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. 扳手的特点

　　1. Characteristics of wrenches

　　采用高度集成的IC芯片和的SMT表面远视安装工业记忆特有的电路屏蔽技术，产品具有很强的抗干扰能力和可靠性，能在非常恶劣的电磁干扰环境下长期工作。采用模块化电路结构，通过随机模块组合，可实现电动扳手的各种功能转换，通用性和灵活性显著提高。通过无线遥控接收模块，控制电动扳手的开关。具有过流、过压自动保护电路，性能可靠。速度是普通电动扳手的三倍以上驱动扳手，达到预设扭矩时自动停止。采用减速机减速，减速平稳可靠。

　　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. 系统整体设计

　　2. Whole System Design

　　如图所示，无线控制电动扳手主要由插座1、变频器头2、永磁直流电动机、减速机和滚珠螺旋槽冲击机构3、无线控制开关模块4、PWM变频调速模块5、手枪手柄6和电源组件组成。

　　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.无线收发模块

　　3. Wireless transceiver module

　　超外差接收机以其电路简单、成本低等优点得到了广泛的应用。超外差接收机虽高，但温度适应性强，接收灵敏度高，运行稳定可靠，抗干扰能力强。因此，选用抗干扰能力强的无线接收模块。

　　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.

　　带有接收模块的远程控制。遥控信号传输距离300-500米。各键的功能如表所示:

　　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. 电源电路设计

　　4. Power Circuit Design

　　为了实现电路的可靠性，对电路采取了以下措施:

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

　　1)抗电磁干扰

　　1) Anti-EMI

　　电磁干扰必须包括电磁干扰源、电磁干扰传输方式和接收电磁干扰的应答器三个要素。

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

　　2)过电流保护

　　2) Overcurrent protection

　　为了防止控制部分和点击驱动部分短路，在前序电路中添加类似F1和F2的自恢复报告。自恢复熔断器是一种新型的聚合物熔断器，当电流低于额定值时，其电阻仅为欧姆的十分之一。当电路足够大时，它的阻值迅速上升，产生热量，阻值越高，就越阻碍电源电流。

　　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)过电压保护装置

　　3) Overvoltage Protection Device

　　如图所示，为了防止后续电路过电压，在电源电路中分别添加抑制二极管VTS1和VTS2。抑制二极管可以看作是两个齐纳二极管并联和反向，当电流两端的电压高于一定额定值时进行传导。它的特点是瞬间通过数十万安培的电流。

　　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)反接保护

　　4) Reverse connection protection

　　为了保护二次电源在输入电路反向连接时不受损坏，在输入端增加了反向连接保护电路。当二极管打开时，熔断器电阻增加，电流被抑制。起极保护作用。

　　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.

　　结论5。

　　Conclusion 5.

　　为了满足高压带电作业机器人的应用要求，研制了一种以DSP为主要控制器的新型电动扳手，满足了高压带电作业任务的要求。该电动扳手可用于安装和拆卸带电电压带电工作绝缘子等连接工具。整个过程中，由于控制模块的完整性，操作简单，具有很大的实用价值。

　　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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