CN110303468A - A kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method and system - Google Patents
A kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method and system Download PDFInfo
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- CN110303468A CN110303468A CN201910441571.1A CN201910441571A CN110303468A CN 110303468 A CN110303468 A CN 110303468A CN 201910441571 A CN201910441571 A CN 201910441571A CN 110303468 A CN110303468 A CN 110303468A
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- double bodies
- voltage circuit
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- machinery people
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to electric inspection process technical fields, more specifically, it is related to a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method and system, by manually completing divide-shut brake jointly with double bodies machinery people, mechanical arm tail end is provided with the end effector mechanism for executing breaking-closing operating, the following steps are included: equipment safety cabinet cabinet door is opened manually, and with five anti-lock solution lock-switch；To double bodies machinery, people issues assignment instructions；Crusing robot planning path simultaneously marches to task point；Control mechanical arm is moved to end effector mechanism near operating point；Shooting environmental photo is simultaneously matched with default picture；Judge whether matching succeeds, S107 is entered step if successful match, if it fails to match, is relocated, until successful match；Tail house is driven to execute breaking-closing operating；Judge whether to operate successfully, enter if operating successfully in next step, if operation failure returns to previous step；Double bodies machinery people exits task point, is accomplished manually subsequent locker/case work.
Description
Technical field
The present invention relates to electric inspection process technical fields, break more particularly, to a kind of double bodies machinery people local operation height
Road device open/close method and system.
Background technique
High-voltage circuitbreaker can be cut off or no-load current and load current in closed high voltage circuit, has control and protection
Effect.Can according to the needs of Operation of Electric Systems, by part or all of electrical equipment, and partly or entirely route investment or
It is out of service；When a certain section failure of electric system, it and protective device, automatic device are matched, by the failure portion
Divide and cut off rapidly from system, reduce scope of power outage, places fault spread, all kinds of electrical equipments in system is protected not to be damaged,
The safe operation of safeguards system no failure part.
It is operated currently, mainly carrying out switching on and off to high-voltage circuitbreaker by Remote protection and monitoring system, by control loop control
Transmission mechanism processed carries out, and operates conveniently, safety, and operation maintenance personnel need to only confirm the result after operation.But work as control
When circuit processed or transmission mechanism occur abnormal, or when overhaul of line breaker, " distant place/on the spot " switching switch is placed in regard to status
It sets, needing operation maintenance personnel to carry out scene, switching on and off operates on the spot, forms security threat to operation maintenance personnel.
With power grid security construction in recent years and smart grid development trend, more and more electricity grid substations
Start to replace traditional manual inspection using intelligent substation crusing robot, improves routing inspection efficiency.Nowadays, crusing robot exists
More work can be competent in substation.For example, the operation of switching on and off on the spot when case of emergency can be by dual-body intelligent inspection machine
People assists operation maintenance personnel to carry out.Dual-body intelligent crusing robot can substitute operation maintenance personnel and complete relatively hazardous switching on and off operation,
It prevents from unexpectedly injuring operation maintenance personnel, ensures operation maintenance personnel personal safety.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of double bodies machinery people local operation high pressure open circuits
Device open/close method and system can substitute operation maintenance personnel and complete relatively hazardous switching on and off operation, prevent from unexpectedly injuring
Operation maintenance personnel ensures operation maintenance personnel personal safety.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of double bodies machinery people local operation high pressure
Circuit-breaker switching on-off method, by manually completing divide-shut brake jointly with double bodies machinery people, the double bodies machinery people is by survey monitor
Device people and mechanical arm composition, the mechanical arm tail end are provided with the end effector mechanism for executing breaking-closing operating, including
Following steps:
S101: being opened manually equipment safety cabinet cabinet door, and with five anti-lock solution lock-switch；
S102: to double bodies machinery, people issues assignment instructions；
S103: crusing robot planning path simultaneously marches to task point；
S104: control mechanical arm is moved to end effector mechanism near operating point；
S105: shooting environmental photo is simultaneously matched with default picture；
S106: judging whether matching succeeds, and S107 is entered step if successful match, if it fails to match, is carried out again
Positioning, until successful match；
S107: driving tail house executes breaking-closing operating；
S108: judging whether to operate successfully, enter step S109 if operating successfully, if operation failure return step
S107；
S109: double bodies machinery people exits task point, is accomplished manually subsequent locker/case work.
Further, in step s 106, if it fails to match, number is more than n times, by manually being corrected.
Further, the N is at least 2.
A kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system, implementing the above method, including to
Planning path and control crusing robot advance the first control system, to control manipulator motion and images match second
Control system and the third control system to control end effector mechanism kinematic, first control system, the second control
It is in communication with each other between system and third control system by Ethernet.
Further, first control system includes the first industrial personal computer, first motor control unit, the first driver
With several sensing elements being arranged on crusing robot, first industrial personal computer and first motor control unit communication link
It connects, several sensing elements are communicated to connect with the first industrial personal computer respectively, and first driver and first motor control
Unit communication connection.
Further, steering motor and movable motor, several first drives are provided on the crusing robot
Dynamic device is communicated to connect with steering motor and movable motor respectively.
Further, the sensing element includes laser radar, ultrasonic sensor, attitude transducer and mileage coding
Device.
Further, for the mechanical arm at least provided with 2 spindle motors, second control system includes the second work
Control machine, camera, encoder and several second drivers, several encoders and the second industrial personal computer communicate to connect, several
Second driver and the second industrial personal computer communicate to connect, and each second driver is electrically connected with a spindle motor respectively
It connects, the camera and the second industrial personal computer communicate to connect.
Further, the third control system includes the second motor control unit, rotating electric machine, telescope motor, the
Three drivers and torque sensor, the torque sensor and the second motor control unit communicate to connect, the described in two
Three drivers are electrically connected with rotating electric machine and telescope motor respectively, and the third driver is communicated with the second motor control unit
Connection.
Compared with prior art, the beneficial effects of the present invention are: can substitute operation maintenance personnel completes relatively hazardous switching on and off
Operation prevents from unexpectedly injuring operation maintenance personnel, ensures operation maintenance personnel personal safety.
Detailed description of the invention
Fig. 1 is present invention flow diagram in one embodiment；
Fig. 2 is schematic diagram when double bodies machinery people in one embodiment of the invention executes breaking-closing operating；
Fig. 3 is the schematic diagram of the first control system in one embodiment of the invention；
Fig. 4 is the schematic diagram of the second control system in one embodiment of the invention；
Fig. 5 is the schematic diagram of third control system in one embodiment of the invention.
Specific embodiment
The present invention is further illustrated With reference to embodiment.Wherein, attached drawing only for illustration,
What is indicated is only schematic diagram, rather than pictorial diagram, should not be understood as the limitation to this patent；Reality in order to better illustrate the present invention
Example is applied, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To those skilled in the art
For, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore positional relationship is described in attached drawing
Term only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term as the case may be.
As shown in Figure 1, 2, a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method, passes through artificial and binary
Robot completes divide-shut brake jointly, and double bodies machinery people is made of crusing robot 1 and mechanical arm 2, and the setting of 2 end of mechanical arm is useful
In the end effector mechanism 3 for executing breaking-closing operating, comprising the following steps:
S101: being opened manually equipment safety cabinet cabinet door, and with five anti-lock solution lock-switch；
S102: to double bodies machinery, people issues assignment instructions；
S103: 1 planning path of crusing robot simultaneously marches to task point；
S104: control mechanical arm 2 is moved to end effector mechanism near operating point；
S105: shooting environmental photo is simultaneously matched with default picture；
S106: judging whether matching succeeds, and S107 is entered step if successful match, if it fails to match, is carried out again
Positioning, until successful match；
S107: driving tail house executes breaking-closing operating；
S108: judging whether to operate successfully, enter step S109 if operating successfully, if operation failure return step
S107；
S109: double bodies machinery people exits task point, is accomplished manually subsequent locker/case work.
By this method, manually cooperates with double bodies machinery people and complete high-voltage circuit-breaker switching on-off work, by being accomplished manually machine
Device people unlocking operation relatively difficult to achieve substitutes operation maintenance personnel by robot and completes relatively hazardous switching on and off operation, prevents accident
Operation maintenance personnel is injured, ensures operation maintenance personnel personal safety.
Further, in step s 106, if it fails to match, number is more than n times, by manually being corrected.
Further, N is at least 2.
A kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system, implementing the above method, including to
The first control system that planning path and control crusing robot 1 are advanced, to control the movement of mechanical arm 2 and images match the
Two control systems and the third control system to control the movement of end effector mechanism 3, the first control system, the second control system
It is in communication with each other between third control system by Ethernet.
As shown in figure 3, in the present embodiment, the first control system includes the first industrial personal computer, first motor control unit, the
One driver and several sensing elements being arranged on crusing robot 1, the first industrial personal computer are communicated with first motor control unit
Connection, several sensing elements are communicated to connect with the first industrial personal computer respectively, the first driver and first motor control unit communication link
It connects.
Wherein, steering motor and movable motor are provided on crusing robot 1, several first drivers are electric with steering respectively
Machine and movable motor communication connection.
In the present embodiment, sensing element includes laser radar, ultrasonic sensor, attitude transducer and mileage coding
Device.After 1 ontology of crusing robot receives patrol task, the first industrial personal computer plans motion path, and is converted into specific
Motion information is sent to first motor control unit, and first motor control unit controls steering motor and movable motor according to planning
Path moves to task point, and laser radar, attitude transducer and motor mileage coder form navigation elements to the first industrial personal computer
Real-time Feedback robot current location, and motion state is corrected in real time.Ultrasonic wave real-time detection robot motion path
On obstacle, when detecting obstacle, issue alarm, first motor control unit control turn to and movable motor stop motion,
When obstacle is removed, sensing system releases alarm, and robot restores movement.
As shown in Figure 4, wherein mechanical arm 2 at least provided with 2 spindle motors, the second control system include the second industrial personal computer,
Camera, encoder and several second drivers, several encoders and the second industrial personal computer communicate to connect, several second drivers with
The communication connection of second industrial personal computer, each second driver are electrically connected with a spindle motor respectively, and camera and the second industrial personal computer are logical
Letter connection.In the present embodiment, spindle motor is provided with 6, and the second driver being correspondingly arranged also has 6, each second driving
Device electrical connection corresponding with 1 spindle motor, individually to control the movement of corresponding spindle motor, and used encoder realizes closed loop control
System, is moved to the end effector mechanism 3 that 2 end of mechanical arm is arranged near target point, since crusing robot 1 is based on laser
Radar SLAM navigation system there are navigation error, cause 2 end of mechanical arm often can not accurate movement to target point, therefore when end
Hold operating mechanism 3 reach target point nearby after, the second industrial personal computer call monocular cam capture environment picture, by environment picture with
Prefabricated picture is matched, and after the completion of matching, the second industrial personal computer transmits control instruction to driver, controls the fortune of 6 spindle motors
Make precisely to adjust the position of end effector mechanism.
As shown in figure 5, in the present embodiment, third control system includes the second motor control unit, rotating electric machine, stretches
Motor, third driver and torque sensor, torque sensor and the second motor control unit communicate to connect, two third drivings
Device is electrically connected with rotating electric machine and telescope motor respectively, and third driver and the second motor control unit communicate to connect.Due to hand
The diversity of dynamic on-off switch, including push button, dial type and knob, therefore end effector mechanism 3 needs telescopic machine
Structure and rotating mechanism carry out breaking-closing operating, therefore drive in requisition for by rotating electric machine and telescope motor, execute
When breaking-closing operating, selects different mechanism and control mode to execute according to different switches, in executive button formula and dial
When moving type switch divide-shut brake, the second motor control telescope motor is to fix stretching speed, flexible gamble pressing or toggle switch.It holds
When row knob switch divide-shut brake, the second motor control unit controls rotating electric machine to fix angular velocity of rotation, rotation angle
Degree rotation knob.In above-mentioned two operating process, torque sensor Real-time Feedback current operation mechanism by torque, work as torque
After limit value, MCU controls motor stop motion, prevents damage from switching.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (9)
1. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method, which is characterized in that by manually with binary machine
Device people completes divide-shut brake jointly, and the double bodies machinery people is made of crusing robot (1) and mechanical arm (2), the machinery
Arm (2) end is provided with the end effector mechanism (3) for executing breaking-closing operating, comprising the following steps:
S101: being opened manually equipment safety cabinet cabinet door, and with five anti-lock solution lock-switch；
S102: to double bodies machinery, people issues assignment instructions；
S103: crusing robot (1) planning path simultaneously marches to task point；
S104: control mechanical arm (2) is moved to end effector mechanism near operating point；
S105: shooting environmental photo is simultaneously matched with default picture；
S106: judging whether matching succeeds, and S107 is entered step if successful match, if it fails to match, is relocated,
Until successful match；
S107: driving tail house executes breaking-closing operating；
S108: judging whether to operate successfully, enter step S109 if operating successfully, if operation failure return step S107；
S109: double bodies machinery people exits task point, is accomplished manually subsequent locker/case work.
2. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method according to claim 1, feature exist
In in step s 106, if it fails to match, number is more than n times, by manually being corrected.
3. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method according to claim 2, feature exist
In the N is at least 2.
4. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system, which is characterized in that including to planning path
And the first control system of control crusing robot (1) traveling, the second control to control mechanical arm (2) movement and images match
System processed and the third control system to control end effector mechanism (3) movement, first control system, the second control
It is in communication with each other between system and third control system by Ethernet.
5. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system according to claim 4, feature exist
In first control system includes that the first industrial personal computer, first motor control unit, the first driver and several settings are being patrolled
The sensing element on robot (1) is examined, first industrial personal computer and first motor control unit communicate to connect, several described
Sensing element is communicated to connect with the first industrial personal computer respectively, and first driver and first motor control unit communicate to connect.
6. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system according to claim 5, feature exist
In, be provided with steering motor and movable motor on the crusing robot (1), several first drivers respectively with turn
It is communicated to connect to motor and movable motor.
7. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system according to claim 5, feature exist
In the sensing element includes laser radar, ultrasonic sensor, attitude transducer and mileage coder.
8. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system according to claim 4, feature exist
In for the mechanical arm (2) at least provided with 2 spindle motors, second control system includes the second industrial personal computer, camera shooting
Head, encoder and several second drivers, several encoders and the second industrial personal computer communicate to connect, it is several described in second
Driver and the second industrial personal computer communicate to connect, and each second driver is electrically connected with a spindle motor respectively, described
Camera and the second industrial personal computer communicate to connect.
9. a kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off system according to claim 1, feature exist
In the third control system includes the second motor control unit, rotating electric machine, telescope motor, third driver and torque
Sensor, the torque sensor and the second motor control unit communicate to connect, third driver described in two respectively with
Rotating electric machine and telescope motor electrical connection, the third driver and the second motor control unit communicate to connect.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441571.1A CN110303468A (en) | 2019-05-24 | 2019-05-24 | A kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910441571.1A CN110303468A (en) | 2019-05-24 | 2019-05-24 | A kind of double bodies machinery people local operation high-voltage circuit-breaker switching on-off method and system |
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| CN110303468A true CN110303468A (en) | 2019-10-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113510712A (en) * | 2021-08-04 | 2021-10-19 | 国网浙江省电力有限公司嘉兴供电公司 | Mechanical arm path planning method for transformer substation operation robot |
| CN116852350A (en) * | 2023-06-09 | 2023-10-10 | 中煤陕西榆林能源化工有限公司 | Control method and device for switching operation, storage medium and electronic equipment |
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