Spacer installation robot driving slip suppression method and system

Abstract

The invention discloses a method and a system for inhibiting running slip of a spacer mounting robot. The method comprises the following steps: (1) acquiring a gradient alpha of a position where the robot is located; (2) according to a mathematical model F = f (alpha, mu), the target pressing force on the driving wheel of the robot is calculated, and mu is a slip control factor; (3) pressing force is applied to the driving wheel according to the target pressing force; (4) the actual pressing force of the driving wheel is obtained; (5) the compensation amount is calculated according to the target pressing force of the driving wheel and the actual pressing force of the driving wheel; (6) adjusting the actual pressing force of the driving wheel according to the compensation amount; (7) detecting whether the driving wheel slips or not; (8) if the driving wheels slip, the slip control factor mu is reduced; and repeating the steps (2)-(7) until the driving wheel does not slip. The phenomenon that the robot slips can be actively restrained, it can be guaranteed that the robot smoothly completes installation work, abrasion of the driving wheels is effectively reduced, and the service life is prolonged.

Description

Technical Field

[0001] The invention relates to an anti-skid technology, and in particular to a method and a system for suppressing the skidding of a spacer bar installation robot. Background Art

[0002] When erecting high-voltage conductors, in order to fix the spacing between each split conductor and suppress conductor vibration and sub-span oscillation, it is necessary to install spacer bars on the split conductors.

[0003] Different from the traditional manual installation of spacers, the existing online spacer installation robot is used to install spacers. Usually, the spacers need to be installed at different positions on the wire, so the robot needs to travel on the wire to the installation position; and because there is a height difference between the two points where the wire is erected and the wires erected at the two points are distributed in a catenary shape, the spacer installation robot will encounter different slopes when traveling on the wire. In order to prevent the robot from slipping while traveling on the wire, which affects the work efficiency and the wear of the robot drive wheel, which shortens its life, it is necessary to suppress the robot from slipping on the cable. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned problems and provide a method for suppressing slippage of a spacer bar installation robot. The method can actively suppress slippage of the robot, which can not only ensure that the robot can successfully complete the installation work, but also reduce the wear of the drive wheel and extend the service life.

[0005] Another object of the present invention is to provide a travel skidding suppression system for a spacer bar installation robot.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A method for inhibiting the slippage of a spacer bar installation robot comprises the following steps:

[0008] (1) Obtain the slope α of the robot’s location;

[0009] (2) Calculate the target clamping force on the robot driving wheel according to the mathematical model F = f(α, μ), where μ is the slip control factor;

[0010] (3) applying a pressing force to the driving wheel according to the target pressing force;

[0011] (4) Obtaining the actual pressing force of the driving wheel;

[0012] (5) calculating a compensation amount according to a target pressing force of the driving wheel and an actual pressing force of the driving wheel;

[0013] (6) adjusting the actual pressing force of the driving wheel according to the compensation amount;

[0014] (7) Check whether the driving wheel is slipping;

[0015] (8) If the driving wheel slips, reduce the slip control factor μ; and repeat steps (2)-(7) until the driving wheel stops slipping.

[0016] In a preferred embodiment of the present invention, in step (2), the mathematical model F=f(α, μ) is obtained by:

[0017] ΣF x =0,f1 - mg sinα=0, Equation 1;

[0018] ΣF z =0,N 1 -mg sinα=0, Formula 2;

[0019] ∑M 3 =0,N 1 ·(l 1 +l 2 +l 3 / 2)

[0020] -mg cosα(l 2 +l 3 / 2)-mg sinα·h=0, Formula 3;

[0021] f 1 =μ(N 1 +N P ), Formula 4;

[0022] f 2 r 2 =δN 2 , Formula 5;

[0023] f 3 r 3 =δN 3 , Formula 6;

[0024] Substituting equation 3 and equation 4 into equation 1, we get:

[0025] N p =mgsinα / μ-N 1 ;

[0026] N 1 =[mgcosα(2l 2 +l 3 )+2mgsinα·h] / (2l 1 +2l 2 +l 3 ), obtained by formula 3;

[0027] Where Np is the target clamping force of the robot during driving, m is the mass of the robot, g is the local gravity acceleration, α is the slope of the robot, μ is the slip control factor, which is taken from the theoretical maximum static friction coefficient between the driving wheel of the robot and the wire; N 1 is the support force at the driving wheel of the robot, l 1 is the distance from the robot's center of mass to the robot's support wheels, l 2 is the distance from the robot's center of mass to the other end of the support wheel, l 3 is the distance between the two support wheels at the other end of the robot.

[0028] In a preferred embodiment of the present invention, in step (3), the target clamping force is converted into an electrical signal, which is then sent to a clamping mechanism, which drives the clamping member to clamp the cable according to the instruction.

[0029] In a preferred embodiment of the present invention, in step (4), the actual pressing force is acquired by a sensor.

[0030] According to a preferred embodiment of the present invention, in step (5), the difference between the target clamping force and the actual clamping force is first calculated, and then the compensation amount of the actual clamping force is obtained by proportional, integral and differential control according to the difference between the target clamping force and the actual clamping force.

[0031] In a preferred embodiment of the present invention, in step (6), the clamping force compensation amount is converted into an electrical signal, which is then sent to the clamping mechanism, which drives the clamping member to clamp the cable according to the compensation instruction, thereby achieving the purpose of adjusting the clamping force.

[0032] In a preferred embodiment of the present invention, in step (7), the speed of the driving motor connected to the driving wheel is detected in real time by a sensor, and the speed of the driving wheel is obtained by multiplying the speed of the motor by the transmission ratio of the driving motor shaft and the driving wheel shaft;

[0033] The rotation speed of the pressing wheel is detected in real time by the sensor;

[0034] The slip ratio is obtained as the ratio of the rotation speed of the driving wheel to the rotation speed of the pressing wheel;

[0035] If the slip rate is equal to the inverse ratio of the rolling radius of the driving wheel and the pressure wheel, the driving wheel of the robot does not slip, otherwise it does slip.

[0036] A spacer bar installation robot driving slip suppression system, comprising an angle detection module, a clamping detection module, a rotation speed detection module and a data processing module;

[0037] The angle detection module is used to detect the slope of the robot;

[0038] The compression detection module is used to detect the force of the compression member of the compression mechanism acting on the cable;

[0039] The rotation speed detection module includes a driving rotation speed sensor for detecting the rotation speed of the driving wheel and a pressing rotation speed sensor for detecting the rotation speed of the pressing wheel;

[0040] The data processing module is electrically connected to the clamping detection module, the rotation speed detection module, the clamping mechanism of the robot, and the driving mechanism of the robot respectively, and the data processing module is used to process the clamping force data and the rotation speed data.

[0041] The working principle of the above-mentioned spacer bar installation robot driving slip suppression system is as follows:

[0042] When the robot is placed on the cable and starts to move forward, the slope α of the robot's position is detected by the angle detection module; the target clamping force on the robot's driving wheel is calculated by the data processing module according to the mathematical model F=f(α, μ), and then the corresponding clamping instruction is sent to the clamping mechanism according to the size of the target clamping force, and the clamping mechanism executes the instruction to clamp on the cable; the actual clamping force of the clamping mechanism on the cable is detected by the clamping detection module; the compensation value of the target clamping force and the actual clamping force is calculated by the data processing module according to the embedded proportional, integral and differential algorithms, and the compensation value is converted into a corresponding instruction to control the clamping mechanism to perform clamping compensation until the actual clamping force is equal to the target clamping force.

[0043] At the same time, the driving speed sensor is used to detect the speed of the driving wheel, and the clamping speed sensor is used to detect the speed of the clamping wheel. The data processing module analyzes the speeds of the two to determine whether there is slipping. If the robot is monitored to continue slipping within a period of time t, it means that the value of the slip control factor μ is too large, so the slip control factor μ is reduced by a fixed value Δ. If the robot is no longer found to slip on the wire, the robot drives according to the control state. If the robot is found to continue to slip, the slip control factor μ is continuously reduced according to the above operation until the robot does not slip on the cable.

[0044] The advantage of controlling the target clamping force by indirectly controlling the slip control factor μ is that, compared with directly increasing the target clamping force to suppress slippage caused by a large value of the slip control factor μ, indirectly controlling the slip control factor μ actually solves the problem of large μ value from the root, and the clamping force control is more precise.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The skidding suppression method of the present invention can actively suppress the skidding of the robot, which can not only ensure that the robot can successfully complete the installation work, but also effectively reduce the wear of the driving wheel and extend the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The present invention is a flowchart of the method for suppressing the travel slip of a spacer bar installation robot.

[0048] Figure 2 This is a simplified structural diagram of the spacer bar installation robot travel skidding suppression system of the present invention.

[0049] Figure 3 This is a force analysis diagram of the spacer rod installation robot of the present invention on the cable. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0051] See also Figure 1 The method for inhibiting the travel slip of the spacer bar installation robot of this embodiment comprises the following steps:

[0052] S101: Obtain the slope α of the robot's location.

[0053] In S101, the robot will tilt with the corresponding slope in a certain slope scenario, and the sensor installed inside the robot can detect the inclination of the robot itself relative to the horizontal plane, and then obtain the slope α of the robot's position.

[0054] S102: Calculate the target pressing force F=f(α, μ).

[0055] In S102, a mechanical model of the robot walking on the cable can be established in advance, so as to know the functional relationship between the required clamping force of the robot and the slope α of the position and the maximum static friction coefficient μ between the driving wheel and the cable. Finally, based on the slope α of the position obtained in S101 and the maximum static friction coefficient μ between the driving wheel and the cable obtained in the experiment, the target clamping force at the robot's position can be known.

[0056] See also Figure 3 , the above mathematical model F = f(α, μ) is obtained by the following method:

[0057] ∑F x =0,f 1 -mg sinα=0, Formula 1;

[0058] ∑F z =0,N 1 +N 2 -mg cosα=0, Formula 2;

[0059] 2M3 =0,N 1 ·(l 1 +l 2 +l 3 / 2)

[0060] -mg cosα(l 2 +l 3 / 2)-mg sinα·h=0, Formula 3;

[0061] f 1 =μ(N 1 +N P ), Formula 4;

[0062] f 2 r 2 =δN 2 , Formula 5;

[0063] f 3 r 3 =δN 3 , Formula 6;

[0064] Substituting equation 3 and equation 4 into equation 1, we get:

[0065] N p =mgsingα / μ-N 1 ;

[0066] N 1 =[mgcosα(2l 2 +l 3 )+2mgsinα·h] / (2l 1 +2l 2 +l 3 ), obtained by formula 3;

[0067] Where N p is the target clamping force of the robot during driving, m is the mass of the robot, g is the local gravity acceleration, α is the slope of the robot, μ is the slip control factor, which is taken from the theoretical maximum static friction coefficient between the driving wheel of the robot and the wire; N 1 is the support force at the driving wheel of the robot, l 1 is the distance from the robot's center of mass to the robot's support wheels, l 2 is the distance from the robot's center of mass to the other end of the support wheel, l 3 is the distance between the two support wheels at the other end of the robot.

[0068] S103: Apply a pressing force to the driving wheel.

[0069] In S103, the target pressing force obtained in S102 is converted into an electrical signal, and then the electrical signal is sent to the linear motion component, and the linear motion component moves toward the driving wheel, thereby pressing the driving wheel.

[0070] S104: Acquire actual pressing force.

[0071] In S104, the linear motion component is connected to a pressure sensor, and the pressure sensor can detect the pressing force provided by the linear motion component.

[0072] S105: Calculate the compensation amount according to the target pressing force and the actual pressing force.

[0073] In S105, the difference between the target pressing force and the actual pressing force is first calculated, and then the compensation amount of the actual pressing force is obtained through proportional, integral and differential control according to the difference between the target pressing force and the actual pressing force.

[0074] S106: Adjust the actual pressing force according to the compensation amount.

[0075] In S106, the clamping force compensation amount obtained in S105 is converted into an electrical signal, and then the electrical signal is sent to the driving motor of the linear motion component, and the driving motor adjusts the rotational torque to achieve the purpose of adjusting the clamping force.

[0076] S107: Detect whether there is slippage.

[0077] In S107, the driving motor connected to the driving wheel is connected to a sensor, which can detect the motor speed in real time. The motor speed multiplied by the transmission ratio of the driving motor shaft and the driving wheel shaft is the driving wheel speed; the clamping wheel is connected to a sensor, which can detect the clamping wheel speed in real time. Because the friction between the clamping wheel and the contact cable does not need to be used as the traction force for the robot to move forward, the clamping wheel will not slip in the clamping state; then the slip rate is defined as the ratio of the driving wheel speed to the clamping wheel speed. If the slip rate is equal to the inverse ratio of the rolling radius of the two, the robot driving wheel does not slip, otherwise it slips. The sensor connected to the driving motor and the clamping wheel is preferably an encoder.

[0078] S108: If slippage occurs, the slip control factor μ of the driving wheel and the contact wire is reduced.

[0079] In S108, the slip control factor μ refers to the slip control factor μ in the established physical model F=f(α, μ), which is also the theoretical maximum static friction factor. Different from the actual friction coefficient of the contact between the driving wheel and the cable, the slip control factor μ in the physical model F=f(α, μ) is set manually. When the slope α is constant, the slip control factor μ is negatively correlated with the clamping force F, taking into account the influence of the complex external environment on the driving state. If the slip rate is not equal to the inverse ratio of the rolling radius of the driving wheel and the rolling radius of the clamping wheel for a period of time t, the slip control factor μ of the driving wheel and the contact wire is reduced, and the change amount can be set to a constant value.

[0080] See also Figure 2 The spacer bar installation robot driving slip suppression system of this embodiment includes an angle detection module, a clamping detection module, a rotation speed detection module and a data processing module.

[0081] The angle detection module is used to detect the slope of the robot.

[0082] The clamping detection module is used to detect the force exerted by the clamping member of the clamping mechanism on the cable.

[0083] The rotation speed detection module includes a driving rotation speed sensor for detecting the rotation speed of the driving wheel and a pressing rotation speed sensor for detecting the rotation speed of the pressing wheel.

[0084] The data processing module is electrically connected to the clamping detection module, the rotation speed detection module, the clamping mechanism of the robot, and the driving mechanism of the robot respectively, and the data processing module is used to process the clamping force data and the rotation speed data.

[0085] The working principle of the above-mentioned spacer bar installation robot driving slip suppression system is as follows:

[0086] When the robot is placed on the cable and starts to move forward, the slope α of the robot's position is detected by the angle detection module; the target clamping force on the robot's driving wheel is calculated by the data processing module according to the mathematical model F=f(α, μ), and then the corresponding clamping instruction is sent to the clamping mechanism according to the size of the target clamping force, and the clamping mechanism executes the instruction to clamp on the cable; the actual clamping force of the clamping mechanism on the cable is detected by the clamping detection module; the compensation value of the target clamping force and the actual clamping force is calculated by the data processing module according to the embedded proportional, integral and differential algorithms, and the compensation value is converted into a corresponding instruction to control the clamping mechanism to perform clamping compensation until the actual clamping force is equal to the target clamping force.

[0087] At the same time, the driving speed sensor is used to detect the speed of the driving wheel, and the clamping speed sensor is used to detect the speed of the clamping wheel. The data processing module analyzes the speeds of the two to determine whether there is slipping. If the robot is monitored to continue slipping within a period of time t, it means that the value of the slip control factor μ is too large, so the slip control factor μ is reduced by a fixed value Δ. If the robot is no longer found to slip on the wire, the robot drives according to the control state. If the robot is found to continue to slip, the slip control factor μ is continuously reduced according to the above operation until the robot does not slip on the cable.

[0088] The advantage of controlling the target clamping force by indirectly controlling the slip control factor μ is that, compared with directly increasing the target clamping force to suppress slippage caused by a large value of the slip control factor μ, indirectly controlling the slip control factor μ actually solves the problem of large μ value from the root, and the clamping force control is more precise.

[0089] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A method for suppressing slippage of a spacer bar installation robot, characterized in that: The following steps are involved: (1) Obtain the slope α of the robot’s location; (2) Calculate the target clamping force on the robot driving wheel according to the mathematical model F = f(α, μ), where μ is the slip control factor; (3) applying a pressing force to the driving wheel according to the target pressing force; (4) Obtaining the actual pressing force of the driving wheel; (5) calculating a compensation amount according to a target pressing force of the driving wheel and an actual pressing force of the driving wheel; (6) adjusting the actual pressing force of the driving wheel according to the compensation amount; (7) Check whether the driving wheel is slipping; (8) If the driving wheel slips, reduce the slip control factor μ; and repeat steps (2)-(7) until the driving wheel stops slipping.

2. The method for suppressing slippage of a spacer bar installation robot according to claim 1, characterized in that: In step (2), the mathematical model F = f(α, μ) is obtained by: ∑F x =0, f1-mgsinα=0, Formula 1; ∑F z =0, N1+N2-mgcosα=0, Formula 2; ∑M3=0, N1·(l1+l2+l3 / 2)-mg cosα(l2+l3 / 2)-mg sinα·h=0, Formula 3; f1=μ(N1+N P ), formula 4; f2r2=δN2, Equation 5; f3r3=δN3, Equation 6; Substituting equation 3 and equation 4 into equation 1, we get: N p =mgsinα / μ-N1; N1=[mgcosα(2l2+l3)+2mgsinα·h] / (2l1+2l2+l3), obtained from formula 3; Where N p is the target clamping force of the robot during driving, m is the mass of the robot, g is the local gravitational acceleration, α is the slope of the robot, μ is the slip control factor, which is taken from the theoretical maximum static friction coefficient between the driving wheel of the robot and the wire; N1 is the support force at the driving wheel of the robot, l1 is the distance from the center of mass of the robot to the supporting wheel of the robot, l2 is the distance from the center of mass of the robot to the supporting wheel at the other end, and l3 is the distance between the two supporting wheels at the other end of the robot.

3. The method for suppressing slippage of a spacer bar installation robot according to claim 1, characterized in that: In step (3), the target clamping force is converted into an electrical signal, which is then sent to the clamping mechanism, which drives the clamping member to clamp the cable according to the instruction.

4. The method for suppressing slippage of a spacer bar installation robot according to claim 1, characterized in that: In step (4), the actual pressing force is acquired through a sensor.

5. The method for suppressing slippage of a spacer bar installation robot according to claim 1, characterized in that: In step (5), the difference between the target pressing force and the actual pressing force is first calculated, and then the compensation amount of the actual pressing force is obtained by proportional, integral and differential control according to the difference between the target pressing force and the actual pressing force.

6. The method for suppressing slippage of a spacer bar installation robot according to claim 1, characterized in that: In step (6), the clamping force compensation amount is converted into an electrical signal, which is then sent to the clamping mechanism. The clamping mechanism drives the clamping member to clamp the cable according to the compensation instruction, thereby achieving the purpose of adjusting the clamping force.

7. The method for suppressing slippage of a spacer bar installation robot according to claim 1, characterized in that: In step (7), the speed of the drive motor connected to the drive wheel is detected in real time by a sensor, and the speed of the drive wheel is obtained by multiplying the speed of the motor by the transmission ratio of the drive motor shaft and the drive wheel shaft; The rotation speed of the pressing wheel is detected in real time by the sensor; The slip ratio is obtained as the ratio of the rotation speed of the driving wheel to the rotation speed of the pressing wheel; If the slip rate is equal to the inverse ratio of the rolling radius of the driving wheel and the pressure wheel, the driving wheel of the robot does not slip, otherwise it does slip.

8. A robot for installing the spacer rods according to claims 1 to 7 A system of a skid suppression method, characterized in that It includes an angle detection module, a compression detection module, a rotation speed detection module and a data processing module; The angle detection module is used to detect the slope of the robot; The compression detection module is used to detect the force of the compression member of the compression mechanism acting on the cable; The rotation speed detection module includes a driving rotation speed sensor for detecting the rotation speed of the driving wheel and a pressing rotation speed sensor for detecting the rotation speed of the pressing wheel; The data processing module is electrically connected to the clamping detection module, the rotation speed detection module, the clamping mechanism of the robot, and the driving mechanism of the robot respectively, and the data processing module is used to process the clamping force data and the rotation speed data.

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