CN206945831U - A kind of mechanical arm safe distance monitoring device - Google Patents
A kind of mechanical arm safe distance monitoring device Download PDFInfo
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- CN206945831U CN206945831U CN201720602825.XU CN201720602825U CN206945831U CN 206945831 U CN206945831 U CN 206945831U CN 201720602825 U CN201720602825 U CN 201720602825U CN 206945831 U CN206945831 U CN 206945831U
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Abstract
The utility model provides a kind of mechanical arm safe distance monitoring device, including single-chip microcomputer, electric field probe, motion aspect sensor, head, laser range finder and status indicator lamp, laser range finder are fixedly installed on head, wherein：Electric field probe, motion aspect sensor, laser range finder and head are mounted on mechanical arm tail end, and the signal input part of the output end of the output end of electric field probe, the output end for moving aspect sensor and laser range finder with single-chip microcomputer communicates to connect；The signal output part of single-chip microcomputer is communicatively connected to the input of head and status indicator lamp, and the control connection of the drive component of the output end of head and head.The device and method effectively avoids being used only according to the preset electric-field intensity that single field strength is set as criterion, avoids blindly alarming, ensures mechanical arm safety work, improves operating efficiency.
Description
Technical field
It the utility model is related to safe distance monitoring technical field, more particularly to a kind of mechanical arm safe distance monitoring dress
Put.
Background technology
In power production process, in order to not influence the normal operation of power equipment, in electric power apparatus examination, it is necessary to band
Electric operation.In recent years in Overhaul site, generally field operation is carried out using the robot with multi-joint mechanical arm.In reality
Border Overhaul site, because mechanical arm and the distance between power equipment are too small, and when the spacing between mechanical arm and power equipment
During less than safe spacing, the accident of device damage and personal injury is caused to occur often.How to ensure that staff and electric power are set
The standby safety in operation is to ensure the key of power network normal operation.
In the prior art, when mechanical arm carries out field operation, monitoring device is installed on mechanical arm, passes through monitoring device
Monitor the function situation of mechanical arm.Wherein, monitoring device is by measuring the electric-field intensity in residing field strength in real time, and by the electric field
Intensity is compared with preset electric-field intensity, if electric-field intensity is less than preset electric-field intensity, illustrates that mechanical arm is in home, can
Continue operation；If electric-field intensity is more than or equal to preset electric-field intensity, illustrate that mechanical arm is in danger position or borderline risk position
Put, monitoring device sends alarm signal, and now staff stops mechanical arm operation in time, resets the running rail of mechanical arm
Mark, to ensure the safety work of mechanical arm.
But above-mentioned monitoring device is often the single field strength according to caused by single power equipment, sets preset electric-field strength
Degree.During the actual job of mechanical arm, upkeep operation often is carried out between the higher multiple power equipments of voltage class, this
When multiple field strength for bringing of multiple power equipments be overlapped mutually, cause field strength to increase, the preset electric field set according to single field strength
Intensity can not turn into accurate criterion, it is likely that mechanical arm present position is home, but monitoring device is determined as
Danger position, make staff have to stop mechanical arm continuation operation, sometimes have to power-off and power equipment is overhauled
Processing, the operation to power network bring very big influence.
Utility model content
The utility model provides a kind of mechanical arm safe distance monitoring device, is set with electric power during solving mechanical arm operation
Standby safe distance monitoring problem.
Mechanical arm safe distance monitoring device provided by the utility model, for being supervised to the course of work of mechanical arm
Survey, including single-chip microcomputer, electric field probe, motion aspect sensor, head, laser range finder and status indicator lamp, laser range finder
It is fixedly installed on head, wherein：Electric field probe, motion aspect sensor, laser range finder and head are mounted on machinery
Arm end, the output end of the output end of electric field probe, the output end for moving aspect sensor and laser range finder is and monolithic
The signal input part communication connection of machine；The signal output part of single-chip microcomputer is communicatively connected to the input of head and status indicator lamp
End, and the control connection of the drive component of the output end of head and head.
Alternatively, the device also includes A/D converter, wherein, the output end of electric field probe is electrically connected to A/D converter
Input, the output end of A/D converter are communicatively connected to the signal input part of single-chip microcomputer.
Alternatively, the device also includes housing, and housing is installed on mechanical arm tail end by fixing band, and head is fixedly installed on
The top of housing, status indicator lamp are arranged on the outer wall of housing, single-chip microcomputer, electric field probe and the motion equal quilt cover of aspect sensor
In housing.
Alternatively, the device also includes buzzer, the signal output part communication connection of buzzer and single-chip microcomputer.
Alternatively, head is two axle The Cloud Terraces, and two axle The Cloud Terraces can 360 degree of rotations and 160 degree of pitching.
Alternatively, status indicator lamp includes green power supply indicator lamp, yellow early warning indicator lamp and warning red indicator lamp.
Alternatively, electric field probe is high-voltage charged body power frequency electric field probe.
The mechanical arm safe distance monitoring device that the utility model embodiment provides includes single-chip microcomputer, electric field probe, motion
Aspect sensor, head, laser range finder and status indicator lamp, laser range finder are fixedly installed on head, wherein：Electric field is visited
Head, motion aspect sensor, laser range finder and head are mounted on mechanical arm tail end, the output end of electric field probe, motion
The signal input part of the output end of aspect sensor and the output end of laser range finder with single-chip microcomputer communicates to connect；Single-chip microcomputer
Signal output part be communicatively connected to the input of head and status indicator lamp, and the output end of head and the driving group of head
Part control connection.Whether the device judges the electric-field intensity using the electric-field intensity of electric field probe measurement mechanical arm present position
More than preset electric-field intensity.When the electric-field intensity is more than preset electric-field intensity, the change of electric-field intensity is analyzed by single-chip microcomputer
Trend, and the motion azimuth information of the mechanical arm gathered according to motion sensor, the survey of control head adjustment laser range finder
Orientation is tried, obtains spacing of the mechanical arm that is gathered of laser range finder apart from power equipment, only when being smaller than or equal to peace
During full spacing, it is danger position to illustrate mechanical arm present position, and the device sends alarm signal and reminds staff.Effectively avoid
As criterion, avoid blindly alarming using only according to the preset electric-field intensity that single field strength is set, improve alarm accuracy rate,
Ensure mechanical arm safety work, improve operating efficiency.
It should be appreciated that the general description and following detailed description of the above are only exemplary and explanatory, not
The utility model can be limited.
Brief description of the drawings
In order to illustrate more clearly of the technical solution of the utility model, below by the required accompanying drawing used in embodiment
It is briefly described, it should be apparent that, for those of ordinary skills, do not paying the premise of creative labor
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation for mechanical arm safe distance monitoring device that the utility model embodiment provides；
Fig. 2 is a kind of application scenarios signal for mechanical arm safe distance monitoring device that the utility model embodiment provides
Figure；
Fig. 3 is the structural representation for another mechanical arm safe distance monitoring device that the utility model embodiment provides；
Fig. 4 is a kind of schematic flow sheet for mechanical arm safe distance monitoring method that the utility model embodiment provides.
Into Fig. 3, symbol represents Fig. 1：0- mechanical arm tail ends, 1- single-chip microcomputers, 2- electric field probes, 3- motion sensing directionals
Device, 4- heads, 5- laser range finders, 6- status indicator lamps, 7-A/D converters, 8- housings, 9- fixing bands, 10- buzzers.
Embodiment
To keep the normal operation of power equipment, the mode of generally use livewire work is overhauled to power equipment.Closely
Year generally carries out site maintenance operations using the robot with multi-joint mechanical arm.A plurality of height is connected around power equipment
Piezoelectric wire, form multiple powered intervals, although current voltage rank, will not disruptive discharge, therefore, be for power equipment
Safety.But mechanical arm especially mechanical arm tail end is easy to be strayed into these powered intervals during upkeep operation, produce
Electric discharge, trigger power equipment accident.In addition, the spacing of mechanical arm especially mechanical arm tail end and charging equipment is too small,
Easily cause electrical equipment fault.So how to ensure that the safety of staff and power equipment in operation is to ensure power network
The key of normal operation.
When mechanical arm carries out field operation, monitoring device is installed in mechanical arm tail end, machinery is monitored by monitoring device
The function situation of arm.Due to existing monitoring device, often the single field strength according to caused by single power equipment, setting are preset
Electric-field intensity.During the actual job of mechanical arm, often overhauled between the higher multiple power equipments of voltage class
Operation, multiple field strength that now multiple power equipments are brought are overlapped mutually, and cause field strength to increase, and are set according to single field strength pre-
Accurate criterion can not be turned into by putting electric-field intensity, it is likely that mechanical arm present position is home, but monitoring device
It is determined as danger position, makes staff have to stop mechanical arm continuation operation, sometimes have to power-off and power equipment is entered
Row overhaul plan, the operation to power network bring very big influence.
For the above situation, the utility model provides a kind of mechanical arm safe distance monitoring device, for mechanical arm
The course of work be monitored, referring to Fig. 1 and Fig. 2, a kind of mechanical arm safe distance prison for being provided for the utility model embodiment
Survey the structural representation of device, and a kind of application scenarios schematic diagram of mechanical arm safe distance monitoring device.The device includes
Single-chip microcomputer 1, electric field probe 2, motion aspect sensor 3, head 4, laser range finder 5 and status indicator lamp 6, laser range finder 5
It is fixedly installed on head 4, head 4 is installation, the support equipment of fixed laser rangefinder 5, can adjust the water of laser range finder 5
The angle of gentle pitching.In the application scenarios of device provided by the utility model, head 4 may be selected can 360 degree rotation with
The two axle The Cloud Terraces of 160 degree of pitching.
Electric field probe 2, motion aspect sensor 3, laser range finder 5 and head 4 are mounted on mechanical arm tail end 0, electricity
Letter of the output end of the output end of Field probe 2, the output end for moving aspect sensor 3 and laser range finder 5 with single-chip microcomputer 1
The communication connection of number input；The signal output part of single-chip microcomputer 1 is communicatively connected to the input of head 4 and status indicator lamp 6,
And the output end of head 4 and the drive component control of head connect.
During the device operation, single-chip microcomputer 1 is used for the electric-field strength for obtaining the mechanical arm present position that electric field probe 2 collects
Degree, and to electric-field intensity compared with the size of preset electric-field intensity, judge whether electric-field intensity is more than or equal to preset electricity
Field intensity.If whether electric-field intensity is more than or equal to preset electric-field intensity, tentatively judge mechanical arm present position for dangerous position
Put, but because electric-field intensity is according to set by single field strength, so not can determine that now mechanical arm present position for danger
Dangerous position.
In order to determine whether mechanical arm present position is safe, single-chip microcomputer 1 is additionally operable to move the machine that aspect sensor 3 collects
The motion azimuth information of tool arm, while control the anglec of rotation of head 4 so that the survey of the laser range finder 5 on head 4
It is consistent with motion azimuth information to try azimuth information, now single-chip microcomputer 1 obtains the mechanical arm that laser range finder 5 measures and set apart from electric power
Standby spacing.The spacing compared with the size of preset safe spacing, is judged whether the spacing is more than or equal to by single-chip microcomputer 1
Preset safe spacing.Preset safe spacing according to set by the experience of long-term operation, be mechanical arm apart from the critical of power equipment
Safe spacing value, therefore, when being smaller than or equal to preset safe spacing, it is determined that mechanical arm present position is danger position.
In the operation process of the device, the state of a control indicator lamp 6 of single-chip microcomputer 1 can make respective change, to remind staff.State refers to
Show that lamp 6 may include green power supply indicator lamp, yellow early warning indicator lamp and warning red indicator lamp, when the device is started working,
Light green power supply indicator lamp；When the device tentatively judges mechanical arm present position for danger position by electric-field intensity, point
Glassy yellow early warning indicator lamp；When the device is by electric-field intensity and the dual judgement of spacing, it is danger to determine mechanical arm present position
During position, red alarm indicator lamp is lighted.
For convenience of installation of the device on mechanical arm tail end 0, while protect the various structure members of the device.Further
Ground, as shown in Fig. 2 device also includes housing 8, housing 8 is installed on mechanical arm tail end by fixing band 9, and head 4 is fixedly installed
In the top of housing 8, status indicator lamp 6 is arranged on the outer wall of housing 8, single-chip microcomputer 1, electric field probe 2 and motion sensing directional
Device 3 is covered in housing 8.
In use, high-voltage charged body power frequency electric field probe can be selected in electric field probe 2, detect residing for the mechanical arm of working condition
The electric-field intensity of position, the signal are generally power frequency electric field signal, and what the signal input part of single-chip microcomputer 1 typically received is numeral
Signal, therefore, power frequency electric field signal need handle to be converted into data signal to facilitate the receiving processing of single-chip microcomputer 1.Such as Fig. 3
Shown, for convenience of the transmission of signal, device also includes A/D converter 7, wherein, the output end of electric field probe 2 is electrically connected to A/D
The input of converter 7, the output end of A/D converter 7 are communicatively connected to the signal input part of single-chip microcomputer 1.Electric field probe 2 is first
The power frequency electric field signal gathered is changed into electric current or voltage signal, electric current or voltage signal pass through amplifying circuit and A/
After D converters 7, received in the form of data signal by single-chip microcomputer 1, data signal in single-chip microcomputer 1 after processing and calibration,
It can be obtained by the electric-field intensity in the range of current spatial.
Except staff is reminded using above-mentioned status indicator lamp 6, the device also includes buzzer 10, buzzer 10 and monolithic
The signal output part communication connection of machine 1.When the device is by electric-field intensity and the dual judgement of spacing, mechanical arm present position is determined
For danger position when, light red alarm indicator lamp, while buzzer 10 sends buzzing and reminds staff to carry out corresponding arrange
The operation applied.
The utility model additionally provides a kind of mechanical arm safe distance monitoring method, for entering to the course of work of mechanical arm
Row monitoring, referring to Fig. 4, mechanical arm safe distance monitoring method provided by the utility model comprises the following steps：
Step S10, obtain the electric-field intensity for the mechanical arm present position that electric field probe is gathered.
Wherein, electric-field intensity is through the following steps that obtained：Power frequency electric field residing for collection machinery arm in field strength
Signal；Power frequency electric field signal is converted into voltage or current signal；Voltage or current signal are converted into data signal；Will
Data signal is converted into electric-field intensity.
Whether step S200, the electric-field intensity acquired in judgment step S100 are more than or equal to preset electric-field intensity.
Wherein, preset electric-field intensity presets for user, and therefore, before step S200, this method also includes：Obtain
The input instruction for including preset electric-field intensity that user sends, wherein, preset electric-field intensity is critical electric field strength early warning value；Root
According to input instruction, the preset electric-field intensity that is preserved in more new memory.According to the difference of situation residing for this method application scenarios, in advance
The setting for putting electric-field intensity also has respective change, and therefore, preset electric-field intensity is adjustable variable in memory.
Step S300, if electric-field intensity is more than or equal to preset electric-field intensity, send pre-warning signal.
If electric-field intensity is more than or equal to preset electric-field intensity, mechanical arm present position tentatively is judged for danger position,
But because preset electric-field intensity is according to set by single field strength, so not can determine that now mechanical arm present position for danger
Dangerous position.Therefore, pre-warning signal is now only sent to cause staff to pay attention to.In the present embodiment, selecting lighting is yellow
Color early warning indicator lamp.
If electric-field intensity is less than preset electric-field intensity, even if illustrating that preset electric-field intensity is according to set by single field strength
Put, the electric-field intensity of mechanical arm present position now, can conclude that mechanical arm present position for peace still less than preset electric-field intensity
All positon, mechanical arm may continue.
Step S400, judge in preset acquisition time, the variation tendency for the electric-field intensity that electric field probe is gathered.
Wherein, preset acquisition time presets for user, and therefore, before step S400, this method also includes：Obtain
The input instruction for including preset acquisition time that user sends, wherein, preset acquisition time is the 1-5 seconds；According to input instruction, more
The preset acquisition time preserved in new memory.It is identical with the setting of above-mentioned preset electric-field intensity, according to this method application scenarios
The difference of residing situation, the setting of preset acquisition time also have respective change, therefore, in memory preset acquisition time be can
Adjust variable.
Step S500, if the variation tendency of electric-field intensity is gradually increase, obtain what motion aspect sensor was gathered
The motion azimuth information of mechanical arm.
Only when electric-field intensity is increasing, just illustrate that the spacing of mechanical arm and power equipment is less and less, now, machine
Tool arm in danger position or will be in danger position, at this time, it may be necessary to take corresponding measure.Therefore, if electric-field intensity
Variation tendency be gradually increase, obtain the motion azimuth information of mechanical arm that motion aspect sensor is gathered.Due to preset
Acquisition time is shorter, so motion of other variation tendencies of electric-field intensity on mechanical arm influences that less, machinery can not be illustrated
The spacing of arm and power equipment is less and less.
Step S600, according to azimuth information is moved, control the anglec of rotation of head so that the laser ranging on head
The test azimuth information of instrument is consistent with motion azimuth information.
According to the motion azimuth information collected, the anglec of rotation of adjustment control head so that swashing on head
The test azimuth information of optar is consistent with motion azimuth information, is test orientation and the motion of mechanical arm of laser range finder
Orientation is consistent, ensures that post laser rangefinder measures to spacing of the mechanical arm apart from power equipment.
Step S700, spacing of the mechanical arm that acquisition laser range finder is gathered apart from power equipment.
Step S800, judges whether spacing is less than or equal to preset safe spacing.
Wherein, preset safe spacing presets for user, and therefore, before step S700, this method also includes：Obtain
The input instruction for including preset safe spacing that user sends, wherein, preset safe spacing is criticality safety distance values；According to defeated
Enter instruction, the preset safe spacing preserved in more new memory.With the setting of above-mentioned preset electric-field intensity and preset acquisition time
Identical, according to the difference of situation residing for this method application scenarios, the setting of preset safe spacing also has respective change, therefore,
Preset safe spacing is adjustable variable in memory.
Step S900, when being smaller than or equal to preset safe spacing, send alarm signal.
When being smaller than or equal to preset safe spacing, it is danger position to determine mechanical arm present position.Therefore, now
Need to send alarm signal prompting staff's progress corresponding measure.In the present embodiment, selecting lighting red alarm refers to
Show lamp, and trigger buzzer.
If spacing is more than preset safe spacing, although illustrating that the electric-field intensity of mechanical arm present position is more than preset electric field
Intensity, but because preset electric-field intensity is according to set by single field strength, therefore, unique criterion can not be used as, this
When, it is home that can assert mechanical arm present position, and mechanical arm may continue.
Mechanical arm safe distance monitoring device provided by the utility model, mechanical arm present position is measured using electric field probe
Electric-field intensity, judge whether the electric-field intensity is more than preset electric-field intensity.When the electric-field intensity is more than preset electric-field intensity,
The variation tendency of electric-field intensity, and the motion orientation letter of the mechanical arm gathered according to motion sensor are analyzed by single-chip microcomputer
Breath, the test orientation of control head adjustment laser range finder, the mechanical arm that acquisition laser range finder is gathered is apart from power equipment
Spacing, only when being smaller than or equal to safe spacing, it is danger position to illustrate mechanical arm present position, and the device is sent
Alarm signal reminds staff.Effectively avoid that the preset electric-field intensity set according to single field strength is used only and is used as to judge to mark
Standard, avoid blindly alarming, ensure mechanical arm safety work, improve operating efficiency.
Those skilled in the art will readily occur to this practicality after considering specification and putting into practice the disclosure of utility model here
New other embodiments.The utility model is intended to any modification, purposes or adaptations of the present utility model,
These modifications, purposes or adaptations follow general principle of the present utility model and undocumented including the utility model
Common knowledge or conventional techniques in the art.Description and embodiments are considered only as exemplary, and this practicality is new
The true scope and spirit of type are pointed out by following claim.
It should be appreciated that the accurate knot that the utility model is not limited to be described above and is shown in the drawings
Structure, and various modifications and changes can be being carried out without departing from the scope.The scope of the utility model only will by appended right
Ask to limit.
Claims (7)
- A kind of 1. mechanical arm safe distance monitoring device, for being monitored to the course of work of mechanical arm, it is characterised in that bag Include single-chip microcomputer (1), electric field probe (2), motion aspect sensor (3), head (4), laser range finder (5) and status indicator lamp (6), the laser range finder (5) is fixedly installed on the head (4), wherein：The electric field probe (2), motion aspect sensor (3), laser range finder (5) and head (4) are mounted on mechanical arm End, output end, the output end of motion aspect sensor (3) and the output of laser range finder (5) of the electric field probe (2) End communicates to connect with the signal input part of the single-chip microcomputer (1)；The signal output part of the single-chip microcomputer (1) is communicatively connected to the input of the head (4) and status indicator lamp (6), And the output end of the head (4) and the drive component control of the head connect.
- 2. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that described device also turns including A/D Parallel operation (7), wherein, the output end of the electric field probe (2) is electrically connected to the input of the A/D converter (7), the A/D The output end of converter (7) is communicatively connected to the signal input part of the single-chip microcomputer (1).
- 3. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that described device also includes housing (8), the housing (8) is installed on the mechanical arm tail end by fixing band (9), and the head (4) is fixedly installed on the shell The top of body (8), the status indicator lamp (6) are arranged on the outer wall of the housing (8), the single-chip microcomputer (1), electric field probe (2) covered in the housing (8) with motion aspect sensor (3).
- 4. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that described device also includes buzzer (10), the buzzer (10) and the signal output part of the single-chip microcomputer (1) communicate to connect.
- 5. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that the head (4) is two axle clouds Platform, the two axle The Cloud Terraces can 360 degree of rotations and 160 degree of pitching.
- 6. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that status indicator lamp (6) bag Include green power supply indicator lamp, yellow early warning indicator lamp and warning red indicator lamp.
- 7. mechanical arm safe distance monitoring device as claimed in claim 1, it is characterised in that the electric field probe (2) is height Press electrical body power frequency electric field probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720602825.XU CN206945831U (en) | 2017-05-26 | 2017-05-26 | A kind of mechanical arm safe distance monitoring device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720602825.XU CN206945831U (en) | 2017-05-26 | 2017-05-26 | A kind of mechanical arm safe distance monitoring device |
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| CN206945831U true CN206945831U (en) | 2018-01-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950435A (en) * | 2017-05-26 | 2017-07-14 | 云南电网有限责任公司电力科学研究院 | A kind of mechanical arm safe distance monitoring device and method |
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2017
- 2017-05-26 CN CN201720602825.XU patent/CN206945831U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950435A (en) * | 2017-05-26 | 2017-07-14 | 云南电网有限责任公司电力科学研究院 | A kind of mechanical arm safe distance monitoring device and method |
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