Master-slave force feedback control-based isolation switch replacement method for hot-line robot

Abstract

The invention provides a master-slave force feedback control-based isolation switch replacement method for a hot-line robot. Mechanical arms, main manipulators and industrial personal computers form amaster-slave force feedback control system, wherein the industrial personal computers calculate torque data of various joints of the main manipulators according to end force data of the mechanical arms and control various joints of the main manipulators to output torque through control interfaces of the main manipulators, so that the main manipulators feed back the force and an operator confirmsthe force of the mechanical arms according to the feedback force of the main manipulators; the operator changes end positions of the main manipulators; and the industrial personal computers calculateexpected values of end velocity vectors of the mechanical arms according to angle data of various rotary joints of the main manipulators and control the mechanical arms to move to change the force ofthe mechanical arms through the control interfaces of the mechanical arms according to the expected values. According to the master-slave force feedback control-based isolation switch replacement method for the hot-line robot, the operation telepresence is improved and whether various operations are accurate and in place or not can be more accurately judged.

Description

technical field [0001] The invention belongs to the technical field of electric power, and in particular relates to a method for replacing an isolated knife switch of a live working robot based on force feedback master-slave control. Background technique [0002] Isolation switch is the most widely used electrical appliance in high-voltage switchgear. Its working principle and structure are relatively simple, but due to the large amount of use and high reliability requirements, it is very important for the design, establishment and safe operation of substations and power plants. have a greater impact. [0003] With the long-term operation of the distribution network, the nuts of the isolation knife switch may become loose, the porcelain bottle may burst and fall off, and the parts may become loose and aging, and need 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 th...

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

Images