CN108582031A - A kind of hot line robot branch based on force feedback master ＆ slave control connects gage lap method - Google Patents
A kind of hot line robot branch based on force feedback master ＆ slave control connects gage lap method Download PDFInfo
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- CN108582031A CN108582031A CN201810319598.9A CN201810319598A CN108582031A CN 108582031 A CN108582031 A CN 108582031A CN 201810319598 A CN201810319598 A CN 201810319598A CN 108582031 A CN108582031 A CN 108582031A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/06—Manipulators combined with a control cab for the operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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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
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The present invention proposes that a kind of hot line robot branch based on force feedback master ＆ slave control connects gage lap method.Mechanical arm, main manipulator and industrial personal computer constitute force feedback master ＆ slave control system, industrial personal computer is according to mechanical arm tail end stress data, calculate the torque data in each joint of main manipulator, pass through the control interface of main manipulator, control each joint output torque of main manipulator, main manipulator is set to feed back stress, operating personnel confirm the dynamics of mechanical arm according to the feedback stress of main manipulator；Operating personnel change main operation end pose, industrial personal computer calculates the desired value of end of arm speed vector according to the angle-data of each rotary joint of main manipulator, passes through the control interface of mechanical arm, it is moved according to the desired value control machinery arm, to change the dynamics of mechanical arm.The present invention improves operation telepresenc, can more accurately judge whether operations are accurate in place.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot based on force feedback master ＆ slave control
Branch connects gage lap method.
Background technology
With the development of power distribution network, many power engineering inspection operations, which need to charge, to carry out, and overlap joint branch is needed to connect unavoidably
Lead.It is the overlap joint that has a power failure that usually overlap joint branch, which connects lead way, if power failure area is larger, can be caused an immeasurable loss, seriously
Influence the economic benefit and social benefit of power supply enterprise.Present numerous researchers also connect lead in positive research band electrical bonding branch
Method and kit for, but operating personnel may will the operation near electrification in high voltage circuit, have some potential safety problems.
Before this, operating personnel can pass through the hot line robot of main manipulator remote control robot, it is ensured that make
Industry personnel are isolated with high voltage electric field；When remote control operates, operating personnel monitor operation process according to working scene monitoring system,
The judgement of relative position between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment is more smart
Really, and there is no visual dead angle, performance accuracy higher can prevent collision, improve operational security.But
When carrying out pinpoint hot line job using aforementioned hot line robot, such as disconnect isolation switch, fuse switch
And arrester both ends conducting wire etc., mainly judge machine by observing operating environment image (including realtime graphic and 3D modeling image)
Tool arm whether operate in place, between mechanical arm and operation object and the contact forces degree size of mechanical arm and mechanical arm simultaneously
Unaware, it is difficult to judge whether performance accuracy meets operation and require.If operating personnel or control system being capable of sense mechanisms
Between arm and operation object and the contact forces degree size of mechanical arm and mechanical arm, then every behaviour can be more accurately judged
Whether precisely make in place.
Since the main hand of force feedback can be achieved at the same time the position control and force feedback of multiple degree of freedom, the main hand of force feedback is answered
Use the demand of hot line robot master ＆ slave control strongly.
Invention content
Present invention solves the technical problem that being to propose that a kind of hot line robot branch based on force feedback master ＆ slave control connects
Gage lap method improves operation telepresenc, can more accurately judge whether operations are accurate in place.
In order to solve the above technical problem, the present invention provides a kind of hot line robots based on force feedback master ＆ slave control
Branch connects gage lap method, and hot line robot has a mechanical arm being arranged on robot platform, including first mechanical arm,
Second mechanical arm and auxiliary mechanical arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm complete following work：
First mechanical arm end installation band gasoline cotton brush, wire brush, auxiliary mechanical arm end are installed in second mechanical arm end
Portion is installed by clamping device；
Conducting wire to be overlapped is clamped using clamping device in auxiliary mechanical arm；First mechanical arm drives band gasoline cotton brush waiting taking
It connects and moves back and forth at conducting wire, to clean conducting wire；Second mechanical arm drives wire brush to move back and forth at conducting wire to be overlapped, and removing is led
The oxide of line lap-joint；
First mechanical arm and second mechanical arm end change the outfit electric power fat painting brush, and using electric power fat painting brush in overlap joint model
Conductive line surfaces in enclosing smear electric power fat；
First mechanical arm and second mechanical arm end change the outfit clamping device；C-type is clamped using clamping device in first mechanical arm
Wire clamp, second mechanical arm, which is clamped, waits for that overlap joint branch connects lead；First mechanical arm will be on the upside of the c-type plate of c-type wire clamp using clamping device
Crotch slot is articulated on overlap joint conducting wire；Second mechanical arm is made to wait for that overlap joint branch connects lead and is hooked on the downside of c-type plate with clamping device
In crotch slot；
The wedge of c-type wire clamp is clamped in first mechanical arm, puts it into c-type plate；First mechanical arm and second mechanical arm
End changes the outfit bolt disassembly tool, using bolt disassembly tool fastening bolt, wedge is made to be mounted on c-type wire clamp；
In above process, industrial personal computer calculates the torsion in each joint of main manipulator according to mechanical arm tail end stress data
Square data control each joint output torque of main manipulator by the control interface of main manipulator, and main manipulator is made to feed back stress,
Operating personnel confirm the dynamics of mechanical arm according to the feedback stress of main manipulator；
In above process, operating personnel change main operation end pose, and industrial personal computer is according to each rotary joint of main manipulator
Angle-data, the desired value of end of arm speed vector is calculated, by the control interface of mechanical arm, according to the expectation
It is worth the movement of control machinery arm.
Further, the mechanical arm tail end stress data is by six degree of freedom power/moment sensing mounted on mechanical arm tail end
Device acquisition obtains, and scalar is six degree of freedom power/torque data.
Further, the scalar of tool arm end stress data be six degree of freedom power/torque data, by industrial personal computer according to
The end pose data and tip speed data of mechanical arm are obtained using being calculated based on virtual reality technology, and detailed process is：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, structure eight
Fork tree；
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, setting packet
The radius for enclosing ball is the distance of required collision detection；
Step 3, Octree progress collision detection of the ball with step 1, if not colliding, machine are surrounded to step 2
Six degree of freedom power/torque data of tool arm end are zero, if colliding, obtain the number to collide in virtual reality scenario
Strong point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data；
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring is used to hinder
Buddhist nun's model calculates feedback force,
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, F
For feedback force, scalar is six degree of freedom power/torque data.
Further, main manipulator statics is modeled, obtains mechanical arm tail end six degree of freedom power/torque data to main operation
The transformational relation of each joint torque data of hand, industrial personal computer calculate the torsion in each joint of main manipulator according to the transformational relation
Square data.
Further, the method for acquisition end of arm speed vector desired value is：With D-H modeling methods to main manipulator
Modeling, obtains the angle-data of each rotary joint of main manipulator to the transformational relation of main manipulator end pose data；Work
Control machine receives the angle-data for each rotary joint that main manipulator is sent, and main manipulator is calculated according to the transformational relation
Then main manipulator end pose data are obtained main manipulator tip speed data by end pose data by differentiating；
According to main manipulator end pose data and tip speed data, mechanical arm end is calculated in operating speed feedforward PID controller
Hold velocity vector desired value.
Further, before operation, clamping device is installed in first mechanical arm and second mechanical arm end, is clamped with clamping device
Insulation masking material carries out insulation masking to the electrical body of label；After operation, first mechanical arm and second mechanical arm end
Clamping device is installed in portion, and the insulation masking material being covered on electrical body is removed with clamping device.
Further, main manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator；First main operation
Hand, the second main manipulator and auxiliary main manipulator are corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitute
Master-slave operation relationship.
Further, be provided with control room on the aerial lift device with insulated arm, the data processing and control system include industrial personal computer,
Display screen and main manipulator, industrial personal computer Built-in Image processor, display screen and main manipulator are located in control room；Robot platform
On be provided with video camera, the working scene image of the camera acquisition is sent to industrial personal computer, and image processor is to working scene
The 3D dummy activity scenes that image obtains after being handled, and display is sent to show.
Compared with prior art, the present invention its remarkable advantage is：
(1) for operating personnel by the end of manipulation main manipulator, the end of livewire work mechanical arm can follow main operation
The posture of hand end, the posture for the main manipulator that operating personnel see are also the posture of livewire work mechanical arm, this to operate
Intuitively, flexibly；
(2) so that remote operating is no longer that single posture is given, operating personnel can experience band for the introducing of force feedback function
The contact force of electric Work machine arm and environment, possess preferably operation telepresenc, to improve operating robotic arm convenience and
Accuracy；In addition, feeling feedback by power it can be found that the collision of mechanical arm and environment makes up only to reduce dangerous generation
By the deficiency of inspection operation；
(3) present invention is exported with Collision Detection before mechanical arm collides by the virtual reality scenario built
Feedback force so that operating personnel experience feedback force, to limit the operation behavior of operating personnel, improve the safety of system；
The present invention is reminded further for avoiding the master-slave operation mechanical arm and high voltage alive equipment is caused to collide by way of force feedback
With limitation operating personnel's further operating.
(4) present invention improves automation and the homework precision of robot manipulating task on the whole, while improving job safety
Property.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention.
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention.
Fig. 3 is the structural schematic diagram of robot platform in the present invention.
Fig. 4 is the structural schematic diagram of mechanical arm in the present invention.
Fig. 5 is that branch connects gage lap method flow diagram in the present invention.
Fig. 6 is that hot line robot band electrical bonding branch of the present invention connects lead operating environment schematic diagram.
Fig. 7 is the c-type cable clamp structure schematic diagram that hot line robot of the present invention uses.
Fig. 8 is the block diagram of force feedback master ＆ slave control system in the present invention；
Fig. 9 is the block diagram of mechanical arm pose closed loop controller in the present invention；
Figure 10 is the feedback force computational methods schematic diagram based on virtual reality technology in the present invention.
Specific implementation mode
It is readily appreciated that, technical solution according to the present invention, in the case where not changing the connotation of the present invention, this field
Those skilled in the art can imagine the numerous embodiments that hot line robot branch of the present invention connects gage lap method.Cause
This, detailed description below and attached drawing are only the exemplary illustrations to technical scheme of the present invention, and are not to be construed as this hair
Bright whole is considered as limitation or restriction to technical solution of the present invention.
In conjunction with attached drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connects robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 drives for operating personnel, to which robot platform 4 is transported operation field.Insulation bucket arm
Support leg is housed, support leg can be unfolded, to which aerial lift device with insulated arm 1 and ground are consolidated support on vehicle 1.On aerial lift device with insulated arm 1
Equipped with generator, to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is equipped with the driving device along telescopic direction, and operating personnel can be by controlling the driving device, thus by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
As an implementation, the second industrial personal computer, display screen, the first main manipulator, the second master are provided in control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As an implementation, robot platform 4 include insulator 46, it is first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, the first industrial personal computer 48, binocular camera 45, full-view camera 41, depth camera 410, accumulator 49, special
Tool box 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms and robot platform 4 are insulated.
Accumulator 49 is the first industrial personal computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As head 41, binocular camera 45, depth camera 410, communication module power supply.
As an implementation, there are three binocular camera 45 has altogether, first mechanical arm 43, the second machine are separately mounted to
On the wrist joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the image data of Collecting operation scene, and image data is sent
To the second industrial personal computer.Binocular camera 45 is made of two parallel industrial cameras of optical axis, and the distance between parallel optical axis is fixed.
Depth camera 410 is mounted on the side of 4 face working scene of robot platform, is responsible for the scape of Collecting operation scene
Depth of field data is sent to the second industrial personal computer by deep data.
Full-view camera 41 is mounted on the top of robot platform 4 by holder, is responsible for the panorama sketch of Collecting operation scene
As data, image data is sent to the second industrial personal computer, and show that operating personnel can be supervised by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is equipped with tool quick change
Device.Mechanical arm uses tool fast replacing device to obtain power tool according in the type to tool box special 47 of job task.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2
The operating device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relationship.Mechanical arm and main manipulator structure having the same, only main manipulator dimensions is smaller than mechanical arm, in order to grasp
Make personnel's operation.Mechanical arm and main manipulator are gathered around there are six joint, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial personal computer by the microcontroller of main manipulator by serial ports.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotary axis direction
The waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, the large arm being connect with shoulder joint 433
434, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, the wrist joint being connect with forearm 436
437, wrist joint 437 is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom
Device 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；First industrial personal computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
Each joint motions of control machinery arm.
As an implementation, the data transmission between robot platform 4 and control room 2 is by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with
The mutual conversion of electric signal in twisted-pair feeder, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As an implementation, the second industrial personal computer can complete following task：
Establish action sequence library.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence library is deposited
Storage is planned in the second industrial personal computer for robotic arm path.
Establish manipulating object model library.The threedimensional model of manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, according to devices such as electric power tower bar, electric wire, metal oxide arrester, isolation switch, arresters
Material object makes threedimensional model and Model of Target Recognition, is used for hot line robot automatic identification manipulating object, structure operation field
Scape three-dimensional virtual scene.
Establish mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known
Other model plans mechanical arm for example, spanner etc., working scene three-dimensional virtual scene is built for hot line robot automatically
Space path.
Obtain image data.Obtain the data information of panoramic picture, depth image and binocular image.
Operative goals are identified and tracked according to image data.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add
Speed data.
Dependent image data is handled and is calculated, mechanical arm position is obtained, obtains the position of manipulating object, obtains machine
Relative position between tool arm and manipulating object, and according to the space path of relative position and job task planning mechanical arm.
Manipulating object three-dimensional scenic is built according to image data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and plans the space path of mechanical arm according to relative position and job task.
Dependent image data is handled and is calculated, 3D dummy activity scenes is built, send display to show, operating personnel
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activity scenes synthesis and depth image letter
Breath and binocular image information, the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment
It is more accurate to the judgement of position, and there is no visual dead angles.Therefore, operating personnel carry out operation by 3D dummy activity scenes
Monitoring, performance accuracy higher can prevent collision, improve safety.Meanwhile 3D dummy activity scenes are shown in control
On display in room 2, far from mechanical arm operation field, the personal safety of people operating personnel is improved.
As an implementation, the first industrial personal computer can complete following task：
According to the angle information in each joint of main manipulator that the second industrial personal computer is sent, the movement in each joint of control machinery arm.
The space path data for obtaining the mechanical arm of the second industrial personal computer transmission are resolved according to the action sequence of job task
Go out the angle-data amount of exercise in each joint of mechanical arm, and each joint motions of control machinery arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two hands
Complete livewire work.In view of flexibility, it can be further added by a strong auxiliary mechanical arm, at this point, auxiliary mechanical arm is specially taken charge of
The big action of powers, first mechanical arm and the second mechanical arms such as device clamping then carry out related service operation.
Hot line robot of the present invention can be carried out remote control main manipulator thereby using mechanical arm by operating personnel
Complete livewire work.During hot line robot overlap joint branch connects lead, the confirmation of mechanical arm operation effectiveness can be related to
Whether work, such as prevented in place using insulating materials, safe, mechanical arm clamping that whether device is fixed whether in place, mechanical arm
Whether clamping force is excessive etc., these need the operation for confirming effect, when actually relating to mechanical arm and ambient enviroment contact
Force feedback detection, and based on force feedback detection result confirmation operation effect, the successive step operating personnel that go forward side by side are to main operation
The control of hand, i.e., force feedback master ＆ slave control of the present invention.In order to realize force feedback master ＆ slave control, the present invention is to the prior art
It has done and has improved.
In above-mentioned band point Work robot, main manipulator, mechanical arm and industrial personal computer composition hot line robot power are anti-
Present master ＆ slave control system.
The main manipulator is the mechanical arm configuration of one or more degree of freedom series connection, can acquire each rotary joint
Angle-data, each rotary joint have torque motor, can output torque, to realize force feedback function.As a kind of reality
Mode is applied, the mechanical arm configuration of six degree of freedom series connection may be used, the angle-data of six rotary joints can be acquired, it is each to rotate
Joint has torque motor, can output torque, to realize force feedback function.
The mechanical arm communicates or similar with main manipulator, is one or more degree-of-freedom manipulator structure, can
Mechanical arm tail end pose data are sent in real time, mechanical arm tail end is equipped with six degree of freedom power/torque sensor, six degree of freedom power/
The stress data for the six direction that torque sensor generates when being contacted with environment for collection machinery arm.As a kind of embodiment party
Sixdegree-of-freedom simulation may be used in formula, and mechanical arm tail end installs six degree of freedom power/torque sensor, and power/torque sensor is used
The stress data generated is contacted with environment in collection machinery arm.
Industrial personal computer receives the angle-data for six rotary joints that main manipulator is sent, according to force feedback master ＆ slave control side
Method calculates the desired value of end of arm speed vector, passes through the control interface of mechanical arm, the movement of control machinery arm；It is described
Industrial personal computer receives six degree of freedom power/torque data that mechanical arm is sent and calculates main operation according to force feedback master-slave control method
The torque data in six joints of hand controls main manipulator output torque by the control interface of main manipulator.
Force feedback master ＆ slave control of the present invention includes two aspects, when mechanical arm posture control method, i.e., according to master
The angle-data of each rotary joint of manipulator calculates the desired value of end of arm speed vector as controlled quentity controlled variable, passes through machine
The control interface of tool arm, the movement of control machinery arm；Second is that main manipulator force-feedback control method, i.e., certainly according to the six of the transmission of tool arm
By degree power/torque data, the torque data in each joint of main manipulator is calculated, passes through the control interface of main manipulator, control
Main manipulator output torque.
Below by taking six degree of freedom main manipulator and mechanical arm as an example, illustrate force feedback master ＆ slave control process.
Mechanical arm posture control method, i.e., the angle-data of six rotary joints sent according to main manipulator are counted in real time
The controlled quentity controlled variable of mechanical arm tail end position and posture is calculated, the controlled quentity controlled variable is end of arm speed vector.Specifically, mechanical arm
Posture control method is divided into following steps：
Step 1, main manipulator Kinematic Model models main manipulator with D-H modeling methods, obtains main manipulator
Transformational relation of the angle-data of six rotary joints to main manipulator end pose data.
Step 2, the transformational relation obtained according to step 1, industrial personal computer receive six rotary joints that main manipulator is sent
Main manipulator end pose data are calculated in angle-data, and main manipulator end pose data are obtained by differentiating
Main manipulator tip speed data.
Step 3, mechanical arm pose closed loop controller is designed, using velocity feed forward PID controller.The master that step 2 is obtained
Mechanical arm controlled quentity controlled variable is calculated according to velocity feed forward PID controller in manipulator end pose data and tip speed data,
That is end of arm speed vector is sent to the control interface of mechanical arm, control machine by end of arm speed vector, industrial personal computer
Tool arm moves.
Main manipulator force-feedback control method, i.e., the six degree of freedom power/torque data sent according to mechanical arm calculate in real time
Go out the torque data in six joints of main manipulator.Specifically, main manipulator force-feedback control method is divided into following steps：
Step 1, main manipulator statics models, and is modeled to main manipulator statics with the principle of virtual work, obtains mechanical arm
The transformational relation of end six degree of freedom power/torque data to six joint torque datas of main manipulator.
Step 2, the transformational relation obtained according to step 1, industrial personal computer are received by six degree of freedom power/torque sensor acquisition
The stress data that mechanical arm generates when being contacted with environment, is calculated the torque data in six joints of main manipulator, and industrial personal computer will
Torque data is sent to the force-feedback control interface of main manipulator, and main manipulator is made to feed back stress.Freedom degree force/torque sensor
The scalar for the stress data that the mechanical arm of acquisition generates when being contacted with environment is six degree of freedom power/torque data.
Another embodiment is acted on, the stress data that mechanical arm generates when being contacted with environment can not use six degree of freedom
Power/torque sensor acquisition, but use the feedback force computational methods based on virtual reality technology to calculate and obtain.Detailed process
For：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, structure eight
Fork tree.This step is further divided into following steps：
Step 1-1 finds out minimum and maximum x coordinate value, y-coordinate value, z coordinate value in virtual reality scenario data, from
And determine the minimum cube for surrounding all virtual reality scenario data, using the cube as the root node of Octree；
Step 1-2 forms 8 sub-cubes, as the cubical child node to the cube eight equal parts；
Step 1-3 judges the number of data in its space for each sub-cube.If number is 0, the node
Value be set as empty, do not continue to construct；If number is 1, the value of the node is set to the coordinate of this point, and not continued to
Construction；If number is more than 1, step 1-2 is repeated to the sub-cube.
Step 1-4, the Octree constructed by above step, each of which child node represent a data point or are
It is empty.
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, setting packet
The radius for enclosing ball is the distance of required collision detection, that is, judges the minimum range whether mechanical arm is in contact with ambient enviroment,
When mechanical arm tail end at a distance from ambient enviroment be less than the minimum range when, be considered as mechanical arm contacted with ambient enviroment or
Person collides.
Step 3, Octree progress collision detection of the ball with step 1 is surrounded to step 2, if not colliding, then
Six degree of freedom power/torque data of mechanical arm are zero, if colliding, obtain the data to collide in virtual reality scenario
Point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data.
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring is used to hinder
Buddhist nun's model calculates feedback force, and feedback force F is six-vector, and scalar is mechanical arm tail end six degree of freedom power/torque data.
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, F
For feedback force.
Hot line robot based on aforementioned force feedback master ＆ slave control overlaps the process for connecing lead：
One, the preparation stage
Staff carries out the operation preparation that hot line robot overlap joint branch connects lead, checks meteorological condition, verification bar
Safety barrier, working signal and related warning mark is arranged in working site in tower number.
Aerial lift device with insulated arm 1 is driven into 100 neighbouring position of shaft tower and arranges scene by aerial lift device with insulated arm driver.Job position has
Body is to wait for position near operation shaft tower 100 and avoid nearby power line and barrier, avoids being parked on raceway groove cover board, insulate
Bucket arm vehicle 1 supporting leg sequence is first to stretch out horizontal support legs, then stretch out vertical leg, and it is in level to support to place rear vehicle all around.
Operating personnel are according to the real scene image shown on display in control room 2, and operation operation rocking bar controls telescopic arm 3, by robot
Platform 4 is moved near job position.The reality that operating personnel return according to binocular camera on mechanical arm 45 in control room 2
The electrical body in job area in insulating safety distances is marked in scape image.
Two, sessions
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work in response to control data：
Clamping device is installed in first mechanical arm 43 and 44 end of second mechanical arm, and insulation masking material is clamped with clamping device
To the electrical body of label, such as conducting wire, insulator chain, cross-arm 103 carries out insulation masking.Insulation masking material such as insulating sheath,
Epoxy glass fabric etc..After being covered, the screening effect that insulation masking material is determined by force feedback function is needed, at this point, root
Mechanical arm is calculated by velocity feed forward PID controller in the angle-data of six rotary joints sent according to main manipulator
Controlled quentity controlled variable is sent to the control interface of mechanical arm by controlled quentity controlled variable, industrial personal computer, and control machinery arm touches veil, after touching, according to
The stress data that mechanical arm generates when being contacted with insulation masking material, i.e. the six degree of freedom power of mechanical arm tail end/torque data meter
Calculation obtains the torque data in six joints of main manipulator, and the force-feedback control that torque data is sent to main manipulator by industrial personal computer connects
Mouthful, each joint output torque of main manipulator is controlled, main manipulator is made to feed back stress, operating personnel determine according to the size of force feedback
Screening effect.
First mechanical arm 43 changes the outfit band gasoline cotton brush 1091, and second mechanical arm 44 changes the outfit wire brush 1092, auxiliary machinery
Arm 42 installs clamping device；
Conducting wire 111 to be overlapped is clamped using clamping device in auxiliary mechanical arm 42；First mechanical arm 43 drives band gasoline cotton
Brush 1091 moves back and forth at conducting wire to be overlapped, to clean conducting wire；Second mechanical arm 44 drive wire brush 1092 wait for overlap joint lead
Move back and forth at line, removes the oxide of conducting wire lap-joint；It, can be according to aforementioned force-feedback control mistake during return is dynamic
Journey, the resistance fed back by mechanical arm make main manipulator stress, and operating personnel judge and adjust cleaning force according to stress size
Degree.
First mechanical arm 43 and second mechanical arm 44 are moved to 47 top of mechanical arm tool box special, and the electric power fat painting that changes the outfit
Smear brush；First machinery 43 and second mechanical arm 44 smear electric power using electric power fat painting brush to the conductive line surfaces in overlap joint range
Fat；During smearing electric power fat, main behaviour can be made according to aforementioned force-feedback control process, the resistance fed back by mechanical arm
Make hand stress, operating personnel judge the dynamics for smearing electric power fat, to control scribble effect according to stress size.
First mechanical arm 43 and second mechanical arm 44 are moved to 47 top of mechanical arm tool box special, and the clamping work that changes the outfit
Tool；For first mechanical arm 43 using clamping device clamping c-type wire clamp 1111, second mechanical arm 44, which is clamped, waits for that overlap joint branch connects lead
1110, conducting wire 111 to be overlapped still is clamped in auxiliary mechanical arm.In clamping process, it can be led to according to aforementioned force-feedback control process
The clamping resistance for crossing mechanical arm feedback makes main manipulator stress, operating personnel be adjusted and be clamped with main manipulator according to stress size
Dynamics avoids damage component.
The 1112 upside crotch slot of c-type plate of c-type wire clamp 1111 is articulated in conducting wire by first mechanical arm 43 using clamping device
On；The clamping device of second mechanical arm 44 makes to wait for that overlap joint branch connects lead 1110 and is hooked in the crotch slot of 1112 downside of c-type plate；
The wedge 1113 of c-type wire clamp is clamped in first mechanical arm 43, puts it into c-type plate 1112；43 He of first mechanical arm
44 mobile mechanical arm tool box special of second mechanical arm, 47 top, and the bolt disassembly tool that changes the outfit, first mechanical arm 43 and second
Mechanical arm 44 is moved near c-type wire clamp 1111, using bolt disassembly tool fastening bolt 114, wedge 1113 is made to be mounted on c-type
On wire clamp 1111.To complete the overlap joint that branch connects lead.In demolishing process, main manipulator receives the six degree of freedom that mechanical arm is sent
Power/torque data, is calculated the torque data in six joints of main manipulator, and torque data is sent to main manipulator by industrial personal computer
Force-feedback control interface, so that main manipulator is fed back stress, operating personnel judge dismounting state according to feedback force, and then auxiliary is taken the photograph
As head judges field condition.
After branch connects gage lap, first mechanical arm 43 is moved to mechanical arm tool box special 47 with second mechanical arm 44
Top, and clamping device is installed.First mechanical arm 43 and second mechanical arm 44 clamping insulation masking material, to label electrical body into
Row insulation masking is removed.
In above process, the adjustment of various fixations, dismounting, the power of clamping and effect and power can basis
Aforementioned force-feedback control process is determined.
Claims (8)
1. a kind of hot line robot branch based on force feedback master ＆ slave control connects gage lap method, which is characterized in that electrification
Work robot has the mechanical arm being arranged on robot platform, including first mechanical arm, second mechanical arm and auxiliary machine
Tool arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm complete following work：
Wire brush, auxiliary mechanical arm end peace are installed in first mechanical arm end installation band gasoline cotton brush, second mechanical arm end
Clamping tool；
Conducting wire to be overlapped is clamped using clamping device in auxiliary mechanical arm；First mechanical arm drive band gasoline cotton brush wait for overlap joint lead
Move back and forth at line, to clean conducting wire；Second mechanical arm drives wire brush to move back and forth at conducting wire to be overlapped, and removes conducting wire and takes
Connect the oxide at place；
First mechanical arm and second mechanical arm end change the outfit electric power fat painting brush, and using electric power fat painting brush in overlap joint range
Conductive line surfaces smear electric power fat；
First mechanical arm and second mechanical arm end change the outfit clamping device；C-type wire clamp is clamped using clamping device in first mechanical arm,
Second mechanical arm, which is clamped, waits for that overlap joint branch connects lead；First mechanical arm uses clamping device by crotch slot on the upside of the c-type plate of c-type wire clamp
It is articulated on overlap joint conducting wire；Second mechanical arm is made to wait for that overlap joint branch connects the crotch slot that lead is hooked on the downside of c-type plate with clamping device
It is interior；
The wedge of c-type wire clamp is clamped in first mechanical arm, puts it into c-type plate；The end of first mechanical arm and second mechanical arm
Change the outfit bolt disassembly tool, using bolt disassembly tool fastening bolt, wedge is made to be mounted on c-type wire clamp；
In above process, industrial personal computer calculates the torque number in each joint of main manipulator according to mechanical arm tail end stress data
According to by the control interface of main manipulator, control each joint output torque of main manipulator makes main manipulator feed back stress, operation
Personnel confirm the dynamics of mechanical arm according to the feedback stress of main manipulator；
In above process, operating personnel change main operation end pose, and industrial personal computer is according to the angle of each rotary joint of main manipulator
Degrees of data calculates the desired value of end of arm speed vector, by the control interface of mechanical arm, according to the desired value control
Manipulator motion processed.
2. branch connects gage lap method as described in claim 1, which is characterized in that the mechanical arm tail end stress data is by installing
It is obtained in six degree of freedom power/torque sensor acquisition of mechanical arm tail end, scalar is six degree of freedom power/torque data.
3. branch connects gage lap method as described in claim 1, which is characterized in that the scalar of tool arm end stress data is
Six degree of freedom power/torque data, by industrial personal computer according to the end pose data and tip speed data of mechanical arm, using based on
Virtual reality technology, which calculates, to be obtained, and detailed process is：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, eight fork of structure
Tree；
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, ball is surrounded in setting
Radius be required collision detection distance；
Step 3, Octree progress collision detection of the ball with step 1, if not colliding, mechanical arm are surrounded to step 2
Six degree of freedom power/torque data of end are zero, if colliding, obtain the data to collide in virtual reality scenario
Point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data；
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring damping mould is used
Type calculates feedback force,
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, and F is anti-
Power is presented, scalar is six degree of freedom power/torque data.
4. branch connects gage lap method as described in claim 1, which is characterized in that modeled to main manipulator statics, obtain machine
Tool arm end six degree of freedom power/torque data are to the transformational relation of each joint torque data of main manipulator, and industrial personal computer is according to institute
State the torque data that transformational relation calculates each joint of main manipulator.
5. branch connects gage lap method as described in claim 1, which is characterized in that obtain end of arm speed vector desired value
Method be：Main manipulator is modeled with D-H modeling methods, show that the angle-data of each rotary joint of main manipulator arrives
The transformational relation of main manipulator end pose data；Industrial personal computer receives the angle number for each rotary joint that main manipulator is sent
According to main manipulator end pose data are calculated according to the transformational relation, then lead to main manipulator end pose data
It crosses and differentiates to obtain main manipulator tip speed data；According to main manipulator end pose data and tip speed data, make
With velocity feed forward PID controller, end of arm speed vector desired value is calculated.
6. branch connects gage lap method as described in claim 1, which is characterized in that before operation, first mechanical arm and the second machine
Clamping device is installed in tool arm end, and insulation masking material is clamped with clamping device carries out insulation masking to the electrical body of label；
After operation, clamping device is installed in first mechanical arm and second mechanical arm end, and electrical body is covered in clamping device removing
On insulation masking material.
7. branch connects gage lap method as described in claim 1, which is characterized in that main manipulator includes the first main manipulator, the
Two main manipulators and auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator respectively with the first machine
Tool arm, second mechanical arm and auxiliary mechanical arm correspond to, and constitute master-slave operation relationship.
8. branch connects gage lap method as claimed in claim 7, which is characterized in that be provided with control room on aerial lift device with insulated arm, number
Include industrial personal computer, display screen and main manipulator according to processing and control systems, industrial personal computer Built-in Image processor, display screen and main behaviour
Make hand to be located in control room；Video camera is provided on robot platform, the working scene image of the camera acquisition is sent to
Industrial personal computer, the 3D dummy activity scenes that image processor obtains after handling working scene image, and display is sent to show.
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