CN103991488B - A kind of insulator chain Intelligent Measurement robot climbing device and control method thereof - Google Patents
A kind of insulator chain Intelligent Measurement robot climbing device and control method thereof Download PDFInfo
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- 230000009194 climbing Effects 0.000 title claims abstract description 48
- 239000012212 insulator Substances 0.000 title claims abstract description 38
- 238000005259 measurement Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 238000009413 insulation Methods 0.000 abstract description 10
- 230000000903 blocking effect Effects 0.000 abstract description 3
- 238000011217 control strategy Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
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- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 229910052573 porcelain Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The invention discloses a kind of insulator chain Intelligent Measurement robot climbing device and control method thereof, the present invention uses Double-shaft differential control, every axle uses classical pid velocity close-loop control strategy, the robot angle when two arm contact insulator sheets is made to be consistently less than 90 °, the sub-measuring robots of Intelligent insulation is made to adapt to strengthen to running environment, it is to avoid blocking or release failure generation occurs when running in robot.The present invention has adjusted a speed alternately through twice speed of speed, complete a mechanical periodicity to control, it is always ensured that in this period of motion that the sub-measuring robots of Intelligent insulation uses and safely and steadily runs on insulator chain, the operation conformability of edge intelligent robot, the insulator string for different grades can strengthen operation conformability and the smoothness of operation by adjusting angle [alpha].
Description
Technical field
The present invention relates to a kind of insulator chain Intelligent Measurement robot climbing device and control method thereof.
Background technology
Along with the development of China's power system, power grid security, stable operation increasingly come into one's own.Especially the biggest
In the supertension of power development, system for ultra-high voltage transmission, the safe operation of insulator directly determines investment and the safety of whole system
Level, for ensureing the electrical safety of ultra-high-tension power transmission line, after ultra-high-tension power transmission line runs and uses a period of time, needs to detect line
The insulation safety performance of the electric property on road, particularly insulator, prevents the generation of the phenomenon such as short circuit or open circuit.
Traditional porcelain insulator string detection mode is for manually stepping on tower height idle job, along with electric pressure improves, and insulator chain length
Being continuously increased, the difficulty of manual detection operation is increasing, therefore develops the insulation automatically can walked along porcelain insulator string
Subband electro-detection robot, becomes the effective way of the EHV Transmission Line Insulator performance live detection that insulate at present.
In use there is great risk in existing suspension insulator measuring robots, it is considered to abundant not, such as in detection process
In, owing to construction error or insulating trip self error make the spacing often organizing between insulator chain sheet and sheet in certain scope
It is change, just in 90 ° due to twin shaft climbing arm angle, but this angle is insulator detecting robot desired operation
In angle, but according to experiment prove due to insulation sub-pieces between have error, this due to do not have fine control algolithm ensure machine
Device people stablizes the operation that adaptability is stronger so that insulator detecting robot is it may happen that be stuck on insulator chain and can not run,
Fall on circuit, cause electric power accident for seriously departing from insulator chain.
Summary of the invention
The present invention is to solve the problems referred to above, it is proposed that a kind of insulator chain Intelligent Measurement robot climbing device and control method thereof,
The present invention uses Double-shaft differential control, and every axle uses classical pid control strategy so that robot is when two arm contact insulator sheets
Angle be consistently less than 90 °, make the sub-measuring robots of Intelligent insulation to running environment adapt to strengthen, it is to avoid robot run time
Occur blocking or release failure generation.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of insulator chain Intelligent Measurement robot climbing device, supports seat including one group, has connection two in the end supporting seat
Supporting the motor shaft of seat, the two ends of described motor shaft are provided with the climbing arm radially extended along motor shaft, and the two ends of described climbing arm set
There are the roller of central axis direction and motor shaft direction level, described support seat to be provided with and drive the electronic of motor shaft by drive mechanism
Machine, described drive mechanism is provided with several position sensors；Described motor shaft includes the first motor shaft and the second motor shaft, and
First motor shaft and the second motor shaft are about the two central point line centrosymmetry supporting seat；Described climbing arm often group has two, and
Two climbing arms are fixed on support seat by a jib, and two climbing arms are distributed along motor shaft radial symmetric, same motor shaft
On two groups climbing arm directions consistent；Described climbing arm by motor shaft radially adjustable be connected to a jib of climbing on arm
And have and radially adjust structure.
Described motor shaft is fixed on support seat by bearing, is provided with bearing (ball) cover at bearing end；One side of described motor shaft
Portion is provided with motor cabinet, and the end side of described motor shaft is provided with positioning table and limit base.
Described position sensor include the first motor shaft initial position detecting sensor, the second motor shaft initial position detecting sensor,
Second motor shaft starts high-speed rotation position sensor, the second motor shaft starts slowly run position sensor, and the second motor shaft
Initial position detecting sensor, the second motor shaft startup slowly run position sensor and are arranged on same limit base, first
Motor shaft initial position detecting sensor and the second motor shaft start high-speed rotation position sensor and are installed on same limit base.
Described second motor shaft startup high-speed rotation position sensor, the second motor shaft start the installation of the position sensor that slowly runs
Position is parallel, and with the line in respective motor shaft axle center from the horizontal by α angle, α ∈ [5 °, 30 °].
Described first motor shaft initial position detecting sensor and the second motor shaft initial position detecting sensor are installed on same limit
On the seat of position, and two motor shaft initial position detecting sensors are in 90 ° with the angle of respective motor shaft axial connecting line.
A kind of control method based on above-mentioned insulator chain Intelligent Measurement robot climbing device, specifically includes following steps:
(1) control the first motor shaft 1 with angular velocity v uniform rotation, the rotation rotary area of the second motor shaft 20 is divided
Two regions rotated for two angular velocity rotating speeds of speed, two regions that two angular velocity rotating speeds of speed rotate,
The operation angle of the second motor shaft respectively (90+ α) ° and (90-α) °；
(2) the fast angular velocity rotating speed angular velocity of rotation of the second motor shaft 20 is calculated；
(3) the slow angular velocity rotating speed angular velocity of rotation of the second motor shaft 20 is calculated；
(4) when second motor shaft start slowly run position sensor 17 signal detected time, control motor make second
Motor shaft rotational angle is v1 uniform rotation all the time；When the second motor shaft starts the inspection of high-speed rotation position sensor
When measuring signal, controlling motor the second motor shaft rotational angle is v2 uniform rotation all the time.
Described step (2) method particularly includes: when the second motor shaft turns over fast angular area, required time is that the first motor shaft is with angle speed
Degree v turns over the time used by angle (90-α) °；Required time t2=(90-α when i.e. second motor shaft turns over fast angular area)/v, root
Turn over the fast angular velocity district t2 that takes time according to the second motor shaft and calculate the fast angular velocity of the second motor shaft；The fast angle speed of the second motor shaft
Degree v2=(90+ α) * v/(90-α).
Described step (3) method particularly includes: it is that the first motor shaft is with angle that the second motor shaft turns over the time used by slow angular velocity district
Speed v turns over the time used by angle (90+ α) °；I.e. second motor shaft turns over the time t1=(90+ α used by slow angular velocity district)
/v；Obtaining the second slow angular velocity of motor shaft is v1=(90-α) * v/(90+ α).
The invention have the benefit that
1, design angle α controls, it is achieved the climbing arm of robot the first motor shaft and the climbing arm contact of the second motor shaft are exhausted
The angle of the edge period of the day from 11 p.m. to 1 a.m remains less than 90 °, solves robot and may be stuck on insulator chain and can not run, even departs from insulation
Substring falls the problem causing electric power accident on circuit；
2, using Double-shaft differential to control, every axle uses classical pid control strategy, is always ensured that Intelligent insulation detects machine
People, safely and steadily run on insulator chain, make the sub-measuring robots of Intelligent insulation adapt to strengthen to running environment, it is to avoid machine
Blocking or release failure generation occurs when running in device people.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of insulator chain Intelligent Measurement robot climbing device
Fig. 2 the first motor shaft position detection sensor distribution plane schematic diagram；
Fig. 3 the second motor shaft position detection sensor distribution plane schematic diagram；
Fig. 4 sensor space relative angle schematic diagram；
Fig. 5 insulator chain Intelligent Measurement robot climbing init state figure；
Fig. 6 climbs arm starting state figure.
Wherein: 1. the first motor shaft, 2. roller, seat, 4. bearing (ball) cover, 5. hubcap, 7. motor, 8. the second motor shaft are 3. supported
Initial position detecting sensor, 9. limit base, 10. a jib, 11. bearings, 12. positioning tables, 13. little gears, 14. motor cabinets,
15. climbing arms, 16. second motor shafts start high-speed rotation position sensor, and 17. second motor shafts start the position sensing that slowly runs
Device, 18. gear wheels, 19. first motor shaft initial position detecting sensors, 20. second motor shafts, 21. electric control systems.
Detailed description of the invention:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of insulator chain Intelligent Measurement robot climbing device, support seat 3 including one group, supporting seat 3
End have and connect two and support the motor shafts of 3, the two ends of motor shaft 3 are provided with the climbing arm 15 radially extended along motor shaft,
The two ends of described climbing arm 15 are provided with the roller 2 of central axis direction and motor shaft direction level, and described support seat 3 is provided with and passes through
Drive mechanism drives the motor 7 of motor shaft, and described drive mechanism is provided with several position sensors.
Motor shaft includes the first motor shaft 1 and the second motor shaft 20, and the first motor shaft 1 and the second motor shaft 20 centrosymmetry.
Motor shaft is fixed on support seat 3 by bearing, is provided with bearing (ball) cover 4 at bearing end.
One side end of motor shaft is provided with motor cabinet 14, and the end side of described motor shaft is provided with positioning table 12 and limit base 9.
Climbing arm 15 often group has two, and two climbing arms 15 are fixed on support seat 3 by a jib 10, two climbings
Arm 12 is distributed along motor shaft radial symmetric, and two groups of climbing arm 15 directions on same motor shaft are consistent.
Drive mechanism includes gear wheel 18, little gear 13, and gear wheel 18 is connected on motor shaft, and described little gear 13 is with big
Gear 18 matches.
Climbing arm 15 by motor shaft radially adjustable the jib 10 that is connected to climb on arm 5 and there is radially adjustment structure.
Position sensor include first motor shaft initial position detecting sensor the 18, second motor shaft initial position detecting sensor 8,
Second motor shaft starts high-speed rotation position sensor the 16, second motor shaft and starts the position sensor 17 that slowly runs, and the second electricity
The startup of arbor initial position detecting sensor the 8, second motor shaft slowly runs position sensor 17 and is arranged at same limit base 9
On, the first motor shaft initial position detecting sensor 18 and the second motor shaft start high-speed rotation position sensor 16 and are installed on same
On individual limit base 9.
As shown in Figure 2 and Figure 3, the first motor shaft initial position detecting sensor 18 and the second motor shaft initial position detection sensing
Device 8, and the installation site angle of two motor shaft initial position detecting sensors is in 90 °
As shown in Figure 4, the second motor shaft starts high-speed rotation position sensor the 16, second motor shaft and starts the position biography that slowly runs
The installation site of sensor 17 is parallel, and all with respective motor shaft axial connecting line from the horizontal by α angle, α ∈ [5 °, 30 °].
Support seat 3 is provided with electric control system 21 and controls the operation of motor 7, electric control system 21 and motor two-way communication,
Electric control system 21 and the second motor shaft start high-speed rotation position sensor the 16, second motor shaft and start the position biography that slowly runs
Sensor 17 communicates.
As it is shown in figure 5, electric control system 21 sends driving signal to motor 7, control the first motor shaft 1 and the second motor shaft
20 are rotated so that climbing arm 15 angle original state at an angle of 90, are controlled the second electricity by electric control system 21 in original state
Arbor 20 turns to the second motor shaft and starts the position sensor 17 that slowly runs, as shown in Figure 6 so that the second motor shaft 20 is subsidiary
Subsidiary climbing arm 15 angle of climbing arm and the first motor shaft 1 be less than 90 ° to be angle be (90-α) °.
Original control method is: electric control system 21 uses classical pid control algolithm to export motor belonging to the first motor shaft 1
Control signal, controls driven by motor the first motor shaft 1 and at the uniform velocity rotates with angular velocity v, and same electric control system 21 uses classics
Pid control algolithm controls the second motor shaft 20 with the angular velocity v identical with the first motor shaft 1 and rotates, and so controls the first motor shaft 1
On climbing arm 15 and climbing arm on the second motor shaft 20 acutangulate (90-α) ° and obtuse angle (90+ α) ° alternate run, so
There is interruption of service in same Hui Shi robot.The most simple change the first motor shaft 1 initially presss from both sides with the rotation of the second motor shaft 20
Angle can not change the adaptability to environment of insulator detecting robot.
Electric control system 21 that what the present invention was given is controls the first motor shaft 1 with angular velocity v uniform rotation, by changing the second electricity
The angular velocity of rotation of arbor 20, by original equally with the rotary area of the second motor shaft 20 of the first motor shaft 1 even rotation of angular velocity v
It is divided into two regions that two angular velocity rotating speeds of speed rotate, and then realizes climbing arm and second electricity of robot the first motor shaft 1
Angle when the climbing arm 15 of arbor 20 contacts insulator remains it is (90-α) °.The second slow angular velocity district of motor shaft 20 and
The operation angle in fast angular velocity district respectively (90-α) ° and (90+ α) °.Because the first motor shaft 1 and the second motor shaft 20 are altogether
With rotating, the second motor shaft 20 time used when turning over slow angular velocity district angle is that the first motor shaft 1 turns over angle with angular velocity v
Time t1=(90+ α used by (90+ α) °)/v, turn over the slow angular velocity district t1 that takes time according to the second motor shaft 20 and calculate second
The slow angular velocity of motor shaft 20 is v1=(90-α) * v/(90+ α)；When second motor shaft 20 turns over fast angular area, required time is
One motor shaft 1 turns over time t2=(90-α used by angle (90-α) ° with angular velocity v)/v, turn over soon according to the second motor shaft 20
Angular velocity district takes time t2, and to calculate the second fast angular velocity of motor shaft 20 be v2=(90+ α) * v/(90-α).
When electric control system 21 receives startup the second motor shaft 20 low-speed sensor signal effective information, electric control system is led to
Cross classical pid control algolithm so that the second motor shaft 20 rotational angle is v1 uniform rotation all the time；Electric control system 21 receives
To when starting the second motor shaft fast response transducer signal effective information, electric control system 21 is by classical pid control algolithm so that
Second motor shaft 20 rotational angle is v2 uniform rotation all the time, has adjusted a speed alternately through twice speed of speed, has completed
One mechanical periodicity controls, and is always ensured that the sub-measuring robots of Intelligent insulation uses and safely and steadily runs in this period of motion
On insulator chain, the operation conformability of edge intelligent robot, the insulator string for different grades can be by adjusting angle [alpha]
Strengthen and run conformability and the smoothness of operation.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not limit to scope
System, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art need not pay
Go out various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (6)
1. an insulator chain Intelligent Measurement robot climbing device, it is characterized in that: include that supports a seat, have in the end supporting seat and connect two motor shafts supporting seat, the two ends of described motor shaft are provided with the climbing arm radially extended along motor shaft, the two ends of described climbing arm are provided with the roller of central axis direction and motor shaft direction level, described support seat is provided with the motor being driven motor shaft by drive mechanism, and described drive mechanism is provided with several position sensors；Described motor shaft includes the first motor shaft and the second motor shaft, and the first motor shaft and the second motor shaft are about the two central point line centrosymmetry supporting seat；Described climbing arm often group has two, and two climbing arms are fixed on support seat by a jib, and two climbing arms are distributed along motor shaft radial symmetric, and two groups of climbing arm directions on same motor shaft are consistent；
Described position sensor includes that the first motor shaft initial position detecting sensor, the second motor shaft initial position detecting sensor, the second motor shaft start high-speed rotation position sensor, the second motor shaft starts the position sensor that slowly runs, and the second motor shaft initial position detecting sensor, the second motor shaft start and slowly run position sensor and be arranged on same limit base, the first motor shaft initial position detecting sensor is installed on same limit base with the second motor shaft startup high-speed rotation position sensor；
Described second motor shaft starts high-speed rotation position sensor, that the second motor shaft starts the installation site of position sensor of slowly running is parallel, and with the line in respective motor shaft axle center from the horizontal by α angle, α ∈ [5 °, 30 °].
2. as claimed in claim 1 a kind of insulator chain Intelligent Measurement robot climbing device, is characterized in that: described motor shaft is fixed on by bearing and supports on seat, is provided with bearing (ball) cover at bearing end；One side end of described motor shaft is provided with motor cabinet, and the end side of described motor shaft is provided with positioning table and limit base.
3. as claimed in claim 1 a kind of insulator chain Intelligent Measurement robot climbing device, it is characterized in that: described first motor shaft initial position detecting sensor and the second motor shaft initial position detecting sensor are installed on same limit base, and two motor shaft initial position detecting sensors are in 90 ° with the angle of respective motor shaft axial connecting line.
4. a control method based on the insulator chain Intelligent Measurement robot climbing device as according to any one of claim 1-3, is characterized in that: specifically include following steps:
(1) the first motor shaft 1 is controlled with angular velocity v uniform rotation, the rotary area that rotates of the second motor shaft 20 is divided into two regions that two angular velocity rotating speeds of speed rotate, two regions that two angular velocity rotating speeds of speed rotate, the operation angle of the second motor shaft respectively (90+ α) ° and (90-α) °；
(2) the fast angular velocity rotating speed angular velocity of rotation of the second motor shaft 20 is calculated；
(3) the slow angular velocity rotating speed angular velocity of rotation of the second motor shaft 20 is calculated；
(4) when second motor shaft start slowly run position sensor 17 signal detected time, control motor make the second motor shaft rotational angle be v1 uniform rotation all the time；When the second motor shaft startup high-speed rotation position sensor detects signal, controlling motor the second motor shaft rotational angle is v2 uniform rotation all the time.
A kind of control method based on above-mentioned insulator chain Intelligent Measurement robot climbing device, is characterized in that: described step (2) method particularly includes: when the second motor shaft turns over fast angular area, required time is that the first motor shaft turns over the time used by angle (90-α) ° with angular velocity v；Required time t2=(90-α)/v when i.e. second motor shaft turns over fast angular area, turns over the fast angular velocity district t2 that takes time according to the second motor shaft and calculates the fast angular velocity of the second motor shaft；Fast angular velocity v2=(90+ α) the * v/ (90-α) of the second motor shaft.
A kind of control method based on above-mentioned insulator chain Intelligent Measurement robot climbing device, is characterized in that: described step (3) method particularly includes: it is that the first motor shaft turns over the time used by angle (90+ α) ° with angular velocity v that the second motor shaft turns over the time used by slow angular velocity district；I.e. second motor shaft turns over time t1=(90+ the α)/v used by slow angular velocity district；Obtaining the second slow angular velocity of motor shaft is v1=(90-α) * v/ (90+ α).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410114871.6A CN103991488B (en) | 2014-03-25 | 2014-03-25 | A kind of insulator chain Intelligent Measurement robot climbing device and control method thereof |
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| CN201410114871.6A CN103991488B (en) | 2014-03-25 | 2014-03-25 | A kind of insulator chain Intelligent Measurement robot climbing device and control method thereof |
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| CN103991488A CN103991488A (en) | 2014-08-20 |
| CN103991488B true CN103991488B (en) | 2016-08-17 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104503452B (en) * | 2014-12-08 | 2017-06-16 | 重庆南方数控设备有限责任公司 | A kind of motor-drive circuit for robot capable of climbing trees |
| CN108820069B (en) * | 2018-08-13 | 2023-09-12 | 国网江苏省电力有限公司检修分公司 | Self-adjusting travelling mechanism and inspection robot with same |
| CN111696737B (en) * | 2020-07-03 | 2020-12-22 | 建湖上冈产业园服务有限公司 | Automatic cleaning equipment for insulator |
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| CN103091579A (en) * | 2013-01-11 | 2013-05-08 | 山东鲁能智能技术有限公司 | Insulator chain intelligent detection robotic system |
| CN203025284U (en) * | 2013-01-11 | 2013-06-26 | 山东鲁能智能技术有限公司 | Intelligent detection robot climbing mechanism of insulator chain |
| CN103921272A (en) * | 2013-01-12 | 2014-07-16 | 山东鲁能智能技术有限公司 | Insulator string intelligent detection robot and control method thereof |
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2014
- 2014-03-25 CN CN201410114871.6A patent/CN103991488B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3458998A (en) * | 1967-07-18 | 1969-08-05 | Arthur E Bishop | Dual-mode power steering system |
| CN201287600Y (en) * | 2008-10-24 | 2009-08-12 | 北京北方车辆集团有限公司 | Trailer hanging device |
| CN103042000A (en) * | 2013-01-11 | 2013-04-17 | 山东鲁能智能技术有限公司 | Robot system for intelligently cleaning insulator chains |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Maintenance ancillary firm of Guo Wang Shanxi Province Utilities Electric Co. Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Maintenance ancillary firm of Guo Wang Shanxi Province Utilities Electric Co. Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: State Grid Shanxi Electric Power Company Maintenance Branch Patentee before: National Network Intelligent Technology Co.,Ltd. |
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