全自动快换装置精准对接技术

发布时间：2018-06-08 07:15

  本文选题：精准对接 + 坐标变换　； 参考：《北京航空航天大学学报》2017年09期

【摘要】：当抢险救援机器人腕部的全自动快换装置(full-AQHCD)自动锁紧属具接口即下耦合件(LCP)时,要同步精准对接和自动接通下耦合件的液压管路,为此,分别提出了数字量测量条件下和模拟量测量条件下精准对接理论(PDT),分别用于指导产品阶段和样机阶段的生产。产品阶段的精准对接理论是:把全自动快换装置视为被动目标,把下耦合件视为主动目标;通过4个耦合点实现全自动快换装置与下耦合件的连接;通过测量分别建立被动目标坐标系(X_1O_1Y_1)、主动目标坐标系(X_2O_2Y_2)与精准对接坐标系(XOY)之间的位姿关系;将被动目标对接点X_1O_1Y_1坐标变换到XOY坐标,再变换到主动目标对接点X_2O_2Y_2坐标;根据主动目标对接点X_2O_2Y_2坐标对主动目标对接点进行调姿以实现精准对接被动目标对接点;最后固定主动目标对接点。样机阶段的精准对接理论是:把全自动快换装置视为被动目标,把下耦合件视为主动目标;不完工被动目标布线舱,从而暴露出工作舱类似扳手空间的操作空间;通过4个耦合点实现全自动快换装置与下耦合件的连接;另外布置油源,在操作空间中先"对接"液压管路,再"测量、调姿和最后固定"主动目标的液压管路;完工被动目标布线舱。对上述2种条件下理论进行了仿真验证。
[Abstract]:When the automatic quick change device for the wrist of the rescue robot is full-AQHCD, the automatic locking device is called the lower coupling device (LCPP), it is necessary to synchronize the precise docking and the automatic connection of the hydraulic pipe of the coupling piece. For this reason, The precise docking theory under the condition of digital measurement and analog measurement is put forward, which is used to guide the production of product stage and prototype stage, respectively. The precise docking theory in the product stage is that the automatic quick change device is regarded as the passive target, the lower coupling component is regarded as the active target, and the connection between the automatic quick change device and the lower coupling device is realized through four coupling points. By measuring and establishing the position-attitude relationship between the passive target coordinate system and the precise docking coordinate system, the passive target coordinate system, the active target coordinate system, and the precise docking coordinate system, the X1O1Y1 coordinate of the passive target docking point is transformed to the XOY coordinate, and then the X2O2Y2 coordinate of the active target docking point is transformed to the X2O2Y2 coordinate of the active target docking point. According to the active target docking point Xs _ 2O _ 2Y _ 2 coordinate, the active target docking point is adjusted to achieve the precise docking point of passive target; finally, the active target docking point is fixed. The precise docking theory in the prototype stage is that the automatic quick change device is regarded as a passive target, the lower coupling is regarded as an active target, and the cabling module of the passive target is not completed, thus exposing the operating space of the work module similar to the wrench space. Through four coupling points to realize the connection between the automatic quick change device and the lower coupling parts, the oil source is arranged in addition, the hydraulic pipe is "docked" in the operation space first, then "measures, adjusts the attitude and finally fixed" the hydraulic pressure pipeline which the active target is fixed. Complete passive target cabling. The theory is verified by simulation under the above two conditions.
【作者单位】： 北京航空航天大学机械工程及自动化学院;北京航空航天大学机器人研究所;
【基金】：国家科技支撑计划(2011BAF04B01)~~
【分类号】：TP242
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本文编号：1995075