Control method of transmission line bolt fastening robot and controller

Abstract

The embodiment of the invention discloses a control method of transmission line bolt fastening robot and a controller, for solving lack of high efficiency and precision in existing technology as well as control algorithm of transmission line bolt fastening robot. Most electrified robots cannot finish automatic centering and fastening of bolts on transmission line. Sing of bolts and robots in pneumatic condition is not considered, remote control of centering of electrified robots through video has low working efficiency, which hinders development of automation in electrified operation field. Besides, the internal stress of bolts changes under influence of the environment, therefore, to screw bolts by constant torque only according to experience will generate great damage to service life of bolts, thus influence technical problem of power supply reliability.

Description

technical field [0001] The invention relates to the automation field of high-voltage live work in electric power systems, in particular to a control method and a controller for a transmission line bolt fastening robot. Background technique [0002] As a connecting device on the transmission line, the bolt is widely used in the transmission line due to its simple structure and low cost. However, the working environment of the bolts on the high-voltage line on the transmission line is quite complicated. Due to the swing of the transmission line caused by the change of wind force and the thermal expansion and contraction of the line itself, the bolts on the line will loosen, which may cause Severe damage to power transmission lines brings huge economic losses to power suppliers and users. [0003] Existing line inspection robots are operated through remote video, without considering the influence of wind, resulting in low operating efficiency and difficult alignment. And when...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a control method and controller for a bolt fastening robot on transmission lines, which solves the lack of high efficiency, high accuracy, and control algorithms for bolt fastening robots on transmission lines in the prior art, and most live working robots cannot complete For the automatic centering and fastening of bolts on the power transmission line, the live working robot does not take into account the swing of the bolts and the robot under wind conditions, and remotely controls the alignment through video, which hinders the development of automation in the live working field.

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