Rotational Force Control System and Control Method of High-Voltage Direct Current Transmission Line Magnetic Robot
A high-voltage direct current and robot technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as unstable operation of robots
Active Publication Date: 2021-08-03
HUBEI UNIV OF TECH
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Problems solved by technology
Xu Xianjin of Hubei University of Technology and others proposed a magnetic levitation and magnetic drive robot scheme, which uses the magnetic field generated around the high-voltage line to achieve magnetic levitation and magnetic drive. Problems such as friction and slippage are eliminated, but during the inspection process of the robot, swings will occur under the action of lateral wind force, resulting in unstable operation of the robot. The current of the rotating coil in the device keeps the robot cantilever in a stable vertical downward state and can stably cross various obstacle structures, adapting to changes in the slope of the high-voltage line, and improving the automation of the robot
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[0033] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0034] This disclosure mainly aims at the problem that the magnetic levitation-type magnetic drive robot in the prior art swings under the action of lateral wind force, which leads to the unstable operation of the robot. It controls the current of the rotating coil in the robot, and then realizes the control of the rotational force. Provide balance torque to ensure that the magnetic robot is in a stable attitude during cruise.
[0035] The rotation force of the high-voltage DC magnetic robot can be provided by the Ampere force. According to the formula F=BIL of the Ampere force, when the current-carrying wire passes through the magnetic field area, the charged wire will be affected by the Ampere force. The direction of Ampere's force is judged by the left-hand rule, that is, stretch out the left hand so that the thumb is perpendicula...
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The invention discloses a rotation force control system of a high-voltage DC transmission line magnetic robot. The control system includes: a current sensor for detecting the current magnitude of the rotating coil in the obstacle avoidance arm; The swing angle; the acceleration sensor is used to detect the swing acceleration of the robot in the cross-sectional plane of the high-voltage transmission line; the controller controls the size of the rotating coil current based on the detection of the current sensor, the inclination sensor and the acceleration sensor sensor, and then Control the balance moment so that the robot is in a vertical downward state. The disclosure controls and balances the transverse wind moment by adjusting the current of the rotating coil, so as to ensure that the magnetic robot is in a stable attitude during the cruise process.
Description
technical field [0001] The invention relates to the technical field of a high-voltage transmission line patrol robot, in particular to a rotation force control system and a control method of a high-voltage direct current transmission line magnetic robot. Background technique [0002] At present, high-voltage transmission line inspection robots have become a research hotspot at home and abroad. Traditional line inspection robots mostly use wheel-arm composite mechanisms, which have large dimensions and heavy bodies. Because the pulleys of wheel-arm robots are in direct contact with high-voltage lines, there is friction. And slippage and other problems, reducing the work efficiency of line inspection robots. Xu Xianjin of Hubei University of Technology and others proposed a magnetic levitation and magnetic drive robot solution, using the magnetic field generated around the high-voltage line to achieve magnetic levitation and magnetic drive. This solution reduces the robot's ov...
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IPC IPC(8): B25J9/16H02G1/02
CPCB25J9/1633B25J9/1694H02G1/02
Inventor 杨智勇李书廷徐显金郑拓严宇王君
Owner HUBEI UNIV OF TECH