounting of flexible direct current converter valve power module of the invention is by the way that based on reach truck, design increases
Add a set of shipping platform device, which completes the dismantlement work of soft straight module.Reach truck 1, in driver's cabin
Portion is provided with industrial personal computer 2, display 3, and top is provided with battery component 4, cable reel device 5, cable are provided on door frame
Leading truck 6；Shipping platform 10, control cabinet 7, guardrail 8, be mounted on control cabinet 7 one are installed in its fork truck arm (pallet fork)
2 cameras 9, front end distance-sensor 29, height distance inductor 28 on camera 9 and guardrail 8.Fork truck can be in flexibility
Normal walking in the valve hall narrow space of direct-current transmission converter valve, and shipping platform 10 can be increased to the height of needs
Degree, smoothly dismantles power module.
The course of work of the provision for disengagement provided below in conjunction with attached drawing 9 to Figure 10, whole description present example is as follows.
In use, fork truck is moved to wait tear open after connecting tooling 11 is manually fixed on the power module for needing to dismantle
It unloads near power module.1 lifter switch of reach truck is manually controlled, Lifting Convey platform 10 arrives malfunctioning module height, height
Information is detected by height distance inductor 28 and feeds back to industrial personal computer 2.Operator is fed back by elevation information and display 3
3 monitored picture auxiliary judgment shipping platforms whether in place.
Substantially in place after, operate industrial personal computer 2, by observation display 3 on information, control translation motor 13 controlled
Translation is such as unable to complete the completion manual centering in left and right of remote controler 31 that can switch to 10 side of shipping platform.After the completion of the centering of left and right,
The left rotation and right rotation that rotating electric machine link mechanism carries out shipping platform 10 is controlled by industrial personal computer 2 or remote controler 31, until transport
The alignment substantially parallel with fault power module of platform 10.Controlling remote controler 31, along guide rail, (guide rail can be with by traction mechanism 17
The top of upper frame 33 is set, is welded as a whole with upper frame 33, the form of guide rail can be internal groove) direction arrival failure
Power module；Control remote controler 31 is to be attracted 19 magnet of electromagnetic core, and draw hook 18 is hung over the corresponding traction of malfunctioning module
Position, control traction electric machine 26 combine driving traction mechanism 17 by wire rope pulley and malfunctioning module are driven to be detached from valve tower.Transport is flat
The carrying malfunctioning module of platform 10 declines and valve tower of departing.
Three mechanisms for mainly including for shipping platform 10: translation mechanism, power module drag gear and whirler
The detailed control method and detailed operation process of structure are detailed in the introduction of attached drawing 10.
Based on the same inventive concept, a kind of tearing open for flexible direct current converter valve power module is additionally provided in the embodiment of the present invention
The control method of handler, such as the following examples.Due to the controlling party of the provision for disengagement of flexible direct current converter valve power module
The principle that method solves the problems, such as is similar to the provision for disengagement of above-mentioned flexible direct current converter valve power module, therefore flexible direct current converter valve
The control method of the provision for disengagement of power module is implemented to fill with reference to the disassembly of above-mentioned flexible direct current converter valve power module
The implementation set, overlaps will not be repeated.Used below, predetermined function may be implemented in term " module " or " module "
The combination of software and/or hardware.Although device described in following embodiment is preferably realized with software, hardware, or
The realization of the combination of person's software and hardware is also that may and be contemplated.
Figure 11 is that the process of the provision for disengagement control method of flexible direct current converter valve power module in the embodiment of the present invention is shown
It is intended to, as shown in figure 11, this method may include steps of:
Step 101: the elevation information and shipping platform of position signal acquisition device acquisition shipping platform and power to be removed
The range information of module；
Step 102: industrial personal computer controls fork truck for shipping platform and is promoted to power module to be removed according to the elevation information
Height；
Step 103: when shipping platform is promoted to the height of power module to be removed, industrial personal computer is believed according to the distance
Breath controls shipping platform and connecting tooling to connecting；
Step 104: when shipping platform and the connecting tooling are to connecting, industrial personal computer controls shipping platform for function to be removed
Rate module is drawn on shipping platform from flexible direct current converter valve；
Step 105: industrial personal computer controls fork truck and the power module being drawn on shipping platform is transported valve tower bottom, will transport
The defeated power module to valve tower bottom is transported to designated position.
In an example, the control method of the provision for disengagement of above-mentioned flexible direct current converter valve power module can also wrap
It includes:
The image information of monitoring device acquisition shipping platform；
Industrial personal computer also receives user according to the shipping platform position adjustment instruction of described image information input, according to the fortune
Defeated position of platform adjustment instruction controls shipping platform and connecting tooling to connecting.
In an example, the control method of the provision for disengagement of above-mentioned flexible direct current converter valve power module, can also wrap
Include: remote controller receives the shipping platform position adjustment instruction of user's input, according to institute when obtaining shipping platform control
It states shipping platform position adjustment instruction, controls shipping platform and connecting tooling to connecting.
In an example, when shipping platform is promoted to the height of power module to be removed, industrial personal computer is according to
Range information controls shipping platform and connecting tooling to connecting, may include:
Industrial personal computer controls the translation motor operating of translation mechanism, drives the guide rail to slide, band according to the range information
Component parallel above dynamic connecting plate is mobile in pallet fork side plate, completes the centering of shipping platform and connecting tooling；
Industrial personal computer controls the rotating electric machine rotary motion of rotating mechanism, drives support ball rotation, frame and function in driving
Rate module drag gear rotates predetermined angular, completes a shipping platform left side or right rotation, until shipping platform and power to be removed
Module (malfunctioning module) is parallel；
Industrial personal computer controls the arrival power module end to be removed of traction mechanism, connect with distracted position；
In an example, when shipping platform and the connecting tooling are to connecting, industrial personal computer controls shipping platform will be to
Disassembly power module is drawn on shipping platform from flexible direct current converter valve may include:
Industrial personal computer drives traction sheave operating, drives expansion tightening wheel operating, and expansion tightening wheel operates driving traction mechanism to pallet fork side plate
Direction is mobile, and power module to be removed is drawn on shipping platform from flexible direct current converter valve.
When it is implemented, the control method of remote controler (remote controller) is detailed in the control method of industrial personal computer.Figure 12 is this
The structural schematic diagram of the provision for disengagement controller of flexible direct current converter valve power module in inventive embodiments.The controller can be
Industrial personal computer, remote controler, PLC.Specific implementation method refers to the above-mentioned description as described in provision for disengagement and control method.
To sum up, the main points of scheme provided in an embodiment of the present invention are:
1) provision for disengagement of flexible direct current converter valve power module includes: that power module side connecting tooling, load side transport are flat
Platform, fork truck side integrated control system, remote controller (remote controler), reach truck.
2) load side shipping platform have automatically and manually Forward, retrogressing, 15 degree of anticlockwise, 15 degree of right rotation, left,
The function of right translation.
Wherein, it moves forward, retreat and realize that the traction mechanism is by motor by the traction mechanism being mounted on load side shipping platform
Driving, transmission transmit torque using wirerope form or the forms such as synchronous belt or chain.
Wherein, the function of 15 degree of anticlockwise, 15 degree of right rotation, left, right translation is by being mounted in upper frame assembly
Power mechanism is completed, which realizes function, left and right translation using lead screw transmission and translation electricity by two motors
Machine.Anticlockwise and right rotation drive upper shipping platform to fix in sliding groove one and realize angular range using rotating electric machine.
3) traction mechanism is made of draw hook, compressed spring, electromagnet, push rod etc..Wherein draw hook opening passes through electromagnetism
Iron power-off realizes that draw hook closure is powered using magnet to be realized.
4) the power module provision for disengagement of flexible direct current converter valve uses fixing end (fork truck side touch screen in the embodiment of the present invention
Control, can be industrial personal computer) and mobile terminal (far-end remote control device) switching control choosing of the method realization to shipping platform control
It selects.
5) flexible direct current converter valve power module provision for disengagement in the embodiment of the present invention has detection vertical range, level
Automatic positioning functions, the pavings such as distance, automatic middle positioning help operator to carry out position positioning.
The embodiment of the invention also provides a kind of computer equipments, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor execute the disassembly of the flexible direct current converter valve power module
The control method of device.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage
There is the computer program of the control method for the provision for disengagement for executing flexible direct current converter valve power module.
The present invention implements the advantageous effects of the technical solution provided are as follows: the present invention realizes the soft straight module device of replacement
Automation, while having manually-operated function concurrently.So that at the scene in flexible direct current converter valve power module disassembly construction, effectively
Ground reduces the personnel labor intensity of disassembly power module, while improving the efficiency of disassembly power module, reduces entire flexible straight
The repair time for flowing converter station, improve the service efficiency and utilization rate of entire converter station.
Obviously, those skilled in the art should be understood that each module of the above-mentioned embodiment of the present invention or each step can be with
It is realized with general computing device, they can be concentrated on a single computing device, or be distributed in multiple computing devices
On composed network, optionally, they can be realized with the program code that computing device can perform, it is thus possible to by it
Store and be performed by computing device in the storage device, and in some cases, can be held with the sequence for being different from herein
The shown or described step of row, perhaps they are fabricated to each integrated circuit modules or will be multiple in them
Module or step are fabricated to single integrated circuit module to realize.In this way, the embodiment of the present invention be not limited to it is any specific hard
Part and software combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the embodiment of the present invention can have various modifications and variations.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of provision for disengagement of flexible direct current converter valve power module characterized by comprising connecting tooling, shipping platform,
Position signal acquisition device, industrial personal computer and fork truck；Wherein:
Connecting tooling is connect for the power module to be removed with flexible direct current converter valve；
Shipping platform, for when with the connecting tooling to connecting, under the control of industrial personal computer, by power module to be removed from
Flexible direct current converter valve is drawn on shipping platform；
Position signal acquisition device, be arranged on shipping platform, for acquire shipping platform elevation information and shipping platform with
The range information of power module to be removed；
Industrial personal computer, when for being promoted to the height of power module to be removed in shipping platform, according to the range information, control
Shipping platform and connecting tooling are to connecting；
The pallet fork of fork truck, fork truck is connect with shipping platform, under the control of industrial personal computer, will transport according to the elevation information
Defeated platform is promoted to the height of power module to be removed；The power module being drawn on shipping platform is transported into valve tower bottom,
The power module for transporting valve tower bottom is transported to designated position.
2. the provision for disengagement of flexible direct current converter valve power module as described in claim 1, which is characterized in that further include: prison
Device is controlled, is arranged on shipping platform, for acquiring the image information of shipping platform；
The industrial personal computer is also used to receive user according to the shipping platform position adjustment instruction of described image information input, according to institute
It states shipping platform position adjustment instruction, controls shipping platform and connecting tooling to connecting.
3. the provision for disengagement of flexible direct current converter valve power module as claimed in claim 2, which is characterized in that further include: it is remote
Side controller is connect with the shipping platform, for receiving the shipping platform of user's input when obtaining shipping platform control
Position adjustment instruction controls shipping platform and connecting tooling to connecting according to shipping platform position adjustment instruction.
4. the provision for disengagement of flexible direct current converter valve power module as described in claim 1, which is characterized in that the transport is flat
Platform includes: upper frame (33), connecting plate (32) and lower frame (27)；Wherein:
Translation mechanism is provided with below connecting plate (32)；The translation mechanism includes:
Guide rail (15), along on the lower frame (27), the side parallel with pallet fork side plate set up；
Translation motor (13) is drivingly connected by screw mechanism and the guide rail (15), for driving the guide rail (15) to slide,
Drive the component parallel above connecting plate (32) mobile in pallet fork side plate (40)；
Power module drag gear is provided with above connecting plate (32)；The power module drag gear includes:
Traction sheave (23) is arranged on upper frame (33) close to the one end of pallet fork side plate (40)；
One end far from pallet fork side plate (40) is arranged on upper frame (33) in expansion tightening wheel (22)；
Wirerope (16) is set in the outside of traction sheave (23) and expansion tightening wheel (22)；
Traction mechanism (17), first end are connect with the wirerope (16), the second end of traction mechanism (17) and power to be removed
The corresponding distracted position connection of module；
Traction electric machine (26) is drivingly connected with the traction sheave (23), is arranged on upper frame (33) close to pallet fork side plate (40)
One end drive traction sheave (23) to operate for when the second end of traction mechanism (17) connect with distracted position, drive is risen
Bearing up pulley (22) operating, expansion tightening wheel (22) operating driving traction mechanism (17) is mobile to pallet fork side plate (40) direction, by function to be removed
Rate module is drawn on shipping platform from flexible direct current converter valve.
5. the provision for disengagement of flexible direct current converter valve power module as claimed in claim 4, which is characterized in that the transport is flat
Platform further include: rotating mechanism is arranged between connecting plate (32) and upper frame (33)；The rotating mechanism includes:
It rotates reel (14), is arranged between the connecting plate (32) and upper frame (33)；
It supports ball (34), is arranged between the connecting plate (32) and upper frame (33)；
Rotating electric machine (12) drives support ball (34) for driving rotation reel (14) rotation by a link mechanism
It rotates, frame (33) and power module drag gear rotate predetermined angular in driving.
6. a kind of control method of the provision for disengagement of flexible direct current converter valve power module characterized by comprising
The elevation information and shipping platform of position signal acquisition device acquisition shipping platform are believed at a distance from power module to be removed
Breath；
Industrial personal computer controls the height that shipping platform is promoted to power module to be removed by fork truck according to the elevation information；
When shipping platform is promoted to the height of power module to be removed, industrial personal computer is according to the range information, control transport
Platform and connecting tooling are to connecting；
When shipping platform and the connecting tooling are to connecting, industrial personal computer controls shipping platform for power module to be removed from flexibility
DC converter valve is drawn on shipping platform；
Industrial personal computer controls fork truck and the power module being drawn on shipping platform is transported valve tower bottom, will transport valve tower bottom
Power module transport to designated position.
7. the control method of the provision for disengagement of flexible direct current converter valve power module as claimed in claim 6, which is characterized in that
Further include:
The image information of monitoring device acquisition shipping platform；
Industrial personal computer receives user according to the shipping platform position adjustment instruction of described image information input, according to the shipping platform
Position adjustment instruction controls shipping platform and connecting tooling to connecting.
8. the control method of the provision for disengagement of flexible direct current converter valve power module as claimed in claim 6, further includes: distal end
Controller receives the shipping platform position adjustment instruction of user's input, according to the transport when obtaining shipping platform control
Position of platform adjustment instruction controls shipping platform and connecting tooling to connecting.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes any side of claim 6 to 8 when executing the computer program
Method.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has perform claim
It is required that the computer program of 6 to 8 any the methods.
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| CN201811324995.1A CN109462165A (en) | 2018-11-08 | 2018-11-08 | The provision for disengagement and control method of flexible direct current converter valve power module |
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| CN201811324995.1A CN109462165A (en) | 2018-11-08 | 2018-11-08 | The provision for disengagement and control method of flexible direct current converter valve power module |
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| CN113415761A (en) * | 2021-06-01 | 2021-09-21 | 中国煤炭科工集团太原研究院有限公司 | Chute loading and unloading electric operation vehicle |
| CN113443584A (en) * | 2021-04-22 | 2021-09-28 | 国网浙江省电力有限公司湖州供电公司 | Valve tower single-module overhauling tool and overhauling method |
| CN114094618A (en) * | 2021-12-02 | 2022-02-25 | 国网湖北省电力有限公司直流运检公司 | Fault prediction method for flexible direct current converter valve submodule |
| CN114152828A (en) * | 2021-11-26 | 2022-03-08 | 国网湖北省电力有限公司直流运检公司 | Flexible direct current transmission converter valve submodule power overhaul test device and test method |
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