CN205317889U - High pressure power frequency alternating current overpressure resistant measuring platform of system automatic alignment system - Google Patents
High pressure power frequency alternating current overpressure resistant measuring platform of system automatic alignment system Download PDFInfo
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- CN205317889U CN205317889U CN201520950099.1U CN201520950099U CN205317889U CN 205317889 U CN205317889 U CN 205317889U CN 201520950099 U CN201520950099 U CN 201520950099U CN 205317889 U CN205317889 U CN 205317889U
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- 210000001503 joint Anatomy 0.000 abstract description 3
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- 238000003032 molecular docking Methods 0.000 description 13
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- 238000005259 measurement Methods 0.000 description 3
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Abstract
The utility model discloses a high pressure power frequency alternating current overpressure resistant measuring platform of system automatic alignment system is fixed with current -limiting resistor and measuring mechanism on the removal base, the current -limiting resistor front end be equipped with and lead electrical pillar with testing transformer is connected, the electrical pillar that leads be located and remove the base front end, it is equipped with two infrared sensor to remove the base front end, testing transformer on install with two infrared external reflections of two infrared sensor matched with body, the removal base support by power wheel and universal wheel, the power wheel fix on steering mechanism, infrared sensor output sensing signal to controller, controller output control signal to the drive unit and the steering mechanism of power wheel. The utility model provides a heaviness of power -frequency withstand voltage test device practitioner ordinary in skill utensil, not easily movable and the big scheduling problem of occupation space to utilized infrared butt joint technology portable power -frequency withstand voltage measuring platform with the experiment transformer the butt joint improved the degree of automation who has looked into the platform.
Description
Technical field
The utility model relates to the withstand voltage imitation-system measuring apparatus of 500kV industrial frequency AC, especially arranges the automatic mobile alignment system of the withstand voltage imitation-system measuring apparatus of 500kV industrial frequency AC.
Background technology
Power equipment is in operation, and insulation can be deteriorated by the effect of electric field, temperature and mechanical vibration for a long time gradually, comprising entirety deterioration and part deterioration, forms defect. Ac voltage withstanding test be qualification power equipment insulation strength the most effectively and the most direct method, be an important content of preventive trial. In addition, owing to ac voltage withstanding trial voltage is generally high than running voltage, therefore by, after test, equipment has bigger safety margin, therefore ac voltage withstanding test is a kind of important means ensureing that power equipment safety runs.
When power frequency, owing to test specimen electrical capacity is bigger, or trial voltage requires higher, the power supply capacity of testing apparatus also there is higher requirement accordingly, 500kV power frequency pressure-resistant apparatus (500kV tests transformer, current limliting resistance, capacity divider, voltate regulator etc.) single-piece volume is big, Heavy Weight, is not easy to arbitrary combination, and handiness is poor. Traditional solution is welded and fixed by experimental installation, can not do any variation again, will take experiment hall major part useful area;
According to investigation, traditional 500kV power frequency pressure-resistant apparatus also exists more drawback:
1, current limliting resistance, capacity divider directly weld with experiment transformer, once equipment breaks down, cannot carry out separation maintenance fast;
2, current limliting resistance and capacity divider volume are bigger, it is very difficult to move with manpower, and the process in separation and docking needs the relatively great machinery equipment by crane and so on, at substantial manpower and materials;
3, need the relative position of manual observation device and need viewer and manipulator's cooperative cooperating during docking, owing to experimental installation volume is big, it is necessary to by the relative position of experience anticipation device, there is bigger error.
Practical novel content
Technical problem to be solved in the utility model be realize a kind of can by the conductive pole automatic butt of the current limliting resistance that is fixed on mobile foundation to the alignment system on test transformer.
In order to realize above-mentioned purpose, the technical solution adopted in the utility model is: systematic survey platform Automatic Alignment System that high pressure industrial frequency AC is withstand voltage, mobile foundation is fixed with current limliting resistance and measuring mechanism, described current limliting resistance front end is provided with and the conductive pole tested transformer and be connected, described conductive pole is positioned at mobile foundation front end, described mobile foundation front end is provided with two infrared sensors, described test transformer is provided with two infrared reflector matched with two infrared sensors, described mobile foundation is by power wheel and universal takes turns support, described power wheel is fixed in turning device, described infrared sensor exports induction signal to controller, described controller outputs control signals to driving unit and the turning device of power wheel.
Infrared sensor described in each rotates by driving stepper motor.
Described mobile foundation front end is provided with ultrasonic locator, and described ultrasonic locator outputs control signals to controller.
Described power wheel is provided with the both sides that two are respectively mobile foundation front end, or described power wheel is provided with one and be positioned at the middle part of mobile foundation front end.
Described turning device is provided with the axle bed being fixed on mobile foundation, it is provided with axle sleeve outside described axle bed, described power wheel is fixed on axle sleeve bottom surface, it is provided with a circle outside described axle sleeve and turns to gear, described mobile foundation is provided with steer motor, and the output shaft of described steer motor is provided with and the driving gear turning to gear to be meshed.
The utility model solves the heaviness of Work tool in power frequency withstand test device, not easily moves and take the problems such as space is big, and utilize that infrared docking technique achieves the withstand voltage measurement platform of removable power frequency and experiment transformer dock the level of automation that improve and looked into platform.
Accompanying drawing explanation
Below the content that every width accompanying drawing in the utility model specification sheets is expressed is briefly described:
Fig. 1 is mobile foundation positioning states schematic diagram;
Fig. 2 (a) for entering the motion schematic diagram of the original state of docking to mobile foundation in termination process; Fig. 2 (b) is to the motion schematic diagram of mobile foundation in termination process in step 1;
Fig. 2 (c) is to the motion schematic diagram of mobile foundation in termination process in step 2;
Fig. 2 (d) is to the motion schematic diagram of mobile foundation in termination process in step 3.
Embodiment
Systematic survey platform Automatic Alignment System that high pressure industrial frequency AC is withstand voltage, mobile foundation is fixed with current limliting resistance and measuring mechanism, current limliting resistance front end is provided with and the conductive pole tested transformer and be connected, conductive pole is positioned at mobile foundation front end, mobile foundation front end is provided with two infrared sensors 2, test transformer fixed position is not moved, test transformer is provided with two infrared reflector 3 matched with two infrared sensors 2, the infrared light that two infrared sensors 2 send is reflected by two tampers 3 on test transformer web member respectively, infrared sensor 2 is utilized accurately to locate, two infrared sensors 2 and two infrared reflector 3 are mirror image matching relationship.Mobile foundation front end is provided with ultrasonic locator, utilizes the spacing between ultrasonic locator Coarse Acquisition test transformer and mobile foundation.
Mobile foundation is by power wheel and universal takes turns support, and power wheel is fixed in turning device, and power wheel is provided with the both sides that two lay respectively at mobile foundation front end, or power wheel is provided with one and be positioned at the middle part of mobile foundation front end. The advance of mobile foundation can be realized by power wheel, realize turning to of mobile foundation by turning device.
Infrared sensor 2 and ultrasonic locator all export induction signal to controller, controller outputs control signals to driving unit and the turning device of power wheel, control utilizes trigonometry just can calculate the relative position of mobile foundation with test transformer, and then cooks up measurement platform to termination process and motion track. Mobile foundation just can realize along the walking of this track and test docking of transformer.
Mobile foundation moving process can turn to, therefore each infrared sensor 2 rotates by driving stepper motor, when infrared sensor 2 does not collect the signal of tamper 3, then control stepper-motor by corresponding control unit to rotate, find tamper 3, then can ensure the acquisition range information accurately that infrared sensor 2 can be real-time.
The structure of turning device is as follows: it is provided with the axle bed being fixed on mobile foundation, axle sleeve it is provided with outside axle bed, power wheel is fixed on axle sleeve bottom surface, is provided with a circle and turns to gear outside axle sleeve, and mobile foundation is provided with steer motor, the output shaft of steer motor is provided with and the driving gear turning to gear to be meshed, rotated by drive-motor, then can control 360 degree of rotations of power wheel, and utilize and universal take turns support, ensureing the handiness of mobile foundation motion, it can carry out spinning motion and forward movement.
Control method based on above-mentioned high pressure industrial frequency AC withstand voltage systematic survey platform Automatic Alignment System is as follows:
Ultrasonic locator gathers and the pitch information of test transformer;
When the range signal of ultrasonic locator collection is greater than default switching distance value, then enter near the stage, when the range signal of ultrasonic locator collection is less than default switching distance value, then enter the docking stage;
Near the stage: mobile platform by starting position linearly to test transformer displacement; When mobile foundation enters the original state of docking, such as Fig. 2 (a), now mobile foundation arrives near point, original place is rotated counterclockwise, until test transformer can be detected, then robot infrared sensor 2 positions, and obtains coordinate and the angle, θ of O point in Fig. 1, and enters approach process.
In phase process, mobile foundation is according to positional information first original place angle of rotation (the 90 ° of-θ) obtained, make its direction vertical with y-axis, then straight line moving one segment distance, O point is made to be positioned in y-axis, last mobile foundation rotates 90 ° towards test transformer direction again, and the tie point making its tie point and test transformer, and enters docking process point-blank.
From a starting position, certain position very close with testing transformer is moved to along a shortest path near stage mobile foundation, this position is less than the maximum measurement distance of infrared sensor 2 used to the distance testing transformer, and the side at test transformer web member, the position of this phase measuring platform describes under global coordinate system, and positional information is determined by ultrasonic positioning system.
The docking stage: the pitch information that two infrared sensors 2 gather respectively and test on transformer the tamper 3 matched, as shown in Figure 1, by coordinate transform, mobile foundation place is transformed to local system of coordinates near the coordinate of point from global coordinate system, at this moment the position of mobile foundation describes under a local system of coordinates, mobile foundation passes through one to infrared sensor 2, its relative position with test transformer is determined by trigonometry, and automatically design motion track, adjustment and the relative position testing transformer so that finally can achieve a butt joint with test transformer.
Mobile foundation be made up of two infrared reflector 3 being arranged on test transformer and two infrared sensors 2 being arranged on mobile foundation front end connection device. These two infrared sensors 2 can rotate under the driving of stepper-motor and each sensor comprises an infrared emission and an infrared receiving module. Concrete principle is, infrared sensor 2 sends a very thin infrared beam to front, if infrared reflector 3 encountered by this infrared beam in perceived distance, infrared light reflection will be returned sensor, and exports a high level or lower level by sensor. In order to realize location function, place two in the both sides, lower section of test transformer tie point with infrared sensor 2 with cylinder shape tamper 3 highly. During docking, when the infrared light that the infrared sensor 2 on mobile foundation sends tests the tamper 3 on transformer, will be reflected back, mobile foundation and the relative position of test transformer just can be determined according to the angle that infrared sensor 2 turns over, drive the stepper-motor of infrared sensor 2 by AVR single chip control (or by the unified control of controller), the output level of sensor is also input in micro-chip, and micro-chip carries out communication by serial ports and main frame.
As shown in Figure 1, location algorithm is as follows:
To, in termination process, the position of mobile foundation is described by local system of coordinates, this system of coordinates taking the mid point of two tamper 3 lines tested on transformer as initial point, taking the line of two tampers 3 as x-axis. Allowing two infrared sensors 2 rotate from being parallel to the direction of two sensors line respectively, when tamper 3 being detected, will export a high level, micro-chip can calculate the angle [alpha] that the stepper-motor of now driving sensor turns over respectively1, α2, β1, β2。
According to just profound theorem, in △ ABC,
,
With reason, in △ BCD,
According to law of cosines, in △ ABC,
By the various size obtaining γ above, then angle θ=γ-(180 ° of-α2)
Docking stage concrete steps, mobile foundation positions with infrared sensor 2 again, and judge whether it meets corresponding docking condition to the relative position of test transformer, namely the medullary ray of mobile foundation and the intersection point of x-axis are to whether the distance of initial point meets error condition, just dock if satisfied condition, otherwise work when this state starts is repeated in mobile foundation original place again after rotating a very little angle, until it meets, with the relative position of test transformer, the condition of docking. Concrete steps are as shown in Figure 2;
1) original place rotates mobile foundation, such as Fig. 2 (b), when mobile foundation makes the line of infrared sensor 2 on mobile foundation vertical with the line of tamper 3 on test transformer;
2) run forward mobile foundation, such as Fig. 2 (c), make infrared sensor 2 line extended line on mobile foundation pass the tamper 3 of first process;
3) original place rotates mobile foundation, such as Fig. 2 (d), makes spacing between two infrared sensors 2 with two tampers 3 identical;
4) run forward mobile foundation, such as Fig. 2 (d), make spacing between two infrared sensors 2 and two tampers 3 reach preset pitch value;
Alignment procedures terminates.
Claims (5)
1. the withstand voltage systematic survey platform Automatic Alignment System of high pressure industrial frequency AC, it is characterized in that: mobile foundation is fixed with current limliting resistance and measuring mechanism, described current limliting resistance front end is provided with and the conductive pole tested transformer and be connected, described conductive pole is positioned at mobile foundation front end, described mobile foundation front end is provided with two infrared sensors, described test transformer is provided with two infrared reflector matched with two infrared sensors, described mobile foundation is by power wheel and universal takes turns support, described power wheel is fixed in turning device, described infrared sensor exports induction signal to controller, described controller outputs control signals to driving unit and the turning device of power wheel.
2. the withstand voltage systematic survey platform Automatic Alignment System of high pressure industrial frequency AC according to claim 1, it is characterised in that: the infrared sensor described in each rotates by driving stepper motor.
3. the withstand voltage systematic survey platform Automatic Alignment System of high pressure industrial frequency AC according to claim 2, it is characterised in that: described mobile foundation front end is provided with ultrasonic locator, and described ultrasonic locator outputs control signals to controller.
4. the withstand voltage systematic survey platform Automatic Alignment System of high pressure industrial frequency AC according to claim 1,2 or 3, it is characterized in that: described power wheel is provided with the both sides that two lay respectively at mobile foundation front end, or described power wheel is provided with one and be positioned at the middle part of mobile foundation front end.
5. the withstand voltage systematic survey platform Automatic Alignment System of high pressure industrial frequency AC according to claim 4, it is characterized in that: described turning device is provided with the axle bed being fixed on mobile foundation, it is provided with axle sleeve outside described axle bed, described power wheel is fixed on axle sleeve bottom surface, it is provided with a circle outside described axle sleeve and turns to gear, described mobile foundation is provided with steer motor, and the output shaft of described steer motor is provided with and the driving gear turning to gear to be meshed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520950099.1U CN205317889U (en) | 2015-11-24 | 2015-11-24 | High pressure power frequency alternating current overpressure resistant measuring platform of system automatic alignment system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520950099.1U CN205317889U (en) | 2015-11-24 | 2015-11-24 | High pressure power frequency alternating current overpressure resistant measuring platform of system automatic alignment system |
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| CN205317889U true CN205317889U (en) | 2016-06-15 |
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| CN201520950099.1U Withdrawn - After Issue CN205317889U (en) | 2015-11-24 | 2015-11-24 | High pressure power frequency alternating current overpressure resistant measuring platform of system automatic alignment system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277862A (en) * | 2015-11-24 | 2016-01-27 | 国网安徽省电力公司芜湖供电公司 | High-voltage industrial-frequency AC voltage withstanding system measuring platform automatic alignment system and control method thereof |
| CN111596260A (en) * | 2020-07-27 | 2020-08-28 | 南京天创电子技术有限公司 | Method and system for robot to autonomously position charging pile and computer storage medium |
-
2015
- 2015-11-24 CN CN201520950099.1U patent/CN205317889U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277862A (en) * | 2015-11-24 | 2016-01-27 | 国网安徽省电力公司芜湖供电公司 | High-voltage industrial-frequency AC voltage withstanding system measuring platform automatic alignment system and control method thereof |
| CN105277862B (en) * | 2015-11-24 | 2018-07-03 | 国网安徽省电力公司芜湖供电公司 | High pressure industrial frequency AC pressurized system measuring table Automatic Alignment System and its control method |
| CN111596260A (en) * | 2020-07-27 | 2020-08-28 | 南京天创电子技术有限公司 | Method and system for robot to autonomously position charging pile and computer storage medium |
| CN111596260B (en) * | 2020-07-27 | 2020-11-06 | 南京天创电子技术有限公司 | Method and system for robot to autonomously position charging pile and computer storage medium |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160615 Effective date of abandoning: 20180703 |
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| AV01 | Patent right actively abandoned |