Tooling adaptation and remote operation system for emergency disconnect robot

Abstract

The application belongs to the technical field of power high-voltage switch operating equipment, and particularly relates to a tool fitting and remote operation system of an emergency opening robot, which comprises a robot local control unit, a remote anti-interference communication unit and a remote operation control platform; the robot local control unit is carried on a robot body to collect opening real-time feedback signals at a frequency not lower than 100 Hz, realizes precise closed-loop regulation of opening actions through a double closed-loop control module, and simultaneously returns field data; the remote anti-interference communication unit adopts a primary and secondary heterogeneous redundant link to realize anti-interference and high reliability of bidirectional data transmission; the remote operation control platform provides two control modes of automatic closed loop and manual fine adjustment, and realizes remote instruction issuing, state monitoring and abnormal protection in combination with a safety locking module. The application has high control precision, reliable communication and flexible operation mode, and eliminates the safety risk of manual high-voltage field operation through whole-process remote operation, and is suitable for emergency opening operation of a high-voltage switch cabinet of a power system.

Description

Technical Field

[0001] This invention belongs to the technical field of high-voltage power switch operating equipment, specifically relating to the tooling adaptation and remote operating system of an emergency tripping robot. Background Technology

[0002] Emergency tripping robots are automated devices used to replace manual operation of high-voltage switchgear tripping when a power system failure occurs.

[0003] Existing technology CN117086904A discloses an inspection and testing robot for a lever-type emergency tripping mechanism of a switchgear, including a single-arm testing robot and a testing tripping fixture. The testing tripping fixture includes: an adsorption mechanism for adsorbing onto the switchgear door; a fixed base fixedly mounted on the adsorption mechanism; a movable base that inserts into the lever of the lever-type emergency tripping mechanism on the switchgear door through a socket, the movable base slidingly mounted on the fixed base along an arc-shaped path about the rotation axis of the lever, and having a first position for closing the switchgear and a second position for opening the switchgear during its movement relative to the fixed base; and a locking rod rotatably connected to the fixed base. This invention combines the testing tripping fixture with an existing single-arm testing robot, enabling simultaneous operation of the tripping of the lever-type emergency tripping mechanism of the switchgear and the handcart operation of the switchgear.

[0004] However, although the above technologies have achieved remote control of emergency valves through command issuance and simple feedback, they have not formed a complete control link. The operational accuracy cannot be dynamically adjusted according to real-time operating conditions, and there is a lack of refined control over the determination of valve opening position and handling of jamming. Summary of the Invention

[0005] To address the aforementioned shortcomings in the existing technology, this invention provides a tooling adaptation and remote operating system for an emergency circuit breaker robot, thereby solving the problems mentioned in the background technology.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A tooling adaptation and remote operating system for an emergency circuit breaker tripping robot, including a robot local control unit, a remote anti-interference communication unit, and a remote operation control platform; The robot local control unit is installed on the robot body and is used to collect real-time feedback signals during the opening process of the robot body, and drive the actuator of the robot body to complete the opening action according to remote instructions. The remote anti-interference communication unit is connected to the robot local control unit and is used to establish bidirectional data transmission between the remote operation control platform and the robot local control unit. The remote operation control platform is connected to the robot local control unit through the remote anti-interference communication unit. It is used to issue operation commands to the robot local control unit and to receive and display the real-time status data returned by the robot local control unit.

[0007] Furthermore, the robot local control unit includes a dual closed-loop control module, which includes a stroke closed-loop sub-module and a torque closed-loop sub-module. The stroke closed-loop submodule is used to calculate the position deviation and adjust the motion of the actuator based on the real-time displacement signal or real-time angle signal and the target stroke. The torque closed-loop submodule is used to perform force constraints and position determination on the opening process based on the real-time force signal, the real-time torque signal, and a preset force threshold or a preset torque threshold.

[0008] Furthermore, the stroke closed-loop submodule employs a PID control algorithm, the calculation formula of which is: When the actuator moves in a linear motion , ; When the actuator is in rotary motion , ; in, For displacement deviation, For the target displacement, For real-time displacement signals, The linear motion speed of the actuator; Due to angular deviation, From the perspective of the target, For real-time angle signals, The angular velocity of the actuator; , , These are the PID control coefficients.

[0009] Furthermore, the torque closed-loop submodule selects appropriate signals and thresholds for determination based on the motion type of the robot's actuator: When the actuator is in linear motion, a real-time force signal is used. Maximum permissible force threshold Lower limit of force for determining the tripping position Upper limit of force for determining the tripping position Make a judgment, and the constraints must be satisfied: ; When the actuator is rotating, a real-time torque signal is used. Maximum permissible torque threshold The lower limit of the torque for determining when the circuit breaker is in place. The upper limit of torque for determining the tripping position Make a judgment, and the constraints must be satisfied: .

[0010] Furthermore, the torque closed-loop submodule also includes a jamming processing unit, which is used to receive subsequent instructions issued by the remote operation control platform after determining that a jamming state has been reached.

[0011] Furthermore, the torque closed-loop submodule also includes a position determination confidence calculation unit, which is used to select the corresponding signal and interval to calculate the position determination confidence when determining that the tripping is in place, based on the motion type of the actuator. : When the actuator moves linearly, the confidence level is calculated based on the relationship between the real-time force signal and the lower and upper limits of the tripping force for determining tripping completion: like ,but ,in To determine the ideal positioning force value, ; like ,but ; When the actuator is rotating, the confidence level is calculated based on the relationship between the real-time torque signal and the lower limit and upper limit of the tripping torque for determining tripping completion: like ,but ,in To determine the ideal torque value, ; like ,but .

[0012] Furthermore, the remote operation control platform includes a remote closed-loop control module, which includes: The automatic closed-loop control submodule is used to automatically generate tripping execution commands based on preset parameters in automatic closed-loop execution mode; The manual fine-tuning control submodule is used to generate precise fine-tuning control commands based on the manual fine-tuning instructions input by the operator and real-time feedback signals in manual fine-tuning closed-loop control mode.

[0013] Furthermore, in automatic closed-loop execution mode, the automatic closed-loop control submodule, according to the preset parameter: target displacement... or target angle Maximum permissible force threshold Or the maximum permissible torque threshold Lower limit of force for determining the tripping position Upper limit of force for determining the tripping position Or determine the lower limit of torque when the circuit breaker is in place. The upper limit of torque for determining the tripping position It automatically generates tripping commands without requiring manual intervention from operators.

[0014] Furthermore, the manual fine-tuning control submodule includes: The fine-tuning calculation subunit is used to calculate the target position after fine-tuning based on the fine-tuning direction and fine-tuning step size input by the operator. The fine-tuning instruction generation subunit is used to generate and issue manual fine-tuning instructions based on the target position after fine-tuning. The fine-tuning effect evaluation subunit is used to receive real-time feedback signals after executing manual fine-tuning instructions and calculate the actual fine-tuning amount.

[0015] Furthermore, the remote anti-interference communication unit includes a main communication link module, a backup communication link module, and a link switching module, which are used to automatically switch to the backup link when communication is interfered with.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. High control precision: It adopts a dual closed-loop control structure. The position closed loop achieves precise position control through PID algorithm, and the force closed loop realizes the operation force constraint and position determination, so the opening action is accurate and controllable.

[0017] 2. High reliability: Dual-link redundant communication ensures stable communication under high-voltage electromagnetic environment, and safety interlocking mechanism prevents malfunction.

[0018] 3. Supports both automatic closed-loop execution and manual fine-tuning closed-loop control modes to adapt to different scenario requirements.

[0019] 4. High safety: The entire process can be operated remotely, and personnel do not need to enter the high-voltage site, completely eliminating the risk of electric shock and arcing injury. Detailed Implementation

[0020] This invention provides a tooling adaptation and remote operating system for an emergency circuit breaker tripping robot, including a local robot control unit, a remote anti-interference communication unit, and a remote operation control platform. The system achieves a complete control link through a three-level architecture, encompassing remote command issuance, real-time feedback of on-site status, and closed-loop adjustment of motion parameters.

[0021] The robot's local control unit, installed on the robot body, serves as the core of the system's field execution. It is responsible for collecting real-time feedback signals during the robot's circuit breaker opening process and driving the robot's actuators to complete the opening action according to remote commands. This unit employs an embedded real-time operating system with an operating cycle of ≤5ms, ensuring real-time and deterministic control. The robot body uses a tracked or wheeled chassis and is equipped with a collaborative robotic arm. An end effector is installed at the end of the robotic arm. The actuator includes at least: a quick-change connector, multi-specification actuator head assemblies (button press head, lever operating head, knob operating head), a stroke adjustment assembly, a force sensor, a torque sensor, a displacement sensor, an angle sensor, and a visual recognition subunit (high-definition camera + supplementary lighting).

[0022] Furthermore, the robot's local control unit consists of four functional modules: 1. Data Acquisition Module: Connected to the sensors of the end effector of the robot body, this module employs multi-channel synchronous sampling technology. The sampling frequency of all sensor signals is no less than 100Hz, preferably 200Hz~500Hz, to ensure the capture of transient changes during the circuit breaker opening process. The types of raw signals acquired include: Original displacement signal Used for position feedback in linear motion actuators; raw angle signal : Used for position feedback in rotary motion actuators; Original force signal Force feedback for linear motion actuators; raw torque signal Torque feedback for rotary motion actuators; Furthermore, the data acquisition module incorporates a digital filtering algorithm, including low-pass filtering (cutoff frequency 20Hz), median filtering (window length 5 points), and zero-point drift compensation (automatic zero-point calibration before each operation), ensuring the accuracy and stability of the acquired signal. After filtering and compensation, the real-time feedback signal used for control is output. Real-time displacement signal : From the original displacement signal Obtained through filtering; angle signal From the original angle signal Obtained through filtering; force signal : From the original force signal Obtained through filtering; Torque signal From the original torque signal It is obtained after filtering.

[0023] 2. Command Parsing Module: Connected to the remote anti-interference communication unit, this module receives and parses the operation commands issued by the remote operation platform. The parsed command parameters include the target displacement or target angle, the maximum permissible force threshold or the maximum permissible torque threshold, the lower limit of the tripping force for determining tripping completion, and the upper limit of the tripping force for determining tripping completion, or the lower limit of the tripping torque for determining tripping completion and the upper limit of the tripping torque for determining tripping completion. This module uses a TCP / IP protocol stack to receive network data packets, performs CRC32 verification on each data packet, and requests retransmission if the verification fails, ensuring the reliability of command transmission.

[0024] 3. Dual Closed-Loop Control Module: Connected to both the data acquisition module and the command parsing module, this module simultaneously receives real-time feedback signals and operation commands, and achieves precise control of the tripping action through the dual closed-loop control algorithm. This module includes a closed-loop formation submodule and a torque closed-loop submodule, which work collaboratively. 31. The stroke closed-loop submodule is responsible for position control, and monitors and adjusts different physical quantities according to the motion type of the actuator: When the actuator is in linear motion, a real-time displacement signal is used. As a position feedback quantity, it is related to the target displacement. In comparison, the linear motion speed command is generated through the PID control algorithm. The calculation formula is as follows: , ,in For displacement deviation, For the target displacement, For real-time displacement signals, The linear motion speed of the actuator; When the actuator is rotating, a real-time angle signal is used. As a position feedback quantity, relative to the target angle In comparison, the rotational angular velocity command is generated through the PID control algorithm. The calculation formula is as follows: , ,in Due to angular deviation, From the perspective of the target, For real-time angle signals, The angular velocity of the actuator; in, , , These are the PID control coefficients, which determine the speed of response, the ability to eliminate steady-state error, and the ability to suppress overshoot, respectively. To prevent integral saturation, the integral term is limited; the speed command must meet kinematic constraints and not exceed the maximum permissible speed.

[0025] 32. The torque closed-loop submodule is responsible for force constraint and positioning determination, and selects the corresponding physical quantity for monitoring according to the motion type of the actuator: When the actuator is in linear motion, a real-time force signal is used. As a monitoring object, it is related to the preset force threshold (maximum allowable force threshold). Lower limit of force for determining the tripping position Upper limit of force for determining the tripping position The comparisons must satisfy the following constraints: ; When the actuator is rotating, a real-time torque signal is used. As a monitoring object, it is related to the preset torque threshold (maximum allowable torque threshold). The lower limit of the torque for determining when the circuit breaker is in place. The upper limit of torque for determining the tripping position The comparisons must satisfy the following constraints: ; The determination rule for the torque closed-loop submodule is as follows: When the force signal is used Judgment and Or use torque signal Judgment and If the system is found to be stuck, the actuator will be immediately stopped and a stuck alarm signal will be generated. The circuit breaker is considered to be in the trip position when the following conditions are met: For linear motion: and For rotational motion: and in To preset the displacement tolerance, To preset the angle tolerance, the actuator stops moving and a successful tripping signal is generated; The circuit breaker is considered to be in malfunction when the following conditions are met: For linear motion: but or For rotational motion: but or 321. The torque closed-loop submodule further includes a jamming processing unit, used to receive subsequent instructions from the remote operation control platform after determining that a jamming state has been reached: Return command: Control the actuator to move back to the initial position at a lower speed (30% of the normal speed); Forced Continue Command: Temporarily adjusts the maximum permissible force threshold to Or the maximum permissible torque threshold may be temporarily adjusted to ,in This is the emergency factor, with a value ranging from 1.2 to 1.5, and the tripping action continues.

[0026] 322. The torque closed-loop submodule further includes a confidence calculation subunit for determining the tripping position, used to calculate the confidence level based on the closeness between the actual force / torque value and the ideal value when determining the tripping position. : When the actuator is in linear motion, according to the real-time force signal Lower limit of the tripping force judgment Upper limit of force for determining the tripping position Calculate the confidence level of the relationship: like ,but ,in To determine the ideal positioning force value, ; like ,but ; When the actuator is in rotary motion, according to the real-time torque signal The lower limit of the torque for determining the tripping position The upper limit of torque for determining the tripping position Calculate the confidence level of the relationship: like ,but ,in To determine the ideal torque value, ; like ,but ; The range of values ​​is The system performs tiered processing based on confidence level: With high confidence, the circuit breaker tripped successfully, immediately displayed. With medium confidence level, the circuit breaker trips successfully and prompts for manual confirmation. Low confidence level indicated, prompting manual review.

[0027] 4. Status Upload Module: Connected to the data acquisition module, the dual closed-loop control module, and the remote anti-interference communication unit, this module is responsible for uploading the real-time feedback signals and tripping results to the remote operation and control platform in real time. The uploaded data uses a compressed binary format to reduce network bandwidth usage and includes both periodic and event-based data.

[0028] Periodic data, uploaded continuously at a fixed frequency, includes the following fields: Timestamp Data acquisition time; Force / torque value For linear motion, the force value after uploading and filtering For the torque value after uploading and filtering during rotational motion ; Position / Angle Value For linear motion, the displacement value after uploading and filtering For the angle value after uploading the rotational motion ; Speed ​​value For linear motion, upload the current speed. For rotational motion, upload the current angular velocity. ; status codes : Current system status (0x01 indicates execution, 0x02 indicates paused, 0x03 indicates fault, etc.).

[0029] Event-driven data, uploaded immediately upon occurrence, includes the following fields: Tripping result event Includes result type (success / failure / abnormal), completion time, final location, and final force / torque value; Alarm incident Includes alarm type (stuck / over-limit / communication interruption, etc.), occurrence time, and related parameters; Command response events Includes command ID, response status (success / failure), and execution time.

[0030] Furthermore, the remote anti-interference communication unit is deployed within the on-site substation and connects to the robot's local control unit via an industrial Ethernet network. Serving as a data transmission bridge, it establishes a connection with the remote operation and control platform via 5G, fiber optic, or other remote communication methods, responsible for establishing a bidirectional data channel between the remote operation and control platform and the robot's local control unit. This unit employs a primary / backup heterogeneous redundant link design, enabling stable communication even in high-voltage electromagnetic environments. The robot's local control unit consists of three functional modules: 1. Main communication link module: Adopts high-bandwidth, low-latency communication methods, with priority given to single-mode fiber or industrial-grade 5G; 2. Backup communication link module: It adopts a different communication method than the main link to achieve heterogeneous redundancy, such as industrial-grade 4G or industrial microwave. 3. Link switching module: Monitors the communication quality of the main link in real time. When the communication delay is greater than 200ms or the packet loss rate is greater than 5%, it automatically switches the data stream to the backup link with a switching time of ≤100ms.

[0031] Furthermore, the remote operation control platform, deployed in a remote control center or dispatch room, consists of one or more industrial control computers. It connects to the robot's local control unit via the remote anti-interference communication unit, serving as the core of the system's human-machine interface. It is responsible for issuing operation commands to the robot's local control unit and receiving and displaying real-time status data transmitted back by the robot's local control unit. The platform is deployed in the remote control center for operators to monitor and operate. The remote operation control platform includes the following five functional modules: 1. Human-Machine Interaction Module: Provides an operating interface, receives commands input by operators, and displays on-site status information. The main interfaces include the main monitoring interface, parameter configuration interface, historical data query interface, and alarm and event interface.

[0032] 2. Command Issuance Module: Connected to the human-machine interaction module, this module generates operation commands based on operator input and issues them to the robot's local control unit via the remote anti-interference communication unit. Command priorities are categorized as follows: emergency stop command (highest priority), execution command (high priority), parameter setting command (normal priority), and query command (low priority).

[0033] 3. Real-time feedback module: connected to the remote anti-interference communication unit, receiving and parsing the real-time status data packets uploaded by the robot's local control unit, and distributing the parsed data to the human-machine interaction module, the remote closed-loop control module, and the safety interlock module.

[0034] 4. Remote closed-loop control module: Connected to the command issuing module and the real-time feedback module respectively, it assists the operator in performing closed-loop control based on the real-time feedback signal, including an automatic closed-loop control submodule and a manual fine-tuning control submodule.

[0035] 5. Safety interlocking module: Connected to the real-time feedback module and the instruction issuing module respectively, it detects the system operating status and automatically triggers safety protection actions in abnormal situations, including communication interruption monitoring, parameter over-limit monitoring, and emergency stop execution.

[0036] The remote closed-loop control module in the remote operation control platform provides two operation modes: 41. Automatic Closed-Loop Control Submodule: In automatic closed-loop execution mode, based on the preset parameters: target displacement or target angle Maximum permissible force threshold Or the maximum permissible torque threshold Lower limit of force for determining the tripping position Upper limit of force for determining the tripping position Or determine the lower limit of torque when the circuit breaker is in place. The upper limit of torque for determining the tripping position It automatically generates tripping commands without requiring manual intervention from operators, making it suitable for rapid handling of standard fault scenarios. Specifically, this submodule consists of the following five functional units, which work together to complete fully automatic tripping control; 411. The parameter loading subunit is responsible for reading the preset parameters of the current switchgear model from the switchgear parameter database. The switchgear parameter library is a pre-set database that stores standard operating parameters for various switchgear models, including target position, force / torque threshold, positioning range, speed level, etc. For new switchgear models, operators can manually input parameters and save them to the parameter library. After loading the parameters, this unit automatically verifies the completeness and validity of the parameters to ensure that system constraints are met.

[0037] 412. An instruction sequence generation subunit, connected to the parameter loading subunit, is used to generate a complete instruction execution sequence based on the verified parameters.

[0038] 413. The instruction issuance control subunit, connected to the instruction sequence generation subunit, is used to issue instructions through the instruction issuance module in sequence. After each instruction is issued, a timeout timer (default 500ms) is started to wait for confirmation response from the robot's local control unit. Upon receiving confirmation, the next instruction is issued; if no confirmation is received within the timeout period, the instruction is automatically resent (up to 3 times); if resentment fails, a safety interlock is triggered, and the operation is terminated.

[0039] 414. A process monitoring subunit, connected to the real-time feedback module, is used to continuously monitor field status data during the tripping process, including real-time displacement data. or angle value Real-time force value or torque value Current speed Or current speed The system automatically generates dynamic adjustment commands based on the rate of change of force and the remaining stroke. Speed ​​adaptive adjustment: The system calculates the rate of change of force value in real time. When a rapid increase in force value is detected ( And the current force value exceeds When the force value drops back to the specified level, it indicates increased resistance and automatically issues a speed reduction command, reducing the speed to 60% of the original speed. When the rate of change slows down, the original speed will be automatically restored.

[0040] Approach target deceleration control: when the remaining travel When this happens, the system automatically issues a deceleration command, reducing the speed to 30% of the original speed, ensuring that the actuator can reach the target position smoothly and accurately, avoiding overshoot.

[0041] Abnormal warning: When displacement stagnation is detected (position change <0.1mm in 1 second) but the force value continues to rise, a pause command is automatically issued and a "suspected jamming" warning is generated to alert the operator.

[0042] 415. Result recording unit, used to store the operation data into the historical database after the circuit breaker is opened.

[0043] 42. The manual fine-tuning control submodule, in manual fine-tuning closed-loop control mode, allows the operator to perform precise fine-tuning operations based on real-time feedback signals. This submodule includes three functional subunits: 421. Fine-tuning calculation subunit, based on the fine-tuning direction input by the operator. and fine-tuning step size Calculate the fine-tuned target position Or the target angle after fine-tuning The calculation formulas are as follows: Linear motion: ; Rotational motion: ; in, For direction coefficients, This indicates a positive fine-tuning (increasing the position value). This indicates a reverse fine-tuning (reducing the position value); For fine-tuning the displacement step size, The angle fine-tuning step size is input by the operator through the human-machine interaction module.

[0044] 422. A fine-tuning instruction generation subunit, connected to the fine-tuning amount calculation subunit, is used to generate manual fine-tuning instructions based on the fine-tuned target position or target angle, and to send them to the robot local control unit through the instruction sending module.

[0045] 423. A fine-tuning effect evaluation subunit, connected to the real-time feedback module, is used to receive real-time feedback signals after the robot's local control unit executes a manual fine-tuning command, and to read the actual displacement value after fine-tuning from the real-time feedback module. Or the actual angle value after fine adjustment This subunit calculates the actual fine-tuning amount based on the parameters and determines the fine-tuning error: For linear motion Actual fine-tuning amount ; Fine-tuning error ; For rotational motion Actual fine-tuning amount ; Fine-tuning error ; in, To determine the current actual displacement value before manual fine-tuning. This is the current actual angle value before manual fine-tuning.

[0046] When the fine-tuning error is greater than or equal to the preset fine-tuning error threshold, a fine-tuning over-tolerance alarm signal is generated. The preset fine-tuning error threshold is defined as follows: Displacement fine-tuning error threshold ; Angle fine-tuning error threshold ; If the fine-tuning error is less than the threshold, the fine-tuning success and the actual error value will be displayed on the human-machine interface; if the fine-tuning error is greater than or equal to the threshold, a fine-tuning over-tolerance alarm will be displayed, prompting the operator to check the system or readjust.

[0047] Example 1 10kV lever-type switchgear, linear motion standard tripping.

[0048] Preset parameters: , , , , .

[0049] Execution process: Closed-loop process: PID control generates speed ; Torque closed loop: real-time monitoring ,when hour Automatically reduce speed to 70%; hour Return to original speed.

[0050] Position determination: , ,and Successful determination.

[0051] Confidence level: The message "Success, please confirm" is displayed.

[0052] Example 2 Handling stuck working conditions Detection of lag: hour Immediately pause and generate an alarm; Operator selection: "Force Continue", enter ; Threshold adjustment: ; Continue execution: slow restart, The force value suddenly dropped to 180N, then automatically returned to its original speed, and finally... Successfully tripped; Record: jammed position 25mm, jammed force 350N, emergency threshold 390N.

[0053] Example 3 35kV rotary switchgear, rotary motion tripping Preset parameters: , , , , .

[0054] Execution process: closed loop PID control generates angular velocity Real-time monitoring of torque closed loop .

[0055] Position determination: , ,and Successful determination.

[0056] Confidence level: The message "Success, please confirm" is displayed.

[0057] Example 4 Initial state: After automatic tripping ,Target ; Enter fine-tuning: Lock ,set up ; Calculation objective: ; Execution order: Low-speed mode movement ; Effectiveness evaluation: After implementation , , threshold ; result: The message displayed "Fine-tuning successful, error 0.02mm".

[0058] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A tooling adaptation and remote operating system for an emergency tripping robot, characterized in that, This includes the robot's local control unit, remote anti-interference communication unit, and remote operation control platform; The robot local control unit is installed on the robot body and is used to collect real-time feedback signals during the opening process of the robot body, and drive the actuator of the robot body to complete the opening action according to remote instructions. The remote anti-interference communication unit is connected to the robot local control unit and is used to establish bidirectional data transmission between the remote operation control platform and the robot local control unit. The remote operation control platform is connected to the robot local control unit through the remote anti-interference communication unit. It is used to issue operation commands to the robot local control unit and to receive and display the real-time status data returned by the robot local control unit.

2. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 1, characterized in that, The robot local control unit includes a dual closed-loop control module, which includes a stroke closed-loop sub-module and a torque closed-loop sub-module. The stroke closed-loop submodule is used to calculate the position deviation and adjust the motion of the actuator based on the real-time displacement signal or real-time angle signal and the target stroke. The torque closed-loop submodule is used to perform force constraints and position determination on the opening process based on the real-time force signal, the real-time torque signal, and a preset force threshold or a preset torque threshold.

3. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 2, characterized in that, The closed-loop submodule uses a PID control algorithm, and its calculation formula is as follows: When the actuator moves in a linear motion , ; When the actuator is in rotary motion , ; in, For displacement deviation, For the target displacement, For real-time displacement signals, The linear motion speed of the actuator; Due to angular deviation, From the perspective of the target, For real-time angle signals, The angular velocity of the actuator; , , These are the PID control coefficients.

4. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 2, characterized in that, The torque closed-loop submodule selects appropriate signals and thresholds for determination based on the motion type of the robot's actuator: When the actuator is in linear motion, a real-time force signal is used. Maximum permissible force threshold Lower limit of force for determining the tripping position Upper limit of force for determining the tripping position Make a judgment, and the constraints must be satisfied: ; When the actuator is rotating, a real-time torque signal is used. Maximum permissible torque threshold The lower limit of the torque for determining when the circuit breaker is in place. The upper limit of torque for determining the tripping position Make a judgment, and the constraints must be satisfied: .

5. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 4, characterized in that, The torque closed-loop submodule also includes a jamming processing unit, which is used to receive subsequent instructions issued by the remote operation control platform after determining that a jamming state has been reached.

6. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 4, characterized in that, The torque closed-loop submodule also includes a position determination confidence calculation unit, which is used to select the corresponding signal and interval to calculate the position determination confidence when determining that the tripping is in place, based on the motion type of the actuator. : When the actuator moves linearly, the confidence level is calculated based on the relationship between the real-time force signal and the lower and upper limits of the tripping force for determining tripping completion: like ,but ,in To determine the ideal positioning force value, ; like ,but ; When the actuator is rotating, the confidence level is calculated based on the relationship between the real-time torque signal and the lower limit and upper limit of the tripping torque for determining tripping completion: like ,but ,in To determine the ideal torque value, ; like ,but .

7. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 1, characterized in that, The remote operation control platform includes a remote closed-loop control module, which includes: The automatic closed-loop control submodule is used to automatically generate tripping execution commands based on preset parameters in automatic closed-loop execution mode; The manual fine-tuning control submodule is used to generate precise fine-tuning control commands based on the manual fine-tuning instructions input by the operator and real-time feedback signals in manual fine-tuning closed-loop control mode.

8. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 7, characterized in that, The automatic closed-loop control submodule, in automatic closed-loop execution mode, determines the target displacement based on the preset parameters. or target angle Maximum permissible force threshold Or the maximum permissible torque threshold Lower limit of force for determining the tripping position Upper limit of force for determining the tripping position Or determine the lower limit of torque when the circuit breaker is in place. The upper limit of torque for determining the tripping position It automatically generates tripping commands without requiring manual intervention from operators.

9. The tooling adaptation and remote operating system of an emergency circuit breaker robot as described in claim 1, characterized in that, The manual fine-tuning control submodule includes: The fine-tuning calculation subunit is used to calculate the target position after fine-tuning based on the fine-tuning direction and fine-tuning step size input by the operator. The fine-tuning instruction generation subunit is used to generate and issue manual fine-tuning instructions based on the target position after fine-tuning. The fine-tuning effect evaluation subunit is used to receive real-time feedback signals after executing manual fine-tuning instructions and calculate the actual fine-tuning amount.

10. The tooling adaptation and remote operating system of the emergency tripping robot as described in claim 1, characterized in that, The remote anti-interference communication unit includes a main communication link module, a backup communication link module, and a link switching module, which are used to automatically switch to the backup link when communication is interfered with.

Images