In order to improve the automation level and safety of electric operation and reduce the labor intensity of operators and the personal threat of operators in strong electromagnetic fields, many countries have carried out research and development of real-time robots since the 1980s, such as Japan, Spain, the United States, Canada, France and other countries. Robots working and living. In 2014, China also completed the prototype development of high-voltage live working robots. Electric wrench is a special tool for high-voltage live-working robot. Its main function is to install and disassemble insulators for high-voltage live-working and other connecting tools that need to be maintained. In order to meet the needs of the application of high-voltage electric working robot, a new type of remote control impact electric wrench with DSP as the main controller is developed, which can meet the requirements of high-voltage live working.

　　扭剪扳手

　　Torsion wrench

　　1. 扳手的特點

　　1. Characteristics of wrenches

　　采用高度集成的IC芯片和的SMT表面遠視安裝工業(yè)記憶特有的電路屏蔽技術，產(chǎn)品具有很強的抗干擾能力和可靠性，能在非常惡劣的電磁干擾環(huán)境下長期工作。采用模塊化電路結構，通過隨機模塊組合，可實現(xiàn)電動扳手的各種功能轉換，通用性和靈活性顯著提高。通過無線遙控接收模塊，控制電動扳手的開關。具有過流、過壓自動保護電路，性能可靠。速度是普通電動扳手的三倍以上驅動扳手，達到預設扭矩時自動停止。采用減速機減速，減速平穩(wěn)可靠。

　　Using highly integrated IC chips and advanced SMT surface hyperopia installation circuit shielding technology unique to industrial memory, the product has strong anti-interference ability and reliability, and can work in very harsh electromagnetic interference environment for a long time. With modular circuit structure and random module combination, various functions of electric wrench can be converted, and its versatility and flexibility are improved significantly. The switch of the electric wrench is controlled by the wireless remote control receiving module. With over-current and over-voltage automatic protection circuit, the performance is reliable. The speed of the driving wrench is more than three times that of the ordinary electric wrench, and it stops automatically when the preset torque is reached. Reducer is adopted to reduce speed, which is stable and reliable.

　　扭剪扳手

　　Torsion wrench

　　2. 系統(tǒng)整體設計

　　2. Whole System Design

　　如圖所示，無線控制電動扳手主要由插座1、變頻器頭2、永磁直流電動機、減速機和滾珠螺旋槽沖擊機構3、無線控制開關模塊4、PWM變頻調速模塊5、手槍手柄6和電源組件組成。

　　As shown in the figure, the wireless control electric wrench mainly consists of socket 1, frequency converter head 2, permanent magnet DC motor, reducer and ball spiral groove impact mechanism 3, wireless control switch module 4, PWM frequency conversion speed regulation module 5, pistol handle 6 and power supply module.

　　扭剪扳手

　　Torsion wrench

　　3.無線收發(fā)模塊

　　3. Wireless transceiver module

　　超外差接收機以其電路簡單、成本低等優(yōu)點得到了廣泛的應用。超外差接收機雖高，但溫度適應性強，接收靈敏度高，運行穩(wěn)定可靠，抗干擾能力強。因此，選用抗干擾能力強的無線接收模塊。

　　Super heterodyne receiver has been widely used because of its simple circuit and low cost. Although the price of superheterodyne receiver is high, it has strong temperature adaptability, high receiving sensitivity, stable and reliable operation, and strong anti-interference ability. Therefore, the wireless receiving module with strong anti-jamming ability is chosen.

　　帶有接收模塊的遠程控制。遙控信號傳輸距離300-500米。各鍵的功能如表所示:

　　Remote control with receiving module. The transmission distance of remote control signal is 300-500 meters. The functions of each key are shown in the table.

　　4. 電源電路設計

　　4. Power Circuit Design

　　為了實現(xiàn)電路的可靠性，對電路采取了以下措施:

　　In order to achieve the reliability of the circuit, the following measures have been taken for the circuit:

　　1)抗電磁干擾

　　1) Anti-EMI

　　電磁干擾必須包括電磁干擾源、電磁干擾傳輸方式和接收電磁干擾的應答器三個要素。

　　Electromagnetic interference must include three elements: the source of electromagnetic interference, the transmission mode of electromagnetic interference and the responder receiving electromagnetic interference.

　　2)過電流保護

　　2) Overcurrent protection

　　為了防止控制部分和點擊驅動部分短路，在前序電路中添加類似F1和F2的自恢復報告。自恢復熔斷器是一種新型的聚合物熔斷器，當電流低于額定值時，其電阻僅為歐姆的十分之一。當電路足夠大時，它的阻值迅速上升，產(chǎn)生熱量，阻值越高，就越阻礙電源電流。

　　In order to prevent short-circuit of control part and click driver part, self-recovery report similar to F1 and F2 is added to the preamble circuit. Self-recovery fuse is a new type of polymer fuse. When the current is lower than the rated value, its resistance is only one tenth of ohm. When the circuit is large enough, its resistance value rises rapidly, generating heat. The higher the resistance value, the more obstructing the power supply current.

　　3)過電壓保護裝置

　　3) Overvoltage Protection Device

　　如圖所示，為了防止后續(xù)電路過電壓，在電源電路中分別添加抑制二極管VTS1和VTS2。抑制二極管可以看作是兩個齊納二極管并聯(lián)和反向，當電流兩端的電壓高于一定額定值時進行傳導。它的特點是瞬間通過數(shù)十萬安培的電流。

　　As shown in the figure, in order to prevent the subsequent circuit from overvoltage, suppression diodes VTS1 and VTS2 are added to the power supply circuit respectively. Suppression diodes can be seen as two Zener diodes in parallel and reverse, conducting when the voltage at both ends of the current is higher than a certain rating. It is characterized by instantaneous passage of hundreds of thousands of amperes of current.

　　4)反接保護

　　4) Reverse connection protection

　　為了保護二次電源在輸入電路反向連接時不受損壞，在輸入端增加了反向連接保護電路。當二極管打開時，熔斷器電阻增加，電流被抑制。起極保護作用。

　　In order to protect the secondary power supply from damage in the reverse connection of the input circuit, a reverse connection protection circuit is added at the input end. When the diode is turned on, the fuse resistance increases and the current is suppressed. It plays an extremely protective role.

　　結論5。

　　Conclusion 5.

　　為了滿足高壓帶電作業(yè)機器人的應用要求，研制了一種以DSP為主要控制器的新型電動扳手，滿足了高壓帶電作業(yè)任務的要求。該電動扳手可用于安裝和拆卸帶電電壓帶電工作絕緣子等連接工具。整個過程中，由于控制模塊的完整性，操作簡單，具有很大的實用價值。

　　In order to meet the application requirements of high-voltage live-working robot, a new type of electric wrench with DSP as the main controller is developed, which meets the requirements of high-voltage live-working task. The electric wrench can be used to install and disassemble connection tools such as live voltage live working insulators. In the whole process, because of the integrity of the control module, the operation is simple and has great practical value.

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