全自动快换装置精准对接技术

汤志东; 贠超

doi:10.13700/j.bh.1001-5965.2016.0688

全自动快换装置精准对接技术

doi: 10.13700/j.bh.1001-5965.2016.0688

汤志东¹,
贠超^2, ,

1.
北京麻豆精品秘国产传媒机械工程及自动化学院, 北京 100083
2.
北京麻豆精品秘国产传媒机器人研究所, 北京 100083

基金项目:

国家科技支撑计划 2011BAF04B01

详细信息

作者简介:
汤志东男, 博士研究生, 助理研究员; 主要研究方向:机械设计及理论、抢险救援机器人、工业设计

贠超男, 博士, 教授, 博士生导师; 主要研究方向:机器人技术、物流仓储自动化、机械系统动力学

通讯作者:
贠超, E-mail:cyun18@vip.sina.com

中图分类号: TP242;V245.1
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- 被引次数: 0
出版历程
- 收稿日期: 2016-08-26
- 录用日期: 2016-11-25
- 网络出版日期: 2017-09-20

Precise docking technology in full-automatic quick hitch coupling device

TANG Zhidong¹,
YUN Chao^{2
, ,}

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
Robot Institute, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

National Key Technology Research and Development Program of China 2011BAF04B01

More Information

Corresponding author: YUN Chao, E-mail:cyun18@vip.sina.com

摘要

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（X₁O₁Y₁）、主动目标坐标系（X₂O₂Y₂）与精准对接坐标系（XOY）之间的位姿关系；将被动目标对接点X₁O₁Y₁坐标变换到XOY坐标，再变换到主动目标对接点X₂O₂Y₂坐标；根据主动目标对接点X₂O₂Y₂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。
- 精准对接 /
- 坐标变换 /
- 全自动快换 /
- 属具 /
- 救援机器人
Abstract:
When the full-automatic quick hitch coupling device (full-AQHCD) of the rescue robot wrist automatically locks tightly the attachment interface, i.e., the lower coupling parts (LCP), it must synchronously dock precisely with and switch on the hydraulic pipelines of the LCP automatically, for this reason, the precise docking theory (PDT) based on digital measurement and the PDT based on analog measurement are proposed for guiding the manufacturing at the product stage and the prototype stage respectively. The PDT at product stage is:the full-AQHCD is regarded as a passive target, and the LCP is regarded as an active target; the full-AQHCD is connected with the LCP through 4 coupling points; the position-orientation relationships between the passive target coordinate system (X₁O₁Y₁), the active target coordinate system (X₂O₂Y₂) and the precise docking coordinate system (XOY) are established by measurement; the coordinates of docking points (CDPs) in X₁O₁Y₁ are transformed to the CDPs in XOY, and then transformed to the CDPs in X₂O₂Y₂; the postures of the docking points on the active target are adjusted according to their CDPs in X₂O₂Y₂ to achieve the precise docking with the docking points on the passive target; finally, the docking points on the active target are fixed. The PDT at prototype stage is:the full-AQHCD is regarded as a passive target, and the LCP is regarded as an active target; the oil-lines cabin of the full-AQHCD is not constructed to expose the operation space (like wrench space) of the working cabin of the full-AQHCD; the full-AQHCD is connected with the LCP through 4 coupling points; the additional oil source is supplied for first "docking" hydraulic lines in the operation space, and then "measuring, posture adjusting and finally fixing" hydraulic lines of the active target; the oil-lines cabin of the full-AQHCD is completed. Regarding the above two theories under two conditions, simulation and verification are carried out.
- precise docking /
- coordinate transformation /
- full-automatic quick hitch coupling /
- attachment /
- rescue robot

HTML全文

图 1 抢险救援机器人的全部副臂分手

Figure 1. Rescue robot's whole vice-arm with cutter

下载: 全尺寸图片幻灯片

图 2 全自动快换装置与下耦合件

Figure 2. Full-AQHCD and LCP

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图 3 全自动快换装置与下耦合件示意图

Figure 3. Schematic for full-AQHCD and LCP

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图 4 精准对接第1步示意图

Figure 4. Schematic for the 1st step of precise docking

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图 5 数字量测量条件下精准对接第2步示意图

Figure 5. Schematics for the 2nd step of precise docking under condition of digital measurement

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图 6 精准对接第3步示意图

Figure 6. Schematic for the 3rd step of precise docking

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图 7 4腿桌与桌面上2点示意图

Figure 7. Schematic of 4-leg table and 2 points on desktop

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图 8 模拟量测量条件下精准对接第2步示意图

Figure 8. Schematic for the 2nd step of precise docking under condition of analog measurement

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图 9 被动目标坐标系与精准对接坐标系

Figure 9. Passive target coordinate system and precise docking coordinate system

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图 10 数字化测量X₁O₁Y₁上标定点

Figure 10. Digital measurement of X₁O₁Y₁ calibration points

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图 11 坐标变换MATLAB计算程序流程图

Figure 11. Flow chart for MATLAB calculation program for coordinate transformation

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图 12 数字化测量X₁O₁Y₁上对接点

Figure 12. Digital measurement of X₁O₁Y₁ docking point

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图 13 全自动快换装置与下耦合件耦合中

Figure 13. Full-AQHCD coupling with LCP

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图 14 全自动快换装置与下耦合件先“对接”

Figure 14. Full-AQHCD docking with LCP at first

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图 15 快速接头与下耦合件“最后固定”

Figure 15. Quick coupling "finally fixing" with LCP

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图 16 全自动快换装置与下耦合件实物

Figure 16. Real object for full-AQHCD and LCP

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图 17 副臂分手腕部实物

Figure 17. Real object for vice-arm cutter wrist

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