Intelligent spanning frame foot margin adjusting operation device

Abstract

The invention belongs to the technical field of intelligent operation devices, and discloses an intelligent crossing frame foot margin adjusting operation device which comprises an operation module, the operation module comprises an operation gear, a motor driving module is in transmission connection with the operation gear and drives the operation gear to rotate, and a main control module is electrically connected with the motor driving module and drives the operation gear to rotate. The main control module is used for receiving and processing information fed back by the outside and controlling the output of the motor driving module through a motor rotating speed difference torque setting method, the intelligent parameter monitoring module is electrically connected with the main control module and used for monitoring state information of the anchor nut and transmitting the state information to the main control module, and the auxiliary mechanism is electrically connected with the main control module and used for controlling the output of the motor driving module. The device is used for assisting equipment. The device is compact in structure, convenient to use and high in intelligence and convenience degree, the state information of the foot margin of the crossing frame can be more accurately obtained, accurate operation information is provided for constructors, the operation time of the constructors is greatly shortened, and the safety risk brought to site construction by manual errors is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent operation devices, and in particular relates to an intelligent straddling frame foot adjustment operation device. Background Art

[0002] In the power transmission and distribution system, the span is an important construction equipment. Since it needs to work in harsh outdoor environments for a long time, the stability and adjustment accuracy of its foundation are crucial to the safety and quality of the entire construction process.

[0003] Traditional foot adjustment of the crossing frame mainly relies on manual operation, but manual adjustment has problems such as low adjustment accuracy, low work efficiency, and high labor intensity, and is easily affected by human factors, resulting in construction errors and safety hazards. In recent years, the intelligent foot adjustment device can not only significantly improve the stability and safety of the crossing frame, but also greatly reduce the labor intensity of operators and improve construction efficiency. It also has an automatic calibration function and can make adaptive adjustments based on real-time monitoring data, further improving the accuracy and reliability of the adjustment; however, most of the existing intelligent foot adjustment devices are based on simple torque feedback control and cannot achieve precise control under complex working conditions.

[0004] Therefore, the present application designs an intelligent straddle frame foot adjustment operation device to solve the above-mentioned technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes an intelligent crossing frame foot adjustment operation device, which upgrades the traditional manual adjustment mode to automated and intelligent operation, and is expected to greatly improve the application effect of the crossing frame in power construction.

[0006] To achieve the above object, the present invention provides an intelligent straddling frame foot adjustment operation device, comprising: An operation module, the operation module comprising an operation gear arranged around an anchor nut of the spanning frame anchor, the operation gear being used to drive the anchor nut to rotate and adjust on the anchor screw; A motor drive module, the motor drive module is drivingly connected to the working gear to drive the working gear to rotate the anchor nut; A main control module, the main control module is electrically connected to the motor drive module, and is used to receive and process external feedback information, and control the output of the motor drive module by a motor speed difference torque method; An intelligent parameter monitoring module, the intelligent parameter monitoring module is electrically connected to the main control module, and is used to monitor the status information of the anchor nut and transmit the status information to the main control module; An auxiliary mechanism is electrically connected to the main control module and is used for auxiliary equipment.

[0007] Preferably, the motor drive module includes a drive motor electrically connected to the main control module, and the drive motor is transmission-connected to the working gear to provide power for the operation of the working gear.

[0008] Preferably, the output shaft of the driving motor is transmission-connected with a first power gear, the first power gear is meshed and transmission-connected with a second power gear, and the second power gear is meshed and transmission-connected with the operating gear.

[0009] Preferably, the equipment parameters monitored by the intelligent parameter monitoring module include current, speed, output voltage, internal temperature, ground height, and alignment status identification, and the monitored parameters are transmitted to the main control module.

[0010] Preferably, the motor speed difference torque determination method includes a double closed-loop control system, using a fuzzy PID controller to control the outer loop, and a traditional PID control method to control the current inner loop.

[0011] Preferably, the auxiliary mechanism includes a system protection module electrically connected to the intelligent parameter monitoring module to monitor the stable operation of the operating device.

[0012] Preferably, the auxiliary mechanism includes a power module electrically connected to the main control module, for supplying power for the operation of the operating device.

[0013] Preferably, the auxiliary mechanism includes a key circuit module electrically connected to the main control module for manually controlling the operation of the operating device.

[0014] Preferably, the auxiliary mechanism comprises a touch screen electrically connected to the main control module, for displaying the device status and measured parameters.

[0015] Preferably, the operating module comprises a transmission gear set meshing with the operating gear, and the transmission gear set meshes with the second power gear.

[0016] Compared with the prior art, the present invention has the following advantages and technical effects: the present invention discloses an intelligent foot adjustment operation device for a straddle frame, and the active control module adopts a constant torque control method based on the motor speed difference to achieve precise control of the dynamic performance of the motor drive module, and then drives the working gear of the working module to work through the motor drive module. This high-precision torque control ensures the accuracy and reliability of the equipment when performing foot adjustment, reduces the risk of failure caused by torque error, and improves the overall quality of the operation; the present invention integrates an intelligent parameter monitoring module, which automatically adjusts the torque output by real-time monitoring of the current and speed signals of the motor drive module during operation. This real-time monitoring and adaptive adjustment function enables the equipment to respond flexibly under different environmental and load conditions, and optimizes operating efficiency; and through continuous monitoring of key parameters, the system can promptly detect and respond to abnormal situations, improve the safety and stability of equipment operation, and reduce maintenance costs; the setting of the auxiliary mechanism mainly plays an auxiliary function, simplifies the operation of the equipment, improves the convenience of use, reduces the probability of failure, and extends the service life of the equipment.

[0017] The present invention has a compact structure, is easy to use, and has a high degree of intelligence and convenience. It can more accurately obtain the status information of the crossing frame feet, provide accurate operation information for construction personnel, greatly shorten the operation time of construction personnel, and reduce the safety risks brought by manual errors to on-site construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 This is an axial view of the intelligent straddling frame foot adjustment operation device of the present invention; Figure 2 This is a rear view of the foot adjustment operation device of the intelligent straddling frame of the present invention; Figure 3 This is a block diagram of the overall structure of the intelligent straddling frame foot adjustment operation device of the present invention; Figure 4 This is a block diagram of the current loop structure of the present invention; Figure 5 This is a simplified current loop structure diagram of the present invention; Figure 6 It is the structural block diagram of the speed loop of the present invention; Figure 7 This is the fuzzy PID control principle diagram of the present invention; Figure 8 This is a simplified structural block diagram of the speed loop of the present invention; Fig. 9 This is a front view of the internal structure of the intelligent straddling frame foot adjustment operation device of the present invention; Fig.10 This is a rear view of the internal structure of the intelligent straddling frame foot adjustment operation device of the present invention; Fig.11 The undervoltage unit circuit diagram of the system protection module of the present invention; Fig.12 It is a circuit diagram of a temperature rise protection unit of a system protection module of the present invention; In the figure: 1. Anchor screw; 2. Anchor nut; 3. Operation module; 4. System protection module; 5. Main control module; 6. Motor drive module; 7. Intelligent parameter monitoring module; 8. Power module; 9. Key circuit module; 10. Touch screen; 11. Operation gear; 12. Transmission gear set; 13. First power gear; 14. Second power gear; 15. Drive motor. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figure 1-Figure 5 As shown, this embodiment provides an intelligent straddling frame foot adjustment operation device, comprising: The operation module 3 includes an operation gear 11 arranged around the anchor nut 2 of the crossing frame anchor, and the operation gear 11 is used to drive the anchor nut 2 to rotate and adjust on the anchor screw 1; The motor drive module 6 is connected to the working gear 11 to drive the working gear 11 to rotate the anchor nut 2; The main control module 5 is electrically connected to the motor drive module 6, and is used to receive and process external feedback information, and control the output of the motor drive module 6 by the motor speed difference torque method; An intelligent parameter monitoring module 7, which is electrically connected to the main control module 5, and is used to monitor the status information of the anchor nut 2 and transmit the status information to the main control module 5; Auxiliary mechanism: The auxiliary mechanism is electrically connected to the main control module 5 and is used for auxiliary equipment.

[0022] The present invention discloses an intelligent foot adjustment operation device for a straddle frame. The active control module adopts a constant torque control method based on the motor speed difference to achieve precise control of the dynamic performance of the motor drive module 6, and then drives the working gear 11 of the working module 3 to work through the motor drive module 6. This high-precision torque control ensures the accuracy and reliability of the equipment when performing foot adjustment, reduces the risk of failure due to torque error, and improves the overall operation quality; the present invention integrates an intelligent parameter monitoring module 7, which automatically adjusts the torque output by real-time monitoring the current and speed signals of the motor drive module 6 during operation. This real-time monitoring and adaptive adjustment function enables the equipment to flexibly respond to different environmental and load conditions, thereby optimizing operating efficiency; and through continuous monitoring of key parameters, the system can promptly detect and respond to abnormal situations, thereby improving the safety and stability of equipment operation and reducing maintenance costs; the setting of the auxiliary mechanism mainly plays an auxiliary function, simplifies the operation of the equipment, improves the convenience of use, reduces the probability of failure, and extends the service life of the equipment. The present invention has a compact structure, is easy to use, and has a high degree of intelligence and convenience. It can more accurately obtain the status information of the crossing frame feet, provide accurate operation information for construction personnel, greatly shorten the operation time of construction personnel, and reduce the safety risks brought by manual errors to on-site construction.

[0023] Motor speed difference constant torque control is a control strategy that achieves a specific torque output by adjusting the motor speed. It detects the motor speed difference and adjusts the output torque in real time to achieve precise torque control. This control method can not only improve the response speed and control accuracy of the system, but also reduce the energy consumption and failure rate of the system. Therefore, the application of the constant torque control method based on motor speed difference in the adjustment device of the crossing frame foot has broad application prospects.

[0024] In one embodiment of the present application, after the main control module 5 obtains the monitoring signal, it calls the corresponding program to output a control signal to control the normal operation of the motor drive module 6.

[0025] In one embodiment of the present application, the operating device of the present application includes a main body, which adopts a detachable two-half structure as the base of the operating device, and the remaining modules are installed in the main body to facilitate positioning and fixation.

[0026] Further optimization scheme, the motor drive module 6 includes a drive motor 15 electrically connected to the main control module 5, the drive motor 15 is connected to the working gear 11, and is used to provide power for the operation of the working gear 11; the output shaft of the drive motor 15 is connected to the first power gear 13, the first power gear 13 is meshed with the second power gear 14, and the second power gear 14 is meshed with the working gear 11. The drive motor 15 is installed on the main body, and its output end is meshed with the first power gear 13, and the second power gear 14 is meshed with the first power gear 13, so that the power of the drive motor 15 is transmitted to the working gear 11, driving the working gear 11 to rotate; the main control module 5 uses the motor speed difference constant torque control method to control the operation of the drive motor 15, and then controls the working gear 11 to output a constant torque.

[0027] In one embodiment of the present application, the drive motor 15 is a brushed DC motor.

[0028] In one embodiment of the present application, the motor drive module 6 also includes two parts: a drive chip and an inverter circuit. The main control module 5 outputs a PWM signal to the drive chip, and controls the operation of the drive motor 15 by controlling the on and off of the power tube in the inverter circuit.

[0029] In one embodiment of the present application, the first power gear 13 and the second power gear 14 are respectively mounted on two halves of the main body, which facilitates assembly and reasonable arrangement.

[0030] In one embodiment of the present application, the constant torque control method of the motor speed difference adopted by the present device determines the required torque output by comparing the actual speed of the drive motor 15 with the preset speed difference, so that the present invention can maintain stable torque output under various operating conditions.

[0031] Further optimizing the scheme, the equipment parameters monitored by the intelligent parameter monitoring module 7 include current, speed, output voltage, internal temperature, foot height, and alignment status identification, and the monitored parameters are transmitted to the main control module 5. The intelligent parameter monitoring module 7 includes a current monitoring module, a speed monitoring module, and a key module; the current monitoring module collects the current signal of the drive motor 15 through a current sensor, and the main control module 5 performs data processing according to the collected signal; the speed monitoring module monitors the rotor position information of the drive motor 15 through a Hall sensor, and the main control module 5 sends a corresponding trigger signal through the monitored position signal to control the MOSFET on and off, thereby calculating the speed of the drive motor 15.

[0032] In one embodiment of the present application, the intelligent parameter monitoring module 7 also includes the collection, storage and calculation of key parameter information such as output voltage, internal temperature, ground height, alignment status identification, etc., which is convenient for operators to observe equipment and work object information in real time. At the same time, the monitoring data information can be stored, recorded, integrated and analyzed, and an error analysis report and adjustment guidance strategy can be given.

[0033] To further optimize the scheme, the motor speed difference torque determination method includes a double closed-loop control system, which uses a fuzzy PID controller to control the outer loop, and the current inner loop uses the traditional PID control method. The motor speed difference torque determination method uses a fuzzy PID controller to control the outer loop, and the current inner loop uses the traditional PID control method. The double closed-loop control system can not only make the motor run stably, but also improve the accuracy of signal acquisition, thereby improving the speed operation stability.

[0034] Specifically, the motor speed differential torque control method uses a fuzzy PID controller to control the outer loop in order to stabilize the speed, and the current inner loop uses the traditional PID control method; a dual closed-loop control structure is used, which includes two closed loops, the current loop and the speed loop, which are used to control the torque and speed of the motor respectively. The two links cooperate and coordinate with each other to meet a variety of control requirements. The dual closed-loop control structure uses a fuzzy PID controller for the outer loop and a traditional PID controller for the inner loop. A dual closed-loop equivalent model of the motor is built, and the PID parameters of the current loop and the speed loop are adjusted.

[0035] The specific process is as follows: 1. Current loop parameter setting: The current loop PID output directly acts on the brushed DC motor via the PWM converter. The PWM converter output is linearly related to the current loop output, but there is a delay in its response, which is a maximum of one PWM converter switching cycle. The delay generated by the PWM converter is very small and can be approximately regarded as a first-order inertia link. Its transfer function is for: , In the formula, is the PWM converter gain factor; Delay for the PWM converter.

[0036] A first-order low-pass filter is added to the current loop feedback path to suppress the AC component to prevent it from affecting the current loop PID input, but it also brings delay during filtering. In order to balance this delay effect, a filtering link with the same delay is added to the current loop input signal path, which brings convenience in design. The filtering link can be approximately regarded as a first-order inertia link, and its transfer function is: , In the formula, is the filtering time constant of the low-pass filter.

[0037] Electromechanical time constant of motor in motor control system Much larger than the electromagnetic time constant Therefore, the change of motor speed is much slower than that of armature current. For the current loop, the change of motor back EMF caused by speed change is also a disturbance with a slower change. Therefore, the influence of motor back EMF can be ignored when designing the current loop.

[0038] The filter links of the input signal path and the feedback signal path are equivalently moved into the current loop, and the PWM converter delay and low-pass filter filtering time constant are Much smaller than the electromagnetic time constant , the small inertia group can be approximately regarded as a complete first-order inertia link.

[0039] The current loop plays the role of stabilizing current, suppressing mutations and stabilizing torque. It cannot have too much overshoot, and the focus should be on the following performance of the current loop, so the current loop is designed as a typical type I system. The current loop has two inertia links, the ACR current loop transfer function, and the PI type controller can be corrected to a typical type I system. The ACR transfer function is: , In the formula, is the proportional gain of the current regulator; is the integral time constant of the current regulator. Determining the ACR transfer function, the current loop open-loop transfer function is: ; To achieve zero-pole cancellation, the current regulator integration time constant The values ​​are as follows: ; After correction, the typical I-type open-loop transfer function of the current loop is: ; The closed-loop transfer function of the current loop is: , In the formula, , The damping frequency can be obtained from the current loop closed-loop transfer function: and damping ratio for: ; Optional engineering optimum damping ratio 0.707, then =0.5, we can get the proportional term coefficient As shown below: .

[0040] 2. Speed ​​loop parameter setting: The current loop is the inner loop of the speed loop. When analyzing the speed loop, the current loop needs to be simplified. The high-order terms can be ignored in the closed-loop transfer function of the current loop. The current loop transfer function after order reduction is: .

[0041] The same treatment is done as for the current loop. A low-pass filter is also added to the feedback path to filter the speed to prevent it from affecting the input of the speed loop. The same low-pass filter is also added to the signal input path for balancing to simplify the design. At the same time, the input signal filter link and the feedback signal filter link are moved into the speed loop, and the approximate current loop and the low-pass filter link are merged into a first-order inertia link.

[0042] in, , is the speed feedback filter constant.

[0043] The speed loop is designed as a typical type II system. As can be seen from the figure, the speed loop open-loop transfer function already contains two integral links. Therefore, to correct the speed loop to a typical type II system, a fuzzy PID controller can be used, and its transfer function is: ; In the formula, The proportional gain for the speed adjustment; is the speed regulator integration time constant.

[0044] When the system is disturbed or the parameters change, the fuzzy PID controller can respond quickly and make adjustments in time. Its control principle is as follows: Figure 3 As shown in the figure, the input deviation e and the deviation change rate ec are adjusted in real time through fuzzy reasoning. , and Three parameters are used to ensure that the control system operates stably in different working environments.

[0045] Determine the ASR speed loop transfer function and transfer function form. The speed loop open-loop transfer function is: , In the formula, Already determined, can be changed dynamically The frequency band width is dynamically adjusted to meet the actual needs of the project. h is the frequency band width in a typical type II system, and its parameter relationship is: .

[0046] exist After confirmation, it can be adjusted dynamically Thus dynamically adjusting the cutoff frequency After a lot of engineering verification, for a typical type II system, the intermediate frequency band width h and the cutoff frequency There is an optimal engineering ratio between them. For a certain intermediate frequency band width h, there is only one other certain cutoff frequency. , get the minimum closed-loop amplitude-frequency characteristic, based on this relationship, the speed loop integral time constant can be obtained and proportional gain The mathematical relationship between them is: .

[0047] Experience shows that the system has better dynamic performance when the intermediate frequency width h is 3-10. The closed-loop transfer function of the speed loop can be obtained: , In the formula, .

[0048] To further optimize the solution, the auxiliary mechanism includes a system protection module 4 electrically connected to the intelligent parameter monitoring module 7 to monitor the stable operation of the operating device. The system protection module 4 is designed with an undervoltage unit and a temperature rise protection unit. By monitoring the temperature and voltage of the system, the stable operation of the drive motor 15 and the normal operation of the system are ensured, providing multi-level safety protection for the equipment to prevent the internal temperature from rising and the power supply voltage from dropping due to long-term use, making it difficult to ensure the stable supply of the system voltage. Specifically, it includes functions such as electrical overload protection, overheating protection, and abnormal working condition alarm; this multiple protection measure effectively extends the service life of the equipment and reduces the possibility of failure during operation.

[0049] In a further optimized solution, the auxiliary mechanism includes a power module 8 electrically connected to the main control module 5, which is used to power the operation of the operating device. The power module 8 converts 24V DC into 5V DC for the control system operation, and converts 5V DC into 3.3V for the main control chip.

[0050] Further optimization scheme, the auxiliary mechanism includes a key circuit module 9 electrically connected to the main control module 5, which is used to manually control the operation of the operating device; the auxiliary mechanism includes a touch screen 10 electrically connected to the main control module 5, which is used to display the device status and measured parameters. The key circuit module 9 is used to start and stop the electric wrench and select the working mode; at the same time, the touch screen 10 equipped with the device not only provides an intuitive operation interface, but also integrates functions such as parameter display, fault diagnosis, mode selection, etc., so that operators can easily control and monitor the equipment.

[0051] In a further optimized solution, the operation module 3 includes a transmission gear set 12 meshing with the operation gear 11, and the transmission gear set 12 meshes with the second power gear 14. The transmission gear set 12 is composed of multiple sets of meshing gears, which can be used to transmit power output and realize power reversal. At the same time, the relationship between torque and speed can be adjusted by adjusting the diameter of the gear, thereby amplifying the output force of the drive motor 15.

[0052] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent crossing frame foot adjustment device, characterized in that: include: An operating module (3), the operating module (3) comprising an operating gear (11) arranged around the anchor nut (2), the operating gear (11) being used to drive the anchor nut (2) to rotate and adjust on the anchor screw (1); A motor drive module (6), the motor drive module (6) being in driving connection with the working gear (11) to drive the working gear (11) to rotate the anchor nut (2); A main control module (5), the main control module (5) being electrically connected to the motor drive module (6), and being used to receive and process external feedback information, and to control the output of the motor drive module (6) by a motor speed difference torque determination method; an intelligent parameter monitoring module (7), the intelligent parameter monitoring module (7) being electrically connected to the main control module (5) and being used for monitoring status information of the anchor nut (2) and transmitting the status information to the main control module (5); An auxiliary mechanism, the auxiliary mechanism is electrically connected to the main control module (5) and is used for auxiliary equipment use.

2. The intelligent crossing frame foot adjustment device according to claim 1 is characterized in that: The motor drive module (6) comprises a drive motor (15) electrically connected to the main control module (5); the drive motor (15) is drivingly connected to the working gear (11) and is used to provide power for the operation of the working gear (11).

3. The intelligent crossing frame foot adjustment device according to claim 2 is characterized in that: The output shaft of the driving motor (15) is connected to a first power gear (13), the first power gear (13) is meshed with a second power gear (14), and the second power gear (14) is meshed with the operating gear (11).

4. The intelligent straddle frame foot adjustment device according to claim 1 is characterized in that: The intelligent parameter monitoring module (7) monitors equipment parameters including current, speed, output voltage, internal temperature, ground height, and alignment status recognition, and transmits the monitored parameters to the main control module (5).

5. The intelligent crossing frame foot adjustment device according to claim 1 is characterized in that: The motor speed difference torque determination method includes a double closed-loop control system, which uses a fuzzy PID controller to control the outer loop and a traditional PID control method to control the current inner loop.

6. The intelligent crossing frame foot adjustment device according to claim 1 is characterized in that: The auxiliary mechanism comprises a system protection module (4) electrically connected to the intelligent parameter monitoring module (7) for monitoring the stable operation of the operating device.

7. The intelligent crossing frame foot adjustment device according to claim 1 is characterized in that: The auxiliary mechanism comprises a power module (8) electrically connected to the main control module (5) and used for supplying power to the operation of the operating device.

8. The intelligent crossing frame foot adjustment device according to claim 1 is characterized in that: The auxiliary mechanism comprises a key circuit module (9) electrically connected to the main control module (5) and used for manually controlling the operation of the operating device.

9. The intelligent crossing frame foot adjustment device according to claim 8 is characterized in that: The auxiliary mechanism comprises a touch screen (10) electrically connected to the main control module (5) and used for displaying the device status and measured parameters.

10. The intelligent crossing frame foot adjustment device according to claim 3 is characterized in that: The operating module (3) comprises a transmission gear set (12) meshing with the operating gear (11) for transmission, and the transmission gear set (12) meshing with the second power gear (14) for transmission.

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