Substation live water washing robot hydraulic servo drive system

Abstract

The invention provides a hydraulic servo drive system for a live water washing robot in a substation, comprising: 6 hydraulic servo valve drivers and 1 gripper part driver respectively connected to the live water washing robot of the substation through a 25-wire connector; each hydraulic servo valve The driver includes: the input signal is connected to the first input end of the first adder through the first conditioning circuit, and the output end of the first adder is connected to the 25-wire connector through the first proportional amplification circuit and the first current conversion circuit in sequence, so The output feedback signal of the 25-wire connector is connected to the second conditioning circuit, and the output terminal of the second conditioning circuit is connected to the second input terminal of the first adder; the beneficial effects of the present invention are: for the control needs of the substation water washing robot, Effective servo control is carried out on the operation of the substation water washing robot; a series of protection measures are designed to fully guarantee the safe operation of the robot.

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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