CN107443355B - Mechanical arm for detecting partial discharge of switch cabinet and control method - Google Patents
Mechanical arm for detecting partial discharge of switch cabinet and control method Download PDFInfo
- Publication number
- CN107443355B CN107443355B CN201710660818.XA CN201710660818A CN107443355B CN 107443355 B CN107443355 B CN 107443355B CN 201710660818 A CN201710660818 A CN 201710660818A CN 107443355 B CN107443355 B CN 107443355B
- Authority
- CN
- China
- Prior art keywords
- joint
- partial discharge
- sensor
- discharge detection
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 204
- 210000000707 wrist Anatomy 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 50
- 210000002310 elbow joint Anatomy 0.000 claims description 32
- 210000000323 shoulder joint Anatomy 0.000 claims description 26
- 210000003857 wrist joint Anatomy 0.000 claims description 22
- 238000003825 pressing Methods 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39483—Control angle of rotation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39531—Several different sensors integrated into hand
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39535—Measuring, test unit build into hand, end effector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39578—Axis wrist
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm for detecting partial discharge of a switch cabinet and a control method, wherein a lifting joint, a sliding joint, a shoulder rotating joint, an elbow rotating joint and a wrist rotating joint are sequentially connected, the wrist rotating joint is connected with a partial discharge detection sensor through a flexible connecting mechanism, the sliding joint is arranged perpendicular to the axis of the lifting joint, the sliding joint and the lifting joint respectively drive the partial discharge detection sensor to move relative to the switch cabinet in the vertical direction and the horizontal direction, and the relative positions of the partial discharge detection sensor and the switch cabinet are unchanged through the rotating matching of the shoulder rotating joint, the elbow rotating joint and the wrist rotating joint, so that the positions of detection points and the postures of the partial discharge detection sensor are further adjusted, and accurate detection is realized.
Description
Technical Field
The invention relates to the field of electric power automation and manufacturing, in particular to a mechanical arm for detecting partial discharge of a switch cabinet and a control method.
Background
In an electric power system, metal-enclosed switchgear is widely used, and the insulation performance of electrical equipment is reduced due to high temperature, voltage, vibration and other chemical actions in the operation process of the electrical equipment, so that a partial discharge phenomenon is generated. The partial discharge accelerates the deterioration of the insulation, and causes a large economic loss to the power system. Methods for detecting partial discharge of a switchgear generally include an ultrahigh frequency detection method, a geoelectric wave detection method, and an ultrasonic detection method. The ultrahigh frequency method and the ground wave method require that a sensor is tightly attached to the surface of a switch cabinet to detect a specific position, and the ultrasonic detection method requires that the sensor detects along a gap of the switch cabinet. The ultrahigh frequency method detection portion is generally made of glass, while the ground electric wave method detection portion is made of metal, so that the requirements for the adhesion degree of the sensor are different. At present, the detection process is generally realized manually, so that the problems that the detection period is long, the detection cost is high, the safety of workers is difficult to guarantee, the detection quality is difficult to guarantee due to the influence of the operation level and subjective factors of the workers and the like exist.
Many research institutions have conducted some research on the partial discharge detection technology of robot-based power equipment, for example, patent 201610938100.8 mentions an apparatus and a method for controlling partial discharge detection of an inspection robot, but the patent does not describe a specific implementation of a robot arm, and in addition, according to the description of the figure (fig. 1), the robot arm has difficulty covering all positions of the equipment to be detected. The invention patent 201410562419.6 provides a transformer substation indoor screen cabinet detection device and a detection method (figure 2) based on an inspection robot, the device adopts a rail operation mode, the activity space is limited, and only a single indoor screen cabinet can be detected.
Disclosure of Invention
The invention provides a mechanical arm for detecting partial discharge of a switch cabinet and a control method, aiming at solving the problems, and the mechanical arm and the control method can ensure the reliable detection of ultrahigh frequency and earth electric wave sensors.
The invention aims to provide a mechanical arm for detecting partial discharge of a switch cabinet, which can be arranged on any mobile robot platform to replace manual partial discharge detection of the switch cabinet.
A second object of the present invention is to provide a control method for the above-mentioned robot arm, which can precisely locate the detection position of the switch cabinet and set the pressing force of the sensor and the detection portion, thereby ensuring reliable detection of the uhf and the earth-electric wave sensors; meanwhile, the sensor can move along the gap of the switch cabinet by the method, so that the reliable detection of the ultrasonic sensor is ensured.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a arm for cubical switchboard partial discharge detection, is including the lift joint, slip joint, shoulder rotary joint, elbow rotary joint and the wrist rotary joint that connect gradually, the wrist rotary joint is connected with partial discharge detection sensor through flexible coupling mechanism, slip joint arranges with the lift joint axis is perpendicular, slip joint and lift joint drive partial discharge detection sensor respectively to the cubical switchboard vertical and the relative motion on the horizontal direction, through shoulder rotary joint, elbow rotary joint and wrist rotary joint's rotation cooperation, realize when partial discharge detection sensor and cubical switchboard relative position do not change, further adjust the gesture of check point position and partial discharge detection sensor, realize the accurate detection.
Furthermore, the shoulder rotating joint is connected with the sliding joint, and the shoulder rotating joint is perpendicular to the axis of the sliding joint.
Furthermore, the elbow rotary joint is connected with the shoulder rotary joint, the elbow rotary joint is arranged in parallel with the axis of the shoulder rotary joint, and after the height of the lifting joint is determined, the position of any detection point on the surface of the detected equipment is uniquely determined by rotating the elbow rotary joint and the shoulder rotary joint.
Furthermore, the rotation of the wrist rotary joint changes the posture of the partial discharge detection sensor in the direction parallel to the surface of the detected equipment, and the flexible connection mechanism finely adjusts the posture of the partial discharge detection sensor in the direction perpendicular to the surface of the detected equipment, so that the partial discharge detection sensor can be tightly attached to the surface of the detected equipment when the partial discharge detection sensor is not completely parallel to the surface of the detected equipment.
Furthermore, a plurality of pressure sensors are further installed on the periphery of the surface of the partial discharge detection sensor and used for measuring the pressure of the partial discharge detection sensor contacting with the surface of the detected equipment so as to ensure reliable attachment of the partial discharge detection sensor.
Further, the partial discharge detection sensor is also provided with a distance detection sensor for measuring the distance between the surface of the sensor and the surface of the detected equipment, so as to control the sliding distance of the sliding joint.
As those skilled in the art will appreciate, in the robot arm, the lifting joint, the sliding joint, the shoulder, the elbow, and the wrist rotating joint all include a motor, a reduction gear box, a transmission mechanism, etc. to realize the lifting, sliding, or rotating motion and the positioning motion.
Preferably, an incremental encoder is mounted on an output shaft of the motor and used for accurately measuring the rotating position of the joint; and the output end of the transmission mechanism is provided with an absolute encoder for measuring the movement distance of the lifting joint and the sliding joint and the rotating angle of the shoulder joint, the elbow joint and the wrist joint.
Of course, those skilled in the art can fully and effectively modify the above-mentioned mechanism based on the working principle of the present invention, such as adding a position-limiting mechanism to achieve better position limitation, adding a shock-absorbing device to make the joint move without hindrance and vibration, etc., which all belong to the modifications made by those skilled in the art in the light of the present invention and should fall within the protection scope of the present invention.
Based on the control method of the mechanical arm, if the partial discharge detection sensor is an ultrahigh frequency and earth electric wave sensor, the method specifically comprises the following steps:
(1) judging whether the lifting joint needs to be lifted or not according to the specified detection position and the size of the mechanical arm, if so, calculating the height of the lifting joint needing to be lifted, and controlling the lifting joint to move to the required position;
(2) according to the designated target detection position and the target posture of the partial discharge detection sensor, the angles to which the shoulder joint, the elbow joint and the wrist joint need to rotate are calculated, and each joint of the mechanical arm is controlled to rotate to the target posture angle at a set rotation speed;
(3) controlling the sliding joint to move according to the distance between the surface of the sensor and the surface of the switch cabinet, which is measured by the distance sensor, so that the partial discharge detection sensor gradually approaches to the surface of the switch cabinet until the partial discharge detection sensor is tightly attached to the surface of the switch cabinet;
(4) starting the partial discharge detection sensor to complete one-time partial discharge detection, and controlling the horizontal sliding joint to move reversely so that the partial discharge detection sensor is gradually far away from the surface of the switch cabinet;
(5) and (4) repeating the steps (1) to (4) until all ultrahigh frequency detection and earth electric wave detection are completed.
In the step (1), the designated target detection position is P (x, y), the rising height of the lifting joint is assumed to be 0, and when the elbow joint is completely unfolded, namely the elbow joint rotation angle theta is2To 0, the maximum height Y that the robot arm can reach is foundmax：
In the formula, L1,L3,L4The height of the lifting joint body, the length of the shoulder joint connecting rod and the length of the elbow joint connecting rod are respectively, and x is an x-axis coordinate of a specified detection position;
comparison of YmaxWith the Y-axis coordinate of the designated detection location, if YmaxIf Y is less than Y, the lifting joint needs to be lifted, and the lifting height is at least h ═ Y-Ymax(ii) a If Y ismaxAnd y is larger than or equal to y, the lifting joint does not need to be lifted, namely h is 0.
In the step (2), the angle to which the elbow joint needs to be rotated:
angle to which the shoulder joint needs to be rotated:
and (3) calculating the angle to which the wrist joint needs to rotate according to the posture of the sensor:
wherein L is1,L3,L4Respectively the height of the lifting joint body, the length of the shoulder joint connecting rod and the length of the elbow joint connecting rod, wherein x is an x-axis coordinate of a specified detection position, and theta1，θ2，θ3Respectively being shoulder joint and elbowTarget rotation angles of the hip joint and the wrist joint,
the target attitude angle of the sensor is the included angle between the central axis of the sensor and the x-axis direction.
In the step (2), synchronous rotation of each joint is ensured, and the rotation speed of each joint is set, specifically: and specifying the time t for the robot arm end sensor to move from the current position to the target position, wherein the required rotation speeds of the shoulder joint, the elbow joint and the wrist joint are respectively as follows:
in the formula, theta10，θ20，θ30The current rotation angles of the shoulder joint, the elbow joint and the wrist joint are respectively.
In the step (3), the sliding joint is controlled to move, so that the partial discharge detection sensors gradually approach the surface of the switch cabinet until one of the pressure sensors detects a pressure value; and reducing the movement speed of the horizontal sliding joint to enable the partial discharge detection sensors to gradually cling to the surface of the switch cabinet until the average pressure of all the pressure sensors reaches a set value.
In the step (3), the speed of the sliding joint motion is v2＝Kp×(D-d)×δ+Kf(F-f)
Wherein v is2For the speed of movement of the horizontal sliding joint, Kp，KfThe control coefficients of the movement distance and the pressing force are respectively, d is the actual movement distance of the horizontal sliding joint, F is the average value of the pressures detected by the four pressure sensors, and F is the average value of the pressure sensorsThe pressure set value is delta, the weight of the distance error in the motion speed of the horizontal sliding joint is calculated, when f is equal to 0, delta is equal to 1, and the motion speed is mainly determined by the distance error; when f is>When the pressure is 0, delta is 0, and the movement speed is only determined by the pressure error.
Based on the control method of the mechanical arm, if the partial discharge detection sensor is used for ultrasonic detection, the method specifically comprises the following steps:
(a) judging whether the lifting joint needs to be lifted according to the specified detection path end point position and the size of the mechanical arm, if so, calculating the height of the lifting joint needing to be lifted, and controlling the lifting joint to move to the required position;
(b) controlling the horizontal sliding joint to move according to the distance between the surface of the sensor and the surface of the switch cabinet, which is measured by the distance sensor, so that the partial discharge detection sensor is gradually close to the surface of the switch cabinet;
(c) starting an ultrasonic sensor and starting partial discharge detection;
(d) controlling the tail end of the mechanical arm to carry a sensor to move from the current position to the specified position along a linear path, and sequentially calculating the rotation angles of the shoulder, elbow and wrist joints of the mechanical arm corresponding to each path point, the movement time of each joint between two adjacent path points and the rotation speed of each joint between two adjacent path points;
(e) starting from the current position of the specified mechanical arm tail end detection path, sequentially moving each joint of the mechanical arm at set time intervals according to the calculated rotation angle and rotation speed corresponding to each path point until the tail end of the mechanical arm reaches the detection path end point;
(f) turning off the ultrasonic sensor, completing one-time ultrasonic partial discharge detection, and controlling the horizontal sliding joint to move reversely to enable the partial discharge detection sensor to be gradually far away from the surface of the switch cabinet;
(g) and (f) repeating the steps (a) to (f) and carrying out next ultrasonic partial discharge detection until the detection of all gaps of the switch cabinet is completed.
The step (d) specifically includes: the total length of the detection path of the tail end of the mechanical arm is worked out according to the coordinates of the starting point of the detection path of the tail end of the mechanical arm, namely the coordinates of the current position and the coordinate position of the appointed detection point of the detection path of the tail end of the mechanical arm, the total time of the movement of the mechanical arm is worked out by combining the appointed movement speed, one path point is selected at regular intervals on the detection path of the tail end of the mechanical arm, the coordinate value of each path point is worked out, the rotation angle of the shoulder, the elbow and the wrist joint of the mechanical arm corresponding to each path point is worked out, the movement time of each joint between every.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides a multi-degree-of-freedom mechanical arm and a control method thereof, wherein the mechanical arm can be arranged on any mobile robot platform to replace manual work to realize partial discharge detection of a switch cabinet;
(2) the mechanical arm provided by the invention is simple in structure, and the vertical lifting joint, the horizontal sliding joint and the three plane rotating joints are independent and do not interfere with each other, so that the control difficulty is reduced, and higher positioning accuracy is facilitated;
(3) the invention can flexibly expand the operation range of the mechanical arm through the design of the lifting joint, so that the mechanical arm can adapt to robot platforms with different heights and high-voltage switch cabinets with different heights and almost can cover all types of switch cabinets at present;
(4) the invention ensures the reliable attachment of the partial discharge detection sensor and the surface of the switch cabinet by the design of the flexible connecting mechanism and the four pressure sensors and the control of the adhesion force of the partial discharge detection sensor and the surface of the switch cabinet, thereby ensuring the reliability of ultrahigh frequency and earth electric wave partial discharge detection;
(5) the ultrasonic partial discharge detection of the switch cabinet can be realized by the linear path detection method, and the distance between the surface of the partial discharge detection sensor and the surface of the switch cabinet is detected by the distance sensor, so that the partial discharge detection sensor cannot mistakenly touch equipment such as a switch, an indicator light and the like on the surface of the switch cabinet in the detection process, and the safety of the detection process is improved;
(6) the mechanical arm is convenient to use and wide in applicable range, and partial discharge detection of power equipment such as GIS equipment and transformers in a transformer substation can be realized by applying the mechanical arm designed by the invention to a proper robot platform.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a diagram of one embodiment of the prior art;
FIG. 2 is a diagram of a second prior art embodiment;
FIG. 3 is a schematic view of a robotic arm of the present invention;
FIG. 4 is a schematic diagram of the mechanical arm structure;
FIG. 5 is a schematic diagram of a robot arm joint angle solution method;
FIG. 6 is a flow chart of UHF and earth-electric wave detection;
fig. 7 is a flowchart of ultrasonic partial discharge detection.
The system comprises a lifting joint 1, a horizontal sliding joint 2, a shoulder rotating joint 3, an elbow rotating joint 4, a wrist rotating joint 5, a flexible connecting mechanism 6, a partial discharge detection sensor 7, a pressure sensor 8, an ultrasonic detection sensor 9, a distance sensor 10, an ultrahigh frequency detection sensor 11 and an earth electric wave detection sensor 12
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As introduced in the background art, in the prior art, when the partial discharge of the power equipment is detected, the mechanical arm is difficult to cover all positions of the detected equipment or the moving space is limited, and only a single indoor screen cabinet can be detected. The invention also provides a method for detecting partial discharge of the power equipment by using the mechanical arm, the method can accurately position the detection position of the switch cabinet and set the pressing force between the sensor and the detection part, thereby ensuring the reliable detection of the ultrahigh frequency and earth electric wave sensor; the method can also enable the sensor to move along the gap of the switch cabinet, thereby ensuring the reliable detection of the ultrasonic sensor.
As shown in fig. 3, a robot arm for partial discharge detection of electric power equipment includes: a lifting joint, a sliding joint, three rotating joints of a shoulder, an elbow and a wrist, a partial discharge detection sensor and the like.
The lifting joint is arranged on the mobile robot platform. The mechanical arm part arranged above the lifting joint can be driven to rise or fall through the movement of the lifting joint, so that the device can be suitable for mobile robot platforms with different heights and detected equipment with different heights.
The sliding joint is connected with the lifting joint, and the sliding joint is perpendicular to the axis of the lifting joint. The movement of the sliding joint can drive the three rotary joints of the shoulder, the elbow and the wrist and the partial discharge detection sensor to move, so that the partial discharge detection sensor is close to or far away from the detected equipment.
The shoulder rotating joint is connected with the sliding joint, and the axis of the shoulder rotating joint is perpendicular to the axis of the sliding joint.
The elbow rotary joint is connected with the shoulder rotary joint, and the elbow rotary joint and the shoulder rotary joint are arranged in parallel.
After the height of the lifting joint is determined, the positions of any detection points on the surface of the detected equipment can be uniquely determined by rotating the elbow rotating joint and the shoulder rotating joint.
The wrist rotary joint is connected with the elbow rotary joint.
The partial discharge detection sensor is connected with the wrist rotary joint through a flexible connection mechanism.
As shown in fig. 4, by rotating the wrist rotary joint, the attitude of the partial discharge detection sensor in the direction parallel to the surface of the device to be detected can be changed.
The flexible connecting mechanism can finely adjust the posture of the partial discharge detection sensor in the direction perpendicular to the surface of the detected equipment, so that the partial discharge detection sensor can be tightly attached to the surface of the detected equipment when the partial discharge detection sensor is not completely parallel to the surface of the detected equipment.
The partial discharge detection sensor includes, but is not limited to, an ultrasonic sensor, a ground wave sensor, and an ultra high frequency sensor.
Four pressure sensors are further mounted on the periphery of the surface of the partial discharge detection sensor and used for measuring the pressure of the partial discharge detection sensor in contact with the surface of the detected equipment so as to ensure reliable attachment of the partial discharge detection sensor.
The partial discharge detection sensor is also provided with a distance detection sensor for measuring the distance between the surface of the sensor and the surface of the detected equipment, thereby controlling the sliding distance of the sliding joint.
In the mechanical arm, the lifting joint, the sliding joint, the shoulder, the elbow and the wrist rotating joint all comprise a motor, a reduction gearbox, a transmission mechanism and other parts.
And an incremental encoder is arranged on an output shaft of the motor and used for accurately measuring the rotating position of the joint.
And the output end of the transmission mechanism is provided with an absolute encoder for measuring the movement distance of the lifting joint and the sliding joint and the rotating angle of the shoulder joint, the elbow joint and the wrist joint.
As shown in fig. 6, a robot arm control method for partial discharge detection of electric power equipment is divided into two parts according to differences of detection sensors. For ultrahigh frequency and earth electric wave sensors, the detection position needs to be positioned, the contact pressure needs to be controlled, and no requirement is made on an intermediate motion path; for ultrasonic sensors, contact with the switchgear is not required, but detection along the switchgear gap is required, so that a straight line is required for the movement path.
For uhf and earth wave detection, the coordinates of the detection location and the time or speed of movement to the detection location are specified. The method specifically comprises the following steps:
step 1: and judging whether the lifting joint needs to be lifted or not according to the specified detection position and the size of the mechanical arm, if so, calculating the height of the lifting joint needing to be lifted, and controlling the lifting joint to move to the required position.
The specific method comprises the following steps:
for a given target detection position P (x, Y), assuming that the elevation height of the elevation joint is 0, the maximum height Y that the robot arm can reach is obtainedmax(when the elbow joint is fully deployed, i.e., the elbow joint is rotated by an angle θ2At 0).
In the formula, L1,L3,L4The height of the lifting joint body, the length of the shoulder joint connecting rod and the length of the elbow joint connecting rod are respectively, and x is an x-axis coordinate of a specified detection position.
Comparison of YmaxWith the Y-axis coordinate of the designated detection location, if YmaxIf Y is less than Y, the lifting joint needs to be lifted, and the lifting height is at least h ═ Y-Ymax(ii) a If Y ismaxAnd y is larger than or equal to y, the lifting joint does not need to be lifted, namely h is 0.
Step 2: and according to the designated target detection position and the sensor target posture, the angles to which the shoulder joint, the elbow joint and the wrist joint need to rotate are calculated, and each joint of the mechanical arm is controlled to rotate to the angle.
The specific method comprises the following steps:
firstly, the angle to which the elbow joint needs to rotate is calculated:
then, the angle to which the shoulder joint needs to rotate is calculated:
and finally, calculating the angle to which the wrist joint needs to rotate according to the posture of the sensor:
in the above formula, θ1，θ2，θ3Respectively the target rotation angles of the shoulder joint, the elbow joint and the wrist joint,
the target attitude angle of the sensor is the included angle between the central axis of the sensor and the x-axis direction.
In this step, in order to rotate the respective joints synchronously, the rotation speeds of the respective joints are also set, and in order to realize this step, first, the time t at which the robot arm end sensor moves from the current position to the target position should be specified. The required rotation speeds of the shoulder joint, the elbow joint and the wrist joint are respectively as follows:
in the formula, theta10，θ20，θ30The current rotation angles of the shoulder joint, the elbow joint and the wrist joint are respectively.
And step 3: controlling the horizontal sliding joint to move according to the distance D between the surface of the sensor and the surface of the switch cabinet, which is measured by the distance sensor, so that the partial discharge detection sensor is gradually close to the surface of the switch cabinet until one pressure sensor detects a pressure value; and reducing the movement speed of the horizontal sliding joint to enable the partial discharge detection sensors to gradually cling to the surface of the switch cabinet until the average pressure of the four pressure sensors reaches a set value.
The pressure set value of the pressure sensor is set according to the material of the detection part.
In this step, the movement speed of the horizontal sliding joint can be obtained by the following formula:
v2＝Kp×(D-d)×δ+Kf(F-f)
wherein v is2For the speed of movement of the horizontal sliding joint, Kp，KfThe control coefficients of the movement distance and the pressing force are respectively, d is the actual movement distance of the horizontal sliding joint, F is the average value of the pressures detected by the four pressure sensors, and F is the average pressure set value of each pressure sensor. Delta is the weight of the distance error in the motion speed of the horizontal sliding joint, when f is equal to 0, delta is equal to 1, and the motion speed is mainly determined by the distance error; when f is>When 0, equal to 0, the moving speed is only determined by the pressure error.
And 4, step 4: and starting the partial discharge detection sensor to finish one-time partial discharge detection.
And 5: and controlling the horizontal sliding joint to move reversely, so that the partial discharge detection sensor is gradually far away from the surface of the switch cabinet. In the step, in order to improve the detection efficiency as much as possible and avoid mistakenly touching equipment on the switch cabinet, the partial discharge detection sensor is far away from the surface of the switch cabinet by 5cm, so that the requirement can be met.
And (5) repeating the steps 1-5, and carrying out partial discharge detection on the next detection part until all ultrahigh frequency detection and earth electric wave detection are completed.
As shown in fig. 7, for ultrasonic detection, coordinates of the end point position of the detection path, the posture of the partial discharge detection sensor during the movement process, and the speed of the movement along the detection path (with the current position as the starting point) need to be specified, which specifically includes the following steps:
step 1: and judging whether the lifting joint needs to be lifted or not according to the appointed detection path end point position and the mechanical arm size. If necessary, the height of the lifting joint needing to be lifted is calculated, and the lifting joint is controlled to move to the required position. (Simultaneous ultrahigh frequency and earth electric wave detection method step 1)
Step 2: and controlling the horizontal sliding joint to move according to the distance D between the surface of the sensor and the surface of the switch cabinet, which is measured by the distance sensor, so that the partial discharge detection sensor is gradually close to the surface of the switch cabinet.
According to the requirements of the ultrasonic sensor, the sensor is not required to be attached to the surface of the switch cabinet, and the distance between the sensor and the surface of the switch cabinet is kept within 1 cm.
And step 3: the ultrasonic sensor is started to start partial discharge detection.
And 4, step 4: and controlling the tail end of the mechanical arm to carry the sensor to move from the current position to the specified position along a linear path.
The specific method comprises the following steps:
1) first, the total length of the robot arm end detection path is determined.
In the above formula, (x)0,y0) Detecting the coordinates of the start of the path, i.e. the coordinates of the current position, (x) for the end of the armt,yt) And detecting the coordinates of the path end point at the tail end of the mechanical arm, namely the coordinates of the specified detection point.
2) And then calculating the total time of the mechanical arm movement according to the specified movement speed.
In the above formula, v is the speed of the constant motion of the tail end of the mechanical arm along the gap of the switch cabinet.
3) And then selecting a path point on a detection path at the tail end of the mechanical arm at regular intervals of delta s, and solving the coordinate value of each path point.
The total number of waypoints is:
the coordinates of the ith path point are:
in this step, the smaller the path point interval Δ s, the closer the movement path of the robot arm tip is to a straight line, but the more complicated the control is, and Δ s is generally set to 10mm or less in order to meet the requirement of ultrasonic partial discharge detection.
4) And then sequentially calculating the rotation angles of the shoulder, elbow and wrist joints of the mechanical arm corresponding to each path point, the motion time of each joint between every two adjacent path points and the rotation speed of each joint between every two adjacent path points, and sequentially storing the rotation angles in a controller of the mechanical arm.
Because the arm end is along the uniform motion of cubical switchboard gap, so the joint motion time between two adjacent path points does:
the solution of the rotation angle of each joint at a path point and the movement speed between two adjacent path points is the same as the step 2 in the ultrahigh frequency and ground electric wave detection method.
5) From a designated end of the armStarting from the start (i.e., current position) of the end detection path, every time t, via the arm controlleriAnd sequentially sending the rotation angle and the rotation speed of each joint corresponding to each path point to a joint driver until the tail end of the mechanical arm reaches the end point of the detection path.
And 5: and turning off the ultrasonic sensor to finish one-time ultrasonic partial discharge detection.
Step 6: and controlling the horizontal sliding joint to move reversely, so that the partial discharge detection sensor is gradually far away from the surface of the switch cabinet. In the step, in order to improve the detection efficiency as much as possible and avoid mistakenly touching equipment on the switch cabinet, the partial discharge detection sensor is far away from the surface of the switch cabinet by 5cm, so that the requirement can be met.
And (5) repeating the steps 1-6, and carrying out next ultrasonic partial discharge detection until the detection of all gaps of the switch cabinet is completed.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (12)
1. A mechanical arm for detecting partial discharge of a switch cabinet is characterized in that: the wrist rotary joint is connected with a partial discharge detection sensor through a flexible connecting mechanism, the sliding joint is perpendicular to the axis of the lifting joint, the sliding joint and the lifting joint respectively drive the partial discharge detection sensor to move relative to the switch cabinet in the vertical and horizontal directions, and the positions of a detection point and the posture of the partial discharge detection sensor are further adjusted when the relative positions of the partial discharge detection sensor and the switch cabinet are unchanged through the rotary matching of the shoulder rotary joint, the elbow rotary joint and the wrist rotary joint, so that accurate detection is realized;
the sliding joint is connected with the lifting joint, and the sliding joint is arranged perpendicular to the axis of the lifting joint;
the shoulder rotating joint is connected with the sliding joint, and the axis of a rotating shaft of the shoulder rotating joint is parallel to the sliding axis of the sliding joint;
the elbow rotary joint is connected with the shoulder rotary joint, the elbow rotary joint and the shoulder rotary joint are arranged in parallel, and after the height of the lifting joint is determined, the position of any detection point on the surface of the detected equipment is uniquely determined by rotating the elbow rotary joint and the shoulder rotary joint;
the wrist rotary joint is connected with the elbow rotary joint.
2. The mechanical arm for detecting the partial discharge of the switch cabinet as claimed in claim 1, wherein: the rotation of the wrist rotary joint changes the posture of the partial discharge detection sensor in the direction parallel to the surface of the detected equipment, and the flexible connection mechanism finely adjusts the posture of the partial discharge detection sensor in the direction perpendicular to the surface of the detected equipment, so that the partial discharge detection sensor can be tightly attached to the surface of the detected equipment when the partial discharge detection sensor is not completely parallel to the surface of the detected equipment.
3. The mechanical arm for detecting the partial discharge of the switch cabinet as claimed in claim 1, wherein: the periphery of the surface of the partial discharge detection sensor is also provided with a plurality of pressure sensors which are used for measuring the contact pressure of the partial discharge detection sensor and the surface of the detected equipment so as to ensure the reliable attachment of the partial discharge detection sensor.
4. The mechanical arm for detecting the partial discharge of the switch cabinet as claimed in claim 1, wherein: the partial discharge detection sensor is also provided with a distance detection sensor for measuring the distance between the surface of the sensor and the surface of the detected equipment, thereby controlling the sliding distance of the sliding joint.
5. The control method based on the robot arm according to any one of claims 1 to 4, wherein if the partial discharge detection sensor is an ultrahigh frequency and earth electric wave sensor, the method comprises: the method specifically comprises the following steps:
judging whether a lifting joint needs to be lifted or not according to the specified detection position and the size of the mechanical arm, if so, calculating the height of the lifting joint needing to be lifted, and controlling the lifting joint to move to the required position;
according to the specified target detection position and the target posture of the partial discharge detection sensor, the angles to which the shoulder joint, the elbow joint and the wrist joint need to rotate are calculated, and each joint of the mechanical arm is controlled to rotate to the target posture angle at a set rotation speed;
controlling the sliding joint to move according to the distance between the surface of the sensor and the surface of the switch cabinet, which is measured by the distance sensor, so that the partial discharge detection sensor is gradually close to the surface of the switch cabinet until the partial discharge detection sensor is tightly attached to the surface of the switch cabinet;
starting a partial discharge detection sensor to finish one-time partial discharge detection, and controlling a horizontal sliding joint to move reversely to enable the partial discharge detection sensor to be gradually far away from the surface of the switch cabinet;
and (5) repeating the steps (1) to (4) until all ultrahigh frequency detection and earth electric wave detection are finished.
6. The control method according to claim 5, wherein: in the step (1), the designated target detection position is P (x, y), the rising height of the lifting joint is assumed to be 0, and when the elbow joint is completely unfolded, namely the elbow joint rotation angle theta is2To 0, the maximum height Y that the robot arm can reach is foundmax：
In the formula, L1,L3,L4The height of the lifting joint body, the length of the shoulder joint connecting rod and the length of the elbow joint connecting rod are respectively, and x is an x-axis coordinate of a specified detection position;
comparison of YmaxWith the Y-axis coordinate of the designated detection location, if YmaxIf Y is less than Y, the lifting joint needs to be lifted, and the lifting height is at least h ═ Y-Ymax(ii) a If Y ismaxAnd y is larger than or equal to y, the lifting joint does not need to be lifted, namely h is 0.
7. The control method according to claim 5, wherein: in the step (2), the angle to which the elbow joint needs to be rotated:
angle to which the shoulder joint needs to be rotated:
and (3) calculating the angle to which the wrist joint needs to rotate according to the posture of the sensor:
wherein L is1,L3,L4Respectively the height of the lifting joint body, the length of the shoulder joint connecting rod and the length of the elbow joint connecting rod, wherein x is an x-axis coordinate of a specified detection position, and theta1，θ2，θ3Respectively the target rotation angles of the shoulder joint, the elbow joint and the wrist joint,
the target attitude angle of the sensor is the included angle between the central axis of the sensor and the x-axis direction.
8. The control method according to claim 5, wherein: in the step (2), synchronous rotation of each joint is ensured, and the rotation speed of each joint is set, specifically: and specifying the time t for the robot arm end sensor to move from the current position to the target position, wherein the required rotation speeds of the shoulder joint, the elbow joint and the wrist joint are respectively as follows:
in the formula, theta10，θ20，θ30The current rotation angles of the shoulder joint, the elbow joint and the wrist joint are respectively.
9. The control method according to claim 5, wherein: in the step (3), the sliding joint is controlled to move, so that the partial discharge detection sensors gradually approach the surface of the switch cabinet until one of the pressure sensors detects a pressure value; and reducing the movement speed of the horizontal sliding joint to enable the partial discharge detection sensors to gradually cling to the surface of the switch cabinet until the average pressure of all the pressure sensors reaches a set value.
10. The control method according to claim 5, wherein: in the step (3), the speed of the sliding joint motion is v2＝Kp×(D-d)×δ+Kf(F-f)
Wherein v is2For the speed of movement of the horizontal sliding joint, Kp，KfRespectively are control coefficients of the movement distance and the pressing force, d is the actual movement distance of the horizontal sliding joint, F is the average value of the pressures detected by the four pressure sensors, F is the average pressure set value of each pressure sensor, and delta is the distance between the four pressure sensorsWhen f is 0, delta is 1, and the movement speed is mainly determined by the distance error; when f is>When the pressure is 0, delta is 0, and the movement speed is only determined by the pressure error.
11. The method for controlling a robot arm according to any of claims 1 to 4, wherein if the partial discharge detection sensor is ultrasonic detection, the method comprises: the method specifically comprises the following steps:
judging whether a lifting joint needs to be lifted according to the specified detection path end position and the size of the mechanical arm, if so, calculating the height of the lifting joint needing to be lifted, and controlling the lifting joint to move to a required position;
controlling the horizontal sliding joint to move according to the distance between the surface of the sensor and the surface of the switch cabinet, which is measured by the distance sensor, so that the partial discharge detection sensor is gradually close to the surface of the switch cabinet;
starting the ultrasonic sensor to start partial discharge detection;
controlling the tail end of the mechanical arm to carry a sensor to move from the current position to a specified position along a straight path, and sequentially calculating the rotation angles of the shoulder, elbow and wrist joints of the mechanical arm corresponding to each path point, the movement time of each joint between two adjacent path points and the rotation speed of each joint between two adjacent path points;
starting from the current position of the specified mechanical arm tail end detection path, sequentially moving each joint of the mechanical arm at set time intervals according to the calculated rotation angle and rotation speed corresponding to each path point until the mechanical arm tail end reaches the detection path end point;
turning off the ultrasonic sensor to finish one-time ultrasonic partial discharge detection, and controlling the horizontal sliding joint to move reversely to enable the partial discharge detection sensor to be gradually far away from the surface of the switch cabinet;
and (g) repeating the steps (a) to (f) to detect the next ultrasonic partial discharge until all gaps of the switch cabinet are detected.
12. The control method according to claim 11, wherein: the step (d) specifically includes: the total length of the detection path of the tail end of the mechanical arm is worked out according to the coordinates of the starting point of the detection path of the tail end of the mechanical arm, namely the coordinates of the current position and the coordinate position of the appointed detection point of the detection path of the tail end of the mechanical arm, the total time of the movement of the mechanical arm is worked out by combining the appointed movement speed, one path point is selected at regular intervals on the detection path of the tail end of the mechanical arm, the coordinate value of each path point is worked out, the rotation angle of the shoulder, the elbow and the wrist joint of the mechanical arm corresponding to each path point is worked out, the movement time of each joint between every.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710660818.XA CN107443355B (en) | 2017-08-04 | 2017-08-04 | Mechanical arm for detecting partial discharge of switch cabinet and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710660818.XA CN107443355B (en) | 2017-08-04 | 2017-08-04 | Mechanical arm for detecting partial discharge of switch cabinet and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107443355A CN107443355A (en) | 2017-12-08 |
| CN107443355B true CN107443355B (en) | 2020-02-14 |
Family
ID=60490479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710660818.XA Active CN107443355B (en) | 2017-08-04 | 2017-08-04 | Mechanical arm for detecting partial discharge of switch cabinet and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107443355B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680272A (en) * | 2018-07-25 | 2018-10-19 | 重庆骞纳马科技有限公司 | A kind of temperature of high-tension switch cabinet monitoring system and its monitoring method |
| CN109212395B (en) * | 2018-10-30 | 2020-10-16 | 国网河南省电力公司南阳供电公司 | High-voltage switch cabinet partial discharge monitoring method |
| CN109636708A (en) * | 2018-12-31 | 2019-04-16 | 青岛黄海学院 | Unmanned boat image collecting device and method under a kind of briny environment |
| CN110470959A (en) * | 2019-08-27 | 2019-11-19 | 东北电力大学 | A kind of switch cabinet comprehensive on-line monitoring analysis platform |
| CN110718035A (en) * | 2019-11-04 | 2020-01-21 | 江苏安防科技有限公司 | Monitoring and early warning system based on sudden spontaneous combustion hazard in pipe rack space |
| CN110774316B (en) * | 2019-11-18 | 2022-08-12 | 山东大学 | FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device |
| CN110907777A (en) * | 2019-12-07 | 2020-03-24 | 国网电子商务有限公司 | Detection device is put in rotation type ultrasonic wave office |
| CN111175616A (en) * | 2019-12-25 | 2020-05-19 | 南京悠阔电气科技有限公司 | Method for detecting partial discharge of switch cabinet by using robot |
| CN112611946B (en) * | 2020-12-01 | 2024-03-26 | 广东电网有限责任公司广州供电局 | Switch cabinet discharge monitoring device and method |
| CN114905499A (en) * | 2021-02-08 | 2022-08-16 | 广东博智林机器人有限公司 | Lifting method and device and pipeline installation robot |
| CN113267218A (en) * | 2021-05-28 | 2021-08-17 | 安徽鑫洋信息工程有限公司 | Bridge construction real-time monitoring system |
| CN113376550A (en) * | 2021-05-31 | 2021-09-10 | 国网河南省电力公司平顶山供电公司 | PT secondary voltage return circuit detection device |
| CN113510712A (en) * | 2021-08-04 | 2021-10-19 | 国网浙江省电力有限公司嘉兴供电公司 | Mechanical arm path planning method for transformer substation operation robot |
| CN113990021A (en) * | 2021-10-25 | 2022-01-28 | 广西电网有限责任公司 | Transformer substation electric power operation and maintenance safety monitoring and alarm system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3614821B2 (en) * | 2002-02-14 | 2005-01-26 | 川崎重工業株式会社 | Robot group |
| CN103328161A (en) * | 2011-01-31 | 2013-09-25 | 丰田自动车株式会社 | Multi-joint arm robot, control method, and control program |
| CN103978478A (en) * | 2014-04-28 | 2014-08-13 | 惠州市仨联自动化设备有限公司 | Multi-shaft horizontal joint intelligent robot |
| CN104440901A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | High-precision heavy-load assembly robot |
| CN204322070U (en) * | 2014-11-13 | 2015-05-13 | 深圳大宇精雕科技有限公司 | Parallel articulated robot |
| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
| CN105415380A (en) * | 2015-12-11 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN105549593A (en) * | 2016-01-28 | 2016-05-04 | 云南电网有限责任公司电力科学研究院 | System and method of electrical device X-ray detection platform control on the basis of GPS |
| CN105618412A (en) * | 2016-01-25 | 2016-06-01 | 上海旷奇科技有限公司 | Electrified cleaning insulating maintenance robot device for high-voltage power equipment |
-
2017
- 2017-08-04 CN CN201710660818.XA patent/CN107443355B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3614821B2 (en) * | 2002-02-14 | 2005-01-26 | 川崎重工業株式会社 | Robot group |
| CN103328161A (en) * | 2011-01-31 | 2013-09-25 | 丰田自动车株式会社 | Multi-joint arm robot, control method, and control program |
| CN103978478A (en) * | 2014-04-28 | 2014-08-13 | 惠州市仨联自动化设备有限公司 | Multi-shaft horizontal joint intelligent robot |
| CN104440901A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | High-precision heavy-load assembly robot |
| CN204322070U (en) * | 2014-11-13 | 2015-05-13 | 深圳大宇精雕科技有限公司 | Parallel articulated robot |
| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
| CN105415380A (en) * | 2015-12-11 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot system for detecting equipment in box and method thereof |
| CN105618412A (en) * | 2016-01-25 | 2016-06-01 | 上海旷奇科技有限公司 | Electrified cleaning insulating maintenance robot device for high-voltage power equipment |
| CN105549593A (en) * | 2016-01-28 | 2016-05-04 | 云南电网有限责任公司电力科学研究院 | System and method of electrical device X-ray detection platform control on the basis of GPS |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107443355A (en) | 2017-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107443355B (en) | Mechanical arm for detecting partial discharge of switch cabinet and control method | |
| CN111331367B (en) | Intelligent assembly control system | |
| CN109623656B (en) | Mobile double-robot cooperative polishing device and method based on thickness online detection | |
| EP3508845B1 (en) | Automated inspection of spar web in hollow monolithic structure | |
| US20180015620A1 (en) | Robot system and method of detecting deformation of end effector | |
| CN108789416B (en) | System and method for controlling flexible live working of double mechanical arms | |
| CN106346486B (en) | Six axis of one kind cooperation robot multiloop control system and its control method | |
| CN204565597U (en) | A kind of lock screw Automated assembly machine people | |
| US11919147B2 (en) | Gripping apparatus | |
| CN109605344B (en) | Multi-degree-of-freedom open-loop stepping series mechanical arm and control method thereof | |
| CN108748152B (en) | Robot teaching method and system | |
| CN104226620A (en) | Double-umbrella type insulator cleaning device and trace planning method thereof | |
| KR940003948B1 (en) | Industrial robot control method and apparatus | |
| Takaoka et al. | Development of the fully-automatic live-line maintenance robot-Phase III | |
| US10099376B2 (en) | Method for setting up and/or calibrating a robot | |
| CN115042175A (en) | Method for adjusting tail end posture of mechanical arm of robot | |
| CN103934819B (en) | Manipulator and composite large-scale housing automatic profiling system | |
| CN105643627A (en) | Gain adjustment device and method for robot motion control | |
| CN104607836B (en) | Automatic welding device for vertical swinging of ship rib plate stringer | |
| CN103862474A (en) | Identification method for robot joint initial parameters | |
| CN208246822U (en) | A kind of 3D vision positioning robot | |
| CN108620840B (en) | Aircraft cabin door intelligent installation method based on AGV intelligent parallel robot | |
| CN109093238A (en) | Application of the vision system in robot projection welding project | |
| CN210024311U (en) | Double-mechanical-arm welding control system | |
| Fang et al. | Research on the motion system of the inspection robot for 500kV power transmission lines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: National Network Intelligent Technology Co., Ltd. Applicant after: State Grid Corporation of China Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: State Grid Corporation of China |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Ji'nan City, Shandong Province Wang Yue Road 250003 No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |