Bolt centering control method for power transmission line bolt fastening robot

Abstract

The invention discloses a bolt centering control method for a power transmission line bolt fastening robot. The method comprises the following steps that according to a deflection angle between a sleeve and a nut, a deviation angle threshold value theta < max > is set, and according to the dimension of the deflection angle, feeding of a mechanical arm is controlled, specifically, almost no deviation exists between central axes of the sleeve and the nut, a deviation only exists between hexagons, the mechanical arm is directly controlled to carrying out feeding, and the nut is rotated, so that the hexagon of the nut is aligned with the hexagon of the sleeve; an angular deviation exists between the sleeve and the nut, the deviation angle is theta ( the absolute value of the theta is less thanor equal to the theta < max>), and according to a known deviation angle theta <1> and feeding depth delta, a deviation angle theta <2> can be obtained; the value of the theta <2> is calculated and monitored, and once the value reaches a target value range, the sleeve is used for rotating the bolt, so that the hexagon of the nut is aligned with the inner hexagon of the sleeve; and once the deviation angle between the sleeve and the nut is too large, and the the absolute value of the theta is larger than the theta < max>, the mechanical arm needs to be adjusted again for alignment. According tothe method, the bolt centering task of the robot is automatically completed through compliance control, torque analysis and other methods, a traditional manual remote control mode is replaced, and the precision is higher.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a bolt fastening robot for power transmission lines. Background technique [0002] In order to prevent the occurrence of artificial live work accidents and improve the efficiency of investigation and maintenance of live work, transmission line operation robots have been widely used. The existing transmission line bolt fastening robot generally collects information through a high-definition camera installed at the end device, and then transmits the information to the workstation. Operators can remotely control and maintain line faults through video monitoring screens. Although this method liberates the workers from the high-altitude and high-voltage environment, it only works remotely through the video from the camera, and there are interferences such as shaking of the power transmission line and blind spots in the video range caused by the influence of wind, and the control proces...

AI Technical Summary

Problems solved by technology

[0003] In view of the fact that most of the current transmission line operation robots do not have the ability of automatic bolt centering, operators need to remotely operate the mechanical arm, which has a high error problem

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