CN106329399B - A kind of control method and controller of transmission line of electricity bolt fastening machine people - Google Patents
A kind of control method and controller of transmission line of electricity bolt fastening machine people Download PDFInfo
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- CN106329399B CN106329399B CN201610937097.8A CN201610937097A CN106329399B CN 106329399 B CN106329399 B CN 106329399B CN 201610937097 A CN201610937097 A CN 201610937097A CN 106329399 B CN106329399 B CN 106329399B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/067—Bolt tensioners
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- Mechanical Engineering (AREA)
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Abstract
The embodiment of the invention discloses the control methods and controller of a kind of transmission line of electricity bolt fastening machine people, for solving to lack efficient, accuracy rate height and transmission line of electricity bolt fastening machine people's control algolithm in the prior art, most of hot line robot is unable to complete the automatic centering and fastening of bolt on transmission line of electricity, hot line robot does not account for the swing situation of bolt and robot in pneumatic situation, alignment is remotely controlled by video, operating efficiency is low, hinders the development of livewire work field automation.And bolt, under the influence of environment, internal stress changes, and only application experience can generate the technical issues of greatly damaging, affecting the reliability of power supply to twist bolt with constant moment of force to bolt life.
Description
Technical field
The present invention relates to electric system high-voltage hot-line work automatic field more particularly to a kind of transmission line of electricity bolt fastenings
The control method and controller of robot.
Background technique
Bolt is at low cost since its structure is simple as the interface unit on transmission line of electricity, so being widely used in transmitting electricity
In route.However, on transmission line of electricity working environment of the bolt on high-tension line be it is considerably complicated, since the variation of wind-force is drawn
The phenomenon that swing of transmission line of electricity and expanding with heat and contract with cold for route itself risen, the bolt on route can generate loosening, this may
Lead to the badly damaged of power transmission line, brings huge economic loss to electricity provider and user.
Existing inspection robot is operated by long-distance video, does not account for the influence of wind-force, operating efficiency is low, it is difficult to
Alignment.And in fastening bolt, bolt by virtue of experience is twisted with constant-torque, does not account for the variation of bolt internal stress, not only
Secondary injury will cause to bolt, not can guarantee the safe operation of transmission line of electricity also.
Summary of the invention
The embodiment of the invention provides the control methods and controller of a kind of transmission line of electricity bolt fastening machine people, solve
Lack efficient, accuracy rate height and transmission line of electricity bolt fastening machine people's control algolithm, most of livewire work in the prior art
Robot is unable to complete the automatic centering and fastening of bolt on transmission line of electricity, and hot line robot does not account for pneumatic situation
The swing situation of lower bolt and robot remotely controls alignment by video, and operating efficiency is low, hinders livewire work neck
The development of domain automation.And bolt is under the influence of environment, internal stress changes, and only application experience twists spiral shell with constant moment of force
The technical issues of bolt can generate greatly damage to bolt life, affect the reliability of power supply.
The control method of transmission line of electricity bolt fastening machine people provided in an embodiment of the present invention a kind of, comprising:
S1: the inclination angle of the bolt fastening sleeve of calculating robot's mechanical arm tail end and the inclination angle of bolt；
S2: judging whether the inclination angle of the sleeve and the bolt is identical, if they are the same, then controls the mechanical arm alignment spiral shell
Bolt returns to the calculating again that the step S1 carries out the inclination angle of the bolt fastening sleeve and the bolt if not identical；
S3: after controlling the mechanical arm alignment bolt, become at any time by the torque that torque sensor calculates the bolt
The slope of change, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
S4: the slope and the system stiffness changed over time by the torque determines control torque, controls the machine
Tool arm fastening bolt.
Preferably, the step S1 is specifically included:
The attitude angle measurement system and characteristic model for establishing accelerometer and gyroscope calculate the bolt fastening sleeve
Inclination angle, while being predicted by the track to the bolt, calculate the inclination angle of the bolt.
Preferably, the step S1 is specifically included:
Establish the model of acceleration are as follows: αAcc=αextra-g+ba+na, wherein αextra,g,ba,naRespectively represent external force of gravity
Acceleration, acceleration of gravity, the deviation and noise of accelerometer, the attitude angle measurement system of gyroscope are as follows: ωgyro=ω+bg
+ng, wherein bgAnd ngThe deviation and noise for respectively representing gyroscope obtain robot inclination angle by Kalman filter measurement
Optimal estimation is converted according to corresponding mechanical mechanism, obtains the inclination angle of the bolt fastening sleeve；
Simultaneously by known bolt historical position data, the track of bolt is fitted using least square method, is carried out pre-
The position for surveying bolt decomposites the inclination angle of the bolt predicted position according to the track of the bolt and predicted position.
Preferably, the step S4 is specifically included:
The slope and the system stiffness changed over time by the torque, determines torque coefficient and pretightning force, according to
The torque coefficient and pretightning force determine control torque, control the mechanical arm fastening bolt.
Preferably, the slope and the system stiffness changed over time by the torque, determines torque coefficient and preload
Power determines control torque, controls the mechanical arm fastening bolt and specifically include according to the torque coefficient and pretightning force:
Acquisition pretightning force-torque arithmetic formula is T=T1+T2=KdF, wherein T is screw-down torque, T1For the spiral shell of screw thread pair
The line moment of resistance, T2For the moment of friction in head rest supporting face, pretightning force F, the pretightning force that connected piece is received are as follows:
Wherein CsSystem global stiffness between being screw thread pair and being connected, P is thread pitch；
Predetermined Kt=dT/dt, obtains
With the relational expression of torque and pretightning force are as follows:
The slope K changed over time by the torquetAnd Cs, determine torque coefficient, Cs=F/ δ, δ are shapes inside bolt
Variable determines the corresponding control torque of pretightning force, controls the mechanical arm fastening bolt.
The controller of the transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention a kind of, comprising:
First computing unit, the inclination angle of bolt fastening sleeve and inclining for bolt for calculating robot's mechanical arm tail end
Angle；
Judging unit, whether the inclination angle for judging the sleeve and the bolt is identical, if they are the same, then controls the machine
Tool arm is directed at bolt, if not identical, the bolt for continuing through the 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 calculates the bolt by torque sensor after controlling the mechanical arm alignment bolt
The slope that changes over time of torque, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
Determination unit, slope and the system stiffness for being changed over time by the torque determine control torque,
Control the mechanical arm fastening bolt.
Preferably, first computing unit specifically includes:
Subelement is modeled, for establishing the attitude angle measurement system of accelerometer and gyroscope；
First computation subunit calculates institute for the attitude angle measurement system by the accelerometer and gyroscope
State the inclination angle of bolt fastening sleeve；
Second computation subunit calculates the inclination angle of the bolt for predicting by the track to the bolt.
Preferably,
The modeling subelement, specifically for establishing the model of acceleration are as follows: αAcc=αextra-g+ba+na, wherein αextra,
g,ba,naRespectively represent external force of gravity acceleration, acceleration of gravity, the deviation and noise of accelerometer, the attitude angle of gyroscope
Measuring system are as follows: ωgyro=ω+bg+ng, wherein bgAnd ngRespectively represent the deviation and noise of gyroscope；
First computation subunit, specifically for passing through the attitude angle measurement system of the accelerometer and gyroscope
System, obtains the optimal estimation at robot inclination angle by Kalman filter measurement, is converted according to corresponding mechanical mechanism, obtains institute
State the inclination angle of bolt fastening sleeve；
Second computation subunit is specifically used for while passing through known bolt historical position data, uses minimum two
Multiplication fits the track of bolt, and the position for carrying out prediction bolt decomposites institute according to the track of the bolt and predicted position
State the inclination angle of bolt predicted position.
Preferably, the determination unit specifically includes:
First determines that subelement, slope and the system stiffness for changing over time by the torque are determined and turned round
Moment coefficient and pretightning force；
Second determines subelement, for determining control torque, controlling the machinery according to the torque coefficient and pretightning force
Arm fastening bolt.
Preferably,
First determination unit is specifically used for obtaining pretightning force-torque arithmetic formula being T=T1+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 F, connected piece
The pretightning force received are as follows:
Wherein CsSystem global stiffness between being screw thread pair and being connected, P is thread pitch；
Predetermined Kt=dT/dt, obtains
With the relational expression of torque and pretightning force are as follows:
The slope K changed over time by the torquetAnd Cs, torque coefficient is determined, according to Cs=F/ δ, δ are in 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 and controller of a kind of transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention, wherein
A kind of control method of transmission line of electricity bolt fastening machine people includes S1: the bolt fastening sleeve of calculating robot's mechanical arm tail end
Inclination angle and bolt inclination angle；S2: judging whether the inclination angle of the sleeve and the bolt is identical, if they are the same, then described in control
Mechanical arm is directed at bolt and returns to the inclination angle that the step S1 carries out the bolt fastening sleeve and the bolt if not identical
Calculating again；S3: after controlling the mechanical arm alignment bolt, the torque of the bolt is calculated at any time by torque sensor
The slope of variation, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；S4: at any time by the torque
The slope of variation and the system stiffness determine control torque, control the mechanical arm fastening bolt.In the present embodiment, consider
To under wind-force effect interference, bolt and robot do the swing of different frequency, therefore trajectory predictions is used to estimate the two position, in conjunction with
Servo motor Multi-articulated harmonious control strategy, to complete its alignment work.Then the variation of bolt internal stress is analyzed, is adopted
Suitable torque is selected with torque coefficient control methods, completes bolt fastening operation, is solved and is lacked efficient, standard in the prior art
True rate is high and transmission line of electricity bolt fastening machine people's control algolithm, most of hot line robot are unable to complete transmission line of electricity
The automatic centering and fastening of upper bolt, hot line robot do not account for the swing feelings of bolt and robot in pneumatic situation
Condition remotely controls alignment by video, and operating efficiency is low, hinders the development of livewire work field automation.And spiral shell
Under the influence of environment, internal stress changes bolt, and only application experience can generate pole to bolt life to twist bolt with constant moment of force
Macrolesion, the technical issues of affecting the reliability of power supply.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is an a kind of reality of the control method of the transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention
Apply the flow diagram of example；
Fig. 2 is an a kind of implementation of the controller of the transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention
The structural schematic diagram of example；
Fig. 3 is a kind of another reality of the controller of the transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention
Apply the structural schematic diagram of example；
Fig. 4 is the hardware structural diagram of the transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention a kind of；
Fig. 5 is the bolt fastening operation end of the transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention a kind of
Actuator structure schematic diagram.
Specific embodiment
The embodiment of the invention provides the control methods and controller of a kind of transmission line of electricity bolt fastening machine people, solve
Lack efficient, accuracy rate height and transmission line of electricity bolt fastening machine people's control algolithm, most of livewire work in the prior art
Robot is unable to complete the automatic centering and fastening of bolt on transmission line of electricity, and hot line robot does not account for pneumatic situation
The swing situation of lower bolt and robot remotely controls alignment by video, and operating efficiency is low, hinders livewire work neck
The development of domain automation.And bolt is under the influence of environment, internal stress changes, and only application experience twists spiral shell with constant moment of force
The technical issues of bolt can generate greatly damage to bolt life, affect the reliability of power supply.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Referring to Fig. 1, the control method of the transmission line of electricity bolt fastening machine people provided in the embodiment of the present invention a kind of
One embodiment includes:
101, the inclination angle at the inclination angle of the bolt fastening sleeve of calculating robot's mechanical arm tail end and bolt；
102, judge whether the inclination angle of the sleeve and the bolt is identical, if so, 103 are thened follow the steps, if it is not, then returning
Return step 101；
103, it controls the mechanical arm and is directed at bolt；
104, after controlling the mechanical arm alignment bolt, become at any time by the torque that torque sensor calculates the bolt
The slope of change, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
105, the slope and the system stiffness changed over time by the torque determines and controls torque, described in control
Mechanical arm fastening bolt.
In the present embodiment, by the inclination angle of the bolt fastening sleeve of calculating robot's mechanical arm tail end and the inclination angle of bolt,
Slope mechanical arm alignment bolt and changed over time by the torque that torque sensor calculates the bolt is controlled, and is led to
The system stiffness of bolt internal screw thread pair described in force sensor measuring is crossed, control torque is determined, controls the mechanical arm fastening bolt,
Solves the swing situation that hot line robot does not account for bolt and robot in pneumatic situation, by video come long-range
Control alignment, operating efficiency is low, hinders the development of livewire work field automation.And bolt is under the influence of environment, interior
Portion's stress changes, and only application experience can generate greatly damage to twist bolt with constant moment of force to bolt life, affects power supply
Reliability the technical issues of.
The above is that a kind of process of the control method of transmission line of electricity bolt fastening machine people is described in detail, below
A kind of detailed process of control method to transmission line of electricity bolt fastening machine people is described in detail, the embodiment of the present invention
Another embodiment of control method of the transmission line of electricity bolt fastening machine people provided a kind of includes:
201, the model of acceleration is established are as follows: αAcc=αextra-g+ba+na, wherein αextra,g,ba,naRespectively represent outside
Acceleration of gravity, acceleration of gravity, the deviation and noise of accelerometer, the attitude angle measurement system of gyroscope are as follows: ωgyro=
ω+bg+ng, wherein bgAnd ngThe deviation and noise for respectively representing gyroscope, obtain robot by Kalman filter measurement and incline
The optimal estimation at angle is converted according to corresponding mechanical mechanism, obtains the inclination angle of the bolt fastening sleeve, while by known
Bolt historical position data fits the track of bolt using least square method, the position of prediction bolt is carried out, according to the spiral shell
The track of bolt and predicted position decomposite the inclination angle of the bolt predicted position；
When it is implemented, the trajectory predictions method of bolt includes: a kind of optimal Kalman filtering of multi-sensor information fusion
Device prediction algorithm, the least square method based on area-of-interest.
In order to complete the alignment work of bolt, need to know the position of bolt and sleeve.In view of both on transmission line of electricity
It is influenced by wind-force, does the nonlinear motion of different frequency, so being difficult to establish the mathematical model of bolt and sleeve, so adopting
The position of the two is obtained with trajectory predictions.The optimal Kalman filter prediction algorithm of multi-sensor information fusion is used herein.
Robot controller establishes the attitude angle measurement system and characteristic model of accelerometer and gyroscope, using Kalman filtering side
Method, robot controller merge the signal from accelerometer and gyroscope, obtain more accurately inclination angle prediction.Add
The model of speed such as following formula:
αAcc=αextra-g+ba+na (1)
Here, αextra,g,ba,naRespectively represent external force of gravity acceleration, acceleration of gravity and is made an uproar at the deviation of accelerometer
Sound.Gyroscope is used to measure the angular speed in X, Y, Z axis.It is not susceptible to external disturbance, but its data is also easy to produce drift.
ωgyro=ω+bg+ng (2)
Here, bgAnd ngRespectively represent the deviation and noise of gyroscope.Kalman filter generates a system by measurement
State optimization estimation.
The design of Kalman filter is divided into two parts: prediction and update.
Predict mean square error equation:
P (k/k-1)=AP (k-1/k-1) AT+Q (3)
Update mean square error equation:
P (k/k)=[I-Kg(k)H]P(k/k-1) (4)
Wherein, I is unit battle array, is then had for this systemKgIt (k) is kalman gain.When system enters k+1 state
When, P (k/k) is exactly the P (k-1/k-1) of formula (3).After obtaining the predicted value of the tilt angle of robot, according to corresponding machine
The conversion of tool mechanism, just can obtain the tilt angle of sleeve.
Predict the motion profile of bolt based on the least square method of area-of-interest, this method is according to the history bit of target
It sets, the motion profile of target object is fitted using least square method, and then obtain x, the prediction bits of moving target on the direction z
It sets.And the search range of target is limited in conjunction with weighting method, and then the search range of downscaled images, rapidly and accurately obtain bolt
Actual position information, meet the requirement of real-time of kinetic control system.
Bolt can get its preceding m position, be fitted spiral shell using least square method during relative to camera motion
The motion profile of bolt, it is possible thereby to predict the position of subsequent time bolt.According to known one group of bolt historical position data
(xi,zi) (i=1,2,3......, m) and bolt movement track curve Pn(x), enable the quadratic sum of error of fitting minimum, i.e.,
Wherein:And ak(k=0,1 ..., n) it is pn(x) constant coefficient.By polynary letter
Number asks the necessary condition of extreme value to obtain:
I.e.
Above formula is about a0,a1,a2,......,amEquation group, a can be solved according to above formula0,a1,a2,......,am, by
This can must describe bolt movement geometric locus Pn(x).According to obtained geometric locus and predicted position, it is pre- bolt can be decomposited
The inclination value that location is set, i.e. θ=X/Z.
The predicted position and physical location of least square method matched curve certainly exist certain error.And bolt is whole
There is the size of oneself in width image, in order to reduce error, it should carry out target within the scope of one centered on predicted position
Search, this picture search range is determined using the weighting method of the different weights of m precision of prediction.Picture search range is such as
Under:
Here DxWith DyThe respectively radius of the width in region of search (i.e. interest region) and height, m are of reference position
Number, b is constant, related to the size of bolt and reference position quantity.
202, judge whether the inclination angle of the sleeve and the bolt is identical, if so, 203 are thened follow the steps, if it is not, then returning
Return step 201；
Judge whether the inclination angle of the sleeve and the bolt is identical, if so, the mechanical arm alignment bolt is controlled, if
It is no, then return step 201.
203, it controls the mechanical arm and is directed at bolt；
If sleeve is identical with the inclination angle of the bolt, in conjunction with servo motor Multi-articulated harmonious control strategy, pass through manipulator
Operation, complete bolt and sleeve alignment work.
204, after controlling the mechanical arm alignment bolt, become at any time by the torque that torque sensor calculates the bolt
The slope of change, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
In the slope that the present apparatus is changed over time using the torque that torque sensor calculates bolt, force sensor measuring is utilized
The system stiffness of bolt internal screw thread pair；
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 F, the pretightning force that connected piece is received are as follows:
Wherein CsSystem global stiffness between being screw thread pair and being connected, P is thread pitch；
Predetermined Kt=dT/dt, obtains
With the relational expression of torque and pretightning force are as follows:
The slope K changed over time by the torquetAnd Cs, determine torque coefficient, Cs=F/ δ, δ are shapes inside bolt
Variable determines the corresponding control torque of pretightning force, controls the mechanical arm fastening bolt.
The fastening working method of bolt uses torque coefficient control methods.Screw-down torque is excessive to frequently can lead to connection failure,
Bolt Tightening Force square is excessive, and gasket, which can be crushed to death, to follow the string or bolt is twisted into two parts, and screw-down torque is too small to be just not achieved fastening and make
With.So controlling the torque of bolt accordingly according to the variation of bolt internal stress is the key that tightening process for a bolt.
According to the screw thread moment of resistance T that classical theory screw-down torque T is for overcoming screw thread pair1And the friction in head rest supporting face
Torque T2Obtained pretightning force-torque arithmetic formula is as follows:
T=T1+T2=KdF (10)
Pretightning force F and nut rotational angle theta are in a linear relationship, the pretightning force that connected piece is received at this time are as follows:
Wherein CsSystem global stiffness between being screw thread pair and being connected, P is thread pitch.
Enable Kt=dT/dt can be obtained
It can thus be concluded that the relational expression of torque and pretightning force is
It can be concluded that KtAnd CsIt is the core of two variables and torque coefficient, Cs=F/ δ, F are the power that bolt is subject to, δ
It is bolt internal distortions amount.If the rigidity of the slope that torque changes over time and system can be obtained, we can the root
According to the corresponding control moment of corresponding pretightning force.K simultaneouslytThe relationship between coefficient of friction is contained, so for not homogeneity
The bolt of amount, so that it may obtain different control moments, the consistency of pretightning force, passes through manipulator when ensure that assembly bolt
Bolt fastening operation is completed in operation.Here, the present apparatus changes over time K using torque sensor calculated torquet, passed using power
Sensor carrys out measuring system rigidity.
In the present embodiment, by view of under wind-force effect interference, bolt and robot do the swing of different frequency, therefore
The two position is estimated using trajectory predictions, in conjunction with servo motor Multi-articulated harmonious control strategy, to complete its alignment work.Then
The variation of bolt internal stress is analyzed, suitable torque is selected using torque coefficient control methods, bolt fastening is completed and makees
Industry solves and lacks efficient, accuracy rate height and transmission line of electricity bolt fastening machine people's control algolithm in the prior art, most of
Hot line robot is unable to complete the automatic centering and fastening of bolt on transmission line of electricity, and hot line robot does not account for
The swing situation of bolt and robot in pneumatic situation remotely controls alignment by video, and operating efficiency is low, hinders band
The development of electric field of operation automation.And bolt, under the influence of environment, internal stress changes, and only application experience is come with perseverance
The technical issues of torque twists bolt can generate greatly damage to bolt life, affect the reliability of power supply.
Referring to Fig. 2, one of the controller of transmission line of electricity bolt fastening machine people provided in an embodiment of the present invention a kind of
Embodiment includes:
First computing unit 301, the inclination angle of the bolt fastening sleeve for calculating robot's mechanical arm tail end and bolt
Inclination angle；
Judging unit 302, whether the inclination angle for judging the sleeve and the bolt is identical, if they are the same, then controls institute
It states mechanical arm alignment bolt and continues through the spiral shell of the first computing unit calculating robot's mechanical arm tail end if not identical
The inclination angle of bolt fastening sleeve and the inclination angle of bolt；
Second computing unit 303 calculates the spiral shell by torque sensor after controlling the mechanical arm alignment bolt
The slope that the torque of bolt changes over time, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
Determination unit 304, slope and the system stiffness for being changed over time by the torque determine that control is turned round
Square controls the mechanical arm fastening bolt.
In the present embodiment, pass through inclining for the bolt fastening sleeve of 301 calculating robot's mechanical arm tail end of the first computing unit
The inclination angle at angle and bolt, judging unit 302 controls the mechanical arm alignment bolt and the second computing unit 303 passes through moment sensing
Device calculates the slope that the torque of the bolt changes over time, and passes through the system of bolt internal screw thread pair described in force sensor measuring
Rigidity, determination unit 304 determine control torque, control the mechanical arm fastening bolt, solving hot line robot does not have
In view of the swing situation of bolt and robot in pneumatic situation, alignment is remotely controlled by video, operating efficiency is low, resistance
The development for having hindered livewire work field to automate.And bolt, under the influence of environment, internal stress changes, only application experience
To twist the technical issues of bolt can generate greatly damage to bolt life, affect the reliability of power supply with constant moment of force.
The above is to a kind of each unit of the controller of transmission line of electricity bolt fastening machine people provided in an embodiment of the present invention
It is described in detail, below carries out a kind of each extra cell of the controller to transmission line of electricity bolt fastening machine people detailed
Description, referring to Fig. 3, another of the controller of a kind of transmission line of electricity bolt fastening machine people provided in an embodiment of the present invention
Embodiment includes:
First computing unit 401, the inclination angle of the bolt fastening sleeve for calculating robot's mechanical arm tail end and bolt
Inclination angle；
First computing unit 401 specifically includes:
Subelement 4011 is modeled, specifically for establishing the model of acceleration are as follows: αAcc=αextra-g+ba+na, wherein αextra,
g,ba,naRespectively represent external force of gravity acceleration, acceleration of gravity, the deviation and noise of accelerometer, the attitude angle of gyroscope
Measuring system are as follows: ωgyro=ω+bg+ng, wherein bgAnd ngRespectively represent the deviation and noise of gyroscope；
First computation subunit 4012, specifically for passing through the attitude angle measurement system of the accelerometer and gyroscope
System, obtains the optimal estimation at robot inclination angle by Kalman filter measurement, is converted according to corresponding mechanical mechanism, obtains institute
State the inclination angle of bolt fastening sleeve；
Second computation subunit 4013 is specifically used for while passing through known bolt historical position data, uses minimum two
Multiplication fits the track of bolt, and the position for carrying out prediction bolt decomposites institute according to the track of the bolt and predicted position
State the inclination angle of bolt predicted position.
Judging unit 402, whether the inclination angle for judging the sleeve and the bolt is identical, if they are the same, then controls institute
It states mechanical arm alignment bolt and continues through the spiral shell of the first computing unit calculating robot's mechanical arm tail end if not identical
The inclination angle of bolt fastening sleeve and the inclination angle of bolt；
Second computing unit 403 calculates the spiral shell by torque sensor after controlling the mechanical arm alignment bolt
The slope that the torque of bolt changes over time, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
Determination unit 404, slope and the system stiffness for being changed over time by the torque determine that control is turned round
Square controls the mechanical arm fastening bolt.
Determination unit specifically includes:
First determines subelement 4041, is specifically used for obtaining pretightning force-torque arithmetic formula being T=T1+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 F, connected piece
The pretightning force received are as follows:
Wherein CsSystem global stiffness between being screw thread pair and being connected, P is thread pitch；
Predetermined Kt=dT/dt, obtains
With the relational expression of torque and pretightning force are as follows:
The slope K changed over time by the torquetAnd Cs, torque coefficient is determined, according to Cs=F/ δ, δ are in bolt
Portion's deformation quantity, determines pretightning force.
Second determines subelement 4042, for determining and controlling torque according to the torque coefficient and pretightning force, described in control
Mechanical arm fastening bolt.
In the present embodiment, by view of under wind-force effect interference, bolt and robot do the swing of different frequency, therefore
By modeling subelement 4011, the first computation subunit 4012, the second computation subunit 4013 using both trajectory predictions estimations
Position combines servo motor Multi-articulated harmonious control strategy by judging unit 402, to complete its alignment work.Then pass through
First determines that subelement 4041 and second determines that subelement 4042 analyzes the variation of bolt internal stress, using torque coefficient
Control methods select suitable torque, complete bolt fastening operation, solve in the prior art lack efficiently, accuracy rate it is high and
Transmission line of electricity bolt fastening machine people's control algolithm, most of hot line robot be unable to complete bolt on transmission line of electricity from
Dynamic centering and fastening, hot line robot do not account for the swing situation of bolt and robot in pneumatic situation, pass through view
Frequency remotely controls alignment, and operating efficiency is low, hinders the development of livewire work field automation.And bolt is in environment shadow
Under sound, internal stress changes, and only application experience can generate greatly damage to twist bolt with constant moment of force to bolt life, influences
The technical issues of reliability of power supply.
Due to lacking efficient, accuracy rate height and transmission line of electricity bolt fastening machine people's control algolithm in the prior art, greatly
Part hot line robot is unable to complete the automatic centering and fastening of bolt on transmission line of electricity, and hot line robot is not examined
The swing situation for considering bolt and robot in pneumatic situation remotely controls alignment by video, and operating efficiency is low, hinders
The development of livewire work field automation.And bolt, under the influence of environment, internal stress changes, and only application experience is come
Greatly damage can be generated to bolt life by twisting bolt with constant moment of force, affect the reliability of power supply.Therefore, the invention proposes one
Kind is used for the Visual servoing control algorithm of transmission line of electricity bolt fastening machine people, with effective search bolt, accurately identifies bolt, mentions
The efficiency of high transmission line of electricity bolt fastening work.
In order to solve the above technical problems, the invention adopts the following technical scheme:
The fastening of a kind of control algolithm of transmission line of electricity bolt fastening machine people, centering strategy and bolt including bolt is calculated
Method, can automatic centering, fasten drainage plate on bolt.
Bolt fastening machine people, which is aligned by bolt with the control strategy of fastening, guarantees that bolt is stable on the transmission line
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 tracking.After tracking bolt, bolt and robot when wind is put to middle strategy；For bolt internal stress change into
Row Torque Control.Wherein centering control includes: the trajectory predictions of bolt；The trajectory predictions of robot.Bolt Torque controls
The slope that torque changes over time；The determination of system stiffness.
Since climate change causes transmission line of electricity to vibrate, robot and bolt do the nonlinear motion of different frequency, it is difficult to
Establish the mathematical model of the two.In order to be directed at bolt, using a kind of optimal Kalman filter prediction of multi-sensor information fusion
Algorithm predicts the motion profile of video camera.The track of bolt uses the least square method based on area-of-interest, using part
Search bolt movement position requires to meet system real-time response.
The frictional force of different screw thread pairs be it is uncertain, bolt on the line by wind pendulum and temperature influenced to occur
It loosens, internal stress changes, and only improving control torque precision not can guarantee the consistency of pretightning force, in order to solve this
Problem proposes the control method of torque coefficient.
The vision algorithm of transmission line of electricity bolt fastening machine people provided in an embodiment of the present invention a kind of, machine needed for operation
Device people hardware configuration such as attached drawing 4 shows: transmission line of electricity bolt fastening Work robot, overall structure include robot body and spiral shell
Bolt terminal operation actuator, wherein robot body is made of cabinet, traveling wheel 3.1 and locking folder 3.2 etc., robot case
Body has the traveling wheel 3.1 that can be walked on conducting wire 3.3, and the locking folder 3.2 for being mounted on traveling wheel side can lock conducting wire 3.3
To guarantee that robot smoothly moves on line.There is equipotential wheel 3.4 on the traveling wheel left side, to guarantee robot in transmission line of electricity
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 fastens work.
When it is implemented, the hardware requirement as this algorithm, the bolt fastening Work implement, structure include mostly certainly
By degree mechanical arm, bolt fastening end effector.Wherein multi-degree-of-freemechanical mechanical arm is made of 3 joints, respectively swinging joint
3.5.1, telescopic joint 3.5.2, rotary joint 3.5.3, multi-joint combination cooperate, and bolt operation end can be driven to execute
Device is to any position.The bolt fastening end effector includes 4.2,2 rotating electric machine 4.1, opposite telescope motor spanner sets
4.3,2, cylinder nearly burnt cameras 4.4, structure is as shown in Fig. 5.Transmission line of electricity bolt fastening machine people is controlled by mechanical arm
Bolt fastening end effector, can be completed assigned work.2 nearly burnt cameras are installed on the rear end center position of wrench socket
It sets, two wrench sockets of end effector are driven by rotating electric machine to be rotated, and opposite movement is driven by opposite telescope motor, fixed
After the completion of position, fine tuning, i.e., when bolt appears in image centre, telescope motor drive sleeve head is rotated to bolt is caught in
Bolt fastening work is completed in the rotation of motor driven wrench socket.
When it is implemented, 2 cameras are that nearly burnt camera is put in the end effector of bolt fastening electrification apparatus for work
It sets in sleeve inner, it, can be by the unrelated certain journey of complex background while acquisition clarity higher short distance bolt image
The virtualization of degree, due to the influence of wind pendulum, manipulator can adjust sleeve portion, bolt is made to appear in camera center, be later period spiral shell
Bolt clamps, fastening work provides advantage.
When it is implemented, 2 nearly burnt cameras are installed on the rear end central location of wrench socket, completed in positioning, fine tuning
Afterwards, i.e., when bolt appears in image centre, rotating electric machine drive sleeve head drives to bolt, opposite telescope motor is caught in
Bolt fastening work is completed in wrench socket rotation.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (6)
1. a kind of control method of transmission line of electricity bolt fastening machine people characterized by comprising
S1: the inclination angle of the bolt fastening sleeve of calculating robot's mechanical arm tail end and the inclination angle of bolt；
S2: judging whether the inclination angle of the sleeve and the bolt is identical, if they are the same, then controls the mechanical arm alignment bolt,
If not identical, the calculating again that the step S1 carries out the inclination angle of the bolt fastening sleeve and the bolt is returned；
S3: it after controlling the mechanical arm alignment bolt, is changed over time by the torque that torque sensor calculates the bolt
Slope, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
S4: the slope and the system stiffness changed over time by the torque determines control torque, controls the mechanical arm
Fastening bolt；
The step S1 is specifically included:
The attitude angle measurement system for establishing accelerometer and gyroscope calculates the inclination angle of the bolt fastening sleeve, leads to simultaneously
It crosses and the track of the bolt is predicted, calculate the inclination angle of the bolt；
The step S1 is specifically included:
Establish the model of acceleration are as follows: αAcc=αextra-g+ba+na, wherein αextra,g,ba,naRespectively represent external force of gravity acceleration
Degree, acceleration of gravity, the deviation and noise of accelerometer, the attitude angle measurement system of gyroscope are as follows: ωgyro=ω+bg+ng,
Wherein bgAnd ngThe deviation and noise for respectively representing gyroscope obtain the optimal of robot inclination angle by Kalman filter measurement
Estimation is converted according to corresponding mechanical mechanism, obtains the inclination angle of the bolt fastening sleeve；
Simultaneously by known bolt historical position data, the track of bolt is fitted using least square method, carries out prediction spiral shell
The position of bolt decomposites the inclination angle of the bolt predicted position according to the track of the bolt and predicted position.
2. the control method of transmission line of electricity bolt fastening machine people according to claim 1, which is characterized in that the step
S4 is specifically included:
The slope and the system stiffness changed over time by the torque, determines torque coefficient and pretightning force, according to described
Torque coefficient and pretightning force determine control torque, control the mechanical arm fastening bolt.
3. the control method of transmission line of electricity bolt fastening machine people according to claim 2, which is characterized in that by described
The slope and the system stiffness that torque changes over time, determine torque coefficient and pretightning force, according to the torque coefficient and in advance
Clamp force determines control torque, controls the mechanical arm fastening bolt and specifically include:
Acquisition pretightning force-torque arithmetic formula is T=T1+T2=KdF, wherein T is screw-down torque, T1It is hindered for the screw thread of screw thread pair
Torque, T2For the moment of friction in head rest supporting face, pretightning force F, the pretightning force that connected piece is received are as follows:
Wherein CsSystem global stiffness between being screw thread pair and being connected, P is thread pitch；
Predetermined Kt=dT/dt, obtains
With the relational expression of torque and pretightning force are as follows:
The slope K changed over time by the torquetAnd Cs, determine torque coefficient, Cs=F/ δ, δ are bolt internal distortions amounts,
It determines the corresponding control torque of pretightning force, controls the mechanical arm fastening bolt.
4. a kind of controller of transmission line of electricity bolt fastening machine people characterized by comprising
First computing unit, the inclination angle of the bolt fastening sleeve for calculating robot's mechanical arm tail end and the inclination angle of bolt；
Judging unit, whether the inclination angle for judging the sleeve and the bolt is identical, if they are the same, then controls the mechanical arm
It is directed at bolt and continues through the bolt fastening set of the first computing unit calculating robot's mechanical arm tail end if not identical
The inclination angle of cylinder and the inclination angle of bolt；
Second computing unit calculates the torsion of the bolt by torque sensor after controlling the mechanical arm alignment bolt
The slope that square changes over time, and pass through the system stiffness of bolt internal screw thread pair described in force sensor measuring；
Determination unit, slope and the system stiffness for being changed over time by the torque determine control torque, control
The mechanical arm fastening bolt；
First computing unit specifically includes:
Subelement is modeled, for establishing the attitude angle measurement system of accelerometer and gyroscope；
First computation subunit calculates the spiral shell for the attitude angle measurement system by the accelerometer and gyroscope
The inclination angle of bolt fastening sleeve；
Second computation subunit calculates the inclination angle of the bolt for predicting by the track to the bolt；
The modeling subelement, specifically for establishing the model of acceleration are as follows: αAcc=αextra-g+ba+na, wherein αextra,g,ba,
naRespectively represent external force of gravity acceleration, acceleration of gravity, the deviation and noise of accelerometer, the attitude angle measurement of gyroscope
System are as follows: ωgyro=ω+bg+ng, wherein bgAnd ngRespectively represent the deviation and noise of gyroscope；
First computation subunit is led to specifically for the attitude angle measurement system by the accelerometer and gyroscope
It crosses Kalman filter measurement and obtains the optimal estimation at robot inclination angle, converted according to corresponding mechanical mechanism, obtain the spiral shell
The inclination angle of bolt fastening sleeve；
Second computation subunit is specifically used for while passing through known bolt historical position data, uses least square method
The track of bolt is fitted, the position for carrying out prediction bolt decomposites the spiral shell according to the track of the bolt and predicted position
The inclination angle of bolt predicted position.
5. the controller of transmission line of electricity bolt fastening machine people according to claim 4, which is characterized in that described determining single
Member specifically includes:
First determines subelement, and slope and the system stiffness for being changed over time by the torque determine torque system
Several and pretightning force；
Second determines subelement, for determining control torque, it is tight controlling the mechanical arm according to the torque coefficient and pretightning force
Fixing bolt.
6. the controller of transmission line of electricity bolt fastening machine people according to claim 5, which is characterized in that
First determination unit is specifically used for obtaining pretightning force-torque arithmetic formula being T=T1+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 F, what connected piece was received
Pretightning force are as follows:
Wherein CsSystem global stiffness between being screw thread pair and being connected, P is thread pitch；
Predetermined Kt=dT/dt, obtains
With the relational expression of torque and pretightning force are as follows:
The slope K changed over time by the torquetAnd Cs, torque coefficient is determined, according to Cs=F/ δ, δ are shapes inside bolt
Variable determines pretightning force.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109396812B (en) * | 2017-08-17 | 2020-12-18 | 上海蔚来汽车有限公司 | Bolt locking method, battery replacement pack installation system and battery replacement pack installation method |
| CN109599787A (en) * | 2018-11-21 | 2019-04-09 | 宁波恒晨电力建设有限公司 | Transmission line of electricity bolt tightening method and system and computer readable storage medium |
| CN111168367A (en) * | 2020-01-14 | 2020-05-19 | 新昌县新明实业有限公司 | Bolt centering control method for bolt fastening robot of power transmission line |
| CN111390547B (en) * | 2020-05-18 | 2021-07-02 | 南通大学 | Bolt pretightening force loading method |
| CN112077584B (en) * | 2020-09-02 | 2021-06-25 | 南京航空航天大学 | Method for assembling bolt connection of composite material component |
| CN114473469A (en) * | 2022-03-09 | 2022-05-13 | 国网智能科技股份有限公司 | Overhead transmission line drainage plate bolt fastening device, robot and method |
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