Simulation control system and control method for patrolling robot mechanical arm

Abstract

The invention discloses a simulation control system and a control method for a patrolling robot mechanical arm, and belongs to the field of power patrolling. The simulation mechanical arm comprises a first connecting frame rod hinged to a base, a first upper arm body is hinged to the tail end of the first connecting frame rod, a first small arm body is hinged to the tail end of the first upper arm body, a first manipulator is hinged to the tail end of the first small arm body, sensors are arranged in the above hinging positions, and a work mechanical arm is similar to the simulation mechanical arm in structure. A simulation mechanical arm control circuit comprises a first control plate, the input end of the first control plate is connected with the sensors, and the output end of the first control plate is connected with a first communication module through a converter board. A work mechanical arm control circuit comprises a second control plate, the input end of the second control plate is connected with a second communication module carrying out communication with the first communication module, and the output end of the second control plate is connected with a driving mechanism through a driving plate. By means of the simulation control system and the control method for the patrolling robot mechanical arm, the work mechanical arm can be controlled remotely in real time, and accurate and efficient proceeding of patrolling work can be guaranteed.

Description

technical field [0001] The invention relates to the field of power inspection, in particular to an analog control system and control method for a line inspection robot manipulator. Background technique [0002] The line inspection robot works on the overhead high-voltage line, and is used to detect the status of the line, insulators, suspension clamps and other accessories, and clean up the sundries hanging on the line. Usually, the line patrol robot walks on the line through the roller, and uses the working robot arm to clean up the debris and assist in overcoming obstacles. [0003] For the working manipulator on the line patrol robot, there are currently two main control methods: (1) Programming control: upload the pre-programmed program code to the control board of the manipulator, and the manipulator will perform corresponding actions according to the program instructions. This control method is usually used in the production line, and each robotic arm does repetitive ...

AI Technical Summary

Problems solved by technology

[0004] However, since the power lines are usually complex, the conditions encountered in the line inspection process are unpredictable, and the types and sizes of debris are unknown, the above two control methods will have problems such as remote real-time control, low accuracy and low efficiency.

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