CN203965914U - Robot for high-voltage hot-line work Gao Zhiju embedded control system - Google Patents
Robot for high-voltage hot-line work Gao Zhiju embedded control system Download PDFInfo
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- CN203965914U CN203965914U CN201420368616.XU CN201420368616U CN203965914U CN 203965914 U CN203965914 U CN 203965914U CN 201420368616 U CN201420368616 U CN 201420368616U CN 203965914 U CN203965914 U CN 203965914U
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- 238000002955 isolation Methods 0.000 claims description 3
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model discloses a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system, comprise primary processor, described primary processor connects AD sampling module, AD sampling module connects sonac, primary processor is connected with the first digital data acquisition module and the second digital data acquisition module, the first digital data acquisition module connects IR evading obstacle sensors, and the second digital data acquisition module connects scrambler; Primary processor connects emulator by emulator interface; Described primary processor is also connected with reset circuit, crystal oscillating circuit and peripheral interface module; The utility model can carry out electrodeless variable-speed, and rotating is controlled, and controls flexibly, and reliability is high; Adopt modular design, with various peripheral interfaces, can conveniently connect various sensors, driver etc., powerful.
Description
Technical field
The utility model relates to a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system.
Background technology
In order to improve the gentle security of Automated water of hot line job, alleviate operating personnel's labour intensity and strong-electromagnetic field to personal threat, from last century, many countries all successively carried out the research of hot line robot, and China also started to carry out the development of robot for high-voltage hot-line work commercialization model machine in 2002.High-voltage hot-line work Gao Zhiju used is one of special operation instrument of robot for high-voltage hot-line work, and its major function is near branch excision high-tension line, avoids near circuit, causing ground fault because of branch.At present in Gao Zhiju application technology, electric high branch saw be take power supply as power, application is convenient and specifications and models are also more, but mostly be the form of artificial hand-held main body, manual push switch, need to workpiece closely, accurate positioning action, the requirement of electrification in high voltage safety rule cannot be met, also robot manipulation cannot be applied to.Therefore for Gao Zhiju automatically provides controller must have following characteristics: little, low in energy consumption from heavy and light, size, be applicable to the application needs of electric tool.Adopt modular design, there is opening, readability, extensibility, maintainability, to continue exploitation.
Through the literature search of prior art is found, State Intellectual Property Office of the People's Republic of China is disclosed, application number is that 02135135.X name is called the patent of " robot for high-voltage hot-line work ", application number is that 02267831.X name is called the patent of " high-voltage live-wire working device for manipulator ", application number is 200610043219.5 patents that are called " insulation platform for live operation ", all propose to adopt robot to carry out hot line job, also simply point out that robot can utilize clamping specific purpose tool to complete high-voltage hot-line work, but fail again specific purpose tool to be carried out specifically, in depth study and explore, more fail to provide the controller of a kind of embodiment for high pressure saw, more cannot expand frontier, new application.
Utility model content
The utility model is in order to address the above problem; a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system has been proposed; this control system has overvoltage, overcurrent, low pressure, anti-reverse defencive function; robot is completed and keep away barrier, function of wireless remote control, have advantages of from heavy and light, size little, low in energy consumption.
To achieve these goals, the utility model adopts following technical scheme:
A kind of robot for high-voltage hot-line work Gao Zhiju embedded control system, comprise primary processor, described primary processor connects AD sampling module, AD sampling module connects sonac, primary processor is connected with the first digital data acquisition module and the second digital data acquisition module, the first digital data acquisition module connects IR evading obstacle sensors, and the second digital data acquisition module connects scrambler; Primary processor connects emulator by emulator interface, and the input end of motor-drive circuit connects PWM delivery outlet and the DIR direction delivery outlet of primary processor, and the output terminal of motor-drive circuit connects motor; Described primary processor connects serial port drive module, and serial port drive module connects wireless transmit receiver; Described primary processor is also connected with reset circuit, crystal oscillating circuit and peripheral interface module.
Described AD sampling module is 8 passages, the high-speed converters of 8, sampled voltage scope 0～5V.
Described serial port drive chip is selected the MAX3232 that integrated level is high, and applicable voltage 3～5V, has esd protection function.
Described motor drive module, comprise bridge drive circuit and timer, wherein, the output terminal of bridge drive circuit is connected with motor by RC resistance-capacitance network, the input end of bridge drive circuit connects the output terminal of comparer, "+" input end of comparer receives the command signal of primary processor, after "-" input end series capacitance of comparer, connects timer.
Described motor drive module is selected large power triode 2SK2690, and inside is integrated with CMOS control circuit and DMOS power device, and continuous output current reaches 90A, and operating voltage is up to 110V, light-coupled isolation between triode and primary processor.
Described primary processor, peripheral interface module are connected with power supply respectively.
Described primary processor adopts ATMEGA128 chip.
The overvoltage of described power circuit band, overcurrent, low pressure, anti-reverse protection; overvoltage protection adopts PCKE18CA; overcurrent protection adopts 2.6A resettable fuse LT260, and low-voltage variation adopts Voltage stabilizing module WRA1205, and anti-reverse protection adopts anti-reverse diode IN4007.
Primary processor, is used for receiving from the information of external sensor or other parts and judges and process, output control signal control motor;
Emulator interface, is used for connecting emulator, by this interface, can download, again can single step emulation, debugged program etc.
Reset circuit, is used for being in operation when being subject to environmental interference and occurring program fleet when Single Chip Microcomputer (SCM) system, and the program of pressing reset button inside starts anew to carry out automatically.
Crystal oscillating circuit, is used for providing frequency of operation to single-chip microcomputer.
AD sampling module, is responsible for the analog data collection of current sensor, and is converted to digital quantity, input primary processor.
The first digital data acquisition module, the digital data acquisition of responsible IR evading obstacle sensors, is input to primary processor.
The second digital data acquisition module, is responsible for the data acquisition of scrambler, the information such as the angle of the rotation of capturing and coding device, zero-bit, and be input to primary processor, carry out position, velocity process.
Serial port drive module, is used for wireless transmit receiver module RS232 signal to be converted to the TTL signal of primary processor.
Motor-drive circuit, it is connected to PWM delivery outlet, the DIR direction delivery outlet of primary processor, for receiving output drive signal under the control of controlling the power on/power down of driving circuit under the switching signal of microprocessor and receiving pwm signal;
Motor, it is connected to described motor-drive circuit, is used under the control of described driving signal by needed direction, speed and torque rotation;
Power circuit, the overvoltage of power circuit band, overcurrent, low pressure, anti-reverse protection, provide power supply to each circuit such as primary processor, peripheral interface module, motors.
The beneficial effects of the utility model are:
(1) adopt high integration driver module, and by ATMEGA128 Single-chip Controlling, band overcurrent, overload, overvoltage protection; This Gao Zhiju embedded control system is little, low in energy consumption from heavy and light, size, is applicable to the application needs of electric tool;
(2) embedded control system of designed, designed, little, low in energy consumption from heavy and light, size, be applicable to the application needs of automated tool;
(3) power circuit band overvoltage, overcurrent, low pressure, anti-reverse protection, reliability is high;
(4) this control system can be carried out electrodeless variable-speed, and rotating is controlled, and controls flexibly, and reliability is high; Adopt modular design, with various peripheral interfaces, can conveniently connect various sensors, driver etc., powerful.
Accompanying drawing explanation
Fig. 1 is the composition diagram of the utility model controller;
Fig. 2 is the circuit diagram of the utility model motor driver.
Wherein, 1. primary processor, 2. emulator interface, 3. reset circuit, 4. crystal oscillating circuit, 5.AD sampling module, 6. the first digital data acquisition module, 7. the second digital data acquisition module, 8. serial port drive module, 9. power module, 10. motor drive module.
Embodiment:
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As shown in Figure 1, it comprises primary processor 1, and it is connected with emulator interface 2, and primary processor 1 is also connected with reset circuit 3, crystal oscillating circuit 4 simultaneously; Primary processor 1 is also connected with peripheral interface module, AD sampling module 5, the first digital data acquisition module 6, the second digital data acquisition module 7, serial port drive module 8, motor drive module 10; Motor drive module 10 is connected with motor simultaneously, serial port drive module 8 is connected with wireless transmit receiver, AD sampling module 5 is connected with sonac, the first digital data acquisition module 6 is connected with IR evading obstacle sensors, the second digital data acquisition module 7 is connected with scrambler, and primary processor 1, each peripheral interface module connect respectively at power module 9.
When embedded controller Yao Xiang robot sends control command, primary processor 1 gathers the data of external sensor, obtains corresponding steering order, and gives motor-drive circuit; After the light-coupled isolation of motor-drive circuit settling signal, power amplification, drive motor rotates with certain speed, direction, moment of torsion.
In Fig. 2, motor drive module 10 adopts pwm power drive unit, and it utilizes the switching characteristic of high power valve to modulate direct supply, makes it by fixing frequency switching.Change the length of switching time in one-period, change " dutycycle " of output voltage, thereby change average voltage, control output power.Its structure can be divided into two large divisions: the circuit that energy is passed to load from primary power is called circuit for power conversion, and remainder is control circuit.
Circuit for power conversion comprises bridge drive circuit, and its 12v power supply connects; Output terminal is connected with motor by RC resistance-capacitance network, to suppress the generation of instantaneous pump up voltage.Resistance is selected 100 ohm of 2W, capacitance selection 1000pf100V.
Control circuit changes pulse duty factor can realize the adjusting of motor speed, but first needs the command signal of controlling rotating speed to be converted to the pulse signal with corresponding dutycycle.It comprises 555 timers, and the electric capacity of the external 270pf of 555 timer produces the triangular wave of 45KHZ.The electric capacity of 270pf is connected with comparer one input end, and this input end connects 12V power supply after also connecting with an even individual inductance respectively, and these two inductance are also connected with 555 timers; Another input termination command signal of comparer, output terminal output pwm signal to bridge drive circuit.
When steering order signal voltage is more than or equal to triangle wave voltage, output signal is comparer power supply positive voltage U
cc; When steering order signal is less than triangle wave voltage, output signal is power supply earth signal 0V.
Described motor-drive circuit comprises current sensor, it is connected on the two ends of bridge drive circuit, current sensor 14 two ends are also respectively through a diode ground connection, and these two ends are also connected with operational amplifier 15 one end with resistance R 3 by resistance R 2 respectively simultaneously, and resistance R 2 is clean resistance R 4 ground connection also; The operational amplifier other end is through resistance R 1 ground connection, and this end also passes through resistance R _ f and output terminal feedback link simultaneously, and output terminal is connected with primary processor.
It is by 0.01 ohm of precision resistance to current sampling, and sampling current, after the addition of single supply operational amplifier LM324 and amplifying 10 times, is received the AD translation interface of primary processor.
Although above-mentioned, by reference to the accompanying drawings embodiment of the present utility model is described; but the not restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (8)
1. a robot for high-voltage hot-line work Gao Zhiju embedded control system, it is characterized in that: comprise primary processor, described primary processor connects AD sampling module, AD sampling module connects sonac, primary processor is connected with the first digital data acquisition module and the second digital data acquisition module, the first digital data acquisition module connects IR evading obstacle sensors, and the second digital data acquisition module connects scrambler; Primary processor connects emulator by emulator interface, and the input end of motor-drive circuit connects PWM delivery outlet and the DIR direction delivery outlet of primary processor, and the output terminal of motor-drive circuit connects motor; Described primary processor connects serial port drive module, and serial port drive module connects wireless transmit receiver; Described primary processor is also connected with reset circuit, crystal oscillating circuit and peripheral interface module.
2. a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system as claimed in claim 1, is characterized in that: described AD sampling module is 8 passages, the high-speed converters of 8, sampled voltage scope 0～5V.
3. a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system as claimed in claim 1, is characterized in that: described serial port drive chip is selected the MAX3232 that integrated level is high, and applicable voltage 3～5V, has esd protection function.
4. a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system as claimed in claim 1, it is characterized in that: described motor drive module, comprise bridge drive circuit and timer, wherein, the output terminal of bridge drive circuit is connected with motor by RC resistance-capacitance network, the input end of bridge drive circuit connects the output terminal of comparer, and "+" input end of comparer receives the command signal of primary processor, after "-" input end series capacitance of comparer, connects timer.
5. a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system as claimed in claim 1, it is characterized in that: described motor drive module is selected large power triode 2SK2690, inside is integrated with CMOS control circuit and DMOS power device, continuous output current reaches 90A, operating voltage is up to 110V, light-coupled isolation between triode and primary processor.
6. a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system as claimed in claim 1, is characterized in that: described primary processor, peripheral interface module are connected with power supply respectively.
7. a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system as claimed in claim 1, is characterized in that: described primary processor adopts ATMEGA128 chip.
8. a kind of robot for high-voltage hot-line work Gao Zhiju embedded control system as claimed in claim 6; it is characterized in that: the overvoltage of described power circuit band, overcurrent, low pressure, anti-reverse protection; overvoltage protection adopts PCKE18CA; overcurrent protection adopts 2.6A resettable fuse LT260; low-voltage variation adopts Voltage stabilizing module WRA1205, and anti-reverse protection adopts anti-reverse diode IN4007.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420368616.XU CN203965914U (en) | 2014-07-04 | 2014-07-04 | Robot for high-voltage hot-line work Gao Zhiju embedded control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420368616.XU CN203965914U (en) | 2014-07-04 | 2014-07-04 | Robot for high-voltage hot-line work Gao Zhiju embedded control system |
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| CN203965914U true CN203965914U (en) | 2014-11-26 |
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| CN201420368616.XU Expired - Lifetime CN203965914U (en) | 2014-07-04 | 2014-07-04 | Robot for high-voltage hot-line work Gao Zhiju embedded control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108617314A (en) * | 2018-04-20 | 2018-10-09 | 深圳贝仕达克技术股份有限公司 | A kind of control method of Gao Zhiju, Gao Zhiju, that is, storage medium |
-
2014
- 2014-07-04 CN CN201420368616.XU patent/CN203965914U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108617314A (en) * | 2018-04-20 | 2018-10-09 | 深圳贝仕达克技术股份有限公司 | A kind of control method of Gao Zhiju, Gao Zhiju, that is, storage medium |
| CN108617314B (en) * | 2018-04-20 | 2020-08-18 | 深圳贝仕达克技术股份有限公司 | Control method of pole pruning saw, pole pruning saw and storage medium |
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| GR01 | Patent grant | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: 556000 No. 36 West Beijing Road, Qiandongnan Miao and Dong Autonomous Prefecture, Guizhou Province, Kaili Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Kaili Power Supply Bureau Address before: 556000 No. 36 West Beijing Road, Qiandongnan Miao and Dong Autonomous Prefecture, Guizhou Province, Kaili Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Kaili Power Supply Bureau |