Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot

Abstract

The invention relates to a master-slave hydraulic mechanical arm system of a high-voltage hot-line operation robot, which comprises a hydraulic oil source, mechanical arm bodies, hydraulic servo drivers, optical fibers, master arm controllers, master arms, handheld terminals and the like. The mechanical arm bodies are connected with the hydraulic servo drivers and the hydraulic oil source respectively. The hydraulic servo drivers are connected with the master arm controllers which are connected with the master arms. The master arms are connected with the handheld terminals. The hydraulic servo drivers and the master arm controllers are respectively connected with a power source. The master-slave hydraulic mechanical arm system is fast in processing speed, low in cost and stable and reliable in performance.

Description

Technical field: [0001] The invention relates to a robot control technology, in particular to a master-slave hydraulic mechanical arm system of a high-voltage live working robot. Background technique: [0002] In order to improve the automation level and safety of live work, reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to operators, many countries have carried out research on live work robots since the 1980s, such as Japan, Spain, the United States, Canada, France and other countries have successively carried out research on live working robots. In 2002, my country also carried out the development of a prototype of a high-voltage live working robot. [0003] At present, there are three main driving modes of the mechanical arm: pneumatic drive, hydraulic drive and motor drive. Disadvantages of pneumatically driven manipulators: large gas compressibility, low precision, poor damping effect, difficult to control at low speed...

AI Technical Summary

Problems solved by technology

Disadvantages of pneumatically driven manipulators: large gas compressibility, low precision, poor damping effect, difficult to control at low speed, difficult to achieve servo control, and noise when exhausting, low efficiency, suitable for small and medium loads, low precision requirements and limited points program controlled robotic arm

[0004] Disadvantages of motor-driven manipulators: DC brush motors have sparks when commutating, poor explosion-proof performance to the environment, high cost, complex structural design, suitable for small and medium loads, require high position control accuracy, and high speed robotic arm

[0005] Disadvantages of hydraulically driven robotic arms: oil leakage, hydraulic transmission is sensitive to changes in oil temperature, and failures are not easy to check and eliminate. It is suitable for large loads and requires low control precision.

Among them, the teaching and reproduction mode has poor operation flexibility and low motion speed, and the programming of robot motion trajectory algorithm is complicated and difficult to develop

The master-slave control method is used in occasions where the control is flexible but the control precision is low

At present, the master-slave control system of the manipulator is generally divided into two categories: one type uses industrial computer and control card, which is highly specific and expensive in terms of equipment and control technology, which limits the further development of master-slave technology; the other The class uses PLC, which has large volume, high power consumption, slow control speed, difficulty in changing the control program, and poor reliability when the control is complex.

Images