CN115340047B - Balance method and device for ladder stand of breaker vehicle-mounted equipment - Google Patents
Balance method and device for ladder stand of breaker vehicle-mounted equipment Download PDFInfo
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- CN115340047B CN115340047B CN202211054898.1A CN202211054898A CN115340047B CN 115340047 B CN115340047 B CN 115340047B CN 202211054898 A CN202211054898 A CN 202211054898A CN 115340047 B CN115340047 B CN 115340047B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Ladders (AREA)
Abstract
The application discloses a balancing method and a balancing device for a ladder stand of a breaker vehicle-mounted device, wherein when the breaker vehicle-mounted device performs the ladder stand state, the fork arm angle and the lifting angle or the depression angle of the breaker vehicle-mounted device are continuously adjusted according to the ladder stand angle and the ladder stand type until the ladder stand state is finished, so that the balancing of a 10kV removable breaker in the up-down ladder process is ensured, and the overhaul automation of power equipment is further realized.
Description
Technical Field
The application relates to the technical field of electric equipment overhaul, in particular to a balancing method and device for a ladder stand of a vehicle-mounted equipment of a circuit breaker.
Background
10kV removable circuit breakers are an important component of an electric power system, are usually installed in substations and distribution houses, and need to be moved between a factory building and an installation place during delivery or return to the factory for maintenance.
When the 10kV removable circuit breaker is moved and transported between a factory building and an installation place at the present stage, the 10kV removable circuit breaker is manually transported or placed on a common flat plate bracket and transported by a forklift in the process of moving the installation place to a vehicle. Since the working and maintenance sites of the 10kV removable circuit breaker generally need to be stepped up and down, the 10kV removable circuit breaker is placed on a transport means such as an automatic fork truck, etc., and it is necessary to ensure the balance of the process of going up and down the steps in addition to the necessary fixation. To realize maintenance automation of power equipment, automatic transportation of a circuit breaker is an important circle, so that the balance method for the ladder stand of the vehicle-mounted equipment of the circuit breaker has important significance.
Disclosure of Invention
The application provides a balancing method and a balancing device for a ladder stand of a vehicle-mounted device of a circuit breaker, which ensure the balance of a 10kV removable circuit breaker in the up-down ladder process, thereby realizing the overhaul automation of power equipment.
In a first aspect, the application provides a balancing method for a ladder stand of a vehicle-mounted device of a circuit breaker, a 10kV removable circuit breaker is installed on a fork arm of the vehicle-mounted device of the circuit breaker, and the front end of the bottom of the vehicle-mounted device of the circuit breaker is lifted, and the method comprises the following steps:
s1, acquiring front-end real-time pressure data of the breaker vehicle-mounted equipment;
s2, judging whether the breaker vehicle-mounted equipment is about to enter a ladder stand state or not according to the front-end real-time pressure data; if not, executing the step S1;
s3, determining a ladder stand angle of the breaker vehicle-mounted equipment and the type of the ladder stand state; if the crawling ladder state is an upward crawling ladder state, executing the step S4; if the ladder stand state is a downward ladder stand state, executing step S5;
s4, adjusting the lifting angle and the fork arm angle of the breaker vehicle-mounted equipment based on the ladder stand angle until the ladder stand state is ended; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle;
s5, adjusting the depression angle of the breaker vehicle-mounted equipment and the fork arm angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the yoke angle is used to keep the 10kV removable circuit breaker in a horizontal state.
Optionally, the step S2 includes:
s21, judging whether the front-end real-time pressure data is 0; if not, returning to the step S1;
s22, judging whether the duration of the front-end real-time pressure data exceeds a preset duration; if not, returning to the step S1; if yes, determining that the breaker vehicle-mounted equipment is in the ladder stand state.
Optionally, the step S3 includes:
s31, obtaining the horizontal distance and the linear distance between the breaker vehicle-mounted equipment and the ladder;
s32, determining the ladder angle based on the ratio of the horizontal distance to the linear distance.
Optionally, the step S4 includes:
s41, after the ascending angle and the fork arm angle are adjusted according to the ladder stand angle, judging whether a next ladder exists according to the front-end real-time pressure data after the ladder stand state of the current ladder is completed; if yes, go to step S42; if not, executing step S43;
s42, determining a new ladder angle based on the acquired ladder horizontal distance and the ladder linear distance between the steps so as to replace the ladder angle, and returning to the step S41;
s43, maintaining the lifting angle and the fork arm angle until the ladder stand state is finished.
In a second aspect, the present application further provides a balancing device for a ladder stand of a vehicle-mounted device of a circuit breaker, in which a 10kV removable circuit breaker is mounted on a yoke of the vehicle-mounted device of the circuit breaker, and a bottom front end of the vehicle-mounted device of the circuit breaker is lifted, the device comprising:
the acquisition module is used for acquiring front-end real-time pressure data of the breaker vehicle-mounted equipment;
the judging module is used for judging whether the breaker vehicle-mounted equipment is about to enter a ladder stand state or not according to the front-end real-time pressure data; if not, executing the acquisition module;
the state type determining module is used for determining the ladder angle of the breaker vehicle-mounted equipment and the type of the ladder state; if the crawling ladder state is an upward crawling ladder state, executing a first adjusting module; if the crawling ladder state is a downward crawling ladder state, executing a second adjusting module;
the first adjusting module is used for adjusting the lifting angle and the fork arm angle of the breaker vehicle-mounted equipment based on the ladder stand angle until the ladder stand state is finished; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle;
the second adjusting module is used for adjusting the depression angle of the breaker vehicle-mounted equipment and the fork arm angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the yoke angle is used to keep the 10kV removable circuit breaker in a horizontal state.
Optionally, the judging module:
the first judging submodule is used for judging whether the front-end real-time pressure data is 0 or not; if not, returning to execute the acquisition module;
the second judging submodule is used for judging whether the duration of the front-end real-time pressure data exceeds a preset duration; if not, returning to execute the acquisition module; if yes, determining that the breaker vehicle-mounted equipment is in the ladder stand state.
Optionally, the state type determining module includes:
the acquisition submodule is used for acquiring the horizontal distance and the linear distance between the breaker vehicle-mounted equipment and the ladder;
and the ladder stand angle determination submodule is used for determining the ladder stand angle based on the ratio of the horizontal distance to the linear distance.
Optionally, the first adjustment module includes:
the third judging sub-module is used for judging whether a next ladder exists according to the front-end real-time pressure data after the climbing state of the current ladder is completed by adjusting the lifting angle and the fork arm angle according to the climbing angle; if yes, executing the replacement sub-module; if not, executing the angle keeping sub-module;
the replacing sub-module is used for determining a new ladder angle based on the acquired ladder horizontal distance and the ladder linear distance between the steps so as to replace the ladder angle, and executing the third judging sub-module in a returning mode;
the angle keeping sub-module is used for keeping the raising angle and the fork arm angle until the ladder stand state is ended.
A third aspect of the application provides an electronic device comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the balancing method of the on-board equipment ladder of the circuit breaker according to the first aspect according to the instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium storing program code for executing the balancing method of the breaker-vehicle apparatus ladder of the first aspect.
From the above technical scheme, the application has the following advantages:
the method comprises the steps of S1, acquiring front-end real-time pressure data of the breaker vehicle-mounted equipment; s2, judging whether the breaker vehicle-mounted equipment is about to enter a ladder stand state or not according to the front-end real-time pressure data; if not, executing the step S1; s3, determining a ladder stand angle of the breaker vehicle-mounted equipment and the type of the ladder stand state; if the crawling ladder state is an upward crawling ladder state, executing the step S4; if the ladder stand state is a downward ladder stand state, executing step S5; s4, adjusting the lifting angle and the fork arm angle of the breaker vehicle-mounted equipment based on the ladder stand angle until the ladder stand state is ended; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle; s5, adjusting the depression angle of the breaker vehicle-mounted equipment and the fork arm angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the yoke angle is used to keep the 10kV removable circuit breaker in a horizontal state. When the breaker vehicle-mounted equipment performs a ladder state, the fork arm angle and the lifting angle or the depression angle of the breaker vehicle-mounted equipment are continuously adjusted according to the ladder angle and the ladder type until the ladder state is finished, so that the balance of the 10kV removable breaker in the up-down ladder process is ensured, and the overhaul automation of the power equipment is further realized.
Drawings
For a clearer description of embodiments of the application or of the solutions of the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, from which, without inventive faculty, other drawings can be obtained for a person skilled in the art;
fig. 1 is a flowchart illustrating steps of an embodiment of a balancing method for a ladder stand of a vehicle-mounted device of a circuit breaker according to the present application;
fig. 2 is a schematic structural diagram of a circuit breaker vehicle apparatus according to the present application;
FIG. 3 is a second schematic diagram of a circuit breaker vehicle apparatus according to the present application;
fig. 4 is a schematic view of climbing a vehicle-mounted device of the circuit breaker according to the present application;
fig. 5 is a block diagram illustrating a balance device of a ladder stand for a vehicle-mounted device of a circuit breaker according to an embodiment of the present application.
Wherein:
1 is a lifting motor, 2 is a lifting motor worm wheel, 3 is a lifting bracket, 4 is a controller, 5 is a lifting screw, 6 is a battery pack, 7 is a front-rear walking crawler, 8 is an angle motor worm wheel, 9 is a fork arm telescopic motor, 10 is a walking motor worm wheel, 11 is a front-rear walking motor, 12 is a turning clutch magnetic attraction, 13 is a range radar sensor, 14 is a turning clutch, 15 is a walking power shaft, 16 is a balancing weight moving screw, 17 is a stair climbing vehicle chassis, 18 is a fork arm telescopic worm wheel, 19 is a balancing weight moving slide rail, 20 is a balancing weight moving motor, 21 is a fork arm, 22 is a 10kV removable circuit breaker, 23 is a metal balancing weight, and 24 is a circuit breaker vehicle-mounted device.
Detailed Description
The embodiment of the application provides a balancing method and a device for a ladder stand of a vehicle-mounted device of a circuit breaker, which ensure the balance of a 10kV removable circuit breaker in the up-down ladder process, thereby realizing the overhaul automation of power equipment.
In order to make the objects, features and advantages of the present application more comprehensible, the technical solutions in the embodiments of the present application are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a flowchart illustrating a step of an embodiment of a balancing method of a ladder stand for a vehicle-mounted device of a circuit breaker, in which a 10kV removable circuit breaker is mounted on a yoke of the vehicle-mounted device of the circuit breaker, and a front end of a bottom of the vehicle-mounted device of the circuit breaker is lifted, the method includes the following steps:
s1, acquiring front-end real-time pressure data of the breaker vehicle-mounted equipment;
s2, judging whether the breaker vehicle-mounted equipment is about to enter a ladder stand state or not according to the front-end real-time pressure data; if not, executing the step S1;
the method comprises the following steps:
s21, judging whether the front-end real-time pressure data is 0; if not, returning to the step S1;
s22, judging whether the duration of the front-end real-time pressure data exceeds a preset duration; if not, returning to the step S1; if yes, determining that the breaker vehicle-mounted equipment is in the ladder stand state.
S3, determining a ladder stand angle of the breaker vehicle-mounted equipment and the type of the ladder stand state; if the crawling ladder state is an upward crawling ladder state, executing the step S4; if the ladder stand state is a downward ladder stand state, executing step S5;
in an alternative embodiment, the step S3 includes:
s31, obtaining the horizontal distance and the linear distance between the breaker vehicle-mounted equipment and the ladder;
s32, determining the ladder angle based on the ratio of the horizontal distance to the linear distance.
S4, adjusting the lifting angle and the fork arm angle of the breaker vehicle-mounted equipment based on the ladder stand angle until the ladder stand state is ended; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle;
the method specifically comprises the following steps:
s41, after the ascending angle and the fork arm angle are adjusted according to the ladder stand angle, judging whether a next ladder exists according to the front-end real-time pressure data after the ladder stand state of the current ladder is completed; if yes, go to step S42; if not, executing step S43;
s42, determining a new ladder angle based on the acquired ladder horizontal distance and the ladder linear distance between the steps so as to replace the ladder angle, and returning to the step S41;
s43, maintaining the lifting angle and the fork arm angle until the ladder stand state is finished.
S5, adjusting the depression angle of the breaker vehicle-mounted equipment and the fork arm angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the yoke angle is used to keep the 10kV removable circuit breaker in a horizontal state.
The embodiment of the application obtains the front-end real-time pressure data of the breaker vehicle-mounted equipment through S1; s2, judging whether the breaker vehicle-mounted equipment is about to enter a ladder stand state or not according to the front-end real-time pressure data; if not, executing the step S1; s3, determining a ladder stand angle of the breaker vehicle-mounted equipment and the type of the ladder stand state; if the crawling ladder state is an upward crawling ladder state, executing the step S4; if the ladder stand state is a downward ladder stand state, executing step S5; s4, adjusting the lifting angle and the fork arm angle of the breaker vehicle-mounted equipment based on the ladder stand angle until the ladder stand state is ended; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle; s5, adjusting the depression angle of the breaker vehicle-mounted equipment and the fork arm angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the yoke angle is used to keep the 10kV removable circuit breaker in a horizontal state. When the breaker vehicle-mounted equipment performs a ladder state, the fork arm angle and the lifting angle or the depression angle of the breaker vehicle-mounted equipment are continuously adjusted according to the ladder angle and the ladder type until the ladder state is finished, so that the balance of the 10kV removable breaker in the up-down ladder process is ensured, and the overhaul automation of the power equipment is further realized.
In order to facilitate understanding of beneficial effects of the application by those skilled in the art, the following illustrates the operation process of the vehicle-mounted device of the circuit breaker by using the balancing method of the vehicle-mounted device ladder of the circuit breaker.
It should be noted that, the balancing method of the ladder stand of the vehicle-mounted device of the breaker of the present application is applied to the vehicle-mounted device of the breaker shown in fig. 2 and 3, the device can carry the 10kV removable breaker 22 and fix it, then the front-back walking crawler 7 is controlled to travel on the flat ground, the lawn and the sand and gravel ground by the front-back walking motor 11, in addition, the front end of the vehicle-mounted device 24 of the breaker is lifted up to form an included angle of 30 ° with the bottom end of the crawler main body, and the fork arm 21 of the vehicle-mounted device 24 of the breaker can move left and right, and the back and forth is telescopic to realize the angle adjustment, therefore, the vehicle-mounted device 24 of the breaker can carry the 10kV removable breaker 22 ladder stand, and the fork arm 21 can adjust the angle by the back and forth telescopic and up and down lifting, so that the vehicle-mounted device 24 of the breaker is in a horizontal state, so as to ensure the stability of the 10kV removable breaker 22.
The specific process is as follows:
firstly, the height of a stair level in a transformer substation is generally 15-20cm, the front-end lifting part is ensured to be more than 25cm from the ground when the breaker vehicle-mounted equipment 24 is horizontally placed, and because the front end of the front-end lifting part of the breaker vehicle-mounted equipment 24 lifts upwards to form an included angle of 30 degrees with the bottom end of the crawler main body, the front-end lifting part is more than 50cm, the horizontal length of the front-end lifting part is more than 43.3cm, and the lifting part is firstly contacted with the stair when the vehicle-mounted equipment drives to the stair from the flat ground, and the pressure sensor at the bottom of the lifting part continuously bears pressure at the moment, so that the device possibly starts to climb the stair, and the driving of the front-rear travelling motor 11 is suspended.
Then, the range radar sensors 13 on both sides sweep forward simultaneously, starting from the horizontalRecording the distance measured, which is calculated by the passing time of the ranging radar sensor 13 (specifically, a laser sensor), and is set as d 1 Then the ranging radar sensor 13 slowly tests the elevation angle, feeds back and records the distance once, and continues the next test, when the distance is measured to the position of the upper edge of the ladder, the distance is recorded as d 2 Then elevation angle is raised, the distance measured next time and the distance measured before have mutation, or feedback is not received, so d can be judged 2 The lower edge position of the plane of the next layer of steps is the time. In addition, in order to increase the range reliability, the range radar sensors 13 on both sides are tested simultaneously. Test d 1 And d 2 The hypotenuse of the direct triangle and the right angle side in the horizontal direction are formed, and the angle between the steps of the first layer and the second layer is approximately alpha, cosalpha=d1/d 2. After the included angle is obtained, the controller controls the elevation angle to rise upwards by an angle alpha, the main crawler belt part rises upwards by the angle alpha, meanwhile, the controller 4 controls the fork arm 21 to automatically adjust the angle alpha so as to ensure that the fork arm 21 is in a horizontal state, and then the front and rear travelling motor 11 continues to drive the breaker vehicle-mounted equipment 24 to move forwards, so that the ladder is started.
It should be noted that, since the angle α is only an approximate angle between the steps of the first layer and the second layer, the actual angle d 1 Is longer, so that the position of the contact point of the front lifting part of the device with the first layer of the ladder and the position of the range radar sensor 13 can be corrected, and the distance between the front lifting part of the device and the contact point of the first layer of the ladder and the range radar sensor 13 is l, the projected distance to the horizontal is l/1.732, and d 1 Is the actual distance of d 1 +l/1.732, but likewise, d 2 Should also be the distance of d measured 2 +l, a correction factor k may be added here as an analog error, which is merely to make the angle at which the breaker-vehicle apparatus 24 starts climbing a ladder closer to the angles of the steps of the first and second layers, but even without this correction factor, the angle calculated from the distance measured by the ranging radar sensor 13 does not have an essential influence on the ladder.
Referring to fig. 4, fig. 4 is a schematic view of a climbing of a vehicle-mounted device of a circuit breaker according to the present application, in which a controller 5 controls the circuit breaker during a ladder climbing processThe vehicle-mounted device 24 climbs the ladder, at this time, the ranging radar sensor 13 of the front lifting part is closed, for a standard ladder, the lower edge angles of the front layer ladder plane and the rear layer ladder plane should be kept consistent, but the actual situation is not the same, so that the breaker vehicle-mounted device 24 cannot keep a certain angle in the climbing process and needs to be continuously adjusted, and meanwhile, in order to ensure the stability of the 10kV removable breaker 22, the fork arm 21 needs to be continuously adjusted. At this time, distance is measured by the range radar sensors 13 on both sides of the crawler main body near the front end. Likewise, the distance measured by the range radar sensors 13 on both sides of the main body is swept forward at the same time, and the distance is recorded from the horizontal, and is calculated by the transit time of the range radar sensors 13, and is set as d 3 Then the ranging radar sensor 13 slowly tests the elevation angle, feeds back and records the distance once, and continues the next test, when the distance is measured to the position of the upper edge of the ladder, the distance is recorded as d 4 Then elevation angle is raised, the distance measured next time and the distance measured before have mutation, or feedback is not received, so d can be judged 4 The lower edge position of the plane of the next layer of steps is the time. In addition, the range reliability is increased, and the range radar sensors 13 on both sides are tested simultaneously. Test d 3 And d 4 The hypotenuse of the direct triangle and the right angle side in the horizontal direction are formed, the included angle between the current layer and the next layer of steps is approximately beta, cosbeta=d 3 /d 4 。
After obtaining the angle β, comparing with the yoke angle α, when β > α, which means that α is not sufficiently adjusted, the 10kV removable circuit breaker 22 is at risk of falling, and the yoke angle α should be adjusted to be slightly larger than β; if β < = α, it is stated that the 10kV removable circuit breaker 22 will not fall, but will have a forward pressure on the device, which is received by the pressure sensor on the lifting bracket 3 and the angle α of the yoke 21 is adjusted appropriately to be slightly larger than β.
When the breaker vehicle-mounted equipment 24 quickly climbs the stairs, the range radar sensors 13 on the two sides of the crawler main body close to the front end can not receive the distance information any more, or have abrupt changes with the previous measurement, the situation that the stair climbing is about to end is described, the lifting part is controlled to move to the horizontal rotation angle, meanwhile, the included angle alpha of the fork arms 21 is adjusted along with the adjustment, and finally, the stair is in a horizontal state, and the stair is started to move horizontally.
When the vehicle travels on the flat ground, the range radar sensor 13 at the raised part of the front end can range downwards, and when the measured distance is suddenly changed, the vehicle-mounted device 24 of the circuit breaker can start going downstairs. Because the risk that the 10kV removable circuit breaker 22 falls is small when going downstairs, the controller 4 only needs to slowly adjust the downward depression angle theta of the main body crawler belt when going downstairs, and simultaneously, the included angle of the adjusting fork arm 21 is slightly smaller than theta.
Referring to fig. 5, there is shown a block diagram of an embodiment of a balancing apparatus for a ladder stand of a circuit breaker vehicle, in which a 10kV removable circuit breaker is mounted on a yoke of the circuit breaker vehicle, and a bottom front end of the circuit breaker vehicle is lifted, the apparatus includes:
an acquisition module 301, configured to acquire front-end real-time pressure data of the breaker vehicle-mounted device;
the judging module 302 is configured to judge whether the vehicle-mounted device of the circuit breaker is about to enter a ladder stand state according to the front-end real-time pressure data; if not, executing the acquisition module;
a state type determining module 303, configured to determine a ladder angle of the breaker vehicle-mounted device, and a type of the ladder state; if the crawling ladder state is an upward crawling ladder state, executing a first adjusting module; if the crawling ladder state is a downward crawling ladder state, executing a second adjusting module;
the first adjusting module 304 is configured to adjust a raising angle and a yoke angle of the breaker vehicle-mounted device based on the ladder stand angle until the ladder stand state is ended; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle;
the second adjusting module 305 is configured to adjust the depression angle of the breaker on-board device and the yoke angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the yoke angle is used to keep the 10kV removable circuit breaker in a horizontal state.
In an alternative embodiment, the determining module 302:
the first judging submodule is used for judging whether the front-end real-time pressure data is 0 or not; if not, returning to execute the acquisition module;
the second judging submodule is used for judging whether the duration of the front-end real-time pressure data exceeds a preset duration; if not, returning to execute the acquisition module; if yes, determining that the breaker vehicle-mounted equipment is in the ladder stand state.
In an alternative embodiment, the status type determining module 303 includes:
the acquisition submodule is used for acquiring the horizontal distance and the linear distance between the breaker vehicle-mounted equipment and the ladder;
and the ladder stand angle determination submodule is used for determining the ladder stand angle based on the ratio of the horizontal distance to the linear distance.
In an alternative embodiment, the first adjustment module 304 includes:
the third judging sub-module is used for judging whether a next ladder exists according to the front-end real-time pressure data after the climbing state of the current ladder is completed by adjusting the lifting angle and the fork arm angle according to the climbing angle; if yes, executing the replacement sub-module; if not, executing the angle keeping sub-module;
the replacing sub-module is used for determining a new ladder angle based on the acquired ladder horizontal distance and the ladder linear distance between the steps so as to replace the ladder angle, and executing the third judging sub-module in a returning mode;
the angle keeping sub-module is used for keeping the raising angle and the fork arm angle until the ladder stand state is ended.
The application also provides an electronic device, which comprises a processor and a memory;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is used for executing the balancing method of the breaker on-board equipment ladder in the method embodiment according to the instructions in the program codes.
The application also provides a computer readable storage medium for storing program codes for executing the balancing method of the breaker vehicle-mounted equipment ladder in the method embodiment.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for executing all or part of the steps of the method according to the embodiments of the present application by means of a computer device (which may be a personal computer, a server, or a network device, etc.). And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (6)
1. The balancing method of the ladder stand of the vehicle-mounted equipment of the circuit breaker is characterized in that a 10kV removable circuit breaker is arranged on a fork arm of the vehicle-mounted equipment of the circuit breaker, and the front end of the bottom of the vehicle-mounted equipment of the circuit breaker is lifted, and the method comprises the following steps:
s1, acquiring front-end real-time pressure data of the breaker vehicle-mounted equipment;
s2, judging whether the breaker vehicle-mounted equipment is about to enter a ladder stand state or not according to the front-end real-time pressure data; if not, executing the step S1;
s3, determining a ladder stand angle of the breaker vehicle-mounted equipment and the type of the ladder stand state; if the crawling ladder state is an upward crawling ladder state, executing the step S4; if the ladder stand state is a downward ladder stand state, executing step S5;
s4, adjusting the lifting angle and the fork arm angle of the breaker vehicle-mounted equipment based on the ladder stand angle until the ladder stand state is ended; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle;
s5, adjusting the depression angle of the breaker vehicle-mounted equipment and the fork arm angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the fork arm angle is used for keeping the 10kV removable circuit breaker in a horizontal state;
the step S3 includes:
s31, obtaining the horizontal distance and the linear distance between the breaker vehicle-mounted equipment and the ladder;
s32, determining the ladder stand angle based on the ratio of the horizontal distance to the linear distance;
the step S4 includes:
s41, after the ascending angle and the fork arm angle are adjusted according to the ladder stand angle, judging whether a next ladder exists according to the front-end real-time pressure data after the ladder stand state of the current ladder is completed; if yes, go to step S42; if not, executing step S43;
s42, determining a new ladder angle based on the acquired ladder horizontal distance and the ladder linear distance between the steps so as to replace the ladder angle, and returning to the step S41;
s43, maintaining the lifting angle and the fork arm angle until the ladder stand state is finished.
2. The method for balancing a ladder stand for a circuit breaker according to claim 1, wherein the step S2 includes:
s21, judging whether the front-end real-time pressure data is 0; if not, returning to the step S1;
s22, judging whether the duration of the front-end real-time pressure data exceeds a preset duration; if not, returning to the step S1; if yes, determining that the breaker vehicle-mounted equipment is in the ladder stand state.
3. The utility model provides a balancing unit of circuit breaker on-vehicle equipment cat ladder which characterized in that, 10kV removable circuit breaker installs on circuit breaker on-vehicle equipment's yoke, circuit breaker on-vehicle equipment's bottom front end lifts by force, and the device includes:
the acquisition module is used for acquiring front-end real-time pressure data of the breaker vehicle-mounted equipment;
the judging module is used for judging whether the breaker vehicle-mounted equipment is about to enter a ladder stand state or not according to the front-end real-time pressure data; if not, executing the acquisition module;
the state type determining module is used for determining the ladder angle of the breaker vehicle-mounted equipment and the type of the ladder state; if the crawling ladder state is an upward crawling ladder state, executing a first adjusting module; if the crawling ladder state is a downward crawling ladder state, executing a second adjusting module;
the first adjusting module is used for adjusting the lifting angle and the fork arm angle of the breaker vehicle-mounted equipment based on the ladder stand angle until the ladder stand state is finished; the lifting angle is the same as the climbing angle; the fork arm angle is larger than the raising angle;
the second adjusting module is used for adjusting the depression angle of the breaker vehicle-mounted equipment and the fork arm angle based on the ladder stand angle until the ladder stand state is ended; the depression angle is the same as the ladder stand angle; the yoke angle is less than the depression angle; the fork arm angle is used for keeping the 10kV removable circuit breaker in a horizontal state;
the state type determining module includes:
the acquisition submodule is used for acquiring the horizontal distance and the linear distance between the breaker vehicle-mounted equipment and the ladder;
the ladder stand angle determining submodule is used for determining the ladder stand angle based on the ratio of the horizontal distance to the linear distance;
the first adjustment module includes:
the third judging sub-module is used for judging whether a next ladder exists according to the front-end real-time pressure data after the climbing state of the current ladder is completed by adjusting the lifting angle and the fork arm angle according to the climbing angle; if yes, executing a replacement sub-module; if not, executing an angle keeping sub-module;
the replacing sub-module is used for determining a new ladder angle based on the acquired ladder horizontal distance and the ladder linear distance between the steps so as to replace the ladder angle, and executing the third judging sub-module in a returning mode;
the angle keeping sub-module is used for keeping the raising angle and the fork arm angle until the ladder stand state is ended.
4. The balance device of the breaker-vehicle equipment ladder of claim 3, wherein the judgment module includes:
the first judging submodule is used for judging whether the front-end real-time pressure data is 0 or not; if not, returning to execute the acquisition module;
the second judging submodule is used for judging whether the duration of the front-end real-time pressure data exceeds a preset duration; if not, returning to execute the acquisition module; if yes, determining that the breaker vehicle-mounted equipment is in the ladder stand state.
5. An electronic device comprising a processor and a memory storing computer readable instructions that, when executed by the processor, perform the method of any of claims 1-2.
6. A storage medium having stored thereon a computer program which when executed by a processor performs the method of any of claims 1-2.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211054898.1A CN115340047B (en) | 2022-08-31 | 2022-08-31 | Balance method and device for ladder stand of breaker vehicle-mounted equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211054898.1A CN115340047B (en) | 2022-08-31 | 2022-08-31 | Balance method and device for ladder stand of breaker vehicle-mounted equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113443030A (en) * | 2021-06-30 | 2021-09-28 | 中山小神童创新科技有限公司 | Stair climbing device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9187301B2 (en) * | 2013-04-22 | 2015-11-17 | Jlg Industries, Inc. | Self-propel accessory |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113443030A (en) * | 2021-06-30 | 2021-09-28 | 中山小神童创新科技有限公司 | Stair climbing device and control method thereof |
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