CN111431098B - Control system of automatic installation device for wire clamp of live working robot - Google Patents

Control system of automatic installation device for wire clamp of live working robot Download PDF

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Publication number
CN111431098B
CN111431098B CN202010520351.0A CN202010520351A CN111431098B CN 111431098 B CN111431098 B CN 111431098B CN 202010520351 A CN202010520351 A CN 202010520351A CN 111431098 B CN111431098 B CN 111431098B
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China
Prior art keywords
wire clamp
clamp
wireless module
cylinder
microprocessor
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CN202010520351.0A
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Chinese (zh)
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CN111431098A (en
Inventor
张黎明
陈竟成
于建成
徐科
项添春
张志朋
张金禄
王谦
路菲
刘倞
王立国
戚晖
赵玉良
司金保
左新斌
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State Grid Intelligent Technology Co Ltd
Original Assignee
Tianjin Bindian Electric Power Engineering Co ltd
State Grid Corp of China SGCC
State Grid Tianjin Electric Power Co Ltd
State Grid Intelligent Technology Co Ltd
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Application filed by Tianjin Bindian Electric Power Engineering Co ltd, State Grid Corp of China SGCC, State Grid Tianjin Electric Power Co Ltd, State Grid Intelligent Technology Co Ltd filed Critical Tianjin Bindian Electric Power Engineering Co ltd
Priority to CN202010520351.0A priority Critical patent/CN111431098B/en
Publication of CN111431098A publication Critical patent/CN111431098A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • H02G1/04Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching

Abstract

The invention discloses a control system of an automatic wire clamp mounting device of a live working robot, which consists of an automatic wire clamp mounting device, a transmitting starting remote controller and a receiving driving assembly; the automatic wire clamp mounting device comprises a rack, an air cylinder, a speed reducing mechanism, a quick-change device, a wire clamp clamping jaw and a fastening sleeve, and is used for clamping and automatically mounting a wire clamp; the emission starting remote controller comprises an industrial personal computer, a touch screen, a wireless module and an antenna which are electrically connected; the industrial personal computer is in communication connection with the touch screen and the wireless module; the receiving driving assembly comprises an antenna, a wireless module, a microprocessor, a D/A converter, proportional valves and sensors which are electrically connected, wherein the D/A conversion module is respectively connected with the 4 proportional valves through 4 simulation ports, the 4 proportional valves are respectively connected with the 3 cylinders and the pneumatic motor through air pipes, and the 3 cylinders and the pneumatic motor are connected with the microprocessor through the sensors. The invention is safe and reliable, is convenient to operate, and can meet the requirements of the high-voltage live robot operation task.

Description

Control system of automatic installation device for wire clamp of live working robot
Technical Field
The invention relates to the field of high-voltage live working electric tools, in particular to a control system of an automatic installation device of a live working robot wire clamp.
Background
In order to improve the automation level and safety of live working and reduce the labor intensity of operators and the threat of strong electromagnetic fields to human bodies, the research on live working robots is successively carried out in many countries from the last century, and the research on high-voltage live working robot production prototypes is also carried out in 2002 in China. The automatic installation device of the wire clamp used for high-voltage live working is one of special working tools of a high-voltage live working robot, and has the main functions of installing and disassembling a drainage wire clamp and connecting the drainage wire to an overhead main conductor. The existing hot-line work robot technology is still in a development stage, no practical application and popularization exist, the development of hot-line work tools is immature, hot-line lead connecting operation is still carried out in a manual working mode, operators need to install wire clamps at high altitude, and hand tools are used for tightening bolts and nuts, so that the automation level is low, the labor intensity is high, the efficiency is low, the operators directly contact the high-voltage leads, electric shock accidents are easily caused, and great potential safety hazards exist. Therefore, the automatic wire clamp mounting device provided for the high-voltage live working robot has the following characteristics: the robot is suitable for robot operation, can adapt to the field high-pressure working environment, can liberate both hands of workers and can be remotely controlled.
Through the document retrieval of the prior art, the patent with the application number of CN201910705530.9 and the wire clamp and the operation method thereof, the patent with the application number of CN201910978152.1 and the method for cutting off and connecting a current lead of a distribution network based on remote operation and the patent with the application number of CN201910696751.4 and the installation equipment of a C-shaped wire clamp, which are disclosed by the national intellectual property office of the people's republic of China, all propose that the clamped special tool can be used for completing high-voltage live operation, but the special tool cannot be specifically and deeply researched and explored, and an implementation scheme for automatically grabbing the wire clamp, clamping a lead and synchronously fastening double bolts cannot be provided, so that the high-voltage live operation robot cannot fully exert the advantages thereof, and the new field and new application cannot be expanded.
Therefore, the special tool for the high-voltage live working robot has great technical defects, and the actual application and popularization of the live working robot in a power grid are severely restricted by the current situation.
Disclosure of Invention
The invention aims to solve the technical problems and provides a control system of an automatic installation device of a wire clamp of an electric operating robot, which is suitable for robot operation, can adapt to a field high-voltage operating environment, can liberate both hands of a worker and can be remotely controlled.
In order to solve the technical problems, the invention adopts the following technical scheme:
a control system of an automatic installation device of a live working robot wire clamp is disclosed, wherein the automatic installation device of the live working robot wire clamp applied in the control system comprises a frame, a wire clamp clamping mechanism, a lead clamping mechanism, a double-bolt synchronous fastening mechanism and a double-acting air cylinder; the wire clamp clamping mechanism comprises a large-caliber pneumatic opening clamp and two wire clamp clamping jaws, the large-caliber pneumatic opening clamp is transversely and fixedly connected to the front end of the rack, and the two wire clamp clamping jaws can be clamped on two sides of a wire clamp under the driving of the large-caliber pneumatic opening clamp; the lead clamping mechanism comprises a small-caliber pneumatic opening clamp and two lead clamping jaws, the small-caliber pneumatic opening clamp is longitudinally and fixedly connected to the front end of the rack and located on one side of the clamp clamping mechanism, and the two lead clamping jaws can tightly clamp and fix a lead which is inserted into a lead cavity of the lead clamp under the driving of the small-caliber pneumatic opening clamp; the double-bolt synchronous fastening mechanism is slidably mounted on the rack through a guide rod and can move back and forth under the driving of the double-acting cylinder, the double-bolt synchronous fastening mechanism comprises two fastening sleeves and a pneumatic motor, the two fastening sleeves are mounted at the front end of the double-bolt synchronous fastening mechanism side by side and are in one-to-one correspondence with the two torque bolts on the wire clamp, and the pneumatic motor provides rotary power for the two fastening sleeves to lock the two torque bolts on the wire clamp; wherein, the cylinder definition of using in the pneumatic split clamp of heavy-calibre is cylinder I, and the cylinder definition of using in the pneumatic split clamp of small-calibre is cylinder II, and two effect cylinder definitions are cylinder III.
The control system includes a transmit activation remote and a receive actuation assembly.
The emission starts remote controller and includes industrial computer, touch-sensitive screen, wireless module I, antenna I and remote controller power, and the industrial computer passes through the serial ports and is connected with touch-sensitive screen, wireless module I respectively, and wireless module I is connected with antenna I, and the remote controller power is touch-sensitive screen, industrial computer, I power supplies of wireless module respectively.
Receive drive assembly and install in the frame, receive drive assembly and include antenna II, wireless module II, microprocessor, DA conversion module, the proportional valve, sensor and assembly power, antenna II is connected with wireless module II, wireless module II is connected with microprocessor through the serial ports, microprocessor passes through I2C mouth and is connected with DA conversion module, DA conversion module is connected with 4 proportional valve one-to-one respectively through 4 simulation mouths, 4 proportional valve pass through the trachea respectively with cylinder I, cylinder II, cylinder III, pneumatic motor is connected, cylinder I, cylinder II, cylinder III, pneumatic motor is connected with microprocessor through a sensor respectively, the assembly power is wireless module II respectively, microprocessor, DA conversion module and 4 proportional valve power supplies power.
Wherein, wireless module I, antenna II, wireless module II have constituted wireless network communication module and are used for realizing the transmission and start the communication connection between remote controller and the receipt drive assembly.
The wireless module comprises a wireless module I and a wireless module II, the wireless module is used for receiving signals from the touch screen or the microprocessor and is responsible for transmitting radio frequency signals, and the output end of the modulation coding signal circuit outputs modulation carrier coding signals through the carrier oscillation circuit and the wireless amplification transmitting circuit.
The touch screen is used for finishing the human-computer interaction work and comprises a control cylinder I, a cylinder II, a cylinder III and a pneumatic motor, and the motion states of the cylinder I, the cylinder II, the cylinder III and the pneumatic motor are displayed in real time.
And the microprocessor is used for receiving the information from the wireless module II or the D/A conversion module or the sensor and judging and processing the information.
And the D/A conversion module is used for receiving the digital signal of the microprocessor and converting the digital signal into a voltage analog signal.
And the proportional valve is used for outputting a driving signal under the condition of receiving the instruction converted by the D/A conversion module, so that the air cylinder I, the air cylinder II, the air cylinder III and the pneumatic motor move in the required direction and speed under the control of the driving signal.
Furthermore, the industrial personal computer adopts EIS-D150-E1DS641, the CPU is an Intel Core i 56300U, a 4GBDDR3L 1600MHz memory and a Win10 operating system, and 4 RS-232/422/485 interfaces are provided.
Further, the touch screen adopts NB7W-TW00B, a display screen type 7' TFT LCD, a color number 65536, a resolution of 1024 x 1024, a simulated resistance film, and a service life of 100 ten thousand touch operations.
Furthermore, the wireless module adopts AC4490-200, working frequency 902-.
Furthermore, the microprocessor adopts a TMS320F2812 chip, has a main frequency of 150MHz, and is provided with a 16-channel ADC, 2 RS232 interfaces and 1I 2C interface.
Further, the D/A conversion module adopts a DAC7678 chip, 12 bits, 8 channels and 0-5V voltage output.
Furthermore, the proportional valve is selected from 3V1-06F and the power voltage is 12V.
Furthermore, the remote controller power supply and the assembly power supply are provided with overvoltage, overcurrent, low voltage and reverse connection prevention protection, the remote controller power supply provides 12V and 5V voltages and respectively supplies power to the touch screen, the industrial personal computer and the wireless module I, and the assembly power supply provides 5V, 3.3V, 5V and 12V voltages and respectively supplies power to the wireless module II, the microprocessor, the D/A conversion module and the 4 proportional valves.
And in an electromagnetic compatibility test, when the voltage is increased, reduced and maintained within the range of 0-42KV, the automatic installation device for the wire clamp of the high-voltage live working robot launches and starts the remote controller, the wireless module, the microprocessor, the D/A conversion module, the proportional valve and other parts to operate normally, and various detection functions work normally.
The control system of the invention has the working process that:
the control system software is divided into a master end and a slave end. An operator operates the touch screen, the industrial personal computer collects control information of the touch screen and sends the control information to the slave end in real time through wireless communication, and the slave end microprocessor completes continuous movement through the control information of the master end; on the other hand, the position information detected by the sensors in the moving process of the air cylinder and the pneumatic motor is also fed back to the main-end industrial personal computer through wireless communication, and the main-end industrial personal computer sends the position information to the touch screen for display.
The invention has the beneficial effects that:
the automatic clamp grabbing device completely replaces manual work to carry out automatic clamp grabbing, lead clamping and synchronous clamp double-bolt fastening work, achieves locking of a main lead, achieves an automatic lead connecting operation process, guarantees personal safety of operating personnel, greatly reduces labor amount of manufacturing personnel, improves operation efficiency, and provides reliable technical support for development of live working robots.
The remote control is carried out by launching the starting remote controller, and compared with a manual tool, the remote control device is safe and reliable, and the operation safety and convenience are improved; the power circuit has overvoltage, overcurrent, low voltage and reverse connection prevention protection, and has high reliability; the tool is universal to control other tools, and tool serialization in future is facilitated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic top view of an automatic installation device for a wire clamp of an electric operating robot in the invention.
Fig. 2 is a structural schematic diagram of the automatic installation device of the wire clamp of the hot-line work robot in the right view.
Fig. 3 is a schematic structural view of the automatic installation device of the wire clamp of the hot-line work robot in the invention.
Fig. 4 is a schematic perspective view of an automatic installation device for a wire clamp of an electric operating robot in the invention.
Fig. 5 is a schematic top view of the double-bolt synchronous fastening mechanism of the present invention.
Fig. 6 is a front view schematically showing the structure of the fastening sleeve of the present invention.
Fig. 7 is a perspective view of the present invention with the clip mounted on the clip support.
Fig. 8 is a side view of the clip of the present invention mounted on a clip support.
Fig. 9 is a block diagram of a remote controller for transmission activation according to the present invention.
Fig. 10 is a block diagram of a receiving driving assembly according to the present invention.
Fig. 11 is a diagram of an electromagnetic compatibility pressurizing process in the present invention.
Wherein: 1. the cable clamp comprises a right cable clamp clamping jaw, 2 a left cable clamp clamping jaw, 3 a torque bolt, 4 a fastening sleeve, 5 a main cable, 6 a large gear, 7 a small gear, 8 a lead, 9 a lead clamping jaw, 10 a lead guide sleeve, 11 a double-acting cylinder, 12 a quick-change device, 13 a front lead guide support, 14 a rear lead guide support, 15 a front cable clamp, 16 a rear cable clamp, 17 a double-output speed reducing mechanism, 18 a guide rod, 19 a pneumatic motor, 20 a rack, 21 a small-caliber pneumatic opening clamp, 22 a large-caliber pneumatic opening clamp, 23 a cable clamp sizing block, 24 a sleeve joint, 25 a synchronous bevel gear, 26 a coaxial bevel gear, 27 a gear shaft, 28 a speed reducer, 29 a cable clamp support and 30 a cable clamp positioning plate.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
First, about hot-line work robot fastener automatic installation device.
As shown in fig. 1 to 4, an automatic installation apparatus of a live working robot wire clamp includes: the quick-change device comprises a rack 20, a quick-change device 12, a wire clamp positioning plate 30, a wire clamp clamping mechanism, a lead clamping mechanism, a double-bolt synchronous fastening mechanism and a wire clamp bracket 29.
As shown in fig. 1 to 4, the frame 20 is fixedly connected with a quick-change device 12, a front wire guide bracket 13, a rear wire guide bracket 14 and a wire guide sleeve 10. The quick-change device 12 is arranged at the lower end of the rack 20, and can facilitate the mechanical arm to grab the automatic wire clamp mounting device for operation. The front end of the frame 20 is symmetrically provided with two U-shaped side columns, the front and rear columns of the U-shaped side columns are respectively provided with a front guide support 13 and a rear guide support 14, the front guide support 13 and the rear guide support 14 are arranged at 90 degrees, and the main guide wire 5 can be guided into a main guide wire cavity of the wire clamp. The U-shaped side stand column of the lead 8 incoming side is provided with a lead guide sleeve 10, the lead guide sleeve 10 is of a horn mouth-shaped conical structure, the lead guide sleeve 10 is over against a lead cavity of the wire clamp and the lead guide sleeve 10 and the lead cavity are coaxially arranged, the lead 8 can be guided to enter the lead cavity of the wire clamp, an open opening is formed in the upper side of the lead guide sleeve 10, the lead 8 can transversely penetrate through the open opening after the wire clamp is locked, and the conical structure is used for guiding the lead 8 to penetrate into the lead cavity of the wire clamp. Two upright plates are arranged at the rear end of the frame 20, a double-bolt synchronous fastening mechanism capable of moving back and forth along the guide rod 18 is arranged in the middle of the upright plates, a square hole is formed in the middle of each upright plate, and the fastening sleeve 4 penetrates through the square hole and is sleeved with the torque bolt 3 on the wire clamp.
As shown in fig. 1, 2 and 4, the wire clamp clamping mechanism comprises a large-caliber pneumatic open clamp 22, a left-side wire clamp clamping jaw 2 and a right-side wire clamp clamping jaw 1, the large-caliber pneumatic open clamp 22 is fixedly connected on a frame 20 and is positioned at the front end of a wire clamp positioning plate 30, a wire clamp can be easily placed when the large-caliber pneumatic open clamp 22 is opened, the wire clamp can be firmly clamped when the large-caliber pneumatic open clamp 22 is closed, the wire clamp positioning plate 30 can play a role in positioning the clamped wire clamp, the left-side wire clamp clamping jaw 2 and the right-side wire clamp clamping jaw 1 are respectively and symmetrically arranged on clamping jaws at two sides of the large-caliber pneumatic open clamp 22, the left-side wire clamp clamping jaw 2 and the right-side wire clamp clamping jaw 1 are in a U-shaped structure and respectively clamp a front-side wire clamp 15 and a rear-side wire clamp 16 of the wire clamp, and the main wire 5 and a lead 8 can conveniently, when the large-caliber pneumatic open clamp 22 is closed, the convex blocks on the clamp jaws of the wire clamps on the two sides are contacted with the front side and the rear side of the wire clamp, so that the opened wire clamp can be firmly clamped.
As shown in fig. 1, 2 and 4, the lead clamping mechanism includes a small-caliber pneumatic opening clamp 21 and a lead clamping jaw 9, the small-caliber pneumatic opening clamp 21 is disposed on the frame 20 and located on two sides of the clamp clamping mechanism, the lead clamping jaw 9 is provided with an arc groove structure, the lead clamping jaw is symmetrically disposed on the clamping jaws on two sides of the small-caliber pneumatic opening clamp 21 and made of insulating material, the lead 8 can conveniently pass through when the small-caliber pneumatic opening clamp 21 is opened, and the lead 8 can be firmly clamped when the small-caliber pneumatic opening clamp 21 is closed.
As shown in fig. 1, 2, 4 and 5, the double-bolt synchronous fastening mechanism includes a double-output speed reducing mechanism 17, a pneumatic motor 19, a speed reducer 28 and a gear transmission mechanism, wherein the double-output speed reducing mechanism 17 is slidably mounted on the guide rod 18, specifically, two ends of the guide rod 18 are fixed between upper portions of two upright plates of the frame 20, and a ball sleeve is arranged on the double-output speed reducing mechanism 17 and sleeved on the guide rod 18 and can move smoothly. The double-bolt synchronous fastening mechanism is driven by a double-acting cylinder 11, one side of the double-acting cylinder 11 is fixed on a rack 20, the output end of the other side of the double-acting cylinder 11 is connected with a double-output speed reducing mechanism 17, and the double-output speed reducing mechanism 17 can be pushed to move forwards and backwards under the action of the double-acting cylinder 11. The decelerator 28 and the air motor 19 are fixed to the dual output deceleration mechanism 17, and specifically, the decelerator 28 is provided on one side of the dual output deceleration mechanism 17, and the air motor 19 is provided on the input side of the decelerator 28, and provides power for bolt fastening.
As shown in fig. 1 and 5, the gear transmission mechanism includes a large gear 6 and a small gear 7, the large gear 6 is provided on a gear shaft 27 of the dual output reduction mechanism 17, the small gear 7 is provided on the output side of a reduction gear 28, and the large gear 6 is engaged with the small gear 7 to transmit power.
As shown in fig. 1, 4 and 5, the dual-output speed reducing mechanism 17 includes a gear shaft 27, coaxial bevel gears 26, synchronous bevel gears 25, socket joints 24 and fastening sleeves 4, the gear shaft 27 is rotatably disposed on the speed reducing structure housing through a bearing, the two coaxial bevel gears 26 are coaxially disposed on the gear shaft 27, the two synchronous bevel gears 25 are respectively meshed with the two coaxial bevel gears 26 and are disposed side by side on the speed reducing structure housing, the two socket joints 24 are respectively and coaxially connected with the two synchronous bevel gears 25, the two socket joints 24 are respectively and rotatably mounted on the speed reducing structure housing through a bearing, the two fastening sleeves 4 are respectively disposed on the two socket joints 24 and the two fastening sleeves 4 are disposed side by side at the front end of the dual-output speed reducing mechanism 17, and such design ensures synchronous output of the two fastening sleeves 4.
As shown in fig. 1, 2, 4, 5 and 6, the inner hole of the fastening sleeve 4 is in a 12-corner quincunx structure, the front side of the inner hole is provided with a chamfer with a conical structure, and the nut of the torque bolt 3 can smoothly enter the fastening sleeve 4 along the conical structure, so that the torque bolt 3 can be conveniently sleeved.
As shown in fig. 7 and 8, the wire clamp support 29 is a vertical plate with an inverted T-shaped structure, the two sharp heads of the wire clamp support 29 are low in shoulder, and can be just inserted into the inner cavity of the wire clamp, one side of the wire clamp support 29 is further provided with an adjustable positioning stop block for positioning the wire clamp, during operation, the front wire clamp 15 and the rear wire clamp 16 in the wire clamp are respectively arranged on two sides of the wire clamp support 29 and are connected with the wire clamp sizing block 23 through the torque bolt 3, and therefore the wire clamp is suitable for placing and grabbing different wire clamps.
Based on the use method of the automatic installation device for the wire clamp of the live working robot, the automatic installation device specifically comprises the following steps:
firstly, a front side wire clamp 15, a rear side wire clamp 16 and a wire clamp sizing block 23 are connected through two torque bolts 3 and are placed on a wire clamp support 29, an electric operation mechanical arm grabs the automatic wire clamp installation device through a quick change device 12 and turns over 180 degrees to move to the upper side of a wire clamp, a left side wire clamp clamping jaw 2 and a right side wire clamp clamping jaw 1 of a wire clamp clamping mechanism are opened, a lead clamping jaw 9 is also opened, the automatic wire clamp installation device vertically moves downwards until the automatic wire clamp installation device is contacted with a wire clamp positioning plate 30, the left side wire clamp clamping jaw 2 and the right side wire clamp clamping jaw 1 of the wire clamp clamping mechanism are closed and vertically move upwards, and the action.
The automatic installation device of the wire clamp overturns 180 degrees and moves to the position of the lead 8, the lead 8 penetrates into a lead cavity of the wire clamp from one side through the guide of the lead guide sleeve 10, and the small-caliber pneumatic open clamp 21 of the lead clamping mechanism is closed to drive the lead clamping jaw 9 to clamp the lead.
The automatic installation device of the wire clamp moves to a proper position below the main guide wire 5 and then vertically moves upwards, and the main guide wire 5 enters a main guide wire cavity of the wire clamp under the guidance of the front and rear guide wire guide supports.
Under the pushing action of the double-acting cylinder 11, the double-bolt synchronous fastening mechanism advances on the guide rod 18, the fastening sleeve 4 is aligned with the head of the torque bolt 3 and sleeved in the torque bolt, the pneumatic motor 19 is started, power is transmitted to the fastening sleeve 4 through the speed reducer 28, the gear transmission mechanism and the double-output speed reducing mechanism 17 and the torque bolt 3 is screwed, the main guide wire 5 and the lead wire 8 are locked, and the double-acting cylinder 11 drives the double-bolt synchronous fastening mechanism to retreat. Wherein, in the process of tightening the torque bolt 3, the front side clamp 15 and the rear side clamp 16 can overcome the clamping force from the left side clamp clamping jaw 2 and the right side clamp clamping jaw 1 to move relatively and finally be locked together, the left side clamp clamping jaw 2 and the right side clamp clamping jaw 1 always clamp the front side clamp 15 and the rear side clamp 16 in the process so as to ensure that the front side clamp 15 and the rear side clamp 16 can not fall off from the automatic clamp installation device, and the clamping force between the left side clamp clamping jaw 2 and the right side clamp clamping jaw 1 is controlled by a program to allow the front side clamp 15 and the rear side clamp 16 to move relatively when being locked.
The left wire clamp clamping jaw 2 and the right wire clamp clamping jaw 1 of the wire clamp clamping mechanism are opened, the lead clamping jaw 9 is also opened, and the automatic wire clamp mounting device moves vertically downwards to complete automatic mounting of a wire clamp.
Second, a control system is provided.
The cylinder used in the large-caliber pneumatic split clamp 22 is defined as cylinder I, the cylinder used in the small-caliber pneumatic split clamp 21 is defined as cylinder II, and the double-acting cylinder 11 is defined as cylinder III.
A control system of an automatic installation device of a wire clamp of a live working robot comprises a transmitting starting remote controller and a receiving driving assembly.
As shown in FIG. 9, the emission starting remote controller comprises an industrial personal computer, a touch screen, a wireless module I, an antenna I and a remote controller power supply. The industrial personal computer is in serial port communication connection with the touch screen and the wireless module I respectively. The power supply of the remote controller provides 12V and 5V, and the power supply respectively supplies power to the touch screen, the industrial personal computer and the wireless module I.
When a remote controller is started to transmit a control command to the automatic wire clamp mounting device, the industrial personal computer obtains a corresponding control command according to data received by the touch screen and transmits the control command to the wireless module I and the antenna I; after the I unit circuit of the wireless module completes modulation, carrier oscillation and power amplification, the control signal is sent out in a radio frequency mode.
Preferably, the industrial personal computer adopts EIS-D150-E1DS641, the CPU is Intel Core i 56300U, 4GB DDR3L1600MHz memory and a Win10 operating system, and 4 RS-232/422/485 interfaces are provided.
Preferably, the touch screen adopts NB7W-TW00B, display screen type 7' TFT LCD, color number 65536, resolution 1024 × 1024, simulated resistance film, service life 100 ten thousand touch operations.
Preferably, the power supply of the remote controller is provided with overvoltage, overcurrent, low voltage and reverse connection prevention protection.
As shown in fig. 10, the receiving driving assembly is mounted on the rack 20, and the receiving driving assembly includes an antenna ii, a wireless module ii, a microprocessor, a D/a conversion module, a proportional valve, a sensor, an assembly power supply, and the like. Antenna II is connected with wireless module II, wireless module II is connected with microprocessor through the serial ports, microprocessor passes through I2C mouth and is connected with DA conversion module, DA conversion module is connected with 4 proportional valve (be proportional valve I respectively, proportional valve II, proportional valve III, proportional valve IV) respectively with 4 proportional valve one-to-one through 4 simulation mouths (be simulation mouth I respectively, simulation mouth II, simulation mouth III, simulation mouth IV), 4 proportional valve are respectively through a trachea respectively with cylinder I, cylinder II, cylinder III, pneumatic motor 19 is connected, cylinder I, cylinder II, cylinder III, pneumatic motor 19 is connected with microprocessor through a sensor respectively. The assembly power supply provides 5V, 3.3V, 5V, 12V, supplies power respectively for wireless module II, microprocessor, D/A conversion module and 4 proportional valves.
The wireless module II is used for receiving a wireless signal or a transmitting feedback signal from the transmitting starting remote controller, decoding and outputting the signal to the microprocessor or receiving the signal of the microprocessor; the microprocessor is used for receiving information from the wireless module II or other parts and judging and processing the information; the D/A conversion module is connected to the microprocessor and the 4 proportional valves and is used for receiving control signals output by the microprocessor; the cylinder I, the cylinder II, the cylinder III and the pneumatic motor 19 are connected to 4 proportional valves and are used for moving according to the required direction and speed under the control of the proportional valves; the air cylinder I, the air cylinder II, the air cylinder III and the pneumatic motor 19 are connected with the microprocessor through sensors and used for feeding back movement to the target position or the original point.
Preferably, the wireless module II adopts AC4490-200, working frequency 902-.
Preferably, the TMS320F2812 chip is adopted by the microprocessor, the main frequency is 150MHz, and the microprocessor is provided with a 16-channel ADC, 2 RS232 interfaces and 1I 2C interface.
Preferably, the D/A conversion module adopts a DAC7678 chip, 12 bits, 8 channels and 0-5V voltage output.
Preferably, the proportional valve is 3V1-06F, and the power supply voltage is 12V.
Preferably, the assembly power supply is provided with overvoltage, overcurrent, low voltage and reverse connection prevention protection.
As shown in fig. 11, an electromagnetic compatibility test is performed, when the voltage is increased, decreased and maintained within the range of 0-42KV, the automatic installation device for the wire clamp of the high-voltage live working robot launches and starts the components such as the remote controller, the wireless module, the microprocessor, the D/a conversion module, the proportional valve and the like to operate normally, and each detection function works normally.
The controller in the control system adopts a wireless transmission mode, the receiving drive assembly takes the DSP as a main controller, the power module has overvoltage, overcurrent, low voltage and reverse connection prevention protection functions, an air cylinder or a pneumatic motor is selected as drive, and a collision sensor feedback in-place method is adopted, so that the automatic wire clamp grabbing device for the automatic wire clamp installation device of the high-voltage live working robot can automatically grab a wire clamp, clamp a lead wire and synchronously fasten double bolts for remote control, the control system is suitable for robot operation, and the requirement of the operation task of the high-voltage live working robot is met.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. A control system of an automatic installation device of a live working robot wire clamp is characterized in that the automatic installation device of the live working robot wire clamp applied in the control system comprises a frame, a wire clamp clamping mechanism, a lead wire clamping mechanism, a double-bolt synchronous fastening mechanism and a double-acting air cylinder; the wire clamp clamping mechanism comprises a large-caliber pneumatic opening clamp and two wire clamp clamping jaws, the large-caliber pneumatic opening clamp is transversely and fixedly connected to the front end of the rack, and the two wire clamp clamping jaws can be clamped on two sides of a wire clamp under the driving of the large-caliber pneumatic opening clamp; the lead clamping mechanism comprises a small-caliber pneumatic opening clamp and two lead clamping jaws, the small-caliber pneumatic opening clamp is longitudinally and fixedly connected to the front end of the rack and located on one side of the clamp clamping mechanism, and the two lead clamping jaws can tightly clamp and fix a lead which is inserted into a lead cavity of the lead clamp under the driving of the small-caliber pneumatic opening clamp; the double-bolt synchronous fastening mechanism is slidably mounted on the rack through a guide rod and can move back and forth under the driving of the double-acting cylinder, the double-bolt synchronous fastening mechanism comprises two fastening sleeves and a pneumatic motor, the two fastening sleeves are mounted at the front end of the double-bolt synchronous fastening mechanism side by side and are in one-to-one correspondence with the two torque bolts on the wire clamp, and the pneumatic motor provides rotary power for the two fastening sleeves to lock the two torque bolts on the wire clamp; the air cylinder applied in the large-caliber pneumatic split clamp is defined as an air cylinder I, the air cylinder applied in the small-caliber pneumatic split clamp is defined as an air cylinder II, and the double-acting air cylinder is defined as an air cylinder III;
the control system comprises a transmitting starting remote controller and a receiving driving assembly;
the emission starting remote controller comprises an industrial personal computer, a touch screen, a wireless module I, an antenna I and a remote controller power supply, wherein the industrial personal computer is respectively connected with the touch screen and the wireless module I through serial ports, the wireless module I is connected with the antenna I, and the remote controller power supply respectively supplies power to the touch screen, the industrial personal computer and the wireless module I;
the receiving driving assembly is installed on the rack and comprises an antenna II, a wireless module II, a microprocessor, a D/A conversion module, a proportional valve, a sensor and an assembly power supply, the antenna II is connected with the wireless module II, the wireless module II is connected with the microprocessor through a serial port, the microprocessor is connected with the D/A conversion module through an I2C port, the D/A conversion module is respectively connected with 4 proportional valves through 4 analog ports in a one-to-one correspondence mode, the 4 proportional valves are respectively connected with the cylinder I, the cylinder II, the cylinder III and the pneumatic motor through air pipes, the cylinder I, the cylinder II, the cylinder III and the pneumatic motor are respectively connected with the microprocessor through a sensor, and the assembly power supply respectively supplies power to the wireless module II, the microprocessor, the D/A conversion module and the 4 proportional valves;
the wireless module I, the antenna II and the wireless module II form a wireless network communication module and are used for realizing communication connection between the transmitting starting remote controller and the receiving driving assembly;
the wireless module comprises a wireless module I and a wireless module II, the wireless module is used for receiving signals from the touch screen or the microprocessor and is responsible for transmitting radio frequency signals, and the output end of the modulation coding signal circuit outputs modulation carrier coding signals through the carrier oscillation circuit and the wireless amplification transmitting circuit;
the touch screen is used for finishing the human-computer interaction work and comprises a control cylinder I, a control cylinder II, a control cylinder III and the speed and the direction of a pneumatic motor and a real-time display of the motion states of the control cylinder I, the control cylinder II, the control cylinder III and the pneumatic motor;
the microprocessor is used for receiving the information from the wireless module II or the D/A conversion module or the sensor and judging and processing the information;
the D/A conversion module is used for receiving the digital signal of the microprocessor and converting the digital signal into a voltage analog signal;
and the proportional valve is used for outputting a driving signal under the condition of receiving the instruction converted by the D/A conversion module, so that the air cylinder I, the air cylinder II, the air cylinder III and the pneumatic motor move in the required direction and speed under the control of the driving signal.
2. The control system of the automatic installation device of the wire clamp of the live working robot as claimed in claim 1, wherein the industrial personal computer adopts EIS-D150-E1DS641, and the CPU is Intel Core i 56300U, 4GB DDR3L1600MHz memory, Win10 operating system, and is provided with 4 RS-232/422/485 interfaces.
3. The automatic installation device control system of the wire clamp of the live working robot as claimed in claim 1, wherein the touch screen adopts NB7W-TW00B, display screen type 7' TFT LCD, color number 65536, resolution 1024 x 1024, simulated resistance film, service life 100 ten thousand touch operations.
4. The control system of the automatic installation device of the wire clamp of the live working robot as claimed in claim 1, wherein the wireless module adopts AC4490-200, working frequency 902-928MHz, FHSS FSK modulation mode, serial port speed of 115.2Kbps, and transmission distance of 6.5 km.
5. The control system of the automatic installation device of the wire clamp of the live working robot as claimed in claim 1, wherein the microprocessor adopts a TMS320F2812 chip, has a 150MHz main frequency, and is provided with a 16-channel ADC, 2 RS232 interfaces and 1I 2C interface.
6. The control system of the automatic installation device of the wire clamp of the hot-line work robot as claimed in claim 1, wherein the D/A conversion module adopts DAC7678 chip, 12 bit, 8 channel, 0-5V voltage output.
7. The control system of the automatic installation device of the wire clamp of the hot-line work robot as claimed in claim 1, wherein the proportional valve is 3V1-06F, and the power voltage is 12V.
8. The control system of the automatic installation device of the wire clamp of the hot-line work robot according to claim 1, wherein the remote controller power supply and the assembly power supply are provided with overvoltage, overcurrent, low voltage and reverse connection prevention protection, the remote controller power supply provides 12V and 5V voltage and respectively supplies power to the touch screen, the industrial personal computer and the wireless module I, and the assembly power supply provides 5V, 3.3V, 5V and 12V voltage and respectively supplies power to the wireless module II, the microprocessor, the D/A conversion module and the 4 proportional valves.
CN202010520351.0A 2020-06-10 2020-06-10 Control system of automatic installation device for wire clamp of live working robot Active CN111431098B (en)

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CN113572079B (en) * 2021-09-27 2021-12-14 天津滨电电力工程有限公司 Lead lapping device of live working robot and wire clamp installation method

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Effective date of registration: 20201231

Address after: 250101 power intelligent robot production project 101 south of Feiyue Avenue and east of No.26 Road (in ICT Industrial Park) in Suncun District of Gaoxin, Jinan City, Shandong Province

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Address before: No. 405, Xuexue street, Tanggu District, Binhai New Area, Tianjin 300450

Patentee before: TIANJIN BINDIAN ELECTRIC POWER ENGINEERING Co.,Ltd.

Patentee before: STATE GRID TIANJIN ELECTRIC POWER Co.

Patentee before: National Network Intelligent Technology Co.,Ltd.

Patentee before: STATE GRID CORPORATION OF CHINA