A transformer lifting device

Abstract

The application discloses a transformer lifting device, which comprises a motor driving system, a height adjusting mechanism, a pull rod, a guide rail rod and a rod frame fixing mechanism, wherein the rod frame fixing mechanism is slidably connected with one end of the guide rail rod, the motor driving system is arranged on the guide rail rod, the motor driving system is used for controlling a transformer to be erected to move along a preset path, one end of the pull rod is fixedly connected with the rod frame fixing mechanism, the other end of the pull rod is fixedly connected with the top of the height adjusting mechanism, and the other end of the guide rail rod is fixedly connected with the top of the height adjusting mechanism. The application solves the technical problem that the existing transformer installation and removal mainly use a crane to erect the transformer, but the crane is mainly suitable for urban areas or sections with good terrain conditions, and when the terrain condition is poor, only small carrying auxiliary tools can be used to erect the transformer, thereby reducing the efficiency of transformer erection.

Description

Technical Field

[0001] This invention relates to the field of transformer transportation technology, and in particular to a transformer lifting device. Background Technology

[0002] In recent years, with the continuous acceleration of urbanization in my country, power construction projects have also increased day by day. As a transfer station for power output and transmission, the stability and safety of transformers are particularly important.

[0003] Currently, the installation and dismantling of transformers mainly uses cranes to erect them. However, this method is primarily suitable for urban areas or locations with favorable terrain. In areas with poor terrain, only small transport tools can be used to erect the transformers, which reduces the efficiency of transformer erection. Summary of the Invention

[0004] This invention provides a transformer lifting device, which solves the technical problem that the installation and dismantling of existing transformers mainly uses cranes to erect the transformers. However, this method is mainly suitable for urban areas or areas with good terrain conditions. When the terrain conditions are poor, only small transport auxiliary tools can be used to erect the transformers, which reduces the efficiency of transformer erection.

[0005] The first aspect of the present invention provides a transformer lifting device, comprising a motor drive system, a height adjustment mechanism, a pull rod, a guide rail rod, and a rod frame fixing mechanism;

[0006] The rod fixing mechanism is slidably connected to one end of the guide rail rod, and the motor drive system is provided on the guide rail rod;

[0007] The motor drive system is used to control the transformer to be erected to move along a preset path;

[0008] One end of the pull rod is fixedly connected to the rod frame fixing mechanism, and the other end of the pull rod is fixedly connected to the top of the height adjustment mechanism;

[0009] The other end of the guide rail is fixedly connected to the top of the height adjustment mechanism.

[0010] Optionally, the height adjustment mechanism includes a base disc, a threaded column, a support rod, an electric actuator, a square steel tube, and a pull rod lock.

[0011] One end of the threaded post is fixedly installed on the top of the base disc, and the other end of the threaded post is threadedly connected to one end of the support rod.

[0012] The bottom of the square steel pipe is fixedly connected to the other end of the load-bearing rod, and the electric actuator is disposed inside the square steel pipe;

[0013] One end of the guide rail rod is fixed to the top of the electric push rod, and the pull rod buckle is fixedly installed on the top of the square steel tube;

[0014] The lever lock is fixedly connected to the other end of the lever by bolts.

[0015] Optionally, the pole fixing mechanism includes a crossbar, a fixing bracket, a clamp, and a sliding hanger;

[0016] The crossbar is provided with a fixed support bracket at each end, and the fixed support bracket is fixedly connected to one side of the clamp.

[0017] The sliding bracket is fixedly installed in the middle of the crossbar, and the sliding bracket is slidably connected to the guide rail.

[0018] A fastening assembly is provided at one end of the pull rod, and the pull rod is fixedly installed at both ends of the crossbar by the fastening assembly.

[0019] Optionally, the motor drive system includes an input module, a power supply module, a motor, a motor controller, a wind speed sensor, and a displacement distance sensor;

[0020] The motor controller is communicatively connected to the input module, the wind speed sensor, and the displacement distance sensor, respectively.

[0021] The motor controller is electrically connected to both the power module and the motor.

[0022] The wind speed sensor is fixedly installed on the top of the sliding bracket, and the wind speed sensor is used to collect wind speed and wind direction angle.

[0023] The motor is equipped with the displacement measuring sensor, and the displacement measuring sensor faces the height adjustment mechanism, for collecting the current position information of the transformer to be erected;

[0024] The input module is used to receive the target location.

[0025] Optionally, the motor controller is used to input a preset wind force compensation function using the wind speed and the wind direction angle to generate the output parameters corresponding to the motor, and control the transformer to be erected to move to the target position according to the output parameters and the position information;

[0026] The wind compensation function is specifically as follows:

[0027]

[0028] M wt =F Wt ×r×sin(α t );

[0029] e(t) = MM wt ;

[0030]

[0031]

[0032] Among them, F wt Let ρ be the wind force at time t, ρ be the air density, and V be the wind speed. t Let be the wind speed at time t, A be the wind-receiving area of ​​the distribution transformer, and C be the wind speed at time t. d M is the drag coefficient. wt Let α be the offset torque at time t. t Let be the wind direction angle at time t, r be the distance from the point of wind action to the distribution transformer shaft, e(t) be the error value at time t, M be the rated offset torque, and K be the angle of attack. p K is the wind power proportional gain coefficient. i K is the wind power integral gain coefficient. d Let u(t) be the wind power differential gain coefficient, u(t) be the output at time t, and u′(t) be the output parameter at time t.

[0033] Optionally, the motor controller includes a main control chip and a motor driver;

[0034] The main control chip includes an output parameter acquisition unit and a judgment and analysis unit;

[0035] The output parameter acquisition unit is used to output the wind speed and the wind direction angle to the wind compensation function and generate corresponding output parameters.

[0036] The judgment and analysis unit is used to determine whether the target location is consistent with the location information;

[0037] If the target position matches the position information, then stop sending the output parameters to the motor driver.

[0038] If the target position does not match the position information, the output parameters are sent to the motor driver.

[0039] The motor driver is used to convert the output parameters into level signals to drive the motor.

[0040] Optionally, it also includes transformer lifting devices;

[0041] The transformer lifting device is slidably connected to the guide rail rod, and the motor output end is electrically connected to the transformer lifting device.

[0042] Optionally, the clamp is fitted onto the pole frame to be erected.

[0043] Optionally, the angle between the guide rail rod and the electric actuator rod is 90°.

[0044] Optionally, the height adjustment mechanism may further include a plurality of rotary handles;

[0045] The rotating handle is fixedly installed at equal intervals on the outside of the threaded column and is used to adjust the height of the height adjustment mechanism.

[0046] As can be seen from the above technical solutions, the present invention has the following advantages:

[0047] A transformer lifting device includes a motor drive system, a height adjustment mechanism, a pull rod, a guide rail, and a frame fixing mechanism. The frame fixing mechanism is slidably connected to one end of the guide rail. The motor drive system is mounted on the guide rail and controls the movement of the transformer to be erected along a preset path. One end of the pull rod is fixedly connected to the frame fixing mechanism, and the other end is fixedly connected to the top of the height adjustment mechanism. The other end of the guide rail is also fixedly connected to the top of the height adjustment mechanism. This invention solves the technical problem that existing transformer installation and dismantling primarily uses cranes, which are mainly suitable for urban areas or areas with good terrain. In areas with poor terrain, only small transport tools can be used to erect the transformer, reducing the efficiency of transformer erection. This invention adopts a detachable and portable mechanical structure design to minimize the overall size of the device. It also incorporates a wind compensation function within the motor drive system to avoid the impact of wind on the device during transport, thus improving the efficiency of transformer erection. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the structure of a transformer lifting device according to an embodiment of the present invention;

[0050] Figure 2 This is a structural block diagram of the motor drive system according to an embodiment of the present invention;

[0051] The meanings of the reference numerals in the attached figures are as follows:

[0052] 1. Motor 2. Guide rail rod 3. Crossbar 4. Clamp 5. Pull rod 6. Pull rod lock 7. Electric push rod 8. Support rod 9. Threaded column 10. Base disc 11. Wind speed sensor 12. Displacement distance sensor 13. Input module. Detailed Implementation

[0053] This invention provides a transformer lifting device to address the technical problem that the installation and dismantling of existing transformers mainly relies on cranes for erection. However, these cranes are primarily suitable for urban areas or locations with favorable terrain. In areas with poor terrain, only small transport tools can be used to erect the transformer, which reduces the efficiency of transformer erection.

[0054] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0055] For easier understanding, please refer to Figure 1-2 The present invention provides a transformer lifting device, including a motor drive system, a height adjustment mechanism, a pull rod 5, a guide rail rod 2, and a rod frame fixing mechanism;

[0056] The rod fixing mechanism is slidably connected to one end of the guide rail rod 2, and a motor drive system is installed on the guide rail rod 2;

[0057] The motor drive system is used to control the transformer to be erected to move along a preset path;

[0058] One end of the pull rod 5 is fixedly connected to the rod frame fixing mechanism, and the other end of the pull rod 5 is fixedly connected to the top of the height adjustment mechanism;

[0059] The other end of the guide rail rod 2 is fixedly connected to the top of the height adjustment mechanism.

[0060] In this embodiment of the invention, the transformer lifting device includes a motor drive system, a height adjustment mechanism, two pull rods 5, a guide rail 2, and a frame fixing mechanism. The frame fixing mechanism is slidably connected to one end of the guide rail 2, and the motor drive system is mounted on the guide rail 2. The motor drive system is used to receive target information input by the operator. Both the device and the transformer to be erected move along a preset path. One end of each of the two pull rods 5 is fixedly connected to the frame fixing mechanism, which securely connects the device and the frame to be erected. The other end of each of the two pull rods 5 is fixedly connected to the top of the height adjustment mechanism, and the other end of the guide rail 2 is fixedly connected to the top of the height adjustment mechanism.

[0061] It should be noted that, to cope with various weather conditions and complex outdoor environments, the equipment underwent rigorous material selection, employing rust-proof, corrosion-resistant, and high-strength alloy materials to ensure its durability and long service life. The motor drive system has also undergone waterproofing, dustproofing, and anti-interference treatment to meet the operational needs of harsh weather and environments. Furthermore, multiple protection strategies are employed, such as overload protection, short-circuit protection, and high-temperature protection, to ensure that motor 1 can shut down promptly under various abnormal conditions, avoiding potential risks.

[0062] Please see Figure 1 The height adjustment mechanism includes a base disc 10, a threaded post 9, a support rod 8, an electric actuator 7, a square steel tube, and a pull rod lock 6. One end of the threaded post 9 is fixedly installed on the top of the base disc 10, and the other end of the threaded post 9 is threadedly connected to one end of the support rod 8. The bottom of the square steel tube is fixedly connected to the other end of the support rod 8, and the electric actuator 7 is located inside the square steel tube. One end of the guide rail rod 2 is fixedly connected to the top of the electric actuator 7, and the pull rod lock 6 is fixedly installed on the top of the square steel tube. The pull rod lock 6 is fixedly connected to the other end of the pull rod 5 by bolts.

[0063] In this embodiment of the invention, the height adjustment mechanism includes a base disc 10, a threaded post 9, a support rod 8, an electric actuator 7, a square steel tube, and a pull rod lock 6. Both the threaded post 9 and the base disc are detachable components. When the device is needed, one end of the threaded post 9 is inserted into the circular hole of the base disc 10, fixing one end of the threaded post 9 to the top of the base disc 10. The other end of the threaded post 9 is threadedly connected to one end of the support rod 8. A square steel tube is provided at the top of the support rod 8, and the electric actuator 7 is installed inside the square steel tube. One bottom end of the guide rail rod 2 is fixed to the top of the electric actuator 7, and the pull rod lock 6 is fixedly installed on the top of the square steel tube. The pull rod lock 6 is fixedly connected to the other end of the pull rod 5 by bolts and nuts to achieve a stable support structure.

[0064] It should be noted that the square steel pipe has the characteristics of structural stability and high strength. The guide rod 2 can be placed above the electric actuator 7. The square steel pipe has a hollow groove at the connection between the guide rod 2 and the electric actuator 7, so that the electric actuator 7 can adjust the angle between the guide rod 2 and the electric actuator 7. The vertical height of the top of the square steel pipe is slightly higher than the horizontal plane of the guide rod 2 to facilitate the electric actuator 7 to push the guide rod 2 upward. The margin is only a suitable space for the guide rod 2 to have upward movement space.

[0065] In another embodiment, the electric actuator is equipped with a pressure sensor. During the operation of the device, when the pressure value collected by the pressure sensor is less than the rated pressure value, a high level will be output to trigger the electric actuator to move. When the pressure value collected by the pressure sensor is greater than or equal to the rated pressure value, a low level will be output to trigger the electric actuator to stop moving, so that the device can realize an adaptive height adjustment function.

[0066] Please see Figure 1 The pole fixing mechanism includes a crossbar 3, a fixed bracket, a clamp 4, and a sliding bracket. Fixed brackets are installed at both ends of the crossbar 3, and are fixedly connected to one side of the clamp 4. The sliding bracket is fixedly installed in the middle of the crossbar 3 and is slidably connected to the guide rail 2. A fastening assembly is provided at one end of the pull rod 5, and the pull rod 5 is fixedly installed at both ends of the crossbar 3 through the fastening assembly.

[0067] In this embodiment of the invention, the rod fixing mechanism includes a crossbar 3, a fixed bracket, a clamp 4, and a sliding hanger. A fixed bracket is provided at each end of the crossbar 3, and clamps 4 are welded to the fixed brackets at both ends, thus fixing the fixed brackets to one side of the clamps 4. The sliding hanger is slidably connected to the guide rail 2 and is provided with a limit block to fix the position of the sliding hanger on the guide rail 2. Each of the two pull rods 5 has a fastening assembly consisting of bolts and nuts at one end, and the pull rods 5 are fixedly installed at both ends of the crossbar 3 by bolts and nuts.

[0068] It should be noted that the fixing bracket has openings or channels that match the dimensions of the crossbar 3 (I-beam crossbar 3) to allow the I-beam crossbar 3 to pass through and be fixed. Furthermore, both the crossbar 3 and the guide rail 2 are actually I-beams, and through holes have been pre-drilled on their surfaces during the design phase to facilitate fixing or connecting using bolts and sliding fasteners. This also allows for fine-tuning or positioning of the guide rail 2.

[0069] Please see Figure 1-2 The motor drive system includes an input module 13, a power supply module, a motor 1, a motor controller, a wind speed sensor 11, and a displacement distance sensor 12. The motor controller is communicatively connected to the input module 13, the wind speed sensor 11, and the displacement distance sensor 12. The motor controller is electrically connected to the power supply module and the motor 1. The wind speed sensor 11 is fixedly mounted on the top of the sliding bracket and is used to collect wind speed and wind direction angle. The motor 1 is equipped with the displacement distance sensor 12, which faces the height adjustment mechanism, and is used to collect the current position information of the transformer to be erected. The input module 13 is used to receive the target position.

[0070] In this embodiment of the invention, the motor drive system includes an input module 13, a power supply module, a motor 1, a motor controller, a wind speed sensor 11, and a displacement distance sensor 12. The motor controller is communicatively or electrically connected to the input module 13, the wind speed sensor 11, and the displacement distance sensor 12. The motor controller is also electrically connected to the power supply module and the motor 1. The wind speed sensor 11 is fixedly installed on the top of the sliding bracket and is used to collect wind speed and wind direction angle in real time. The motor 1 is equipped with the displacement distance sensor 12, which faces the square steel pipe, and is used to collect the current position information of the transformer to be erected in real time. The input module 13 is used to collect the target position input by the operator.

[0071] In another embodiment of the invention, the technician can set a target height or horizontal position through the input module 13, or choose to start directly without setting a target position. When a target position is not set, the transformer to be erected will automatically stop at the end of the guide rail 2 until the technician issues a descent command, at which point the transformer will descend to the ground. Simultaneously, after receiving the command input by the technician through the input module 13, the main control chip (MCU) in the motor controller will receive wind speed, wind direction angle, and position information collected in real time by the wind speed sensor 11 and the displacement distance sensor 12.

[0072] It is worth mentioning that the displacement sensor 12 can also collect the current height of the transformer to be erected and the horizontal angle between the load-bearing rod and the guide rail 2. The main control chip combines the real-time environmental information fed back by the technicians and the sensors, adjusts the input commands through algorithms, and then decides whether to activate the electric push rod 7 based on the target height of the transformer to be erected, the current height, and the horizontal angle between the load-bearing rod and the guide rail 2. The power module can continuously provide the required power to each component, and the voltage regulator module ensures that the output voltage and current are always within a safe and stable range, avoiding system malfunction due to power fluctuations.

[0073] It is worth mentioning that the power module can be a mobile small generator 1, the motor 1 can be a servo motor 1, the motor 1 control module can be a servo motor controller, the electric actuator 7 can be a single-phase DC electric actuator 7, and the input module 13 can be a button-type wired remote control or a wireless remote control. The operator can control the device through the remote control to make the motor 1 move the transformer along the set path. The support rod 8 serves as a key fulcrum, and the fine adjustment of the threaded column 9 and the base disc 10 together ensures the stable operation of the entire device under rated load and external environment.

[0074] Please see Figure 1-2 The motor controller is used to generate the output parameters corresponding to motor 1 by taking the wind speed and wind direction angle as inputs of the preset wind compensation function, and to control the transformer to be erected to move to the target position according to the output parameters and position information.

[0075] The wind compensation function is as follows:

[0076]

[0077] M wt =F Wt ×r×sin(α t );

[0078] e(t) = MM wt ;

[0079]

[0080]

[0081] Among them, F wt Let ρ be the wind force at time t, ρ be the air density, and V be the wind speed. t Let be the wind speed at time t, A be the wind-receiving area of ​​the distribution transformer, and C be the wind speed at time t. d M is the drag coefficient. wt Let α be the offset torque at time t. t Let be the wind direction angle at time t, r be the distance from the point of wind action to the distribution transformer shaft, e(t) be the error value at time t, M be the rated offset torque, and K be the angle of attack. p K is the wind power proportional gain coefficient. i K is the wind power integral gain coefficient. d Let u(t) be the wind power differential gain coefficient, u(t) be the output at time t, and u′(t) be the output parameter at time t.

[0082] In this embodiment of the invention, the motor controller is used to receive wind speed, wind direction angle and position information collected by the wind speed sensor 11 and the displacement distance sensor 12 in real time, and then input the wind speed and wind direction angle into a preset wind force compensation function to generate the output parameters corresponding to the motor 1. According to the output parameters, the motor 1 output is controlled to move the transformer to be erected. When the position information is consistent with the target position, the motor 1 is controlled to stop running.

[0083] It should be noted that the air density in the wind compensation function is a preset value of 1.225 kg / m³, the drag coefficient is determined based on the transformer's geometry and is set during device operation, and the distance from the wind force application point to the distribution transformer shaft is the rated value. The motor controller has a mapping relationship between wind force level classification and wind force proportional gain coefficient, wind force integral gain coefficient, and wind force differential gain coefficient. It can dynamically adjust the wind force proportional gain coefficient, wind force integral gain coefficient, and wind force differential gain coefficient according to wind speed. For each wind force level, a set of optimal wind force proportional gain coefficient, wind force integral gain coefficient, and wind force differential gain coefficient are preset. When the wind speed changes, the controller can automatically select the wind force proportional gain coefficient, wind force integral gain coefficient, and wind force differential gain coefficient corresponding to the current wind force level. The advantage of this strategy is that it provides optimized wind force proportional gain coefficient, wind force integral gain coefficient, and wind force differential gain coefficient for each wind force condition, thereby ensuring optimal control performance under various wind force conditions. For example, when encountering strong winds, the system may deviate significantly due to the high wind force, potentially requiring higher values ​​for K to respond quickly to changes in wind speed. p =1,K i =0.02, K d =0.2. Simultaneously, a predicted offset torque is introduced to predict a deviation e(t+Δt) at the next future time t+Δt, yielding the output parameter u′(t) at time t. The wind force compensation function allows for early response to disturbances at the next time moment, reducing system overshoot and oscillations, thereby improving control performance.

[0084] It is worth mentioning that the offset torque needs to be calculated in real time using the main control chip (MCU) integrated in the motor controller. Combined with the wind compensation algorithm, the output (i.e. error value) of the distribution transformer caused by the wind during the rise and fall is calculated. The motor controller needs to adjust its control parameters according to this error value and output it to the motor driver integrated in the motor controller so that the torque generated by the servo motor 1 is exactly canceled by the torque generated by the wind.

[0085] It should be noted that the motor controller includes a main control chip and a motor driver. The main control chip includes an output parameter acquisition unit and a judgment and analysis unit. The output parameter acquisition unit is used to output wind speed and wind direction angle as wind compensation functions to generate corresponding output parameters. The judgment and analysis unit is used to determine whether the target position is consistent with the position information. If the target position is consistent with the position information, the sending of output parameters to the motor driver is stopped. If the target position is inconsistent with the position information, output parameters are sent to the motor driver. The motor driver is used to convert the output parameters into level signals to drive motor 1.

[0086] In this embodiment of the invention, the motor controller includes a main control chip and a motor driver. The main control chip includes an output parameter acquisition unit and a judgment and analysis unit. The output parameter acquisition unit is used to receive the wind speed and wind direction angle collected in real time by the wind speed sensor 11, and output the wind speed and wind direction angle as a wind force compensation function to generate corresponding output parameters. The judgment and analysis unit is used to receive the position information collected in real time by the displacement ranging sensor 12 and the target position input by the input module 13 (if the target position is not received, a preset reference position is used as the target position), and to determine whether the target position is consistent with the position information. If the target position is consistent with the position information, the sending of output parameters to the motor driver is stopped. If the target position is inconsistent with the position information, the output parameters are sent to the motor driver. The motor driver is used to convert the output parameters into a level signal to drive the motor 1.

[0087] It is worth mentioning that the wind compensation function, based on the wind speed sensor 11 and the displacement distance sensor 12, enables the main control chip in the motor controller to continuously calculate the output parameter u′(t). The duty cycle or phase of the PWM is adjusted and output to the motor driver inside the motor controller, achieving wind compensation and improving the stability of the device. The entire system continuously cycles according to the above process during operation until the task is completed or the system is powered off.

[0088] In another embodiment, when the system encounters a sudden situation, such as strong winds, the wind direction and speed sensor module 11 can quickly detect these changes and immediately feed the information back to the main control chip (MCU) in the motor controller. The motor controller will call the wind compensation algorithm to quickly adjust the output parameters of the servo motor 1 and the electric actuator 7 to ensure the stability of the transformer to be erected.

[0089] Please see Figure 1 It also includes a transformer lifting device. The transformer lifting device is slidably connected to the guide rail rod 2, and the output end of the motor 1 is electrically connected to the transformer lifting device.

[0090] In this embodiment of the invention, the device further includes a transformer hoist, which is slidably connected to the guide rail rod 2, and the output end of the motor 1 is electrically connected to the transformer hoist to drive the transformer to be erected to move.

[0091] Please see Figure 1 Four sets of clamps are installed on the pole frame to be erected.

[0092] In this embodiment of the invention, two clamps 4 are fitted onto the frame to be erected, which can effectively fix the crossbar 3 and provide solid support for the guide rail 2.

[0093] Please see Figure 1 The angle between the guide rod 2 and the electric push rod 7 is 90°.

[0094] In this embodiment of the invention, the angle between the guide rail rod 2 and the electric push rod 7 is 90°, which facilitates the electric push rod 7 to push the guide rail rod 2 upward.

[0095] It is worth mentioning that during the operation of the device, if the weight of the object causes the ground to sink, thus affecting the support angle, the main control chip will activate the electric push rod 7 to perform dynamic height fine-tuning.

[0096] It should be noted that the height adjustment mechanism also includes multiple rotary handles. These handles are equidistantly fixed to the outside of the threaded post 9 and are used to adjust the height of the height adjustment mechanism.

[0097] In this embodiment of the invention, the height adjustment mechanism further includes multiple rotating handles. The rotating handles are equidistantly fixed to the outside of the threaded post 9, and the thread engagement length can be adjusted by horizontally rotating the handles, thereby achieving height adjustment.

[0098] In this embodiment of the invention, the transformer lifting device includes a motor drive system, a height adjustment mechanism, a pull rod, a guide rail, and a frame fixing mechanism. The frame fixing mechanism is slidably connected to one end of the guide rail. The motor drive system is mounted on the guide rail and controls the transformer to be erected to move along a preset path. One end of the pull rod is fixedly connected to the frame fixing mechanism, and the other end of the pull rod is fixedly connected to the top of the height adjustment mechanism. The other end of the guide rail is also fixedly connected to the top of the height adjustment mechanism. This invention solves the technical problem that existing transformer installation and dismantling mainly use cranes, which are suitable for urban areas or areas with good terrain. In areas with poor terrain, only small transport tools can be used to erect the transformer, reducing the efficiency of transformer erection. This invention adopts a detachable and portable mechanical structure design to minimize the overall size of the device. It also incorporates a wind compensation function within the motor drive system to avoid the impact of wind on the device during transport, thus improving the efficiency of transformer erection.

[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0101] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transformer lifting device, characterized in that, Includes a motor drive system, height adjustment mechanism, tie rod, guide rail, and rod frame fixing mechanism; The rod fixing mechanism is slidably connected to one end of the guide rail rod, and the motor drive system is provided on the guide rail rod; The motor drive system is used to control the transformer to be erected to move along a preset path; One end of the pull rod is fixedly connected to the rod frame fixing mechanism, and the other end of the pull rod is fixedly connected to the top of the height adjustment mechanism; The other end of the guide rail is fixedly connected to the top of the height adjustment mechanism; The pole fixing mechanism includes a crossbar, a fixing bracket, a clamp, and a sliding hanger; The crossbar is provided with a fixed support bracket at each end, and the fixed support bracket is fixedly connected to one side of the clamp. The sliding bracket is fixedly installed in the middle of the crossbar, and the sliding bracket is slidably connected to the guide rail. A fastening assembly is provided at one end of the pull rod, and the pull rod is fixedly installed at both ends of the crossbar by the fastening assembly. The motor drive system includes an input module, a power module, a motor, a motor controller, a wind speed sensor, and a displacement distance sensor. The motor controller is communicatively connected to the input module, the wind speed sensor, and the displacement distance sensor, respectively. The motor controller is electrically connected to both the power module and the motor. The wind speed sensor is fixedly installed on the top of the sliding bracket, and the wind speed sensor is used to collect wind speed and wind direction angle. The motor is equipped with the displacement measuring sensor, and the displacement measuring sensor faces the height adjustment mechanism, for collecting the current position information of the transformer to be erected; The input module is used to receive the target location; The motor controller is used to input a preset wind force compensation function using the wind speed and the wind direction angle, generate the output parameters corresponding to the motor, and control the transformer to be erected to move to the target position according to the output parameters and the position information; The wind compensation function is specifically as follows: ； ； =M- ； ； ； in, Let t be the wind force. air density, t Let be the wind speed at time t. The wind-receiving area of ​​the transformer to be installed. The drag coefficient, Let be the offset torque at time t. Let be the wind direction angle at time t. The distance from the point of wind action to the shaft of the transformer to be installed. Let be the error value at time t, and M be the rated offset torque. This is the wind power proportional gain coefficient. The wind integral gain coefficient, The wind power differential gain coefficient, Let be the output at time t. The output parameters at time t.

2. The transformer lifting device according to claim 1, characterized in that, The height adjustment mechanism includes a base disc, a threaded column, a support rod, an electric actuator, a square steel tube, and a pull rod lock. One end of the threaded post is fixedly installed on the top of the base disc, and the other end of the threaded post is threadedly connected to one end of the support rod. The bottom of the square steel pipe is fixedly connected to the other end of the load-bearing rod, and the electric actuator is disposed inside the square steel pipe; One end of the guide rail rod is fixed to the top of the electric push rod, and the pull rod buckle is fixedly installed on the top of the square steel tube; The lever lock is fixedly connected to the other end of the lever by bolts.

3. The transformer lifting device according to claim 1, characterized in that, The motor controller includes a main control chip and a motor driver; The main control chip includes an output parameter acquisition unit and a judgment and analysis unit; The output parameter acquisition unit is used to output the wind speed and the wind direction angle to the wind compensation function and generate corresponding output parameters. The judgment and analysis unit is used to determine whether the target location is consistent with the location information; If the target position matches the position information, then stop sending the output parameters to the motor driver; If the target position does not match the position information, the output parameters are sent to the motor driver. The motor driver is used to convert the output parameters into level signals to drive the motor.

4. The transformer lifting device according to claim 1, characterized in that, It also includes transformer lifting equipment; The transformer lifting device is slidably connected to the guide rail rod, and the motor output end is electrically connected to the transformer lifting device.

5. The transformer lifting device according to claim 1, characterized in that, The clamp is fitted onto the pole frame to be erected.

6. The transformer lifting device according to claim 2, characterized in that, The angle between the guide rail and the electric actuator is 90°.

7. The transformer lifting device according to claim 2, characterized in that, The height adjustment mechanism also includes multiple rotating handles; The rotating handle is fixedly installed at equal intervals on the outside of the threaded column and is used to adjust the height of the height adjustment mechanism.

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