阅读说明：本技术 拆换线施工机器人及其张紧力控制装置和方法 (Line-changing construction robot and tension control device and method thereof ) 是由 黄勃 陆政 刘洪涛 段家振 史如新 张伟 树玉琴 任显铭 于 2021-11-01 设计创作，主要内容包括：本发明涉及输电线智能施工技术领域,为解决拆换线施工机器人在爬线过程中出现打滑现象的技术问题,提供一种拆换线施工机器人及其张紧力控制装置和方法,所述拆换线施工机器人包括用以设置于导线之上的主动轮组、用以设置于导线之下的张紧轮组、用以顶升张紧轮组以提供张紧力的顶升装置,所述张紧力控制装置包括：检测模块,检测模块用于通过检测拆换线施工机器人的姿态以获取拆换线施工机器人所在位置处的导线倾角；主控模块,主控模块用于根据导线倾角确定顶升装置所要提供的张紧力。本发明能够根据导线倾角调整对导线造成的张紧力,从而有效减少拆换线施工机器人打滑现象的发生,保障拆换线施工机器人的正常运行。(The invention relates to the technical field of intelligent construction of power transmission lines, and provides a line-removing and line-changing construction robot and a tension control device and method thereof, aiming at solving the technical problem that the line-removing and line-changing construction robot slips in the line climbing process, wherein the line-removing and line-changing construction robot comprises a driving wheel set arranged above a lead, a tension wheel set arranged below the lead and a jacking device used for jacking the tension wheel set to provide tension, and the tension control device comprises: the detection module is used for detecting the posture of the wire removing and replacing construction robot so as to obtain a wire inclination angle at the position of the wire removing and replacing construction robot; and the main control module is used for determining the tension force provided by the jacking device according to the inclination angle of the wire. The invention can adjust the tension force on the wire according to the inclination angle of the wire, thereby effectively reducing the occurrence of slipping of the wire removing and replacing construction robot and ensuring the normal operation of the wire removing and replacing construction robot.)

1. The utility model provides a take-up force controlling means of construction robot takes out stitches, a serial communication port, the construction robot takes out stitches includes the initiative wheelset that is used for setting up above the wire, is used for setting up in take-up wheelset under the wire, is used for the jacking device that the jacking is in order to provide tensile force to take-up wheelset, tensile force controlling means includes:

the detection module is used for detecting the posture of the construction robot for removing and changing the wire to obtain the wire inclination angle of the position where the construction robot for removing and changing the wire is located;

the main control module is used for determining the tension force provided by the jacking device according to the wire inclination angle.

2. The tension control apparatus of an open and change line construction robot according to claim 1, wherein the main control module comprises:

the first calculation unit is used for calculating the maximum self-climbing angle of the construction robot for removing and changing the wire when the jacking device does not provide the tension;

the first judgment unit is used for judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not;

the first determining unit is used for determining a preset value as a tension force to be provided by the jacking device when the inclination angle of the wire is smaller than the maximum self-climbing angle, calculating the tension force according to the inclination angle of the wire when the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, and determining the calculated tension force as the tension force to be provided by the jacking device.

3. The tension control apparatus of an open and change line construction robot according to claim 1, wherein the main control module comprises:

the second calculation unit is used for calculating the maximum self-climbing angle of the construction robot for removing and changing the wire when the jacking device does not provide the tension;

the dividing unit is used for dividing a plurality of angle intervals from the maximum self-climbing angle to the maximum value of the wire inclination angle;

the third calculating unit is used for calculating the tension corresponding to each angle interval according to the maximum wire inclination angle in each angle interval;

a second judging unit, configured to judge whether the wire inclination angle is smaller than the maximum self-climbing angle;

the second determining unit is used for determining a preset value as the tension force required by the jacking device when the wire inclination angle is smaller than the maximum self-climbing angle, judging an angle interval where the wire inclination angle is located when the wire inclination angle is larger than or equal to the maximum self-climbing angle, and determining the tension force corresponding to the angle interval where the wire inclination angle is located as the tension force required by the jacking device.

4. The tension control apparatus of a wire clearing construction robot according to claim 2 or 3, wherein the maximum self-climbing angle is:

wherein the content of the first and second substances,α _max is the maximum self-climbing angle,μthe coefficient of friction between the driving wheel set and the lead is used as the coefficient of friction between the driving wheel set and the lead.

5. The tension control apparatus of an undone construction robot according to claim 4, wherein the calculation relationship between the wire inclination angle and the tension is:

wherein the content of the first and second substances,F _W in order to be a tensile force,Mfor the quality of the change line construction robot,gwhich represents the acceleration of the force of gravity,αfor the purpose of the inclination of the wire,εis a constant greater than 0。

6. The tension control apparatus of an undone construction robot according to claim 1, wherein the detection module includes a tilt sensor.

7. An stitches removing and changing construction robot characterized by comprising the tension control device of the stitches removing and changing construction robot according to any one of claims 1 to 6.

8. A tension control method of a construction robot for removing and replacing wires is characterized by comprising a driving wheel set arranged above a wire, a tensioning wheel set arranged below the wire and a jacking device used for jacking the tensioning wheel set to provide tension, and the tension control method comprises the following steps:

acquiring a lead inclination angle of the position of the construction robot for removing and replacing the wires by detecting the posture of the construction robot for removing and replacing the wires;

and determining the tension force to be provided by the jacking device according to the inclination angle of the wire.

9. The tension control method of the construction robot for removing and replacing stitches of claim 8, wherein determining the tension to be provided by the jacking device according to the wire inclination angle specifically comprises:

calculating the maximum self-climbing angle of the construction robot for removing and replacing the line when the jacking device does not provide the tension force;

judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not;

if the inclination angle of the wire is smaller than the maximum self-climbing angle, determining a preset value as a tension force to be provided by the jacking device;

and if the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, calculating a tension according to the inclination angle of the wire, and determining the calculated tension as the tension to be provided by the jacking device.

10. The tension control method of the construction robot for removing and replacing stitches of claim 8, wherein determining the tension to be provided by the jacking device according to the wire inclination angle specifically comprises:

calculating the maximum self-climbing angle of the construction robot for removing and replacing the line when the jacking device does not provide the tension force;

dividing a plurality of angle intervals from the maximum self-climbing angle to the maximum value of the wire inclination angle;

calculating the tension corresponding to each angle interval according to the maximum wire inclination angle in each angle interval;

judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not;

if the inclination angle of the wire is smaller than the maximum self-climbing angle, determining a preset value as a tension force to be provided by the jacking device;

and if the wire inclination angle is larger than or equal to the maximum self-climbing angle, judging an angle interval where the wire inclination angle is located, and determining a tension corresponding to the angle interval where the wire inclination angle is located as the tension to be provided by the jacking device.

11. The tension control method of a stitch removing construction robot according to claim 9 or 10, wherein the maximum self-climbing angle is:

wherein the content of the first and second substances,α _max is the maximum self-climbing angle,μthe coefficient of friction between the driving wheel set and the lead is used as the coefficient of friction between the driving wheel set and the lead.

12. The tension control method of an demolition work robot according to claim 11, wherein the calculation relationship of the wire inclination angle and the tension is:

wherein the content of the first and second substances,F _W in order to be a tensile force,Mfor the quality of the change line construction robot,gwhich represents the acceleration of the force of gravity,αfor the purpose of the inclination of the wire,εis a constant greater than 0.

13. The tension control method of an undone construction robot according to claim 8, wherein the posture of the undone construction robot is detected by a tilt sensor.

Technical Field

The invention relates to the technical field of intelligent construction of power transmission lines, in particular to a tension control device of a line removing and changing construction robot, the line removing and changing construction robot and a tension control method of the line removing and changing construction robot.

Background

Overhead transmission lines are the main way of power transmission, however, a huge number of lines which need to be modified and dismantled exist in domestic power grids. The traditional power transmission line dismounting and replacing construction is basically completed manually, the examination and approval procedure is complex, the construction difficulty is high, the period is long, certain potential safety hazards exist, and even for power transmission lines in complex environments, dismounting and replacing construction can not be achieved.

And adopt intelligent line construction robot that trades to replace and tear the partial operation of line construction open after artifical completion goes up the tower, can compensate the not enough of traditional artifical mode. The robot is hung on an overhead line to be dismantled by constructors, the robot advances along the line with a traction rope for removing the line, and the subsequent construction is completed. However, due to the change of the angle of the line and the like, the robot often slips in the line climbing process, and cannot smoothly advance, so that certain difficulty is caused to construction.

Disclosure of Invention

The invention aims to solve the technical problems and provides a wire removing and replacing construction robot and a tension control device and method thereof, which can adjust the tension force on a wire according to the inclination angle of the wire, thereby effectively reducing the occurrence of slipping of the wire removing and replacing construction robot and ensuring the normal operation of the wire removing and replacing construction robot.

The technical scheme adopted by the invention is as follows:

a tension control device of a wire-removing and wire-changing construction robot, the wire-removing and wire-changing construction robot comprises a driving wheel set used for being arranged above a lead, a tension wheel set used for being arranged below the lead, and a jacking device used for jacking the tension wheel set to provide tension, wherein the tension control device comprises: the detection module is used for detecting the posture of the construction robot for removing and changing the wire to obtain the wire inclination angle of the position where the construction robot for removing and changing the wire is located; the main control module is used for determining the tension force provided by the jacking device according to the wire inclination angle.

According to the tension control device of the wire removing and replacing construction robot, the posture of the wire removing and replacing construction robot is detected through the detection module to obtain the wire inclination angle at the position of the wire removing and replacing construction robot, and the tension to be provided by the jacking device is determined through the main control module according to the wire inclination angle, so that the tension on the wire can be adjusted according to the wire inclination angle, the slipping phenomenon of the wire removing and replacing construction robot is effectively reduced, and the normal operation of the wire removing and replacing construction robot is guaranteed.

In addition, the tension control device of the construction robot for removing and changing lines of the invention can also have the following additional technical characteristics:

the master control module comprises: the first calculation unit is used for calculating the maximum self-climbing angle of the construction robot for removing and changing the wire when the jacking device does not provide the tension; the first judgment unit is used for judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not; the first determining unit is used for determining a preset value as a tension force to be provided by the jacking device when the inclination angle of the wire is smaller than the maximum self-climbing angle, calculating the tension force according to the inclination angle of the wire when the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, and determining the calculated tension force as the tension force to be provided by the jacking device. The main control module can determine the tension force to be provided by the corresponding jacking device when the inclination angle of the wire changes, so that the tension force to be provided by the jacking device can be adjusted in real time.

The master control module comprises: the second calculation unit is used for calculating the maximum self-climbing angle of the construction robot for removing and changing the wire when the jacking device does not provide the tension; the dividing unit is used for dividing a plurality of angle intervals from the maximum self-climbing angle to the maximum value of the wire inclination angle; the third calculating unit is used for calculating the tension corresponding to each angle interval according to the maximum wire inclination angle in each angle interval; a second judging unit, configured to judge whether the wire inclination angle is smaller than the maximum self-climbing angle; the second determining unit is used for determining a preset value as the tension force required by the jacking device when the wire inclination angle is smaller than the maximum self-climbing angle, judging an angle interval where the wire inclination angle is located when the wire inclination angle is larger than or equal to the maximum self-climbing angle, and determining the tension force corresponding to the angle interval where the wire inclination angle is located as the tension force required by the jacking device. The main control module can determine the tension force to be provided by the corresponding jacking device and adjust the tension force to be provided by the jacking device when the angle interval of the wire inclination angle changes, and does not determine the tension force to be provided by a new jacking device and adjust the tension force to be provided by the jacking device when the angle interval of the wire inclination angle does not change, so that the frequency of calculation and adjustment can be greatly reduced, and the calculation amount is reduced.

The maximum self-climbing angle is as follows:

wherein the content of the first and second substances,α _max is the maximum self-climbing angle,μthe coefficient of friction between the driving wheel set and the lead is used as the coefficient of friction between the driving wheel set and the lead.

The calculation relation of the inclination angle and the tension of the wire is as follows:

wherein the content of the first and second substances,F _W in order to be a tensile force,Mfor the quality of the change line construction robot,gwhich represents the acceleration of the force of gravity,αfor the purpose of the inclination of the wire,εis a constant greater than 0.

The detection module comprises a tilt sensor.

A wire-removing and wire-changing construction robot comprises a tension control device of the wire-removing and wire-changing construction robot.

According to the construction robot for removing and replacing the wires, the tension force on the wires can be adjusted according to the inclination angle of the wires, so that the occurrence of a slipping phenomenon is effectively reduced, and the normal operation is guaranteed.

A tension control method of a construction robot for removing and changing lines, the construction robot for removing and changing lines comprises a driving wheel set arranged above a conducting wire, a tensioning wheel set arranged below the conducting wire and a jacking device used for jacking the tensioning wheel set to provide tension, and the tension control method comprises the following steps: acquiring a lead inclination angle of the position of the construction robot for removing and replacing the wires by detecting the posture of the construction robot for removing and replacing the wires; and determining the tension force to be provided by the jacking device according to the inclination angle of the wire.

According to the tension control method of the wire removing and replacing construction robot, the inclination angle of the wire at the position of the wire removing and replacing construction robot is obtained by detecting the posture of the wire removing and replacing construction robot, and the tension to be provided by the jacking device is determined according to the inclination angle of the wire, so that the tension on the wire can be adjusted according to the inclination angle of the wire, the slipping phenomenon of the wire removing and replacing construction robot is effectively reduced, and the normal operation of the wire removing and replacing construction robot is guaranteed.

In addition, the tension control method of the line-removing and line-changing construction robot of the invention can also have the following additional technical characteristics:

determining the tension to be provided by the jacking device according to the wire inclination angle, and specifically comprising the following steps: calculating the maximum self-climbing angle of the construction robot for removing and replacing the line when the jacking device does not provide the tension force; judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not; if the inclination angle of the wire is smaller than the maximum self-climbing angle, determining a preset value as a tension force to be provided by the jacking device; and if the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, calculating a tension according to the inclination angle of the wire, and determining the calculated tension as the tension to be provided by the jacking device. Therefore, the tension force to be provided by the corresponding jacking device can be determined when the inclination angle of the wire changes, so that the tension force to be provided by the jacking device can be adjusted in real time.

Determining the tension to be provided by the jacking device according to the wire inclination angle, and specifically comprising the following steps: calculating the maximum self-climbing angle of the construction robot for removing and replacing the line when the jacking device does not provide the tension force; dividing a plurality of angle intervals from the maximum self-climbing angle to the maximum value of the wire inclination angle; calculating the tension corresponding to each angle interval according to the maximum wire inclination angle in each angle interval; judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not; if the inclination angle of the wire is smaller than the maximum self-climbing angle, determining a preset value as a tension force to be provided by the jacking device; and if the wire inclination angle is larger than or equal to the maximum self-climbing angle, judging an angle interval where the wire inclination angle is located, and determining a tension corresponding to the angle interval where the wire inclination angle is located as the tension to be provided by the jacking device. Therefore, when the angle interval of the wire inclination angle changes, the tensioning force required to be provided by the corresponding jacking device is determined, the tensioning force required to be provided by the jacking device is adjusted, when the angle interval of the wire inclination angle does not change, the tensioning force required to be provided by a new jacking device is not determined, and the tensioning force required to be provided by the jacking device is not adjusted, so that the frequency of calculation and adjustment can be greatly reduced, and the calculation amount is reduced.

The maximum self-climbing angle is as follows:

wherein the content of the first and second substances,α _max is the maximum self-climbing angle,μthe coefficient of friction between the driving wheel set and the lead is used as the coefficient of friction between the driving wheel set and the lead.

The calculation relation of the inclination angle and the tension of the wire is as follows:

wherein the content of the first and second substances,F _W in order to be a tensile force,Mfor the quality of the change line construction robot,gwhich represents the acceleration of the force of gravity,αfor the purpose of the inclination of the wire,εis a constant greater than 0.

And detecting the posture of the construction robot for removing and changing the lines through a tilt angle sensor.

Drawings

Fig. 1 is a schematic structural view of a wire-removing and changing construction robot according to an embodiment of the present invention;

FIG. 2 is a block diagram illustrating a tension control apparatus of the stitch-removing construction robot according to the embodiment of the present invention;

FIG. 3 is a force diagram of a wire clearing construction robot according to an embodiment of the present invention;

fig. 4 is a flowchart of a tension control method of the stitch removing construction robot according to the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the robot for removing and replacing wires according to the embodiment of the present invention includes a driving wheel set 1 disposed above a conductive wire, a tensioning wheel set 2 disposed below the conductive wire, and a jacking device 3 for jacking the tensioning wheel set 2 to provide a tensioning force, and further, the robot for removing and replacing wires may further include a base 4, a driving wheel frame 5 disposed between the driving wheel set 1 and the base 4, a tensioning wheel frame 6 disposed corresponding to the tensioning wheel set 2, and a driving motor 7 disposed corresponding to the driving wheel set 1. The driving wheel set 1 and the tension wheel set 2 can both comprise at least one wheel, and in the figure, for example, the two wheels are both comprised, and the wheel surfaces of the wheels of the driving wheel set 1 and the tension wheel set 2, which are contacted with the wire, are groove-shaped. Jacking device 3 sets up between base 4 and tensioning wheel carrier 6, and jacking device 3 includes stiff end and adjustable end, and the stiff end is fixed in on base 4, and the adjustable end can adopt electronic jar structure to carry out elevating movement as required. Through the lift of jacking device 3, can adjust the pressure of tensioning wheelset 2 and driving wheel group 1 to the wire, tensioning force that tensioning wheelset 2 and driving wheel group 1 caused the wire promptly. The driving motor 7 can be arranged corresponding to any wheel in the driving wheel set 1, and the driving motor 7 drives the wheel, so that the driving of the construction robot for removing and replacing wires along the wires can be realized.

According to the line-removing and line-changing construction robot provided by the embodiment of the invention, the line-removing construction, the line-changing construction, the line inspection and the like can be realized by advancing along the conducting wire.

As shown in fig. 2, the tension control device of the wire-disconnecting and wire-changing construction robot according to the embodiment of the present invention includes a detection module 10 and a main control module 20, wherein the detection module 10 is configured to detect a posture of the wire-disconnecting and wire-changing construction robot to obtain a wire inclination angle at a position where the wire-disconnecting and wire-changing construction robot is located; the main control module 20 is used for determining the tension force provided by the jacking device 3 according to the inclination angle of the wire.

In an embodiment of the present invention, the detecting module 10 includes an inclination sensor, which can sense an angle of the traveling direction of the wire disconnecting and changing construction robot relative to a horizontal plane in real time, that is, an inclination of a wire at a position where the wire disconnecting and changing construction robot is located. Wherein, the value range of the inclination angle of the lead can be [0 degree, 90 degrees ].

First, referring to FIG. 3, the inclination angle of the conductive wire isαAnd the robot for construction of removing and changing the wire carries out stress analysis. As shown in fig. 3, for a mass ofMThe robot for removing and replacing the wire is subjected to the gravity ofMgWherein, in the step (A),grepresenting the acceleration of gravity, the wire provides the supporting force for the wire-removing and wire-changing construction robotF _N Comprises the following steps:

（1）

if the tension isF _W The total pressure on the wire at the driving wheel set 1 isF _N +F _W Friction force received by the driving wheel set 1F _f Comprises the following steps:

（2）

wherein the content of the first and second substances,F _a andF _b respectively the static friction force borne by two wheels of the driving wheel set 1,μis the friction coefficient between the driving wheel set 1 and the wire.

If the slipping phenomenon of the line-removing and line-changing construction robot is to be avoided, the following conditions should be met:

（3）

substituting formula (3) with formula (1) and formula (2) can obtain:

（4）

（5）

in an embodiment of the present invention, the main control module 20 may include a first calculating unit, a first judging unit, and a first determining unit, wherein the first calculating unit is configured to calculate a maximum self-climbing angle of the wire clearing construction robot when the jacking device 3 does not provide the tension; the first judgment unit is used for judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not; the first determining unit is used for determining a preset value as a tension force to be provided by the jacking device 3 when the inclination angle of the wire is smaller than the maximum self-climbing angle, calculating the tension force according to the inclination angle of the wire when the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, and determining the calculated tension force as the tension force to be provided by the jacking device 3.

Specifically, the first calculation unit may calculate the tension based on the above equation (5)F _W When =0, it can be found that:

therefore, the maximum self-climbing angle of the wire removing and changing construction robot when the jacking device 3 does not provide the tension forceα _max Comprises the following steps:

that is, whenIn time, even if the jacking device 3 does not provide a tension force, the line-changing construction robot does not slip.

When inTension of the springF _W Then need to be satisfied withThe following formula (4).

It should be understood that the coefficient of friction between the driving wheel set 1 and the wire is as described aboveμThe friction coefficient of a certain lead under a set normal state, for example, the friction coefficient of a certain type of lead under a set normal temperature and humidity condition, is influenced by the abrasion of the wheels of the driving wheel set 1, the local roughness change of the lead, the change of environmental conditions and the like, and is arranged at different positions of a leadμSmall variations are possible. Therefore, whenWhen the jacking device 3 is used, a tension force larger than 0 can be provided by the jacking device, namely the tension force provided by the jacking device 3 by the first determining unit is a constant preset value; when in useAccording to the inclination angle of the wireαThe calculated corresponding tension should be greater thanIn one embodiment of the present invention, the first determination unit may calculate the tension according to the following formulaF _W ：

Wherein the content of the first and second substances,εis a constant greater than 0.

For preset values and constantsεShould not be too small, should avoid coefficient of frictionμThe influence of the change is not too large, so that the abnormal conditions that the requirement on the driving force of the driving motor 7 is too high, energy waste is caused, and even the motor is locked up are avoided. In a particular embodiment of the present invention,εthe value range of (1) is (3%; 10%)]The preset value range is

。

The above-mentioned fruitIn the examples areWhenever the wire is at an angle of inclinationαAnd determining the tensioning force to be provided by the corresponding jacking device 3 when the change occurs, so as to adjust the tensioning force to be provided by the jacking device 3 in real time.

In another embodiment of the present invention, the main control module 20 may include a second calculating unit, a dividing unit, a third calculating unit, a second judging unit, and a second determining unit, wherein the second calculating unit is configured to calculate a maximum self-climbing angle of the wire clearing construction robot when the jacking device 3 does not provide the tension; the dividing unit is used for dividing a plurality of angle intervals from the maximum self-climbing angle to the maximum value of the wire inclination angle; the third calculating unit is used for calculating the tension corresponding to each angle interval according to the maximum wire inclination angle in each angle interval; the second judgment unit is used for judging whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not; the second determining unit is used for determining a preset value as a tension force required by the jacking device when the inclination angle of the wire is smaller than the maximum self-climbing angle, judging an angle interval where the inclination angle of the wire is located when the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, and determining the tension force corresponding to the angle interval where the inclination angle of the wire is located as the tension force required by the jacking device 3.

Specifically, the second calculation unit may calculate the tension based on the above equation (5)F _W When =0, it can be found that:

therefore, the maximum self-climbing angle of the wire removing and changing construction robot when the jacking device 3 does not provide the tension forceα _max Comprises the following steps:

that is, whenIn time, even if the jacking device 3 does not provide a tension force, the line-changing construction robot does not slip.

When inTension of the springF _W The above equation (4) is satisfied.

The dividing unit can climb from the maximum self-climbing angleα _max To a maximum value of the wire inclination, e.g. 90 deg.. For example, the angle can be divided by 5 ° as step length, and the first angle interval is [ 2 ]α _max ，α _max +5°]The second angle interval is (α _max +5°，α _max +10°]…, the penultimate angle interval, assuming the ith angle interval, is (α _max +(i-1)*5°，α _max +i*5°]The last angle interval is (α _max +i*5°，90°]。

The tension corresponding to each angle interval calculated by the third calculation unit is required to meet the requirement that the wire removing and replacing construction robot does not slip when each wire inclination angle is in the corresponding angle interval, so that the tension corresponding to each angle interval is calculated according to the largest wire inclination angle in each angle interval. Also, consider thatμPossibly, a third calculation unit calculates the tensioning force according to the following formulaF _W ：

Wherein the content of the first and second substances,αthe value of (a) is the maximum wire inclination angle in each angle interval,εis a constant greater than 0.

When in useWhen the jacking device 3 is used, the tensioning force larger than 0 can be provided by the jacking device, namely the tensioning force provided by the jacking device 3 by the second determining unit is a constant preset value; when in useThen, the second determining unit first determines the wire inclination angleαAnd determining the tension corresponding to the angle interval calculated by the third calculation unit as the tension to be provided by the jacking device 3.

For preset values and constantsεShould not be too small, should avoid coefficient of frictionμThe influence of the change is not too large, so that the abnormal conditions that the requirement on the driving force of the driving motor 7 is too high, energy waste is caused, and even the motor is locked up are avoided. In a particular embodiment of the present invention,εthe value range of (1) is (3%; 10%)]The preset value range is。

It can be seen that in another embodiment of the present invention, theWhen in use, the angle interval can be divided if the inclination angle of the conducting wire isαDetermining the tension force required to be provided by the corresponding jacking device 3 and adjusting the tension force required to be provided by the jacking device 3 if the angle interval of the conductor changes, and if the inclination angle of the conductor is changedαThe angular interval is not changed, the tension force provided by the new jacking device 3 is not determined, and the tension force provided by the jacking device 3 is not adjusted, so that the frequency of calculation and adjustment can be greatly reduced, and the operation amount of the main control module 20 is reduced.

Further, the main control module 20 may be connected to the jacking device 3 and the driving motor 7, respectively, in addition to being connected to the detection module 10 to receive data detected by the detection module, that is, the inclination angle of the wire, the main control module 20 controls the driving motor 7 to drive the wire-disconnecting and wire-changing construction robot to move along the wire, and the main control module 20 controls the jacking device 3 to adjust the tension after determining the tension. In addition, the wire-removing and wire-changing construction robot can also comprise a necessary power module and the like, and power is supplied to the jacking device 3, the driving motor 7, the detection module 10, the main control module 20 and the like through the power module.

In summary, according to the tension control device of the wire-removing and wire-replacing construction robot in the embodiment of the invention, the posture of the wire-removing and wire-replacing construction robot is detected by the detection module to obtain the wire inclination angle at the position of the wire-removing and wire-replacing construction robot, and the tension to be provided by the jacking device is determined by the main control module according to the wire inclination angle, so that the tension on the wire can be adjusted according to the wire inclination angle, thereby effectively reducing the occurrence of slipping of the wire-removing and wire-replacing construction robot and ensuring the normal operation of the wire-removing and wire-replacing construction robot.

Based on the tension force control device of the line-removing and line-changing construction robot in the embodiment, the invention further provides the line-removing and line-changing construction robot.

The robot for construction of removing and changing stitches implemented by the present invention includes the tension force control device of the robot for construction of removing and changing stitches according to any of the above embodiments of the present invention, and specific implementation manners thereof may refer to the above embodiments, and details thereof are not described herein.

According to the construction robot for removing and replacing the wires, the tension force on the wires can be adjusted according to the inclination angle of the wires, so that the slipping phenomenon is effectively reduced, and the normal operation is guaranteed.

Corresponding to the tension control device of the line removing and changing construction robot in the embodiment, the invention also provides a tension control method of the line removing and changing construction robot.

As shown in fig. 4, the tension control method of the stitch removing and changing construction robot according to the embodiment of the present invention includes the steps of:

and S1, acquiring the inclination angle of the wire at the position of the wire-removing and wire-replacing construction robot by detecting the posture of the wire-removing and wire-replacing construction robot.

In one embodiment of the invention, the posture of the construction robot for removing and changing wires can be detected through the inclination angle sensor, and the inclination angle sensor can sense the angle of the advancing direction of the construction robot for removing and changing wires relative to the horizontal plane in real time, namely the inclination angle of the wire at the position of the construction robot for removing and changing wires. Wherein, the value range of the inclination angle of the lead can be [0 degree, 90 degrees ].

And S2, determining the tension force to be provided by the jacking device according to the inclination angle of the wire.

First, referring to FIG. 3, the inclination angle of the conductive wire isαAnd the robot for construction of removing and changing the wire carries out stress analysis. As shown in fig. 3, for a mass ofMThe robot for removing and replacing the wire is subjected to the gravity ofMgWherein, in the step (A),grepresenting the acceleration of gravity, the wire provides the supporting force for the wire-removing and wire-changing construction robotF _N Comprises the following steps:

（1）

if the tension isF _W The total pressure on the wire at the driving wheel set isF _N +F _W Friction force received by driving wheel setF _f Comprises the following steps:

（2）

wherein the content of the first and second substances,F _a andF _b the static friction force borne by two wheels of the driving wheel set respectively,μis the friction coefficient between the driving wheel set and the lead.

If the slipping phenomenon of the line-removing and line-changing construction robot is to be avoided, the following conditions should be met:

（3）

substituting formula (3) with formula (1) and formula (2) can obtain:

（4）

（5）

in one embodiment of the invention, the maximum self-climbing angle of the wire removing and changing construction robot when the jacking device does not provide the tension can be calculated, and then whether the inclination angle of the wire is smaller than the maximum self-climbing angle or not can be judged. If the inclination angle of the wire is smaller than the maximum self-climbing angle, determining a preset value as a tension force to be provided by the jacking device; and if the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, calculating the tension according to the inclination angle of the wire, and determining the calculated tension as the tension to be provided by the jacking device.

Specifically, the tension can be set based on the above formula (5)F _W When =0, it can be found that:

therefore, the maximum self-climbing angle of the construction robot for removing and changing the wire when the jacking device does not provide the tension forceα _max Comprises the following steps:

that is, whenIn time, even if the jacking device does not provide tension, the line-changing construction robot cannot slip.

When inTension of the springF _W The above equation (4) is satisfied.

It should be understood that the coefficient of friction between the driving wheel set 1 and the wire is as described aboveμSet for a certain conductorThe normal friction coefficient, for example, the friction coefficient of a certain type of wire under a certain set normal temperature and humidity condition, is influenced by the abrasion of the wheels of the driving wheel set 1, the local roughness change of the wire, the change of the environmental condition and the like, and is positioned at different positions of one wireμSmall variations are possible. Therefore, whenWhen the jacking device is used, the jacking device can provide a tension force larger than 0, namely the tension force provided by the jacking device is given to be a constant preset value; when in useAccording to the inclination angle of the wireαThe calculated corresponding tension should be greater thanIn one embodiment of the present invention, the tension may be calculated according to the following formulaF _W ：

Wherein the content of the first and second substances,εis a constant greater than 0.

For preset values and constantsεShould not be too small, should avoid coefficient of frictionμThe influence of the change is not too large, so that the abnormal conditions that the requirement on the driving force of the driving motor is too high, energy waste is caused, and even the motor is locked up and the like are avoided. In a particular embodiment of the present invention,εthe value range of (1) is (3%; 10%)]The preset value range is

。

In the above embodimentWhenever the wire is at an angle of inclinationαChanges are made immediatelyAnd determining the tension force to be provided by the corresponding jacking device, so as to adjust the tension force to be provided by the jacking device in real time.

In another embodiment of the invention, the maximum self-climbing angle of the wire removing and changing construction robot when the jacking device does not provide the tension can be calculated, a plurality of angle intervals are divided from the maximum self-climbing angle to the maximum value of the wire inclination angle, the tension corresponding to each angle interval is calculated according to the maximum wire inclination angle in each angle interval, and then whether the wire inclination angle is smaller than the maximum self-climbing angle or not is judged. If the inclination angle of the wire is smaller than the maximum self-climbing angle, determining a preset value as a tension force to be provided by the jacking device; and if the inclination angle of the wire is larger than or equal to the maximum self-climbing angle, judging the angle interval of the inclination angle of the wire, and determining the tension corresponding to the angle interval of the inclination angle of the wire as the tension to be provided by the jacking device.

Specifically, the tension can be set based on the above formula (5)F _W When =0, it can be found that:

therefore, the maximum self-climbing angle of the construction robot for removing and changing the wire when the jacking device does not provide the tension forceα _max Comprises the following steps:

that is, whenIn time, even if the jacking device does not provide tension, the line-changing construction robot cannot slip.

When inTension of the springF _W The above equation (4) is satisfied.

Can climb from the maximum self-climbing angleα _max To a maximum value of the wire inclination, e.g. 90 deg.. For example, the angle can be divided by 5 ° as step length, and the first angle interval is [ 2 ]α _max ，α _max +5°]The second angle interval is (α _max +5°，α _max +10°]…, the penultimate angle interval, assuming the ith angle interval, is (α _max +(i-1)*5°，α _max +i*5°]The last angle interval is (α _max +i*5°，90°]。

The calculated tension corresponding to each angle interval is required to meet the condition that the wire removing and changing construction robot cannot slip when each wire inclination angle is in the corresponding angle interval, so that the tension corresponding to each angle interval is calculated according to the maximum wire inclination angle in each angle interval. Also, consider thatμPossible variations, the tension can be calculated according to the following formulaF _W ：

Wherein the content of the first and second substances,αthe value of (a) is the maximum wire inclination angle in each angle interval,εis a constant greater than 0.

When in useWhen the jacking device is used, the jacking device can provide a tension force larger than 0, namely the tension force provided by the jacking device is given to be a constant preset value; when in useWhen, firstly, the inclination angle of the wire is judgedαAnd determining the calculated tension corresponding to the angle interval as the tension to be provided by the jacking device.

For thePreset value and constantεShould not be too small, should avoid coefficient of frictionμThe influence of the change is not too large, so that the abnormal conditions that the requirement on the driving force of the driving motor is too high, energy waste is caused, and even the motor is locked up and the like are avoided. In a particular embodiment of the present invention,εthe value range of (1) is (3%; 10%)]The preset value range is。

It can be seen that in another embodiment of the present invention, theWhen in use, the angle interval can be divided if the inclination angle of the conducting wire isαDetermining the tension force required to be provided by the corresponding jacking device and adjusting the tension force required to be provided by the jacking device if the angle interval is changed, and if the wire inclination angle is changedαThe angular interval does not change, the tension force required by the new jacking device is not determined, and the tension force required by the jacking device is not adjusted, so that the frequency of calculation and adjustment can be greatly reduced, and the calculation amount is reduced.

Further, after the tension is determined, the tension is adjusted by controlling the jacking device.

In summary, according to the tension control method for the wire removing and replacing construction robot of the embodiment of the invention, the inclination angle of the wire at the position of the wire removing and replacing construction robot is obtained by detecting the posture of the wire removing and replacing construction robot, and the tension to be provided by the jacking device is determined according to the inclination angle of the wire, so that the tension on the wire can be adjusted according to the inclination angle of the wire, thereby effectively reducing the occurrence of slipping of the wire removing and replacing construction robot and ensuring the normal operation of the wire removing and replacing construction robot.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.