CN104094779A - Special intelligent lopper saw for high-voltage live working robots - Google Patents
Special intelligent lopper saw for high-voltage live working robots Download PDFInfo
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- CN104094779A CN104094779A CN201410257599.7A CN201410257599A CN104094779A CN 104094779 A CN104094779 A CN 104094779A CN 201410257599 A CN201410257599 A CN 201410257599A CN 104094779 A CN104094779 A CN 104094779A
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Abstract
The invention relates to a special intelligent lopper saw for high-voltage live working robots. The special intelligent lopper saw for high-voltage live working robots comprises a main lopper saw body, a visual positioning system, a transmission enable remote control and a remote control assembly, wherein the main lopper saw body comprises a manipulator gripping mechanism, a housing, a motor, a reducer mechanism, a transmission mechanism and a saw blade, and the visual positioning system comprises an IPC (Industrial Personal Computer) which is connected with a man-machine interface unit and is also connected with a binocular camera and the transmission enable remote control; the transmission enable remote control comprises an encoding chip, and the encoding chip is connected with a carrier oscillation circuit; the carrier oscillation circuit is connected with a wireless amplifying and transmitting circuit, and the remote control assembly comprises a wireless receiver; the wireless receiver is connected with a microcontroller, and the microcontroller is connected with a motor drive circuit through an optical isolation circuit; the motor drive circuit is connected with the motor. The special intelligent lopper saw for high-voltage live working robots is safe and reliable and convenient to operate, and meets the requirement of job tasks of high-voltage live robots.
Description
Technical field
The present invention relates to a kind of robot for high-voltage hot-line work special intelligent Gao Zhiju.
background technology
In order to improve the gentle safety of Automated water of livewire work, alleviate operating personnel's labour intensity and strong-electromagnetic field to personal threat, from last century, many countries all successively carried out the research of hot line robot, and China also started to carry out the development of robot for high-voltage hot-line work commercialization model machine in 2002.High-voltage hot-line work Gao Zhiju used is one of special operation instrument of robot for high-voltage hot-line work, and its major function is near branch excision high-tension line, avoids causing ground fault because of branch near circuit.At present in Gao Zhiju application technology, electric high branch saw is taking power supply as power, application is convenient and specifications and models are also more, but mostly be the form of artificial hand-held main body, manual push switch, need to workpiece closely, accurate positioning action, cannot meet the requirement of electrification in high voltage safety regulation, also cannot be applied to robot manipulation.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 drive machines people.Therefore the electric high branch saw providing for robot for high-voltage hot-line work 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, handled easily.
Through the literature search of prior art is found, State Intellectual Property Office of the People's Republic of China is disclosed, 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 ", application number is 200610043219.5 patents that are called " insulation platform for live operation ", 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 remove branch for high-tension line, make robot for high-voltage hot-line work cannot give full play to its advantage, more cannot expand frontier, new application.
utility model content
The present invention is in order to address the above problem, a kind of robot for high-voltage hot-line work special intelligent Gao Zhiju has been proposed, this device carries out Long-distance Control by intelligentized transmitter trigger remote controller, safer, reliable than manual Gao Zhiju, easy to operate, meet the requirement of electrification in high voltage robot manipulating task task.
To achieve these goals, the present invention adopts following technical scheme:
A kind of robot for high-voltage hot-line work special intelligent Gao Zhiju, comprises Gao Zhiju main body, remote control assembly and the intelligent transmitter trigger remote controller matching with remote control assembly, wherein:
Described Gao Zhiju main body, comprises shell, electromotor, transmission device and saw blade, and electromotor is connected with saw blade by transmission device, and Gao Zhiju body front end is provided with the manipulator being connected with Work robot and accommodates mechanism, and electromotor is connected with power supply by power switch;
Described remote control assembly comprises control box, microcontroller is installed in control box, microcontroller and wireless receiver, wireless receiver is accepted the signal of intelligent transmitter trigger remote controller, microcontroller connects motor-drive circuit after connecting optically coupled isolation circuit, motor-drive circuit connects electromotor, and wireless receiver connects antenna.
Described transmission device is belt transmission, comprises large belt wheel, small pulley and belt, and large belt wheel is connected with saw blade, and small pulley connects electromotor, and large belt wheel is connected by belt with small pulley.
Described transmitter trigger remote controller, comprise vision positioning system, described vision positioning system, comprise industrial computer, industrial computer is connected with coding chip, carrier oscillation circuit and wireless amplification emissioning circuit successively, industrial computer is also connected with state indication unit and power supply, and industrial computer is also connected with the transmitter trigger remote controller matching with remote control assembly simultaneously.
Described vision positioning system connects human-machine interface unit, binocular camera.
Described human-machine interface unit, comprises display, keyboard and mouse.
Described wireless receiver is connected with antenna, receives the wireless signal from remote controller, and the processing of decoding, and outputs to microcontroller.
The present invention's battery carrier used adopts aluminum alloy materials, and together with integrated with battery carrier automatically controlled control box, has reduced structure space, and surface treatment is carried out on battery carrier surface, has improved surperficial durability and aesthetic degree.Selection of Battery lithium battery, greatly reduces the weight of battery, has reduced the charging interval.The fixing grafting location structure that uses designed, designed of battery, has increased it and has connected fixing, effectively prevents the battery damage that comes off.
Cramping body adopts staight shank structure, has greatly expanded operating personnel's the visual field, convenient operation personnel operation.Cramping body part adopts high hardness alloy steel and surface treatment, has improved cramping body part durability and aesthetics, makes mechanical arm clamping more fastening firm.
Vision positioning system is responsible for the location of Gao Zhiju, and the signal output of binocular camera number, through industrial computer processing, sends to transmitter trigger remote controller.
Transmitter trigger remote controller 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.
Wireless receiver, for receiving the wireless signal from remote controller, and the processing of decoding, output to microcontroller;
Industrial computer, is used for receiving from the information of binocular camera or other parts and judges and process;
Motor-drive circuit, for output drive signal under the control that receives optically coupled isolation circuit;
Electromotor, it is connected to described motor-drive circuit, is used under the control of described driving signal by needed direction, speed and torque rotation;
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.
Beneficial effect of the present invention is:
1. by wireless remote control technology, realize the Semi-intelligent Modular of Gao Zhiju instrument;
2. Gao Zhiju carries out Long-distance Control by intelligent remote controller, 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;
3. controller, with Current Feedback Control, is eliminated the unstable impact on control system dynamic property of Gao Zhiju tool work;
4. intelligent Gao Zhiju tool controller and other instrument control are general, are convenient to instrument seriation from now on.
brief description of the drawings
Fig. 1 is assembly structure chart of the present invention;
Fig. 2 a is the composition diagram of intelligent remote controller of the present invention;
Fig. 2 b is the schematic diagram of intelligent remote controller of the present invention;
Fig. 3 is the composition diagram of reception of the present invention and electric machine controller;
Fig. 4 is software process chart of the present invention.
Wherein: 1. battery, 2. control box, 3. reducing motor, 4. driving belt, 5. handle, 6. saw blade, 7. industrial computer, 8. display, 9. keyboard and mouse, 10. coding chip, 11. carrier oscillation circuit, 12, wireless amplification emissioning circuit, 13. binocular cameras, 18. power supplys, 19. wireless receivers, 20. microcontrollers, 21. optically coupled isolation circuits, 22. motor-drive circuits, 23. electromotor, 24. current feedback circuits.
embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, the present invention is made up of Gao Zhiju body, intelligent transmitter trigger remote controller and reception and motor driver;
Gao Zhiju main body comprises that lithium battery 1 is for Gao Zhiju provides 24V, 3A direct current, and lightweight battery capacity is large, is current electric tool reference power supply, has interchangeability.
Control box 2, by frame interface, battery interface, controller installation function is integrated in one.Control box is connected with frame by positioning spigot on the one hand, and compact mechanical structure is reliable, and controller is installed in control box completely, and metal control box plays shielding action and guarantees that controller is safe and reliable to operation under hyperbaric environment.Control box battery interface has locating clip clamping and positioning device, guarantees battery reliable power supply.
Reducing motor 3, becomes one direct current generator and planetary reduction gear, and direct current generator is instrument motor, is convenient to speed governing, has very strong overload capacity, and planetary reduction gear volume is little lightweight, is convenient to realize big retarding ratio.Both are connected as one, and implementation tool motor power is unit-modularized, is convenient to exchange and safeguards.
Driving belt 4; by reducing motor transmission of power to Gao Zhiju saw blade; employing realizes the long-distance transmission of power with transmission; be with transmission lower to tolerance between motor and saw blade axis simultaneously; reduce difficulty of processing; because band transmission has overload protection characteristics, can effectively avoid causing equipment damage because of maloperation simultaneously.
Handle 5, adopts base of principle of human engineering, and convenient operation personnel capture, and play loss of weight effect simultaneously.
Saw blade 6, adopts hard tool Steel material, and surface heat processing, has good strength and wearability.
Open the power switch of control box 2, reducing motor 3 main shafts rotations, by driving belt 4 by transmission of power to saw blade, task fulfils assignment.Electric motor starting, stop, acceleration and deceleration, rotatings etc. realize by the control module in control box 2.
As shown in Figure 2, it comprises industrial computer 7 to wherein said intelligent transmitter trigger remote controller, and it is connected with human-machine interface unit, and industrial computer 7 is also connected with wireless driver element simultaneously; Human-machine interface unit comprises display 8 and keyboard and mouse 9, and they are connected with industrial computer 7 respectively.Wireless driver element comprises carrier oscillation circuit 11, and its input is connected with coding chip 10, and output is connected with wireless amplification emissioning circuit 12 inputs.
System is obtained operation field image by binocular camera 13, industrial computer carries out analyzing and processing to obtaining image, obtains the position and attitude information of Gao Zhiju, obtains corresponding control instruction, and give wireless driver element circuit, realize the closed loop servo control of intelligent Gao Zhiju.
As shown in Figure 3, 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 electromotor 23; Meanwhile, microcontroller 20 is connected respectively at power supply 18 with motor-drive circuit 22; Motor-drive circuit 22 forms closed loop by current feedback circuit 24 with microcontroller 20 and is connected.
Wireless receiver 19 is for receiving the wireless signal from remote controller, and the processing of decoding, and outputs to microcontroller 20; Microcontroller 20 is used for receiving from the information of wireless receiver or other parts and judges and process; Optically coupled isolation circuit 21 is connected to microcontroller 20 and motor-drive circuit 22, exports control signal for receiving under the control of microcontroller 20; Motor-drive circuit 22 is connected to optically coupled isolation circuit 21, for receiving output drive signal under the control of optically coupled isolation circuit 21; Electromotor 2 is connected to described motor-drive circuit 22, is used under the control of described driving signal by needed direction, speed and torque rotation; Power supply 18 is with overvoltage, overcurrent, low pressure, anti-reverse protection, provides power supply to each circuit that need to power such as described two microcontrollers, wireless receiver 19, motor-drive circuits 22.
Coding chip 10 adopts PT2262 chip and microcontroller 20 to adopt ATMEGA128 chip.
As shown in Figure 4, the code signal that coding chip 10 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 remote signal of " order 1 start ", low speed forward, receives the remote signal of " order 1 stops ", and low speed forward stops; Receive the remote signal of " order 2 start ", middling speed forward, receives the remote signal of " order 2 stops ", and middling speed forward stops; Receive the remote signal of " order 3 start ", high speed forward, receives the remote signal of " order 3 stops ", and high speed forward stops; Receive the remote signal of " order 4 start ", low speed and reverse, receives the remote signal of " order 4 stops ", and low speed and reverse stops; The remote signal that receives " order 5 starts ", middling speed is reversed, and receives the remote signal of " order 5 stops ", and middling speed reversion stops; Receive the remote signal of " order 6 start ", high speed reverse rotation, receives the remote signal of " order 6 stops ", and high speed reverse rotation stops.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.
Claims (6)
1. a robot for high-voltage hot-line work special intelligent Gao Zhiju, is characterized in that: comprise Gao Zhiju main body, remote control assembly and the intelligent transmitter trigger remote controller matching with remote control assembly, wherein:
Described Gao Zhiju main body, comprises shell, electromotor, transmission device and saw blade, and electromotor is connected with saw blade by transmission device, and Gao Zhiju body front end is provided with the manipulator being connected with Work robot and accommodates mechanism, and electromotor is connected with power supply by power switch;
Described remote control assembly comprises control box, microcontroller is installed in control box, microcontroller and wireless receiver, wireless receiver is accepted the signal of intelligent transmitter trigger remote controller, microcontroller connects motor-drive circuit after connecting optically coupled isolation circuit, motor-drive circuit connects electromotor, and wireless receiver connects antenna.
2. a kind of robot for high-voltage hot-line work special intelligent Gao Zhiju as claimed in claim 1, it is characterized in that: described transmission device is belt transmission, comprise large belt wheel, small pulley and belt, large belt wheel is connected with saw blade, small pulley connects electromotor, and large belt wheel is connected by belt with small pulley.
3. a kind of robot for high-voltage hot-line work special intelligent Gao Zhiju as claimed in claim 1, it is characterized in that: described transmitter trigger remote controller, comprise vision positioning system, described vision positioning system, comprise industrial computer, industrial computer is connected with coding chip, carrier oscillation circuit and wireless amplification emissioning circuit successively, and industrial computer is also connected with state indication unit and power supply, and industrial computer is also connected with the transmitter trigger remote controller matching with remote control assembly simultaneously.
4. a kind of robot for high-voltage hot-line work special intelligent Gao Zhiju as claimed in claim 1, is characterized in that: described vision positioning system connects human-machine interface unit, binocular camera.
5. a kind of robot for high-voltage hot-line work special intelligent Gao Zhiju as claimed in claim 1, is characterized in that: described human-machine interface unit, comprises display, keyboard and mouse.
6. a kind of robot for high-voltage hot-line work special intelligent Gao Zhiju as claimed in claim 1, is characterized in that: described wireless receiver is connected with antenna, receives the wireless signal from remote controller, and the processing of decoding, and outputs to microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410257599.7A CN104094779B (en) | 2014-06-11 | 2014-06-11 | A kind of robot for high-voltage hot-line work special intelligent Gao Zhiju |
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| CN201410257599.7A CN104094779B (en) | 2014-06-11 | 2014-06-11 | A kind of robot for high-voltage hot-line work special intelligent Gao Zhiju |
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| CN104094779B CN104094779B (en) | 2017-10-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105052570A (en) * | 2015-07-09 | 2015-11-18 | 青岛大学 | 3D vegetation trimming device |
| CN105684746A (en) * | 2016-03-03 | 2016-06-22 | 安金梁 | Unmanned aerial vehicle special for agriculture and forestry pruning |
| CN107817732A (en) * | 2017-11-28 | 2018-03-20 | 美尚生态景观股份有限公司 | A kind of wireless electric saw control system |
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| CN201812169U (en) * | 2010-07-12 | 2011-04-27 | 山东电力研究院 | Controller for special remote control stripper for high voltage hot-line working robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105052570A (en) * | 2015-07-09 | 2015-11-18 | 青岛大学 | 3D vegetation trimming device |
| CN105684746A (en) * | 2016-03-03 | 2016-06-22 | 安金梁 | Unmanned aerial vehicle special for agriculture and forestry pruning |
| CN107817732A (en) * | 2017-11-28 | 2018-03-20 | 美尚生态景观股份有限公司 | A kind of wireless electric saw control system |
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| CN104094779B (en) | 2017-10-27 |
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Address after: 556000 No. 36 West Beijing Road, Qiandongnan Miao and Dong Autonomous Prefecture, Guizhou Province, Kaili Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Kaili Power Supply Bureau Address before: 556000 No. 36 West Beijing Road, Qiandongnan Miao and Dong Autonomous Prefecture, Guizhou Province, Kaili Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Kaili Power Supply Bureau |
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