Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot

A robot master and high-voltage electrified technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult inspection and elimination of faults, poor operational flexibility, and difficult control procedures, etc., to achieve convenient operation and reliable operation, stable and reliable performance , flexible and convenient operation

Active Publication Date: 2012-08-01
STATE GRID INTELLIGENCE TECH CO LTD
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Disadvantages of pneumatically driven manipulators: large gas compressibility, low precision, poor damping effect, difficult to control at low speed, difficult to achieve servo control, and noise when exhausting, low efficiency, suitable for small and medium loads, low precision requirements and limited points program controlled robotic arm
[0004] Disadvantages of motor-driven manipulators: DC brush motors have sparks when commutating, poor explosion-proof performance to the environment, high cost, complex structural design, suitable for small and medium loads, require high position control accuracy, and high speed robotic arm
[0005] Disadvantages of hydraulically driven robotic arms: oil leakage, hydraulic transmission is sensitive to changes in oil temperature, and failures are not easy to check and eliminate. It is suitable for large l

Method used

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  • Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot
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  • Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] figure 1 Among them, a master-slave hydraulic manipulator system for a high-voltage live working robot, which includes a hydraulic oil source 1, a manipulator 2, a hydraulic servo driver 3, an optical fiber, a master hand controller 4, a master hand 5, a handheld terminal 6 and a power supply 7 The mechanical arm 2 is connected to the hydraulic servo driver 3 through the control bus, the power bus and the position signal bus, and is connected to the hydraulic oil source 1 through the oil return pipe and the oil inlet pipe; the hydraulic servo driver 3 communicates with the main hand controller 4 through an optical fiber; The main hand controller 4 is connected with the main hand 5 through the control bus, the power bus, and the state signal bus; the main hand 5 is connected with the handheld terminal 6 through the state signal bus and the command...

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Abstract

The invention relates to a master-slave hydraulic mechanical arm system of a high-voltage hot-line operation robot, which comprises a hydraulic oil source, mechanical arm bodies, hydraulic servo drivers, optical fibers, master arm controllers, master arms, handheld terminals and the like. The mechanical arm bodies are connected with the hydraulic servo drivers and the hydraulic oil source respectively. The hydraulic servo drivers are connected with the master arm controllers which are connected with the master arms. The master arms are connected with the handheld terminals. The hydraulic servo drivers and the master arm controllers are respectively connected with a power source. The master-slave hydraulic mechanical arm system is fast in processing speed, low in cost and stable and reliable in performance.

Description

Technical field: [0001] The invention relates to a robot control technology, in particular to a master-slave hydraulic mechanical arm system of a high-voltage live working robot. Background technique: [0002] In order to improve the automation level and safety of live work, reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to operators, many countries have carried out research on live work robots since the 1980s, such as Japan, Spain, the United States, Canada, France and other countries have successively carried out research on live working robots. In 2002, my country also carried out the development of a prototype of a high-voltage live working robot. [0003] At present, there are three main driving modes of the mechanical arm: pneumatic drive, hydraulic drive and motor drive. Disadvantages of pneumatically driven manipulators: large gas compressibility, low precision, poor damping effect, difficult to control at low speed...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J9/16
Inventor 戚晖赵玉良李健李运厂尚文政
Owner STATE GRID INTELLIGENCE TECH CO LTD
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