CN111168367A - Bolt centering control method for bolt fastening robot of power transmission line - Google Patents

Bolt centering control method for bolt fastening robot of power transmission line Download PDF

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Publication number
CN111168367A
CN111168367A CN202010035140.8A CN202010035140A CN111168367A CN 111168367 A CN111168367 A CN 111168367A CN 202010035140 A CN202010035140 A CN 202010035140A CN 111168367 A CN111168367 A CN 111168367A
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Prior art keywords
sleeve
bolt
theta
nut
angle
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Pending
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CN202010035140.8A
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Chinese (zh)
Inventor
王永平
任新新
陈涛涛
吕新庭
梁水军
王伟骥
王炜
陈亚芳
刘能
梁伟明
吕海翔
赵俊
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Xinming Industrial Co Ltd
Xinchang Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Xinming Industrial Co Ltd
Xinchang Power Supply Co of State Grid Zhejiang Electric Power Co Ltd
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Priority to CN202010035140.8A priority Critical patent/CN111168367A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a bolt centering control method of a bolt fastening robot of a power transmission linemaxAnd controlling the feeding of the mechanical arm according to the deflection angle: the sleeve has almost no deviation between the axes of the sleeve and the nut, and only the hexagon has deviation: directly controlling the mechanical arm to feed, and rotating the nut to align the hexagon of the nut and the hexagon of the sleeve; the sleeve has an angle deviation relative to the nut, and the deviation angle theta (| theta | ≦ theta |)max) According to a known deviation angle theta1And the feed depth delta can be derived from the deviation angle theta2Calculating and monitoring theta2Once the target is reachedWithin the value range, the sleeve rotates the bolt to align the hexagon of the nut with the inner hexagon of the sleeve; the deviation angle of the sleeve relative to the nut is too large, | theta | > thetamaxThe mechanical arm needs to be readjusted for alignment. The invention automatically completes the bolt centering task of the robot by using methods such as compliance control, moment analysis and the like, replaces the traditional manual remote control mode, and has higher precision.

Description

Bolt centering control method for bolt fastening robot of power transmission line
Technical Field
The invention relates to the technical field of robots, in particular to a bolt fastening robot for a power transmission line.
Background
In order to prevent the occurrence of manual live working accidents and improve the efficiency of investigation and maintenance of live working, the electric transmission line operating robot is widely applied. The existing transmission line bolt fastening robot generally collects information through a high-definition camera arranged at a terminal device, then transmits the information to a workstation, and an operator remotely controls and maintains line faults through a video monitoring picture. Although the mode frees the operating personnel from the high-altitude and high-voltage environment, the video remote operation transmitted by the camera only has the interference conditions of power transmission line shaking, blind spots in the video range and the like caused by the influence of wind power, the control process is complicated, and the operation precision cannot be ensured.
Disclosure of Invention
The problem of most transmission line work robot do not possess automatic bolt centering ability at present, need operation personnel remote operation arm, have higher error nature is solved. The invention aims to provide a bolt centering control method for a bolt fastening robot of a power transmission line, so as to realize bolt centering efficiently and accurately.
In order to solve the technical problems, the invention adopts the following technical scheme:
a bolt centering control method for a bolt fastening robot of a power transmission line sets a deviation angle threshold theta according to a deviation angle between a sleeve and a nutmaxAnd controlling the feeding of the mechanical arm according to the deflection angle: the sleeve has almost no deviation between the axes of the sleeve and the nut, and only the hexagon has deviation: directly controlling the mechanical arm to feed, and rotating the nut to align the hexagon of the nut and the hexagon of the sleeve;
the sleeve has an angle deviation relative to the nut, and the deviation angle theta (| theta | ≦ theta |)max) According to a known deviation angle theta1And the feed depth delta can be derived from the deviation angle theta2，
Figure BDA0002365744970000021
Calculate and monitor θ2Once within the target range, the sleeve rotates the bolt to align the hexagon of the nut with the internal hexagon of the sleeve;
the deviation angle of the sleeve relative to the nut is too large, | theta | > thetamaxThe mechanical arm needs to be readjusted for alignment.
Preferably, the deviation angle threshold θmax＝15°。
Preferably, the sleeve is offset from the nut by an angle of less than 5 °, where the axes are considered to be substantially free of deviation, except for a hexagonal deviation.
Preferably, during bolt feed, θ is measured from an angle sensor1，θ2。
Preferably, if Δ l is 0 < Δ l ≦ lmaxWithin a range of 0 < delta > lmaxWherein l ismaxDerived from the radius of the sleeve and bolt,. lmax＝tanθ e2r, so can pass through theta2To determine whether to perform a rotation.
Preferably, the geometric coordination equation before the nut is rotated is as follows:
Figure BDA0002365744970000022
the stress balance equation is:
Figure BDA0002365744970000023
the physical equation is:
Figure BDA0002365744970000024
this gives:
Figure BDA0002365744970000025
wherein the content of the first and second substances,
Figure BDA0002365744970000031
u-u0＝R-r-lp(θ-θ0)-u0the radius of the sleeve is R, the radius of the bolt is R, u is the translation error of the compliant center C along the X-axis direction, X is the translation error of the shaft end center along the X-axis direction, and theta is the angle error of the shaft axis relative to the Z-axis. #
Preferably, to prevent occurrenceIn the process that the bolt enters the sleeve, the deflection angle is too large and exceeds the flexible range of the bolt, and the alignment work of the bolt cannot be completed, so that the critical condition of the flexible angle needs to be discussed, namely the critical angle theta is solvedeAnd a critical depth lmaxWherein R is the radius of the sleeve; r is the radius of the nut; l is the depth of the sleeve into the nut,
2(R-r)/tanθe＝2rtanθe
obtaining by solution:
Figure BDA0002365744970000032
lmax＝tanθe*2r。
preferably, according to the impedance control algorithm, the control algorithm for adjusting the position is:
Figure BDA0002365744970000033
wherein k isf、kfzThe value ranges of the feedback coefficients are all between 0.1 and 1.0,
and continuously adjusting the axis of the sleeve at the tail end of the robot manipulator according to the relative position of the Z axis of the sleeve at the tail end of the robot manipulator and the Z axis of a coordinate system taking the bolt as a reference target, so that the Z axis of the sleeve at the tail end of the robot manipulator is superposed with the Z axis of the coordinate system taking the bolt as the reference target.
Preferably, the compliance control algorithm for bolt alignment is:
when theta is less than or equal to thetaeWhen the temperature of the water is higher than the set temperature,
Figure BDA0002365744970000034
when | theta | is greater than thetaeWhen the temperature of the water is higher than the set temperature,
Figure BDA0002365744970000041
wherein k isf、kfzAs a feedback coefficient, kmFor controlling the coefficient, the value range is 0.1-1.Between 0.
Preferably, the load applied to the hexagonal socket is evaluated by an evaluation, which is derived from the different angles of rotation ψ1and the included angle α, different circumferential forces can be calculated, and the circumferential force is the friction force which is overcome by the sleeve relative to the nut, namely the minimum torque which needs to be fed by the motor.
The technical scheme adopted by the invention has the following beneficial effects:
1. the robot bolt centering task is automatically completed by methods such as compliance control and torque analysis, the traditional manual remote control mode is replaced, and the robot bolt centering task has higher precision.
2. Can stably finish the actions of all instructions sent from an upper computer so as to finish the subsequent bolt fastening work.
3. And the robot is adopted to replace manual live working, so that the safety and the stability are higher.
The following detailed description and the accompanying drawings are included to provide a further understanding of the invention.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
FIG. 1a is a first view showing a main body structure of a bolt-tightening robot according to an embodiment of the present invention;
FIG. 1b is a second main structure view of a bolt-fastening robot according to an embodiment of the present invention;
FIG. 2a is a first diagram of a flexible end device of a robot according to an embodiment of the present invention;
FIG. 2b is a second diagram of the flexible end device of the robot according to the embodiment of the present invention;
FIG. 3 is a schematic view of the sleeve of an embodiment of the present invention at an angle offset relative to the bolt;
FIG. 4 is a graph illustrating a force analysis before rotating a nut according to an embodiment of the present invention;
FIG. 5 is a schematic view of the flexibility angle threshold of an embodiment of the present invention;
FIG. 6 is a cross-twist torque analysis of an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
As shown in fig. 1(a, b): the utility model provides a transmission line bolt-up work robot, its overall structure comprises flexible end fastener 1.1, walking wheel 1.2, equipotential wheel 1.3, clamping jaw 1.4, arm 1.5 and box 1.6 etc.. The multi-degree-of-freedom mechanical arm is composed of a rotary joint 1.7, a longitudinal movement joint 1.8, a telescopic joint 1.9 and a rotary joint 1.10, the specific action direction refers to the figure 1(a and b), telescopic and rotary motion can be realized, and the position of the flexible tail end fastening device can be adjusted.
The specific structure of the flexible tail end fastening device of the robot is shown in fig. 2(a and b), and the flexible tail end fastening device comprises an inner hexagonal sleeve 2.1, a cross shaft coupling frame 2.2, a rotating shaft 2.3, a nut screwing motor 2.4 and a built-in camera 2.5. A rotating spring 2.6 is arranged in the cross-shaped shaft coupling frame 2.2 to ensure that the inner hexagonal sleeve is coaxial with the rotating shaft when not subjected to external force. A moving spring 2.7 is arranged in the rotating shaft, and after the sleeve contacts the nut, the moving spring is further compressed through the longitudinal movement of the operation arm.
Two flexible terminal fastener cooperations carry out the bolt-up, and before the bolt centering, the bolt head was locked earlier to one end, and the nut screwing device slowly moves to the nut. Controlling the feeding of the mechanical arm according to different conditions; when the deflection angle of the sleeve relative to the nut reaches a specified angle, the sleeve drives the nut to rotate; and (3) carrying out stress analysis and critical angle calculation on the sleeve, and adjusting the pose of the mechanical arm in the rotation process by using a compliance control method to enable the sleeve to be in hexagonal alignment with the nut, thereby completing the wrapping.
A bolt centering control method for a bolt fastening robot of a power transmission line has the main structure of the robot required by operation, which is described in the above.
In practice, the operation is based on a sleeve and a screwDeviation angle between the parents, setting deviation angle threshold thetamax(empirically determined, in general, θ can be setmax15 deg. a corresponding centering strategy is established. There are three conditions of the angle of the sleeve relative to the nut:
1) the sleeve is hardly deviated from the nut (it can be considered here that the deviation angle of the sleeve with respect to the nut is less than 5 °), but only the hexagon is deviated, the rotary joint 1.7 is directly controlled to feed, the nut is rotated to align the hexagons of the nut and the sleeve, and after the spring recovers its deformation amount, a bolt fastening strategy is implemented.
2) The sleeve has a size theta (theta is less than or equal to theta) relative to the nutmax) And (4) judging whether to start rotating alignment according to the change of the deviation angle, analyzing the number of turns of the feeding nut to judge whether the alignment can be successful, and if not, controlling the mechanical arm to perform fine adjustment according to the camera and then performing bolt alignment again. As shown in fig. 3, with the sleeve biased downward θ relative to the nut1For example, the angle of (c) can be calculated as:
S＝l*sinθ1
l1＝cosθ1*l
at this moment, the motor is controlled to feed, and the moving spring is compressed, so that the following steps can be obtained:
δ＝Δl
Δl＝P*n
wherein P is the thread pitch of the internal thread of the nut, and n is the number of turns of the internal thread of the nut.
The equation for θ can be derived based on the above equation2The formula of the relationship (c) of (c),
Figure BDA0002365744970000061
if the number of sleeve feeding turns is too large, the upper end nut deviates from the sleeve too much, and alignment is difficult to realize; alignment can also be difficult if the number of sleeve feeds is small. Calculated, when delta l is more than 0 and less than or equal to lmaxWithin the range of (1), alignment can be ensured, i.e., delta is more than 0 and less than or equal to lmaxWherein l ismaxDerived from the radius of the sleeve and bolt,. lmax＝tanθ e2 r. Thus, may pass through θ during feeding2To determine whether to perform a rotation, theta1、θ2Is measured by an angle sensor according to different theta within a range specified by delta1Is calculated and monitored for theta2When value of theta2When the angle is less than or equal to 5 degrees, the sleeve rotates the bolt to align the hexagon of the nut with the inner hexagon of the sleeve.
3) The deviation angle of the sleeve relative to the bolt is too large, and theta is larger than thetamaxEven though complete wrapping of the sleeves and bolts cannot be achieved through longitudinal movement compression of the work arm, the mechanical arm needs to be readjusted for alignment.
In specific implementation, in order to adjust the pose of the manipulator by adopting a compliance control method, firstly, the nut which can be rotated is subjected to stress analysis. As shown in fig. 4, since the forces are mutual, the stress on the sleeve is the reaction force of the nut. Stress analysis before the sleeve rotates is obtained by performing stress analysis on the nut which can rotate, and damage to the nut in the sleeve rotating process is reduced.
The geometric coordination equation before the nut is rotated is as follows:
Figure BDA0002365744970000071
the stress balance equation is:
Figure BDA0002365744970000072
the physical equation is:
Figure BDA0002365744970000073
this gives:
Figure BDA0002365744970000074
wherein the content of the first and second substances,
Figure BDA0002365744970000075
u-u0＝R-r-lp(θ-θ0)-u0the radius of the sleeve is R, the radius of the bolt is R, u is the translation error of the compliant center C along the X-axis direction, X is the translation error of the shaft end center along the X-axis direction, and theta is the angle error of the shaft axis relative to the Z-axis.
In specific implementation, in order to prevent the situation that the alignment work of the bolt cannot be completed due to the fact that the deflection angle is too large and exceeds the flexible range in the process that the bolt enters the sleeve, the critical situation of the flexible angle needs to be discussed, namely the critical angle theta is solvedeAnd a critical depth lmax。
As shown in fig. 5, wherein R is the radius of the sleeve; r is the radius of the nut; l is the depth of the sleeve into the nut.
2(R-r)/tanθe＝2rtanθe
Obtaining by solution:
Figure BDA0002365744970000081
lmax＝tanθe*2r
through the calculation of the critical value of the flexibility angle, the deflection angle is prevented from exceeding the flexibility range of the bolt in the process of entering the sleeve. During specific implementation, the tail end of the mechanical arm is provided with a three-dimensional force sensor, the force sensor is mainly responsible for adjusting errors in positions, and errors in postures are adjusted by passive compliance. However, in some active compliant applications, the bolt assembly is performed, and since the posture of the bolt is basically unchanged, the active compliant assembly is feasible only by using the three-dimensional force sensor under the condition that the posture of the sleeve is known.
Aiming at the position adjusting method, in the assembling and aligning process of the bolt, the bolt is not stressed in the X-axis direction and the Y-axis direction, and only the Z-axis has one feeding force FrSo that the desired force value is F0＝[0 0 Fr]TIf the force sensor measures a three-dimensional force of Fm＝[FxFyFz]TControl of the adjustment position according to an impedance control algorithmThe algorithm is as follows:
Figure BDA0002365744970000082
wherein k isf、kfzIs a feedback coefficient.
For the attitude adjustment method, assume the attitude of the bolt is TLThe bolt is used as a reference target coordinate system { L }, and the unit vector of the Z axis is expressed in the base coordinate system { B }, thereby obtaining the expression of the unit vector of the Z axis in the base coordinate system { B }
Figure BDA0002365744970000085
The concrete formula is as follows:
Figure BDA0002365744970000083
Figure BDA0002365744970000084
knowing that the current terminal attitude of the robot arm is TTSimilarly, the unit vector of the Z axis can be expressed in the base coordinate system { B }
Figure BDA0002365744970000091
The specific formula is as follows:
Figure BDA0002365744970000092
Figure BDA0002365744970000093
during bolt alignment, the axis of the robotic manipulator tip socket must be continuously adjusted so that its Z-axis coincides with the Z-axis of the coordinate system targeted for the bolt.
When | theta | is greater than thetaeWhen the attitude is required to be adjusted actively, the control algorithm for obtaining the attitude adjustment is
Figure BDA0002365744970000094
In summary, the compliant control algorithm for bolt alignment is:
when theta is less than or equal to thetaeWhen the temperature of the water is higher than the set temperature,
Figure BDA0002365744970000095
when | theta | is greater than thetaeWhen the temperature of the water is higher than the set temperature,
Figure BDA0002365744970000096
wherein k isf、kfzAs a feedback coefficient, kmFor controlling the coefficients, the coefficients are empirically determined and all range from 0.1 to 1.0.
In particular, during the process of transmitting torque, due to the existence of the deviation angle, the hexagon socket head socket and the cross shaft bracket can generate a pair of side loads with equal magnitude and opposite directions. Through analyzing the force moment of the cross-shaped twist, the load born by the hexagonal sleeve is verified not to influence the final bolt centering control, and the reliability of the result is ensured.
During the rotation process, it is assumed that the rotation of the motor drives the rotation shaft to rotate, i.e. the driving shaft I rotates at an angular velocity ω1When the driven shaft II rotates, the angular speed of the driven shaft II is omega2. Derived from omega1，ω2The relationship of (1) is:
Figure BDA0002365744970000101
in the formula: psi1is the rotation angle of the axis I, and α is the included angle between the axis I and the axis II.
The friction loss of the cross-hinge transmission is small and negligible, and the efficiency is considered to be 1. If the torque applied to the drive shaft is M1The transmission torque of the driven shaft is M2And then:
M1ω1＝M2ω2
Figure BDA0002365744970000102
M2the driven shaft II generates a circumferential force P2In which P is2＝M2And R is the radius of the inner hexagonal sleeve.
due to the existence of the shaft intersection angle α, the rotating shaft and the inner hexagonal sleeve are also subjected to additional bending moment M when transmitting torqueU1、MU2In different positions, the rotating shaft, the inner hexagonal sleeve and the cross coupling frame generate a pair of side loads with equal magnitude and opposite directions, and the specific stress moment analysis is shown in figure 6. By psi1For example, the torque is M1Additional bending moment MU1When the torque of the driven shaft II is equal to 0, the torque of the driven shaft II is M2And the additional bending moment produced is MU2＝M1sinα。MU2Side loads F causing the driven shaft 2 to vary periodically1。F1＝M1sin α/L, where L is the distance from the spider to the sleeve support.
it can be seen from the above formula that the angle of intersection α between the axes has no effect on the circumferential force of the hexagonal socket, but affects the additional bending moment to bring about the magnitude of the side load and is positively correlated with the side load, assuming that the angle of the socket from the nut is small during screwing, assuming α is 10 °, R is 22mm, and L is 28mm, the calculated side load is small relative to the circumferential force and can be ignored1and alpha, different circumferential forces, circumferential force P, can be calculated2＝M2/2R, M2 from the axle shaft torques M1, psi1alpha is calculated
Figure BDA0002365744970000103
Namely, it is
Figure BDA0002365744970000111
The circumferential force is the friction force which is overcome by the sleeve relative to the nut, and the circumferential force is the minimum torque which needs to be fed by the motor.
In conclusion, the invention provides a bolt centering control strategy for overcoming the friction force between the inner hexagonal sleeve and the hexagonal nut and realizing the butt joint of the sleeve and the nut aiming at the conditions that the transmission line is influenced by wind power at high altitude and is difficult to align, the inner hexagonal sleeve is difficult to completely wrap the nut and the like. The method is characterized in that a bolt fastening robot of the power transmission line is used as a hardware base, the deflection angle of a sleeve relative to a nut is calculated, and feeding of a mechanical arm is controlled according to different conditions; when the deflection angle of the sleeve relative to the nut reaches a specified angle, the sleeve drives the nut to rotate; and (3) carrying out stress analysis and critical angle calculation on the sleeve, and adjusting the pose of the mechanical arm in the rotation process by using a compliance control method to enable the sleeve to be in hexagonal alignment with the nut, thereby completing the wrapping. Therefore, bolt centering can be efficiently and accurately realized, electrified maintenance and overhaul tasks under the condition of no artificial participation are further realized, and the running stability of the power grid is improved. According to the method, the automatic alignment of the bolt is realized under the condition that the nut is not damaged as much as possible, the investment of human resources is reduced, and the working efficiency of the bolt fastening robot is improved.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.

Claims (10)

1. A bolt centering control method of a bolt fastening robot for a power transmission line is characterized by comprising the following steps: setting a deviation angle threshold theta according to the deviation angle between the sleeve and the nutmaxAnd controlling the feeding of the mechanical arm according to the deflection angle:
the sleeve has almost no deviation between the axes of the sleeve and the nut, and only the hexagon has deviation: directly controlling the mechanical arm to feed, and rotating the nut to align the hexagon of the nut and the hexagon of the sleeve;
the sleeve has an angle deviation relative to the nut, and the deviation angle theta (| theta | ≦ theta |)max) According to a known deviation angle theta1And the feed depth delta can be derived from the deviation angle theta2，
Figure FDA0002365744960000011
Calculate and monitor θ2Once within the target range, the sleeve rotates the bolt to align the hexagon of the nut with the internal hexagon of the sleeve;
the deviation angle of the sleeve relative to the nut is too large, | theta | > thetamaxThe mechanical arm needs to be readjusted for alignment.
2. The bolt centering control method of the bolt fastening robot for the power transmission line according to claim 1, characterized in that: deviation angle threshold thetamax＝15°。
3. The bolt centering control method of the bolt fastening robot for the power transmission line according to claim 1, characterized in that: the sleeve is less than 5 deg. off-angle relative to the nut, and it is believed that there is little deviation between the axes, only the hexagon.
4. The bolt centering control method of the bolt fastening robot for the power transmission line according to claim 1, characterized in that: during bolt feed, θ is measured from an angle sensor1，θ2。
5. The bolt centering control method of the bolt fastening robot for the power transmission line according to claim 4, characterized in that: if Deltal is more than 0 and less than or equal tomaxWithin a range of 0 < delta > lmaxWherein l ismaxDerived from the radius of the sleeve and bolt,. lmax＝tanθe2r, so can pass through theta2To determine whether to perform a rotation.
6. The bolt centering control method of the bolt fastening robot for the power transmission line according to claim 1, characterized in that:
the geometric coordination equation before the nut is rotated is as follows:
Figure FDA0002365744960000021
the stress balance equation is:
Figure FDA0002365744960000022
the physical equation is:
Figure FDA0002365744960000023
this gives:
Figure FDA0002365744960000024
wherein the content of the first and second substances,
Figure FDA0002365744960000025
u-u0＝R-r-lp(θ-θ0)-u0the radius of the sleeve is R, the radius of the bolt is R, u is the translation error of the compliant center C along the X-axis direction, X is the translation error of the shaft end center along the X-axis direction, and theta is the angle error of the shaft axis relative to the Z-axis.
7. The bolt centering control method of the bolt fastening robot for the power transmission line according to claim 6, characterized in that: in order to prevent the situation that the alignment work of the bolt cannot be completed due to the fact that the deflection angle is too large and exceeds the flexible range in the process that the bolt enters the sleeve, the critical situation of the flexible angle needs to be discussed, namely the critical angle theta is solvedeAnd a critical depth lmaxWherein R is the radius of the sleeve; r is the radius of the nut; l is the depth of the sleeve into the nut,
2(R-r)/tanθe＝2r tanθe
obtaining by solution:
Figure FDA0002365744960000026
lmax＝tanθe*2r。
8. the bolt centering control method of the bolt fastening robot for the power transmission line according to claim 7, characterized in that: according to the impedance control algorithm, the control algorithm for adjusting the position is as follows:
Figure FDA0002365744960000031
wherein k isf、kfzThe value ranges of the feedback coefficients are all between 0.1 and 1.0,
and continuously adjusting the axis of the sleeve at the tail end of the robot manipulator according to the relative position of the Z axis of the sleeve at the tail end of the robot manipulator and the Z axis of a coordinate system taking the bolt as a reference target, so that the Z axis of the sleeve at the tail end of the robot manipulator is superposed with the Z axis of the coordinate system taking the bolt as the reference target.
9. The bolt centering control method of the bolt fastening robot for the power transmission line according to claim 8, characterized in that: the compliant control algorithm for bolt alignment is:
when theta is less than or equal to thetaeWhen the temperature of the water is higher than the set temperature,
Figure FDA0002365744960000032
when | theta | is greater than thetaeWhen the temperature of the water is higher than the set temperature,
Figure FDA0002365744960000033
wherein k isf、kfzAs a feedback coefficient, kmThe value ranges are all between 0.1 and 1.0 for controlling the coefficient.
10. An electrical transmission according to claim 9The bolt centering control method of the line bolt fastening robot is characterized by comprising the following steps: through the analysis and calculation of the load born by the hexagonal sleeve, the derivation is obtained, and when the hexagonal sleeve rotates, the hexagonal sleeve rotates according to different rotation angles psi1and the included angle α, different circumferential forces can be calculated, and the circumferential force is the friction force which is overcome by the sleeve relative to the nut, namely the minimum torque which needs to be fed by the motor.
CN202010035140.8A 2020-01-14 2020-01-14 Bolt centering control method for bolt fastening robot of power transmission line Pending CN111168367A (en)

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CN112549046A (en) * 2020-12-04 2021-03-26 亿嘉和科技股份有限公司 Floating operation tool with micro-visual angle monitoring and positioning function and operation method thereof
CN113500612A (en) * 2021-07-27 2021-10-15 广西大学 Robot nut loosening device for drainage wire breaking operation
CN113744705A (en) * 2021-10-14 2021-12-03 湖南卡罗德音乐集团有限公司 Automatic tuning method for piano

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CN112549046A (en) * 2020-12-04 2021-03-26 亿嘉和科技股份有限公司 Floating operation tool with micro-visual angle monitoring and positioning function and operation method thereof
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CN113500612B (en) * 2021-07-27 2022-11-11 广西大学 Robot nut loosening device for drainage wire breaking operation
CN113744705A (en) * 2021-10-14 2021-12-03 湖南卡罗德音乐集团有限公司 Automatic tuning method for piano

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Application publication date: 20200519