Hydraulic servo driving system of live water washing robot for transformer station

Abstract

The invention provides a hydraulic servo driving system of a live water washing robot for a transformer station. The system comprises six hydraulic servo valve drivers and one paw-part driver, which are connected to the live water washing robot for the transformer station via a 25-line connector. Each hydraulic servo valve driver comprises that an input signal is input to a first input terminal of a first adder via a first conditioning circuit; and the output terminal of the first adder is jointed to the 25-line connector via a first proportion amplifying circuit and a first current switching circuit in sequence, wherein a feedback signal output by the 25-line connector is input to a second conditioning circuit; and the output terminal of the second conditioning circuit is jointed to the second input terminal of the first adder. The beneficial effects of the hydraulic servo driving system are that operation of the water washing robot for a transformer station is subjected to effective servo control, according to the control need of the water washing robot for a transformer station; and safe operation of the robot is fully guaranteed by design of a series of protective measures.

Description

technical field [0001] The invention relates to the field of substation water washing robots, in particular to a hydraulic servo drive system of a substation electrified water washing robot. Background technique [0002] Substation equipment is operated outdoors, and a dirty layer is formed on the surface of the equipment, which is prone to pollution flashover when it is wet, causing large-scale power outages. The dirt on the surface of substation insulators and other equipment needs to be charged and cleaned regularly. Most of the traditional 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 operating procedures. Standardized safety protection to avoid safety accidents caused by short-circuit currents, causing casualties. This type of operation method has potential safety haz...

AI Technical Summary

Problems solved by technology

[0004] (1) The existing hydraulic servo drive system cannot accurately control the movement of each joint, and the joints are often prone to shaking or damage to internal equipment due to excessive current during the movement process

[0005] (2) When the voltage is too large, it is easy to damage the servo valve coil, resulting in an increase in the cost of use

[0006] (3) There is a zero point leakage in the hydraulic servo valve. When the power is cut off and the hydraulic pressure is unloaded, the robot arm cannot stop immediately and often trembles

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