Method of replacing lightning arrester through hot-line working robot on basis of force feedback master-slave control

Abstract

The invention provides a method of replacing a lightning arrester through a hot-line working robot on the basis of force feedback master-slave control. Mechanical arms, a master manipulator and an industrial personal computer are combined to form a force feedback master-slave control system. The industrial personal computer calculates torque data of various joints of the master manipulator according to stress data of the tail ends of the mechanical arms, and controls the output torque of the joints of the master manipulator through a control interface of the master manipulator so that the master manipulator can feed back the stress, and an operator determines the force of the mechanical arms according to the stress fed back by the master manipulator. The operator changes the pose of the tail end of the master manipulator, and the industrial personal computer calculates the expected values of velocity vectors of the tail ends of the mechanical arms according to angle data of various rotating joints of the master manipulator, and controls the mechanical arms to move through control interfaces of the mechanical arms according to the expected values so that the force of the mechanicalarms can be changed. The method has the advantages that the working tele-presence is improved, and whether various kinds of operation are accurately conducted in place can be more accurately judged.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a method for replacing an arrester of a live working robot based on force feedback master-slave control technology. Background technique [0002] Surge arresters are widely used in power transmission and distribution lines of today's power systems, and have become the main equipment for overvoltage protection in power systems. [0003] With the long-term operation of the distribution network, the nuts of the lightning arrester may become loose, the porcelain sleeve may be broken, and the rubber ring may be aging, which needs to be replaced. The usual practice is to replace the power outage. If the power outage area is large, it will cause incalculable losses and seriously affect the economic and social benefits of the power supply company. Now the majority of researchers are also actively studying the method of live work to replace the arrester. However, for...

AI Technical Summary

Problems solved by technology

However, when using the aforementioned live-working robot to carry out precise positioning live operations, such as disconnecting and disconnecting the isolation switch, drop-out fuse and wires at both ends of the arrester, etc., it is mainly through observing the working environment images (including real-time images and 3D modeling images) To judge whether the operation of the robot arm is in place, there is no perception of the contact force between the robot arm and the operating object and between the robot arm and the robot arm, and it is difficult to judge whether the operation accuracy meets the operation requirements

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