CN106329399A - Control method of transmission line bolt fastening robot and controller - Google Patents

Abstract

The embodiment of the invention discloses a control method of transmission line bolt fastening robot and a controller, for solving lack of high efficiency and precision in existing technology as well as control algorithm of transmission line bolt fastening robot. Most electrified robots cannot finish automatic centering and fastening of bolts on transmission line. Sing of bolts and robots in pneumatic condition is not considered, remote control of centering of electrified robots through video has low working efficiency, which hinders development of automation in electrified operation field. Besides, the internal stress of bolts changes under influence of the environment, therefore, to screw bolts by constant torque only according to experience will generate great damage to service life of bolts, thus influence technical problem of power supply reliability.

Description

The control method of a kind of transmission line of electricity Screw Tightening Machines device people and controller

Technical field

The present invention relates to power system high-voltage hot-line work automatic field, particularly relate to a kind of transmission line of electricity bolt fastening The control method of robot and controller.

Background technology

Bolt is as the interface unit on transmission line of electricity, due to its simple in construction, low cost, so being widely used in transmission of electricity In circuit.But, on transmission line of electricity, bolt working environment on high-tension line is considerably complicated, owing to the change of wind-force is drawn The swing of transmission line of electricity risen and expanding with heat and contract with cold of circuit itself, the bolt on circuit can produce loosening phenomenon, and this may Cause the badly damaged of power transmission line, bring huge economic loss to electricity provider and user.

Existing inspection robot is operated by long-distance video, does not accounts for the impact of wind-force, and working performance is low, it is difficult to Alignment.And when fastening bolt, by virtue of experience twist bolt with constant-torque, do not account for the change of bolt internal stress, not only Bolt can be caused secondary injury, also cannot ensure the safe operation of transmission line of electricity.

Summary of the invention

Embodiments provide control method and the controller of a kind of transmission line of electricity Screw Tightening Machines device people, solve Prior art lacks efficient, accuracy rate height and transmission line of electricity Screw Tightening Machines device people's control algolithm, major part livewire work Robot cannot complete automatic centering and the fastening of bolt on transmission line of electricity, and hot line robot does not accounts for pneumatic situation Lower bolt and the swing situation of robot, remotely control alignment by video, and working performance is low, hinders livewire work neck The development of territory automatization.And bolt is under environmental effect, and internal stress changes, only application experience twists spiral shell with constant moment of force Bolt can produce greatly damage to bolt life, have impact on the technical problem of the reliability of power supply.

The control method of a kind of transmission line of electricity Screw Tightening Machines device people that the embodiment of the present invention provides, including:

The inclination angle of the bolt fastening sleeve of S1: calculating robot's mechanical arm tail end and the inclination angle of bolt；

S2: judge that described sleeve is the most identical with the inclination angle of described bolt, if identical, then controls described mechanical arm alignment spiral shell Bolt, if differing, then returns the calculating again that described step S1 carries out the inclination angle of described bolt fastening sleeve and described bolt；

S3: after controlling described mechanical arm alignment bolt, the moment of torsion being calculated described bolt by torque sensor is become in time The slope changed, and by the system stiffness of bolt female thread pair described in force sensor measuring；

S4: by the time dependent slope of described moment of torsion and described system stiffness, determine control moment of torsion, control described machine Mechanical arm fastening bolt.

Preferably, described step S1 specifically includes:

Set up attitude angle measurement system and the characteristic model of accelerometer and gyroscope, calculate described bolt fastening sleeve Inclination angle, simultaneously by the track of described bolt is predicted, calculate the inclination angle of described bolt.

Preferably, described step S1 specifically includes:

The model setting up acceleration is: α_Acc=α_extra-g+b_a+n_a, wherein α_extra,g,b_a,n_aRepresent external force of gravity respectively Acceleration, acceleration of gravity, the attitude angle measurement system of the deviation of accelerometer and noise and gyroscope is: ω_gyro=ω+ b_g+n_g, wherein b_gAnd n_gRepresent deviation and the noise of gyroscope respectively, obtain robot inclination angle by Kalman filter measurement Optimal estimation, change according to corresponding mechanical mechanism, obtain the inclination angle of described bolt fastening sleeve；

Simultaneously by known bolt historical position data, use least square fitting to go out the track of bolt, carry out pre- Survey the position of bolt, according to track and the predicted position of described bolt, decomposite the inclination angle of described bolt predicted position.

Preferably, described step S4 specifically includes:

By the time dependent slope of described moment of torsion and described system stiffness, determine torque coefficient and pretightning force, according to Described torque coefficient and pretightning force, determine control moment of torsion, controls described mechanical arm fastening bolt.

Preferably, by the time dependent slope of described moment of torsion and described system stiffness, torque coefficient and pretension are determined Power, according to described torque coefficient and pretightning force, determines control moment of torsion, controls described mechanical arm fastening bolt and specifically includes:

Obtaining pretightning force-torque arithmetic formula is T=T₁+T₂=KdF, wherein T is screw-down torque, T₁Spiral shell for screw thread pair The stricture of vagina moment of resistance, T₂For the moment of friction in head rest supporting face, pretightning force is F, and the pretightning force that connected piece is subject to is:

$F=\frac{C_{s}P\mathrm{\θ}}{2\mathrm{\π}}$

Wherein C_sBe screw thread pair and connected between system global stiffness, P is thread pitch；

Predetermined K_t=dT/dt, obtains

$K_t=\frac{kdP\mathrm{\ω}}{2\mathrm{\π}}{C}_s$

With the relational expression of moment of torsion with pretightning force it is:

By the time dependent slope K of described moment of torsion_tAnd C_s, determine torque coefficient, C_s=F/ δ, δ are the internal shapes of bolt Variable, determines the control moment of torsion that pretightning force is corresponding, controls described mechanical arm fastening bolt.

The controller of a kind of transmission line of electricity Screw Tightening Machines device people provided in the embodiment of the present invention, including:

First computing unit, for the inclination angle of bolt fastening sleeve and the inclining of bolt of calculating robot's mechanical arm tail end Angle；

Judging unit, for judging that described sleeve is the most identical with the inclination angle of described bolt, if identical, then controls described machine Mechanical arm alignment bolt, if differing, then the bolt continuing through described first computing unit calculating robot's mechanical arm tail end is tight Gu the inclination angle of sleeve and the inclination angle of bolt；

Second computing unit, after being used for controlling described mechanical arm alignment bolt, calculates described bolt by torque sensor The time dependent slope of moment of torsion, and by the secondary system stiffness of bolt female thread described in force sensor measuring；

Determine unit, for by the time dependent slope of described moment of torsion and described system stiffness, determine control moment of torsion, Control described mechanical arm fastening bolt.

Preferably, described first computing unit specifically includes:

Modeling subelement, for setting up the attitude angle measurement system of accelerometer and gyroscope；

First computation subunit, for by the attitude angle measurement system of described accelerometer and gyroscope, calculates institute State the inclination angle of bolt fastening sleeve；

Second computation subunit, for by being predicted the track of described bolt, calculates the inclination angle of described bolt.

Preferably,

Described modeling subelement, specifically for setting up the model of acceleration be: α_Acc=α_extra-g+b_a+n_a, wherein α_extra, g,b_a,n_aRepresent external force of gravity acceleration, acceleration of gravity, the deviation of accelerometer and noise and the attitude angle of gyroscope respectively Degree measurement system is: ω_gyro=ω+b_g+n_g, wherein b_gAnd n_gRepresent deviation and the noise of gyroscope respectively；

Described first computation subunit, specifically for by the attitude angle measurement system of described accelerometer and gyroscope System, is obtained the optimal estimation at robot inclination angle, changes according to corresponding mechanical mechanism, obtain institute by Kalman filter measurement State the inclination angle of bolt fastening sleeve；

Described second computation subunit, specifically for simultaneously by known bolt historical position data, using a young waiter in a wineshop or an inn Multiplication simulates the track of bolt, is predicted the position of bolt, according to track and the predicted position of described bolt, decomposites institute State the inclination angle of bolt predicted position.

Preferably, described determine that unit specifically includes:

First determines subelement, for by the time dependent slope of described moment of torsion and described system stiffness, determines torsion Moment coefficient and pretightning force；

Second determines subelement, for according to described torque coefficient and pretightning force, determines control moment of torsion, controls described machinery Arm fastening bolt.

Preferably,

Described first determines unit, is T=T specifically for obtaining pretightning force-torque arithmetic formula₁+T₂=KdF, wherein T For screw-down torque, T₁For the screw thread moment of resistance of screw thread pair, T₂For the moment of friction in head rest supporting face, pretightning force is F, connected piece The pretightning force being subject to is:

$F=\frac{C_{s}P\mathrm{\θ}}{2\mathrm{\π}}$

Wherein C_sBe screw thread pair and connected between system global stiffness, P is thread pitch；

Predetermined K_t=dT/dt, obtains

$K_t=\frac{kdP\mathrm{\ω}}{2\mathrm{\π}}{C}_s$

With the relational expression of moment of torsion with pretightning force it is:

By the time dependent slope K of described moment of torsion_tAnd C_s, determine torque coefficient, according to C_s=F/ δ, in δ is bolt Portion's deformation quantity, determines pretightning force.

As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that

The control method of a kind of transmission line of electricity Screw Tightening Machines device people provided in the embodiment of the present invention and controller, wherein The control method of a kind of transmission line of electricity Screw Tightening Machines device people includes the bolt fastening sleeve of S1: calculating robot's mechanical arm tail end Inclination angle and the inclination angle of bolt；S2: judge that described sleeve is the most identical with the inclination angle of described bolt, if identical, then controls described Mechanical arm alignment bolt, if differing, then returns described step S1 and carries out described bolt fastening sleeve and the inclination angle of described bolt Calculating again；S3: after controlling described mechanical arm alignment bolt, calculate the moment of torsion of described bolt in time by torque sensor The slope of change, and by the system stiffness of bolt female thread pair described in force sensor measuring；S4: by described moment of torsion in time The slope of change and described system stiffness, determine control moment of torsion, control described mechanical arm fastening bolt.In the present embodiment, it is considered to Under disturbing to wind-force effect, bolt and robot do the swing of different frequency, therefore use trajectory predictions to estimate both positions, in conjunction with Servomotor Multi-articulated harmonious control strategy, completes its alignment work.Then the change of bolt internal stress is analyzed, adopts Select suitable moment by torque coefficient control methods, complete bolt terminal operation, solve prior art lacks efficient, accurate Really rate height and transmission line of electricity Screw Tightening Machines device people's control algolithm, major part hot line robot cannot complete transmission line of electricity The automatic centering of upper bolt and fastening, hot line robot do not account for pneumatic in the case of bolt and the swing feelings of robot Condition, remotely controls alignment by video, and working performance is low, hinders the development of livewire work field automatization.And spiral shell Bolt is under environmental effect, and internal stress changes, and only application experience is twisted bolt with constant moment of force and bolt life can be produced pole Macrolesion, have impact on the technical problem of the reliability of power supply.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used To obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is a reality of the control method of a kind of transmission line of electricity Screw Tightening Machines device people of offer in the embodiment of the present invention Execute the schematic flow sheet of example；

Fig. 2 is an enforcement of the controller of a kind of transmission line of electricity Screw Tightening Machines device people of offer in the embodiment of the present invention The structural representation of example；

Fig. 3 is another reality of the controller of a kind of transmission line of electricity Screw Tightening Machines device people of offer in the embodiment of the present invention Execute the structural representation of example；

The hardware architecture diagram of the Fig. 4 a kind of transmission line of electricity Screw Tightening Machines device people for providing in the embodiment of the present invention；

The bolt terminal operation end of the Fig. 5 a kind of transmission line of electricity Screw Tightening Machines device people for providing in the embodiment of the present invention Actuator structure schematic diagram.

Detailed description of the invention

Embodiments provide control method and the controller of a kind of transmission line of electricity Screw Tightening Machines device people, solve Prior art lacks efficient, accuracy rate height and transmission line of electricity Screw Tightening Machines device people's control algolithm, major part livewire work Robot cannot complete automatic centering and the fastening of bolt on transmission line of electricity, and hot line robot does not accounts for pneumatic situation Lower bolt and the swing situation of robot, remotely control alignment by video, and working performance is low, hinders livewire work neck The development of territory automatization.And bolt is under environmental effect, and internal stress changes, only application experience twists spiral shell with constant moment of force Bolt can produce greatly damage to bolt life, have impact on the technical problem of the reliability of power supply.

For making the goal of the invention of the present invention, feature, the advantage can be the most obvious and understandable, below in conjunction with the present invention Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that disclosed below Embodiment be only a part of embodiment of the present invention, and not all embodiment.Based on the embodiment in the present invention, this area All other embodiments that those of ordinary skill is obtained under not making creative work premise, broadly fall into present invention protection Scope.

Refer to Fig. 1, the control method of a kind of transmission line of electricity Screw Tightening Machines device people provided in the embodiment of the present invention One embodiment includes:

101, the inclination angle of the bolt fastening sleeve of calculating robot's mechanical arm tail end and the inclination angle of bolt；

102, judge that described sleeve is the most identical with the inclination angle of described bolt, the most then perform step 103, if it is not, then return Return step 101；

103, described mechanical arm alignment bolt is controlled；

104, after controlling described mechanical arm alignment bolt, the moment of torsion being calculated described bolt by torque sensor is become in time The slope changed, and by the system stiffness of bolt female thread pair described in force sensor measuring；

105, by the time dependent slope of described moment of torsion and described system stiffness, determine control moment of torsion, control described Mechanical arm fastening bolt.

In the present embodiment, by inclination angle and the inclination angle of bolt of the bolt fastening sleeve of calculating robot's mechanical arm tail end, Control described mechanical arm alignment bolt and calculated the time dependent slope of moment of torsion of described bolt by torque sensor, and leading to Cross the system stiffness that bolt female thread described in force sensor measuring is secondary, determine control moment of torsion, control described mechanical arm fastening bolt, Solve hot line robot do not account for pneumatic in the case of bolt and the swing situation of robot, come remotely by video Controlling alignment, working performance is low, hinders the development of livewire work field automatization.And bolt is under environmental effect, interior Portion's stress changes, and only application experience is twisted bolt with constant moment of force and bolt life can be produced greatly damage, have impact on power supply The technical problem of reliability.

The above is that the process of the control method to a kind of transmission line of electricity Screw Tightening Machines device people is described in detail, below The detailed process of the control method to a kind of transmission line of electricity Screw Tightening Machines device people is described in detail, the embodiment of the present invention Another embodiment of the control method of a kind of transmission line of electricity Screw Tightening Machines device people provided includes:

201, the model setting up acceleration is: α_Acc=α_extra-g+b_a+n_a, wherein α_extra,g,b_a,n_aRepresent outside respectively Acceleration of gravity, acceleration of gravity, the attitude angle measurement system of the deviation of accelerometer and noise and gyroscope is: ω_gyro =ω+b_g+n_g, wherein b_gAnd n_gRepresent deviation and the noise of gyroscope respectively, obtain robot by Kalman filter measurement The optimal estimation at inclination angle, changes according to corresponding mechanical mechanism, obtains the inclination angle of described bolt fastening sleeve, simultaneously by known Bolt historical position data, use least square fitting to go out the track of bolt, be predicted the position of bolt, according to described The track of bolt and predicted position, decomposite the inclination angle of described bolt predicted position；

When being embodied as, the trajectory predictions method of bolt includes: a kind of multi-sensor information fusion optimum Kalman filtering Device prediction algorithm, method of least square based on area-of-interest.

In order to complete the alignment work of bolt, it is to be appreciated that bolt and the position of sleeve.Both on transmission line of electricity Affected by wind-force, done the nonlinear motion of different frequency, so being difficult to set up the mathematical model of bolt and sleeve, so adopting Both positions are obtained by trajectory predictions.Use multi-sensor information fusion optimum Kalman filter prediction algorithm herein. Robot controller sets up attitude angle measurement system and the characteristic model of accelerometer and gyroscope, uses Kalman filtering side Method, the signal from accelerometer and gyroscope is merged by robot controller, obtains inclination angle prediction the most accurately.Add The model of speed such as following formula:

α_Acc=α_extra-g+b_a+n_a (1)

Here, α_extra,g,b_a,n_aRepresent external force of gravity acceleration respectively, acceleration of gravity, the deviation of accelerometer and making an uproar Sound.Gyroscope is for measuring the angular velocity in X, Y, Z axis.It is not susceptible to external disturbance, but its data are easily generated drift.

ω_gyro=ω+b_g+n_g (2)

Here, b_gAnd n_gRepresent deviation and the noise of gyroscope respectively.Kalman filter produces a system by measuring State optimization is estimated.

The design of Kalman filter is divided into two parts: predicts and updates.

Prediction mean square error equation:

P (k/k-1)=AP (k-1/k-1) A^T+Q (3)

Renewal mean square error equation:

P (k/k)=[I-K_g(k)H]P(k/k-1) (4)

Wherein, I is unit battle array, then has for native systemK_gK () is Kalman gain.When system enters k+1 shape During state, P (k/k) is exactly the P (k-1/k-1) of formula (3).After the predictive value at the angle of inclination obtaining robot, according to accordingly Mechanical mechanism is changed, and just can obtain the angle of inclination of sleeve.

Method of least square based on area-of-interest predicts the movement locus of bolt, and the method is according to the history bit of target Put, use least square fitting to go out the movement locus of target object, and then obtain x, the prediction bits of moving target on z direction Put.And combine weighting method to limit the hunting zone of target, and then the hunting zone of downscaled images, obtain bolt rapidly and accurately Actual position information, meet the requirement of real-time of kinetic control system.

Bolt, during relative to camera motion, can obtain its front m position, uses method of least square to carry out matching spiral shell The movement locus of bolt, thus can predict the position of subsequent time bolt.According to known one group of bolt historical position data (x_i,z_i) (i=1,2,3......, m) and the curve P of bolt movement track_nX (), the quadratic sum making error of fitting is minimum, i.e.

$\begin{array}{cc}\min I=\underset{i=1}{\overset{m}{\mathrm{\Σ}}}{r}^2=\underset{i=1}{\overset{m}{\mathrm{\Σ}}}{\left(p_n\right(x_i)-z_i)}^2,i=1,2,\mathrm{3......}m& r_i=p_n\left(x_i\right)-y_i\end{array}---\left(5\right)$

Wherein:And a_k(k=0,1 ..., n) it is p_nThe constant coefficient of (x).By polynary letter Number asks the essential condition of extreme value to obtain:

$\frac{\∂I}{\∂a_j}=2\underset{i=1}{\overset{m}{\mathrm{\Σ}}}(\underset{k=0}{\overset{n}{\mathrm{\Σ}}}{a}_k{x}_i^k-y_i)x_i^j=0,j=0,\mathrm{1...},n---\left(6\right)$

I.e.

Above formula is about a₀,a₁,a₂,......,a_mEquation group, a can be solved according to above formula₀,a₁,a₂,......,a_m, by This can describe bolt movement geometric locus P_n(x).According to the geometric locus obtained and predicted position, bolt can be decomposited pre- The inclination value that location is put, i.e. θ=X/Z.

The predicted position of least square fitting curve and physical location certainly exist certain error.And bolt is whole Width image has the size of oneself, in order to reduce error, it should in the range of centered by predicted position, carry out target Search, uses the weighting method of the different weights of m precision of prediction to determine this picture search scope.Picture search scope is such as Under:

$D_x=\underset{p=0}{\overset{m-1}{\mathrm{\Σ}}}b(m-p)|x_f(k-p)-x(k-p)|---\left(8\right)$

$D_z=\underset{p=0}{\overset{m-1}{\mathrm{\Σ}}}b(m-p)|z_f(k-p)-z(k-p)|---\left(9\right)$

Here D_xWith D_yBeing respectively width and the radius of height of region of search (i.e. interest region), m is the individual of reference position Number, b is constant, relevant to the size of bolt and reference position quantity.

202, judge that described sleeve is the most identical with the inclination angle of described bolt, the most then perform step 203, if it is not, then return Return step 201；

Judge that described sleeve is the most identical with the inclination angle of described bolt, the most then control described mechanical arm alignment bolt, if No, then return step 201.

203, described mechanical arm alignment bolt is controlled；

If sleeve is identical with the inclination angle of described bolt, in conjunction with servomotor Multi-articulated harmonious control strategy, pass through mechanical hand Operation, complete the alignment work of bolt and sleeve.

204, after controlling described mechanical arm alignment bolt, the moment of torsion being calculated described bolt by torque sensor is become in time The slope changed, and by the system stiffness of bolt female thread pair described in force sensor measuring；

Use torque sensor to calculate the time dependent slope of moment of torsion of bolt at this device, utilize force sensor measuring The system stiffness that bolt female thread is secondary；

205, obtaining pretightning force-torque arithmetic formula is T=T₁+T₂=KdF, wherein T is screw-down torque, T₁For screw thread pair The screw thread moment of resistance, T₂For the moment of friction in head rest supporting face, pretightning force is F, and the pretightning force that connected piece is subject to is:

$F=\frac{C_{s}P\mathrm{\θ}}{2\mathrm{\π}}$

Wherein C_sBe screw thread pair and connected between system global stiffness, P is thread pitch；

Predetermined K_t=dT/dt, obtains

$K_t=\frac{kdP\mathrm{\ω}}{2\mathrm{\π}}{C}_s$

With the relational expression of moment of torsion with pretightning force it is:

By the time dependent slope K of described moment of torsion_tAnd C_s, determine torque coefficient, C_s=F/ δ, δ are the internal shapes of bolt Variable, determines the control moment of torsion that pretightning force is corresponding, controls described mechanical arm fastening bolt.

The fastening method of work of bolt uses torque coefficient control methods.Excessive frequently can lead to of screw-down torque couples inefficacy, Bolt Tightening Force square is excessive, and pad can be crushed to death and follow the string or bolt is twisted into two parts, and screw-down torque is the least just not to be reached fastening and make With.So controlling, according to the change of bolt internal stress, the key that the moment of bolt is tightening process for a bolt accordingly.

It is screw thread moment of resistance T for overcoming screw thread pair according to classical theory screw-down torque T₁And the friction in head rest supporting face Moment T₂The pretightning force obtained-torque arithmetic formula is as follows:

T=T₁+T₂=KdF (10)

Pretightning force F is linear with nut rotational angle theta, and the pretightning force that now connected piece is subject to is:

$F=\frac{C_{s}P\mathrm{\θ}}{2\mathrm{\π}}---\left(11\right)$

Wherein C_sBe screw thread pair and connected between system global stiffness, P is thread pitch.

Make K_t=dT/dt, can obtain

$K_t=\frac{kdP\mathrm{\ω}}{2\mathrm{\π}}{C}_s---\left(12\right)$

The relational expression that thus can obtain moment of torsion and pretightning force is

$T=\frac{2{\mathrm{\πK}}_t}{C_{s}P\mathrm{\ω}}F---\left(13\right)$

Can draw, K_tAnd C_sIt is two variablees, is also the core of torque coefficient, C_s=F/ δ, F are the power that bolt is subject to, δ It it is bolt internal distortions amount.If the time dependent slope of moment of torsion and the rigidity of system can be obtained, we just can this root According to the control moment that corresponding pretightning force is corresponding.K simultaneously_tContain the relation between coefficient of friction, so for not homogeneity The bolt of amount, it is possible to obtain different control moments, it is ensured that the concordance of pretightning force during assembling bolt, by mechanical hand Operation, completes bolt terminal operation.Here, this device uses torque sensor calculated torque to change over K_t, utilize power to pass Sensor measures system stiffness.

In the present embodiment, under disturbing in view of wind-force effect, bolt and robot do the swing of different frequency, therefore Use trajectory predictions to estimate both positions, in conjunction with servomotor Multi-articulated harmonious control strategy, complete its alignment work.Then The change of bolt internal stress is analyzed, uses torque coefficient control methods to select suitable moment, complete bolt fastening and make Industry, solves and lacks efficient, accuracy rate height and transmission line of electricity Screw Tightening Machines device people's control algolithm, major part in prior art Hot line robot cannot complete automatic centering and the fastening of bolt on transmission line of electricity, and hot line robot does not accounts for The swing situation of bolt and robot in the case of pneumatic, remotely controls alignment by video, and working performance is low, hinders band The development of electricity field of operation automatization.And bolt is under environmental effect, and internal stress changes, only application experience is come with perseverance Moment twists bolt can produce greatly damage to bolt life, have impact on the technical problem of the reliability of power supply.

Refer to Fig. 2, of the controller of a kind of transmission line of electricity Screw Tightening Machines device people that the embodiment of the present invention provides Embodiment includes:

First computing unit 301, for the inclination angle of bolt fastening sleeve of calculating robot's mechanical arm tail end and bolt Inclination angle；

Judging unit 302, for judging that described sleeve is the most identical with the inclination angle of described bolt, if identical, then controls institute Stating mechanical arm alignment bolt, if differing, then continuing through the spiral shell of described first computing unit calculating robot's mechanical arm tail end The inclination angle of bolt fastening sleeve and the inclination angle of bolt；

Second computing unit 303, after being used for controlling described mechanical arm alignment bolt, calculates described spiral shell by torque sensor The time dependent slope of moment of torsion of bolt, and by the system stiffness of bolt female thread pair described in force sensor measuring；

Determine unit 304, for by the time dependent slope of described moment of torsion and described system stiffness, determine that control is turned round Square, controls described mechanical arm fastening bolt.

In the present embodiment, by inclining of the bolt fastening sleeve of first computing unit 301 calculating robot's mechanical arm tail end Angle and the inclination angle of bolt, it is judged that unit 302 controls described mechanical arm alignment bolt and the second computing unit 303 passes through moment sensing Device calculates the time dependent slope of moment of torsion of described bolt, and by the system of bolt female thread pair described in force sensor measuring Rigidity, determines that unit 304 determines control moment of torsion, controls described mechanical arm fastening bolt, and solving hot line robot does not has In view of bolt and the swing situation of robot in the case of pneumatic, remotely being controlled alignment by video, working performance is low, resistance Hinder the development of livewire work field automatization.And bolt is under environmental effect, and internal stress changes, only application experience Twist bolt with constant moment of force and bolt life can be produced greatly damage, have impact on the technical problem of the reliability of power supply.

The above is each unit of the controller to a kind of transmission line of electricity Screw Tightening Machines device people that the embodiment of the present invention provides It is described in detail, below each extra cell of the controller to a kind of transmission line of electricity Screw Tightening Machines device people is carried out in detail Description, refer to Fig. 3, another of the controller of a kind of transmission line of electricity Screw Tightening Machines device people that the embodiment of the present invention provides Embodiment includes:

First computing unit 401, for the inclination angle of bolt fastening sleeve of calculating robot's mechanical arm tail end and bolt Inclination angle；

First computing unit 401 specifically includes:

Modeling subelement 4011, specifically for setting up the model of acceleration be: α_Acc=α_extra-g+b_a+n_a, wherein α_extra, g,b_a,n_aRepresent external force of gravity acceleration, acceleration of gravity, the deviation of accelerometer and noise and the attitude angle of gyroscope respectively Degree measurement system is: ω_gyro=ω+b_g+n_g, wherein b_gAnd n_gRepresent deviation and the noise of gyroscope respectively；

First computation subunit 4012, specifically for by the attitude angle measurement system of described accelerometer and gyroscope System, is obtained the optimal estimation at robot inclination angle, changes according to corresponding mechanical mechanism, obtain institute by Kalman filter measurement State the inclination angle of bolt fastening sleeve；

Second computation subunit 4013, specifically for simultaneously by known bolt historical position data, using a young waiter in a wineshop or an inn Multiplication simulates the track of bolt, is predicted the position of bolt, according to track and the predicted position of described bolt, decomposites institute State the inclination angle of bolt predicted position.

Judging unit 402, for judging that described sleeve is the most identical with the inclination angle of described bolt, if identical, then controls institute Stating mechanical arm alignment bolt, if differing, then continuing through the spiral shell of described first computing unit calculating robot's mechanical arm tail end The inclination angle of bolt fastening sleeve and the inclination angle of bolt；

Second computing unit 403, after being used for controlling described mechanical arm alignment bolt, calculates described spiral shell by torque sensor The time dependent slope of moment of torsion of bolt, and by the system stiffness of bolt female thread pair described in force sensor measuring；

Determine unit 404, for by the time dependent slope of described moment of torsion and described system stiffness, determine that control is turned round Square, controls described mechanical arm fastening bolt.

Determine that unit specifically includes:

First determines subelement 4041, is T=T specifically for obtaining pretightning force-torque arithmetic formula₁+T₂=KdF, wherein T is screw-down torque, T₁For the screw thread moment of resistance of screw thread pair, T₂For the moment of friction in head rest supporting face, pretightning force is F, connected piece The pretightning force being subject to is:

$F=\frac{C_{s}P\mathrm{\θ}}{2\mathrm{\π}}$

Wherein C_sBe screw thread pair and connected between system global stiffness, P is thread pitch；

Predetermined K_t=dT/dt, obtains

$K_t=\frac{kdP\mathrm{\ω}}{2\mathrm{\π}}{C}_s$

With the relational expression of moment of torsion with pretightning force it is:

By the time dependent slope K of described moment of torsion_tAnd C_s, determine torque coefficient, according to C_s=F/ δ, in δ is bolt Portion's deformation quantity, determines pretightning force.

Second determines subelement 4042, for according to described torque coefficient and pretightning force, determines control moment of torsion, controls described Mechanical arm fastening bolt.

In the present embodiment, under disturbing in view of wind-force effect, bolt and robot do the swing of different frequency, therefore Trajectory predictions is used to estimate both by modeling subelement the 4011, first computation subunit the 4012, second computation subunit 4013 Position, combines servomotor Multi-articulated harmonious control strategy by judging unit 402, completes its alignment work.Then pass through First determines that subelement 4041 and second determines that the change of bolt internal stress is analyzed by subelement 4042, uses torque coefficient Control methods selects suitable moment, completes bolt terminal operation, solve in prior art lack efficiently, accuracy rate high and Transmission line of electricity Screw Tightening Machines device people's control algolithm, major part hot line robot cannot complete bolt on transmission line of electricity from Dynamic centering and fastening, hot line robot do not account for pneumatic in the case of bolt and the swing situation of robot, by regarding Frequency remotely controls alignment, and working performance is low, hinders the development of livewire work field automatization.And bolt is at environment shadow Under sound, internal stress changes, and only application experience is twisted bolt with constant moment of force and bolt life can be produced greatly damage, impact The technical problem of the reliability of power supply.

Owing to prior art lacking efficient, accuracy rate height and transmission line of electricity Screw Tightening Machines device people's control algolithm, greatly Part hot line robot cannot complete automatic centering and the fastening of bolt on transmission line of electricity, and hot line robot is not examined Considering to bolt and the swing situation of robot in the case of pneumatic, remotely controlled alignment by video, working performance is low, hinders The development of livewire work field automatization.And bolt is under environmental effect, and internal stress changes, only application experience is come Twist bolt with constant moment of force and bolt life can be produced greatly damage, have impact on the reliability of power supply.Therefore, the present invention proposes one Plant the Visual servoing control algorithm for transmission line of electricity Screw Tightening Machines device people, with effective search bolt, accurately identify bolt, carry The efficiency of high transmission line of electricity bolt fastening work.

For solve above-mentioned technical problem, the present invention by the following technical solutions:

The control algolithm of a kind of transmission line of electricity Screw Tightening Machines device people, calculates including the centering strategy of bolt and the fastening of bolt Method, it is possible to automatic centering, the bolt on fastening drainage plate.

By the control strategy of bolt alignment with fastening, Screw Tightening Machines device people ensures that bolt is stablized on transmission line of electricity Property.Control strategy includes: bolt, by setting drainage thread as reference substance, first positions drainage thread, carries out spiral shell then along drainage thread Bolt is followed the trail of.After tracking bolt, bolt and the robot centering strategy in the case of wind is put；For bolt internal stress change into Row Torque Control.Wherein centering controls to include: the trajectory predictions of bolt；The trajectory predictions of robot.Bolt Torque controls to include: The time dependent slope of moment of torsion；The determination of system stiffness.

Owing to climate change causes transmission line of electricity to vibrate, robot and bolt do the nonlinear motion of different frequency, it is difficult to Set up both mathematical modeies.In order to be directed at bolt, use a kind of multi-sensor information fusion optimum Kalman filter prediction Algorithm predicts the movement locus of video camera.The track of bolt uses method of least square based on area-of-interest, uses local Search bolt movement position meets system real-time response requirement.

The frictional force of different screw thread pairs is uncertain, and bolt is affected can occur by wind pendulum and temperature on the line Loosening, internal stress changes, and simply improves control torque precision and cannot ensure the concordance of pretightning force, in order to solve this Problem proposes the control method of torque coefficient.

The vision algorithm of a kind of transmission line of electricity Screw Tightening Machines device people that the embodiment of the present invention provides, the machine needed for its operation Device people's hardware configuration such as accompanying drawing 4 shows: transmission line of electricity bolt terminal operation robot, its overall structure includes robot body and spiral shell Bolt terminal operation executor, wherein robot body is made up of casing, road wheel 3.1 and locking folder 3.2 etc., robot case Body possesses the road wheel 3.1 can walked on wire 3.3, and the locking folder 3.2 being arranged on road wheel side can lock wire 3.3 To ensure that robot moves the most smoothly.Isoelectric level wheel 3.4 is had, to ensure that robot is at transmission line of electricity on the road wheel left side Upper safe operation.Robot body includes multi-degree-of-freemechanical mechanical arm 3.5, end clamp device 3.6, can complete transmission line of electricity spiral shell Bolt fastening work.

When being embodied as, as the hardware requirement of this algorithm, described bolt terminal operation executor, its structure includes the most certainly By degree mechanical arm, bolt fastening end effector.Wherein multi-degree-of-freemechanical mechanical arm is made up of 3 joints, respectively swinging joint 3.5.1, telescopic joint 3.5.2, rotary joint 3.5.3, multi-joint combination collaborative work, bolt operation end can be driven to perform Device is to optional position.Described bolt fastening end effector includes electric rotating machine 4.1, to telescope motor 4.2,2 spanner sets The nearly burnt photographic head 4.4 of 4.3,2, cylinder, its structure is as shown in Figure 5.Transmission line of electricity Screw Tightening Machines device people controlled by mechanical arm Bolt fastening end effector, can complete the assigned work.2 nearly burnt photographic head are installed on the rear end central authorities position of wrench socket Putting, two wrench sockets of end effector are driven by electric rotating machine and rotate, by driving to movement to telescope motor, fixed Position, finely tune after, i.e. bolt occur in image Centromedian time, telescope motor drive sleeve head to snapping in bolt, rotation Motor drives wrench socket to rotate bolt fastening work.

When being embodied as, in the end effector of bolt fastening belt electricity apparatus for work, 2 photographic head are put for nearly burnt photographic head Put in sleeve inner, while obtaining the closely bolt image that definition is higher, can be by the unrelated certain journey of complex background The virtualization of degree, due to the impact of wind pendulum, mechanical hand meeting regulating sleeve position, makes bolt occur in photographic head center, for later stage spiral shell Bolt clamping, fastening work provide advantage.

When being embodied as, 2 nearly burnt photographic head are installed on the middle position, rear end of wrench socket, in location, have finely tuned After, i.e. bolt occur in image Centromedian time, electric rotating machine drive sleeve head to snapping in bolt, to telescope motor drive Wrench socket has rotated bolt fastening work.

Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, and the system of foregoing description, The specific works process of device and unit, is referred to the corresponding process in preceding method embodiment, does not repeats them here.

In several embodiments provided herein, it should be understood that disclosed system, apparatus and method are permissible Realize by another way.Such as, device embodiment described above is only schematically, such as, and described unit Dividing, be only a kind of logic function and divide, actual can have other dividing mode, the most multiple unit or assembly when realizing Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown or The coupling each other discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit Close or communication connection, can be electrical, machinery or other form.

The described unit illustrated as separating component can be or may not be physically separate, shows as unit The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme 's.

It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to It is that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated list Unit both can realize to use the form of hardware, it would however also be possible to employ the form of SFU software functional unit realizes.

If described integrated unit realizes and as independent production marketing or use using the form of SFU software functional unit Time, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially The part that in other words prior art contributed or this technical scheme completely or partially can be with the form of software product Embodying, this computer software product is stored in a storage medium, including some instructions with so that a computer Equipment (can be personal computer, server, or the network equipment etc.) performs the complete of method described in each embodiment of the present invention Portion or part steps.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey The medium of sequence code.

The above, above example only in order to technical scheme to be described, is not intended to limit；Although with reference to front State embodiment the present invention has been described in detail, it will be understood by those within the art that: it still can be to front State the technical scheme described in each embodiment to modify, or wherein portion of techniques feature is carried out equivalent；And these Amendment or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (10)

1. the control method of a transmission line of electricity Screw Tightening Machines device people, it is characterised in that including:

The inclination angle of the bolt fastening sleeve of S1: calculating robot's mechanical arm tail end and the inclination angle of bolt；

S2: judge that described sleeve is the most identical with the inclination angle of described bolt, if identical, then controls described mechanical arm alignment bolt, If differing, then return the calculating again that described step S1 carries out the inclination angle of described bolt fastening sleeve and described bolt；

S3: after controlling described mechanical arm alignment bolt, the moment of torsion being calculated described bolt by torque sensor is time dependent Slope, and by the system stiffness of bolt female thread pair described in force sensor measuring；

S4: by the time dependent slope of described moment of torsion and described system stiffness, determine control moment of torsion, control described mechanical arm Fastening bolt.

The control method of transmission line of electricity Screw Tightening Machines device people the most according to claim 1, it is characterised in that described step S1 specifically includes:

Set up the attitude angle measurement system of accelerometer and gyroscope, calculate the inclination angle of described bolt fastening sleeve, lead to simultaneously Cross the track to described bolt to be predicted, calculate the inclination angle of described bolt.

The control method of transmission line of electricity Screw Tightening Machines device people the most according to claim 2, it is characterised in that described step S1 specifically includes:

The model setting up acceleration is: α_Acc=α_extra-g+b_a+n_a, wherein α_extra,g,b_a,n_aRepresent external force of gravity respectively to accelerate Degree, acceleration of gravity, the attitude angle measurement system of the deviation of accelerometer and noise and gyroscope is: ω_gyro=ω+b_g+ n_g, wherein b_gAnd n_gRepresent deviation and the noise of gyroscope respectively, obtain robot inclination angle by Kalman filter measurement Excellent estimation, changes according to corresponding mechanical mechanism, obtains the inclination angle of described bolt fastening sleeve；

Simultaneously by known bolt historical position data, use least square fitting to go out the track of bolt, be predicted spiral shell The position of bolt, according to track and the predicted position of described bolt, decomposites the inclination angle of described bolt predicted position.

The control method of transmission line of electricity Screw Tightening Machines device people the most according to claim 3, it is characterised in that described step S4 specifically includes:

By the time dependent slope of described moment of torsion and described system stiffness, determine torque coefficient and pretightning force, according to described Torque coefficient and pretightning force, determine control moment of torsion, controls described mechanical arm fastening bolt.

The control method of transmission line of electricity Screw Tightening Machines device people the most according to claim 4, it is characterised in that by described The time dependent slope of moment of torsion and described system stiffness, determine torque coefficient and pretightning force, according to described torque coefficient with pre- Clamp force, determines control moment of torsion, controls described mechanical arm fastening bolt and specifically includes:

Obtaining pretightning force-torque arithmetic formula is T=T₁+T₂=KdF, wherein T is screw-down torque, T₁Screw thread for screw thread pair hinders Moment, T₂For the moment of friction in head rest supporting face, pretightning force is F, and the pretightning force that connected piece is subject to is:

$F=\frac{C_{s}P\mathrm{\θ}}{2\mathrm{\π}}$

Wherein C_sBe screw thread pair and connected between system global stiffness, P is thread pitch；

Predetermined K_t=dT/dt, obtains

$K_t=\frac{kdP\mathrm{\ω}}{2\mathrm{\π}}{C}_s$

With the relational expression of moment of torsion with pretightning force it is:

By the time dependent slope K of described moment of torsion_tAnd C_s, determine torque coefficient, C_s=F/ δ, δ are bolt internal distortions amounts, Determine the control moment of torsion that pretightning force is corresponding, control described mechanical arm fastening bolt.

6. the controller of a transmission line of electricity Screw Tightening Machines device people, it is characterised in that including:

First computing unit, for the inclination angle of bolt fastening sleeve and the inclination angle of bolt of calculating robot's mechanical arm tail end；

Judging unit, for judging that described sleeve is the most identical with the inclination angle of described bolt, if identical, then controls described mechanical arm Alignment bolt, if differing, then continues through the bolt adapter sleeve of described first computing unit calculating robot's mechanical arm tail end The inclination angle of cylinder and the inclination angle of bolt；

Second computing unit, after being used for controlling described mechanical arm alignment bolt, calculates the torsion of described bolt by torque sensor The time dependent slope of square, and by the system stiffness of bolt female thread pair described in force sensor measuring；

Determine unit, for by the time dependent slope of described moment of torsion and described system stiffness, determine control moment of torsion, control Described mechanical arm fastening bolt.

The controller of transmission line of electricity Screw Tightening Machines device people the most according to claim 6, it is characterised in that described first meter Calculation unit specifically includes:

Modeling subelement, for setting up the attitude angle measurement system of accelerometer and gyroscope；

First computation subunit, for by the attitude angle measurement system of described accelerometer and gyroscope, calculating described spiral shell The inclination angle of bolt fastening sleeve；

Second computation subunit, for by being predicted the track of described bolt, calculates the inclination angle of described bolt.

The controller of transmission line of electricity Screw Tightening Machines device people the most according to claim 7, it is characterised in that

Described modeling subelement, specifically for setting up the model of acceleration be: α_Acc=α_extra-g+b_a+n_a, wherein α_extra,g,b_a, n_aRepresenting external force of gravity acceleration, acceleration of gravity respectively, the attitude angle of the deviation of accelerometer and noise and gyroscope is surveyed Amount system is: ω_gyro=ω+b_g+n_g, wherein b_gAnd n_gRepresent deviation and the noise of gyroscope respectively；

Described first computation subunit, specifically for by the attitude angle measurement system of described accelerometer and gyroscope, logical Cross Kalman filter measurement and obtain the optimal estimation at robot inclination angle, change according to corresponding mechanical mechanism, obtain described spiral shell The inclination angle of bolt fastening sleeve；

Described second computation subunit, specifically for simultaneously by known bolt historical position data, using method of least square Simulate the track of bolt, be predicted the position of bolt, according to track and the predicted position of described bolt, decomposite described spiral shell The inclination angle of bolt predicted position.

The controller of transmission line of electricity Screw Tightening Machines device people the most according to claim 8, it is characterised in that described determine list Unit specifically includes:

First determines subelement, for by the time dependent slope of described moment of torsion and described system stiffness, determines moment of torsion system Number and pretightning force；

Second determines subelement, for according to described torque coefficient and pretightning force, determines control moment of torsion, controls described mechanical arm tight Fixing bolt.

The controller of transmission line of electricity Screw Tightening Machines device people the most according to claim 9, it is characterised in that

Described first determines unit, is T=T specifically for obtaining pretightning force-torque arithmetic formula₁+T₂=KdF, wherein T is stubborn Clamp force square, T₁For the screw thread moment of resistance of screw thread pair, T₂For the moment of friction in head rest supporting face, pretightning force is F, and connected piece is subject to Pretightning force is:

$F=\frac{C_{s}P\mathrm{\θ}}{2\mathrm{\π}}$

Wherein C_sBe screw thread pair and connected between system global stiffness, P is thread pitch；

Predetermined K_t=dT/dt, obtains

$K_t=\frac{kdP\mathrm{\ω}}{2\mathrm{\π}}{C}_s$

With the relational expression of moment of torsion with pretightning force it is:

By the time dependent slope K of described moment of torsion_tAnd C_s, determine torque coefficient, according to C_s=F/ δ, δ are the internal shapes of bolt Variable, determines pretightning force.