CN114301031B - Emergency stop device of live working robot of transformer substation - Google Patents
Emergency stop device of live working robot of transformer substation Download PDFInfo
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- CN114301031B CN114301031B CN202210200468.XA CN202210200468A CN114301031B CN 114301031 B CN114301031 B CN 114301031B CN 202210200468 A CN202210200468 A CN 202210200468A CN 114301031 B CN114301031 B CN 114301031B
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Abstract
The application discloses live working robot's of transformer substation scram device selects compound button, has proposed a new method of using the safe mode wiring of inefficacy: two pairs of normally closed contacts are connected in series to the positive end of the power supply, and two pairs of normally open contacts are connected in parallel to the negative end of the power supply; simultaneously, a new method for eliminating the residual magnetism of the iron core of the direct current contactor in time is provided: the composite button conversion circuit is used for connection, a coil, a diode, a capacitor and a resistor of the direct current contactor are connected in parallel to form an RLC parallel oscillation circuit, the composite button is pressed down in an emergency state, a normally closed contact is disconnected, and current flowing through the coil passes through the diode to form a passage, so that overvoltage caused by sudden change of the current of the coil is prevented; the normally open contact is closed, and the coil, the diode, the capacitor and the resistor of the direct current contactor are connected in parallel to form an RLC parallel oscillation circuit, so that oscillation current is generated, and residual magnetism of an iron core of the direct current contactor is eliminated in time, and the technical problems of poor reliability and poor quick-action performance in the prior art are solved.
Description
Technical Field
The application relates to the technical field of electric power, especially, relate to a live working robot's of transformer substation scram device.
Background
High-voltage electrical equipment of a transformer substation is arranged at intervals, and an electric operating robot is required to autonomously or remotely move among numerous and dense equipment to carry out electric operation; due to various factors such as human misoperation and robot actuating mechanism abnormity, the live working robot is out of control, cannot move or operate as expected, and damages to surrounding personnel and power transformation facilities are caused, so that the mobile robot is required to be provided with at least one emergency stop device for emergently stopping the operation of the robot when the robot breaks down or the personnel encounters danger, and various existing dangers to the people are avoided or reduced.
The existing emergency stop device has the function of 0-class stop or 1-class stop, and adopts a failure safety mode with a direct current contactor for wiring, wherein an iron core of the direct current contactor is controlled by direct current, and after a coil of the direct current contactor is electrified, the iron core is magnetized under the excitation of the magnetic field intensity generated by the current of the coil; after the current excitation is removed, the magnetic induction intensity in the iron core can be gradually reduced but cannot be reduced to zero, and the iron core has the remanence characteristic; when the residual magnetism of the iron core of the direct current contactor cannot be eliminated in time, the residual magnetism of the iron core is easy to accumulate for a long time, the iron core of the contactor is released slowly or cannot be released, and the contactor contact cannot accurately act immediately according to an emergency stop instruction, even refuses to be separated. Therefore, the existing emergency stop device is difficult to ensure that the robot is stopped quickly and reliably in an emergency state, and cannot meet the safety requirement.
Disclosure of Invention
An object of this application is to provide a live working robot's of transformer substation scram device for solve the technical problem that prior art reliability is poor and quick-action nature is poor.
In view of this, this application provides a live working robot's of transformer substation scram device, includes: a manual manipulator and a power control unit which are composed of composite buttons; wherein the power control unit includes: the direct current contactor comprises a direct current contactor, a diode, a capacitor and a resistor, wherein a coil of the direct current contactor is connected with the diode in an anti-parallel mode and then connected with the capacitor and the resistor in series, and the capacitor is connected with the resistor in parallel;
the compound button includes: two pairs of normally closed contacts and two pairs of normally open contacts; two pairs of normally closed contacts are connected in series with a positive circuit of the power supply, and two pairs of normally open contacts are connected in parallel through a pair of normally closed contacts in a short circuit and then connected with a negative end of the power supply;
when the composite button is in a reset state, the power supply positive terminal is communicated with the power control unit through a normally closed contact;
when the compound button is in a pressing state, the normally closed contact disconnects the positive end of the power supply from the power control unit, and the normally open contact disconnects the power control unit in a short circuit mode.
Optionally, the power control unit is specifically an RLC parallel oscillation circuit.
Optionally, when the manual manipulator includes a plurality of compound buttons, the method further includes: a logic circuit board;
and the logic circuit board is used for connecting the plurality of composite buttons with the power control unit after cascading.
Optionally, the compound button is a mushroom-type compound button.
Optionally, the position to be scrammed of the mushroom-type composite button setting comprises: operation panel, demonstrator, robot truck.
According to the technical scheme, the method has the following advantages:
the application provides a pair of live working robot's of transformer substation scram device includes: a manual manipulator and a power control unit which are composed of composite buttons; wherein the power control unit includes: the direct current contactor comprises a direct current contactor, a diode, a capacitor and a resistor, wherein a coil of the direct current contactor is connected with the diode in an anti-parallel mode and then connected with the capacitor and the resistor in series, and the capacitor is connected with the resistor in parallel; the compound button includes: two pairs of normally closed contacts and two pairs of normally open contacts; two pairs of normally closed contacts are connected in series with a positive circuit of the power supply, and two pairs of normally open contacts are connected in parallel through a pair of normally closed contacts in a short circuit and then connected with a negative end of the power supply; when the composite button is in a reset state, the power supply positive terminal is often closed to contact and is communicated with the power control unit; when the composite button is in a pressed state, the normally closed contact disconnects the positive end of the power supply from the power control unit, and the normally open contact short-circuits the power control unit.
The application selects a composite button and provides a new method for wiring in a fail-safe manner: two pairs of normally closed contacts are connected in series to the positive end of the power supply, and two pairs of normally open contacts are connected in parallel to the negative end of the power supply; simultaneously, a new method for eliminating the residual magnetism of the iron core of the direct current contactor in time is provided: the composite button conversion circuit is used for connection, a coil, a diode, a capacitor and a resistor of the direct current contactor are connected in parallel to form an RLC parallel oscillation circuit, the composite button is pressed down in an emergency state, a normally closed contact is disconnected, and current flowing through the coil passes through the diode to form a passage, so that overvoltage caused by sudden change of the current of the coil is prevented; and the normally open contact is closed, and the coil, the diode, the capacitor and the resistor of the direct current contactor are connected in parallel to form an RLC parallel oscillation circuit, so that oscillation current is generated, the residual magnetism of an iron core of the direct current contactor is eliminated in time, and the rapid disconnection of the power of the robot actuating mechanism by the emergency stop device is ensured. Compared with the prior art, the emergency stop device has the advantages of high reliability, strong quick action and good safety; and simple structure is with low costs moreover, and scram position point quantity is unrestricted, can set for the scram position according to live working robot's application scene needs to solved the technical problem that prior art reliability is poor and snap is poor.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a unit position emergency stop control connection diagram of an emergency stop device of a substation live working robot provided by an embodiment of the application;
fig. 2 is a structural schematic diagram of an emergency stop device of a transformer substation live working robot provided by an embodiment of the application;
FIG. 3 is a schematic diagram of a power control unit provided in an embodiment of the present application;
fig. 4 is a two-position point emergency stop control connection diagram of an emergency stop device of a substation live working robot provided by an embodiment of the application;
fig. 5 is a three-position point emergency stop control connection diagram of an emergency stop device of a substation live working robot provided by an embodiment of the application;
fig. 6 is a four-position point emergency stop control connection diagram of an emergency stop device of a substation live working robot provided by an embodiment of the application;
fig. 7 is an emergency stop schematic diagram of an emergency stop device of a substation live working robot provided by an embodiment of the application.
Reference numbers: JC. A DC contactor; D. a diode; C. a capacitor; r, resistance; and Q, a coil.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Interpretation of terms:
live working robot: a machine capable of performing tasks such as live working and moving by programming and automatic control.
An emergency stop device: and a manual control device for starting the sudden stop function.
Reliability: the emergency stop device should be operated when the emergency stop device is operated, and is not operated when the emergency stop device is not operated.
And (3) fast mobility: the scram should be able to cut off the power source of the robot actuator as quickly as possible.
Robot actuating mechanism: and a power mechanism for generating the motion of the robot.
And (4) failure safety: a device, even in the event of a particular failure, will not cause or minimize injury to personnel or other equipment.
Shutdown class 0: the power source of the robot actuator is immediately switched off.
Shutdown in type 1: the power supply to the robot actuating mechanism is controlled to realize the halt, and the power source is disconnected after the robot realizes the halt.
Remanence: the magnetism of the magnetic substance is retained after the external magnetic field is eliminated.
Referring to fig. 1, fig. 1 is a connection diagram of unit position emergency stop control of an emergency stop device of a substation live working robot according to an embodiment of the present application.
The utility model provides a live working robot's of transformer substation scram device that provides in the embodiment includes: a manual manipulator and a power control unit which are composed of composite buttons;
the mushroom type composite button includes: two pairs of normally closed contacts and two pairs of normally open contacts; two pairs of normally closed contacts are connected in series with a positive circuit of the power supply, and two pairs of normally open contacts are connected in parallel through a pair of normally closed contacts in a short circuit and then connected with a negative end of the power supply;
when the mushroom-type composite button is in a reset state, the power supply positive terminal is often closed to contact and is communicated with the power control unit; when the mushroom-type composite button is in a pressed state, the normally closed contact disconnects the positive end of the power supply from the power control unit, and the normally open contact short-circuits the power control unit.
It should be noted that the manual manipulator includes 1 or more mushroom-type compound buttons. The mushroom-type composite button comprises two pairs of normally closed contacts and two pairs of normally open contacts, and the two pairs of normally closed contacts are connected in series with a power supply positive circuit; two pairs of normally open contacts are connected in parallel through a pair of normally closed contacts in short circuit and connected with the negative end of the power supply as shown in figure 1. When the composite button is not pressed down, the positive end of the power supply is communicated with the power control unit through the button normally closed contact, and the power control unit obtains power supply voltage; when the compound button is pressed down, the normally closed contact of the compound button disconnects the positive end of the power supply from the power control unit, the normally open contact of the button short-circuits the power control unit, and the power control unit loses power supply voltage.
Wherein, the power control unit is RLC oscillation circuit that connects in parallel, specifically includes: a direct current contactor, a diode, a capacitor and a resistor; the coil of the direct current contactor is connected with the diode in an anti-parallel mode and then connected with the capacitor and the resistor in series, and the capacitor is connected with the resistor in parallel.
It should be noted that the power control unit is constituted by a dc contactor JC, a diode D, a capacitor C, and a resistor R, and a coil Q of the dc contactor is connected in anti-parallel with the diode, and the capacitor and the resistor are connected in parallel and then connected in series, as shown in fig. 3. When the direct current contactor starts to be attracted, the capacitor voltage is zero, the power supply voltage is completely applied to two ends of the coil, the direct current contactor is ensured to be reliably attracted, and the coil voltage gradually decreases along with the capacitor charging; after the direct current contactor is completely attracted, the resistor is connected with the coil in series, and the working current of the coil is limited by resistor voltage division. The main contacts communicate the DC power source with the motor.
Further, as shown in fig. 2, in a specific embodiment, when the manual manipulator includes a plurality of mushroom-type compound buttons, the method further includes: a logic circuit board;
and the logic circuit board is used for connecting the power control unit after cascading the mushroom-type composite buttons.
It should be noted that, when the manual manipulator includes a plurality of mushroom-type compound buttons, the power control unit is controlled by the cascade and cooperation of the plurality of mushroom-type compound buttons through the logic circuit board. In an emergency state, the power of the power control unit can be cut off and the power of the robot actuating mechanism can be cut off by pressing the mushroom-type compound button at any position; the power control unit power is restored only if the mushroom type compound buttons of all the location points have been reset, as shown in fig. 4, 5, 6. The number of the sudden stop positions is not limited, and the sudden stop positions can be set according to the application scene needs of the live working robot.
It should be noted that the mushroom-type composite button body of the present embodiment may be disposed on the operation panel, the teach pendant, the robot trunk, and other locations where sudden stop is required. And in each position needing the emergency stop, the robot can be emergently stopped.
As shown in fig. 7, in an emergency state, when the compound button is pressed, the normally closed contact is opened, and the current flowing through the coil forms a path through the diode, so that the current of the coil is prevented from suddenly changing to generate overvoltage; and the normally open contact is closed, and the coil, the diode, the capacitor and the resistor of the direct current contactor are connected in parallel to form an RLC parallel oscillating circuit, so that oscillating current is generated, and the residual magnetism of the iron core of the direct current contactor is eliminated in time.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (4)
1. The utility model provides a live working robot's of transformer substation scram device which characterized in that includes: a manual manipulator and a power control unit which are composed of composite buttons; wherein the power control unit includes: the direct current contactor comprises a direct current contactor, a diode, a capacitor and a resistor, wherein a coil of the direct current contactor is connected with the diode in an anti-parallel mode and then connected with the capacitor and the resistor in series, and the capacitor is connected with the resistor in parallel;
the compound button includes: two pairs of normally closed contacts and two pairs of normally open contacts; two pairs of normally closed contacts are connected in series with a positive circuit of the power supply, and two pairs of normally open contacts are connected in parallel through a pair of normally closed contacts in a short circuit and then connected with a negative end of the power supply;
when the composite button is in a reset state, the power supply positive terminal is communicated with the power control unit through a normally closed contact;
when the composite button is in a pressed state, the normally closed contact disconnects the positive end of the power supply from the power control unit, and the normally open contact short-circuits the power control unit, so that the direct current contactor, the diode, the capacitor and the resistor are connected in parallel to form an RLC parallel oscillating circuit, oscillating current is generated, and residual magnetism of an iron core of the direct current contactor is eliminated in time.
2. The scram apparatus of a substation live working robot according to claim 1, when said manual manipulator comprises a plurality of compound buttons, further comprising: a logic circuit board;
and the logic circuit board is used for connecting the plurality of composite buttons with the power control unit after cascading.
3. The scram device of a substation live working robot according to claim 1, characterized in that said compound button is a mushroom type compound button.
4. The emergency stop device of a substation live working robot according to claim 3, wherein the position to be emergency stopped of the mushroom type composite button setting comprises: operation panel, demonstrator, robot truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210200468.XA CN114301031B (en) | 2022-03-03 | 2022-03-03 | Emergency stop device of live working robot of transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210200468.XA CN114301031B (en) | 2022-03-03 | 2022-03-03 | Emergency stop device of live working robot of transformer substation |
Publications (2)
| Publication Number | Publication Date |
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| CN114301031A CN114301031A (en) | 2022-04-08 |
| CN114301031B true CN114301031B (en) | 2022-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210200468.XA Active CN114301031B (en) | 2022-03-03 | 2022-03-03 | Emergency stop device of live working robot of transformer substation |
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Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107681648B (en) * | 2017-11-13 | 2019-06-14 | 国家电网公司 | A kind of power of alterating and direct current partition method being shorted test for substation secondary |
| CN209948670U (en) * | 2019-07-12 | 2020-01-14 | 北京新长征天高智机科技有限公司 | Emergency stop device of direct-current power supply circuit and direct-current power supply circuit |
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| JP2003079049A (en) * | 2001-08-31 | 2003-03-14 | Japan Control Engineering Co Ltd | Protection circuit for safety relay |
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