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Pressure compound control system of clamping mechanism of line patrol robot

A line inspection robot and clamping mechanism technology, applied in the mechanical field, can solve the problems that the clamping mechanism control system cannot overcome interference, achieve high stability, meet control requirements, and ensure stable operation

Inactive Publication Date: 2018-05-29
赵江涛
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] However, since the robot body will cause disturbances to the clamping mechanism, and the control system of the clamping mechanism itself cannot overcome the disturbance caused by these disturbances, it is necessary to use a compound disturbance control technology to eliminate this effect

Method used

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  • Pressure compound control system of clamping mechanism of line patrol robot
  • Pressure compound control system of clamping mechanism of line patrol robot
  • Pressure compound control system of clamping mechanism of line patrol robot

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with drawings and embodiments.

[0017] Such as figure 1 , The clamping mechanism adopts the cylinder proportional pressure control method to control the pressure in the clamping mechanism. The proportional pressure control in the electrical system mainly controls the displacement of the valve core of the proportional solenoid valve, so that the opening of the valve is proportional to the control voltage. By changing the opening of the proportional valve, the pressure rise and fall speed and pressure value in the pressure vessel are controlled. The advantage of using a proportional valve as a pressure control component is that the structure of the device is relatively simple, and it has better control accuracy and response speed.

[0018] Known from the structural design of the clamping mechanism above, controlling the pressure of the clamping mechanism is exactly the control of the thrust of the pist...

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Abstract

The invention discloses a pressure compound control system of a clamping mechanism of a line patrol robot. The system uses a proportional electromagnetic valve, a piston cylinder and a pressure sensorfor building a clamping mechanism pneumatic closed loop; and through analysis of the system working principle, a nonlinear model of a pneumatic pressure control system is built to realize stable andquick output of output pressure of the clamping mechanism. The system can realize high-precision and high-stability pressure control of the clamping mechanism; the output pressure of the system is within 0-550 N; the pressure fluctuation is lower than 5 N; and in a disturbance state, self deviation can be timely corrected, so that stable operation of the robot is guaranteed, and the control requirements of the line patrol robot to the clamping mechanism in the working state are met.

Description

technical field [0001] The invention relates to a pressure composite control system for a clamping mechanism of a line-observing robot, which is suitable for the mechanical field. Background technique [0002] The autonomous obstacle surmounting of the line inspection robot has always been one of the key points and difficulties in the research of the line inspection robot, and the stability of the obstacle surmounting mechanism of the robot is one of the important indicators of the autonomous obstacle surmounting. This article introduces a clamping mechanism pressure control system of a leaping obstacle-crossing robot, which is used to improve the stability of the robot's autonomous obstacle-crossing. According to the advantages and disadvantages of similar robots at home and abroad and the actual situation of SOOWKV power grid, the team developed a leaping obstacle-crossing robot. The robot's obstacle surmounting and line inspection mainly rely on the clamping mechanism on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08
CPCB25J13/08B25J13/085
Inventor 赵江涛
Owner 赵江涛
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