CN111590580A - Electrical fault detection method and device for forcible entry robot - Google Patents
Electrical fault detection method and device for forcible entry robot Download PDFInfo
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- CN111590580A CN111590580A CN202010454842.XA CN202010454842A CN111590580A CN 111590580 A CN111590580 A CN 111590580A CN 202010454842 A CN202010454842 A CN 202010454842A CN 111590580 A CN111590580 A CN 111590580A
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- controller
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- control valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention provides an electrical fault detection device for a breaking-in robot, which comprises a remote controller, a controller and an electric control valve, wherein signals are transmitted in a matched mode, the input end of the electric control valve is connected with a control circuit of an actuating mechanism of the breaking-in robot, the output end of the electric control valve is connected with the controller, the input end of the controller is also connected with the output end of the control circuit of a working lamp of the breaking-in robot, and a display screen is arranged on the remote controller. The invention provides an electrical fault detection method for a forcible entry robot, which adopts different detection methods aiming at different working states of the forcible entry robot, improves the detection efficiency and the detection practicability, can monitor the working states in the whole process after the forcible entry robot is started, and can react to faults in time.
Description
Technical Field
The invention belongs to the technical field of demolition robots, and particularly relates to an electrical fault detection method and device of a demolition robot.
Background
The function of the forcible entry robot is mainly demolished, and the forcible entry robot is mainly applied to the fields of fire control forcible entry rescue, earthquake rescue, building demolition, tunnel rock forcible entry, nuclear laboratory tank body disassembly and the like, is complex in working environment condition and high in risk, and in order to ensure the safety of personnel, an operator needs to control the forcible entry robot through a remote controller outside a protective wall or in a long distance, and the forcible entry robot synchronously executes highly accurate actions according to instructions. Chinese patent publication No. CN202724513U provides a smoke evacuation, fire extinguishing, demolition robot, which includes a vehicle body, a chassis traveling device installed at the lower part of the vehicle body, a power device, a working device, a waterway system, a hydraulic system, and an electrical system, and can implement demolition, object grasping, and bucket functions for obstacles, and greatly improve working efficiency, but the existing demolition robot only performs routine state monitoring, and displays parameters such as hydraulic oil temperature, working time, and the like; the fault detection of a control circuit is not carried out, when the forcible entry robot breaks down, the fault condition is difficult to master at the first time due to man-machine separation, the site investigation is carried out in a dangerous operation environment, the personal injury risk exists, the consumed time is long, and the efficiency is low.
Disclosure of Invention
In order to solve the technical problems, the invention provides an electrical fault detection method and device for a forcible entry robot, which can monitor the working state in the whole process and react to the fault in time after the forcible entry robot is started.
The invention is realized by the following technical scheme:
the utility model provides a broken robot electrical fault detection device of tearing open, including signal matching transmission's remote controller and controller, and automatically controlled valve, the input of automatically controlled valve is connected with the control circuit of broken robot's actuating mechanism of tearing open, the controller is inserted to the automatically controlled valve output, the controller input still is connected with the control circuit output of the work light of broken robot open, be provided with the display screen on the remote controller, the controller detects the signal of work light circuit and automatically controlled valve, when detecting that the work light circuit takes place the short/open circuit trouble or automatically controlled valve sends alarm signal, the controller converts this signal into wireless signal earlier, give the remote controller again, the remote controller is received the back, show trouble information on the display screen, be convenient for operating personnel long-range grasp the fault situation, take counter-measures, improve work efficiency.
The controller is internally provided with a transmitter, and when a fault signal is detected, the controller converts the signal into a wireless signal and then wirelessly transmits an alarm signal to the remote controller through the transmitter.
The remote controller is internally provided with a transceiver for signal transmission and a decoder for converting signals into pictures and texts, can receive alarm signals from the controller, converts corresponding alarm information into pictures and texts, and displays the pictures and texts on a display screen.
The electric control valve comprises a plurality of fault detection modules, each fault detection module can independently detect, can simultaneously detect a plurality of circuits, monitors each actuating mechanism, and transmits an alarm signal to the controller when a fault occurs.
Actuating mechanism includes that hydraulic pick, arm drive hydraulic cylinder, left side landing leg hydraulic cylinder, left side track walking motor, right side landing leg hydraulic cylinder, right side track walking motor and slewing motor at all levels cooperate a plurality of fault detection modules, can detect the actuating mechanism of all movements, and it is comprehensive to cover, can pinpoint each actuating mechanism trouble, improves the efficiency of troubleshooting.
The invention also provides a method for detecting the electrical fault of the demolition robot, which comprises the following steps:
the first step is as follows: after the forcible entry robot is started, the controller performs short circuit detection on the working lamp and each circuit of the electric control valve; when the working lamp and/or any circuit of the electric control valve are short-circuited, the controller immediately sends a short-circuit alarm signal to the remote controller to carry out the fifth step, otherwise, the second step is carried out;
the second step is that: after the short circuit detection is finished, the controller judges whether the operation signal of the remote controller is received, namely whether action or light operation is performed, if the operation signal of the remote controller is received, the step three is performed, otherwise, the step four is performed;
the third step: the controller performs open circuit detection on the working lamp and each circuit of the electric control valve at intervals; when any circuit of the working lamp and the electric control valve is opened, the controller immediately sends an open-circuit alarm signal to the remote controller to carry out the fifth step, otherwise, the second step is carried out;
the fourth step: the fault detection module on the electric control valve carries out self-detection, the fault detection module on each valve feeds back voltage information to the controller at intervals, when a valve core is stuck in a certain path of valve, the voltage value is changed into a system voltage value to prompt the electric control valve to have the valve core stuck fault, the controller immediately sends alarm information to the remote controller, the fifth step is carried out, and otherwise, the second step is returned;
the fifth step: after receiving the alarm information from the controller, the remote controller is matched with preset fault information and converted into pictures and texts to be displayed on a display screen, so that an operator can read the pictures and texts conveniently and quickly master the fault condition.
Different detection methods are adopted for different working states of the forcible entry robot, so that the detection efficiency and the detection practicability are improved, and the working state can be monitored in the whole process after the forcible entry robot is started to timely react to faults.
And in the first step, the short circuit detection time of the controller to each circuit of the working lamp and the electric control valve is 2 s.
And in the third step, the frequency of the controller for carrying out open circuit detection on the working lamp and each circuit of the electric control valve is once every 100ms, so that real-time monitoring is realized.
And in the fourth step, the frequency of feeding back voltage information to the controller by the fault detection module is once every 100ms, so that real-time monitoring is realized.
And in the fifth step, the fault information displayed on the display screen comprises types, reasons, positions and troubleshooting modes, so that an operator can rapidly master the fault condition, a coping scheme is provided, the operator can conveniently take coping measures, personal injury is reduced, the fault processing time is shortened, the normal operation of equipment is ensured, and the working efficiency is improved.
The invention has the beneficial effects that:
compared with the prior art, through setting up automatically controlled valve and controller, carry out real-time detection to work light and each actuating mechanism, to the different operating condition of broken robot of tearing open simultaneously, adopt different detection methods, improved the efficiency and the practicality of detection, can be after broken robot of tearing open starts, whole control operating condition in time reacts to the trouble. Through setting up remote controller and the controller that signal match transmitted, after the alarm information was received at the remote controller, the fault information that shows on the display screen can long-rangely control the fault condition, and the fault information content includes type, reason, position and investigation mode, can make operating personnel grasp the fault condition rapidly to provide the solution of coping, the operating personnel of being convenient for makes the counter-measure, reduces bodily injury, shortens the time of fault handling simultaneously, guarantees to equip normal operating, improves work efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a flow chart of the operation of the present invention.
In the figure: 1-remote controller, 2-controller, 3-working lamp, 4-electric control valve, 5-actuating mechanism and 6-display screen.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in fig. 1, an electrical fault detection device for a breaking-in robot comprises a remote controller 1, a controller 2 and an electric control valve 4, wherein signals are transmitted in a matched mode, the input end of the electric control valve 4 is connected with a control circuit of an executing mechanism 5 of the breaking-in robot, the output end of the electric control valve 4 is connected to the controller 2, the input end of the controller 2 is further connected with the output end of a control circuit of a working lamp 3 of the breaking-in robot, a display screen 6 is arranged on the remote controller 1, the controller detects signals of the working lamp circuit and the electric control valve, when the working lamp circuit is detected to have a short/open circuit fault or the electric control valve sends an alarm signal, the controller converts the signals into wireless signals and sends the wireless signals to the remote controller, and after the remote controller receives the wireless signals, fault information is displayed on the display screen, so that an operator can conveniently.
The controller 2 is internally provided with a signal emitter, when a fault signal is detected, the controller firstly converts the signal into a wireless signal, and then wirelessly transmits an alarm signal to the remote controller through the emitter.
The remote controller 1 is internally provided with a transceiver for signal transmission and a decoder for converting signals into pictures and texts, can receive alarm signals from the controller, converts corresponding alarm information into pictures and texts, and displays the pictures and texts on a display screen.
The electric control valve 4 comprises a plurality of fault detection modules, each fault detection module can independently detect, a plurality of circuits can be simultaneously detected, each actuating mechanism is monitored, and when a fault occurs, an alarm signal is transmitted to the controller.
The invention also provides a method for detecting the electrical fault of the demolition robot, which comprises the following specific steps as shown in fig. 2:
the first step is as follows: after the forcible entry robot is started and before action and light operation are not carried out, the controller 2 carries out short circuit detection on each circuit of the working lamp 3 and the electric control valve 4; when any circuit of the working lamp 3 and the electric control valve 4 is short-circuited, the controller 2 immediately sends a short-circuit alarm signal to the remote controller 1, and the fifth step is carried out, otherwise, the second step is carried out;
the second step is that: after the short circuit detection is finished, the controller 2 judges whether the operation signal of the remote controller 1 is received, namely whether action or light operation is performed, if the operation signal of the remote controller 1 is received, the third step is performed, and if not, the fourth step is performed;
the third step: the controller 2 performs open circuit detection on the working lamp 3 and each circuit of the electric control valve 4 at intervals; when any circuit of the working lamp 3 and the electric control valve 4 is opened, the controller 2 immediately sends an open-circuit alarm signal to the remote controller 1 to carry out the fifth step, otherwise, the second step is carried out;
the fourth step: the fault detection module on the electric control valve carries out self-detection, the fault detection module on each valve feeds back voltage information to the controller at intervals, when a valve core is stuck in a certain path of valve, the voltage value is changed into a system voltage value to prompt the electric control valve to have the valve core stuck fault, the controller immediately sends alarm information to the remote controller, the fifth step is carried out, and otherwise, the second step is returned;
the fifth step: the remote controller 1 receives the alarm information from the controller 2, matches the alarm information with preset fault information, converts the alarm information into pictures and texts, and displays the pictures and texts on the display screen 6, so that an operator can read the pictures and texts conveniently and quickly master the fault condition.
Different detection methods are adopted for different working states of the forcible entry robot, so that the detection efficiency and the detection practicability are improved, and the working state can be monitored in the whole process after the forcible entry robot is started to timely react to faults.
In the first step, the short circuit detection time of the controller 2 to each circuit of the working lamp 3 and the electric control valve 4 is 2 s.
And in the third step, the frequency of the controller 2 for carrying out open circuit detection on each circuit of the working lamp 3 and the electric control valve 4 is once every 100ms, so that real-time monitoring is realized.
And in the fourth step, the frequency of feeding back voltage information to the controller 2 by the fault detection module is once every 100ms, so that real-time monitoring is realized.
And in the fifth step, the fault information displayed on the display screen comprises types, reasons, positions and troubleshooting modes, so that an operator can rapidly master the fault condition, a coping scheme is provided, the operator can conveniently take coping measures, personal injury is reduced, the fault processing time is shortened, the normal operation of equipment is ensured, and the working efficiency is improved.
According to the electrical fault detection device for the breaking-in robot, provided by the invention, the working lamp and each actuating mechanism are detected in real time by arranging the electric control valve and the controller, meanwhile, different detection methods are adopted according to different working states of the breaking-in robot, so that the detection efficiency and the detection practicability are improved, the working states can be monitored in the whole process after the breaking-in robot is started, and the fault can be responded in time. Through setting up remote controller and the controller that signal match transmitted, after the alarm information was received at the remote controller, the fault information that shows on the display screen can long-rangely control the fault condition, and the fault information content includes type, reason, position and investigation mode, can make operating personnel grasp the fault condition rapidly to provide the solution of coping, the operating personnel of being convenient for makes the counter-measure, reduces bodily injury, shortens the time of fault handling simultaneously, guarantees to equip normal operating, improves work efficiency.
Claims (10)
1. The utility model provides a broken electrical fault detection device of tearing robot open which characterized in that: the remote controller comprises a remote controller (1) and a controller (2) which are in signal matching transmission, and an electric control valve (4), wherein the input end of the electric control valve (4) is connected with a control circuit of an actuating mechanism (5) of the breaking-in robot, the output end of the electric control valve (4) is connected into the controller (2), the input end of the controller (2) is also connected with the output end of a control circuit of a working lamp (3) of the breaking-in robot, and a display screen (6) is arranged on the remote controller (1).
2. The electrical fault detection device of a demolition robot as claimed in claim 1, wherein: a signal transmitter is arranged in the controller (2).
3. The electrical fault detection device of a demolition robot as claimed in claim 1, wherein: the remote controller (1) is internally provided with a transceiver for signal transmission and a decoder for converting signals into pictures and texts.
4. The electrical fault detection device of a demolition robot as claimed in claim 1, wherein: the electric control valve (4) comprises a plurality of fault detection modules, and each fault detection module can independently detect.
5. The electrical fault detection device of a demolition robot as claimed in claim 1, wherein: the executing mechanism (5) comprises a hydraulic pickaxe, all levels of driving hydraulic cylinders of the mechanical arm, a left side supporting leg hydraulic cylinder, a left side crawler traveling motor, a right side supporting leg hydraulic cylinder, a right side crawler traveling motor and a rotary motor.
6. A method for detecting electrical faults of a forcible entry robot is characterized by comprising the following specific steps:
the first step is as follows: after the breaking-in robot is started, the controller (2) performs short circuit detection on each circuit of the working lamp (3) and the electric control valve (4); when any circuit of the working lamp (3) and/or the electric control valve (4) is short-circuited, the controller (2) immediately sends a short-circuit alarm signal to the remote controller (1) to carry out the fifth step, otherwise, the second step is carried out;
the second step is that: after the short circuit detection is finished, the controller (2) judges whether an operation signal of the remote controller (1) is received, namely whether action or light operation is performed, if the operation signal of the remote controller (1) is received, the third step is performed, and if the operation signal of the remote controller (1) is not received, the fourth step is performed;
the third step: the controller (2) performs open circuit detection on each circuit of the working lamp (3) and the electric control valve (4) at intervals; when any circuit of the working lamp (3) and/or the electric control valve (4) is opened, the controller (2) immediately sends an open-circuit alarm signal to the remote controller (1) to carry out the fifth step, otherwise, the second step is carried out;
the fourth step: the fault detection module on the electric control valve carries out self-detection, the fault detection module on each valve feeds back voltage information to the controller at intervals, when a valve core is stuck in a certain path of valve, the voltage value is changed into a system voltage value to prompt the electric control valve to have the valve core stuck fault, the controller immediately sends alarm information to the remote controller, the fifth step is carried out, and otherwise, the second step is returned;
the fifth step: and after receiving the alarm information from the controller (2), the remote controller (1) is matched with preset fault information and converted into pictures and texts to be displayed on the display screen (6).
7. The electrical fault detection method for the demolition robot as claimed in claim 6, characterized in that: and in the first step, the short circuit detection time of the controller (2) to each circuit of the working lamp (3) and the electric control valve (4) is 2 s.
8. The electrical fault detection method for the demolition robot as claimed in claim 6, characterized in that: and in the third step, the frequency of the open circuit detection of the working lamp (3) and each circuit of the electric control valve (4) by the controller (2) is once every 100 ms.
9. The electrical fault detection method for the demolition robot as claimed in claim 6, characterized in that: and in the fourth step, the frequency of feeding back the voltage information to the controller (2) by the fault detection module is once every 100 ms.
10. The electrical fault detection method for the demolition robot as claimed in claim 6, characterized in that: and the fault information displayed on the display screen in the fifth step comprises type, reason, position and troubleshooting mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010454842.XA CN111590580A (en) | 2020-05-26 | 2020-05-26 | Electrical fault detection method and device for forcible entry robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010454842.XA CN111590580A (en) | 2020-05-26 | 2020-05-26 | Electrical fault detection method and device for forcible entry robot |
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| CN111590580A true CN111590580A (en) | 2020-08-28 |
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| CN202010454842.XA Pending CN111590580A (en) | 2020-05-26 | 2020-05-26 | Electrical fault detection method and device for forcible entry robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851442A (en) * | 2006-05-22 | 2006-10-25 | 杭州电子科技大学 | Actuator fault diagnosis method |
| CN104476548A (en) * | 2014-10-24 | 2015-04-01 | 四川省绵阳西南自动化研究所 | Excavating robot autonomous working control system and method |
| CN107584504A (en) * | 2016-07-10 | 2018-01-16 | 李月梅 | A kind of control system of robot for disassembling work |
| CN108086391A (en) * | 2016-11-22 | 2018-05-29 | 马驰 | A kind of crawler hypraulic excavator electric control system |
| CN110701369A (en) * | 2019-09-03 | 2020-01-17 | 中阀科技(长沙)阀门有限公司 | Air valve |
| EP3637209A1 (en) * | 2018-10-11 | 2020-04-15 | Palo Alto Research Center Incorporated | Motion-insensitive features for condition-based maintenance of factory robots |
-
2020
- 2020-05-26 CN CN202010454842.XA patent/CN111590580A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851442A (en) * | 2006-05-22 | 2006-10-25 | 杭州电子科技大学 | Actuator fault diagnosis method |
| CN104476548A (en) * | 2014-10-24 | 2015-04-01 | 四川省绵阳西南自动化研究所 | Excavating robot autonomous working control system and method |
| CN107584504A (en) * | 2016-07-10 | 2018-01-16 | 李月梅 | A kind of control system of robot for disassembling work |
| CN108086391A (en) * | 2016-11-22 | 2018-05-29 | 马驰 | A kind of crawler hypraulic excavator electric control system |
| EP3637209A1 (en) * | 2018-10-11 | 2020-04-15 | Palo Alto Research Center Incorporated | Motion-insensitive features for condition-based maintenance of factory robots |
| CN110701369A (en) * | 2019-09-03 | 2020-01-17 | 中阀科技(长沙)阀门有限公司 | Air valve |
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Application publication date: 20200828 |