Robot switching control method and system for high-voltage switch cabinet

Abstract

The application discloses a robot switching control method and system for a high-voltage switch cabinet, and belongs to the technical field of robot switching control. The application determines a down-pressing expected position by combining position data of a ground knife operating head with a spiral search algorithm, then determines a position control component by combining a down-pressing real-time pose with the down-pressing expected position, and determines a down-pressing force control component by a down-pressing contact force, and drives an end effector to complete a down-pressing operation of a locking piece of the ground knife operating head by the down-pressing force control component and the position control component; then constructs an impedance control model by a real-time contact force of sleeve sleeving, a sleeve sleeving motion state and a target sleeve sleeving position of the ground knife operating head, and realizes sleeve sleeving operation of the ground knife operating head; finally, determines a rotating torque by a target rotating angle and a real-time rotating angle, and drives a screwing operation, realizes sequential and cooperative control of the three processes of down-pressing, sleeve sleeving and screwing, and improves the switching control accuracy of the robot for the ground knife operating head.

Description

Technical Field

[0001] This invention belongs to the field of robotic switching control technology, and particularly relates to a robotic switching control method and system for high-voltage switchgear. Background Technology

[0002] The grounding switch (or grounding switch) in high-voltage switchgear is a key piece of equipment for ensuring the safety of power maintenance. Switching operations refer to closing or opening the grounding switch by rotating its operating head. In many high-voltage switchgear units, the grounding switch operating head is generally equipped with an external mechanical interlocking device to prevent accidental contact; this is typically a pressable locking plate structure, similar to a cap brim. During switching operations, this locking plate must be pressed down first to release the mechanical obstruction before any operating tools can be inserted into the grounding switch operating head and turned.

[0003] Currently, with the continuous development of robotics technology, more and more robots are being applied to switching operations. However, most current robots are designed for standard grounding switches without locking plates, and can only support insertion and turning operations. They cannot accurately perform switching operations when facing grounding switch operating heads with anti-accidental contact mechanical interlocking devices. Although some robots are now able to perform the operation of pressing down on the anti-accidental contact mechanical interlocking device, the pressing process is simply a rigid pressure control of position, which can easily lead to locking plate jamming, deformation, or even damage to the robot's end effector or the switch cabinet structure due to improper force control. In addition, even if the pressing operation is successfully completed, since most current robot control is based on vision control, the locking plate structure creates a visual blind spot for the robot after the end effector approaches the grounding switch operating head. This makes it easy for alignment deviations or inaccurate judgment of whether the sleeve of the end effector is properly fitted into the grounding switch operating head, which can easily cause misaligned turning, resulting in interface wear or stripping. This further limits the accuracy of the robot's switching control. Summary of the Invention

[0004] The present invention aims to provide a robotic switching control method and system for high-voltage switchgear, so as to solve the technical problem of inaccurate robotic switching control in the prior art and improve the accuracy of robotic switching control.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a robotic switching control method for high-voltage switchgear, comprising: The position data of the grounding switch operating head of the high-voltage switchgear is obtained, and the desired downward pressure position of the robot's end effector is determined according to the preset spiral search algorithm and the position data of the grounding switch operating head. The pressing contact force and real-time pressing pose of the end effector are obtained; the position control component of the end effector is determined based on the real-time pressing pose and the desired pressing position, and the pressing force control component of the end effector is determined based on the pressing contact force; The end effector is driven to perform a locking operation on the ground knife operating head based on the down pressure control component and the position control component. The real-time contact force and movement state of the sleeve insertion of the end effector are obtained; based on the real-time contact force, movement state, and preset target insertion position of the grounding knife operating head, the impedance control model of the end effector is constructed, and the end effector is controlled to complete the sleeve insertion operation of the grounding knife operating head based on the impedance control model. The target rotation angle and real-time rotation angle of the grounding switch operating head are obtained, and the rotation torque of the end effector is determined based on the target rotation angle and real-time rotation angle. Based on the rotation torque, the end effector is controlled to perform a turning operation on the grounding switch operating head to complete the switching operation of the grounding switch operating head.

[0006] Understandably, compared to existing technologies, this invention obtains the position data of the ground knife operating head and combines it with a preset spiral search algorithm to determine the desired pressing position, enabling the robot's end effector to automatically find the correct pressing position and avoid jamming of the ground knife operating head's locking plate due to positional deviation. Next, the position control component of the end effector is determined by the real-time pressing pose and the desired pressing position, and the pressing pressure control component is determined by the pressing contact force. Based on this, the end effector is driven by the pressing pressure control component and the position control component to complete the pressing operation on the ground knife operating head's locking plate. This ensures that the end effector can apply sufficient pressure to overcome elastic resistance while preventing the locking plate from jamming through fine-tuning of the planar position during pressing. The first step is to improve the smoothness and accuracy of the pressing operation by controlling the real-time contact force of the sleeve insertion, the sleeve insertion motion state, and the target insertion position. This not only enables the end effector to smoothly complete the sleeve insertion operation under the guidance of force in the operation environment with visual obstruction, but also enables the end effector to achieve smooth insertion under the control of the impedance control model, avoiding alignment deviation and inaccurate judgment of whether the sleeve is in place, thus improving the accuracy and smoothness of the sleeve insertion. Finally, the rotation torque is determined based on the target rotation angle and the real-time rotation angle and the screwing operation is driven to realize the sequential collaborative control of the three processes of locking plate pressing, sleeve insertion, and screwing, thereby improving the accuracy of the robot's switching control of the ground knife operating head.

[0007] As a preferred embodiment, the step of acquiring the position data of the grounding switchgear operating head and determining the desired downward pressure position of the robot's end effector based on a preset spiral search algorithm and the position data of the grounding switchgear operating head includes: Obtain the position data of the grounding switch operating head of the high-voltage switchgear, and determine the plane center of the grounding switch operating head based on the position data; Within each pressure control cycle of the end effector, the number of cycles executed in the current pressure control cycle is obtained; If the number of cycles executed is less than the preset threshold for the number of cycles executed under pressure control, the desired pressure position of the robot's end effector is determined based on the plane center of the ground knife operating head. If the number of cycle executions is greater than or equal to the threshold of the number of cycle executions of the pressure control, then the search radius is initialized based on the number of cycle executions and the preset radius step size, and the search angle is initialized based on the number of cycle executions and the preset angle step size; The search position is determined based on the search radius and the search angle, and the desired downward pressure position of the robot's end effector is determined based on the center of the plane and the search position.

[0008] The above scheme, when the number of cycle executions is less than the preset threshold for the number of cycle executions of the pressing control, uses the prior information of the plane center of the grounding cutter head obtained from the position data as the expected pressing position, enabling rapid attempts to press down the locking plate. When the number of cycle executions is greater than or equal to the threshold for the number of cycle executions of the pressing control, the search radius and search angle are initialized, and the search position is determined by the search radius and search angle, combined with the plane center to determine the expected pressing position. This allows the end effector to gradually expand the search range along a spiral path, enabling the robot's end effector to automatically find the correct pressing position, avoiding the locking plate of the grounding cutter head from jamming due to positional deviation. This improves the accuracy of pressing positioning and operational efficiency, thereby ensuring the accuracy of the sequential coordinated control of the three processes of locking plate pressing, sleeve insertion, and tightening, and improving the accuracy of the robot's switching control of the grounding cutter head.

[0009] As a preferred embodiment, the step of acquiring the pressing contact force and real-time pressing pose of the end effector; determining the position control component of the end effector based on the real-time pressing pose and the desired pressing position; and determining the pressing force control component of the end effector based on the pressing contact force includes: During each pressing control cycle, the real-time pressing pose of the robot's end effector and the pressing contact force on the vertical surface of the ground knife operating head are acquired. Based on the real-time downward pose, the real-time downward position of the end effector on the horizontal plane of the ground knife operating head is extracted; The pressure position error of the end effector is determined based on the expected pressure position and the real-time pressure position. The control law is calculated based on the preset proportional gain coefficient, the preset proportional derivative coefficient, and the preset integral gain coefficient of the downward pressure position control to determine the downward pressure position control component of the end effector. The desired downforce of the end effector is obtained, and the downforce error of the end effector is determined based on the desired downforce and the downforce contact force. The downpressure error is calculated using a control law based on preset downpressure control proportional gain coefficient and preset downpressure control integral gain coefficient to determine the downpressure control component of the end effector.

[0010] The above scheme obtains the real-time downward pressure pose of the robot's end effector and the downward pressure contact force on the vertical surface of the ground tool operating head. It then extracts the real-time downward pressure position of the end effector on the horizontal surface of the ground tool operating head from the real-time downward pressure pose, decomposing the three-dimensional motion control into two independent dimensions: vertical force control and horizontal position control, thus simplifying the control complexity. Next, by determining the downward pressure position error based on the desired downward pressure position and the real-time downward pressure position, and using a proportional-integral control law to calculate the downward pressure position control component, the end effector can smoothly and stably approach the desired position in the horizontal plane. Simultaneously, it uses the desired downward pressure and the downward pressure contact force... The force is used to determine the downward pressure error, and then the proportional-integral control law is used to calculate the downward pressure control component. This allows the end effector to dynamically overcome the elastic resistance of the locking plate in the vertical direction, avoiding deformation of the locking plate due to excessive pressure or failure to press down due to insufficient pressure. This achieves smooth downward pressure control with force-position coordination, enabling the end effector to apply sufficient pressure to overcome the elastic resistance when pressing down the locking plate, while also preventing the locking plate from jamming through fine-tuning of the planar position. This improves the smoothness and accuracy of the downward pressure operation, and further enables the sequential and coordinated control of the three processes of locking plate pressing, sleeve insertion, and tightening, thereby improving the accuracy of the robot's switching control of the ground knife operating head.

[0011] As a preferred embodiment, the step of driving the end effector to complete the locking plate pressing operation of the grounding knife operating head based on the downward pressure control component and the position control component includes: Within each of the down-pressure control cycles, the desired force vector of the end effector in each of the down-pressure control cycles is constructed based on the down-pressure control component and the position control component; The desired force vector is mapped according to the preset Jacobian matrix and the preset gravity compensation matrix to obtain the joint driving torque of the robot in each pressure control cycle; Based on the joint driving torque, the robot's joints are driven to move, thereby driving the end effector to perform a pressing operation on the locking plate in each pressing control cycle. After the pressing operation is performed, the first pressing real-time pose of the end effector and the first pressing contact force on the vertical surface of the ground knife operating head are obtained. The pressing state of the end effector is determined based on the first pressing contact force and the first pressing real-time pose. If the pressing state of the end effector is a preset pressing incomplete state, then the first pressing contact force is used as the pressing contact force of the next pressing control cycle, and the first pressing real-time pose is used as the pressing real-time pose of the next pressing control cycle. If the end effector is in the preset pressing state, then the locking plate pressing operation of the grounding knife operating head is completed.

[0012] The above scheme synthesizes the downward force control component and the position control component into a desired force vector in each downward control cycle, unifying the two different-dimensional control components into the desired force vector of the end effector, thus achieving coordinated control of force-position hybrid control. Next, the desired force vector is mapped to joint driving torque using the Jacobian matrix and gravity compensation matrix, ensuring that the desired force vector in the task space can be accurately converted into the driving force in the robot's joint space, guaranteeing the downward accuracy of the end effector under complex postures. Finally, by acquiring the first downward contact force and the first downward real-time pose after the downward operation and determining the downward state, the scheme continues to execute the downward operation of the next downward control cycle even if the downward operation is not completed, until the downward operation is confirmed to be completed. This ensures that the locking plate of the ground tool operating head can be correctly pressed down, providing a prerequisite for subsequent sleeve insertion and tightening. It enables sequential coordinated control of the three processes of locking plate pressing, sleeve insertion, and tightening, thereby improving the accuracy of the robot's switching control of the ground tool operating head.

[0013] As a preferred embodiment, the step of acquiring the real-time contact force and sleeve insertion motion state of the end effector; constructing an impedance control model of the end effector based on the real-time contact force, sleeve insertion motion state, and a preset target insertion position of the grounding knife operating head; and controlling the end effector to complete the sleeve insertion operation of the grounding knife operating head based on the impedance control model, includes: The real-time contact force and sleeve insertion motion state of the end effector are obtained, wherein the sleeve insertion motion state includes: real-time sleeve insertion speed and real-time sleeve insertion pose. The desired sleeve insertion position of the end effector is determined based on the preset target insertion position of the ground knife operating head, and the real-time sleeve insertion position of the end effector is determined based on the real-time sleeve insertion pose. The impedance control model of the end effector is constructed based on the preset expected inertia matrix, preset expected damping matrix, preset expected stiffness matrix, real-time sleeve insertion speed, real-time sleeve insertion contact force, real-time sleeve insertion position, and expected sleeve insertion position. The impedance control model of the end effector is solved to determine the desired acceleration of the sleeve fitting of the end effector; The desired acceleration is mapped to the joint driving torque of the end effector when the sleeve of the end effector is fitted into the sleeve of the end effector. The robot's joints are driven by the sleeve insertion joint driving torque to move, thereby controlling the end effector to complete the sleeve insertion operation of the ground knife operating head.

[0014] The above scheme provides complete force and motion input information for the impedance control model by acquiring the real-time contact force of the sleeve insertion and the sleeve insertion motion state, including the real-time velocity and pose of the sleeve insertion. Then, the desired sleeve insertion position is determined by the target insertion position of the grounding knife operating head, and the real-time sleeve insertion position is determined by the real-time pose of the sleeve insertion, providing a basis for position deviation calculation for the impedance control model. Based on this, the impedance control model of the end effector is constructed using the desired inertia matrix, desired damping matrix, desired stiffness matrix, real-time velocity of the sleeve insertion, real-time contact force of the sleeve insertion, real-time position of the sleeve insertion, and desired position of the sleeve insertion. The sleeve insertion position is then solved to obtain the desired sleeve insertion position. By applying the desired acceleration, and then using the sleeve to achieve the desired acceleration, the end effector performs the sleeve insertion operation on the grounding knife operating head. This allows the end effector to exhibit compliant mechanical characteristics of mass-damping-spring during the sleeve insertion process. This not only enables the end effector to smoothly complete the sleeve insertion operation by force guidance in operating environments with visual obstruction, but also allows the end effector to achieve compliant insertion under the control of the impedance control model, avoiding alignment deviations and inaccurate judgment of whether the sleeve is in place, thus improving the accuracy and compliance of the sleeve insertion. In this way, the sequential and coordinated control of the three processes of locking plate pressing, sleeve insertion, and twisting can be realized, thereby improving the accuracy of the robot's switching control of the grounding knife operating head.

[0015] As a preferred embodiment, the steps of obtaining the target rotation angle and real-time rotation angle of the grounding switch operating head, determining the rotation torque of the end effector based on the target rotation angle and real-time rotation angle, and controlling the end effector to perform a turning operation on the grounding switch operating head based on the rotation torque to complete the switching operation of the grounding switch operating head include: In response to the robot's turning command, the real-time rotation angle and target rotation angle of the ground knife operating head are obtained; The turning angle error of the ground knife operating head is determined based on the target rotation angle and the real-time rotation angle; If the turning angle error is greater than or equal to the preset turning tolerance, then the control law is calculated based on the preset angle control proportional gain coefficient, the preset angle control integral gain coefficient and the preset angle control differential gain coefficient to obtain the initial torque of the end effector. Obtain the maximum permissible torque threshold of the end effector, and determine the rotational torque of the end effector based on the maximum permissible torque threshold and the initial torque; The end effector controls the rotational torque of the end effector to turn the grounding switch operating head, and updates the real-time rotation angle after each turn, thereby updating the turning angle error, until the turning angle error is less than the turning tolerance, thus completing the turning of the grounding switch operating head and completing the switching operation of the grounding switch operating head.

[0016] The above scheme provides a quantitative basis for determining the correct position of the turning operation by acquiring the real-time rotation angle and the target rotation angle and calculating the turning angle error. Then, when the turning angle error is greater than or equal to the preset turning tolerance, a control law is calculated for the turning angle error to obtain the initial torque of the end effector. This allows the turning operation to be dynamically adjusted according to the magnitude of the turning angle error, ensuring both turning efficiency and avoiding overshoot oscillation. Based on this, the final rotation torque is determined by the maximum allowable torque threshold and the initial torque, forming a torque limiting protection mechanism. This ensures that the rotation torque is limited within the safe operating range of the end effector, preventing stripping of the ground knife operating head or damage to the end effector due to forced turning. Thus, while ensuring the accuracy of turning position, the safety of operation is also taken into account. This realizes the sequential and coordinated control of the three processes of locking plate pressing, sleeve insertion, and turning, thereby improving the accuracy of the robot's switching control of the ground knife operating head.

[0017] Accordingly, this invention provides a robotic switching control system for a high-voltage switchgear, comprising: a module for obtaining the desired pressure position, a module for determining control components, a pressure operation module, a sleeve insertion operation module, and a screwing operation module; The desired downward pressure position acquisition module is used to acquire the position data of the grounding switch operating head of the high-voltage switchgear, and determine the desired downward pressure position of the robot's end effector based on the preset spiral search algorithm and the position data of the grounding switch operating head. The control component determination module is used to acquire the pressing contact force and pressing real-time pose of the end effector; determine the position control component of the end effector based on the pressing real-time pose and the pressing desired position; and determine the pressing force control component of the end effector based on the pressing contact force. The pressing operation module is used to drive the end effector to complete the pressing operation of the locking plate of the ground knife operating head based on the pressing force control component and the position control component; The sleeve insertion operation module is used to acquire the real-time contact force and sleeve insertion motion state of the end effector; construct the impedance control model of the end effector based on the real-time contact force, sleeve insertion motion state and preset target insertion position of the grounding knife operating head; and control the end effector to complete the sleeve insertion operation of the grounding knife operating head based on the impedance control model. The screwing operation module is used to obtain the target rotation angle and real-time rotation angle of the grounding switch operating head, and determine the rotation torque of the end effector based on the target rotation angle and real-time rotation angle; based on the rotation torque, the end effector is controlled to perform a screwing operation on the grounding switch operating head to complete the switching operation of the grounding switch operating head.

[0018] As a preferred embodiment, the desired pressure position acquisition module includes: a desired pressure position acquisition unit; The desired downward pressure position acquisition unit is used to acquire the position data of the grounding switch operating head of the high-voltage switchgear, and determine the plane center of the grounding switch operating head based on the position data; Within each pressure control cycle of the end effector, the number of cycles executed in the current pressure control cycle is obtained; If the number of cycles executed is less than the preset threshold for the number of cycles executed under pressure control, the desired pressure position of the robot's end effector is determined based on the plane center of the ground knife operating head. If the number of cycle executions is greater than or equal to the threshold of the number of cycle executions of the pressure control, then the search radius is initialized based on the number of cycle executions and the preset radius step size, and the search angle is initialized based on the number of cycle executions and the preset angle step size; The search position is determined based on the search radius and the search angle, and the desired downward pressure position of the robot's end effector is determined based on the center of the plane and the search position.

[0019] As a preferred embodiment, the control component determination module includes: a control component determination unit; The control component determination unit is used to acquire the real-time pressing posture of the robot's end effector and the pressing contact force on the vertical surface of the ground knife operating head in each pressing control cycle. Based on the real-time downward pose, the real-time downward position of the end effector on the horizontal plane of the ground knife operating head is extracted; The pressure position error of the end effector is determined based on the expected pressure position and the real-time pressure position. The control law is calculated based on the preset proportional gain coefficient, the preset proportional derivative coefficient, and the preset integral gain coefficient of the downward pressure position control to determine the downward pressure position control component of the end effector. The desired downforce of the end effector is obtained, and the downforce error of the end effector is determined based on the desired downforce and the downforce contact force. The downpressure error is calculated using a control law based on preset downpressure control proportional gain coefficient and preset downpressure control integral gain coefficient to determine the downpressure control component of the end effector.

[0020] As a preferred embodiment, the pressing operation module includes: a pressing operation unit; The pressure-down operation unit is used to construct the desired force vector of the end effector in each pressure-down control cycle based on the pressure control component and the position control component. The desired force vector is mapped according to the preset Jacobian matrix and the preset gravity compensation matrix to obtain the joint driving torque of the robot in each pressure control cycle; Based on the joint driving torque, the robot's joints are driven to move, thereby driving the end effector to perform a pressing operation on the locking plate in each pressing control cycle. After the pressing operation is performed, the first pressing real-time pose of the end effector and the first pressing contact force on the vertical surface of the ground knife operating head are obtained. The pressing state of the end effector is determined based on the first pressing contact force and the first pressing real-time pose. If the pressing state of the end effector is a preset pressing incomplete state, then the first pressing contact force is used as the pressing contact force of the next pressing control cycle, and the first pressing real-time pose is used as the pressing real-time pose of the next pressing control cycle. If the end effector is in the preset pressing state, then the locking plate pressing operation of the grounding knife operating head is completed.

[0021] Understandably, compared to existing technologies, this system determines the desired pressing position by acquiring the position data of the ground tool operating head and combining it with a preset spiral search algorithm. This allows the robot's end effector to automatically find the correct pressing position, preventing the locking plate of the ground tool operating head from jamming due to positional deviation. Next, the position control component of the end effector is determined by the real-time pressing pose and the desired pressing position, and the pressing force control component is determined by the pressing contact force. Based on these, the end effector is driven by the pressing force control component and the position control component to complete the pressing operation on the locking plate of the ground tool operating head. This ensures that the end effector can apply sufficient pressure to overcome elastic resistance while preventing the locking plate from jamming through fine-tuning of the planar position. The first step is to improve the smoothness and accuracy of the pressing operation by controlling the real-time contact force of the sleeve insertion, the sleeve insertion motion state, and the target insertion position. This not only enables the end effector to smoothly complete the sleeve insertion operation under the guidance of force in the operation environment with visual obstruction, but also enables the end effector to achieve smooth insertion under the control of the impedance control model, avoiding alignment deviation and inaccurate judgment of whether the sleeve is in place, thus improving the accuracy and smoothness of the sleeve insertion. Finally, the rotation torque is determined based on the target rotation angle and the real-time rotation angle and the screwing operation is driven to realize the sequential collaborative control of the three processes of locking plate pressing, sleeve insertion, and screwing, thereby improving the accuracy of the robot's switching control of the ground knife operating head. Attached Figure Description

[0022] Figure 1 A flowchart illustrating the steps of a robotic switching control method for a high-voltage switchgear provided in this embodiment of the invention; Figure 2 A flowchart of an end effector performing a locking plate pressing operation is provided in an embodiment of the present invention; Figure 3 A schematic diagram illustrating the process of inserting and tightening an end effector sleeve according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a robot switching control system for a high-voltage switchgear provided in an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1 To address the technical problem of inaccurate robot switching control in existing technologies, please refer to... Figure 1 , Figure 1 The flowchart of a robot switching control method for a high-voltage switchgear provided in this embodiment of the invention includes steps S101 to S105.

[0025] Step S101: Obtain the position data of the grounding switch operating head of the high-voltage switchgear, and determine the desired downward pressure position of the robot's end effector based on the preset spiral search algorithm and the position data of the grounding switch operating head.

[0026] Step S102: Obtain the pressing contact force and real-time pressing pose of the end effector; determine the position control component of the end effector based on the real-time pressing pose and the desired pressing position, and determine the pressing force control component of the end effector based on the pressing contact force.

[0027] Step S103: Drive the end effector to complete the locking plate pressing operation of the grounding knife operating head based on the down pressure control component and the position control component.

[0028] Step S104: Obtain the real-time contact force and sleeve insertion motion state of the end effector; construct the impedance control model of the end effector based on the real-time contact force, sleeve insertion motion state and preset target insertion position of the grounding knife operating head, and control the end effector to complete the sleeve insertion operation of the grounding knife operating head based on the impedance control model.

[0029] Step S105: Obtain the target rotation angle and real-time rotation angle of the grounding switch operating head; determine the rotation torque of the end effector based on the target rotation angle and real-time rotation angle; control the end effector to perform a turning operation on the grounding switch operating head based on the rotation torque, so as to complete the switching operation of the grounding switch operating head.

[0030] In one optional embodiment, obtaining the position data of the grounding switch operating head of the high-voltage switchgear specifically includes: driving a robot to move to the working position of the high-voltage switchgear; using a vision camera carried by the robot's end effector to acquire an image of the switchgear panel; then using a mature deep learning object detection algorithm (such as YOLOv8) to perform image recognition on the switchgear panel image to obtain the position data of the grounding switch operating head of the high-voltage switchgear; after obtaining the position data of the grounding switch operating head of the high-voltage switchgear, using a coordinate system transformation algorithm to map the position data of the grounding switch operating head to the target pose in the robot's base coordinate system. ;in, , and This refers to the three-dimensional position information of the plane center of the ground tool operating head in the robot's base coordinate system; This refers to the attitude information of the plane center of the ground tool manipulator head in the robot's base coordinate system, which includes... , and These correspond to the rotation angles along the X, Y, and Z axes, respectively; once the target pose is determined... Then, the end effector of the robot moves according to the target pose, so that the end effector can be in the working position of the ground cutting head.

[0031] In particular, the above is only an exemplary description of obtaining the planar center of the grounding cutter operating head and driving the end effector of the robot to move to the pre-operation position of the switching operation provided in this embodiment. Regarding the image processing and the movement of the end effector to the working position, those skilled in the art can use other methods according to actual needs.

[0032] In this embodiment, the step of acquiring the position data of the grounding switchgear operating head and determining the desired downward pressure position of the robot's end effector based on a preset spiral search algorithm and the position data of the grounding switchgear operating head includes: Obtain the position data of the grounding switch operating head of the high-voltage switchgear, and determine the plane center of the grounding switch operating head based on the position data; Within each pressure control cycle of the end effector, the number of cycles executed in the current pressure control cycle is obtained; If the number of cycles executed is less than the preset threshold for the number of cycles executed under pressure control, the desired pressure position of the robot's end effector is determined based on the plane center of the ground knife operating head. If the number of cycle executions is greater than or equal to the threshold of the number of cycle executions of the pressure control, then the search radius is initialized based on the number of cycle executions and the preset radius step size, and the search angle is initialized based on the number of cycle executions and the preset angle step size; The search position is determined based on the search radius and the search angle, and the desired downward pressure position of the robot's end effector is determined based on the center of the plane and the search position.

[0033] In one alternative embodiment, please refer to Figure 2 , Figure 2 A flowchart of an end effector performing a locking plate pressing operation is provided as an embodiment of the present invention; as follows: Figure 2As shown, after the end effector moves to the operating position of the grounding knife operating head, it needs to overcome the obstruction of the locking plate on the outside of the grounding knife operating head and press it down vertically to expose the grounding knife operating head. The core of its control lies in applying sufficient downward pressure to overcome the elastic resistance of the locking plate while avoiding damage caused by the locking plate getting stuck at the edge due to positional deviation. Therefore, this embodiment decomposes the control of the locking plate pressing stage into horizontal plane position control and vertical plane downward pressure control. To achieve horizontal plane position control, it is necessary to know the position of the locking plate of the grounding knife operating head, thereby forming the desired downward pressing position of the end effector. Since the locking plates of different grounding knife operating heads are different, this embodiment uses a spiral search algorithm to determine the desired downward pressing position of the end effector.

[0034] First, the plane center of the grounding blade operating head is directly obtained from the position data. Then, to balance pressing efficiency and accuracy, this embodiment introduces a threshold for the number of cycle executions and the number of pressing control cycle executions. Within each pressing control cycle, the number of cycle executions for the current pressing control cycle is obtained, and the threshold for the number of pressing control cycle executions is set to 3 (the specific value can be set according to actual needs). If the number of cycle executions is less than the threshold for the number of pressing control cycle executions, it indicates that the robot is still in the early control stage of the locking plate pressing operation. At this time, the desired pressing position of the end effector should be quickly obtained. Therefore, in this embodiment, the position of the plane center of the grounding blade operating head on the horizontal plane (composed of the X and Y axes) is directly used as the desired pressing position of the robot's end effector. ; If the number of cycle executions is greater than or equal to the threshold number of cycle executions for the pressure control, it indicates that multiple locking plate pressure controls have been performed, but the locking plate has still not been pressed down. A more accurate determination of the desired pressure position is needed. Therefore, this embodiment uses the center of the plane as the center point and introduces a maximum search radius. Search radius Radius step size Angle step size and search angle Maximum search radius The search radius can be determined based on the size of the locking plate of the ground knife operating head, or it can be set according to actual needs; The initial value is set to 0, and the radius step size is... The specific value can be based on the actual value or set to a fraction of the maximum search radius (in this embodiment, it is set to one-tenth of the maximum search radius); search angle The initial value is set to 0 degrees, and the angle step size is... Set to 15 degrees (the specific value can be set according to actual needs); When the number of cycle executions equals the threshold for the number of cycles to be executed in the pressure control cycle, the search radius is set to the initial value of the search radius plus the radius step size, and the search angle is set to the initial value of the search angle plus the angle step size; when the number of cycle executions exceeds the threshold for the number of cycles to be executed in the pressure control cycle, the search radius is set to the search radius of the previous pressure control cycle plus the radius step size, and the search angle is set to the search angle of the previous pressure control cycle plus the angle step size. After determining the search radius and search angle, calculate the search position for this downward control cycle. Position of the plane's center on the horizontal plane Adding the search position to the expected pressure position yields the desired pressure position, which is expressed as: By setting the search radius and search angle and superimposing the position of the plane center on the horizontal plane, the desired downward pressure position can be made to present a spiral pattern, thereby realizing spiral search.

[0035] Specifically, if the locking plate pressing operation is not completed after the search radius has been iterated to the maximum search radius, the locking plate pressing operation will be stopped and a fault will be reported.

[0036] The above embodiments, when the number of cycle executions is less than a preset threshold for the number of cycle executions of the pressing control, use the prior information of the plane center of the grounding knife operating head obtained from the position data as the desired pressing position, enabling rapid attempts to press down the locking plate. When the number of cycle executions is greater than or equal to the threshold for the number of cycle executions of the pressing control, the search radius and search angle are initialized, and the search position is determined by the search radius and search angle, combined with the plane center to determine the desired pressing position. This allows the end effector to gradually expand the search range along a spiral path, enabling the robot's end effector to automatically find the correct pressing position, avoiding the locking plate of the grounding knife operating head from jamming due to positional deviation. This improves the accuracy of pressing positioning and operational efficiency, thereby ensuring the accuracy of the sequential coordinated control of the three processes of locking plate pressing, sleeve insertion, and tightening, and improving the accuracy of the robot's switching control of the grounding knife operating head.

[0037] In this embodiment, the steps of acquiring the pressing contact force and real-time pressing pose of the end effector; determining the position control component of the end effector based on the real-time pressing pose and the desired pressing position; and determining the pressing force control component of the end effector based on the pressing contact force include: During each pressing control cycle, the real-time pressing pose of the robot's end effector and the pressing contact force on the vertical surface of the ground knife operating head are acquired. Based on the real-time downward pose, the real-time downward position of the end effector on the horizontal plane of the ground knife operating head is extracted; The pressure position error of the end effector is determined based on the expected pressure position and the real-time pressure position. The control law is calculated based on the preset proportional gain coefficient, the preset proportional derivative coefficient, and the preset integral gain coefficient of the downward pressure position control to determine the downward pressure position control component of the end effector. The desired downforce of the end effector is obtained, and the downforce error of the end effector is determined based on the desired downforce and the downforce contact force. The downpressure error is calculated using a control law based on preset downpressure control proportional gain coefficient and preset downpressure control integral gain coefficient to determine the downpressure control component of the end effector.

[0038] In an alternative embodiment, such as Figure 2 As shown, after determining the desired pressing position, the contact force data is read by the six-dimensional force sensor installed by the end effector. And extract the downward contact force of the end effector on the vertical plane of the ground tool operating head from the contact force data. Next, the real-time downward pose of the robot's end effector is obtained. and from the real-time pose under pressure The real-time downward pressure position of the cutting head on the horizontal plane is directly extracted. After determining these data, a safety check is performed on the robot and its end effector, including but not limited to whether there is a sudden increase in contact force, whether the joint limit is exceeded, and whether an emergency stop signal is triggered. The details of the safety check will not be elaborated upon in this embodiment, as it is a commonly used technique in current robot control technology. If the safety check fails, an error is reported.

[0039] If the safety inspection is passed, then proceed with the subsequent horizontal position control and vertical downward pressure control.

[0040] Firstly, there is horizontal plane position control. This horizontal plane position control ensures that the end effector aligns with the locking plate during the locking plate compression process, thus achieving the desired compression position. With the real-time position of the pressure down The difference is used to obtain the downward position error of the end effector. Next, in this embodiment, the horizontal position control is achieved through a PID controller; therefore, the proportional gain coefficient for the downward position control is set. The proportional-derivative coefficient for controlling the downward pressure position and the integral gain coefficient for pressing position control (The specific value is set according to actual needs; it is a necessary parameter for the PID controller.) Then, the control law for the downward pressure position error is calculated based on this value to determine the downward pressure position control component of the end effector. The downward pressure position control component is expressed as: ;in, This represents the derivative of the downward pressure position error with respect to time; Next, by controlling the downward pressure in the vertical plane, the end effector can have sufficient downward pressure during the locking plate depressor process to overcome the elastic resistance of the locking plate; thus, the desired downward pressure of the end effector can be obtained. The specific value of the desired downward pressure can be set according to the actual locking plate or other field conditions; the desired downward pressure Contact force with downward pressure The difference is used as the downforce error of the end effector. This embodiment uses a PI controller to control the downward pressure on the vertical surface; therefore, the proportional gain coefficient for downward pressure control is set accordingly. and downforce control integral gain coefficient Downforce control proportional gain coefficient The integral gain coefficient of downforce control determines the response strength of the end effector to downforce error. Used to eliminate the residual force error of the end effector in steady state; therefore, the downforce control component can be expressed as: .

[0041] The above embodiment obtains the real-time downward pressure pose of the robot's end effector and the downward pressure contact force on the vertical surface of the ground tool operating head, and extracts the real-time downward pressure position of the end effector on the horizontal surface of the ground tool operating head from the real-time downward pressure pose. This decomposes the three-dimensional motion control into two independent dimensions: vertical force control and horizontal position control, simplifying the control complexity. Next, by determining the downward pressure position error based on the desired downward pressure position and the real-time downward pressure position, and using a proportional-integral control law to calculate the downward pressure position control component, the end effector can smoothly and stably approach the desired position in the horizontal plane. Simultaneously, the desired downward pressure and downward pressure contact force are used to... The force is used to determine the downward pressure error, and then the proportional-integral control law is used to calculate the downward pressure control component. This allows the end effector to dynamically overcome the elastic resistance of the locking plate in the vertical direction, avoiding deformation of the locking plate due to excessive pressure or failure to press down due to insufficient pressure. This achieves smooth downward pressure control with force-position coordination, enabling the end effector to apply sufficient pressure to overcome the elastic resistance when pressing down the locking plate, while also preventing the locking plate from jamming through fine-tuning of the planar position. This improves the smoothness and accuracy of the downward pressure operation, and further enables the sequential and coordinated control of the three processes of locking plate pressing, sleeve insertion, and tightening, thereby improving the accuracy of the robot's switching control of the ground knife operating head.

[0042] In this embodiment, driving the end effector to complete the locking plate pressing operation of the grounding knife operating head based on the downward pressure control component and the position control component includes: Within each of the down-pressure control cycles, the desired force vector of the end effector in each of the down-pressure control cycles is constructed based on the down-pressure control component and the position control component; The desired force vector is mapped according to the preset Jacobian matrix and the preset gravity compensation matrix to obtain the joint driving torque of the robot in each pressure control cycle; Based on the joint driving torque, the robot's joints are driven to move, thereby driving the end effector to perform a pressing operation on the locking plate in each pressing control cycle. After the pressing operation is performed, the first pressing real-time pose of the end effector and the first pressing contact force on the vertical surface of the ground knife operating head are obtained. The pressing state of the end effector is determined based on the first pressing contact force and the first pressing real-time pose. If the pressing state of the end effector is a preset pressing incomplete state, then the first pressing contact force is used as the pressing contact force of the next pressing control cycle, and the first pressing real-time pose is used as the pressing real-time pose of the next pressing control cycle. If the end effector is in the preset pressing state, then the locking plate pressing operation of the grounding knife operating head is completed.

[0043] In an alternative embodiment, such as Figure 2 As shown, after determining the downforce control component and position control components Next, position control components It can also be broken down into X-axis control components. and Y-axis control components These are combined to obtain the desired force vector of the end effector, which is expressed as: The expected force vector contains " "These correspond to the rotation angles of the end effector along the X, Y, and Z axes, respectively; subsequently, the Jacobian matrix is ​​set." and gravity compensation matrix Using Jacobian matrix transpose and gravity compensation matrix The desired force vector is mapped to the joint driving torque, which is expressed as: Then, the joints of the robot are driven to move by the joint driving torque, so as to drive the end effector to perform a pressing operation on the locking plate in each pressing control cycle.

[0044] After performing the pressing operation, the first real-time pressing pose of the end effector is obtained in the same way as described above for obtaining the real-time pressing pose and the pressing contact force on the vertical surface of the grounding knife operating head. and the first downward contact force on the vertical surface of the grounding knife operating head ; Based on the first downward contact force and the pressure of expectations Calculate the difference in the first contact force error From the first downward pressure real-time pose Extract the first real-time downward pressure position of the end effector on the horizontal plane of the grounding tool operating head. Simultaneously, the initial position of the end effector on the horizontal plane of the grounding tool operating head is obtained before the locking plate pressing operation begins. Based on the initial position and the real-time position of the first press The difference determines the actual displacement of the locking plate of the end effector under pressure. ; At the same time, the maximum stroke required for the locking plate to be fully depressed is set to... And setting force control error tolerance Setting condition one is the actual displacement of the locking plate under pressure. Reaching or exceeding the maximum travel distance Condition two is set as the first contact force error. Less than If both conditions one and two are met simultaneously, the pressing state of the end effector is considered as the pressing completed state, and the pressing operation on the locking plate of the ground knife operating head is considered complete; otherwise, the pressing state of the end effector is considered as the pressing incomplete state, and the first pressing contact force will be used as the pressing contact force for the next pressing control cycle, and the first pressing real-time pose will be used as the pressing real-time pose for the next pressing control cycle, thereby continuing to press down the locking plate.

[0045] In particular, the Jacobian matrix and gravity compensation matrix These are two core parameters describing the dynamics and kinematics of a robot, and the joint driving torque drives the movement of each joint of the robot to drive the end effector. This is a mature technology in robot control, and will not be discussed in detail in this embodiment.

[0046] The above embodiments synthesize the downward pressure control component and the position control component into a desired force vector in each downward control cycle, unifying the two different-dimensional control components into the desired force vector of the end effector, thus achieving coordinated control of force-position hybrid control. Next, the desired force vector is mapped to joint driving torque using the Jacobian matrix and gravity compensation matrix, ensuring that the desired force vector in the task space can be accurately converted into the driving force in the robot's joint space, guaranteeing the downward pressure accuracy of the end effector under complex postures. Finally, by acquiring the first downward contact force and the first downward real-time pose after the downward operation and determining the downward state, and continuing the downward operation of the next downward control cycle even if the downward operation is not completed, until the downward operation is confirmed to be completed, it is ensured that the locking plate of the ground tool operating head can be correctly pressed down, providing a prerequisite for subsequent sleeve insertion and tightening. This enables the sequential coordinated control of the three processes of locking plate pressing, sleeve insertion, and tightening, thereby improving the accuracy of the robot's switching control of the ground tool operating head.

[0047] In this embodiment, the steps include: acquiring the real-time contact force and movement state of the sleeve insertion of the end effector; constructing an impedance control model of the end effector based on the real-time contact force, movement state, and a preset target insertion position of the grounding cutter head; and controlling the end effector to complete the sleeve insertion operation of the grounding cutter head based on the impedance control model. The real-time contact force and sleeve insertion motion state of the end effector are obtained, wherein the sleeve insertion motion state includes: real-time sleeve insertion speed and real-time sleeve insertion pose. The desired sleeve insertion position of the end effector is determined based on the preset target insertion position of the ground knife operating head, and the real-time sleeve insertion position of the end effector is determined based on the real-time sleeve insertion pose. The impedance control model of the end effector is constructed based on the preset expected inertia matrix, preset expected damping matrix, preset expected stiffness matrix, real-time sleeve insertion speed, real-time sleeve insertion contact force, real-time sleeve insertion position, and expected sleeve insertion position. The impedance control model of the end effector is solved to determine the desired acceleration of the sleeve fitting of the end effector; The desired acceleration is mapped to the joint driving torque of the end effector when the sleeve of the end effector is fitted into the sleeve of the end effector. The robot's joints are driven by the sleeve insertion joint driving torque to move, thereby controlling the end effector to complete the sleeve insertion operation of the ground knife operating head.

[0048] In one alternative embodiment, please refer to Figure 3 , Figure 3A schematic diagram illustrating the process of inserting and tightening an end effector sleeve according to an embodiment of the present invention; like Figure 3 As shown, after the locking plate of the grounding knife operating head is pressed down, although the grounding knife operating head is exposed, a visual blind spot is created due to the mechanical structure blocking it, making it difficult for the vision system to observe the specific position of the grounding knife operating head. In this embodiment, force guidance is introduced to complete the insertion of the end effector sleeve into the grounding knife operating head. First, the real-time contact force of the sleeve fitting into the end effector is obtained through a six-dimensional sensor. Furthermore, the sleeve insertion motion state of the end effector is obtained, wherein the sleeve insertion motion state includes: the real-time speed of sleeve insertion. Real-time pose of sleeve fitting; Since the target insertion position of the grounding tool operating head (which can be directly set or obtained by a corresponding sensor) is the target of the sleeve insertion, the target insertion position of the grounding tool operating head is directly used as the desired insertion position of the sleeve of the end effector. Simultaneously, the real-time position of the end effector is extracted from the real-time pose of the sleeve fitting. ; To ensure a smooth sleeve insertion process, allowing it to naturally conform to geometric constraints during contact and achieve a safe and reliable insertion, this embodiment introduces a desired inertia matrix. Desired damping matrix Desired stiffness matrix Construct an impedance control model; desired inertia matrix It is usually set to be related to the mass of the end effector; the desired damping matrix Take the critical damping value of the end effector (e.g.) ); Desired stiffness matrix Setting it to a lower value (e.g., 500 N / m) allows for larger positional deviations, enabling the end effector to exhibit compliant characteristics; therefore, the constructed impedance control model is expressed as: ; This indicates the real-time acceleration of the sleeve fitting into the end effector; This indicates the desired acceleration when the sleeve of the end effector is fitted into the end effector. This indicates the real-time speed at which the sleeve of the end effector is inserted; This indicates the desired speed at which the sleeve of the end effector fits into place; This indicates that the sleeve of the end effector is fitted into the desired position; This indicates the real-time position of the sleeve being fitted onto the end effector; Specifically, the sleeve is fitted with a real-time acceleration. The kinematic calculations can be performed based on the real-time position and velocity of the sleeve during insertion; and the desired acceleration during sleeve insertion can be obtained. The desired speed of fitting the sleeve. The relationship can also be determined through kinematics, which is a common technique in robot control, and will not be elaborated here in this embodiment.

[0049] Therefore, after determining the desired acceleration of the sleeve insertion of the end effector, it is mapped to the sleeve insertion joint driving torque through inverse dynamics or the Jacobian matrix. This allows the joints of the robot to move using the sleeve-fitting joint driving torque, thereby controlling the end effector to complete the sleeve-fitting operation of the ground knife operating head. In particular, inverse dynamics and Jacobian matrix mapping are common techniques in robot control, and will not be described in detail in this embodiment.

[0050] Furthermore, during the sleeve insertion process, due to the guide cone surface designed at the front end of the sleeve, when the end effector approaches the grounding tool operating head, even with a slight positional deviation, the contact force... The presence of this will also cause the end effector to automatically adjust its attitude and slide into the hexagonal hole along the conical surface; this process relies entirely on contact force. Force-guided positioning, without the need for visual intervention, effectively solves the centering problem under occlusion conditions.

[0051] Simultaneously, data from the six-dimensional force sensor is continuously acquired. When the contact force on the X-axis or Y-axis approaches zero (indicating that the sleeve and the grounding knife operating head are well aligned and there is no lateral compression) and the torque around the Z-axis begins to rise (indicating that the sleeve has been fully inserted into the grounding knife operating head), the sleeve insertion operation of the grounding knife operating head is considered complete.

[0052] The above embodiments provide complete force and motion input information for the impedance control model by acquiring the real-time contact force of the sleeve insertion and the sleeve insertion motion state, including the real-time velocity and pose of the sleeve insertion. Next, the desired sleeve insertion position is determined by the target insertion position of the grounding knife operating head, and the real-time sleeve insertion position is determined by the real-time pose of the sleeve insertion, providing a basis for position deviation calculation for the impedance control model. Based on this, the impedance control model of the end effector is constructed using the desired inertia matrix, desired damping matrix, desired stiffness matrix, real-time sleeve insertion velocity, real-time contact force, real-time sleeve insertion position, and desired sleeve insertion position. The sleeve insertion position is then solved to obtain the desired sleeve insertion position. By applying the desired acceleration, and then using the sleeve to achieve the desired acceleration, the end effector performs the sleeve insertion operation on the grounding knife operating head. This allows the end effector to exhibit compliant mechanical characteristics of mass-damping-spring during the sleeve insertion process. This not only enables the end effector to smoothly complete the sleeve insertion operation by force guidance in operating environments with visual obstruction, but also allows the end effector to achieve compliant insertion under the control of the impedance control model, avoiding alignment deviations and inaccurate judgment of whether the sleeve is in place, thus improving the accuracy and compliance of the sleeve insertion. In this way, the sequential and coordinated control of the three processes of locking plate pressing, sleeve insertion, and twisting can be realized, thereby improving the accuracy of the robot's switching control of the grounding knife operating head.

[0053] In this embodiment, the steps of acquiring the target rotation angle and real-time rotation angle of the grounding switch operating head, determining the rotation torque of the end effector based on the target rotation angle and real-time rotation angle, and controlling the end effector to perform a turning operation on the grounding switch operating head based on the rotation torque to complete the switching operation of the grounding switch operating head include: In response to the robot's turning command, the real-time rotation angle and target rotation angle of the ground knife operating head are obtained; The turning angle error of the ground knife operating head is determined based on the target rotation angle and the real-time rotation angle; If the turning angle error is greater than or equal to the preset turning tolerance, then the control law is calculated based on the preset angle control proportional gain coefficient, the preset angle control integral gain coefficient and the preset angle control differential gain coefficient to obtain the initial torque of the end effector. Obtain the maximum permissible torque threshold of the end effector, and determine the rotational torque of the end effector based on the maximum permissible torque threshold and the initial torque; The end effector controls the rotational torque of the end effector to turn the grounding switch operating head, and updates the real-time rotation angle after each turn, thereby updating the turning angle error, until the turning angle error is less than the turning tolerance, thus completing the turning of the grounding switch operating head and completing the switching operation of the grounding switch operating head.

[0054] In one optional embodiment, after the sleeve insertion operation is completed, a screwing operation needs to be performed on the grounding switch operating head to realize the switching operation (closing or opening operation) of the grounding switch operating head. At this time, the control of the end effector changes from an impedance model to a precise screwing operation. By controlling the rotational torque of the end effector, the screwing operation is realized, and the rotation angle of the grounding switch operating head can be controlled. Figure 3 As shown, in response to the robot's turning command, the real-time rotation angle of the ground knife operating head is obtained. and target rotation angle The turning angle error of the ground knife operating head is determined based on the target rotation angle and the real-time rotation angle. Simultaneously, a screwing tolerance is introduced. (Set to 1 degree) to determine whether the cutting head has finished rotating, thus determining whether the tightening operation is complete; if there is an error in the tightening angle... A value greater than or equal to the tightening tolerance indicates that the tightening operation has not been completed. In this embodiment, a PID controller is used to control the tightening operation, and the angle control proportional gain coefficient is set. Angle control integral gain coefficient and angle control differential gain coefficient Its specific value can be set according to actual needs; the initial torque of the end effector is expressed as: ;in, Indicates the error in the turning angle. Calculate the derivative with respect to time; simultaneously obtain the maximum permissible torque threshold of the end effector. The specific value is determined comprehensively based on the rated torque and safety margin of the grounding knife operating head; in this embodiment, it is set to 50 N·m. The smaller value between the maximum permissible torque threshold and the initial torque is taken as the rotational torque of the end effector, expressed as: ; Then, a rotary torque end effector is used to turn the grounding switch operating head, and the real-time rotation angle is updated after each turn, thereby updating the turning angle error, until the turning angle error is less than the turning tolerance, thus completing the turning of the grounding switch operating head, and thus completing the switching operation of the grounding switch operating head.

[0055] Specifically, if the actual rotational torque exceeds the maximum permissible torque threshold during the tightening operation, the tightening operation will be stopped and an error will be reported.

[0056] The above embodiments provide a quantitative basis for determining the correct position of the turning operation by acquiring the real-time rotation angle and the target rotation angle and calculating the turning angle error. Then, when the turning angle error is greater than or equal to the preset turning tolerance, a control law is calculated for the turning angle error to obtain the initial torque of the end effector. This allows the turning operation to be dynamically adjusted according to the magnitude of the turning angle error, ensuring both turning efficiency and avoiding overshoot oscillation. Based on this, the final rotation torque is determined by the maximum allowable torque threshold and the initial torque, forming a torque limiting protection mechanism. This ensures that the rotation torque is limited within the safe operating range of the end effector, preventing stripping of the ground knife operating head or damage to the end effector due to forced turning. Thus, while ensuring the accuracy of turning position, the safety of operation is also taken into account. This realizes the sequential and coordinated control of the three processes of locking plate pressing, sleeve insertion, and turning, thereby improving the accuracy of the robot's switching control of the ground knife operating head.

[0057] In an optional embodiment, this embodiment introduces a finite state machine (FSM) to implement steps S101 to S105; wherein, the finite state machine divides steps S101 to S105 into seven core states, including: IDLE (idle) APPROACH (Visually Guided Approach) :PUSH_DOWN (Piece locking stage, steps S101 to S103) INSERT (Sleeve insertion stage, step S104) : SCREW (twisting stage, step S105) RETRACT (exit phase) and ERROR (Error Handling). Specifically, after power-on initialization, the finite state machine defaults to state ERROR. The finite state machine is in an idle state, awaiting operation commands. Upon receiving a closing or opening command from the grounding switch operating head, and after the external anti-interlocking system confirms that the safety conditions are met, the finite state machine transitions to... The robot, guided by vision, moves to the preparatory position of the cutting tool's operating head. Upon completion of the approach, the finite state machine automatically enters... In the current state, steps S101 to S103 are executed to press down the locking plate. During this process, the finite state machine continuously determines whether conditions one and two are satisfied. If both conditions one and two are satisfied simultaneously, a transition to the current state is triggered. state. The state is implemented using an impedance control model to achieve the insertion of the end effector sleeve. The finite state machine transitions to a state where the contact force on the X-axis or Y-axis approaches zero and the torque around the Z-axis begins to increase. Status. In In this state, rotation is performed with the target rotation angle as the objective, while simultaneously monitoring the positioning conditions and torque threshold; once the turning angle error occurs... Less than the screwing tolerance That is, once the turning is completed, the finite state machine transitions to... Status; if the actual rotational torque detected during tightening exceeds the maximum permissible torque threshold, overload protection is immediately triggered, and the process switches to [specific mode / condition]. state. The exit state controls the robot's end effector to compliantly retract from the manipulator head, and returns after complete separation. Idle state, waiting for the next instruction.

[0058] This embodiment obtains the position data of the grounding knife operating head and combines it with a preset spiral search algorithm to determine the desired pressing position. This allows the robot's end effector to automatically find the correct pressing position, avoiding jamming of the grounding knife operating head's locking plate due to positional deviation. Next, the position control component of the end effector is determined by the real-time pressing pose and the desired pressing position, and the pressing force control component is determined by the pressing contact force. Based on this, the end effector is driven by the pressing force control component and the position control component to complete the pressing operation on the grounding knife operating head's locking plate. This ensures that the end effector can apply sufficient pressure to overcome elastic resistance while preventing the locking plate from jamming through planar position fine-tuning, thereby improving the pressing efficiency. The system improves the smoothness and accuracy of the pressing operation. Then, by constructing an impedance control model based on the real-time contact force of the sleeve insertion, the sleeve insertion motion state, and the target insertion position, the end effector can not only smoothly complete the sleeve insertion operation under visual obstruction but also achieve smooth insertion under the control of the impedance control model. This avoids alignment deviations and inaccurate judgment of whether the sleeve is properly inserted, thus improving the accuracy and smoothness of the sleeve insertion. Finally, based on the target rotation angle and the real-time rotation angle, the rotation torque is determined and the screwing operation is driven, realizing the sequential and coordinated control of the three processes: locking plate pressing, sleeve insertion, and screwing. This improves the accuracy of the robot's switching control of the ground knife operating head.

[0059] Example 2 Please refer to Figure 2 , Figure 2 The present invention provides a schematic diagram of the structure of a robot switching control system for a high-voltage switchgear, comprising: a module for obtaining the desired pressing position 201, a control component determination module 202, a pressing operation module 203, a sleeve insertion operation module 204, and a screwing operation module 205. The desired downward pressure position acquisition module 201 is used to acquire the position data of the grounding switch operating head of the high-voltage switchgear, and determine the desired downward pressure position of the robot's end effector based on the preset spiral search algorithm and the position data of the grounding switch operating head. The control component determination module 202 is used to acquire the pressing contact force and pressing real-time pose of the end effector; determine the position control component of the end effector based on the pressing real-time pose and the pressing desired position; and determine the pressing force control component of the end effector based on the pressing contact force. The pressing operation module 203 is used to drive the end effector to complete the pressing operation of the locking plate of the ground knife operating head based on the pressing force control component and the position control component; The sleeve insertion operation module 204 is used to acquire the real-time sleeve insertion contact force and sleeve insertion motion state of the end effector; construct the impedance control model of the end effector based on the real-time sleeve insertion contact force, sleeve insertion motion state and preset target insertion position of the grounding knife operating head; and control the end effector to complete the sleeve insertion operation of the grounding knife operating head based on the impedance control model. The screwing operation module 205 is used to obtain the target rotation angle and real-time rotation angle of the grounding switch operating head, determine the rotation torque of the end effector based on the target rotation angle and real-time rotation angle, and control the end effector to perform a screwing operation on the grounding switch operating head based on the rotation torque to complete the switching operation of the grounding switch operating head.

[0060] In this embodiment, the expected pressure position acquisition module 201 includes: an expected pressure position acquisition unit; The desired downward pressure position acquisition unit is used to acquire the position data of the grounding switch operating head of the high-voltage switchgear, and determine the plane center of the grounding switch operating head based on the position data; Within each pressure control cycle of the end effector, the number of cycles executed in the current pressure control cycle is obtained; If the number of cycles executed is less than the preset threshold for the number of cycles executed under pressure control, the desired pressure position of the robot's end effector is determined based on the plane center of the ground knife operating head. If the number of cycle executions is greater than or equal to the threshold of the number of cycle executions of the pressure control, then the search radius is initialized based on the number of cycle executions and the preset radius step size, and the search angle is initialized based on the number of cycle executions and the preset angle step size; The search position is determined based on the search radius and the search angle, and the desired downward pressure position of the robot's end effector is determined based on the center of the plane and the search position.

[0061] In this embodiment, the control component determination module 202 includes: a control component determination unit; The control component determination unit is used to acquire the real-time pressing posture of the robot's end effector and the pressing contact force on the vertical surface of the ground knife operating head in each pressing control cycle. Based on the real-time downward pose, the real-time downward position of the end effector on the horizontal plane of the ground knife operating head is extracted; The pressure position error of the end effector is determined based on the expected pressure position and the real-time pressure position. The control law is calculated based on the preset proportional gain coefficient, the preset proportional derivative coefficient, and the preset integral gain coefficient of the downward pressure position control to determine the downward pressure position control component of the end effector. The desired downforce of the end effector is obtained, and the downforce error of the end effector is determined based on the desired downforce and the downforce contact force. The downpressure error is calculated using a control law based on preset downpressure control proportional gain coefficient and preset downpressure control integral gain coefficient to determine the downpressure control component of the end effector.

[0062] In this embodiment, the pressing operation module 203 includes: the pressing operation module includes: a pressing operation unit; The pressure-down operation unit is used to construct the desired force vector of the end effector in each pressure-down control cycle based on the pressure control component and the position control component. The desired force vector is mapped according to the preset Jacobian matrix and the preset gravity compensation matrix to obtain the joint driving torque of the robot in each pressure control cycle; Based on the joint driving torque, the robot's joints are driven to move, thereby driving the end effector to perform a pressing operation on the locking plate in each pressing control cycle. After the pressing operation is performed, the first pressing real-time pose of the end effector and the first pressing contact force on the vertical surface of the ground knife operating head are obtained. The pressing state of the end effector is determined based on the first pressing contact force and the first pressing real-time pose. If the pressing state of the end effector is a preset pressing incomplete state, then the first pressing contact force is used as the pressing contact force of the next pressing control cycle, and the first pressing real-time pose is used as the pressing real-time pose of the next pressing control cycle. If the end effector is in the preset pressing state, then the locking plate pressing operation of the grounding knife operating head is completed.

[0063] In this embodiment, the sleeve insertion operation module 204 includes: a sleeve insertion operation unit; The sleeve insertion operation unit is used to acquire the real-time contact force and sleeve insertion motion state of the end effector, wherein the sleeve insertion motion state includes: real-time sleeve insertion speed and real-time sleeve insertion pose. The desired sleeve insertion position of the end effector is determined based on the preset target insertion position of the ground knife operating head, and the real-time sleeve insertion position of the end effector is determined based on the real-time sleeve insertion pose. The impedance control model of the end effector is constructed based on the preset expected inertia matrix, preset expected damping matrix, preset expected stiffness matrix, real-time sleeve insertion speed, real-time sleeve insertion contact force, real-time sleeve insertion position, and expected sleeve insertion position. The impedance control model of the end effector is solved to determine the desired acceleration of the sleeve fitting of the end effector; The desired acceleration is mapped to the joint driving torque of the end effector when the sleeve of the end effector is fitted into the sleeve of the end effector. The robot's joints are driven by the sleeve insertion joint driving torque to move, thereby controlling the end effector to complete the sleeve insertion operation of the ground knife operating head.

[0064] In this embodiment, the screwing operation module 205 includes: a screwing operation unit; The screwing operation unit is used to respond to the robot's screwing command and obtain the real-time rotation angle and target rotation angle of the ground knife operation head; The turning angle error of the ground knife operating head is determined based on the target rotation angle and the real-time rotation angle; If the turning angle error is greater than or equal to the preset turning tolerance, then the control law is calculated based on the preset angle control proportional gain coefficient, the preset angle control integral gain coefficient and the preset angle control differential gain coefficient to obtain the initial torque of the end effector. Obtain the maximum permissible torque threshold of the end effector, and determine the rotational torque of the end effector based on the maximum permissible torque threshold and the initial torque; The end effector controls the rotational torque of the end effector to turn the grounding switch operating head, and updates the real-time rotation angle after each turn, thereby updating the turning angle error, until the turning angle error is less than the turning tolerance, thus completing the turning of the grounding switch operating head and completing the switching operation of the grounding switch operating head.

[0065] This embodiment obtains the position data of the grounding knife operating head and combines it with a preset spiral search algorithm to determine the desired pressing position. This allows the robot's end effector to automatically find the correct pressing position, avoiding jamming of the grounding knife operating head's locking plate due to positional deviation. Next, the position control component of the end effector is determined by the real-time pressing pose and the desired pressing position, and the pressing force control component is determined by the pressing contact force. Based on this, the end effector is driven by the pressing force control component and the position control component to complete the pressing operation on the grounding knife operating head's locking plate. This ensures that the end effector can apply sufficient pressure to overcome elastic resistance while preventing the locking plate from jamming through planar position fine-tuning, thereby improving the pressing efficiency. The system improves the smoothness and accuracy of the pressing operation. Then, by constructing an impedance control model based on the real-time contact force of the sleeve insertion, the sleeve insertion motion state, and the target insertion position, the end effector can not only smoothly complete the sleeve insertion operation under visual obstruction but also achieve smooth insertion under the control of the impedance control model. This avoids alignment deviations and inaccurate judgment of whether the sleeve is properly inserted, thus improving the accuracy and smoothness of the sleeve insertion. Finally, based on the target rotation angle and the real-time rotation angle, the rotation torque is determined and the screwing operation is driven, realizing the sequential and coordinated control of the three processes: locking plate pressing, sleeve insertion, and screwing. This improves the accuracy of the robot's switching control of the ground knife operating head.

[0066] In summary, this embodiment of the invention obtains the position data of the grounding knife operating head and combines it with a preset spiral search algorithm to determine the desired pressing position, enabling the robot's end effector to automatically find the correct pressing position and avoid jamming of the grounding knife operating head's locking plate due to positional deviation. Next, the position control component of the end effector is determined by the real-time pressing pose and the desired pressing position, and the pressing pressure control component of the end effector is determined by the pressing contact force. Based on this, the end effector is driven by the pressing pressure control component and the position control component to complete the pressing operation on the grounding knife operating head's locking plate. This ensures that the end effector can apply sufficient pressure to overcome elastic resistance while preventing the locking plate from jamming through planar position fine-tuning. The system improves the smoothness and accuracy of the pressing operation. Then, by constructing an impedance control model based on the real-time contact force of the sleeve insertion, the sleeve insertion motion state, and the target insertion position, the end effector can not only smoothly complete the sleeve insertion operation under force guidance in visually obstructed operating environments, but also achieve smooth insertion under the control of the impedance control model, avoiding alignment deviations and inaccurate judgment of whether the sleeve is in place, thus improving the accuracy and smoothness of the sleeve insertion. Finally, based on the target rotation angle and the real-time rotation angle, the rotation torque is determined and the screwing operation is driven, realizing the sequential and coordinated control of the three processes of locking plate pressing, sleeve insertion, and screwing, thereby improving the accuracy of the robot's switching control of the ground knife operating head.

[0067] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A robotic switching control method for a high-voltage switchgear, characterized in that, include: The position data of the grounding switch operating head of the high-voltage switchgear is obtained, and the desired downward pressure position of the robot's end effector is determined according to the preset spiral search algorithm and the position data of the grounding switch operating head. The pressing contact force and real-time pressing pose of the end effector are obtained; the position control component of the end effector is determined based on the real-time pressing pose and the desired pressing position, and the pressing force control component of the end effector is determined based on the pressing contact force; The end effector is driven to perform a locking operation on the ground knife operating head based on the down pressure control component and the position control component. The real-time contact force and movement state of the sleeve insertion of the end effector are obtained; based on the real-time contact force, movement state, and preset target insertion position of the grounding knife operating head, the impedance control model of the end effector is constructed, and the end effector is controlled to complete the sleeve insertion operation of the grounding knife operating head based on the impedance control model. The target rotation angle and real-time rotation angle of the grounding knife operating head are obtained, and the rotation torque of the end effector is determined based on the target rotation angle and real-time rotation angle; Based on the rotational torque, the end effector is controlled to perform a turning operation on the grounding switch operating head to complete the switching operation of the grounding switch operating head.

2. The robotic switching control method for a high-voltage switchgear as described in claim 1, characterized in that, The process of acquiring the position data of the grounding switch operating head of the high-voltage switchgear and determining the desired downward pressure position of the robot's end effector based on a preset spiral search algorithm and the position data of the grounding switch operating head includes: Obtain the position data of the grounding switch operating head of the high-voltage switchgear, and determine the plane center of the grounding switch operating head based on the position data; Within each pressure control cycle of the end effector, the number of cycles executed in the current pressure control cycle is obtained; If the number of cycles executed is less than the preset threshold for the number of cycles executed under pressure control, the desired pressure position of the robot's end effector is determined based on the plane center of the ground knife operating head. If the number of cycle executions is greater than or equal to the threshold of the number of cycle executions of the pressure control, then the search radius is initialized based on the number of cycle executions and the preset radius step size, and the search angle is initialized based on the number of cycle executions and the preset angle step size; The search position is determined based on the search radius and the search angle, and the desired downward pressure position of the robot's end effector is determined based on the center of the plane and the search position.

3. The robotic switching control method for a high-voltage switchgear as described in claim 2, characterized in that, The process of acquiring the pressing contact force and real-time pressing pose of the end effector; determining the position control component of the end effector based on the real-time pressing pose and the desired pressing position; and determining the pressing force control component of the end effector based on the pressing contact force includes: During each pressing control cycle, the real-time pressing pose of the robot's end effector and the pressing contact force on the vertical surface of the ground knife operating head are acquired. Based on the real-time downward pose, the real-time downward position of the end effector on the horizontal plane of the ground knife operating head is extracted; The pressure position error of the end effector is determined based on the expected pressure position and the real-time pressure position. The control law is calculated based on the preset proportional gain coefficient, the preset proportional derivative coefficient, and the preset integral gain coefficient of the downward pressure position control to determine the downward pressure position control component of the end effector. The desired downforce of the end effector is obtained, and the downforce error of the end effector is determined based on the desired downforce and the downforce contact force. The downpressure error is calculated using a control law based on preset downpressure control proportional gain coefficient and preset downpressure control integral gain coefficient to determine the downpressure control component of the end effector.

4. The robotic switching control method for a high-voltage switchgear as described in claim 3, characterized in that, The method of driving the end effector to complete the locking plate pressing operation of the grounding knife operating head based on the downforce control component and the position control component includes: Within each of the down-pressure control cycles, the desired force vector of the end effector in each of the down-pressure control cycles is constructed based on the down-pressure control component and the position control component; The desired force vector is mapped according to the preset Jacobian matrix and the preset gravity compensation matrix to obtain the joint driving torque of the robot in each pressure control cycle; Based on the joint driving torque, the robot's joints are driven to move, thereby driving the end effector to perform a pressing operation on the locking plate in each pressing control cycle. After the pressing operation is performed, the first pressing real-time pose of the end effector and the first pressing contact force on the vertical surface of the ground knife operating head are obtained. The pressing state of the end effector is determined based on the first pressing contact force and the first pressing real-time pose. If the pressing state of the end effector is a preset pressing incomplete state, then the first pressing contact force is used as the pressing contact force of the next pressing control cycle, and the first pressing real-time pose is used as the pressing real-time pose of the next pressing control cycle. If the end effector is in the preset press-down state, then the locking plate press-down operation of the grounding knife operating head is completed.

5. The robotic switching control method for a high-voltage switchgear as described in claim 1, characterized in that, The process involves acquiring the real-time contact force and movement state of the sleeve insertion of the end effector; constructing an impedance control model for the end effector based on the real-time contact force, movement state, and a preset target insertion position of the grounding cutter head; and controlling the end effector to complete the sleeve insertion operation of the grounding cutter head based on the impedance control model, including: The real-time contact force and sleeve insertion motion state of the end effector are obtained, wherein the sleeve insertion motion state includes: real-time sleeve insertion speed and real-time sleeve insertion pose. The desired sleeve insertion position of the end effector is determined based on the preset target insertion position of the ground knife operating head, and the real-time sleeve insertion position of the end effector is determined based on the real-time sleeve insertion pose. The impedance control model of the end effector is constructed based on the preset expected inertia matrix, preset expected damping matrix, preset expected stiffness matrix, real-time sleeve insertion speed, real-time sleeve insertion contact force, real-time sleeve insertion position, and expected sleeve insertion position. The impedance control model of the end effector is solved to determine the desired acceleration of the sleeve fitting of the end effector; The desired acceleration is mapped to the joint driving torque of the end effector when the sleeve of the end effector is fitted into the sleeve of the end effector. The robot's joints are driven by the sleeve insertion joint driving torque to move, thereby controlling the end effector to complete the sleeve insertion operation of the ground knife operating head.

6. The robotic switching control method for a high-voltage switchgear as described in claim 1, characterized in that, The target rotation angle and real-time rotation angle of the grounding knife operating head are obtained, and the rotation torque of the end effector is determined based on the target rotation angle and real-time rotation angle; Based on the rotational torque, the end effector is controlled to perform a turning operation on the grounding switch operating head to complete the switching operation of the grounding switch operating head, including: In response to the robot's turning command, the real-time rotation angle and target rotation angle of the ground knife operating head are obtained; The turning angle error of the ground knife operating head is determined based on the target rotation angle and the real-time rotation angle; If the turning angle error is greater than or equal to the preset turning tolerance, then the control law is calculated based on the preset angle control proportional gain coefficient, the preset angle control integral gain coefficient and the preset angle control differential gain coefficient to obtain the initial torque of the end effector. Obtain the maximum permissible torque threshold of the end effector, and determine the rotational torque of the end effector based on the maximum permissible torque threshold and the initial torque; The end effector controls the rotational torque of the end effector to turn the grounding switch operating head, and updates the real-time rotation angle after each turn, thereby updating the turning angle error, until the turning angle error is less than the turning tolerance, thus completing the turning of the grounding switch operating head and completing the switching operation of the grounding switch operating head.

7. A robotic switching control system for a high-voltage switchgear, characterized in that, include: The module includes a module for obtaining the desired pressure position, a module for determining the control component, a module for pressure operation, a module for sleeve insertion operation, and a module for screwing operation. The desired downward pressure position acquisition module is used to acquire the position data of the grounding switch operating head of the high-voltage switchgear, and determine the desired downward pressure position of the robot's end effector based on the preset spiral search algorithm and the position data of the grounding switch operating head. The control component determination module is used to acquire the pressing contact force and pressing real-time pose of the end effector; determine the position control component of the end effector based on the pressing real-time pose and the pressing desired position; and determine the pressing force control component of the end effector based on the pressing contact force. The pressing operation module is used to drive the end effector to complete the pressing operation of the locking plate of the ground knife operating head based on the pressing force control component and the position control component; The sleeve insertion operation module is used to acquire the real-time contact force and sleeve insertion motion state of the end effector; construct the impedance control model of the end effector based on the real-time contact force, sleeve insertion motion state and preset target insertion position of the grounding knife operating head; and control the end effector to complete the sleeve insertion operation of the grounding knife operating head based on the impedance control model. The screwing operation module is used to obtain the target rotation angle and real-time rotation angle of the ground knife operation head, and to determine the rotation torque of the end effector based on the target rotation angle and real-time rotation angle. Based on the rotational torque, the end effector is controlled to perform a turning operation on the grounding switch operating head to complete the switching operation of the grounding switch operating head.

8. The robotic switching control system for a high-voltage switchgear as described in claim 7, characterized in that, The module for obtaining the expected pressure position includes: a unit for obtaining the expected pressure position; The desired downward pressure position acquisition unit is used to acquire the position data of the grounding switch operating head of the high-voltage switchgear, and determine the plane center of the grounding switch operating head based on the position data; Within each pressure control cycle of the end effector, the number of cycles executed in the current pressure control cycle is obtained; If the number of cycles executed is less than the preset threshold for the number of cycles executed under pressure control, the desired pressure position of the robot's end effector is determined based on the plane center of the ground knife operating head. If the number of cycle executions is greater than or equal to the threshold of the number of cycle executions of the pressure control, then the search radius is initialized based on the number of cycle executions and the preset radius step size, and the search angle is initialized based on the number of cycle executions and the preset angle step size; The search position is determined based on the search radius and the search angle, and the desired downward pressure position of the robot's end effector is determined based on the center of the plane and the search position.

9. The robotic switching control system for a high-voltage switchgear as described in claim 8, characterized in that, The control component determination module includes: a control component determination unit; The control component determination unit is used to acquire the real-time pressing posture of the robot's end effector and the pressing contact force on the vertical surface of the ground knife operating head in each pressing control cycle. Based on the real-time downward pose, the real-time downward position of the end effector on the horizontal plane of the ground knife operating head is extracted; The pressure position error of the end effector is determined based on the expected pressure position and the real-time pressure position. The control law is calculated based on the preset proportional gain coefficient, the preset proportional derivative coefficient, and the preset integral gain coefficient of the downward pressure position control to determine the downward pressure position control component of the end effector. The desired downforce of the end effector is obtained, and the downforce error of the end effector is determined based on the desired downforce and the downforce contact force. The downpressure error is calculated using a control law based on preset downpressure control proportional gain coefficient and preset downpressure control integral gain coefficient to determine the downpressure control component of the end effector.

10. The robotic switching control system for a high-voltage switchgear as described in claim 9, characterized in that, The pressing operation module includes: a pressing operation unit; The pressure-down operation unit is used to construct the desired force vector of the end effector in each pressure-down control cycle based on the pressure control component and the position control component. The desired force vector is mapped according to the preset Jacobian matrix and the preset gravity compensation matrix to obtain the joint driving torque of the robot in each pressure control cycle; Based on the joint driving torque, the robot's joints are driven to move, thereby driving the end effector to perform a pressing operation on the locking plate in each pressing control cycle. After the pressing operation is performed, the first pressing real-time pose of the end effector and the first pressing contact force on the vertical surface of the ground knife operating head are obtained. The pressing state of the end effector is determined based on the first pressing contact force and the first pressing real-time pose. If the pressing state of the end effector is a preset pressing incomplete state, then the first pressing contact force is used as the pressing contact force of the next pressing control cycle, and the first pressing real-time pose is used as the pressing real-time pose of the next pressing control cycle. If the end effector is in the preset press-down state, then the locking plate press-down operation of the grounding knife operating head is completed.

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