CN102615217B - Special voice control bolt cutter for high-voltage live working robot - Google Patents
Special voice control bolt cutter for high-voltage live working robot Download PDFInfo
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Abstract
The invention relates to a special voice control bolt cutter for a high-voltage live working robot. The special voice control bolt cutter for the high-voltage live working robot comprises a main bolt cutter body, a voice control emitting start-up remote controller and a voice control assembly, wherein the main bolt cutter body comprises a power supply, a mechanical hand clamping mechanism, a shell, a motor, an oil pump, an oil cylinder and a work cutter, and the voice control emitting start-up remote controller comprises a DSP (Digital Signal Processor) which is connected with a man-machine interface unit, and is also connected with an encoder chip which is connected with a wireless drive unit; the voice control assembly comprises a wireless receiver which is connected with a microcontroller, and the microcontroller is connected with a motor drive circuit through an optical isolator circuit; the motor drive circuit is connected with the motor, and simultaneously the voice control emitting start-up remote controller and the motor drive circuit are respectively connected with the power supply; and the motor drive circuit is connected with the microcontroller through a current feedback circuit to form a closed loop. The special voice control bolt cutter for the high-voltage live working robot has the advantages that the remote control operation is convenient, the action is accurate, the bolt cutter can stably work for a long term in a very harsh electromagnetic interference environment and the like.
Description
Technical field:
The invention belongs to high-voltage hot-line work field of power tools, being particularly related to a kind of acoustic control sends, receives wireless signal and carry out current of electric closed-loop control, to control shear rate, the torque of Special acoustic controlling bolt clipper, complete the robot for high-voltage hot-line work Special acoustic controlling bolt clipper that power cable is cut off.
Background technology:
In order to improve the gentle security of Automated water of livewire work, the labour intensity and the strong-electromagnetic field that alleviate operating personnel threaten operating personnel's the person, later stage in last century, many countries launched the research of hot line robot, but the power tool simultaneously robot not being used in conjunction with is furtherd investigate and exploitation.High-voltage hot-line work bolt clipper used is one of special operation instrument of robot for high-voltage hot-line work, and its major function is in high-voltage hot-line work, and power cable is cut off.At present in bolt clipper application technology, mainly contain the types such as electronic, hydraulic pressure, electric hydaulic combination, manual force shearing, its common feature be manually hand-held, manually instrument is applied to external force or manual on-off switch, it is the form that a kind of people and power cable closely operate, cannot meet the requirement of electrification in high voltage safety regulation, also cannot be applied to hot line robot operation.And, at present robot for high-voltage hot-line work application, mainly adopting master-slave mode Work robot, the main hand of staff's two-hand control robot, has been inconvenient to re-use the fulfil assignment opening and closing of instrument of mechanical action driven machine people.Therefore the bolt clipper providing for high-voltage hot-line work machine must have following characteristics: be suitable for robot manipulation, can adapt to on-the-spot operations involving high pressure environment, can liberate staff's both hands and remote controlled, easy to operate and reliable.
Through the literature search of prior art is found, application number is that 02135135.X name is called the patent of " robot for high-voltage hot-line work ", application number is that 02267831.X name is called the patent of " high-voltage live-wire working device for manipulator ", " Automation of Electric Systems " the 7th phase of 23 volumes " development of robot for high-voltage hot-line work " in 2003, " for electricity consumption " the 3rd phase of 22 volumes " electrical power trans mission/distribution system hot line robot technology " in 2005, " Shanghai Communications University's journal " 2005 the 06th phases " the distant operate high pressure hot line robot of DWR-I ", all propose to adopt robot to carry out livewire work, also simply point out that robot can utilize clamping specific purpose tool to complete high-voltage hot-line work, but fail again specific purpose tool to be carried out specifically, in depth study and explore, more fail to provide a kind of embodiment to cut off cable for acoustic control, make robot for high-voltage hot-line work cannot give full play to its advantage, more cannot expand frontier, new application.
" microcomputer information " 2010 the 32nd phase " development of special remote control stripper for high voltage hot-line working robot ", " automated manufacturing " 2011 the 07th phases " development of robot for high-voltage hot-line work automatic peeling device ", " automated manufacturing " 2010 the 08th phases " development of robot for high-voltage hot-line work special remote control electric wrench ", provide robot for high-voltage hot-line work to utilize special-purpose peeler, special electric spanner completes scheme or the device of hot line job, but technology range of application is single-minded, special technology scheme for single operation, and the telecontrol engineering of its proposition is the manual button of pressing, manually complete straighforward operation, be not intended to reach and there is the characteristic that can liberate staff's both hands, cannot meet a kind of robot for high-voltage hot-line work that is applicable to is provided, can Remote, for cutting off device and the technical scheme of cable.
As can be seen here, still there is larger techno-absence in robot for high-voltage hot-line work specific purpose tool, and this kind of present situation seriously restricted practical application and the popularization of hot line robot in electrical network.
Summary of the invention:
The object of the invention is to address the above problem, a kind of robot for high-voltage hot-line work Special acoustic controlling bolt clipper is provided.Controller adopts the mode of wireless remote control; acoustic control assembly is usingd ATMEGA128 single-chip microcomputer as master controller; power module has overvoltage, overcurrent, low pressure, anti-reverse defencive function; select the motor drive module that drive current is large; adopt current feedback guard method, can carry out speed, moment of torsion control to bolt clipper.This acoustic control bolt clipper carries out Long-distance Control by acoustic control transmitter trigger remote controller, safer, reliable than manual bolt clipper, can meet robot for high-voltage hot-line work and complete the disconnect request to power cable.
For achieving the above object, the present invention adopts following technical scheme:
A Special acoustic controlling bolt clipper, it is mainly comprised of bolt clipper main body, acoustic control transmitter trigger remote controller and acoustic control assembly; Wherein said bolt clipper main body comprises main casing, is provided with hydraulic power unit in main casing, and hydraulic power unit is connected with moving cutting tool, and moving cutting tool is hinged with the fixed cutting tool being fixedly mounted on main casing; The acoustic control assembly that is provided with power supply at main casing rear portion and matches with acoustic control transmitter trigger remote controller;
Described acoustic control assembly comprises box body, on box body, be provided with indicator lamp, antenna, antenna is connected with the wireless receiver in box body, wireless receiver is connected with microcontroller, microcontroller is connected with optically coupled isolation circuit, motor-drive circuit and motor, and motor-drive circuit also forms closed loop by current feedback circuit and microcontroller and is connected; Microcontroller is connected with power supply respectively with motor-drive circuit;
Described current feedback circuit comprises current sensor, operational amplifier, comparator, and current sensor gathers the electric current of motor-drive circuit, sends into operational amplifier, and the signal after amplification is sent into comparator, and microcontroller is controlled motor-drive circuit after processing.
Described motor-drive circuit is pwm power drive unit, and microcontroller is adjusted average voltage by internal register adjustment pulse duty factor is set, and to PWM0 oral instructions, passs speed control signal; By output low and high level, to DIR oral instructions, pass the direction of motion signal of motor; PWM0 signal is isolated U4 by light and is input to triode Q2 basis set, through one-level, amplifies and drives high-power MOS tube Q4 gate pole, the running of drive motors; The power on and off that DIR signal is input to triode Q3 control relay 7,8 pin through light isolation U5, controls the rotating of motor.
Described acoustic control transmitter trigger remote controller comprises sound receiver module, and it is connected with DSP, and DSP is connected with coding chip, carrier oscillation circuit and wireless amplification emissioning circuit successively, and DSP is also connected with state indication unit and power supply.
Described sound receiver module, comprises main microphone, with reference to microphone, analog amplify circuit, filter circuit, A/D change-over circuit; Main microphone, with reference to microphone, be connected with analog amplify circuit, analog amplify circuit is connected with filter circuit, and filter circuit is connected with A/D change-over circuit, and A/D change-over circuit is connected with DSP.
Described hydraulic power unit comprises motor, and motor is by acoustic control assembly, and motor is connected with oil pump, oil pump is connected with oil cylinder, the plunger of oil cylinder is connected with moving cutting tool, and moving cutting tool is connected by bearing pin with fixed cutting tool, and the rotation by moving cutting tool completes the cut-out to power cable; Motor is permanent magnet direct current motor, and motor coordinates with shell inner cavity, adopts reinforcement groove location and fixing.
Described main casing is provided with manipulator snap fastener, described main casing is provided with manipulator snap fastener, manipulator snap fastener comprises main body framework and engaging support, main body framework connects with main casing, engaging support is for engaging with manipulator, according to the requirement of manipulator operating attitude, the engagement angles of engaging support and main body framework is carried out 180 ° and is freely changed.
Described box body comprises high permeability material shell, also be provided with in the enclosure fan and fan air guide hole, fan air guide hole is arranged woven wire, line outlet layout conductive rubber, and motor-drive circuit is connected with motor by shielded cable simultaneously, and power ground is connected with bolt clipper tool body.
The anterior design of cylinder body plunger guide cover and the distance caging device of described oil cylinder, fairlead is held concurrently and is supported for plunger guide, stopping means is for controlling water kick valve, when the coincidence of work cutting knife blade completes cut-out task, open overflow valve, hydraulic oil enters fuel tank, realizes oil pump pressure release, and work cutting knife is automatically reset.
Wireless sound control bolt clipper of the present invention, is comprised of bolt clipper body, acoustic control transmitter trigger remote controller and acoustic control assembly.Wherein, Acoustic control transmitter trigger remote controller is comprised of following part, comprises DSP, coding chip, wireless driver element, human-machine interface unit;
Power supply is Ni-MH battery (NI-MH), lightweight, life-span length, pollution-free, and the matching value of capacity and voltage is applicable to the feature that the activity duration is short, the operation frequency is high, operating current is large.
Main casing adopts PA+PBT synthetic plastic, takes into account toughness and requirement of strength, is universal high intensity engineering plastics in industry, indoor design reinforcement, and the large radian in turning is excessive, reduces weight to facilitate the work high above the ground feature of manipulator.
Motor adopts permanent magnet direct current motor, and ferrite magnetic material is used in stator core, meet simple in structure, the feature that starting current is little, efficiency is high.Motor provides power by ni-mh power supply, by motor driver, partly controls rotating speed and moment of torsion; Motor coordinates with shell inner cavity, adopts reinforcement groove location and fixing, can shock-resistant and vibration.
Oil pump adopts the design of reversible double-acting vane pump, and design takes full advantage of that double-acting vane pump operating efficiency is high, the feature of hydraulic coupling radial equilibrium; Blade is selected 12, and pulsation rate is little; Adopt twoly into and out of oil groove with addition of one-way valve designs, oil pump blade has been realized can reverse rotation, and motor positive and negative rotation all can drive oil pump output hydraulic oil.
Oil cylinder adopts plunger-type cylinder design, belongs to single-acting formula hydraulic cylinder, indoor design recoil press spring, and after oil pump pressure release, plunger return; Oil cylinder cylindrical designs soft fuel tank, and oil cylinder and soft fuel tank are by overflow valve UNICOM.
The anterior design of cylinder body plunger guide cover and distance caging device.Fairlead is for the plunger guide supporting role of holding concurrently, and while avoiding oil cylinder to be sidelong, plunger is sagging causes oil sealing infringement; Stopping means, for controlling water kick valve, when the coincidence of work cutting knife blade completes cut-out task, is opened overflow valve, and hydraulic oil enters fuel tank, realizes oil pump pressure release, and work cutting knife is automatically reset.
Work cutting knife comprises moving cutting tool and fixed cutting tool, and the blade of two cutting knifes designs for camber line, to prevent power cable slippage; Moving cutting tool rotates around fulcrum, and the track that two camber lines overlap is the process of cutting off power cable, when two circular arc line point of contacts overlap, cuts off action complete.
Wireless driver element is responsible for the transmitting of radiofrequency signal, and modulating coding signal circuit output end is through carrier oscillation circuit and wireless amplification emissioning circuit output modulated carrier code signal.
Coding chip is responsible for the modulating coding signal of radio frequency part and is processed, and the output indication to the input processing of DSP and state.
Human-machine interface unit comprises sound receiver module and state indication unit, and it is used for the work of finishing man-machine interaction, comprises the control of motor speed, motor drive direction and Motor torque.
Described sound receiver module, comprises main microphone, with reference to microphone, analog amplify circuit, filter circuit, A/D change-over circuit.Main microphone, with reference to microphone, be connected with analog amplify circuit, analog amplify circuit is connected with filter circuit, and filter circuit is connected with A/D change-over circuit, and A/D change-over circuit is connected with DSP.
State indication unit settling signal sends the indication of state.
Acoustic control assembly, comprises wireless receiver, microcontroller, optical coupling isolation circuit, motor-drive circuit, motor, current feedback circuit, power supply.Wherein:
Wireless receiver, for receiving the wireless signal from remote controller, and the processing of decoding, output to microcontroller;
Microcontroller, is used for receiving from the information of wireless receiver or other parts and judges and process;
Optically coupled isolation circuit, it is connected to microcontroller and motor-drive circuit, for receiving the output control signal of microcontroller;
Motor-drive circuit, it is connected to optically coupled isolation circuit, for output drive signal under the control receiving optically coupled isolation circuit;
Motor, it is connected to described motor-drive circuit, is used under the control of described driving signal by needed direction, speed and torque rotation;
Current feedback circuit, consists of current sensor, operational amplifier and comparator.By current sensor, gather the electric current of motor-drive circuit, after the amplification of single supply operational amplifier and comparator, receive microcontroller I/O interface, so that output torque fast and stable is requiring level.
Described box body comprises high permeability material shell, at shell fan air guide hole, arranges woven wire, line outlet layout conductive rubber cover, and motor-drive circuit is connected with motor by shielded cable simultaneously, and power ground is connected with bolt clipper tool body.
Power circuit, the overvoltage of power circuit band, overcurrent, low pressure, anti-reverse protection, provide power supply to each circuit such as microcontroller, wireless receiver, motor-drive circuits.
EMC test, when voltage boosts within the scope of 0-42KV, step-down and maintaining, the parts normal operations such as robot for high-voltage hot-line work Acoustic control remote controller, voltage stabilizing chip, wireless receiving module, motor drive module, single-chip microcomputer, every measuring ability is working properly.
In order to adapt to the requirement of robot for high-voltage hot-line work application, the present invention adopts the driver module that output current is large, and by ATMEGA128 Single-chip Controlling, band overcurrent, overload, overvoltage protection.This bolt clipper carries out Long-distance Control by acoustic control transmitter trigger remote controller, safer, reliable than manual bolt clipper, operates also conveniently, has met the requirement of electrification in high voltage robot manipulating task task.
Adopt such scheme, the present invention has the following advantages:
The one, adopted high integration DSP and unique circuit shield technology, make product there is superpower antijamming capability and reliability, can be under very harsh electromagnetic interference environment long-term stable operation.
The 2nd, bolt clipper carries out Long-distance Control by Acoustic control remote controller, more safe and reliable than hand-operated tools, and allows staff's both hands realize liberation, increases processing safety and convenience, has met the requirement of electrification in high voltage robot manipulating task task.
The 3rd, the overvoltage of power circuit band, overcurrent, low pressure, anti-reverse protection, reliability is high.
The 4th, remote controller can carry out electrodeless variable-speed by adjusting pulse duty factor, and rotating is controlled, and controls flexibly, and reliability is high.
The 5th, controller, with Current Feedback Control, is eliminated the impact of bolt clipper job insecurity on control system dynamic property.
The 6th, adopt adaptive noise canceling technology, be applicable to the noisy working environment in robot for high-voltage hot-line work field.
The 7th, bolt clipper controller and other instruments are controlled general, are convenient to instrument seriation from now on.
Accompanying drawing explanation
Fig. 1 is assembly structure chart of the present invention;
Fig. 2 is the composition diagram of general remote controller of the present invention;
Fig. 3 is the composition diagram of sound receiver module;
Fig. 4 is the composition diagram of acoustic control assembly of the present invention;
Fig. 5 is motor-drive circuit figure of the present invention;
Fig. 6 is current feedback circuit figure of the present invention;
Fig. 7 is software flow pattern of the present invention;
Fig. 8 is electromagnetic compatibility pressure process figure of the present invention.
In figure, 1. acoustic control assembly shell, 2. antenna, 3. fan, 4. indicator lamp, 5. power supply, 6. manipulator snap fastener, 7. main casing, 8. motor, 9. oil pump, 10. oil cylinder, 11. fixed cutting tools, 12, moving cutting tool, 13.DSP, 14. sound receiver modules, 14.1 main microphones, 14.2 analog amplify circuit I, 14.3 filter circuit I, 14.4A/D change-over circuit I, 14.5 with reference to microphone, 14.6 analog amplify circuit II, 14.7 filter circuit II, 14.8A/D change-over circuit II, 15. state indication units, 16. coding chips, 17. carrier oscillation circuit, 18. wireless amplification emissioning circuits, 19. wireless receivers, 20. microcontrollers, 21. optically coupled isolation circuits, 22. motor-drive circuits, 23. power supplys, 24. current feedback circuits, 25. current sensors, 26. operational amplifiers, 27. comparators.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described.
In Fig. 1, the present invention is comprised of bolt clipper main body, acoustic control transmitter trigger remote controller and acoustic control assembly.
Acoustic control assembly shell 1 is fixed on main casing 7, comprises antenna 2, fan 3, indicator lamp 4.
As shown in Figure 1, it comprises power supply 5, manipulator snap fastener 6, main casing 7, motor 8, oil pump 9, oil cylinder 10, fixed cutting tool 11, moving cutting tool 12 to wherein said bolt clipper main body.
Power supply 5 is assembled together by draw-in groove and buckle and main casing 7.Manipulator snap fastener 6 is fixedly connected with main casing 7, with the free Engage and disengage of manipulator of robot for high-voltage hot-line work.Motor 8 is assemblied in main casing 7 inner chambers, and motor output shaft is coaxial with the blade rotary center line of oil pump 9.Together with oil pump 9, oil cylinder 10 are welded and fixed by steel bushing with motor 8 shells, oil pump 9 is communicated with oil cylinder 10 by check valve and oil duct, oil cylinder 10 is by overflow valve and oil duct and soft fuel tank UNICOM, the plunger of oil cylinder 10 connects with moving cutting tool 12 by push rod, and moving cutting tool 12 centres of gyration and fixed cutting tool 11 are hinged by bearing pin.
After manipulator snap fastener 6 and robot for high-voltage hot-line work manipulator are realized and being connected, by Wireless sound control mode, control actuating motor 8, oil pump 9 blade rotaries, complete oil suction-formation hydraulic oil-fuel-displaced, hydraulic oil enters oil cylinder 10 through check valve and oil duct, and plunger moves ahead in fairlead, promote push rod, moving cutting tool 12 rotates around fulcrum under push rod effect, when fixed cutting tool 11 overlaps with two blade camber lines of moving cutting tool 12, cuts off action complete; While plunger activated limit switch, overflow valve is opened, and hydraulic oil enters soft fuel tank, and plunger is return under recoil press spring effect, and separately, moving cutting tool 12 completes reset to the blade of two cutting knifes, the next cut-out of preparation operation.
As shown in Figure 2, it comprises DSP 13 to wherein said acoustic control transmitter trigger remote controller, and it is connected with human-machine interface unit, and coding chip 16 is also connected with wireless driver element simultaneously; Wherein human-machine interface unit comprises sound receiver module 14 and state indication unit 15, and they are connected with DSP 13 respectively.Wireless driver element comprises carrier oscillation circuit 17, and its input is connected with coding chip 16, and output is connected with wireless amplification emissioning circuit 18 inputs.
When acoustic control transmitter trigger remote controller will send control command to bolt clipper, DSP 13, according to the data that gather sound receiver module 14, obtains corresponding control instruction, and gives wireless driver element circuit; Wireless driver element circuit completes after modulation, carrier oscillation, power amplification, and the form by control signal with radio frequency sends.
Wherein said sound receiver module 14 as shown in Figure 3, it comprises main microphone 14.1, with reference to microphone 14.5, they are connected with analog amplify circuit I14.2, analog amplify circuit II14.6 respectively, analog amplify circuit I14.2, analog amplify circuit II14.6 are connected with filter circuit I14.3, filter circuit II14.7 circuit respectively, and filter circuit I14.3, filter circuit II14.7 circuit are connected with A/D change-over circuit I14.4, A/D change-over circuit II14.8 respectively.
Main microphone 14.1, with reference to microphone 14.5, be used for receiving the voice command from operator, main microphone 14.1 acquisitions are mixed signals of a useful signal and an incoherent noise signal, with reference to microphone 14.5 acquisitions, are reference noise signals, through simulation amplification, filtering, A/D conversion, voice signal is outputed to DSP 13.At the interior adaptive noise reduction algorithm of realizing of DSP 13, sample rate is 8KHz, utilizes timer to interrupt, and every 100us, interrupts once, reads in two paths of data and carries out adaptive noise reduction algorithm process, and the useful signal obtaining, exports to coding chip 16 by this signal.
In Fig. 4, described acoustic control assembly comprises wireless receiver 19, wireless receiver 19 and microcontroller 20, and microcontroller 20 is connected with motor-drive circuit 22 by optically coupled isolation circuit 21, and motor-drive circuit 22 is connected with motor 8; Meanwhile, DSP 13, microcontroller 20 and motor-drive circuit 22 are connected with power supply 23 respectively; Motor-drive circuit 22 forms closed loop by current feedback circuit 24 with microcontroller 20 and is connected.
In Fig. 5, microcontroller 20 is adjusted average voltage by internal register adjustment pulse duty factor is set, and to PWM0 oral instructions, passs speed control signal; By output low and high level, to DIR oral instructions, pass the direction of motion signal of motor.PWM0 signal is isolated U4 by light and is input to triode Q2 basis set, through one-level, amplifies and drives high-power MOS tube Q4 gate pole, the running of drive motors.The power on and off that DIR signal is input to triode Q3 control relay 7,8 pin through light isolation U5, controls the rotating of motor.
In Fig. 6, circuit overcurrent protection consists of current sensor 25, operational amplifier 26, comparator 27 etc.By 25 pairs of metal-oxide-semiconductor current samplings of current sensor, sampling voltage, after single supply operational amplifier 26 amplifies 10 times, is input to voltage comparator 27 jointly with a 2.5V a reference value, and relatively whether output current surpasses 25A.
In Fig. 7, the code signal that coding chip 16 sends by: address code, numeric data code, synchronous code form a complete code word, and decoding chip receives after signal, and its address code is after twice is relatively checked, VT pin is just exported high level, and meanwhile corresponding data pin is also exported high level.Flow chart adopts the mode of external interrupt to receive transmitter code and decodes and obtains control command.If there is external interrupt input, bidding will, and decode.Receive the voice signal of " ordering 1 beginning ", low speed forward, receives the voice signal of " order 1 stop ", and low speed forward stops; Receive the voice signal of " ordering 2 beginnings ", middling speed forward, receives the voice signal of " order 2 stop ", and middling speed forward stops; Receive the voice signal of " ordering 3 beginnings ", high speed forward, receives the voice signal of " order 3 stop ", and high speed forward stops; Receive the voice signal of " ordering 4 beginnings ", low speed and reverse, receives the voice signal of " order 4 stop ", and low speed and reverse stops; Receive the voice signal of " ordering 5 beginnings ", middling speed reversion, receives the voice signal of " order 5 stop ", and middling speed reversion stops; Receive the voice signal of " ordering 6 beginnings ", high speed reverse rotation, receives the voice signal of " order 6 stop ", and high speed reverse rotation stops.
In Fig. 8, carried out EMC test, when voltage boosts within the scope of 0-42KV, step-down and maintaining, the parts normal operations such as robot for high-voltage hot-line work remote control bolt clipper remote controller, voltage stabilizing chip, wireless receiving module, motor drive module, single-chip microcomputer, every measuring ability is working properly.
Claims (7)
1. a robot for high-voltage hot-line work Special acoustic controlling bolt clipper, is characterized in that, it is mainly comprised of bolt clipper main body, acoustic control transmitter trigger remote controller and acoustic control assembly; Wherein said bolt clipper main body comprises main casing, is provided with hydraulic power unit in main casing, and hydraulic power unit is connected with moving cutting tool, and moving cutting tool is hinged with the fixed cutting tool being fixedly mounted on main casing; The acoustic control assembly that is provided with power supply at main casing rear portion and matches with acoustic control transmitter trigger remote controller;
Described acoustic control assembly comprises box body, on box body, be provided with indicator lamp, antenna, antenna is connected with the wireless receiver in box body, wireless receiver is connected with microcontroller, microcontroller is connected with optically coupled isolation circuit, motor-drive circuit and motor, and motor-drive circuit also forms closed loop by current feedback circuit and microcontroller and is connected; Microcontroller is connected with power supply respectively with motor-drive circuit;
Described current feedback circuit comprises current sensor, operational amplifier, comparator, and current sensor gathers the electric current of motor-drive circuit, sends into operational amplifier, and the signal after amplification is sent into comparator, and microcontroller is controlled motor-drive circuit after processing;
Described motor-drive circuit is pwm power drive unit, and microcontroller is adjusted average voltage by internal register adjustment pulse duty factor is set, and to PWM0 oral instructions, passs speed control signal; By output low and high level, to DIR oral instructions, pass the direction of motion signal of motor; PWM0 signal is isolated U4 by light and is input to triode Q2 basis set, through one-level, amplifies and drives high-power MOS tube Q4 gate pole, the running of drive motors; The power on and off that DIR signal is input to triode Q3 control relay 7,8 pin through light isolation U5, controls the rotating of motor.
2. robot for high-voltage hot-line work Special acoustic controlling bolt clipper as claimed in claim 1, it is characterized in that, described acoustic control transmitter trigger remote controller comprises sound receiver module, it is connected with DSP, DSP is connected with coding chip, carrier oscillation circuit and wireless amplification emissioning circuit successively, and DSP is also connected with state indication unit and power supply.
3. robot for high-voltage hot-line work Special acoustic controlling bolt clipper as claimed in claim 2, is characterized in that, described sound receiver module comprises main microphone, with reference to microphone, analog amplify circuit, filter circuit, A/D change-over circuit; Main microphone, with reference to microphone, be connected with analog amplify circuit, analog amplify circuit is connected with filter circuit, and filter circuit is connected with A/D change-over circuit, and A/D change-over circuit is connected with DSP.
4. robot for high-voltage hot-line work Special acoustic controlling bolt clipper as claimed in claim 1, it is characterized in that, described hydraulic power unit comprises motor, motor is by acoustic control assembly, motor is connected with oil pump, and oil pump is connected with oil cylinder, and the plunger of oil cylinder is connected with moving cutting tool, moving cutting tool is connected by bearing pin with fixed cutting tool, and the rotation by moving cutting tool completes the cut-out to power cable; Motor is permanent magnet direct current motor, and motor coordinates with shell inner cavity, adopts reinforcement groove location and fixing.
5. robot for high-voltage hot-line work Special acoustic controlling bolt clipper as claimed in claim 1, it is characterized in that, described main casing is provided with manipulator snap fastener, described main casing is provided with manipulator snap fastener, manipulator snap fastener comprises main body framework and engaging support, and main body framework connects with main casing, and engaging support is for engaging with manipulator, according to the requirement of manipulator operating attitude, the engagement angles of engaging support and main body framework is carried out 180 ° and is freely changed.
6. robot for high-voltage hot-line work Special acoustic controlling bolt clipper as claimed in claim 1, it is characterized in that, described box body comprises high permeability material shell, also be provided with in the enclosure fan and fan air guide hole, fan air guide hole is arranged woven wire, line outlet layout conductive rubber, motor-drive circuit is connected with motor by shielded cable simultaneously, and power ground is connected with bolt clipper tool body.
7. robot for high-voltage hot-line work Special acoustic controlling bolt clipper as claimed in claim 4, it is characterized in that, the anterior design of cylinder body plunger guide cover and the distance caging device of described oil cylinder, fairlead is used for the double support of plunger guide, and stopping means is for controlling water kick valve, when the coincidence of work cutting knife blade completes cut-out task, open overflow valve, hydraulic oil enters fuel tank, realizes oil pump pressure release, and work cutting knife is automatically reset.
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| CN201210092631.1A CN102615217B (en) | 2012-03-31 | 2012-03-31 | Special voice control bolt cutter for high-voltage live working robot |
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| CN201210092631.1A CN102615217B (en) | 2012-03-31 | 2012-03-31 | Special voice control bolt cutter for high-voltage live working robot |
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| CN102615217A CN102615217A (en) | 2012-08-01 |
| CN102615217B true CN102615217B (en) | 2014-01-15 |
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| CN102832568B (en) * | 2012-09-05 | 2015-07-01 | 国家电网公司 | Current guiding device for live operation of distribution network with long-distance real-time monitor |
| CN102832569B (en) * | 2012-09-05 | 2015-08-26 | 国家电网公司 | Based on the distribution network live line work drainage system of remote pilot |
| CN104792240B (en) * | 2015-03-16 | 2017-06-13 | 长源动力（北京）科技有限公司 | A kind of remote control wire diced system |
| CN106424471A (en) * | 2016-09-30 | 2017-02-22 | 国网浙江省电力公司丽水供电公司 | Remote control bolt cutter |
| CN106335032B (en) * | 2016-11-30 | 2018-09-28 | 国网山东省电力公司龙口市供电公司 | A kind of electric tool clamping device |
| CN109465358B (en) * | 2018-04-18 | 2020-03-24 | 国网浙江嘉善县供电有限公司 | Safe remote automatic wireless cutting device for cable |
| CN108565792A (en) * | 2018-06-21 | 2018-09-21 | 东莞市三信精密机械有限公司 | Automatic stripping machine and stripping method |
| CN109921328B (en) * | 2019-03-26 | 2023-08-25 | 国家电网有限公司 | Manipulator live working flow distribution device capable of preventing strong electromagnetic interference |
| CN113690788A (en) * | 2021-07-28 | 2021-11-23 | 国网浙江永康市供电有限公司 | High altitude cable shearing mechanism based on remote control |
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