CN202491050U - Special voice-operated screw cap breaking tool for high-voltage hot-line work robot - Google Patents
Special voice-operated screw cap breaking tool for high-voltage hot-line work robot Download PDFInfo
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- CN202491050U CN202491050U CN2012201325469U CN201220132546U CN202491050U CN 202491050 U CN202491050 U CN 202491050U CN 2012201325469 U CN2012201325469 U CN 2012201325469U CN 201220132546 U CN201220132546 U CN 201220132546U CN 202491050 U CN202491050 U CN 202491050U
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Abstract
The utility model relates to a special voice-operated screw cap breaking tool for a high-voltage hot-line work robot. The special voice-operated screw cap breaking tool is composed of a screw cap breaking tool main body, a voice-operated emitting and starting remote controller and a voice-operated assembly, wherein the screw cap breaking tool main body comprises a motor, an oil tank, an oil pump, an oil cylinder, a manipulator gripper mechanism, a working head, a main shell, a pressure relief device and a power supply; the voice-operated emitting and starting remote controller comprises a DSP (Digital Signal Processor) which is connected with a man-machine interface unit, the DSP is also connected with a coding chip, and the coding chip is connected with a wireless driving unit; the voice-operated 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; simultaneously the voice-operated emitting and starting remote controller and the motor drive circuit are respectively connected with the power supply; and the motor drive circuit and the microcontroller form a closed-loop connection through a current feedback circuit. The motor drive circuit can control the speed and the cutting moment of the special voice-operated screw cap breaking tool for the high-voltage hot-line work robot, the remote operation is realized by utilizing the voice-operated emitting and starting remote controller, which is safe, reliable and convenient by comparing with manual screw cap breaking tool, and the requirements for special working tools of the high-voltage hot-line work robot on breaking screw caps and metal foreign bodies can be satisfied.
Description
Technical field:
The utility model belongs to the high-voltage hot-line work field of power tools; Be particularly related to a kind of acoustic control and send, receive wireless signal and carry out the current of electric closed-loop control, so that the special-purpose nut of control robot for high-voltage hot-line work distribution line is abolished the shear rate of instrument and the special-purpose acoustic control nut of robot for high-voltage hot-line work of moment is abolished instrument.
Background technology:
Fast development along with the livewire work industry; For the labour intensity that alleviates the livewire work personnel, reduce the personal injury of strong-electromagnetic field to operating personnel; Comprise that many countries of China have carried out the research of livewire work robot, but the power tool that simultaneously robot is not used is furtherd investigate and is developed.Multi-mode operation content in the livewire work all relates to the dismounting to the corrosion nut, and nut is abolished instrument has also become one of special operation instrument of robot for high-voltage hot-line work.Nut is abolished instrument, polytypes such as existing hydraulic drive type, electric hydaulic drive-type, motor-driven, but all for people and workpiece closely, the artificial operation types of handing, the incompatibility robot for high-voltage hot-line work is operated.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 nut that provides for robot for high-voltage hot-line work is abolished instrument and must be had 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-1 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 the corrosion nut is dismantled; Robot for high-voltage hot-line work can't be given 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 the manual button of pushing; Manually accomplish straighforward operation; Be not intended to reach and have the characteristic that to liberate staff's both hands, a kind of robot for high-voltage hot-line work Remote that is applicable to is provided, be used to abolish the device and the technical scheme of corrosion nut but can't satisfy.
Application number is 200920310723.6 and is called the patent of " fluid pressure type nut rive device ", application number is called " rust nut cap cutting clamp " for the 99235089.1200920310723.6 name patent; The tool device that all provides a kind of nut to abolish; But be artificial hand-held operation types, the operation of incompatibility robot for high-voltage hot-line work.
This shows; Still there is not a kind of tool device to satisfy the needs that robot for high-voltage hot-line work is abolished nut in the existing application technology; Still there is bigger techno-absence in the robot for high-voltage hot-line work specific purpose tool, and 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 solve following problems, provides the special-purpose acoustic control nut of a kind of robot for high-voltage hot-line work to abolish instrument.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 abolish instrument to the special-purpose acoustic control nut of robot for high-voltage hot-line work and carry out shear rate and Torque Control.This nut is abolished instrument and is carried out Long-distance Control through acoustic control transmitter trigger remote controller, and automaticity is high, operating efficiency is high, handling safety, reliable, is fit to the electrification in high voltage robot to abolishing the requirement of corrosion nut job task.
For realizing above-mentioned purpose, the utility model adopts following technical scheme:
The special-purpose acoustic control nut of a kind of robot for high-voltage hot-line work is abolished instrument, and it is mainly abolished tool body, acoustic control transmitter trigger remote controller and acoustic control assembly by nut and forms; Wherein said nut is abolished instrument and is comprised main casing, in main casing, is provided with electric hydraulic means, and electric hydraulic means is connected with working head; Be provided with the acoustic control assembly at the main casing rear portion, the acoustic control assembly is communicated by letter with acoustic control transmitter trigger remote controller, and after acoustic control transmitter trigger remote controller received sound control signal, through acoustic control assembly control voltage hydraulic means, electric hydraulic means control working head was accomplished the work of abolishing;
Said acoustic control assembly comprises box body; On box body, be provided with indicator lamp, antenna; Antenna is connected with wireless receiver; 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 electric hydraulic means comprises motor, fuel tank, oil pump, oil cylinder, manipulator clamping device, working head, pressure relief device, power supply, and motor, oil pump, oil cylinder are installed in the main casing inner chamber, through about main casing two dress is accomplished fixing; Motor is coaxial with oil pump, and oil pump passes through check valve and fuel tank, oil cylinder UNICOM respectively, and oil cylinder is through pressure relief device and fuel tank UNICOM; The plunger of oil cylinder connects through push rod with working head, is detachable connection.
Said nut is abolished tool body and is designed with the manipulator pressure relief device, comprises rocking arm, pull bar, stage clip, box body, lid, briquetting, and the rocking arm end is a cam structure; when rocking arm rotates around the center, and it is big that rocking arm and box body Edge Distance become, pull bar and box body relative motion; pull bar drives briquetting and pushes compression relief cock, and when unclamping rocking arm, under the compression spring action; rocking arm resets, rocking arm pushing drawing rod and briquetting reset simultaneously.
Said main casing top is provided with the manipulator clamping device; It comprises connecting rack and splice holder; Connecting rack and nut are abolished tool body and are fixedly connected, and the gusset piece tow sides of splice holder are respectively arc bump design and groove, be used for manipulator from movingly.
Said box body comprises the high permeability material shell; Be provided with fan and fan air guide hole in the enclosure, fan air guide hole place arranges woven wire, and the line outlet of shell is arranged conductive rubber; Motor-drive circuit links to each other with motor through shielded cable simultaneously, and power ground is abolished tool body with nut and linked to each other.
After manipulator clamping device of the utility model and the Work robot manipulator locating engagement, the acoustic control starter motor, the work of driven by motor oil pump, the hydraulic oil of formation promotes the oil cylinder plunger, and cutter head is accomplished crushing action under plunger promotes.
Said DSP adopts powerful TMS320C5535, and coding chip adopts PT2262, and microcontroller adopts the ATMEGA128 chip.
When voltage boosts in the 0-42KV scope, step-down and keeping; Robot for high-voltage hot-line work acoustic control nut is abolished parts operations such as instrument remote controller, voltage stabilizing chip, wireless receiving module, motor drive module, single-chip microcomputer normally, and each item measuring ability is in proper working order.
Motor adopts permanent magnet direct current motor, meet simple in structure, the requirement that starting current is little, efficient is high; Motor is partly controlled rotating speed and moment of torsion by motor driver, utilizes the locating slot on the plastic casing to be assemblied in the main casing inner chamber.
Fuel tank is soft fuel tank, adopts oil resistant rubber processing, is fit to the designing requirement of small-sized hydraulic instrument.
Oil pump adopts the single action variable Paddle Pump Designing, has made full use of the characteristics that variable vane pump hydraulic radial dynamic balance, flow reduce gradually; Along with working head pressure increases, flow reduces gradually, and working head is abolished speed and reduced gradually, effectively reduces the screw rod damage.
Oil cylinder adopts the plunger-type cylinder design, is single-acting formula hydraulic cylinder, the indoor design recoil press spring, be used for the oil pump pressure release after, plunger return.
The manipulator clamping device comprises connecting rack and splice holder.Connecting rack and nut are abolished tool body and are fixedly connected, and the gusset piece tow sides of splice holder are respectively arc bump design and groove design, be used for manipulator from movingly.
Working head comprises cutter head and knife rest.The blade of cutter head is the obtuse angle, blade design limited post; Tool holder designs chute and connection holes, the cutter head limited post slides in chute, abolishes tool body through bearing pin and nut and connects.
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.
Pressure relief device comprises rocking arm, pull bar, stage clip, box body, lid, briquetting composition, is the cam linkages structure.Rocking arm connects the stroke of the variation formation briquetting of centre bore and box body Edge Distance with pull bar, but stage clip makes rocking arm at the extreme position self-return.
Power supply is nickel-hydrogen chargeable cell (NI-MH), and is in light weight, the life-span is long, and the dual buckle design of battery case and main casing prevents the high-altitude possibility of falling.
Sound receiver module and state indicating member, it is used for accomplishing the work of man-machine interaction, comprises the control of motor speed, motor drive direction and Motor torque.
The sound receiver module comprises microphone, analog amplify circuit, filter circuit, A/D change-over circuit; Microphone is used for receiving operator's speed, direction instruction; After small-signal is amplified through analog amplify circuit, and, be input to the A/D change-over circuit through the filter circuit processing.
High-speed low-power-consumption conversion chip AD7262 is adopted in the A/D conversion, and the highest sample rate can reach 1MS/s.Has the two paths of differential signals input, 12 of conversion accuracies.
DSP is used for receiving the signal of sound receiver module, and carries out the adaptive voice noise reduction algorithm and handle, and the output useful signal is given wireless driver element.
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 state indicating member is accomplished the indication that signal sends state.
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.
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 nut is abolished instrument and carried out Long-distance Control through acoustic control transmitter trigger remote controller, and is safer, reliable than hand-operated tools, 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 IC chip and advanced SMT surface element attachment process and unique shield technology, make the product have superpower antijamming capability and reliability, can be under very harsh electromagnetic interference environment long-term stable operation.
The 2nd, nut is abolished instrument and carried 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, rotating control, and control is flexible, and reliability is high.
The 5th, controller has Current Feedback Control, eliminates the influence of broken nut tool work instability 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, be broken that the control of nut tool controller and other instruments is general, be convenient to instrument seriation from now on.
Description of drawings
Fig. 1 is the utility model assembly structure chart;
Fig. 2 is the pressure relief device front view in the utility model main body;
Fig. 3 is the composition diagram of the utility model general remote controller;
Fig. 4 is the composition diagram of sound receiver module;
Fig. 5 is the composition diagram of the utility model acoustic control assembly;
Fig. 6 is the utility model motor-drive circuit figure;
Fig. 7 is the utility model current feedback circuit figure;
Fig. 8 is the utility model software flow pattern;
Fig. 9 is the utility model electromagnetic compatibility pressure process figure.
Among the figure, 1. motor, 2. fuel tank, 3. oil pump, 4. oil cylinder, 5. manipulator clamping device, 6. working head; 7. main casing, 8. pressure relief device, 8.1 rocking arms, 8.2 pull bars, 8.3 stage clips, 8.4 box bodys, 8.5 lids; 8.6 briquetting, 9. power supply, 10. acoustic control assembly, 11. fans, 12. indicator lamps, 13. antennas, 14.DSP; 15. the sound receiver module, 15.1 main microphones, 15.2 analog amplify circuit I, 15.3 filter circuit I, 15.4A/D change-over circuit I, 15.5 with reference to microphone, 15.6 analog amplify circuit II; 15.7 filter circuit II, 15.8A/D change-over circuit II, 16. state indicating members, 17. coding chips, 18. carrier oscillation circuit, 19. wireless amplification emissioning circuits, 20. wireless receivers; 21. microcontroller, 22. optically coupled isolation circuits, 23. motor-drive circuits, 24. motors, 25. current feedback circuits, 26. current sensors, 27. operational amplifiers.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
The utility model is abolished tool body, acoustic control transmitter trigger remote controller and acoustic control assembly by nut and is formed;
It is as shown in Figure 1 that wherein said nut is abolished tool body, and it comprises motor 1, fuel tank 2, oil pump 3, oil cylinder 4, manipulator clamping device 5, working head 6, main casing 7, pressure relief device 8, power supply 9.
Motor 1, oil pump 3, oil cylinder 4 are installed in main casing 7 inner chambers, dress are accomplished fixing through about 7 two of main casings; Motor 1 is coaxial with oil pump 3, and oil pump 3 passes through check valve and fuel tank 2, oil cylinder 4 UNICOMs respectively, and oil cylinder 4 is through relief valve and fuel tank 2 UNICOMs; The plunger of oil cylinder 4 connects through push rod with cutter head, is detachable connection;
When hand clamping device 5 and robot for high-voltage hot-line work manipulator accomplish dock after, after acoustic control transmitter trigger remote controller receives sound control signal, control starter motors 1 through acoustic control assembly 10; Oil pump 3 completion oil suction-formation hydraulic oils-fuel-displaced, hydraulic oil gets into oil cylinder 4 through check valve and oil duct, and plunger promotes the cutter head reach; Carry out along with abolishing action; The cutter head resistance increases gradually, and the cutter head speed of advancement reduces gradually, helps protecting cutter head and workpiece; When nut is cut open, wireless acoustic control control disable motor 1; Pull the rocking arm 8.1 of pressure relief device in the clockwise direction, briquetting 8.6 is depressed compression relief cock, and relief valve is opened, and hydraulic oil flows back to fuel tank 2.So far, abolish nut action and accomplish, can change the angle of knife rest and nut, repeat the work of once abolishing according to actual conditions.
Wherein said acoustic control transmitter trigger remote controller is as shown in Figure 3, and it comprises DSP 14, and it is connected with the man-machine interface unit, and coding chip 17 also is connected with wireless driver element simultaneously; The man-machine interface unit comprises sound receiver module 15 and state indicating member 16, and they are connected with DSP 14 respectively.Wireless driver element comprises carrier oscillation circuit 18, and its input is connected with coding chip 17, and output is connected with wireless amplification emissioning circuit 19 inputs.
Will be when nut be abolished instrument transmission control command when acoustic control transmitter trigger remote controller, DSP 14 obtains the control corresponding instruction, and gives wireless driver element circuit according to the data of gathering sound receiver module 15; 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 15 is as shown in Figure 4; It comprises main microphone 15.1, with reference to microphone 15.5; They are connected with analog amplify circuit 15.2, analog amplify circuit 15.6 respectively; Analog amplify circuit 15.2, analog amplify circuit 15.6 are connected with filter circuit 15.3, filter circuit 15.7 circuit respectively, and filter circuit 15.3, filter circuit 15.7 circuit link to each other with A/D change-over circuit 15.4, A/D change-over circuit 15.8 respectively.
Main microphone 15.1, be used for receiving voice command from the operator with reference to microphone 15.5; Main microphone 15.1 obtain is a useful signal and an incoherent noise signal mixed signal, to obtain with reference to microphone 15.5 be reference noise signal; Through simulation amplification, filtering, A/D conversion, voice signal is outputed to DSP 14.In DSP 14, 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 17 with this signal.
Among Fig. 5, said acoustic control assembly comprises wireless receiver 20, wireless receiver 20 and microcontroller 21, and microcontroller 21 is connected with motor-drive circuit 23 through optically coupled isolation circuit 22, and motor-drive circuit 23 is connected with motor 1; Simultaneously, DSP 14, microcontroller 21 and motor-drive circuit 23 are connected respectively at power supply 12; Motor-drive circuit 23 constitutes closed loop through current feedback circuit 25 with microcontroller 21 and is connected.
Among Fig. 6, microcontroller 21 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. 7, circuit overcurrent protection is made up of current sensor 26, operational amplifier 27, comparator 28 etc.Through 26 pairs of metal-oxide-semiconductor current samplings of current sensor, sampling voltage is input to voltage comparator 28 with a 2.5V a reference value after amplifying 10 times through single supply operational amplifier 27 jointly, and relatively whether output current surpasses 25A.
Among Fig. 8; The code signal that coding chip 17 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. 9; Carried out EMC test; When voltage boosts in the 0-42KV scope, step-down and keeping; Robot for high-voltage hot-line work remote control nut is abolished parts operations such as instrument remote controller, voltage stabilizing chip, wireless receiving module, motor drive module, single-chip microcomputer normally, and each item measuring ability is in proper working order.
Claims (8)
1. the special-purpose acoustic control nut of robot for high-voltage hot-line work is abolished instrument, it is characterized in that it is mainly abolished tool body, acoustic control transmitter trigger remote controller and acoustic control assembly by nut and forms; Wherein said nut is abolished instrument and is comprised main casing, in main casing, is provided with electric hydraulic means, and electric hydraulic means is connected with working head; Be provided with the acoustic control assembly at the main casing rear portion, the acoustic control assembly is communicated by letter with acoustic control transmitter trigger remote controller, and after acoustic control transmitter trigger remote controller received sound control signal, through acoustic control assembly control voltage hydraulic means, electric hydraulic means control working head was accomplished the work of abolishing;
Said acoustic control assembly comprises box body; On box body, be provided with indicator lamp, antenna; Antenna is connected with wireless receiver; 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 nut of robot for high-voltage hot-line work as claimed in claim 1 is abolished instrument; It is characterized in that; Said motor-drive circuit is the pwm power drive unit; 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 nut of robot for high-voltage hot-line work as claimed in claim 1 is abolished instrument; 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 nut of robot for high-voltage hot-line work as claimed in claim 3 is abolished instrument, it 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 nut of robot for high-voltage hot-line work as claimed in claim 1 is abolished instrument; It is characterized in that; Said electric hydraulic means comprises motor, fuel tank, oil pump, oil cylinder, manipulator clamping device, working head, pressure relief device, power supply; Motor, oil pump, oil cylinder are installed in the main casing inner chamber, through about main casing two dress is accomplished fixing; Motor is coaxial with oil pump, and oil pump passes through check valve and fuel tank, oil cylinder UNICOM respectively, and oil cylinder is through pressure relief device and fuel tank UNICOM; The plunger of oil cylinder connects through push rod with working head, is detachable connection.
6. the special-purpose acoustic control nut of robot for high-voltage hot-line work as claimed in claim 1 is abolished instrument, it is characterized in that said nut is abolished tool body and is designed with the manipulator pressure relief device; Comprise rocking arm, pull bar, stage clip, box body, lid, briquetting, the rocking arm end is a cam structure, when rocking arm rotates around the center; rocking arm and box body Edge Distance become big, pull bar and box body relative motion, and pull bar drives briquetting and pushes compression relief cock; when unclamping rocking arm; under the compression spring action, rocking arm resets, and rocking arm pushing drawing rod and briquetting reset simultaneously.
7. the special-purpose acoustic control nut of robot for high-voltage hot-line work as claimed in claim 1 is abolished instrument; It is characterized in that; Said main casing top is provided with the manipulator clamping device, and it comprises connecting rack and splice holder, and connecting rack and nut are abolished tool body and be fixedly connected; The gusset piece tow sides of splice holder are respectively arc bump design and groove, be used for manipulator from movingly.
8. the special-purpose acoustic control nut of robot for high-voltage hot-line work as claimed in claim 1 is abolished instrument; It is characterized in that said box body comprises the high permeability material shell, be provided with fan and fan air guide hole in the enclosure; Fan air guide hole place arranges woven wire; The line outlet of shell is arranged conductive rubber, and motor-drive circuit links to each other with motor through shielded cable simultaneously, and power ground is abolished tool body with nut and linked to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201325469U CN202491050U (en) | 2012-03-31 | 2012-03-31 | Special voice-operated screw cap breaking tool for high-voltage hot-line work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201325469U CN202491050U (en) | 2012-03-31 | 2012-03-31 | Special voice-operated screw cap breaking tool for high-voltage hot-line work robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202491050U true CN202491050U (en) | 2012-10-17 |
Family
ID=46997293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201325469U Expired - Lifetime CN202491050U (en) | 2012-03-31 | 2012-03-31 | Special voice-operated screw cap breaking tool for high-voltage hot-line work robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202491050U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102649225A (en) * | 2012-03-31 | 2012-08-29 | 山东电力研究院 | Voice control nut breaking tool special for high-voltage live work robot |
| CN104701782A (en) * | 2015-02-12 | 2015-06-10 | 浙江大有实业有限公司电缆工程分公司 | High-voltage cable puncturing device and puncturing method |
| CN114012651A (en) * | 2021-12-08 | 2022-02-08 | 中国南方电网有限责任公司超高压输电公司大理局 | Nut crushing tool |
-
2012
- 2012-03-31 CN CN2012201325469U patent/CN202491050U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102649225A (en) * | 2012-03-31 | 2012-08-29 | 山东电力研究院 | Voice control nut breaking tool special for high-voltage live work robot |
| CN102649225B (en) * | 2012-03-31 | 2014-05-07 | 山东电力研究院 | Voice control nut breaking tool special for high-voltage live work robot |
| CN104701782A (en) * | 2015-02-12 | 2015-06-10 | 浙江大有实业有限公司电缆工程分公司 | High-voltage cable puncturing device and puncturing method |
| CN104701782B (en) * | 2015-02-12 | 2017-07-25 | 浙江大有实业有限公司电缆工程分公司 | A kind of high-tension cable puncture device and puncture method |
| CN114012651A (en) * | 2021-12-08 | 2022-02-08 | 中国南方电网有限责任公司超高压输电公司大理局 | Nut crushing tool |
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| C14 | Grant of patent or utility model | ||
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Owner name: STATE ELECTRIC NET CROP. Effective date: 20121029 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20121029 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 |
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| CP01 | Change in the name or title of a patent holder |
Address after: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Co-patentee after: State Grid Corporation of China Patentee after: Shandong Research Inst. of Electric Power Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Co-patentee before: State Grid Corporation of China Patentee before: Shandong Research Inst. of Electric Power |
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| CP01 | Change in the name or title of a patent holder | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Shandong Research Inst. of Electric Power Contract record no.: X2019370000007 Denomination of utility model: Voice control nut breaking tool special for high-voltage live work robot Granted publication date: 20121017 License type: Exclusive License Record date: 20191014 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002 Ji'nan City Central District, Shandong, No. 2 South Road, No. 500 Patentee before: Shandong Electric Power Research Institute Patentee before: STATE GRID CORPORATION OF CHINA |
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| TR01 | Transfer of patent right | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: Shandong Electric Power Research Institute Contract record no.: X2019370000007 Date of cancellation: 20210324 |
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| EC01 | Cancellation of recordation of patent licensing contract | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121017 |
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