Intelligent traction device for transformer bushing lead

Abstract

The invention discloses an intelligent traction device for a transformer bushing lead, and the device comprises an installation chassis which is used for installing the device on a transformer bushing; the mechanical traction structure is mounted at the top of the mounting chassis, and the mechanical traction structure adapts to the traction direction and distance of the transformer bushing and the lead so as to implement non-frictional contact traction; the sensor assembly is integrally mounted on the mechanical traction structure and comprises a tension sensor, a displacement sensor and a speed sensor; the intelligent control unit is integrally mounted on the mechanical traction structure and comprises a main control unit, a control algorithm module, a communication interface circuit, a servo motor driving module, an electromagnet driving circuit, a communication module and a power supply circuit module; the man-machine interaction module is integrally mounted on the mechanical traction structure; the applicability is effectively improved, the installation efficiency is improved, the installation quality is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to a transformer bushing lead-in device, in particular to an intelligent traction device for transformer bushing lead-in devices. Background Art

[0002] With the rapid development of my country's power system, transformers are widely used in the medium and high voltage transmission and distribution industry. As the main equipment in substations, transformers play an irreplaceable role.

[0003] During the installation of the transformer, the traction installation of the bushing lead is crucial. The traditional method is mostly manual operation with the help of simple tools. The traction rope is passed from the end of the bushing to the transformer winding and tied to it firmly, and the bushing is manually pulled out. This operation method has the problems of low precision, easy damage to the lead, low efficiency, and easy friction with the metal part at the top of the bushing, causing damage to components or metal debris entering the bushing and causing accidents. For example, it is difficult to accurately control the position of the lead by manual traction, and installation deviations are prone to occur, affecting the electrical performance of the transformer; the inability to accurately control the pulling force may damage the lead and reduce its service life; in complex environments, manual operation is time-consuming and labor-intensive. With the development of the power industry, the requirements for the quality and efficiency of transformer installation have increased. The existing methods can no longer meet the needs, and an efficient, precise and safe traction device is urgently needed. Summary of the invention

[0004] In order to solve the deficiencies existing in the above-mentioned technology, the present invention provides an intelligent traction device for transformer bushing leads.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a transformer bushing lead intelligent traction device, comprising:

[0006] Mounting chassis, used to mount the device on the transformer bushing;

[0007] The mechanical traction structure is installed on the top of the mounting chassis. The mechanical traction structure adapts to the traction direction and distance of the transformer bushing and lead wire to implement non-friction contact traction;

[0008] A sensor assembly is integrally mounted on the mechanical traction structure and includes a tension sensor, a displacement sensor, and a speed sensor;

[0009] An intelligent control unit, which is integrated and installed on the mechanical traction structure and includes a main control unit, a control algorithm module, a communication interface circuit, a servo motor drive module, an electromagnet drive circuit, a communication module, and a power circuit module;

[0010] The human-machine interaction module is integrated and installed on the mechanical traction structure.

[0011] Furthermore, the mounting chassis includes a chassis with a boss on the bottom surface, an upper flange is threadedly connected to the top surface of the chassis and an electromagnet is arranged between the two, the chassis is connected to the flange on the transformer bushing through its boss, and the lead of the electromagnet is electrically connected to the intelligent control unit.

[0012] Furthermore, the mechanical traction structure includes a mechanical frame, a transmission mechanism, and a servo motor;

[0013] The mechanical frame is threadedly connected to the mounting chassis and fastens and supports the structure above it. The mechanical frame includes a main frame and a traction arm that are independent of each other. An adjusting screw is provided between the main frame and the traction arm.

[0014] The transmission mechanism includes a winding wheel driven by a servo motor on one side of the main frame, a transmission wheel at the free end of the top of the main frame, and a guide wheel at the free end of the traction arm. It also includes a suspension rope wound around the winding wheel and outwardly wound around the transmission wheel and the guide wheel in sequence, and the free end of the suspension rope is equipped with a hook.

[0015] Further, a tension sensor is installed on the lead wire pulling path;

[0016] The displacement sensor is used to measure the displacement of the mechanical traction structure and provide position information to the intelligent control unit;

[0017] The speed sensor is installed on the guide wheel to directly measure the rotation speed of the guide wheel.

[0018] Further, the main control unit is used for calculation and storage;

[0019] The control algorithm module is used to generate control instructions according to the externally preset lead wire pulling path, speed and force parameters to control the action of the mechanical pulling structure;

[0020] The communication interface circuit is a CAN bus communication interface, which receives speed, force and displacement information data from the sensor component;

[0021] The servo motor drive module is used to receive instructions from the main control unit to control the servo motor; the electromagnet drive circuit is used to receive instructions from the main control unit to control the electromagnet;

[0022] The communication module is equipped with a wired communication interface and a wireless communication interface, which is used to communicate with external devices;

[0023] The power circuit module provides working power for each part of the intelligent control unit, and its input power is AC220V.

[0024] Furthermore, in the path calculation of the control algorithm module, a coordinate point sequence is used to represent the path. Assume that the path consists of n points, and the path point coordinate set is P = {P1(x1,y1),P2(x2,y2),···,Pn(xn,yn)};

[0025] Divide the path into segments with equal distance intervals △s, where the starting point of the i-th segment is Psi(xsi,ysi) and the end point is Pei(xei,yei);

[0026] The length Li is calculated using the distance formula between two points, specifically:

[0027]

[0028] Furthermore, in the speed calculation of the control algorithm module, the preset speed parameter is set as v. If the speeds of each segment are different, the speed of the i-th segment is vi, and the calculation formula for the time ti required for the i-th segment path is:

[0029]

[0030] In the above formula, if the speed is uniform, the calculation formula of ti is

[0031] In the speed estimation of the control algorithm module, the time step is set to △t, and the number of time steps Ni required to pass the i-th path is:

[0032]

[0033] Furthermore, in the force calculation of the control algorithm module, a preset force parameter is set as F. If the forces of each segment are different, the force of the i-th segment is set as Fi.

[0034] Furthermore, the generation of control instructions of the control algorithm module includes two stages: target position calculation and control instruction format;

[0035] The target position is calculated for each time step. At the jth time step (j=0, 1, ..., Ni-1) of the i-th path, the coordinate calculation formula of the target position point Pij (xij, yij) is obtained by linear interpolation, specifically:

[0036]

[0037]

[0038] Each control instruction Iij generated in the control instruction format can be expressed as a triplet, which includes the target position coordinates, speed, and strength, specifically:

[0039] Iij=(Pij(xij,yij),vi,Fi).

[0040] Furthermore, the human-machine interaction module includes an operation panel and an alarm device, and the operation panel includes a display screen, an electromagnet on / off control button, an up / stop button, a down / stop button and an interface circuit module.

[0041] A transformer bushing lead intelligent traction device has the following advantages:

[0042] Improve traction accuracy: Using high-precision sensors and intelligent control systems, displacement sensors installed at key locations can accurately control the traction distance of the lead wire, with the error being controlled to millimeter-level accuracy. This is critical for transformer bushing lead wire installation, which requires extremely high position accuracy. It can ensure that the lead wire is accurately inserted into the designated position of the bushing, avoiding electrical faults caused by position deviations;

[0043] Improve applicability: By replacing installation chassis of different specifications, fast installation and removal of transformer bushings of different specifications can be achieved;

[0044] Improve installation efficiency: The traction device is equipped with a high-performance motor combined with a suitable transmission device, which can quickly complete the lead traction work. Compared with the traditional manual traction method, the speed can be increased by more than five times. In addition, the intelligent control system can automatically operate according to the pre-set parameters, reducing the tedious steps of manual operation, greatly shortening the lead traction time during the installation and maintenance of the transformer, and improving the overall work efficiency;

[0045] Protect the lead casing: The device controls the lead through the guide wheel to avoid friction between the lead and the casing. During the traction process, the intelligent control system can also adjust the traction force in real time according to the data of the tension sensor to avoid damage to the lead or casing due to excessive traction, effectively extending the service life of the equipment;

[0046] Improve installation quality: Due to the precise control of traction force and direction, the possibility of damage to the lead wire and bushing during installation is reduced, the safety and stability of transformer operation are improved, and the fault maintenance caused by installation problems in the later stage is reduced;

[0047] Improved safety: The device is equipped with a comprehensive safety protection mechanism. In addition to the conventional emergency brake button, there are also a variety of automatic protection measures. For example, when the system detects motor overheating, circuit short circuit or other faults, it will automatically cut off the power supply, and the electromagnetic brake device of the mechanical part can brake quickly. At the same time, the insulation design of the device can prevent the operator from electric shock, and the high-grade protection shell can prevent dust and moisture from entering, thereby ensuring the safety of personnel and equipment during the operation;

[0048] Reduce labor costs: Due to the high degree of automation of the device, the reliance on manual operation is greatly reduced. Traditional traction work may require the collaboration of multiple people, and experienced workers are required to ensure the accuracy of the operation. The intelligent traction device only requires a few ordinary technicians to perform simple operations and monitoring, which reduces labor costs and the risk of errors caused by insufficient experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a composition diagram of the present invention.

[0050] Figure 2 This is a schematic diagram of the structure for installing the chassis.

[0051] Figure 3 This is a composition diagram of the mechanical traction structure.

[0052] Figure 4 It is a structural schematic diagram of the mechanical traction structure.

[0053] Figure 5 This is a diagram of the composition of the mechanical frame.

[0054] Figure 6 The structure of the present invention is shown in FIG. Figure 1 .

[0055] Figure 7 This is a diagram of the composition of the intelligent control unit.

[0056] Figure 8 This is a diagram of the operation panel.

[0057] Fig. 9 The structure of the present invention is shown in FIG. Figure 2 .

[0058] Fig.10 The structure of the present invention is shown in FIG. Figure 3 .

[0059] In the figure:

[0060] 1. Install chassis; 11. Chassis; 12. Electromagnet; 13. Upper flange;

[0061] 2. Mechanical traction structure; 21. Mechanical frame; 211. Main frame; 212. Traction arm; 213. Adjusting screw; 22. Transmission mechanism; 221. Winding wheel; 222. Transmission wheel; 223. Guide wheel; 224. Lifting rope; 225. Lifting hook; 23. Servo motor;

[0062] 3. Sensor assembly; 31. Tension sensor; 32. Displacement sensor; 33. Speed ​​sensor;

[0063] 4. Intelligent control unit; 41. Main control unit; 42. Control algorithm module; 43. Communication interface circuit; 44. Servo motor drive module; 45. Electromagnet drive circuit; 46. Communication module; 47. Power supply circuit module;

[0064] 5. Human-computer interaction module; 51. Operation panel; 511. Display screen; 512. Electromagnet on / off control button; 513. Up / stop button; 514. Down / stop button; 515. Interface circuit module; 52. Alarm device. DETAILED DESCRIPTION

[0065] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0066] like Figure 1 As shown, this embodiment includes:

[0067] An installation chassis 1, used to install the device on the transformer bushing;

[0068] The mechanical traction structure 2 is installed on the top of the mounting chassis 1, and the mechanical traction structure 2 adapts to the traction direction and distance of the transformer bushing and the lead wire to implement non-friction contact traction;

[0069] The sensor assembly 3 is integrated and mounted on the mechanical traction structure 2 and includes a tension sensor 31, a displacement sensor 32, and a speed sensor 33;

[0070] An intelligent control unit 4 is integrated and mounted on the mechanical traction structure 2 and includes a main control unit 41, a control algorithm module 42, a communication interface circuit 43, a servo motor drive module 44, an electromagnet drive circuit 45, a communication module 46, and a power supply circuit module 47;

[0071] The human-machine interaction module 5 is integrated and installed on the mechanical traction structure 2 .

[0072] Preferably, Figure 2-3 As shown together, the mounting chassis 1 includes a chassis 11 with a boss on the bottom surface, an upper flange 13 is threadedly connected to the top surface of the chassis 11 and an electromagnet 12 is arranged therebetween, the chassis 11 is connected to the flange on the transformer bushing through its boss, the lead of the electromagnet 12 is electrically connected to the intelligent control unit 4, specifically connected to the control output terminal of the intelligent control unit 4, in practice, different specifications of the transformer bushing are adapted by replacing chassis 11, the number and size of the bosses of the chassis 11 correspond to the number and size of the flange bolt holes on the transformer bushing, and during installation, the bosses are inserted into the flange of the transformer bushing; it should be noted that the mounting chassis 1 is also formed with a shell, and corresponding through holes are provided in the center of the shell of the mounting chassis 1, the chassis 11, the upper flange 13 and the electromagnet 12.

[0073] Preferably, Figure 4 As shown, the mechanical traction structure 2 includes a mechanical frame 21, a transmission mechanism 22, and a servo motor 23;

[0074] The mechanical frame 21 is threadedly connected to the mounting chassis 1 and fastens and supports the structure above it. The mechanical frame 21 is constructed of a high-strength, lightweight metal alloy material to ensure a stable structure while being easy to move and operate. Figure 5 As shown, the mechanical frame 21 includes a main frame 211 and a traction arm 212 which are independent of each other. An adjusting screw 213 is provided between the main frame 211 and the traction arm 212. The main frame 211 plays a fixing role. The angle and length of the traction arm 212 are adjustable by adjusting the extension and retraction of the adjusting screw 213 to accurately adapt to the traction direction and distance of the bushing lead in different installation environments, effectively protecting the lead from friction with the transformer bushing during the traction process to prevent damage. In addition, a wiring groove is provided inside the traction arm 212.

[0075] like Figure 6 As shown, the transmission mechanism 22 includes a winding wheel 221 located at one side of the main frame 211 and driven by a servo motor 23, a transmission wheel 222 located at the free end of the top of the main frame 211, and a guide wheel 223 located at the free end of the traction arm 212, and also includes a suspension rope 224 wound around the winding wheel 221 and outwardly wound around the transmission wheel 222 and the guide wheel 223 in sequence, and the free end of the suspension rope 224 is equipped with a hook 225; the servo motor 23 is a high-precision servo motor, which is matched with a planetary gear reducer, and the output torque is stable, It can automatically match the appropriate power after the controllable parameters are input in the console. The maximum traction force can reach 5000 Newtons, and the speed adjustment range is 0.01-0.5 m / s. It should be noted that the sling rope 224 passes through the guide wheel 223 and is guided through the wiring groove opened inside the traction arm 212 and then enters the interior of the mounting chassis 1, and further hangs down through the corresponding through holes opened on the upper flange 13, the electromagnet 12, the chassis 11 and the outer shell of the mounting chassis 1, and then the free end of the sling rope 224 is equipped with a hook 225.

[0076] Preferably, Figure 6 , 9 10, the tension sensor 31 is installed on the lead traction path. During the lead traction process, the tension sensor 31 monitors the tension of the lead in real time. Since the tension that leads of different specifications can withstand has a certain limit, if the tension is too large, it may cause damage to the outer skin of the lead, deformation of the internal structure, etc., affecting its electrical performance and service life. Therefore, by feeding back the tension data to the intelligent control unit 4 in real time, when the tension approaches or exceeds the safety threshold, the intelligent control unit 4 can adjust the traction force of the mechanical traction structure 2 in time to ensure that the lead is always pulled within a safe tension range, effectively avoiding damage to the lead;

[0077] The displacement sensor 32 is used to accurately measure the displacement of the mechanical traction structure 2 to ensure the position accuracy of the lead traction; in the process of pulling the bushing lead to the specified position, high-precision position control is required. The displacement sensor 32 provides accurate position information for the intelligent control unit 4 to ensure that the mechanical traction structure 2 moves according to the preset trajectory and distance, so that the lead is accurately installed at the corresponding position of the transformer bushing, avoiding installation quality problems caused by position deviation, and ensuring the normal operation of the transformer;

[0078] The speed sensor 33 is installed on the guide wheel 223 to directly measure the rotation speed of the guide wheel 223 , and reflects the upward speed of the hook 225 by measuring the rotation speed of the guide wheel 223 .

[0079] Preferably, Figure 7 As shown, the main control unit 41 is used for calculation and storage, and adopts the STM32F407IGT6 microcontroller of STMicroelectronics as the core;

[0080] The control algorithm module 42 has a built-in control algorithm, which is used to generate control instructions according to the external actual preset lead traction path, speed and force parameters to control the action of the mechanical traction structure 2. It should be noted that the control algorithm is not the content to be protected in this application, so no text description and drawings are given, which is hereby explained;

[0081] The communication interface circuit 43 is a CAN bus communication interface, which receives speed, force and displacement information data from the sensor assembly 3. The modular design in which the communication interface circuit 43 is located is equipped with wired and wireless communication interfaces, which can communicate with external devices to achieve remote monitoring and parameter adjustment;

[0082] The servo motor driving module 44 is used to receive the instruction of the main control unit 41 to control the servo motor 23, which is the driving circuit of the servo motor 23;

[0083] The electromagnet driving circuit 45 is used to receive the instruction of the main control unit 41 to control the on and off of the electromagnet 12, and is the driving circuit of the electromagnet 12;

[0084] The communication module 46 is equipped with a wired communication interface and a wireless communication interface, including an RS232 interface circuit and a Bluetooth communication circuit, which is used to communicate with external devices and can realize remote monitoring and parameter adjustment;

[0085] The power circuit module 47 provides working power for each part of the intelligent control unit 4, and its input power is AC220V.

[0086] Preferably, in the path calculation of the control algorithm module 42, a coordinate point sequence is used to represent the path. Assuming that the path consists of n points, the path point coordinate set is P = {P1(x1, y1), P2(x2, y2), ···, Pn(xn, yn)};

[0087] In this calculation, the path is segmented at equal intervals △s. It should be noted that in actual operation, other rules may also be used, such as segmentation by curvature change. In the segmentation rule of this embodiment, the starting point of the i-th path is P si (x si ,y si ), the end point is P ei (x ei ,y ei ), the length Li is calculated by the distance formula between two points, specifically:

[0088]

[0089] In the speed calculation of each time segment in the control algorithm module 42, the preset speed parameter is set as v. If the speeds of each segment are different, the speed of the i-th segment is vi, and the calculation formula for the time ti required for the i-th segment path is:

[0090]

[0091] In the above formula, if the speed is uniform, the calculation formula of ti is:

[0092]

[0093] In the speed estimation of the control algorithm module 42, the time step is set to △t, and the number of time steps Ni required to pass the i-th path is:

[0094] In this formula, vi is replaced by v to achieve uniform speed.

[0095] In the force calculation of the control algorithm module 42, the preset force parameter is set as F. If the forces of each segment are different, the force of the i-th segment is set as Fi. During the entire movement process, different stages (path segments) are pulled according to the set force value, and the force value is directly used as the parameter of the force part in the instruction.

[0096] The generation of control instructions by the control algorithm module 42 includes two stages: target position calculation and control instruction format;

[0097] The target position is calculated for each time step. At the jth time step (j=0, 1, ..., Ni-1) of the i-th path, the coordinate calculation formula of the target position point Pij (xij, yij) is obtained by linear interpolation, specifically:

[0098]

[0099]

[0100] Each control instruction Iij generated in the control instruction format can be expressed as a triplet, which includes the target position coordinates, speed, and strength, specifically:

[0101] Iij=(Pij(xij,yij),vi,Fi).

[0102] On this basis, for example, if a control instruction is to be sent to an execution device at a certain moment, the data is organized according to the above control instruction format, and the device drives the actuator to pull the lead along the preset path according to the target position coordinates, specified speed and force in the instruction.

[0103] It should be noted that the entire calculation algorithm is to first determine the situation of each segment through the path segmentation formula, and then use the time, target position and other formulas to generate the control instructions corresponding to each time step in turn, so as to complete the automatic generation of control instructions under the entire preset path, speed and force parameters.

[0104] The human-computer interaction module 5 includes an operation panel 51 and an alarm device 52. Figure 8 As shown, the operation panel 51 includes a display screen 511, an electromagnet on / off control button 512, an up / stop button 513, a down / stop button 514 and an interface circuit module 515. The display screen 511 displays the device status and parameter information. The electromagnet on / off control button 512, the up / stop button 513, and the down / stop button 514 are used for manual control and parameter setting. The alarm device 52 adopts an audio-triggered alarm, and its main function is to promptly send out an audible and visual alarm signal when an abnormality occurs in the device, such as a sensor failure or abnormal traction.

[0105] The specific real-time operations of this embodiment are as follows:

[0106] S1. Preparation

[0107] Move a transformer bushing lead intelligent traction device to the transformer installation position, select a mounting chassis 1 corresponding to the size of the transformer bushing flange, and install it on the mechanical frame 21. Input the lead traction parameters through the human-computer interaction module 5 and check the operating status of each component of the device.

[0108] S2. Installation phase

[0109] Align the mounting chassis 1 of the intelligent traction device with the transformer bushing flange, and insert the boss of the chassis 11 into the bolt hole corresponding to the transformer bushing flange. Turn on the power of the device, press the electromagnet on / off control button 512, turn on the power of the electromagnet 12, and make the device adsorb to the flange of the transformer bushing.

[0110] S3. Traction phase

[0111] After the operator inputs the transformer bushing model, lead wire specifications and other parameters on the human-machine interactive touch screen interface, the system automatically plans the optimal traction path and force curve. Press the down / stop button 514, and the intelligent control unit 4 sends a down signal to the mechanical traction structure 2 to enable the lead wire to pass through the middle of the transformer bushing. When the lead wire hook 225 contacts the main transformer winding joint, press the down / stop button 514 again to stop the lead wire from descending; firmly connect the hook 225 to the main transformer winding joint.

[0112] Press the rise / stop button 513, and the intelligent control unit 4 drives the mechanical traction structure 2 to perform lead traction according to the parameters and feedback from the sensor component 3. During this process, the sensor component 3 continuously monitors and the intelligent control unit 4 adjusts in real time.

[0113] S4. Completion stage

[0114] After the intelligent control unit 4 detects that the lead hook 225 pulls the main transformer winding joint out of the transformer bushing through the sensor assembly 3, the intelligent control unit 4 controls the servo motor 23 to stop rotating, and the pulling is completed. After the pulling is completed, the human-computer interaction module 5 performs subsequent operations or prepares for the next pulling.

[0115] S5. Exception handling

[0116] During the process, once the sensor assembly 3 detects abnormalities such as the lead wire deflection exceeding the set angle (such as 3 degrees) or the traction force suddenly changing beyond the threshold, the traction is immediately stopped and accurately adjusted. At the same time, the alarm device 52 is activated, and the operator conducts troubleshooting and repairs according to the fault information displayed on the display screen 511; when an abnormality occurs during the traction process, the device can be stopped urgently by pressing the rise / stop button 513 to achieve an emergency stop.

[0117] The present application discloses an intelligent traction device for transformer bushing leads, which has the following advantages:

[0118] Improve traction accuracy: Using high-precision sensors and intelligent control systems, displacement sensors installed at key locations can accurately control the traction distance of the lead wire, with the error being controlled to millimeter-level accuracy. This is critical for transformer bushing lead installation, which requires extremely high position accuracy, and can ensure that the lead wire is accurately inserted into the designated position of the bushing to avoid electrical failures caused by position deviation.

[0119] Improve applicability: By replacing installation chassis of different specifications, fast installation and removal of transformer bushings of different specifications can be achieved;

[0120] Improve installation efficiency: The traction device is equipped with a high-performance motor combined with a suitable transmission device, which can quickly complete the lead traction work. Compared with the traditional manual traction method, the speed can be increased by more than five times. In addition, the intelligent control system can automatically operate according to the pre-set parameters, reducing the tedious steps of manual operation, greatly shortening the lead traction time during the installation and maintenance of the transformer, and improving the overall work efficiency.

[0121] Protect the lead casing: The device controls the lead through the guide wheel to avoid friction between the lead and the casing. During the traction process, the intelligent control system can also adjust the traction force in real time according to the data of the tension sensor to avoid damage to the lead or casing due to excessive traction, effectively extending the service life of the equipment

[0122] Improve installation quality: Due to the precise control of traction force and direction, the possibility of damage to the lead wire and bushing during installation is reduced, the safety and stability of transformer operation are improved, and the fault maintenance caused by installation problems in the later stage is reduced;

[0123] Improved safety: The device has a complete safety protection mechanism. In addition to the conventional emergency brake button, there are also a variety of automatic protection measures. For example, when the system detects motor overheating, circuit short circuit or other faults, it will automatically cut off the power supply, and the electromagnetic brake device of the mechanical part can brake quickly. At the same time, the insulation design of the device can prevent operators from getting electric shock, and the high-grade protection shell can prevent dust and moisture from entering, thereby ensuring the safety of personnel and equipment during operation.

[0124] Reduce labor costs: Due to the high degree of automation of the device, the reliance on manual operation is greatly reduced. Traditional traction work may require the collaboration of multiple people, and experienced workers are required to ensure the accuracy of the operation. The intelligent traction device only requires a few ordinary technicians to perform simple operations and monitoring, which reduces labor costs and the risk of errors caused by insufficient experience.

[0125] The above implementation modes are not limitations of the present invention, and the present invention is not limited to the above examples. Any changes, modifications, additions or substitutions made by technicians in this technical field within the scope of the technical solution of the present invention also belong to the protection scope of the present invention.

Claims

1. A transformer bushing lead intelligent traction device, characterized in that: include: A mounting chassis (1) for mounting the device on a transformer bushing; A mechanical traction structure (2) is installed on the top of the mounting chassis (1), and the mechanical traction structure (2) is adapted to the traction direction and distance of the transformer bushing and lead wire to implement non-friction contact traction; A sensor assembly (3) is integrally mounted on the mechanical traction structure (2) and comprises a tension sensor (31), a displacement sensor (32), and a speed sensor (33); An intelligent control unit (4) is integrated and mounted on the mechanical traction structure (2) and comprises a main control unit (41), a control algorithm module (42), a communication interface circuit (43), a servo motor drive module (44), an electromagnet drive circuit (45), a communication module (46), and a power supply circuit module (47); The human-machine interaction module (5) is integrated and mounted on the mechanical traction structure (2).

2. The transformer bushing lead intelligent traction device according to claim 1, characterized in that: The mounting chassis (1) comprises a chassis (11) with a boss on the bottom surface, an upper flange (13) is threadedly connected to the top surface of the chassis (11), and an electromagnet (12) is arranged between the two, the chassis (11) is connected to the flange on the transformer bushing through its boss, and the lead wire of the electromagnet (12) is electrically connected to the intelligent control unit (4).

3. The intelligent traction device for transformer bushing leads according to claim 1, characterized in that: The mechanical traction structure (2) comprises a mechanical frame (21), a transmission mechanism (22), and a servo motor (23); The mechanical frame (21) is threadedly connected to the mounting chassis (1) and fastens and supports the structure above the chassis, the mechanical frame (21) comprises a main frame (211) and a traction arm (212) which are independent of each other, and an adjusting screw (213) is provided between the main frame (211) and the traction arm (212); The transmission mechanism (22) comprises a winding wheel (221) located at one side of the main frame (211) and driven by a servo motor (23), a transmission wheel (222) located at the free end of the top of the main frame (211), and a guide wheel (223) located at the free end of the traction arm (212), and also comprises a suspension rope (224) wound around the winding wheel (221) and wound outwardly around the transmission wheel (222) and the guide wheel (223) in sequence, wherein the free end of the suspension rope (224) is equipped with a suspension hook (225).

4. The intelligent traction device for transformer bushing leads according to claim 3 is characterized in that: The tension sensor (31) is installed on the lead wire pulling path; The displacement sensor (32) is used to measure the displacement of the mechanical traction structure (2) and provide position information to the intelligent control unit (4); The speed sensor (33) is mounted on the guide wheel (223) to directly measure the rotation speed of the guide wheel (223).

5. The intelligent traction device for transformer bushing leads according to claim 1, characterized in that: The main control unit (41) is used for calculation and storage; The control algorithm module (42) is used to generate a control instruction to control the action of the mechanical traction structure (2) according to the externally preset actual lead wire traction path, speed and force parameters; The communication interface circuit (43) is a CAN bus communication interface, which receives speed, force and displacement information data from the sensor component (3); The servo motor driving module (44) is used to receive instructions from the main control unit (41) to control the servo motor (23); The electromagnet drive circuit (45) is used to receive instructions from the main control unit (41) to control the electromagnet (12); The communication module (46) is equipped with a wired communication interface and a wireless communication interface, which is used to communicate with external devices; The power circuit module (47) provides working power for various parts of the intelligent control unit (4), and its input power is AC220V.

6. The transformer bushing lead intelligent traction device according to claim 5, characterized in that: In the path calculation of the control algorithm module (42), a coordinate point sequence is used to represent the path. Assuming that the path is composed of n points, the path point coordinate set is P={P1(x1, y1), P2(x2, y2),..., Pn(xn, yn)}; Divide the path into segments with equal distance intervals △s, where the starting point of the i-th segment is Psi(xsi,ysi) and the end point is Pei(xei,yei); The length Li is calculated using the distance formula between two points, specifically:

7. The intelligent traction device for transformer bushing leads according to claim 6, characterized in that: In the speed estimation of the control algorithm module (42), a preset speed parameter is set as v. If the speeds of each segment are different, the speed of the i-th segment is vi, and the calculation formula for the time ti required for the i-th segment path is: In the above formula, if the speed is uniform, the calculation formula of ti is In the speed estimation of the control algorithm module (42), the time step is set to Δt, and the number of time steps Ni required to pass the i-th path is:

8. The intelligent traction device for transformer bushing leads according to claim 7, characterized in that: In the force calculation of the control algorithm module (42), a preset force parameter is set as F. If the forces of each segment are different, the force of the i-th segment is set as Fi.

9. The transformer bushing lead intelligent traction device according to claim 8, characterized in that: The generation of control instructions by the control algorithm module (42) includes two stages: target position calculation and control instruction format; The target position is calculated for each time step. At the jth time step (j=0, 1, ..., Ni-1) of the i-th path, the coordinate calculation formula of the target position point Pij (xij, yij) is obtained by linear interpolation, specifically: Each control instruction Iij generated in the control instruction format can be expressed as a triplet, which includes the target position coordinates, speed, and force, specifically: Iij=(Pij(xij,yij),vi,Fi).

10. The transformer bushing lead intelligent traction device according to claim 1, characterized in that: The human-machine interaction module (5) comprises an operation panel (51) and an alarm device (52); the operation panel (51) comprises a display screen (511), an electromagnet on / off control button (512), an ascending / stop button (513), a descending / stop button (514) and an interface circuit module (515).

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