Method for replacing drop-out fuse of charged working robot based on force feedback master-slave control

Abstract

The invention provides a method for replacing a drop-out fuse of a charged working robot based on force feedback master-slave control. A mechanical arm, a main manipulator and an industrial personal computer constitute a force feedback master-slave control system. The industrial personal computer calculates the torque data of each joint of the main manipulator according to the force data at the end of the mechanical arm, and controls each joint of the main manipulator to output torque through a control interface of the main manipulator, so that the main manipulator feeds back the force, and anoperator confirms the strength of the mechanical arm according to the feedback force of the main manipulator; the operator changes the position and pose of the tail end of the main operator; the industrial personal computer calculates an expected value of the speed vector of the tail end of the mechanical arm according to the angle data of each rotating joint of the main manipulator, and controlsthe movement of the mechanical arm according to the expected value through the control interface of the mechanical arm so as to change the strength of the mechanical arm. The method for replacing thedrop-out fuse of the charged working robot based on force feedback master-slave control in the invention improves the sense of immediacy of operation and can judge whether the operations are accurateand in place or not more accurately.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a method for replacing a drop-type fuse of a live working robot based on force feedback master-slave control. Background technique [0002] In the running 10kv line, the drop-out fuse is an indispensable device, and it is the most commonly used short-circuit switch for the branch line of the distribution line and the distribution transformer. When the current in the line is too large, the fuse in the drop-out fuse will heat up and blow due to the excessive current. Due to the blown fuse, the upper and lower contacts of the fuse tube lose the tightening force of the fuse. The fuse tube drops automatically to disconnect the line and cut off the faulty line and equipment. [0003] With the development of the distribution network, a large number of dropout fuses need to be replaced every year, usually manually. Manual work is divided into blackout work and live ...

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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