CN202490904U - Special sound-control wire clipper for high-voltage hot-line working robot - Google Patents
Special sound-control wire clipper for high-voltage hot-line working robot Download PDFInfo
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- CN202490904U CN202490904U CN2012201330433U CN201220133043U CN202490904U CN 202490904 U CN202490904 U CN 202490904U CN 2012201330433 U CN2012201330433 U CN 2012201330433U CN 201220133043 U CN201220133043 U CN 201220133043U CN 202490904 U CN202490904 U CN 202490904U
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Abstract
The utility model relates to a special sound-control wire clipper for a high-voltage hot-line working robot. The special sound-control wire clipper comprises a wire clipper body, a sound-control transmitting starting remote control and a sound-control assembly. The wire clipper body comprises a power supply, a manipulator clamping mechanism, a casing, a motor, an oil pump, an oil cylinder and an operation cutter. The sound-control transmitting starting remote control comprises a DSP (digital signal processor), the DSP is connected with a man-machine interface unit and is further connected with an encoding chip, and the encoding chip is connected with a wireless drive unit. The sound-control assembly comprises a wireless receiver, the wireless receiver is connected with a microcontroller, the microcontroller is connected with a motor drive circuit through an optical isolation circuit, and the motor drive circuit is connected with the motor. The sound-control transmitting starting remote control and the motor drive circuit are respectively connected with the power supply. The motor drive circuit and the microcontroller form a closed loop connection through a current feedback circuit. The special sound-control wire clipper for the high-voltage hot-line working robot is convenient for remote control, is accurate in movement, can stably operate for a long time under the harsh environment of electromagnetic interference and the like.
Description
Technical field:
The utility model belongs to the high-voltage hot-line work field of power tools; Being particularly related to a kind of acoustic control sends, receives wireless signal and carry out the current of electric closed-loop control; So that control shear rate, the torque of special-purpose acoustic control bolt clipper, accomplish the special-purpose acoustic control bolt clipper of the robot for high-voltage hot-line work that power cable is cut off.
Background technology:
For automatization level and the security that improves livewire work; Alleviate the person threat of labor intensity of operating personnel and strong-electromagnetic field to operating personnel; Later stage in last century, many countries launched the research of livewire work robot, but the power tool that simultaneously robot is not used is furtherd investigate and developed.The used bolt clipper of high-voltage hot-line work is one of special operation instrument of robot for high-voltage hot-line work, and its major function is in high-voltage hot-line work, and power cable is cut off.At present in the bolt clipper application technology; Mainly contain types such as electronic, hydraulic pressure, electric hydaulic combination, manual force shearing; Its common feature is that manual work is handed, manually instrument applied external force or manual on-off switch; Be the form that a kind of people and power cable are closely operated, can't satisfy the requirement of electrification in high voltage safety regulation, also can't be applied to the livewire work robot manipulation.And, at present robot for high-voltage hot-line work is used, mainly adopting the master-slave mode Work robot, the main hand of staff's two-hand control robot has been inconvenient to re-use the fulfil assignment opening and closing of instrument of mechanical action drive machines people.Therefore the bolt clipper that provides for the high-voltage hot-line work machine must have following characteristics: be suitable for the robot manipulation, can adapt to on-the-spot operations involving high pressure environment, can liberate staff's both hands and remote controlled, easy to operate and reliable.
Literature search through to prior art is found; Application number is called the patent of " robot for high-voltage hot-line work device ", application number is called " robot high-voltage hot-line work device " for the 02267831.X name 2003 23 volume the 7th phases " development of robot for high-voltage hot-line work " of patent, " Automation of Electric Systems ", " confession electricity consumption " 2005 22 volume the 3rd phases " electrical power trans mission/distribution system livewire work Robotics ", " Shanghai Communications University's journal " 2005 the 06th phases " the distant operate high pressure livewire work of DWR-l robot " for the 02135135.X name; All propose to adopt robot to carry out livewire work; Also simply point out robot clamping specific purpose tool completion capable of using high-voltage hot-line work; But fail again specific purpose tool to be carried out specifically, in depth study and explores; More fail to provide a kind of embodiment to be used for acoustic control and cut off cable; Make robot for high-voltage hot-line work can't give full play to its advantage, more can't expand frontier, the new application.
" microcomputer information " 2010 the 32nd phases " development of the special-purpose remote control peeler of robot for high-voltage hot-line work ", " automated manufacturing " 2011 the 07th phases " development of the automatic peeler of robot for high-voltage hot-line work ", " automated manufacturing " 2010 the 08th phases " development of the special-purpose remote control electric spanner of robot for high-voltage hot-line work "; Provide robot for high-voltage hot-line work to utilize special-purpose peeler, special electric spanner to accomplish the scheme or the device of hot line job; But the technical application scope is single-minded; Special technology scheme for single operation; And the telecontrol engineering of its proposition is pushed button for manual, manually accomplishes straighforward operation, is not intended to reach have the characteristic that can liberate staff's both hands; But can't satisfy a kind of robot for high-voltage hot-line work Remote that is applicable to is provided, is used to cut off the device and the technical scheme of cable.
This shows that still there is bigger techno-absence in the robot for high-voltage hot-line work specific purpose tool, this kind present situation has seriously restricted practical application and the popularization of livewire work robot in electrical network.
The utility model content:
The purpose of the utility model is to address the above problem, and provides a kind of robot for high-voltage hot-line work special-purpose acoustic control bolt clipper.Controller adopts wireless remote mode; The acoustic control assembly with the ATMEGA128 single-chip microcomputer as master controller; Power module has overvoltage, overcurrent, low pressure, anti-reverse defencive function; Select the big motor drive module of drive current for use, adopt the current feedback guard method, can carry out speed, moment of torsion control bolt clipper.This acoustic control bolt clipper carries out Long-distance Control through acoustic control transmitter trigger remote controller, and is safer, reliable than manual bolt clipper, can satisfy robot for high-voltage hot-line work and accomplish the disconnect request to power cable.
For realizing above-mentioned purpose, the utility model adopts following technical scheme:
The special-purpose acoustic control bolt clipper of a kind of robot for high-voltage hot-line work, it mainly is made up of bolt clipper main body, acoustic control transmitter trigger remote controller and acoustic control assembly; Wherein said bolt clipper main body comprises main casing, is provided with hydraulic power unit in the main casing, and hydraulic power unit is connected with moving cutting tool, and moving cutting tool is hinged with the fixed cutting tool that is fixedly mounted on the main casing; The acoustic control assembly that is provided with power supply at the main casing rear portion and matches with acoustic control transmitter trigger remote controller;
Said acoustic control assembly comprises box body; On box body, be provided with indicator lamp, antenna; Antenna is connected with the interior wireless receiver of box body; Wireless receiver is connected with microcontroller, and microcontroller is connected with optically coupled isolation circuit, motor-drive circuit and motor, and motor-drive circuit also constitutes closed loop through current feedback circuit and microcontroller and is connected; Microcontroller is connected with power supply respectively with motor-drive circuit;
Said current feedback circuit comprises current sensor, operational amplifier, comparator, and current sensor is gathered the electric current of motor-drive circuit, sends into operational amplifier, and the signal after the amplification is sent into comparator, and microcontroller is handled back control motor-drive circuit.
Said motor-drive circuit is the pwm power drive unit, and microcontroller is adjusted average voltage through internal register adjustment pulse duty factor is set, and passs speed control signal to the PWM0 oral instructions; Through the output high-low level, pass the direction of motion signal of motor to the DIR oral instructions; The PWM0 signal is isolated U4 through light and is input to triode Q2 basis set, amplifies through one-level to drive high-power MOS tube Q4 gate pole, the running of drive motors; The DIR signal is isolated the power on and off that U5 is input to triode Q3 control relay 7,8 pin through light, controls the rotating of motor.
Said acoustic control transmitter trigger remote controller comprises the sound receiver module, and it is connected with DSP, and DSP is connected with coding chip, carrier oscillation circuit and wireless amplification emissioning circuit successively, and DSP also is connected with state indicating member and power supply.
Said sound receiver module comprises main microphone, with reference to microphone, analog amplify circuit, filter circuit, A/D change-over circuit; Main microphone, link to each other with analog amplify circuit with reference to microphone, analog amplify circuit links to each other with filter circuit, and filter circuit links to each other with the A/D change-over circuit, and the A/D change-over circuit links to each other with DSP.
Said hydraulic power unit comprises motor, and motor is by the acoustic control assembly, and motor is connected with oil pump; Oil pump is connected with oil cylinder; The plunger of oil cylinder is connected with moving cutting tool, and moving cutting tool is connected through bearing pin with fixed cutting tool, accomplishes the cut-out to power cable through the rotation of moving cutting tool; Motor is a permanent magnet direct current motor, and motor cooperates with shell inner cavity, adopts reinforcement groove location and fixing.
Said main casing is provided with the manipulator snap fastener; Said main casing is provided with the manipulator snap fastener; The manipulator snap fastener comprises main body framework and engaging support, and main body framework connects with main casing, and the engaging support is used for engaging with manipulator; According to the requirement of manipulator operating attitude, the engagement angles of engaging support and main body framework is carried out 180 ° and is freely changed.
Said box body comprises the high permeability material shell; Also be provided with fan and fan air guide hole in the enclosure; The fan air guide hole is arranged woven wire, line outlet layout conductive rubber, and motor-drive circuit links to each other with motor through shielded cable simultaneously, and power ground links to each other with the bolt clipper tool body.
The anterior design of the cylinder body of said oil cylinder plunger guide cover and distance caging device; Fairlead is used for the double support of plunger guide, and stopping means is used to control overflow valve, when the cut-out task is promptly accomplished in the coincidence of work cutting knife blade; Open overflow valve; Hydraulic oil gets into fuel tank, realizes the oil pump pressure release, and the work cutting knife is able to automatically reset.
The wireless acoustic control bolt clipper of the utility model is made up of bolt clipper body, acoustic control transmitter trigger remote controller and acoustic control assembly.Wherein, Acoustic control transmitter trigger remote controller is made up of following part, comprises DSP, coding chip, wireless driver element, man-machine interface unit;
Power supply is Ni-MH battery (NI-MH), in light weight, life-span length, pollution-free, and the matching value of capacity and voltage is fit to the characteristics that the activity duration is short, the operation frequency is high, operating current is big.
Main casing adopts the PA+PBT synthetic plastic, takes into account toughness and requirement of strength, is universal high intensity engineering plastics in the industry, the indoor design reinforcement, and the big radian in turning is excessive, reduces weight to make things convenient for the work high above the ground characteristics of manipulator.
Motor adopts permanent magnet direct current motor, and ferrite magnetic material is used in stator core, meet simple in structure, the characteristics that starting current is little, efficient is high.Motor provides power by the ni-mh power supply, partly controls rotating speed and moment of torsion by motor driver; Motor cooperates with shell inner cavity, adopts reinforcement groove location and fixing, can shock-resistant and vibration.
Oil pump adopts and can reverse the double-acting vane pump design, design use the characteristics of double-acting vane pump high efficiency, hydraulic coupling radial equilibrium; Blade is selected 12 for use, and pulsation rate is little; Adopt two into and out of oil groove with addition of one-way valve designs, the oil pump blade has been realized reversible rotation, the positive and negative rotation of motor all can drive oil pump output hydraulic oil.
Oil cylinder adopts the plunger-type cylinder design, belongs to single-acting formula hydraulic cylinder, the indoor design recoil press spring, be used for the oil pump pressure release after, plunger return; The oil cylinder cylindrical designs soft fuel tank, and oil cylinder and soft fuel tank are through overflow valve UNICOM.
The anterior design of cylinder body plunger guide cover and distance caging device.Fairlead is used for the plunger guide supporting role of holding concurrently, and plunger is sagging when avoiding oil cylinder to be sidelong causes the oil sealing infringement; Stopping means is used to control overflow valve, when the cut-out task is promptly accomplished in the coincidence of work cutting knife blade, opens overflow valve, and hydraulic oil gets into fuel tank, realizes the oil pump pressure release, and the work cutting knife is able to automatically reset.
The work cutting knife comprises moving cutting tool and fixed cutting tool, and the blade of two cutting knifes designs for camber line, to prevent the power cable slippage; Moving cutting tool rotates around fulcrum, and the track that two camber lines overlap is a process of cutting off power cable, when two circular arc line point of contacts overlap, cuts off action and finishes.
Wireless driver element is responsible for the emission of radiofrequency signal, and the modulating coding signal circuit output end is through carrier oscillation circuit and wireless amplification emissioning circuit output modulated carrier code signal.
Coding chip is responsible for the modulating coding signal of radio frequency part and is handled, and to the input processing of DSP and the output indication of state.
The man-machine interface unit comprises sound receiver module and state indicating member, and it is used for accomplishing the work of man-machine interaction, comprises the control of motor speed, motor drive direction and Motor torque.
Said sound receiver module comprises main microphone, with reference to microphone, analog amplify circuit, filter circuit, A/D change-over circuit.Main microphone, link to each other with analog amplify circuit with reference to microphone, analog amplify circuit links to each other with filter circuit, and filter circuit links to each other with the A/D change-over circuit, and the A/D change-over circuit links to each other with DSP.
The state indicating member is accomplished the indication that signal sends state.
The acoustic control assembly comprises wireless receiver, microcontroller, optical coupling isolation circuit, motor-drive circuit, motor, current feedback circuit, power supply.Wherein:
Wireless receiver is used to receive the wireless signal from remote controller, and carries out decoding processing, outputs to microcontroller;
Microcontroller is used for receiving from the information of wireless receiver or other parts and judges and handle;
Optically coupled isolation circuit, it is connected to microcontroller and motor-drive circuit, is used to receive the output control signal of microcontroller;
Motor-drive circuit, it is connected to optically coupled isolation circuit, is used for output drive signal under the control that receives optically coupled isolation circuit;
Motor, it is connected to said motor-drive circuit, is used under the control of said driving signal by needed direction, speed and torque rotation;
Current feedback circuit is made up of current sensor, operational amplifier and comparator.Through the electric current of current sensor collection motor-drive circuit, behind amplification of single supply operational amplifier and comparator, receive microcontroller I/O interface, so that the output torque fast and stable is requiring level.
Said box body comprises the high permeability material shell, arranges woven wire, line outlet layout conductive rubber cover at shell fan air guide hole, and motor-drive circuit links to each other with motor through shielded cable simultaneously, and power ground links to each other with the bolt clipper tool body.
Power circuit, the overvoltage of power circuit band, overcurrent, low pressure, anti-reverse protection provide power supply to each circuit such as microcontroller, wireless receiver, motor-drive circuits.
EMC test; When voltage boosts in the 0-42KV scope, step-down and keeping; The operation of parts such as robot for high-voltage hot-line work acoustic control remote controller, voltage stabilizing chip, wireless receiving module, motor drive module, single-chip microcomputer is normal, and each item measuring ability is in proper working order.
In order to adapt to the requirement that robot for high-voltage hot-line work is used, the utility model adopts the big driver module of output current, and by the ATMEGA128 Single-chip Controlling, band overcurrent, overload, overvoltage protection.This bolt clipper carries out Long-distance Control through acoustic control transmitter trigger remote controller, and is safer, reliable than manual bolt clipper, operates also conveniently, satisfied the requirement of electrification in high voltage robot manipulating task task.
Adopt such scheme, the utlity model has following advantage:
The one, adopted high integration DSP and unique circuit shield technology, make product have superpower antijamming capability and reliability, can be under very harsh electromagnetic interference environment long-term stable operation.
The 2nd, bolt clipper carries out Long-distance Control through the acoustic control remote controller, and is more safe and reliable than hand-operated tools, and lets staff's both hands realize liberation, increases processing safety and convenience, satisfied the requirement of electrification in high voltage robot manipulating task task.
The 3rd, the overvoltage of power circuit band, overcurrent, low pressure, anti-reverse protection, reliability is high.
The 4th, remote controller can carry out electrodeless variable-speed through the adjustment pulse duty factor, rotating control, and control is flexible, and reliability is high.
The 5th, controller has Current Feedback Control, eliminates the influence of bolt clipper job insecurity to the control dynamic performance.
The 6th, adopt the adaptive voice noise reduction technology, be fit to the open-air noisy working environment of robot for high-voltage hot-line work.
The 7th, bolt clipper controller and the control of other instruments are general, are convenient to instrument seriation from now on.
Description of drawings
Fig. 1 is the utility model assembly structure chart;
Fig. 2 is the composition diagram of the utility model general remote controller;
Fig. 3 is the composition diagram of sound receiver module;
Fig. 4 is the composition diagram of the utility model acoustic control assembly;
Fig. 5 is the utility model motor-drive circuit figure;
Fig. 6 is the utility model current feedback circuit figure;
Fig. 7 is the utility model software flow pattern;
Fig. 8 is the utility model electromagnetic compatibility pressure process figure.
Among the figure, 1. acoustic control assembly shell, 2. antenna, 3. fan, 4. indicator lamp, 5. power supply; 6. manipulator snap fastener, 7. main casing, 8. motor, 9. oil pump, 10. oil cylinder, 11. fixed cutting tools; 12, moving cutting tool, 13.DSP, 14. sound receiver modules, 14.1 main microphones, 14.2 analog amplify circuit I, 14.3 filter circuit I; 14.4A/D change-over circuit I, 14.5 with reference to microphone, 14.6 analog amplify circuit II, 14.7 filter circuit II, 14.8A/D change-over circuit II, 15. state indicating members; 16. coding chip, 17. carrier oscillation circuit, 18. wireless amplification emissioning circuits, 19. wireless receivers, 20. microcontrollers, 21. optically coupled isolation circuits; 22. motor-drive circuit, 23. power supplys, 24. current feedback circuits, 25. current sensors, 26. operational amplifiers, 27. comparators.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Among Fig. 1, the utility model is made up of bolt clipper main body, acoustic control transmitter trigger remote controller and acoustic control assembly.
Acoustic control assembly shell 1 is fixed on the main casing 7, comprises antenna 2, fan 3, indicator lamp 4.
Wherein said bolt clipper main body is as shown in Figure 1, and it comprises power supply 5, manipulator snap fastener 6, main casing 7, motor 8, oil pump 9, oil cylinder 10, fixed cutting tool 11, moving cutting tool 12.
Power supply 5 is assembled together through draw-in groove and buckle and main casing 7.Manipulator snap fastener 6 is fixedly connected with main casing 7, freely engages with the manipulator of robot for high-voltage hot-line work and separates.Motor 8 is assemblied in main casing 7 inner chambers, and motor output shaft is coaxial with the blade rotation centerline of oil pump 9.Oil pump 9, oil cylinder 10 are weldingly fixed on through steel bushing with motor 8 shells; Oil pump 9 is communicated with oil cylinder 10 through check valve and oil duct; Oil cylinder 10 is through overflow valve and oil duct and soft fuel tank UNICOM; The plunger of oil cylinder 10 connects with moving cutting tool 12 through push rod, and moving cutting tool 12 centres of gyration and fixed cutting tool 11 are hinged through bearing pin.
After manipulator snap fastener 6 and robot for high-voltage hot-line work manipulator are realized connecting, control actuating motor 8 through wireless acoustic control mode, the rotation of oil pump 9 blades; Completion oil suction-formation hydraulic oil-fuel-displaced, hydraulic oil gets into oil cylinder 10 through check valve and oil duct, and plunger moves ahead in fairlead; Promote push rod; Moving cutting tool 12 rotates around fulcrum under the push rod effect, when fixed cutting tool 11 overlaps with two blade camber lines of moving cutting tool 12, cuts off action and finishes; While plunger activated limit switch, overflow valve is opened, and hydraulic oil gets into soft fuel tank, and plunger is return under the recoil press spring effect, and the blade of two cutting knifes separates, and moving cutting tool 12 is accomplished and is resetted, the next cut-out of preparation operation.
Wherein said acoustic control transmitter trigger remote controller is as shown in Figure 2, and it comprises DSP 13, and it is connected with the man-machine interface unit, and coding chip 16 also is connected with wireless driver element simultaneously; Wherein the man-machine interface unit comprises sound receiver module 14 and state indicating member 15, and they are connected with DSP 13 respectively.Wireless driver element comprises carrier oscillation circuit 17, and its input is connected with coding chip 16, and output is connected with wireless amplification emissioning circuit 18 inputs.
When acoustic control transmitter trigger remote controller will be when bolt clipper sends control command, DSP 13 obtains the control corresponding instruction, and gives wireless driver element circuit according to the data of gathering sound receiver module 14; Wireless driver element circuit after accomplishing modulation, carrier oscillation, power amplification sends the form of control signal with radio frequency.
Wherein said sound receiver module 14 is as shown in Figure 3; It comprises main microphone 14.1, with reference to microphone 14.5; They are connected with analog amplify circuit I14.2, analog amplify circuit II14.6 respectively; Analog amplify circuit I14.2, analog amplify circuit II14.6 are connected with filter circuit I14.3, filter circuit II14.7 circuit respectively, and filter circuit I14.3, filter circuit II14.7 circuit link to each other with A/D change-over circuit I14.4, A/D change-over circuit II14.8 respectively.
Main microphone 14.1, be used for receiving voice command from the operator with reference to microphone 14.5; Main microphone 14.1 obtain is a useful signal and an incoherent noise signal mixed signal, to obtain with reference to microphone 14.5 be reference noise signal; Through simulation amplification, filtering, A/D conversion, voice signal is outputed to DSP 13.In DSP 13, realize the adaptive noise reduction algorithm, sample rate is 8KHz, utilizes timer to interrupt, and every separated 100us interrupts once, reads in two paths of data and carries out the adaptive noise reduction algorithm process, and the useful signal that obtains is exported to coding chip 16 with this signal.
Among Fig. 4, said acoustic control assembly comprises wireless receiver 19, wireless receiver 19 and microcontroller 20, and microcontroller 20 is connected with motor-drive circuit 22 through optically coupled isolation circuit 21, and motor-drive circuit 22 is connected with motor 8; Simultaneously, DSP 13, microcontroller 20 and motor-drive circuit 22 are connected with power supply 23 respectively; Motor-drive circuit 22 constitutes closed loop through current feedback circuit 24 with microcontroller 20 and is connected.
Among Fig. 5, microcontroller 20 is adjusted average voltage through internal register adjustment pulse duty factor is set, and passs speed control signal to the PWM0 oral instructions; Through the output high-low level, pass the direction of motion signal of motor to the DIR oral instructions.The PWM0 signal is isolated U4 through light and is input to triode Q2 basis set, amplifies through one-level to drive high-power MOS tube Q4 gate pole, the running of drive motors.The DIR signal is isolated the power on and off that U5 is input to triode Q3 control relay 7,8 pin through light, controls the rotating of motor.
Among Fig. 6, circuit overcurrent protection is made up of current sensor 25, operational amplifier 26, comparator 27 etc.Through 25 pairs of metal-oxide-semiconductor current samplings of current sensor, sampling voltage is input to voltage comparator 27 with a 2.5V a reference value after amplifying 10 times through single supply operational amplifier 26 jointly, and relatively whether output current surpasses 25A.
Among Fig. 7; The code signal that coding chip 16 sends by: address code, numeric data code, synchronous code are formed a complete code word, after decoding chip receives signal, after its address code is relatively checked through twice; The VT pin is just exported high level, and meanwhile corresponding data pin is also exported high level.Flow chart adopts the mode of external interrupt to receive transmitter code and decode the acquisition control command.If the external interrupt input is arranged, bidding will, and decode.Receive the voice signal of " order 1 beginning ", low speed just changes, and receives the voice signal of " order 1 stops ", and low speed is just changeing and stopping; Receive the voice signal of " order 2 beginnings ", middling speed is just changeed, and receives the voice signal of " order 2 stops ", and middling speed is just being changeed and stopped; Receive the voice signal of " order 3 beginnings ", just change at a high speed, receive the voice signal of " order 3 stops ", high speed is just being changeed and is being stopped; Receive the voice signal of " order 4 beginning ", low speed and reverse receives the voice signal of " order 4 stops ", and low speed and reverse stops; Receive the voice signal of " order 5 beginnings ", middling speed is reversed, and receives the voice signal of " order 5 stops ", and the middling speed counter-rotating stops; Receive the voice signal of " order 6 beginning ", high speed reverse rotation receives the voice signal of " order 6 stops ", and high speed reverse rotation stops.
Among Fig. 8; Carried out EMC test; When voltage boosts in the 0-42KV scope, step-down and keeping, the operation of parts such as robot for high-voltage hot-line work remote control bolt clipper remote controller, voltage stabilizing chip, wireless receiving module, motor drive module, single-chip microcomputer is normal, and each item measuring ability is in proper working order.
Claims (8)
1. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work is characterized in that it mainly is made up of bolt clipper main body, acoustic control transmitter trigger remote controller and acoustic control assembly; Wherein said bolt clipper main body comprises main casing, is provided with hydraulic power unit in the main casing, and hydraulic power unit is connected with moving cutting tool, and moving cutting tool is hinged with the fixed cutting tool that is fixedly mounted on the main casing; The acoustic control assembly that is provided with power supply at the main casing rear portion and matches with acoustic control transmitter trigger remote controller;
Said acoustic control assembly comprises box body; On box body, be provided with indicator lamp, antenna; Antenna is connected with the interior wireless receiver of box body; Wireless receiver is connected with microcontroller, and microcontroller is connected with optically coupled isolation circuit, motor-drive circuit and motor, and motor-drive circuit also constitutes closed loop through current feedback circuit and microcontroller and is connected; Microcontroller is connected with power supply respectively with motor-drive circuit;
Said current feedback circuit comprises current sensor, operational amplifier, comparator, and current sensor is gathered the electric current of motor-drive circuit, sends into operational amplifier, and the signal after the amplification is sent into comparator, and microcontroller is handled back control motor-drive circuit.
2. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work as claimed in claim 1; It is characterized in that; Said motor-drive circuit is the pwm power drive unit, and microcontroller is adjusted average voltage through internal register adjustment pulse duty factor is set, and passs speed control signal to the PWM0 oral instructions; Through the output high-low level, pass the direction of motion signal of motor to the DIR oral instructions; The PWM0 signal is isolated U4 through light and is input to triode Q2 basis set, amplifies through one-level to drive high-power MOS tube Q4 gate pole, the running of drive motors; The DIR signal is isolated the power on and off that U5 is input to triode Q3 control relay 7,8 pin through light, controls the rotating of motor.
3. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work as claimed in claim 1; It is characterized in that; Said acoustic control transmitter trigger remote controller comprises the sound receiver module; It is connected with DSP, and DSP is connected with coding chip, carrier oscillation circuit and wireless amplification emissioning circuit successively, and DSP also is connected with state indicating member and power supply.
4. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work as claimed in claim 3 is characterized in that, said sound receiver module comprises main microphone, with reference to microphone, analog amplify circuit, filter circuit, A/D change-over circuit; Main microphone, link to each other with analog amplify circuit with reference to microphone, analog amplify circuit links to each other with filter circuit, and filter circuit links to each other with the A/D change-over circuit, and the A/D change-over circuit links to each other with DSP.
5. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work as claimed in claim 1 is characterized in that said hydraulic power unit comprises motor; Motor is by the acoustic control assembly; Motor is connected with oil pump, and oil pump is connected with oil cylinder, and the plunger of oil cylinder is connected with moving cutting tool; Moving cutting tool is connected through bearing pin with fixed cutting tool, accomplishes the cut-out to power cable through the rotation of moving cutting tool; Motor is a permanent magnet direct current motor, and motor cooperates with shell inner cavity, adopts reinforcement groove location and fixing.
6. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work as claimed in claim 1 is characterized in that said main casing is provided with the manipulator snap fastener; Said main casing is provided with the manipulator snap fastener; The manipulator snap fastener comprises main body framework and engaging support, and main body framework connects with main casing, and the engaging support is used for engaging with manipulator; According to the requirement of manipulator operating attitude, the engagement angles of engaging support and main body framework is carried out 180 ° and is freely changed.
7. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work as claimed in claim 1; It is characterized in that; Said box body comprises the high permeability material shell, also is provided with fan and fan air guide hole in the enclosure, and the fan air guide hole is arranged woven wire, line outlet layout conductive rubber; Motor-drive circuit links to each other with motor through shielded cable simultaneously, and power ground links to each other with the bolt clipper tool body.
8. the special-purpose acoustic control bolt clipper of robot for high-voltage hot-line work as claimed in claim 5 is characterized in that, the anterior design of the cylinder body of said oil cylinder plunger guide cover and distance caging device; Fairlead is used for the double support of plunger guide, and stopping means is used to control overflow valve, when the cut-out task is promptly accomplished in the coincidence of work cutting knife blade; Open overflow valve; Hydraulic oil gets into fuel tank, realizes the oil pump pressure release, and the work cutting knife is able to automatically reset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201330433U CN202490904U (en) | 2012-03-31 | 2012-03-31 | Special sound-control wire clipper for high-voltage hot-line working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201330433U CN202490904U (en) | 2012-03-31 | 2012-03-31 | Special sound-control wire clipper for high-voltage hot-line working robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202490904U true CN202490904U (en) | 2012-10-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201330433U Expired - Lifetime CN202490904U (en) | 2012-03-31 | 2012-03-31 | Special sound-control wire clipper for high-voltage hot-line working robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202490904U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615217A (en) * | 2012-03-31 | 2012-08-01 | 山东电力研究院 | Special voice control bolt cutter for high-voltage live working robot |
| CN105048347A (en) * | 2015-08-26 | 2015-11-11 | 杭州咸亨国际科研中心有限公司 | Wireless cutter for power hot-line work |
| CN105186371A (en) * | 2015-09-25 | 2015-12-23 | 国网山东商河县供电公司 | High-altitude live-line work bolt clipper |
| CN107335760A (en) * | 2017-08-25 | 2017-11-10 | 苏州惠华电子科技有限公司 | A kind of screens driving horizontal wire harness cutting machine based on Rotating speed measring |
| CN110000308A (en) * | 2019-04-09 | 2019-07-12 | 北京国电富通科技发展有限责任公司 | Break wire device and broken string robot |
| CN110556739A (en) * | 2019-07-17 | 2019-12-10 | 许继集团有限公司 | Live working robot and live wire cutting pliers |
-
2012
- 2012-03-31 CN CN2012201330433U patent/CN202490904U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615217A (en) * | 2012-03-31 | 2012-08-01 | 山东电力研究院 | Special voice control bolt cutter for high-voltage live working robot |
| CN102615217B (en) * | 2012-03-31 | 2014-01-15 | 山东电力研究院 | Special voice control bolt cutter for high-voltage live working robot |
| CN105048347A (en) * | 2015-08-26 | 2015-11-11 | 杭州咸亨国际科研中心有限公司 | Wireless cutter for power hot-line work |
| CN105186371A (en) * | 2015-09-25 | 2015-12-23 | 国网山东商河县供电公司 | High-altitude live-line work bolt clipper |
| CN105186371B (en) * | 2015-09-25 | 2017-05-03 | 国网山东商河县供电公司 | High-altitude live-line work bolt clipper |
| CN107335760A (en) * | 2017-08-25 | 2017-11-10 | 苏州惠华电子科技有限公司 | A kind of screens driving horizontal wire harness cutting machine based on Rotating speed measring |
| CN107335760B (en) * | 2017-08-25 | 2018-11-09 | 苏州惠华电子科技有限公司 | A kind of screens driving horizontal wire harness cutting machine based on Rotating speed measring |
| CN110000308A (en) * | 2019-04-09 | 2019-07-12 | 北京国电富通科技发展有限责任公司 | Break wire device and broken string robot |
| CN110556739A (en) * | 2019-07-17 | 2019-12-10 | 许继集团有限公司 | Live working robot and live wire cutting pliers |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: STATE ELECTRIC NET CROP. Effective date: 20121030 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20121030 Address after: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee after: Shandong Research Inst. of Electric Power Patentee after: State Grid Corporation of China Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee before: Shandong Research Inst. of Electric Power |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20121017 Effective date of abandoning: 20140115 |
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| RGAV | Abandon patent right to avoid regrant |