Hanging basket adsorption type six-degree-of-freedom parallel robot for heavy-load high-precision docking task

Abstract

The invention discloses a hanging basket adsorption type six-degree-of-freedom parallel robot for a heavy-load high-precision docking task. The hanging basket adsorption type six-degree-of-freedom parallel robot is mainly composed of an air cylinder propelling unit, a six-degree-of-freedom parallel robot unit and a hanging basket suction cup adsorption unit. The hanging basket suction cup adsorption unit is mainly used for bearing the six-degree-of-freedom parallel robot and adsorbing a hanging basket to a rocket body when the fuel oil filling device is about to make contact with the rocket body. The cylinder propelling unit mainly comprises multiple groups of cylinders and is used for pushing the hanging basket to approach the rocket body; the six-degree-of-freedom parallel robot unit is composed of a static platform, a movable platform, six sets of hydraulic cylinders and a fuel adding device installed on the movable platform. According to the invention, through an adsorption mode of the hanging basket and the sucker, high-precision automatic fuel filling is realized in an auxiliary manner, and impact force generated when the fuel filling device is butted with an oil port of a rocket body can be absorbed by gas in the cylinder and the sucker, so that the effects of buffering and reducing the impact force are achieved.

Description

technical field [0001] The invention belongs to the field of six-degree-of-freedom parallel robot design, in particular to a hanging-basket adsorption type six-degree-of-freedom parallel robot used for heavy-load high-precision docking tasks. Background technique [0002] Electro-hydraulic servo six-degree-of-freedom parallel robots are generally composed of a moving platform, a static platform, a hydraulic cylinder and a hinge. , By controlling the displacement and speed of the six groups of hydraulic cylinders, the space movement of the moving platform is realized. Electro-hydraulic servo 6-DOF parallel robots have the characteristics of high stiffness, large power-to-weight ratio, strong bearing capacity, fast response, and good stability. They are often used in motion simulation, parallel machine tools, and precise positioning of platforms. In recent years, with the continuous improvement of electro-hydraulic servo control accuracy, electro-hydraulic servo 6-DOF paralle...

AI Technical Summary

Problems solved by technology

However, in the actual launch mission, the existing automatic docking scheme mainly has the following two hidden dangers: 1) During the fuel filling and docking process of the rocket body oil injection port, the rocket body is in a shaking and non-stationary state due to the existence of high-altitude wind force At this time, the docking between the fuel filling device and the oil injection port of the rocket body is actually a "dynamic-dynamic" docking, which makes the precise docking very difficult.

In addition, because there is no buffer device, there is often a large impact at the moment of butt contact

2) The existing six-degree-of-freedom parallel robot adopts a side-mounted suspension method. The quality of the six-degree-of-freedom platform itself and the quality of the load of the filling device are only balanced by the hydraulic cylinder. There is no additional gravity compensation measure, and the hydraulic cylinder is greatly affected. Due to the bending moment, once the hydraulic cylinder breaks or the moving platform overturns, it will cause huge damage and loss to personnel and the rocket body, so the necessary safety protection devices must be added

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