CN108598989A - A kind of hot line robot fuse switch replacing options based on force feedback master ＆ slave control - Google Patents
A kind of hot line robot fuse switch replacing options based on force feedback master ＆ slave control Download PDFInfo
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- CN108598989A CN108598989A CN201810319451.XA CN201810319451A CN108598989A CN 108598989 A CN108598989 A CN 108598989A CN 201810319451 A CN201810319451 A CN 201810319451A CN 108598989 A CN108598989 A CN 108598989A
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- mechanical arm
- arm
- data
- main manipulator
- fuse switch
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Abstract
The present invention proposes a kind of hot line robot fuse switch replacing options based on force feedback master ＆ slave control.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
Fuse switch replacing options.
Background technology
In the 10kv circuits of operation, fuse switch is a kind of essential device, be distribution line branch line and
A kind of most common short switch of distribution transformer.When the electric current in circuit is excessive, in fuse switch fuse can because
Electric current is excessive and generates heat and fuses, and due to fuse failure, the contact up and down of cartridge fuse loses the fastening force of fuse, in its Gravitative Loads
Lower cartridge fuse falls automatically, and circuit is made to disconnect, and cuts off faulty line and equipment.
With the development of power distribution network, a large amount of fuse switch is needed replacing every year, typically manually carries out operation.People
Work industry is divided into as power failure operation and livewire work.
If using power failure operation, significant impact can be caused to social life.For example, state's net overhaul technological transformation project needs to change
Fuse switch substantial amounts, if all using have a power failure replace if, power failure area is larger.
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 based on force feedback master ＆ slave control falls
Formula change of fuse 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
Fuse switch replacing options, hot line robot have the mechanical arm being arranged on robot platform, including the first machine
Tool arm, second mechanical arm and auxiliary mechanical arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm are in response to controlling number
According to work below completing：
Clamping device is installed in first mechanical arm, second mechanical arm and auxiliary mechanical arm end, is clamped with clamping device exhausted
Edge masking material carries out insulation masking to the electrical body of label；Then first mechanical arm and second mechanical arm the end bolt that changes the outfit are torn open
Holding tool；
Auxiliary mechanical arm clamp leads fixing device be moved to cross-arm nearby and by the mounting hole of wire fixture with it is horizontal
Intrinsic mounting hole alignment in load；First mechanical arm and second mechanical arm are installed solid for anchor leg using bolt disassembly tool
Anchor leg fixing device is fixed on cross-arm by the bolt for determining device；
The upper lead of auxiliary mechanical arm clamping, first mechanical arm and second mechanical arm remove drop type using bolt disassembly tool
The bolt of upper lead is fixed on fuse, then the upper lead disassembled is moved on wire fixture by auxiliary mechanical arm
Near the mounting hole at end；The spiral shell of first mechanical arm and second mechanical arm using the installation of bolt disassembly tool for fixed upper lead
Upper lead is fixed on the upper end of wire fixture by bolt；
Auxiliary mechanical arm stops the upper lead of clamping, and is moved to lower lead and nearby lower lead is clamped；First machinery
Arm and second mechanical arm remove the bolt of fixed lower lead on fuse switch using bolt disassembly tool, then auxiliary machinery
The lower lead disassembled is moved near the mounting hole of wire fixture lower end by arm；First mechanical arm and second mechanical arm
Lower lead, is fixed on the lower end of wire fixture by the bolt using the installation of bolt disassembly tool for fixed lower lead；
Auxiliary mechanical arm stops the lower lead of clamping, and is moved to fuse switch and is nearby pressed from both sides to fuse switch
It holds；First mechanical arm and second mechanical arm remove the spiral shell for fixing fuse switch and cross-arm using bolt disassembly tool
Bolt；After disassembling bolts, fuse switch is moved on robot platform and places by auxiliary mechanical arm；
New fuse switch is clamped in auxiliary mechanical arm, and new fuse switch is moved near cross-arm；First
Mechanical arm and second mechanical arm install the bolt for fixing fuse switch and cross-arm using bolt disassembly tool, will fall
Formula fuse is fixed with cross-arm；
Auxiliary mechanical arm stops clamping fuse switch, then is clamped to the lower lead on wire fixture；
First mechanical arm and second mechanical arm remove the bolt for fixed upper lead using bolt disassembly tool, by lower lead from lead
It is removed in fixing device；Lower lead is moved near the mounting hole of fuse switch lower end by auxiliary mechanical arm, the first machine
The bolt of tool arm and second mechanical arm using the installation of bolt disassembly tool for fixed lower lead, drop type is fixed on by lower lead
Fuse lower end；
Auxiliary mechanical arm stops the lower lead of clamping, then is clamped to the upper lead on wire fixture；First machine
Tool arm and second mechanical arm remove the bolt for fixed upper lead using bolt disassembly tool, and upper lead is fixed from lead and is filled
It sets and removes；Upper lead is moved to the mounting hole near fuse switch upper end by auxiliary mechanical arm, first mechanical arm with
Bolt of the second mechanical arm using the installation of bolt disassembly tool for fixed upper lead, fuse switch is fixed on by upper lead
Upper end；
The upper lead of auxiliary mechanical arm stopping clamping, then clamp leads fixing device；First mechanical arm and second mechanical arm
The bolt for anchor leg fixing device and cross-arm is removed using bolt disassembly tool, wire fixture is torn open from cross-arm
Get off；Wire fixture is put back to tool box special on robot platform by auxiliary mechanical arm；
First mechanical arm and second mechanical arm change the outfit clamping device, are covered in using clamping device clamping exhausted on electrical body
Edge masking material removes insulation masking material；
Either second mechanical arm or auxiliary mechanical arm push the active module of fuse switch to first mechanical arm, from
And close fuse switch；
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, 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, the insulation masking material is insulating sheath or epoxy glass fabric.
Further, the wire fixture includes ontology, setting in the body between position for cross-arm it is fixed
The mounting hole for fixed upper lead and lower lead at both ends is descended in mounting hole, and setting on the body.
Further, the fuse switch, which is placed on, is moved in the tool box special on robot platform.
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) since use hot line robot replaces fuse switch automatically, operating efficiency and accuracy are improved,
The possibility of human error is avoided, the possibility of accident generation can be reduced to a certain extent；Largely avoid circuit
Have a power failure the negative effect brought, and power off time is greatly reduced, and improves power supply reliability；Simultaneously small operating personnel is reduced to be faced
Danger, burning and the problems such as Danger Electric shock risk, falling from high altitude, substantially increase work to human body when without considering that electric arc generates
Safety during industry；Meanwhile the present invention improves automation and the homework precision of robot manipulating task on the whole.
Description of the drawings
Fig. 1 is hot line robot overall structure diagram of the present invention；
Fig. 2 is the structural schematic diagram of robot platform in the present invention；
Fig. 3 is the method flow diagram that fuse switch is replaced in the present invention；
Fig. 4 is the wire fixture structural schematic diagram used in the present invention；
Fig. 5 is hot line robot charged for replacement fuse switch operating environment schematic diagram of the present invention；
Fig. 6 is the block diagram of force feedback master ＆ slave control system in the present invention；
Fig. 7 is the block diagram of mechanical arm pose closed loop controller in the present invention；
Fig. 8 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 a variety of embodiment party of hot line robot fuse switch replacing options of the present invention
Formula.Therefore, 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
The whole of the present invention 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.
Data processing and control system and display screen, the first main manipulator, the second main operation are provided in control room 2
Hand, auxiliary main manipulator and communication module etc..
Robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, the first work
Control machine 48, binocular camera 45, full-view camera 41, depth camera 410, accumulator 49, tool box special 47, communication mould
Block.
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.
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.
Data transmission between robot platform 4 and control room 2 is passed by optical fiber wire transmission, or using wireless network
It is defeated.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing the optical signal and multiple twin in optical fiber
The mutual conversion of electric signal in line, to realize the electrical isolation of robot platform 4 and control room 2 in communication.Control room 2
In communication module be fiber optical transceiver, fiber optical transceiver is for realizing the electric signal in the optical signal and twisted-pair feeder in optical fiber
Mutually conversion, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
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 replaces fuse switch, mechanical arm operation effectiveness can be related to
Confirm work, such as whether prevented in place using insulating materials, safe, mechanical arm clamping that whether device is fixed whether in place, machine
Whether tool arm clamping force is excessive etc., these need the operation for confirming effect, actually relate to mechanical arm and ambient enviroment connect
Force feedback detection when touching, and based on the result confirmation operation effect of force feedback detection, the successive step operating personnel that go forward side by side are to master
The control of manipulator, 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 existing
Technology, which has been done, to be 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.
The process that hot line robot based on aforementioned force feedback master ＆ slave control replaces fuse switch is as follows：
Before replacing fuse switch 104, the operation that operating personnel first carries out hot line robot prepares, and checks
Meteorological condition, arrangement scene, carries out inspection test at verification shaft tower number to insulation apparatus.It will be insulated by aerial lift device with insulated arm driver
Bucket arm vehicle 1 drives into 100 neighbouring position of shaft tower and arranges scene.
After aerial lift device with insulated arm arrangement is appropriate, hot line robot, capturing panoramic view image are opened.Operating personnel are according to aobvious
Show that robot platform 4 is moved to fuse switch job position by the real scene image that device is shown, control telescopic arm 3.Operator
The real scene image that member returns according to binocular camera on mechanical arm 45 is to the electrical body in job area in insulating safety distances
It is marked.
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work：
Clamping device is installed in first mechanical arm 43, second mechanical arm 44 and 42 end of auxiliary mechanical arm, uses clamping device
Clamping insulation masking material carries out insulation masking to the electrical body of label.Insulate masking material such as insulating sheath, epoxy glass fabric
Deng.After being covered, the screening effect that insulation masking material is determined by force feedback function is needed, at this point, according to main manipulator
The controlled quentity controlled variable of mechanical arm, work is calculated by velocity feed forward PID controller in the angle-data of six rotary joints sent
Controlled quentity controlled variable is sent to the control interface of mechanical arm by control machine, and control machinery arm touches veil, after touching, according to mechanical arm and absolutely
Main behaviour is calculated in the stress data that edge masking material generates when contacting, i.e. six degree of freedom power/torque data of mechanical arm tail end
Make the torque data in six joints of hand, torque data is sent to the force-feedback control interface of main manipulator, control master by industrial personal computer
Each joint output torque of manipulator, makes main manipulator feed back stress, and operating personnel determine screening effect according to the size of force feedback.
42 clamp leads fixing device 190 of auxiliary mechanical arm is moved to cross-arm 103 nearby and by wire fixture 190
Mounting hole is aligned with mounting hole intrinsic on cross-arm 103；It is torn open in first mechanical arm 43 and 44 end of the second mechanical arm bolt that changes the outfit
Holding tool, first mechanical arm 43 and second mechanical arm 44 are used for anchor leg fixing device 190 using the installation of bolt disassembly tool
Bolt, anchor leg fixing device 190 is fixed on cross-arm 103；The wire fixture includes ontology, and setting is at this
Body centre position be used for and the fixed mounting hole of cross-arm, and setting descend on the body both ends for fixed upper lead under
The mounting hole of lead.Trepanning on wire fixture meets the standard of minimum safe distance.In fixation procedure, according to mechanical arm
The stress data generated when being contacted with wire fixture 190, bolt disassembly tool etc., the i.e. six degree of freedom of mechanical arm tail end
The torque data in six joints of main manipulator is calculated in power/torque data, and torque data is sent to main manipulator by industrial personal computer
Force-feedback control interface, control each joint output torque of main manipulator, make main manipulator feed back stress, operating personnel are according to power
The size of feedback determines mechanical arm clamping effect or mechanical arm strength.
The upper lead 101 of the clamping of auxiliary mechanical arm 42, while first mechanical arm 43 and second mechanical arm 44 use bolt disassembly
Tool removes the bolt of fixed upper lead 101 on fuse switch 104, and then auxiliary mechanical arm 42 will disassemble and draw
Line 101 is moved near the mounting hole of 190 upper end of wire fixture；First mechanical arm 43 and second mechanical arm 44 use bolt
Upper lead 101, is fixed on the upper end of wire fixture 190 by bolt of the dismantling device installation for fixed upper lead 101.Gu
Determine effect, can be equally determined according to aforementioned force-feedback control process.
Auxiliary mechanical arm 42 stops the upper lead 101 of clamping, and is moved to lower lead 102 and is nearby pressed from both sides to lower lead 102
It holds.Meanwhile first mechanical arm 43 and second mechanical arm 44 are removed using bolt disassembly tool under being fixed on fuse switch 104
The bolt of lead 102, then auxiliary mechanical arm 42 the lower lead 102 disassembled is moved to 190 lower end of wire fixture
Mounting hole near；First mechanical arm 43 and second mechanical arm 44 are used for fixed lower lead 102 using the installation of bolt disassembly tool
Bolt, lower lead 102 is fixed on to the lower end of wire fixture 190.Fixed effect, equally can be according to aforementioned force feedback
Control process is determined.
42 end of auxiliary mechanical arm stops the lower lead 102 of clamping, and is moved to fuse switch 104 nearby to drop type
Fuse 104 is clamped.At this point, first mechanical arm 43 and second mechanical arm 44 are removed using bolt disassembly tool for fixing
The bolt of fuse switch 104 and cross-arm 103；After disassembling bolts, fuse switch 104 is moved to by auxiliary mechanical arm 42
Tool box special 47 on robot platform 4.In demolishing process, main manipulator receives six degree of freedom power/torque that mechanical arm is sent
Data, are calculated the torque data in six joints of main manipulator, and the power that torque data is sent to main manipulator by industrial personal computer is anti-
Control interface is presented, so that main manipulator is fed back stress, operating personnel judge dismounting state according to feedback force, and then auxiliary camera is sentenced
Disconnected field condition.
After replaced fuse switch 104 is put into tool box special 47 by auxiliary mechanical arm 42, then it is clamped special
With fuse switch 104 new in tool box 47, then new fuse switch 104 is moved near cross-arm 103.The
One mechanical arm 43 and second mechanical arm 44 install the spiral shell for fixing fuse switch and cross-arm 103 using bolt disassembly tool
Bolt fixes fuse switch and cross-arm 103.Fixed effect can equally carry out true according to aforementioned force-feedback control process
It is fixed.
Auxiliary mechanical arm 42 stops clamping fuse switch 104, then is clamped on wire fixture 190
Lower lead 102.First mechanical arm 43 and second mechanical arm 44 remove the spiral shell for fixed upper lead 101 using bolt disassembly tool
Bolt removes lower lead 102 from wire fixture 190.Lower lead 102 is moved to drop type and melted by auxiliary mechanical arm 42
Near the mounting hole of disconnected 104 lower end of device, first mechanical arm 43 and second mechanical arm 44 are used for admittedly using the installation of bolt disassembly tool
Lower lead 102 is fixed on 104 lower end of fuse switch by the bolt for fixing lead 102.
Auxiliary mechanical arm 42 stops the lower lead 102 of clamping, then is clamped to the upper lead on wire fixture 190
101.First mechanical arm 43 and second mechanical arm 44 remove the bolt for fixed upper lead 101 using bolt disassembly tool, will
Upper lead 101 is removed from wire fixture 190.Upper lead 101 is moved to fuse switch by auxiliary mechanical arm 42
Mounting hole near 104 upper ends, first mechanical arm 43 is with second mechanical arm 44 using the installation of bolt disassembly tool for fixed
Upper lead 101 is fixed on 104 upper end of fuse switch by the bolt of lead 101.
The upper lead 101 of the stopping clamping of auxiliary mechanical arm 42, then clamp leads fixing device 190.43 He of first mechanical arm
Second mechanical arm 44 removes the bolt for anchor leg fixing device 190 and cross-arm 103 using bolt disassembly tool, by lead
Fixing device 190 is removed from cross-arm 103.Auxiliary mechanical arm 42 puts back to wire fixture 190 on robot platform 4 specially
With tool box 47.
First mechanical arm 43 and second mechanical arm 44 change the outfit clamping device, are covered on electrical body using clamping device clamping
Insulation masking material, remove insulation masking material.
First mechanical arm 43 pushes the active module of fuse switch, to close fuse switch.
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 (9)
1. a kind of hot line robot fuse switch replacing options based on force feedback master ＆ slave control, which is characterized in that
Hot line robot has the mechanical arm that is 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 is helped to complete following work in response to control data：
Clamping device is installed in first mechanical arm, second mechanical arm and auxiliary mechanical arm end, and insulation, which is clamped, with clamping device hides
It covers material and insulation masking is carried out to the electrical body of label；Then first mechanical arm and second mechanical arm end change the outfit bolt disassembly work
Tool；
Auxiliary mechanical arm clamp leads fixing device is moved to cross-arm nearby and will be on the mounting hole and cross-arm of wire fixture
Intrinsic mounting hole alignment；First mechanical arm and second mechanical arm fix dress using the installation of bolt disassembly tool for anchor leg
Anchor leg fixing device is fixed on cross-arm by the bolt set；
The upper lead of auxiliary mechanical arm clamping, first mechanical arm and second mechanical arm remove drop type using bolt disassembly tool and fuse
The bolt of upper lead is fixed on device, then the upper lead disassembled is moved to wire fixture upper end by auxiliary mechanical arm
Near mounting hole；The bolt of first mechanical arm and second mechanical arm using the installation of bolt disassembly tool for fixed upper lead, will
Upper lead is fixed on the upper end of wire fixture；
Auxiliary mechanical arm stops the upper lead of clamping, and is moved to lower lead and nearby lower lead is clamped；First mechanical arm and
Second mechanical arm removes the bolt of fixed lower lead on fuse switch using bolt disassembly tool, and then auxiliary mechanical arm will
The lower lead disassembled is moved near the mounting hole of wire fixture lower end；First mechanical arm and second mechanical arm use
Lower lead, is fixed on the lower end of wire fixture by bolt of the bolt disassembly tool installation for fixed lower lead；
Auxiliary mechanical arm stops the lower lead of clamping, and is moved to fuse switch and nearby fuse switch is clamped；
First mechanical arm and second mechanical arm remove the bolt for fixing fuse switch and cross-arm using bolt disassembly tool；Spiral shell
After bolt is removed, fuse switch is moved on robot platform and places by auxiliary mechanical arm；
New fuse switch is clamped in auxiliary mechanical arm, and new fuse switch is moved near cross-arm；First machinery
Arm and second mechanical arm install the bolt for fixing fuse switch and cross-arm using bolt disassembly tool, and drop type is melted
Disconnected device is fixed with cross-arm；
Auxiliary mechanical arm stops clamping fuse switch, then is clamped to the lower lead on wire fixture；First
Mechanical arm and second mechanical arm remove the bolt for fixed upper lead using bolt disassembly tool, and lower lead is fixed from lead
It is removed on device；Lower lead is moved near the mounting hole of fuse switch lower end by auxiliary mechanical arm, first mechanical arm
Bolt with second mechanical arm using the installation of bolt disassembly tool for fixed lower lead, drop type fusing is fixed on by lower lead
Device lower end；
Auxiliary mechanical arm stops the lower lead of clamping, then is clamped to the upper lead on wire fixture；First mechanical arm
The bolt for fixed upper lead is removed using bolt disassembly tool with second mechanical arm, by upper lead from wire fixture
It removes；Upper lead is moved to the mounting hole near fuse switch upper end, first mechanical arm and second by auxiliary mechanical arm
Bolt of the mechanical arm using the installation of bolt disassembly tool for fixed upper lead, upper lead is fixed on fuse switch
End；
The upper lead of auxiliary mechanical arm stopping clamping, then clamp leads fixing device；First mechanical arm and second mechanical arm use
Bolt disassembly tool removes the bolt for anchor leg fixing device and cross-arm, and wire fixture is removed from cross-arm
Come；Wire fixture is put back to tool box special on robot platform by auxiliary mechanical arm；
First mechanical arm and second mechanical arm change the outfit clamping device, and being covered in the insulation on electrical body using clamping device clamping hides
Material is covered, insulation masking material is removed；
Either second mechanical arm or auxiliary mechanical arm push the active module of fuse switch to first mechanical arm, to close
Upper fuse switch；
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. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that the mechanical arm
End stress data is obtained by the six degree of freedom power mounted on mechanical arm tail end/torque sensor acquisition, and scalar is six free
Spend power/torque data.
3. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that the tool arm end
It is six degree of freedom power/torque data to hold the scalar of stress data, by industrial personal computer according to the end pose data of mechanical arm and end
Speed data is held, is obtained using being calculated based on virtual reality technology, 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. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that main manipulator
Statics models, and obtains conversion of the mechanical arm tail end six degree of freedom power/torque data to each joint torque data of main manipulator
Relationship, industrial personal computer calculate the torque data in each joint of main manipulator according to the transformational relation.
5. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that obtain mechanical arm
The method of tip speed vector desired value is：Main manipulator is modeled with D-H modeling methods, obtains each rotation of main manipulator
Turn the angle-data in joint to the transformational relation of main manipulator end pose data；Industrial personal computer receives each of main manipulator transmission
Main manipulator end pose data are calculated according to the transformational relation, then by main operation in the angle-data of rotary joint
Hand end pose data obtain main manipulator tip speed data by differentiating；According to main manipulator end pose data and
Tip speed data, operating speed feedforward PID controller, are calculated end of arm speed vector desired value.
6. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that main operation handbag
Include the first main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator, the second main manipulator and the main behaviour of auxiliary
It is corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively to make hand, constitutes master-slave operation relationship.
7. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that the insulation hides
It is insulating sheath or epoxy glass fabric to cover material.
8. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that the lead is solid
It includes ontology to determine device, setting in the body between position for the fixed mounting hole of cross-arm, and setting on the body under
The mounting hole for fixed upper lead and lower lead at both ends.
9. hot line robot fuse switch replacing options as described in claim 1, which is characterized in that the drop type
Fuse, which is placed on, to be moved in the tool box special on robot platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319451.XA CN108598989A (en) | 2018-04-11 | 2018-04-11 | A kind of hot line robot fuse switch replacing options based on force feedback master ＆ slave control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319451.XA CN108598989A (en) | 2018-04-11 | 2018-04-11 | A kind of hot line robot fuse switch replacing options based on force feedback master ＆ slave control |
Publications (1)
| Publication Number | Publication Date |
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| CN108598989A true CN108598989A (en) | 2018-09-28 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810319451.XA Pending CN108598989A (en) | 2018-04-11 | 2018-04-11 | A kind of hot line robot fuse switch replacing options based on force feedback master ＆ slave control |
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| CN (1) | CN108598989A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110032816A (en) * | 2019-04-19 | 2019-07-19 | 中科新松有限公司 | Mechanical arm torque evaluation method and estimating system |
| CN113436884A (en) * | 2021-07-02 | 2021-09-24 | 广东电网有限责任公司 | Automatic replacement equipment for high-voltage capacitor fuse |
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| CN106532565A (en) * | 2016-12-14 | 2017-03-22 | 国网江苏省电力公司常州供电公司 | Replacement method for drop-out fuse by electrified operational robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106532565A (en) * | 2016-12-14 | 2017-03-22 | 国网江苏省电力公司常州供电公司 | Replacement method for drop-out fuse by electrified operational robot |
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| 马孝林: "高压带电作业机器人作业机械臂的设计及优化", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110032816A (en) * | 2019-04-19 | 2019-07-19 | 中科新松有限公司 | Mechanical arm torque evaluation method and estimating system |
| CN110032816B (en) * | 2019-04-19 | 2023-06-06 | 中科新松有限公司 | Mechanical arm torque estimation method and estimation system |
| CN113436884A (en) * | 2021-07-02 | 2021-09-24 | 广东电网有限责任公司 | Automatic replacement equipment for high-voltage capacitor fuse |
| CN113436884B (en) * | 2021-07-02 | 2022-04-12 | 广东电网有限责任公司 | Automatic replacement equipment for high-voltage capacitor fuse |
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