CN204194340U - Living water washing robot of rail mounted transformer station - Google Patents

Abstract

The utility model provides a live water washing robot for a track-type substation, which comprises: a moving mechanism of a car body is connected with a rotary platform of a lifting mechanism through a rotary support; The multi-stage telescopic arm is connected with the water gun flushing mechanism through the leveling oil cylinder; the electrical control system includes the vehicle subsystem and the remote control subsystem. Control of flushing mechanism. The utility model has the beneficial effects: the robot is used to replace the manpower to complete the substation insulator flushing operation, so that the operator is located in the safe area, which ensures the safety of the operator and reduces the labor intensity; the robot body adopts the track wheel chassis structure, and the failure rate of the system is low , can precisely control the running direction and run stably.

Description

Track type substation live water washing robot

technical field

The utility model relates to the field of a live water washing robot for a substation, in particular to a track type substation live water washing robot.

Background technique

Substation insulators are exposed to the external environment for a long time, and dirt is easy to deposit on the surface. These dirt are prone to pollution flashover accidents when they are damaged by bad weather. The washing operation of insulators with live water can improve the reliability of power supply, reduce power failure losses, and ensure the safety of substations and transmission lines.

The current substation insulator flushing operation mainly has the following shortcomings:

1. Most of the cleaning methods are carried out by cleaning technicians who enter the site with hand-held cleaning equipment. Manual cleaning not only depends on the weather conditions, but also requires cleaning personnel to have a high technical level and skilled operation procedures. Standardized safety protection to avoid safety accidents caused by short-circuit current, causing casualties. This type of operation method has potential safety hazards;

2. The technical requirements for electrified water flushing are relatively high. Affected by various factors such as the environment, pollution accumulation, equipment creepage, and equipment layout, equipment flashover is prone to occur during manual flushing. At the same time, manual operations are faced with high labor intensity and high efficiency. Low, low level of automation, incomplete flushing and many other problems;

3. Most of the existing washing equipment adopts wheel-type walking mechanism. This wheel-type structure operates unstable, has a high failure rate and is difficult to maintain. It is difficult to accurately control the running direction when the site is unstable, which is not conducive to accurate washing of insulator equipment. .

Therefore, it is necessary to provide a stable, safe and efficient water washing robot to replace manual water washing operations on substation insulators.

Utility model content

The purpose of this utility model is to solve the above problems and provide a robot for flushing live water in a track-type substation. The device uses a robot to replace the manual completion of the insulator flushing operation of the substation, so that the operator is located in a safe area, ensuring the safety of the operator. Reduce labor intensity, improve flushing efficiency and automation level.

In order to achieve the above object, the utility model adopts the following technical solutions:

A track-type substation live water washing robot, including a car body moving mechanism, a lifting mechanism, a water gun washing mechanism and an electrical control system;

The moving mechanism of the car body is connected with the rotary platform of the lifting mechanism through the slewing bearing, and the rotary platform of the lifting mechanism is equipped with multi-section multi-stage telescopic arms, and the multi-section multi-stage telescopic arms are connected with the water gun flushing mechanism through the leveling oil cylinder;

The electrical control system includes a vehicle-mounted subsystem and a remote control subsystem. The remote control subsystem and the vehicle-mounted subsystem complete the control of the robot's body moving mechanism, lifting mechanism and water gun washing mechanism through wireless means.

The car body moving mechanism includes: a track chassis, a left travel motor, a right travel motor, a driving wheel, a driven wheel, a load-bearing wheel and hydraulic legs on both sides; the left travel motor and the right travel motor are connected on the track chassis support, and drive The wheels are connected to the travel motor through the drive shaft, and the driven wheels and load-bearing wheels are respectively connected to the track chassis support through the rotating shaft. The two sides of the rear end of the track chassis are respectively equipped with a hydraulic oil tank and a diesel tank, and the hydraulic legs are hinged on the track chassis.

The lifting mechanism includes a slewing platform and a leveling mechanism. The slewing platform is connected to the moving mechanism of the car body through a slewing bearing. The wide oil cylinder is hingedly connected, the boom and connecting arm of the multi-section multi-stage telescopic boom are hingedly connected with the telescopic cylinder, the leveling mechanism includes leveling cylinder Ⅰ and leveling cylinder Ⅱ, and the leveling cylinder Ⅰ is installed between the rotary platform and the boom. It is hingedly connected with the slewing platform and the boom, and the leveling cylinder II is installed between the workbench and the forearm, and is hingedly connected with the workbench and the forearm.

The multi-section multi-stage telescopic boom is a three-section two-stage telescopic boom, which specifically includes a boom, a connecting arm and a small arm. The arm bolts are connected, the connecting arm is slidably connected with the big arm and the small arm through a slider, and the head of the connecting arm is equipped with a sprocket.

The big arm and the small arm of the three-section two-stage telescopic arm are connected with a luffing chain by bolts, the front end of the large arm bypasses the sprocket and is hinged with the front end of the telescopic chain, and the end of the telescopic chain is hinged with the end of the small arm.

The water gun flushing mechanism includes a pitching oil cylinder and a swinging oil cylinder, the pitching oil cylinder is fixed on the swinging oil cylinder, the swinging oil cylinder is connected to the workbench by bolts, a water gun frame is hinged on the pitching oil cylinder, and a water gun is connected to the water gun frame.

A tracking camera is installed on the water gun rack for real-time observation of the insulator water washing operation, and a laser range finder is installed directly below the tracking camera for real-time measurement of the distance between the water gun and the water washing insulator.

The vehicle-mounted subsystem includes an industrial computer, which collects data uploaded by various sensors through the 485 bus, and sends instructions received from the remote controller to the wireless receiver, and the wireless receiver receives the data from the remote controller. It is processed in the industrial computer and then sent to the wireless transceiver. Through the adjustment of the voltage value to control the opening and closing of the proportional valve and the flow rate, the movement of the left and right wheels of the mobile chassis, the expansion and contraction of the small arm, the pitch of the large arm and the rotation of the rotary platform are realized. control.

The various sensors include pull wire sensors, angle sensors, inclination sensors, temperature sensors, pressure sensors, voltage sensors and current sensors. The pull wire sensors are installed between the boom and the forearm to measure the telescopic length of the forearm. Both the workbench and the workbench are equipped with an angle sensor and an inclination sensor, which collects the horizontal and vertical angle data of the boom and workbench and transmits them to the industrial computer, wherein the angle sensor and inclination sensor data on the workbench are transmitted wirelessly through ZIGBEE to Complete insulation of the top platform is realized. The temperature sensor and pressure sensor are installed on the hydraulic oil tank to collect the oil temperature in the hydraulic oil tank and the pressure data of the hydraulic oil in the hydraulic oil tank. The collected data is analog and converted into digital by A/D The signal is transmitted to the industrial computer through 485, the voltage sensor and current sensor collect the voltage value and current value in the circuit, and check whether the voltage and current in the circuit are stable, and the collected analog signal is converted into a digital signal through the A/D conversion module through 485 The bus is passed to the industrial computer.

The beneficial effects of the utility model:

1. According to the needs of substation water washing operations, design the high-pressure water spray system for the substation live water washing robot. The main body is composed of the high-pressure water spray system and the live water washing robot. All signals are transmitted between the washing robot body and the remote control device through wireless signals, which keeps the washing workers away from the high-voltage electric field and ensures the safety of the workers.

2. Use robots instead of manual to complete the washing operation of substation insulators, so that operators are located in a safe area, which ensures the safety of operators, reduces labor intensity, improves washing efficiency and automation level, and brings positive changes to the water washing operation mode of substations in my country effect.

3. The robot body adopts a track-wheel chassis structure. Compared with tire-type or crawler-type, the failure rate of the system is low, and it can precisely control the running direction and run stably.

Description of drawings

Fig. 1 is the structure schematic diagram of the utility model substation electrified water flushing robot;

Fig. 2 is the top view of the structure of the utility model substation charged water washing robot drawing support;

Fig. 3 is a structural schematic diagram of the working limit position of the live water washing robot in the substation of the utility model;

Fig. 4 is the schematic diagram of the hydraulic control of the live water washing robot in the substation of the utility model;

Fig. 5 is a block diagram of the electric control structure of the utility model substation charged water washing robot;

Fig. 6 is a schematic diagram of the remote control panel of the utility model substation charged water washing robot;

Among them, 1. Driven wheel, 2. Bearing wheel, 3. Driving wheel, 4. Track chassis, 5. Proportional control valve group B, 6. Rotary platform, 7. Leveling cylinder I, 8. Luffing chain, 9. Boom, 10. Luffing cylinder, 11. Telescopic chain, 12. Sprocket, 13. Workbench, 14. Pitching cylinder, 15. Water gun rack, 16. Leveling cylinder II, 17. Tracking camera, 18. Laser measurement Distance meter, 19, water gun, 20, electrical control box, 21, rear hydraulic outrigger Ⅰ, 22, rear hydraulic outrigger Ⅱ, 23, hydraulic oil tank, 24, front hydraulic outrigger Ⅰ, 25, cable sensor, 26, front Hydraulic support leg II, 27, diesel tank, 28, connecting arm, 29, small arm, 30, swing oil cylinder.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

As shown in Figure 1-3, a substation live water washing robot, the main body is composed of a mechanical body and a remote control device. Among them, the mechanical body is mainly composed of a car body moving mechanism, a three-section two-stage telescopic arm lifting mechanism, a water gun flushing mechanism, a hydraulic control system and an electrical control system. The moving mechanism of the car body is a rail wheel type mobile chassis structure. One side of the rail wheel chassis is a diesel tank, and the other side is a hydraulic oil tank. The power source of the robot is a vehicle-mounted diesel engine; 6 are connected, and three-section two-stage telescopic arms are also installed on the rotary platform 6 of the lifting mechanism. The proportional control valve group is connected with the hydraulic control system; the electrical control system includes the vehicle-mounted subsystem and the remote control subsystem. And the control of the water gun flushing mechanism.

The working power source of the live water washing robot in the substation is a vehicle-mounted diesel engine. It adopts its own power source, powered by diesel engine, and can work in dense equipment areas, which solves the problem of power supply configuration on site.

The car body moving mechanism adopts a track-type mobile chassis structure, which is mainly composed of a track chassis 4, a left travel motor, a right travel motor, a driving wheel 3, a load-bearing wheel 2 and four hydraulic legs on both sides. The left side of the track chassis is a diesel tank 27, the right side is a hydraulic oil tank 23, the rear hydraulic support leg I21, the rear hydraulic support leg II22, the front hydraulic support leg I24, and the front hydraulic support leg II26 are hinged on the track chassis 6.

The elevating mechanism that three joints two-stage telescopic arm forms mainly is made up of rotary platform 6, three joints two-stage telescopic arm, leveling mechanism. The slewing platform 6 is connected with the moving mechanism of the car body through the slewing bearing, and is driven by the slewing motor to realize the 360° continuous slewing motion of the slewing platform 6 and its accessories. The proportional control valve group B5 is connected to the slewing platform 6 through bolts; the two-stage telescopic arm It is mainly composed of a large arm 9, a connecting arm 28 and a small arm 29. The two-stage telescopic arm is installed on the rotary platform 6. The large arm 9 is hinged to the rotary platform 6. There are sliders at the front and rear ends of the connecting arm 28. The slider and the connecting arm 28 bolt connection, the connecting arm 28 is slidingly connected with the boom 9 and the small arm 29, and the head of the connecting arm 28 is equipped with a sprocket 12; , The connecting arm 28 is hingedly connected; the leveling mechanism is mainly composed of leveling cylinder Ⅰ7 and leveling cylinder Ⅱ16, and the leveling cylinder Ⅰ7 is installed between the rotary platform 6 and the boom 9, and is hingedly connected with the rotary platform 6 and the boom 9. The flat oil cylinder II16 is installed between the workbench 13 and the forearm 29, and is hingedly connected with the workbench 13 and the forearm 29; At the front end of the boom 9, the sprocket 12 is walked around, and the end of the forearm 29 is hinged.

Water gun flushing mechanism is mainly made up of workbench 13, pitch oil cylinder 14, swing oil cylinder 30, water gun frame 15, water gun 19. Pitch oil cylinder 14 is connected on the swing oil cylinder 30 by bolt, and swing oil cylinder 30 is connected on the workbench 13 by bolt, and water gun frame 15 is hinged on the pitch oil cylinder 14, and water gun 19 is screw-connected on the water gun frame 15.

A tracking camera 17 is installed on the robot water gun frame 15, which is used for real-time observation of the insulator water flushing operation situation, real-time transmission of the picture of the job site, and facilitates remote operators to perform operations. Tracking camera 17 bolts are connected on the water gun frame 15. A laser range finder 18 is installed directly below the tracking camera 17 to measure the distance between the water gun and the water flushing operation insulator in real time, so as to keep it within the safe working distance.

When the robot is working, the control handle of the remote control device controls the body moving mechanism of the mechanical body to move to the designated area, and the front hydraulic outrigger I24, the front hydraulic outrigger II26, the rear hydraulic outrigger I21, and the rear hydraulic outrigger II22 Support the ground to improve the stability of the robot's operation; the slewing platform 6 and its accessories can rotate 360°, adjust the orientation of the two-stage telescopic arm, adjust the pitch angle of the boom 9 through the luffing cylinder 10, and connect the arm 28 through the telescopic cylinder. Stretch out and shrink, the small arm 29 is driven by the telescopic chain 11 to realize synchronous extension and contraction with the connecting arm 28, and under the joint action of the luffing cylinder 10, the telescopic cylinder and the telescopic chain 11, adjust the boom 9 and the connecting arm 28 and the posture of the forearm 29; the leveling cylinder I7 and the leveling cylinder II16 coordinately adjust the posture of the workbench 13, keep the workbench 13 level, the pitch cylinder 14 pitches up and down and the swing cylinder 30 swings left and right to realize the water gun frame 15 Posture fine-tuning, by tracking the images collected by the camera 17, the pose of the water gun 19 is determined, and the water gun 19 sprays high-purity water for washing operations.

As shown in Figure 4, the hydraulic system of the live water washing robot in the substation adopts the combined control of the lower control valve group A, the top control valve group B and the central rotary joint. There are seven proportional directional valves and four manual directional valves. The live water washing robot in the substation is powered by a diesel engine, and is connected with a double gear pump through a coupling. Considering the special environmental requirements of the live work in the substation, the hydraulic system uses anti-wear insulating hydraulic oil. The hydraulic oil enters the hydraulic control oil circuit of the robot from the oil tank through the oil suction filter, and then flows back to the oil tank through the oil return filter. Among them, the one-way valve is used to control the backflow of oil, and the safety valve has an overload protection function. The pressure gauge is connected to the oil circuit through the pressure gauge switch, and the hydraulic oil pressure of the oil circuit is displayed in real time. The central rotary joint is a hydraulic component that connects the rotary platform and the oil circuit of the chassis. It ensures that the hydraulic oil circuit can still distribute oil normally after the rotary platform rotates at any angle.

The lower control valve group A is connected to the hydraulic pump through the distribution valve. Four sets of manual reversing valves control the four outrigger cylinders of the water washing robot to complete the telescopic movement. Two proportional reversing valves control the left and right motors for robot walking. sports.

Bodywork control valve group B is connected to the hydraulic pump through the central rotary joint, bodywork control switching button, distribution valve, and a proportional directional valve to control the slewing motor to complete the rotary motion of the bodywork slewing platform. Two sets of proportional directional valves control the boom Pitching and telescopic movement of the forearm, and the other two sets of proportional reversing valves realize the horizontal and pitching movements of the water gun through the horizontal swing cylinder and the vertical swing cylinder.

As shown in Figure 5, the electrical control system of the substation live water washing robot includes a vehicle-mounted subsystem and a remote control subsystem. The vehicle-mounted subsystem includes the vehicle-mounted host computer control system and the vehicle-mounted driver. The vehicle-mounted host computer control system has the functions of receiving commands from the remote control subsystem, analyzing the commands, and implementing motion algorithms. The on-board driver receives instructions from the on-board host computer control system to realize the function of controlling the valve group of the car body. The remote control subsystem has the functions of moving the car body, starting and stopping the engine, the size of the accelerator, single joint control and combined control of the lifting mechanism. The vehicle-mounted subsystem and the handheld terminal subsystem communicate wirelessly.

The vehicle-mounted subsystem is mainly divided into four modules according to functions: the vehicle body movement control module, the bodywork lifting mechanism motion control module, the engine and power supply power monitoring module, and the safety monitoring module. The vehicle body movement control module has functions such as forward, backward, speed regulation, left and right steering, outrigger extension, auxiliary lighting, safety monitoring, etc.; the bodywork lifting mechanism motion control module has single-joint control, single-joint position feedback, automatic leveling and safety monitoring. and other functions; the engine and power supply power monitoring module has the functions of engine start-stop, speed regulation and other control and monitoring of engine status and power supply voltage; Threshold value setting and safety alarm for voltage and other states.

The hardware of the vehicle subsystem is composed of industrial computer, wireless receiver, A/D conversion module, ZIGBEE, various sensors, proportional valves, on-off valves, etc. The industrial computer collects the data uploaded by various sensors through the 485 bus, and sends the instructions received from the remote controller to the wireless receiver to realize the control of the on-off valve and the proportional valve. After the wireless receiver receives the data from the remote controller, it processes it in the industrial computer and then sends it to the wireless transceiver. Through the adjustment of the voltage value, the opening and closing of the proportional valve and the flow rate are controlled to realize the movement of the left and right wheels of the mobile chassis. Boom telescopic, boom pitch, rotary platform rotation control.

Various sensors include pull wire sensors, angle sensors, inclination sensors, temperature sensors, pressure sensors, voltage sensors and current sensors. The pull wire sensors are installed between the boom and the forearm to measure the telescopic length of the forearm, the boom and the top Each platform is equipped with an angle sensor and an inclination sensor, which collects the horizontal and vertical angle data of the boom and the platform and transmits them to the industrial computer, in which the angle sensor and inclination sensor data on the platform are transmitted wirelessly through ZIGBEE to realize the Fully insulated. The temperature and pressure sensors are installed on the hydraulic oil tank to collect the oil temperature in the oil tank and the pressure data of the hydraulic oil in the oil tank. The collected data are analog quantities, which are converted into digital signals by A/D and transmitted to the industrial computer through 485. The voltage and current sensor collects the voltage and current values in the circuit, and detects whether the voltage and current in the circuit are stable. The collected analog signal is converted into a digital signal by the A/D conversion module and transmitted to the industrial computer through the 485 bus.

The remote control realizes the remote control of the mobile chassis, lifting arm and water gun, including controlling the front and rear of the left wheel, the front and rear of the right wheel, the left and right of the upper arm, the pitch of the upper arm, the telescopic extension of the lower arm, and the left and right of the platform; the keys with lock include tools, selection, XYZ Control of the world coordinate system and throttle size; self-recovery buttons include control of reset, engine start and stop, teaching, reproduction, and start; indicator lights include power supply, wireless communication, and alarm indicators.

In Fig. 6, a remote controller of a substation electrified water washing robot includes 7 analog joysticks, which control the front and rear of the left wheel, the front and rear of the right wheel, the left and right of the big arm 9, the pitch of the big arm 9, the telescoping of the small arm 29, the left and right of the workbench 13, Water gun 19 pitch; buttons with lock include tools, selection, XYZ world coordinate system, throttle size control; self-recovery buttons include reset, engine start and stop, teaching, reproduction, start control; indicator lights include power, wireless communication, alarm light.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (9)

1. A track-type substation charged water washing robot is characterized in that it comprises a car body moving mechanism, a lifting mechanism, a water gun washing mechanism and an electrical control system; The moving mechanism of the car body is connected with the rotary platform of the lifting mechanism through the slewing bearing, and the rotary platform of the lifting mechanism is equipped with multi-section multi-stage telescopic arms, and the multi-section multi-stage telescopic arms are connected with the water gun flushing mechanism through the leveling oil cylinder; The electrical control system includes a vehicle-mounted subsystem and a remote control subsystem. The remote control subsystem and the vehicle-mounted subsystem complete the control of the robot's body moving mechanism, lifting mechanism and water gun washing mechanism through wireless means. 2. A track-type substation charged water washing robot as claimed in claim 1, wherein said car body moving mechanism comprises: track chassis, left travel motor, right travel motor, driving wheel, driven wheel, load-bearing wheel And the hydraulic legs on both sides; the left travel motor and the right travel motor are connected on the track chassis support, the driving wheel is connected with the travel motor through the drive shaft, the driven wheel and the load-bearing wheel are respectively connected with the track chassis support through the rotation shaft, and the track The two sides of the rear end of the chassis are respectively equipped with a hydraulic oil tank and a diesel tank, and the hydraulic outriggers are hinged on the track chassis. 3. A track-type substation charged water washing robot as claimed in claim 1, wherein the lifting mechanism includes a rotary platform and a leveling mechanism, the rotary platform is connected with the car body moving mechanism through a rotary bearing, and the rotary platform The multi-section multi-stage telescopic boom is hinged, the rotary platform and the multi-section multi-stage telescopic boom are hingedly connected to the luffing cylinder, the multi-section multi-stage telescopic boom boom and connecting arm are hinged to the telescopic cylinder, and the leveling mechanism includes Leveling cylinder Ⅰ and leveling cylinder Ⅱ. Leveling cylinder Ⅰ is installed between the rotary platform and the boom, and is hingedly connected with the rotary platform and boom. Leveling cylinder Ⅱ is installed between the workbench and the forearm. The arm is articulated. 4. A track-mounted substation charged water washing robot as claimed in claim 1 or 3, wherein the multi-section multi-stage telescopic arm is a three-section two-stage telescopic arm, specifically including a boom, a connecting arm and a small arm , the big arm is hinged to the slewing platform, the front and rear ends of the connecting arm are provided with sliders, the slider is connected with the connecting arm by bolts, the connecting arm is slidingly connected with the big arm and the small arm through the slider, and the head of the connecting arm is installed with sprockets. 5. A track-type substation charged water washing robot as claimed in claim 4, characterized in that the boom and the forearm of the three-section two-stage telescopic boom are connected with luffing chains by bolts, and the front end of the boom bypasses the The sprocket is hinged with the front end of the telescopic chain, and the end of the telescopic chain is hinged with the end of the forearm. 6. A track type substation charged water washing robot as claimed in claim 1, wherein said water gun washing mechanism comprises a pitching oil cylinder and a swinging oil cylinder, the pitching oil cylinder is fixed on the swinging oil cylinder, and the swinging oil cylinder is connected by bolts to work On the stage, a water gun frame is hinged on the pitching oil cylinder, and a water gun is connected to the water gun frame. 7. A track-mounted substation live water washing robot as claimed in claim 6, characterized in that a tracking camera is installed on the water gun frame for real-time observation of the insulator water washing operation, and a laser is installed directly below the tracking camera The distance finder is used to measure the distance between the water gun and the insulator in the water flushing operation in real time. 8. A kind of rail-mounted substation electrified water flushing robot as claimed in claim 1, is characterized in that, described vehicle-mounted subsystem comprises industrial computer, and industrial computer collects the data uploaded by various sensors through 485 bus, and from remote control The instruction received by the controller is sent to the wireless receiver. After receiving the data from the remote controller, the wireless receiver processes it in the industrial computer and then sends it to the wireless transceiver. The opening and closing of the proportional valve is controlled by adjusting the voltage value. The size of the flow can realize the control of the movement of the left and right wheels of the mobile chassis, the expansion and contraction of the small arm, the pitch of the large arm and the rotation of the slewing platform. 9. A track-mounted substation charged water washing robot as claimed in claim 8, wherein said various sensors include pull wire sensors, angle sensors, inclination sensors, temperature sensors, pressure sensors, voltage sensors and current sensors, The pull wire sensor is installed between the boom and the forearm to measure the telescopic length of the forearm. Both the boom and the workbench are equipped with an angle sensor and an inclination sensor to collect the angle data of the boom and workbench in the horizontal and vertical directions. And transmit it to the industrial computer, in which the angle sensor and inclination sensor data on the workbench are transmitted wirelessly through ZIGBEE to achieve complete insulation of the top platform. The temperature sensor and pressure sensor are installed on the hydraulic oil tank to collect the oil temperature and hydraulic pressure in the hydraulic oil tank. The pressure data of the hydraulic oil in the oil tank, the collected data is analog, converted into a digital signal by A/D and transmitted to the industrial computer through 485, the voltage sensor and current sensor collect the voltage value and current value in the circuit, and detect the voltage value in the circuit Whether the voltage and current are stable, the collected analog signal is converted into a digital signal through the A/D conversion module and transmitted to the industrial computer through the 485 bus.