技术领域technical field
本发明涉及电力仿真实验的技术领域，尤其涉及一种基于增强现实技术的电力仿真实验装置。The invention relates to the technical field of electric power simulation experiments, in particular to an electric power simulation experiment device based on augmented reality technology.
背景技术Background technique
高空循线工作的主要工作内容是负重顺着湿滑的绝缘子串，爬到几十甚至一百多层楼高的塔上，然后进行高空循线工作，这在电力输送中是一项非常重要的工作，而此项工作由于高空作业，工人只能沿着线缆单向行走，从时间维度上看，短则三四个小时，长则七八个小时，对于工人的体力、精力以及心理素质都是严重的考验，目前都是只能在地面进行简单的培训后，第一次上岗的工人就颤颤惊惊的开始了首次作业，很多人因为这个工作环境问题而不得不转岗，很容易造成人力短缺的问题，究其原因，还在于很多人难以一下子适应高空循线作业，基于这个问题的考量，引入目前发展较为迅速的增强现实技术，实现工人电力高空循线的仿真实验训练项目。The main work content of high-altitude line tracking work is to climb along the wet and slippery insulator strings to towers with a height of tens or even one hundred floors, and then carry out high-altitude line tracking work, which is a very important task in power transmission. Due to high-altitude operations, workers can only walk in one direction along the cable. From the perspective of time, the shortest is three or four hours, and the longest is seven or eight hours. Quality is a serious test. At present, after simple training on the ground, the first-time workers start their first operation tremblingly. Many people have to transfer jobs because of this working environment problem. It is easy to cause a shortage of manpower. The reason is that many people are difficult to adapt to high-altitude line-following operations at once. Based on this problem, the augmented reality technology that is currently developing rapidly is introduced to realize the simulation experiment training of workers' high-altitude line-following operations. project.
发明内容Contents of the invention
针对以上现有存在的问题，本发明提供一种基于增强现实技术的电力仿真实验装置，在一定程度上模仿现有线缆的架设形势，为模拟高空循线工作提供了硬件基础，待上岗工人佩戴播放高空视频的VR眼镜并在线缆上行走，实现不下线长时间行走锻炼，有助于提高工人上岗经验。In view of the above existing problems, the present invention provides a power simulation experiment device based on augmented reality technology, which imitates the erection situation of existing cables to a certain extent, and provides a hardware basis for simulating high-altitude line-following work. Wearing VR glasses that play high-altitude videos and walking on cables can realize long-term walking exercises without going offline, which is helpful to improve workers' on-the-job experience.
本发明的技术方案在于：Technical scheme of the present invention is:
本发明提供一种基于增强现实技术的电力仿真实验装置，包括左部线缆、中部线缆、右部线缆、左部支架、中部支架、右部支架、左部可旋转底盘、中部可伸缩底盘、右部可旋转底盘和承载底框，所述左部线缆、中部线缆和右部线缆分别依次设置在左部支架、中部支架和右部支架上，使得左部线缆、中部线缆和右部线缆分别在左部支架、中部支架和右部支架的上端拉伸抻开；The invention provides an electric power simulation experiment device based on augmented reality technology, which includes a left cable, a middle cable, a right cable, a left bracket, a middle bracket, a right bracket, a left rotatable chassis, and a middle telescopic The chassis, the right rotatable chassis and the bearing bottom frame, the left cable, the middle cable and the right cable are arranged on the left bracket, the middle bracket and the right bracket respectively, so that the left cable, the middle cable The cable and the right cable are respectively stretched on the upper ends of the left bracket, the middle bracket and the right bracket;
所述左部支架和右部支架的下端中央分别设有左部可旋转底盘和右部可旋转底盘，所述中部支架的下端设有中部可伸缩底盘，所述左部可旋转底盘和右部可旋转底盘分别处于中部可伸缩底盘的左右两侧，使得左部支架和右部支架分别相对于左部可旋转底盘和右部支架水平转动前，所述中部可伸缩底盘的左右两端带动中部支架的左右两侧实现伸缩动作，为左部支架和右部支架的旋转留出空间。A left rotatable chassis and a right rotatable chassis are respectively provided at the center of the lower ends of the left bracket and the right bracket, the middle telescopic chassis is arranged at the lower end of the middle bracket, and the left rotatable chassis and the right The rotatable chassis is respectively located on the left and right sides of the central telescopic chassis, so that before the left and right brackets rotate horizontally relative to the left rotatable chassis and the right support respectively, the left and right ends of the central telescopic chassis drive the central The left and right sides of the bracket realize the telescopic action, leaving space for the rotation of the left bracket and the right bracket.
进一步地，所述左部线缆、中部线缆和右部线缆分别包括多根相互平行且横截面呈正方形分布的线缆。Further, the left cable, the middle cable and the right cable respectively include a plurality of cables parallel to each other and whose cross-sections are distributed in a square shape.
进一步地，所述左部支架包括两个第二线缆隔离架，两个所述第二线缆隔离架分别设置在左部线缆的左右两端，所述第二线缆隔离架的下端设有第五支架。Further, the left bracket includes two second cable isolation frames, the two second cable isolation frames are respectively arranged at the left and right ends of the left cable, and the lower ends of the second cable isolation frames A fifth bracket is provided.
进一步地，所述左部可旋转底盘包括设置在两个第五支架的下端之间的左转动框、第二驱动箱和第四伺服电机，所述左转动框的中部与第二驱动箱相连，所述第二驱动箱的一侧设有第四伺服电机，由第四伺服电机提供驱动力，通过第二驱动箱驱动左转动框转动。Further, the left rotatable chassis includes a left rotating frame, a second driving box and a fourth servo motor arranged between the lower ends of the two fifth brackets, the middle part of the left rotating frame is connected to the second driving The box is connected, and a fourth servo motor is provided on one side of the second drive box, the driving force is provided by the fourth servo motor, and the left rotation frame is driven to rotate through the second drive box.
进一步地，所述右部支架包括两个第一线缆隔离架，两个所述第一线缆隔离架分别设置在右部线缆的左右两端，所述第一线缆隔离架的下端设有第一支架。Further, the right bracket includes two first cable isolation frames, the two first cable isolation frames are respectively arranged at the left and right ends of the right cable, and the lower ends of the first cable isolation frames A first bracket is provided.
进一步地，所述右部可旋转底盘包括设置在两个第一支架的下端之间的右转动框、第一伺服电机和第一驱动箱，所述右转动框的中部与第一驱动箱相连，所述第一驱动箱的一侧设有第一伺服电机，由所述第一伺服电机提供驱动力，通过第一驱动箱驱动右转动框转动。Further, the right rotatable chassis includes a right rotating frame, a first servo motor, and a first driving box arranged between the lower ends of the two first brackets, and the middle part of the right rotating frame is connected to the first driving box. The box is connected, and a first servo motor is provided on one side of the first drive box, and the driving force is provided by the first servo motor, and the right rotating frame is driven to rotate through the first drive box.
进一步地，所述中部可伸缩底盘包括长底框、左滑块、右滑块、左驱动结构和右驱动机构，所述长底框呈长方形框架结构且左右两端分别设置有第二驱动箱和第一驱动箱，所述长底框处于中部线缆左右两端正下方的部分上分别设有左滑块和右滑块，所述左滑块和右滑块的相对端分别连接有左驱动结构和右驱动机构，所述左驱动结构和右驱动机构设置在长底框上，而所述左滑块和右滑块的上端与中部支架的左右两端相连，使得所述左驱动结构和右驱动机构分别驱动左滑块和右滑块在长底框上沿着长底框的长度方向移动，实现中部线缆的左右两端相对伸缩。Further, the middle retractable chassis includes a long bottom frame, a left slider, a right slider, a left drive structure and a right drive mechanism, the long bottom frame is a rectangular frame structure and the left and right ends are respectively provided with a second drive box and the first drive box, the part of the long bottom frame that is directly below the left and right ends of the middle cable is respectively provided with a left slider and a right slider, and the opposite ends of the left slider and the right slider are respectively connected with a left drive structure and the right drive mechanism, the left drive structure and the right drive mechanism are arranged on the long bottom frame, and the upper ends of the left slider and the right slider are connected with the left and right ends of the middle support, so that the left drive structure and the The right driving mechanism respectively drives the left slider and the right slider to move on the long bottom frame along the length direction of the long bottom frame, so that the left and right ends of the middle cable are relatively stretchable.
进一步地，所述中部支架包括第三线缆隔离架、第六线缆隔离架、第四线缆隔离架、第五线缆隔离架、第二支架、第三支架、第四支架和第六支架，所述中部线缆的左右两端分别设有第三线缆隔离架和第六线缆隔离架，所述第三线缆隔离架和第六线缆隔离架的下端分别设有第四支架和第六支架，所述第四支架和第六支架的下端分别固定设置在左滑块和右滑块上，使得所述第三线缆隔离架和第六线缆隔离架分别随着左滑块和右滑块移动；Further, the middle support includes a third cable isolation frame, a sixth cable isolation frame, a fourth cable isolation frame, a fifth cable isolation frame, a second frame, a third frame, a fourth frame and a sixth frame bracket, the left and right ends of the middle cable are respectively provided with a third cable isolation frame and a sixth cable isolation frame, and the lower ends of the third cable isolation frame and the sixth cable isolation frame are respectively provided with a fourth cable isolation frame. bracket and the sixth bracket, the lower ends of the fourth bracket and the sixth bracket are respectively fixed on the left slider and the right slider, so that the third cable isolation frame and the sixth cable isolation frame follow the left slider and right slider movement;
进一步地，所述中部线缆处于第三线缆隔离架和第六线缆隔离架之间的部分上设有第四线缆隔离架和第五线缆隔离架，所述第四线缆隔离架和第五线缆隔离架的下端分别设有第三支架和第二支架，所述第三支架和第二支架的下端分别固定设置在长底框上，使得所述中部线缆处于处于第四线缆隔离架和第五线缆隔离架之间的部分相对长底框固定。Further, a fourth cable isolation frame and a fifth cable isolation frame are provided on the part of the middle cable between the third cable isolation frame and the sixth cable isolation frame, and the fourth cable isolation frame The lower ends of the frame and the fifth cable isolation frame are respectively provided with a third bracket and a second bracket, and the lower ends of the third bracket and the second bracket are respectively fixed on the long bottom frame, so that the middle cable is in the first position. The part between the four-cable isolation frame and the fifth cable isolation frame is relatively fixed to the long bottom frame.
进一步地，所述左驱动结构和右驱动机构都包括伸缩伺服电机、第一铰接固定板、丝杠、第二铰接固定板和减速器，所述第一铰接固定板和第二铰接固定板分别固定设置在长底框侧壁且相互之间铰接有丝杠，所述丝杠伸出第二铰接固定板的端部连接有减速器，所述减速器连接有伸缩伺服电机，所述伸缩伺服电机通过减速器驱动丝杠在第一铰接固定板和第二铰接固定板之间转动，使得所述左滑块和右滑块分别嵌套并螺纹连接在驱动结构中的丝杠和右驱动机构中的丝杠上，实现所述左驱动结构和右驱动结构分别驱动左滑块和右滑块沿着长底框左右移动。Further, both the left drive structure and the right drive mechanism include a telescopic servo motor, a first hinged fixed plate, a lead screw, a second hinged fixed plate and a reducer, and the first hinged fixed plate and the second hinged fixed plate are respectively Fixedly arranged on the side wall of the long bottom frame and hinged with each other with lead screws, the end of the lead screw protruding from the second hinged fixing plate is connected to a reducer, the reducer is connected to a telescopic servo motor, and the telescopic servo The motor drives the screw through the reducer to rotate between the first hinged fixed plate and the second hinged fixed plate, so that the left slider and the right slider are respectively nested and screwed to the screw and the right drive mechanism in the drive structure On the lead screw in the middle, the left drive structure and the right drive structure drive the left slider and the right slider to move left and right along the long bottom frame respectively.
本发明由于采用了上述技术，使之与现有技术相比具体的积极有益效果为：The present invention has adopted above-mentioned technology, makes it compared with prior art concrete positive beneficial effect is:
1、模仿现有线缆的架设形势，为模拟高空循线工作提供了硬件基础，待上岗工人佩戴播放高空视频的VR眼镜并在线缆上行走，实现不下线长时间行走锻炼，有助于提高工人上岗经验。1. Imitate the erection of existing cables and provide a hardware foundation for simulating high-altitude line-following work. Workers to be employed wear VR glasses that play high-altitude videos and walk on the cables to achieve long-term walking exercises without going offline, which is helpful Improve workers' on-the-job experience.
2、设置中部线缆分别与左部线缆和右部线缆的配合，实现工人始终是按照单一方向进行行走，而便于在时间维度上，模拟现有高空循线工作都需要3-4h的持续单一方向行走动作，实现了良好模拟的硬件基础。2. Set the coordination between the middle cable and the left cable and the right cable, so that workers can always walk in a single direction, and it is convenient to simulate the existing high-altitude line work in the time dimension. It takes 3-4 hours Continuous walking in a single direction realizes a good hardware foundation for simulation.
附图说明Description of drawings
图1是本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2是图1中A处的局部放大示意图；Fig. 2 is a partially enlarged schematic diagram of place A in Fig. 1;
图3是图1所示结构自中部截断后的右半部分的结构示意图。Fig. 3 is a structural schematic diagram of the right half of the structure shown in Fig. 1 cut off from the middle.
图中：1-第一线缆隔离架，2-第一支架，3-右转动框，4-第一伺服电机，5-第一驱动箱，6-转动盘，7-长底框，8-右滑块，9-第二伺服电机，10-第二支架，11-中部线缆，12-第三支架，13-第三伺服电机，14-第四支架，15-左滑块，16-第二驱动箱，17-第四伺服电机，18-左转动框，19-第五支架，20-第二线缆隔离架，21-左部线缆，22-第三线缆隔离架，23-第四线缆隔离架，24-第五线缆隔离架，25-第六支架，26-第六线缆隔离架，27-右部线缆，28-第一铰接固定板，29-丝杠，30-第二铰接固定板，31-减速器。In the figure: 1-the first cable isolation frame, 2-the first bracket, 3-right rotating frame, 4-the first servo motor, 5-the first driving box, 6-rotating disk, 7-long bottom frame, 8-right slider, 9-second servo motor, 10-second bracket, 11-middle cable, 12-third bracket, 13-third servo motor, 14-fourth bracket, 15-left slider, 16-Second drive box, 17-Fourth servo motor, 18-Left rotating frame, 19-Fifth bracket, 20-Second cable isolation frame, 21-Left cable, 22-Third cable isolation Frame, 23-the fourth cable isolation frame, 24-the fifth cable isolation frame, 25-the sixth bracket, 26-the sixth cable isolation frame, 27-right cable, 28-the first hinged fixing plate, 29-leading screw, 30-the second hinged fixed plate, 31-reducer.
具体实施方式Detailed ways
实施例一：Embodiment one:
如附图1-附图3所示，本发明提供一种基于增强现实技术的电力仿真实验装置，包括左部线缆21、中部线缆11、右部线缆27、左部支架、中部支架、右部支架、左部可旋转底盘、中部可伸缩底盘、右部可旋转底盘和承载底框，左部线缆21、中部线缆11和右部线缆27分别依次设置在左部支架、中部支架和右部支架上，使得左部线缆21、中部线缆11和右部线缆27分别在左部支架、中部支架和右部支架的上端拉伸抻开；As shown in accompanying drawing 1-accompanying drawing 3, the present invention provides a kind of power simulation experiment device based on augmented reality technology, comprises left part cable 21, middle part cable 11, right part cable 27, left part support, middle part support , the right bracket, the left rotatable chassis, the middle telescopic chassis, the right rotatable chassis and the bearing bottom frame, the left cable 21, the middle cable 11 and the right cable 27 are respectively arranged on the left bracket, On the middle bracket and the right bracket, the left cable 21, the middle cable 11 and the right cable 27 are respectively stretched at the upper ends of the left bracket, the middle bracket and the right bracket;
左部支架和右部支架的下端中央分别设有左部可旋转底盘和右部可旋转底盘，中部支架的下端设有中部可伸缩底盘，左部可旋转底盘和右部可旋转底盘分别处于中部可伸缩底盘的左右两侧，使得左部支架和右部支架分别相对于左部可旋转底盘和右部支架水平转动前，中部可伸缩底盘的左右两端带动中部支架的左右两侧实现伸缩动作，为左部支架和右部支架的旋转留出空间。A left rotatable chassis and a right rotatable chassis are respectively provided at the center of the lower ends of the left bracket and the right bracket; The left and right sides of the telescopic chassis make the left and right brackets rotate horizontally relative to the left rotatable chassis and the right bracket respectively, and the left and right ends of the central telescopic chassis drive the left and right sides of the middle bracket to realize telescopic action , to allow room for the rotation of the left and right brackets.
其中，左部线缆21、中部线缆11和右部线缆27分别包括多根相互平行且横截面呈正方形分布的线缆。Wherein, the left cable 21 , the middle cable 11 and the right cable 27 respectively include a plurality of cables parallel to each other and having a square cross-section.
左部支架包括两个第二线缆隔离架20，两个第二线缆隔离架20分别设置在左部线缆21的左右两端，第二线缆隔离架20的下端设有第五支架19；对应左部支架，左部可旋转底盘包括设置在两个第五支架19的下端之间的左转动框18、第二驱动箱16和第四伺服电机17，左转动框18的中部设有转动盘6，左转动框18的的转动盘6与第二驱动箱16相连，第二驱动箱16的一侧设有第四伺服电机17，由第四伺服电机17提供驱动力，通过第二驱动箱16驱动左转动框18转动。The left bracket includes two second cable spacers 20, and the two second cable spacers 20 are respectively arranged at the left and right ends of the left cable 21, and the lower end of the second cable spacer 20 is provided with a fifth bracket 19; corresponding to the left support, the left rotatable chassis includes a left rotating frame 18, a second drive box 16 and a fourth servo motor 17 arranged between the lower ends of two fifth supports 19, and the left rotating frame 18 The middle part is provided with a rotating disk 6, and the rotating disk 6 of the left rotating frame 18 is connected with the second driving box 16, and one side of the second driving box 16 is provided with a fourth servo motor 17, and the driving force is provided by the fourth servo motor 17 , the left rotating frame 18 is driven to rotate by the second driving box 16 .
右部支架包括两个第一线缆隔离架1，两个第一线缆隔离架1分别设置在右部线缆27的左右两端，第一线缆隔离架1的下端设有第一支架2；对应右部支架，右部可旋转底盘包括设置在两个第一支架2的下端之间的右转动框3、第一伺服电机4和第一驱动箱5，右转动框3的中部也设有转动盘6，右转动框3的的转动盘6与第一驱动箱5相连，第一驱动箱5的一侧设有第一伺服电机4，由第一伺服电机4提供驱动力，通过第一驱动箱5驱动右转动框3转动。The right part support comprises two first cable spacers 1, and two first cable spacers 1 are respectively arranged on the left and right ends of the right cable 27, and the lower end of the first cable spacer 1 is provided with the first support 2; corresponding to the right bracket, the right rotatable chassis includes a right rotating frame 3, a first servo motor 4 and a first drive box 5 arranged between the lower ends of the two first brackets 2, and the right rotating frame 3 The middle part is also provided with a rotating disk 6, and the rotating disk 6 of the right rotating frame 3 is connected with the first drive box 5, and a first servo motor 4 is provided on one side of the first drive box 5, and the first servo motor 4 provides the drive. Power drives the right rotating frame 3 to rotate through the first driving box 5 .
其中应当注意，第一驱动箱5和第二驱动箱16内部构造均包括减速箱和与长底框7固定相连的机体壳。It should be noted that the internal structures of the first driving box 5 and the second driving box 16 both include a reduction box and a body shell fixedly connected with the long bottom frame 7 .
其中，中部可伸缩底盘包括长底框7、左滑块15、右滑块8、左驱动结构和右驱动机构，长底框7呈长方形框架结构且左右两端分别设置有第二驱动箱16和第一驱动箱5，长底框7处于中部线缆11左右两端正下方的部分上分别设有左滑块15和右滑块8，左滑块15和右滑块8的相对端分别连接有左驱动结构和右驱动机构，左驱动结构和右驱动机构设置在长底框7上，而左滑块15和右滑块8的上端分别与中部支架的左右两端相连，使得左驱动结构和右驱动机构分别驱动左滑块15和右滑块8在长底框7上沿着长底框7的长度方向移动，实现中部线缆11的左右两端相对伸缩。Wherein, the retractable chassis in the middle includes a long bottom frame 7, a left slider 15, a right slider 8, a left drive structure and a right drive mechanism, the long bottom frame 7 is a rectangular frame structure and the left and right ends are respectively provided with a second drive box 16 With the first driving box 5, the long bottom frame 7 is respectively provided with a left slider 15 and a right slider 8 on the part directly below the left and right ends of the middle cable 11, and the opposite ends of the left slider 15 and the right slider 8 are respectively connected There is a left drive structure and a right drive mechanism, the left drive structure and the right drive mechanism are arranged on the long bottom frame 7, and the upper ends of the left slider 15 and the right slider 8 are respectively connected with the left and right ends of the middle support, so that the left drive structure And the right driving mechanism respectively drives the left slider 15 and the right slider 8 to move along the length direction of the long bottom frame 7 on the long bottom frame 7, so that the left and right ends of the middle cable 11 are relatively stretchable.
其中，中部支架包括第三线缆隔离架22、第六线缆隔离架26、第四线缆隔离架23、第五线缆隔离架24、第二支架10、第三支架12、第四支架14和第六支架25，中部线缆11的左右两端分别设有第三线缆隔离架22和第六线缆隔离架26，第三线缆隔离架22和第六线缆隔离架26的下端分别设有第四支架14和第六支架25，第四支架14和第六支架25的下端分别固定设置在左滑块15和右滑块8上，使得第三线缆隔离架22和第六线缆隔离架26分别随着左滑块15和右滑块8移动；Wherein, the middle support includes the third cable isolation frame 22, the sixth cable isolation frame 26, the fourth cable isolation frame 23, the fifth cable isolation frame 24, the second support 10, the third support 12, the fourth support 14 and the sixth bracket 25, the left and right ends of the middle cable 11 are respectively provided with the third cable isolation frame 22 and the sixth cable isolation frame 26, the third cable isolation frame 22 and the sixth cable isolation frame 26 The lower end is provided with the fourth bracket 14 and the sixth bracket 25 respectively, and the lower ends of the fourth bracket 14 and the sixth bracket 25 are fixedly arranged on the left slider 15 and the right slider 8 respectively, so that the third cable spacer 22 and the sixth bracket Six cable spacers 26 move with the left slider 15 and the right slider 8 respectively;
中部线缆11处于第三线缆隔离架22和第六线缆隔离架26之间的部分上设有第四线缆隔离架23和第五线缆隔离架24，第四线缆隔离架23和第五线缆隔离架24的下端分别设有第三支架12和第二支架10，第三支架12和第二支架10的下端分别固定设置在长底框7上，使得中部线缆11处于处于第四线缆隔离架23和第五线缆隔离架24之间的部分相对长底框7固定。The middle cable 11 is provided with a fourth cable isolation frame 23 and a fifth cable isolation frame 24 on the part between the third cable isolation frame 22 and the sixth cable isolation frame 26, and the fourth cable isolation frame 23 and the lower end of the fifth cable spacer 24 are respectively provided with a third support 12 and a second support 10, and the lower ends of the third support 12 and the second support 10 are fixedly arranged on the long bottom frame 7 respectively, so that the middle cable 11 is in the The part between the fourth cable isolation frame 23 and the fifth cable isolation frame 24 is fixed relative to the long bottom frame 7 .
而针对左驱动结构和右驱动机构都包括伸缩伺服电机、第一铰接固定板28、丝杠29、第二铰接固定板30和减速器31，伸缩伺服电机分别对应左驱动结构和右驱动机构包括第三伺服电机13和第二伺服电机9，第一铰接固定板28和第二铰接固定板30分别固定设置在长底框7侧壁且相互之间铰接有丝杠29，丝杠29伸出第二铰接固定板30的端部连接有减速器31，减速器31连接有伸缩伺服电机，伸缩伺服电机通过减速器31驱动丝杠29在第一铰接固定板28和第二铰接固定板30之间转动，使得左滑块15和右滑块8分别嵌套并螺纹连接在驱动结构中的丝杠29和右驱动机构中的丝杠29上，实现第三伺服电机13和第二伺服电机9分别驱动左滑块15和右滑块8沿着长底框7左右移动。For the left drive structure and the right drive mechanism, the telescopic servo motor, the first hinged fixed plate 28, the screw 29, the second hinged fixed plate 30 and the speed reducer 31 are all included, and the telescopic servo motor corresponds to the left drive structure and the right drive mechanism. The third servomotor 13 and the second servomotor 9, the first hinged fixed plate 28 and the second hinged fixed plate 30 are fixedly arranged on the side wall of the long bottom frame 7 respectively and are hinged with a leading screw 29 between them, and the leading screw 29 stretches out The end of the second hinged fixed plate 30 is connected with a reducer 31, the reducer 31 is connected with a telescopic servo motor, and the telescopic servo motor drives the lead screw 29 through the reducer 31 between the first hinged fixed plate 28 and the second hinged fixed plate 30 Rotate between, so that the left slider 15 and the right slider 8 are respectively nested and screwed on the lead screw 29 in the drive structure and the lead screw 29 in the right drive mechanism, realizing the third servo motor 13 and the second servo motor 9 Drive the left slider 15 and the right slider 8 to move left and right along the long bottom frame 7 respectively.
而整体上，长底框7中部还设有PLC控制器和设置在第三线缆隔离架22左右两侧的两个超声位置感应器和第六线缆隔离架26左右两侧的两个超声位置传感器，以实现第三伺服电机13和第四伺服电机17相互间协调动作控制与第一伺服电机4和第二伺服电机9相互间协调控制，例如按照超声位置传感器检测到工人由中部线缆11走到了左部线缆21，第三伺服电机13通电一定时间，实现中部线缆11相对收缩动作，接着第四伺服电机17通电一定时间，实现左部线缆21的转动动作，再接着第三伺服电机13通电一定时间，实现中部线缆11左端的伸展复位；而同样地，适用于工人自中部线缆11走到右部线缆27上时，对第二伺服电机9和第一伺服电机4的协同控制。On the whole, the middle part of the long bottom frame 7 is also provided with a PLC controller and two ultrasonic position sensors arranged on the left and right sides of the third cable isolation frame 22 and two ultrasonic position sensors on the left and right sides of the sixth cable isolation frame 26. The position sensor is to realize the coordinated action control between the third servo motor 13 and the fourth servo motor 17 and the coordinated control between the first servo motor 4 and the second servo motor 9. 11 walks to the left cable 21, the third servo motor 13 is energized for a certain period of time to realize the relative contraction of the middle cable 11, and then the fourth servo motor 17 is energized for a certain period of time to realize the rotation of the left cable 21, and then the second Three servo motors 13 are energized for a certain period of time to realize the extension and reset of the left end of the middle cable 11; Coordinated control of motor 4.
工作机理：基于培训高空循线的待上岗工人的目的，以便于上岗工人在真正进行高空循线工作时，能够克服自身恐惧和熟练进行循线，特别基于增强现实技术，以播放高空循线时录制的高空视频的VR眼镜作为视觉发生器，使得待上岗工人佩戴上该VR眼镜后，站立在模拟实际线缆架设情况的左部线缆21、中部线缆11和右部线缆27上，然后沿着左部线缆21、中部线缆11和右部线缆27依次行走，由于左部线缆21、中部线缆11和右部线缆27是依次成直线状分布，长度有限，而如果设置成圈形结构，则与实际线缆架设情况不符，因此为了解决这个问题，设置中部线缆11的中部相对固定，也就是中部线缆11的中部通过第二支架10和第三支架12固定设置在地面的长底框7上，而中部线缆11的左右两侧则能够在左驱动结构和右驱动机构的驱动下实现相对伸缩，而处于中部线缆11左右两侧的左部线缆21和右部线缆27能够分别在第二驱动箱16和第一驱动箱5的驱动下相对长底框7转动；Working mechanism: Based on the purpose of training high-altitude line-tracking workers, so that the workers can overcome their own fear and skillfully follow the line when they are actually doing high-altitude line-tracking work, especially based on augmented reality technology, to play high-altitude line-tracking The VR glasses of the recorded high-altitude video are used as a visual generator, so that after the workers on duty wear the VR glasses, they stand on the left cable 21, the middle cable 11 and the right cable 27 that simulate the actual cable erection situation, Then walk along the left cable 21, the middle cable 11 and the right cable 27 successively, because the left cable 21, the middle cable 11 and the right cable 27 are distributed in a straight line successively, the length is limited, and If it is set in a ring structure, it does not conform to the actual cable erection situation, so in order to solve this problem, the middle part of the middle cable 11 is set to be relatively fixed, that is, the middle part of the middle cable 11 passes through the second bracket 10 and the third bracket 12 Fixedly arranged on the long bottom frame 7 on the ground, the left and right sides of the middle cable 11 can be relatively stretched under the drive of the left drive structure and the right drive mechanism, while the left side of the middle cable 11 is on the left and right sides. The cable 21 and the right cable 27 can be driven by the second drive box 16 and the first drive box 5 to rotate relative to the long bottom frame 7;
在工人自中部线缆11行走到左部线缆21后，中部线缆11的左端在第三伺服电机13的驱动下相对收缩，也就是中部线缆11与左部线缆21的接触实现脱离，以便于为左部线缆21的转动留出空间，左部线缆21在第四伺服电机17的驱动下转动180°，此时工人还是沿着左部线缆21行走，待到工人快走到左部线缆21的原左端时，左部线缆21的原左端变为现在的右端，待左部线缆21的延伸方向与长底框7的长度方向相同时，中部线缆11的左端在第三伺服电机13的驱动下伸缩复原，使得中部线缆11的左端与左部线缆21现在的右端抵靠接触，以便于工人能够按照自身依然直线行走的形式从左部线缆21行走到中部线缆11上，接着就是从中部线缆11走到右部线缆27，右部线缆27按照与左部线缆21相近的动作，实现工人依次按照自身直线行走的形式进行循线，如此能够实现工人长时间的按照自身持续直线行走进行模拟高空循线锻炼，按照时间维度来说，一般高空循线工作都需要3-4h的持续单一方向行走，而本装置为了这种高空循线实现了良好模拟的硬件基础。After the worker walks from the middle cable 11 to the left cable 21, the left end of the middle cable 11 is relatively shrunk under the drive of the third servo motor 13, that is, the contact between the middle cable 11 and the left cable 21 is separated. , so as to reserve space for the rotation of the left cable 21, the left cable 21 rotates 180° under the drive of the fourth servo motor 17. At this time, the worker still walks along the left cable 21. Wait until the worker walks quickly When the original left end of the left cable 21 is reached, the original left end of the left cable 21 becomes the present right end. When the extension direction of the left cable 21 is the same as the length direction of the long bottom frame 7, the middle cable 11 The left end is stretched and restored under the drive of the third servo motor 13, so that the left end of the middle cable 11 is in contact with the current right end of the left cable 21, so that the worker can walk from the left cable 21 in a straight line. Walk to the middle cable 11, then walk from the middle cable 11 to the right cable 27, the right cable 27 follows the action similar to the left cable 21, and realizes that the workers follow the form of walking in a straight line. In this way, workers can simulate high-altitude line-tracking exercises by walking in a straight line for a long time. According to the time dimension, general high-altitude line-tracking work requires 3-4 hours of continuous walking in a single direction, and this device is designed for this high-altitude Following the line implements the hardware foundation for a good simulation.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910877575.4ACN110570715B (en) | 2019-09-17 | 2019-09-17 | Electric power simulation experiment device based on augmented reality technology |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910877575.4ACN110570715B (en) | 2019-09-17 | 2019-09-17 | Electric power simulation experiment device based on augmented reality technology |
| Publication Number | Publication Date |
|---|---|
| CN110570715Atrue CN110570715A (en) | 2019-12-13 |
| CN110570715B CN110570715B (en) | 2021-11-16 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910877575.4AActiveCN110570715B (en) | 2019-09-17 | 2019-09-17 | Electric power simulation experiment device based on augmented reality technology |
| Country | Link |
|---|---|
| CN (1) | CN110570715B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102568298A (en)* | 2012-03-14 | 2012-07-11 | 宁夏电力公司宁东供电局 | Simulation exercise device for taking up and binding distribution lines |
| CN202632574U (en)* | 2012-03-30 | 2012-12-26 | 上海市电力公司 | Ground practical training device for distribution line hot-line work |
| CN202855119U (en)* | 2012-09-27 | 2013-04-03 | 高密市供电公司 | Distribution line training bench |
| US20140017642A1 (en)* | 2012-07-10 | 2014-01-16 | Lincoln Global Inc. | Virtual reality pipe welding simulator and setup |
| CN203431080U (en)* | 2013-08-23 | 2014-02-12 | 深圳市许继自动化技术有限公司 | Rotating system |
| CN103736245A (en)* | 2014-02-07 | 2014-04-23 | 黄彬 | Height-adjustable electric rope power suspension training device |
| CN204091634U (en)* | 2014-08-13 | 2015-01-14 | 胡珊珊 | The fragrant pen of a kind of product |
| US20160035246A1 (en)* | 2014-07-31 | 2016-02-04 | Peter M. Curtis | Facility operations management using augmented reality |
| CN205534623U (en)* | 2016-04-27 | 2016-08-31 | 南京铁道职业技术学院 | Novel power line support |
| CN107086434A (en)* | 2017-03-17 | 2017-08-22 | 梧州理想科技有限公司 | A kind of power distribution cabinet ledge component |
| CN208521482U (en)* | 2018-03-06 | 2019-02-19 | 黄桂斌 | A kind of rural power grids distribution business work skill operation training cabinet |
| CN109559584A (en)* | 2018-11-28 | 2019-04-02 | 国网辽宁省电力有限公司丹东供电公司 | Multifunctional mobile distribution training platform |
| CN109658516A (en)* | 2018-12-11 | 2019-04-19 | 国网江苏省电力有限公司常州供电分公司 | Creation method, VR training system and the computer readable storage medium of VR training scene |
| CN209056102U (en)* | 2018-07-23 | 2019-07-02 | 广东电网有限责任公司 | Distribution training frame |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102568298A (en)* | 2012-03-14 | 2012-07-11 | 宁夏电力公司宁东供电局 | Simulation exercise device for taking up and binding distribution lines |
| CN202632574U (en)* | 2012-03-30 | 2012-12-26 | 上海市电力公司 | Ground practical training device for distribution line hot-line work |
| US20140017642A1 (en)* | 2012-07-10 | 2014-01-16 | Lincoln Global Inc. | Virtual reality pipe welding simulator and setup |
| CN202855119U (en)* | 2012-09-27 | 2013-04-03 | 高密市供电公司 | Distribution line training bench |
| CN203431080U (en)* | 2013-08-23 | 2014-02-12 | 深圳市许继自动化技术有限公司 | Rotating system |
| CN103736245A (en)* | 2014-02-07 | 2014-04-23 | 黄彬 | Height-adjustable electric rope power suspension training device |
| US20160035246A1 (en)* | 2014-07-31 | 2016-02-04 | Peter M. Curtis | Facility operations management using augmented reality |
| CN204091634U (en)* | 2014-08-13 | 2015-01-14 | 胡珊珊 | The fragrant pen of a kind of product |
| CN205534623U (en)* | 2016-04-27 | 2016-08-31 | 南京铁道职业技术学院 | Novel power line support |
| CN107086434A (en)* | 2017-03-17 | 2017-08-22 | 梧州理想科技有限公司 | A kind of power distribution cabinet ledge component |
| CN208521482U (en)* | 2018-03-06 | 2019-02-19 | 黄桂斌 | A kind of rural power grids distribution business work skill operation training cabinet |
| CN209056102U (en)* | 2018-07-23 | 2019-07-02 | 广东电网有限责任公司 | Distribution training frame |
| CN109559584A (en)* | 2018-11-28 | 2019-04-02 | 国网辽宁省电力有限公司丹东供电公司 | Multifunctional mobile distribution training platform |
| CN109658516A (en)* | 2018-12-11 | 2019-04-19 | 国网江苏省电力有限公司常州供电分公司 | Creation method, VR training system and the computer readable storage medium of VR training scene |
| Title |
|---|
| 李军峰，熊山，刘晓，何双伯: "VR和AR技术助力电力仿真培训", 《中国电力教育》* |
| Publication number | Publication date |
|---|---|
| CN110570715B (en) | 2021-11-16 |
| Publication | Publication Date | Title |
|---|---|---|
| CN103340542B (en) | Portable type four-freedom-degree display platform | |
| CN205748945U (en) | A kind of legged type robot paddy field soil slot test stand | |
| CN107825092B (en) | A flip assembly device | |
| CN109345936B (en) | Multi-directional dynamic physical simulation experiment device and method for hypergravity environment | |
| CN110570715A (en) | A power simulation experiment device based on augmented reality technology | |
| CN207170322U (en) | For climbing the Snow and ice clear away machine device people of thin bar part | |
| CN112894854B (en) | A bionic obstacle climbing robot | |
| CN209832624U (en) | A printing device driven by flexible cables | |
| CN210804947U (en) | Teaching device for photogrammetry experiment | |
| CN110847469B (en) | A translational roof opening and closing system | |
| CN107795839A (en) | A kind of automatic track protection device for VR facilities based on Internet of Things | |
| CN216527720U (en) | Geologic motion demonstration device | |
| CN217326623U (en) | Support arrangement for repairing of reinforcement engineering | |
| CN203930373U (en) | Dynamic Simulation Device | |
| CN212541702U (en) | A model of a large-scale building component hoisting system | |
| CN211949480U (en) | An adjustable construction frame for water conservancy construction | |
| CN211855338U (en) | A prefabricated site-arranged building observation platform | |
| CN107803825A (en) | Variable configuration Cable-driven parallel manipulator | |
| CN207509214U (en) | Variable configuration Cable-driven parallel manipulator | |
| CN108994812B (en) | Intelligent robots and intelligent production systems for pharmaceutical production lines | |
| CN221668458U (en) | Safety warning device for building civil engineering | |
| CN212541635U (en) | Real estate marketing course is sand table strutting arrangement for real teaching of instructing | |
| CN222135318U (en) | Vibrating structure of building construction concrete | |
| CN211373662U (en) | Tunnel inner wall simulation test frame for nail gun | |
| CN215928962U (en) | Dance music linkage design device |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | Inventor after:Pan Xingting Inventor after:Yan Yongfan Inventor after:Chen Weijie Inventor after:Wei Wei Inventor after:Tu Xiaoyan Inventor before:Tu Xiaoyan | |
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right | Effective date of registration:20211028 Address after:322200 No. 201 Hengchang Avenue, Xianhua street, Pujiang County, Jinhua City, Zhejiang Province Applicant after:Pujiang power supply company of State Grid Zhejiang Electric Power Co.,Ltd. Applicant after:JINHUA POWER SUPPLY COMPANY OF STATE GRID ZHEJIANG ELECTRIC POWER Co.,Ltd. Address before:210031 pearl South Road, Pukou District, Nanjing, Jiangsu Province, No. 65 Applicant before:NANJING INSTITUTE OF RAILWAY TECHNOLOGY | |
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |