全自动快换装置精准对接技术

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。

Precise docking technology in full-automatic quick hitch coupling device

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.