CN105021333A - Device and method for testing torque of mechanical arm for maintenance of power distribution network - Google Patents
Device and method for testing torque of mechanical arm for maintenance of power distribution network Download PDFInfo
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- CN105021333A CN105021333A CN201510401276.5A CN201510401276A CN105021333A CN 105021333 A CN105021333 A CN 105021333A CN 201510401276 A CN201510401276 A CN 201510401276A CN 105021333 A CN105021333 A CN 105021333A
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Abstract
The invention discloses a device and method for testing torque of a mechanical arm for maintenance of a power distribution network. The device comprises a voltage sensor for measuring voltage of the mechanical arm, a current sensor for measuring the current of the mechanical arm, a Hall sensor for measuring the rotation speed of the mechanical arm, a filter circuit, an analog-digital conversion module, a main control chip and a display module. The voltage sensor, the current sensor and the Hall sensor are connected with the filter circuit, and are used for transmitting the detected voltage signal, current signal and rotation speed signal to the filter circuit respectively; the filter circuit is connected with the analog-digital conversion module and is used for transmitting the received signals to the analog-digital conversion module; the analog-digital conversion module is connected with the main control chip and is used for converting the signals into digital signals and then, transmitting the digital signals to the main control chip; and the main control chip is connected with the display module, and is used for displaying the information on the display module. The device for testing the torque of the mechanical arm for maintenance of the power distribution network is simple in structure and simple in circuit realization.
Description
Technical field
The invention belongs to power distribution network detection technique field, particularly a kind of power distribution network maintenance manipulator torsion-testing apparatus and method.
Background technology
In the distribution network failure origin cause of formation, the fault of about 50% comes across device junction place, and concrete reason is that device junction terminal operation technique does not meet the demands.Various mechanical arms (abbreviation spanner) major part of at present both at home and abroad power distribution network maintenance is mechanical, and force production is based on manually.Mechanical torque spanner has the features such as price is low, sturdy and durable, but precision is low, is difficult to be applicable to complicated site environment, and operation effectiveness is difficult to ensure.
Some company have developed electric wrench at present, such as, Beijing Niu Lide incorporated company development and production YJN series high-precision digital-display determines torque spanner, this torque spanner primary instrument adopts high performance sensor, add secondary instrument multistage linear matching kinetic energy, substantially increase the accuracy grade of torque spanner.The 850 serial Digital Electronic Torque Wrench that Dijite Electronic Co., Ltd., Guilin produces adopt advanced programming technique, and indicating value is accurate.But do not measure proving installation and the method for above-mentioned spanner moment of torsion in prior art.
The patent No. be 201210573550.3 Chinese patent disclose a kind of torque detecting apparatus, comprising: worktable, be placed in the fixed cell on worktable and detecting unit; Described detecting unit comprises: be placed in the base on worktable, is arranged on the hanging holding portion on base, the torsion connecting portion bottom coated hanging holding portion, and the reverse arm penetrating described torsion connecting portion; Wherein, described hanging holding subordinate end is also provided with adjuster bar; Described torsion connecting portion has adjustment hole at the position of corresponding adjuster bar; Described reverse arm bottom is provided with equally distributed draw-in groove, and bottom has torsion arm aperture.The moment of torsion of this torque detecting apparatus energy test part, but the moment of torsion of power distribution network maintenance manipulator cannot be detected.
The patent No. be 201410519604.7 Chinese patent disclose a kind of engine torque detection system and method, this system comprises: signal gathering unit, gathers the tach signal of engine, torque signal and vibration signal parameter; Processor, connection signal collecting unit, sends after the parameter information packing arrangement of Received signal strength collecting unit; Background terminal, connection handling device, the engine parameter information that receiving processor packing sends, utilizes genetic optimization RBF model to parameter information analytical calculation process and judgement.The Operation system setting of this patent employs sensor group, by detecting each parameter of engine and the most exact value calculating moment of torsion to each parameter, solves the non-electric control engine problem that engine torque cannot be measured in vehicle road test.But this kind of detection method is very complicated, be not suitable for the moment of torsion detecting power distribution network maintenance manipulator.
As from the foregoing, prior art there is no a kind of measurement mechanism for measuring power distribution network maintenance manipulator moment of torsion and method.
Summary of the invention
Technical matters solved by the invention is to provide a kind of power distribution network maintenance manipulator torsion-testing apparatus and method.
The technical solution realizing the object of the invention is: a kind of power distribution network maintenance manipulator torsion-testing apparatus, comprise the voltage sensor for measurement mechanical torch pressure, for the current sensor of measurement mechanical torch stream, for the Hall element of measurement mechanical hand rotating speed, filtering circuit, analog-to-digital conversion module, main control chip and display module, described voltage sensor, current sensor is all connected with filtering circuit with Hall element, the voltage signal will detected respectively, current signal and tach signal are transferred to filtering circuit, filtering circuit is connected with analog-to-digital conversion module, analog-to-digital conversion module is transferred to by after the signal filtering received, described analog-to-digital conversion module is connected with main control chip, main control chip is transferred to after signal being converted to digital signal, this main control chip is also connected with display module, by information displaying on display module.
Based on a detection method for above-mentioned power distribution network maintenance manipulator torsion-testing apparatus, comprise the following steps:
The operating voltage signal U of step 1, voltage sensor senses power distribution network maintenance manipulator;
Step 2, current sensor detect the working current signal I of power distribution network maintenance manipulator;
Step 3, Hall element detect the rotating speed n of power distribution network maintenance manipulator;
Step 4, gather above-mentioned steps measure data, determine the moment of torsion M of power distribution network maintenance manipulator;
Step 5, the moment of torsion M detected to be exported.
Compared with prior art, its remarkable advantage is in the present invention: 1) power distribution network maintenance manipulator torsion-testing apparatus structure of the present invention is simple, and realizing circuit is simple, load system general idea, be convenient to implement, and the torque information measured is accurate, is convenient to follow-up use; 2) torsion-testing method of the present invention is simple, only needs to measure several conventional parameter and can obtain final torque information, can realize the accurate measurement to torque information.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is power distribution network maintenance manipulator torsion-testing apparatus system chart.
Fig. 2 is the rotating head structure schematic diagram of power distribution network maintenance manipulator.
Embodiment
Composition graphs 1, a kind of power distribution network maintenance manipulator torsion-testing apparatus of the present invention, it is characterized in that, comprise the voltage sensor for measurement mechanical torch pressure, for the current sensor of measurement mechanical torch stream, for the Hall element of measurement mechanical hand rotating speed, filtering circuit, analog-to-digital conversion module, main control chip and display module, described voltage sensor, current sensor is all connected with filtering circuit with Hall element, the voltage signal will detected respectively, current signal and tach signal are transferred to filtering circuit, filtering circuit is connected with analog-to-digital conversion module, analog-to-digital conversion module is transferred to by after the signal filtering received, described analog-to-digital conversion module is connected with main control chip, main control chip is transferred to after signal being converted to digital signal, this main control chip is also connected with display module, by information displaying on display module.
Described main control chip is single-chip microcomputer, dsp chip or FPGA.
Described display module is LCD MODULE.
Described single-chip microcomputer is 51 single-chip microcomputers.The model that described dsp chip is is TMS320C54X.The model of described FPGA is EP1C3T144C8N LQFP-144Altera.
Based on a detection method for above-mentioned power distribution network maintenance manipulator torsion-testing apparatus, comprise the following steps:
The operating voltage signal U of step 1, voltage sensor senses power distribution network maintenance manipulator;
Step 2, current sensor detect the working current signal I of power distribution network maintenance manipulator;
Step 3, Hall element detect the rotating speed n of power distribution network maintenance manipulator;
Step 4, gather above-mentioned steps measure data, determine the moment of torsion M of power distribution network maintenance manipulator; Determine that the moment of torsion M formula used of power distribution network maintenance manipulator is:
Wherein U is the operating voltage signal of mechanical arm, and I is the working current signal of mechanical arm, and θ is the phase differential of voltage and current signal, and n is the rotating speed of mechanical arm.
Or, determine that the moment of torsion M formula used of power distribution network maintenance manipulator is:
Wherein U is the operating voltage signal of mechanical arm, and I is the working current signal of mechanical arm, and θ is the phase differential of voltage and current signal, and n is the rotating speed of mechanical arm.
Step 5, the moment of torsion M detected to be exported.
Be described in more detail below:
The present invention realize key be accurately to control the torque of electric wrench, and torque not easily directly measure obtain, must be undertaken calculating indirectly obtaining by relative parameter.Theory basis from motor: if the rotating speed of known axes is n (r/min), the power of input is P (KW), then because of lkW=1000Nm/s, input P (kw) is just equivalent to the merit inputting W=P*1000Nm p.s..The merit of input is applied on axle via moment of torsion M and completes, if the rotating speed of axle is n, it is 2 π * n/60 that axle turns over angle within the time of 1s, then moment of torsion M completes work done W=2 π * n/60*M within the 1s time.
Equal by work done, there is W=P*1000Nm=2 π * n/60*M:
Moment of torsion M=l000*60*P/ (2 π * n)=9549P/n ≈ 9550P/n (N.m).
That is: moment of torsion M=9550P/n.
Namely the size of this formula to moment of torsion is adopted to calculate in the present invention.Wherein, M represents moment of torsion, and P represents the active power of mechanical arm, and n represents rotating speed when mechanical arm normally works, then sends in main control chip and carry out data processing, just can calculate the size of moment of torsion.
According to principle above, as long as measure power P and rotating speed n, the size of moment of torsion just can be calculated.Although actual watt level can be measured by special power device or measuring instrument, not only cost is higher like this, does not also meet system actual requirement.
Therefore need again to carry out segmentation to power P to solve, according to P=U*I*cos θ, calculate active power by the operating voltage of measurement mechanical arm and working current, realizing circuit is simple, meet overall system design thinking, be applicable to system applied environment, can designing requirement be reached.
As from the foregoing, the formula of the moment of torsion M of power distribution network maintenance manipulator is:
Wherein U is the operating voltage signal of mechanical arm, and I is the working current signal of mechanical arm, and θ is the phase differential of voltage and current signal, and n is the rotating speed of mechanical arm.Like this, as long as voltage, electric current and rotating speed can be measured, the moment of torsion of power distribution network maintenance manipulator can be obtained.Torsion-testing method of the present invention is simple, only needs to measure several conventional parameter and can obtain final torque information, can realize the accurate measurement to torque information.
Below in conjunction with embodiment, further detailed description is done to the present invention:
Embodiment 1
A kind of power distribution network maintenance manipulator torsion-testing apparatus, comprise the voltage sensor for measurement mechanical torch pressure, for the current sensor of measurement mechanical torch stream, for the Hall element of measurement mechanical hand rotating speed, filtering circuit, analog-to-digital conversion module, main control chip and display module, described voltage sensor, current sensor is all connected with filtering circuit with Hall element, the voltage signal will detected respectively, current signal and tach signal are transferred to filtering circuit, filtering circuit is connected with analog-to-digital conversion module, analog-to-digital conversion module is transferred to by after the signal filtering received, described analog-to-digital conversion module is connected with main control chip, main control chip is transferred to after signal being converted to digital signal, this main control chip is also connected with display module, by information displaying on display module.The FPGA of described main control chip to be model be EP1C3T144C8N LQFP-144Altera.
Based on a detection method for above-mentioned power distribution network maintenance manipulator torsion-testing apparatus, comprise the following steps:
The operating voltage signal U of step 1, voltage sensor senses power distribution network maintenance manipulator;
Step 2, current sensor detect the working current signal I of power distribution network maintenance manipulator;
Step 3, Hall element detect the rotating speed n of power distribution network maintenance manipulator;
Step 4, gather above-mentioned steps measure data, determine the moment of torsion M of power distribution network maintenance manipulator; Determine that the moment of torsion M formula used of power distribution network maintenance manipulator is:
Torsion-testing method of the present invention is simple, only needs to measure several conventional parameter and can obtain final torque information, can realize the accurate measurement to torque information.
Embodiment 2
A kind of power distribution network maintenance manipulator torsion-testing apparatus, comprise the voltage sensor for measurement mechanical torch pressure, for the current sensor of measurement mechanical torch stream, for the Hall element of measurement mechanical hand rotating speed, filtering circuit, analog-to-digital conversion module, main control chip and display module, described voltage sensor, current sensor is all connected with filtering circuit with Hall element, the voltage signal will detected respectively, current signal and tach signal are transferred to filtering circuit, filtering circuit is connected with analog-to-digital conversion module, analog-to-digital conversion module is transferred to by after the signal filtering received, described analog-to-digital conversion module is connected with main control chip, main control chip is transferred to after signal being converted to digital signal, this main control chip is also connected with display module, by information displaying on display module.Described main control chip is 51 single-chip microcomputers.
Based on a detection method for above-mentioned power distribution network maintenance manipulator torsion-testing apparatus, comprise the following steps:
The operating voltage signal U of step 1, voltage sensor senses power distribution network maintenance manipulator;
Step 2, current sensor detect the working current signal I of power distribution network maintenance manipulator;
Step 3, Hall element detect the rotating speed n of power distribution network maintenance manipulator;
Step 4, gather above-mentioned steps measure data, determine the moment of torsion M of power distribution network maintenance manipulator; Determine that the moment of torsion M formula used of power distribution network maintenance manipulator is:
Torsion-testing method of the present invention is simple, only needs to measure several conventional parameter and can obtain final torque information, can realize the accurate measurement to torque information.
Claims (9)
1. a power distribution network maintenance manipulator torsion-testing apparatus, it is characterized in that, comprise the voltage sensor for measurement mechanical torch pressure, for the current sensor of measurement mechanical torch stream, for the Hall element of measurement mechanical hand rotating speed, filtering circuit, analog-to-digital conversion module, main control chip and display module, described voltage sensor, current sensor is all connected with filtering circuit with Hall element, the voltage signal will detected respectively, current signal and tach signal are transferred to filtering circuit, filtering circuit is connected with analog-to-digital conversion module, analog-to-digital conversion module is transferred to by after the signal filtering received, described analog-to-digital conversion module is connected with main control chip, main control chip is transferred to after signal being converted to digital signal, this main control chip is also connected with display module, by information displaying on display module.
2. power distribution network maintenance manipulator torsion-testing apparatus according to claim 1, is characterized in that, described main control chip is single-chip microcomputer, dsp chip or FPGA.
3. power distribution network maintenance manipulator torsion-testing apparatus according to claim 1, is characterized in that, described display module is LCD MODULE.
4. power distribution network maintenance manipulator torsion-testing apparatus according to claim 2, is characterized in that, described single-chip microcomputer is 51 single-chip microcomputers.
5. power distribution network maintenance manipulator torsion-testing apparatus according to claim 2, is characterized in that, the model that described dsp chip is is TMS320C54X.
6. power distribution network maintenance manipulator torsion-testing apparatus according to claim 2, is characterized in that, the model of described FPGA is EP1C3T144C8N LQFP-144Altera.
7., based on a detection method for power distribution network maintenance manipulator torsion-testing apparatus described in claim 1, it is characterized in that, comprise the following steps:
The operating voltage signal U of step 1, voltage sensor senses power distribution network maintenance manipulator;
Step 2, current sensor detect the working current signal I of power distribution network maintenance manipulator;
Step 3, Hall element detect the rotating speed n of power distribution network maintenance manipulator;
Step 4, gather above-mentioned steps measure data, determine the moment of torsion M of power distribution network maintenance manipulator;
Step 5, the moment of torsion M detected to be exported.
8. detection method according to claim 7, is characterized in that, determines that the moment of torsion M formula used of power distribution network maintenance manipulator is in step 4:
Wherein U is the operating voltage signal of mechanical arm, and I is the working current signal of mechanical arm, and θ is the phase differential of voltage and current signal, and n is the rotating speed of mechanical arm.
9. detection method according to claim 7, is characterized in that, determines that the moment of torsion M formula used of power distribution network maintenance manipulator is in step 4:
Wherein U is the operating voltage signal of mechanical arm, and I is the working current signal of mechanical arm, and θ is the phase differential of voltage and current signal, and n is the rotating speed of mechanical arm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527235A (en) * | 2018-06-22 | 2018-09-14 | 安徽大学 | Intelligent torque wrench |
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| CN103934789A (en) * | 2014-04-03 | 2014-07-23 | 胡井湖 | Intelligent electric torque wrench, torque control system and control method thereof |
| CN204855057U (en) * | 2015-07-09 | 2015-12-09 | 江苏省电力公司连云港供电公司 | Distribution network overhauls electric machine hand torque testing device |
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2015
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| US20120224311A1 (en) * | 2009-10-30 | 2012-09-06 | Stephen Sutherland | Presentation system with movable display devices |
| CN201809735U (en) * | 2010-09-25 | 2011-04-27 | 关静雯 | Sweeper capable of automatically adjusting sweeping brush height |
| CN102435364A (en) * | 2011-09-19 | 2012-05-02 | 上海理工大学 | Instantaneous energy-based soft sensing method of electric actuator torque |
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| CN108527235A (en) * | 2018-06-22 | 2018-09-14 | 安徽大学 | Intelligent torque wrench |
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Application publication date: 20151104 |