Electric interface automatic docking robot with double-arm cooperation

Abstract

The invention relates to a double-arm cooperative electrical interface automatic docking robot. In a double-mechanical-arm system, a main operation arm and a cooperative arm are installed and fixed to the two sides of a launching pad through supports of the main operation arm and the cooperative arm correspondingly; a visual camera, a photoelectric correlation sensor and an electric control clamping jaw are integrated at the tail end of a main operation arm in the tail end executing mechanism, and the electric control clamping jaw and a connector with an oil pressure buffer inside are arranged at the tail end of a cooperative arm. The connector fixing mechanism comprises an electric / gas butt joint port and a ground connector placing rack which are installed on the simulation rocket body. The control system realizes millimeter-level precision butt joint of the robot through combination of visual coarse positioning and photoelectric fine positioning. The main mechanical arm is responsible for bearing and precise displacement of the connector, the auxiliary mechanical arm is specially used for butt joint torque balance and knob operation, and butt joint of the connector is achieved by simulating two arms of a person; the millimeter-level positioning of the electrical connector is realized by adopting a high-precision positioning system, and the automatic butt joint of the electrical connector is realized by combining the planning control of the mechanical arm and the operation of each end executing mechanism.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and specifically to a dual-arm collaborative electrical interface automatic docking robot applied to the rocket launch scenario, which is used to achieve unmanned and high-precision docking of electrical / gas connectors. Background Art

[0002] During the rocket launch preparation process, the connection and disconnection operations of a large number of electrical and gas connectors on the rocket are a key and cumbersome task. The traditional method relies on manual operation, which is not only inefficient but also has many drawbacks. On the one hand, the uncertainty of the personnel's state easily leads to operation errors, thus affecting the accuracy and safety of the launch; on the other hand, manual operation is difficult to meet the high requirements of the new generation of rocket launches for autonomy and intelligence, and cannot adapt to the development trend of intelligent launch technology.

[0003] With the continuous progress of space technology, the demand for automation and high efficiency in the rocket launch preparation process is becoming increasingly urgent. In order to improve the degree of autonomy and efficiency of the launch process and reduce safety risks, an advanced system that can automatically dock the on-board connectors is urgently needed.

[0004] In this context, to adapt to the key technologies of the new generation of rocket launches and intelligent launch technology, and to meet the requirements of improving the degree of autonomy and efficiency of the launch process, reducing the uncertainty of personnel status and safety risks, the hardware of a dual-arm collaborative electrical interface automatic docking robot is designed. Based on the corresponding hardware, a set of software operating systems is developed. This system has high-precision docking capabilities and remote control capabilities, realizing unmanned and intelligent interface operations in the launch area, effectively reducing the number of personnel and the workload of tasks in the launch area, and eliminating potential safety hazards to personnel.

[0005] The whole robot is attached to the construction of a simulated launch pad, and is composed of six-degree-of-freedom robotic arms that cooperate with each other, their end effectors, a connector adaptation system, a pose measurement system, etc. It is installed on the launch pad through a fixed base, and uses two robotic arms to cooperate to complete the docking operations of electrical disconnection / plugging and gas pipe connectors. Summary of the Invention

[0006] The purpose of the present invention is to provide a dual-arm collaborative electrical interface automatic docking robot to address the deficiencies of traditional manual climbing for connector docking during rocket launches. For the operation requirements of connecting and disconnecting a large number of electrical and gas connectors on the rocket during the rocket launch preparation process, an operating robot capable of automatically docking the on-board connectors is designed.

[0007] The purpose of the present invention is mainly achieved through the following technical solutions:

[0008] A dual-arm collaborative electrical interface automatic docking robot, comprising:

[0009] The dual robotic arm system consists of a main operating arm and a collaborative arm, which are respectively installed and fixed on both sides of the launch pad through the main operating arm support and the collaborative arm support;

[0010] The end effector. The end of the main operating arm integrates a vision camera, a photoelectric opposed sensor and an electric control gripper. The end of the collaborative arm is equipped with an electric control gripper and a connector containing an oil pressure buffer;

[0011] The connector fixing mechanism includes an electric / gas interface installed on the simulated rocket body and a ground connector placement rack;

[0012] The electric connector clamping adapter includes an I-shaped convex platform gripper, the groove of which matches the quadrangular pyramid structure of the electric control gripper, providing a grasping point for the end electric control gripper

[0013] The gas connector clamping adapter includes a gas connector gripper, on which four quadrangular pyramid grooves are provided, providing a grasping point for the end electric control gripper;

[0014] The control system includes an industrial control computer, an electrical box and a communication module; through the combination of visual rough positioning and photoelectric fine positioning, millimeter-level precision docking of the robot is achieved.

[0015] Furthermore, the main operating arm support is installed on the left side of the launch pad, and the collaborative arm support is installed 1.57 meters to the right and 0.15 meters to the rear of the main operating arm support.

[0016] Furthermore, the end effector includes an end connector and a collaborative arm end effector. The end connector consists of four groups of oil pressure buffers, a camera and a photoelectric opposed installation bracket. The left side of the end connector is installed on the end joint flange of the robotic arm, and the right side is connected to the electric control gripper; the photoelectric opposed sensor and the vision camera are installed at the corresponding installation holes of the camera and the photoelectric opposed installation bracket above the connector; finger sleeves are installed at the end moving position of the electric control gripper; the collaborative arm end effector consists of an end electric control gripper and a collaborative arm connector. The collaborative arm connector is used to connect the end of the robotic arm and the electric control gripper, and contains an oil pressure buffer. The oil pressure buffer allows a 20mm telescopic amount, and the robotic arm and the gripper are connected through four groups of symmetrically distributed buffers.

[0017] Furthermore, the connector fixing mechanism includes an electric connector placement rack and a gas connector placement rack. The electric connector placement rack is configured with an electric cylinder and a buffer rubber, and the gas connector placement rack integrates a photoelectric opposed sensor installation bracket.

[0018] Furthermore, the electrical box includes a 10A three-phase power plug, a switch, an industrial control computer, an electric cylinder control cabinet, an S3000-48V power module, an S2000-48V power module, an MS500-24 power module, a gripper control box at the end of the main operating arm, a gripper control box at the end of the collaborative arm, a USO-to-IO module, a relay, and a DC wireless controller, which are respectively used to supply power to each module inside the entire electrical box. The actions of the electric cylinder and the gripper are controlled through the USO-to-IO module.

[0019] Furthermore, the control system is used to achieve high-precision autonomous docking of the electric robot, including determining the placement positions of the electrical and pneumatic connectors, determining the poses that the robotic arm should move to control the main operating arm to grasp the electrical and pneumatic connectors, determining the docking port positions of the electrical and pneumatic connectors, controlling the main operating arm to grasp the pneumatic connector and dock it at the pneumatic docking port, controlling the main operating arm to grasp the electrical connector and move it to the electrical docking port, and simultaneously controlling the collaborative arm to perform dual-arm collaborative docking; the entire function is remotely controlled through the software control interface.

[0020] Furthermore, during the automatic docking of the electrical connectors by the dual-arm collaborative electrical interface automatic docking robot, when the main operating arm holds the electrical connector and moves it to the docking port, the main operating arm holds the connector, and the collaborative arm holds the lower side of the connector. They maintain a horizontal position and advance forward simultaneously for docking, and after docking, the collaborative arm twists the knob of the electrical connector to lock the connector.

[0021] Furthermore, in the dual-arm collaborative electrical interface automatic docking robot, a movable connector placement rack uses an electric cylinder and a card slot fixing mechanism as the initial connector placement platforms for the electrical and pneumatic connectors respectively. An optoelectronic opposed and identification code mounting bracket is set on this placement platform. When performing a grasping operation, when the main operating arm obtains the connector placement position, it starts to move to the target position to grasp the connector. After grasping, the electric cylinder releases the connector, and the main operating arm carries the connector to the docking port for docking operations. After the docking operation is completed, the main operating arm carries the connector to the connector placement rack, closes the electric cylinder, releases the gripper of the main operating arm, and places the connector back.

[0022] Furthermore, the dual-arm collaborative electrical interface automatic docking robot adopts an automatic positioning system that combines visual and optoelectronic opposed rough positioning and precise positioning, including: using a vision camera to obtain image data, observing the cooperative marks installed on the surface of the rocket body and the connector placement rack, obtaining their three-dimensional coordinates in the camera coordinate system, and converting the detection results into three-dimensional coordinates under the robotic arm base through coordinate transformation, so as to obtain rough positioning, enabling the robotic arm to move to the corresponding target position; based on the rough positioning, precise positioning is performed through optoelectronic opposition to obtain the final target position, so as to meet the millimeter-level positioning technology and achieve the automatic docking of electrical connectors.

[0023] Furthermore, visual detection is used for rough target positioning. Through preprocessing and feature extraction of the acquired images, based on the pixel position of the cooperation identifier in the picture and its actual size, the pose of the identifier relative to the camera is calculated using the cv::solvePnP program.

[0024] The camera is fixedly connected to the end of the robotic arm to obtain the coordinate transformation matrix of the camera coordinate system relative to the end of the robotic arm. The transformation matrix of the end of the robotic arm and the base of the robotic arm obtained in real time. The pose of the identification code relative to the base of the robotic arm. Obtained through rigid body coordinate transformation:

[0025]

[0026] The relative positions of the cooperation identifier and the opposed photoelectric emitter on the rocket body are fixed to obtain the fixed coordinate transformation between the two. Therefore, the pose of the opposed photoelectric pair relative to the base of the robotic arm can be obtained.

[0027]

[0028] Through the acquired Further control the robotic arm to perform precise search;

[0029] Then, according to the rough positioning result, perform precise position search, make the robotic arm search for the photoelectric signal in a 5 cm × 5 cm window, calculate the center position of the light spot according to the acquired light spot position, and obtain the position P of the opposed photoelectric pair relative to the base of the robotic arm. accurate , due to the position parameters of the opposed photoelectric pair and the interface are fixed, the coordinates of the interface relative to the base of the robotic arm are obtained.

[0030]

[0031] When the rocket body and the launch pad roll due to the disturbance caused by transportation and rocket body docking, the roll angle θ needs to be calculated to calculate the correct positioning position and docking angle. When the rocket rolls, since the search of the robotic arm is always parallel to the edge of the launch pad, in order to accurately obtain the roll angle of the rocket, it is necessary to search at least at two different distances. The longitudinal deviation between the search distances is Δy, and the deviation of the lateral coordinates obtained by the search is Δx. The roll angle θ can be obtained using the arctangent function:

[0032]

[0033] After obtaining the roll angle, the entire end of the robotic arm rotates by θ along the z-axis to compensate for the roll angle, and then the previous conventional search algorithm is performed to obtain the true pose of the interface relative to the end of the robotic arm, that is, the coordinates of the interface relative to the base of the robotic arm.

[0034] The beneficial effects of the present invention are as follows:

[0035] 1. The present invention designs a hardware system of a dual-arm collaborative electrical docking robot that simulates the human double arms. The main robotic arm is responsible for connector support and precise displacement, and the auxiliary robotic arm is specifically responsible for docking torque balance and knob operation, simulating the docking of the connector by the human double arms.

[0036] 2. The ends of the two arms of the present invention adopt a buffer oil pressure structure design of 20 mm. When docking the electrical connector, it can overcome the impact force of the connector docking, and at the same time provide a forward and backward distance for the electrical connector to be locked, providing a buffer for the connector to move forward and backward without the robotic arm moving when the connector is locked, and avoiding mechanical damage caused by tensile force.

[0037] 3. The high-precision positioning system designed for the dual-arm collaborative docking robot realizes the positioning of the electrical connector at the millimeter level. Combining the planning control of the robotic arm and the operations of each end effector, the automatic docking of the electrical connector is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a docking state diagram of the dual-arm collaborative electrical interface automatic docking robot;

[0039] Figure 2 It is a schematic diagram of the end connector of the main operating arm;

[0040] Figure 3 It is a schematic diagram of the end connector of the collaborative arm;

[0041] Figure 4 It is a schematic diagram of the on-arrow mounting bracket of the electrical connector;

[0042] Figure 5 It is a schematic diagram of the on-arrow mounting bracket of the pneumatic connector;

[0043] Figure 6 It is a schematic diagram of the fixing mechanism of the ground part of the electrical and pneumatic connectors;

[0044] Figure 7 It is a schematic diagram of the installation of the electrical connector;

[0045] Figure 8 It is a schematic diagram of the installation of the pneumatic connector;

[0046] Figure 9 It is a diagram of the internal structure of the electrical box. DETAILED DESCRIPTION OF THE INVENTION

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] As Figures 1 to 9 shown, the automatic docking robot for electrical interfaces with dual-arm cooperation provided by the embodiment of the present invention includes two parts: a mechanical structure and a control system:

[0049] The mechanical structure of the robot is shown in the following figure, and specifically includes:

[0050] a. The docking schematic diagram of the dual-arm cooperation robot is as Figure 1 shown in (a) and (b). It mainly includes dual robotic arms and their end effectors, a simulated rocket body 7, a simulated launch pad 8, and robotic arm supports. The dual robotic arms composed of the main operating arm 1 and the cooperative arm 2 are respectively installed on the corresponding main operating arm support 3 and cooperative arm support 4. The main operating arm support 3 is installed on the left side of the launch pad, and the cooperative arm support 4 is installed on the simulated launch pad about 1.57 meters to the right and 0.15 meters to the rear of the main operating arm support.

[0051] b. The end effector 9 of the main operating arm is as Figure 2 shown, and mainly consists of a vision camera 9-1, an optoelectronic pair-emitting sensor 9-2, an end electric control gripper 9-3, an end connector 9-4, and gripper finger sleeves 9-5. The end connector 9-4 consists of an oil buffer 9-4-1 and a camera and optoelectronic pair-emitting mounting bracket 9-4-2. Among them, the left side of the end connector 9-4 is installed on the flange plate of the end joint of the robotic arm, and the right side is connected to the end electric control gripper 9-3; the optoelectronic pair-emitting sensor 9-2 and the vision camera 9-1 are installed at the corresponding mounting holes of the camera and optoelectronic pair-emitting mounting bracket 9-4-2 above the end connector 9-4, and gripper finger sleeves 9-5 are installed at the end moving position of the end electric control gripper 9-3. The end effector 10 of the cooperative arm is as Figure 3 shown, and consists of a cooperative arm end electric control gripper 10-1 and a cooperative arm connector 10-2. The cooperative arm connector 10-2 is used to connect the cooperative arm end electric control gripper 10-1 and contains an oil buffer 10-3 with an allowable telescopic amount of 20 mm.

[0052] c. The electrical and gas connection port docking mechanism fixed on the simulated rocket body is as Figure 4 , 5 shown, and is directly installed on one side of the simulated rocket body to fit the arc according to the design of the simulated rocket body. On the other side, an electrical connector docking port 5 and a gas connector docking port 6 are installed. A connector ground fixing frame 13 composed of a gas connector placement rack 11 and an electrical connector placement rack 12 is as Figure 6As shown in the figure, the electric connector placement rack 12 is composed of an electric cylinder mounting bracket 12-1 and an electric cylinder 12-2. The photoelectric pair emission sensor and the vision camera mounting bracket are mounted on the air connector placement rack 11. The air connector placement rack 11 is also equipped with an identification code mounting rack 15 and a photoelectric pair emission interface 16. The electric cylinder 12-2 is fixed on the designed electric cylinder mounting bracket 12-1, and a buffer rubber 12-3 is installed at the fixed contact between the electric cylinder 12-1 and the connector auxiliary fixing mechanism 14.

[0053] d. The electric connector clamping adapter is as Figure 7 shown, and is composed of an electric connector gripper 17 (I-shaped boss with a quadrangular pyramid groove), an electric connector handle 18, and a U-shaped support bracket 19. The electric connector gripper 17 is designed with 4 quadrangular pyramid grooves to provide the gripper points for the end gripper of the robotic arm. The air connector clamping adapter is as Figure 8 shown and is composed of an air connector gripper 20. The air connector gripper 20 is designed with 4 quadrangular pyramid grooves to provide the gripper points for the end gripper of the robotic arm.

[0054] e. The electrical cabinet of the electric robot composed of multiple modules is as Figure 9 shown, and includes a rail-mounted socket and air switch 21, a 10A three-phase power supply plug for powering each module inside the entire electrical cabinet, a switch, an industrial control computer 22, an electric cylinder control cabinet, an S3000-48V power module 23, an S2000-48V power module 24, an MS500-24 power module 25, an electric control gripper driver 26, a main operating arm end gripper control box, a collaborative arm end gripper control box, a USO to IO module, a relay, and a DC wireless controller.

[0055] The control system of the robot includes:

[0056] a. The hardware of the robot control system includes an industrial control computer, a vision camera, a photoelectric pair emission sensor, an electric cylinder, a main operating arm, a collaborative arm, a main operating arm end gripper, and a collaborative arm end gripper;

[0057] b. The core function of the robot control system is to achieve high-precision autonomous docking of the electric robot, specifically including the following tasks: identifying and determining the placement positions of the electric and air connectors and the on-arrow docking interface positions; controlling the main operating arm to accurately grasp the electric and air connectors; controlling the main operating arm to guide the grasped electric connector to the electric docking interface, and coordinating the collaborative arm for dual-arm collaborative docking at the same time; controlling the main operating arm to grasp the air connector and complete the docking of the air connector; through the software control interface, remote operation of the entire process of this robot by an external device can be realized, improving the intelligence and flexibility of the system.

[0058] c. The automatic docking robot for electrical interfaces with dual-arm collaboration adopts an automatic positioning system that combines rough positioning and precise positioning using vision and optoelectronic pair emission. It includes: using a vision camera to obtain image data, observing the cooperation marks installed on the surface of the rocket body and the connector placement rack, obtaining their three-dimensional coordinates in the camera coordinate system, and converting the detection results into three-dimensional coordinates under the robotic arm base through coordinate transformation, so as to obtain rough positioning for the robotic arm to move to the corresponding target position; based on the rough positioning, precise positioning is carried out through optoelectronic pair emission to obtain the final target position, so as to meet the millimeter-level positioning technology and achieve the automatic docking of the electrical connector.

[0059] Among them, for rough target positioning using vision detection, preprocessing and feature extraction are performed on the obtained images. Based on the pixel position of the cooperation mark in the picture and its actual size, the pose of the mark relative to the camera is calculated using the cv::solvePnP program.

[0060] The camera is fixedly connected to the end of the robotic arm to obtain the coordinate transformation matrix of the camera coordinate system relative to the end of the robotic arm. The transformation matrix between the end of the robotic arm and the robotic arm base obtained in real time. The pose of the identification code relative to the robotic arm base. Obtained through rigid body coordinate transformation:

[0061] d.

[0062] The relative positions of the cooperation mark and the pair-emission optoelectronic transmitter on the rocket body are fixed to obtain the fixed coordinate transformation between the two. Therefore, the pose of the optoelectronic pair emission relative to the robotic arm base can be obtained.

[0063] e.

[0064] Through the obtained Further control the robotic arm to perform precise search;

[0065] Then, based on the rough positioning result, perform precise position search, enabling the robotic arm to search for optoelectronic signals in a 5 cm × 5 cm window. According to the obtained spot position, calculate the center position of the spot to obtain the position P of the optoelectronic pair emission relative to the robotic arm base. accurate , due to the position parameters of the optoelectronic pair emission and the interface being fixed, the coordinates of the interface relative to the robotic arm base are obtained.

[0066] f.

[0067] When the rocket body rolls relative to the launch pad due to the disturbances caused by transportation and rocket body docking, the roll angle θ needs to be calculated to determine the correct positioning position and docking angle. When the rocket rolls, since the search of the robotic arm is always parallel to the edge of the launch pad, to accurately obtain the rocket roll angle, it is necessary to conduct searches at at least two different distances. The longitudinal deviation between the search distances is Δy, and the deviation of the lateral coordinates obtained from the searches is Δx. The roll angle θ can be obtained using the arctangent function:

[0068] g.

[0069] After obtaining the roll angle, the entire end of the robotic arm rotates by θ along the z-axis to compensate for the roll angle, and then the previous conventional search algorithm is performed. In this way, the true pose of the interface relative to the end of the robotic arm can be obtained, that is, the coordinates of the docking interface relative to the base of the robotic arm.

[0070] Specifically, the control function of the automatic docking robot for the electrical interface with dual-arm cooperation is realized through the cooperation of multiple sensors. Specifically, through the fireball image data of the vision camera, combined with the rough vision positioning and the precise optoelectronic search positioning, the positions of the fixed frame under the rocket and the docking interface on the rocket are determined; the movement of the electric cylinder is controlled through the GPIO interface, and the feedback information of the optoelectronic docking sensor is obtained in real time; through the network port and the RS485 communication interface, the opening and closing of the grippers at the ends of the main operating arm and the cooperative arm are controlled to achieve precise grasping and docking operations.

[0071] Specifically, during the electrical docking process, based on the rough positioning and precise positioning algorithms, the positions of the fixed frame and the docking interface on the rocket are determined. The control system guides the main operating arm to move to the electrical connector at the fixed frame, and precisely grasps the electrical connector through the end gripper. After successful grasping, the electric cylinder is controlled to open, enabling the main operating arm to carry the electrical connector and move to the target position of the docking interface on the rocket. At this time, the position of the cooperative arm is determined according to the position of the main operating arm, and the cooperative arm is controlled to move to the corresponding position of the main operating arm. The gripper of the cooperative arm presses against the lower end of the connector. At this time, the two arms simultaneously move forward horizontally at the same speed to dock the electrical connector; after docking is completed, the main operating arm remains in the clamped state, and the cooperative arm moves to the connector knob and rotates the knob to lock the connector. If it is necessary to unlock and eject the connector, in this state, the knob is rotated in the opposite direction by the cooperative arm to unlock the connector, then the cooperative arm is withdrawn, the main operating arm is withdrawn, and the electrical connector is placed back at the electrical connector fixed frame. The electric cylinder is controlled to close, and at this time, the gripper of the main operating arm is controlled to release and the main operating arm is withdrawn.

[0072] Specifically, during the pneumatic docking process, based on the rough positioning and precise positioning algorithms, the positions of the fixed frame and the docking interface on the rocket are determined. The control system guides the main operating arm to move to the pneumatic connector at the fixed frame, and precisely grasps the pneumatic connector through the end gripper. After successful grasping, the main operating arm is enabled to carry the pneumatic connector and move to the target position of the docking interface on the rocket and dock. After docking is completed, the main operating arm is withdrawn.

Claims

1. A dual-arm collaborative electrical interface automatic docking robot, characterized in that: include: The dual-manipulator system consists of a main operating arm and a collaborative arm, which are respectively installed and fixed on both sides of the launch platform through the main operating arm support and the collaborative arm support; The end actuator is equipped with a visual camera, a photoelectric sensor and an electric-controlled gripper at the end of the main operating arm, and an electric-controlled gripper and a connector with a hydraulic buffer at the end of the collaborative arm. A connector fixing mechanism, including an electrical / pneumatic interface mounted on a simulated rocket body and a ground connector placement rack; The electric connector clamping and fitting device includes an I-shaped boss gripper, whose groove matches the four-sided pyramid structure of the electric-controlled gripper, providing a gripping point for the end electric-controlled gripper The gas connector clamping and fitting device comprises a gas connector gripper, on which four quadrangular pyramid grooves are arranged to provide end electric-controlled gripping claw gripping points; The control system includes an electrical box and a communication module; by combining visual coarse positioning with photoelectric fine positioning, the robot can be docked with millimeter-level precision.

2. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The main operating arm support is installed on the left side of the launch platform, and the cooperative arm support is installed 1.57 meters to the right and 0.15 meters to the rear of the main operating arm support.

3. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The end effector mechanism includes an end connector and a collaborative arm end effector. The end connector is composed of four sets of hydraulic buffers, a camera and a photoelectric matching mounting bracket. The left side of the end connector is mounted on the end joint wheel of the robot arm, and the right side is connected to the electric-controlled gripper. Install the photoelectric beam sensor and the visual camera at the corresponding mounting holes of the camera and the photoelectric beam mounting bracket above the connector; A finger sleeve is installed at the moving end of the electric-controlled gripper; The collaborative arm end effector consists of an end electric-controlled gripper and a collaborative arm connector. The collaborative arm connector is used to connect the end of the robotic arm and the electric-controlled gripper. It contains a hydraulic buffer that allows a 20mm telescopic range. The robotic arm and the gripper are connected through four sets of symmetrically distributed buffers.

4. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The connector fixing mechanism comprises an electric connector placement rack and a gas connector placement rack. The electric connector placement rack is equipped with an electric cylinder and a buffer glue, and the gas connector placement rack is integrated with a photoelectric counter-radiation sensor mounting bracket.

5. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The electrical box includes a 10A three-phase power plug, a switch, an industrial computer, an electric cylinder control cabinet, an S3000-48V power module, an S2000-48V power module, an MS500-24 power module, a main operating arm end gripper control box, a collaborative arm end gripper control box, a USO to IO module, a relay, and a DC wireless controller, which are used to power each module inside the entire electrical box. The electric cylinder and gripper movements are controlled by the USO to IO module.

6. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The control system is used to realize high-precision autonomous docking of the electrical robot, including determining the placement position of the electric and pneumatic connectors, determining the position of the robot arm to control the main operating arm to grab the electric and pneumatic connectors, determining the docking interface position of the electric and pneumatic connectors, controlling the main operating arm to grab the pneumatic connector and then dock it at the pneumatic docking interface, and controlling the main operating arm to grab the electric connector and then dock it at the electric docking interface while controlling the collaborative arm to perform dual-arm collaborative docking; The entire function is remotely controlled through the software control interface.

7. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The dual-arm collaborative electrical interface automatic docking robot performs automatic docking of electrical connectors by dual-arm collaboration. When the main operating arm clamps the electrical connector to the docking interface, the main operating arm clamps the connector and the collaborative arm clamps the lower side of the connector, maintaining the horizontality while pushing the docking forward. After docking, the collaborative arm turns the knob of the electrical connector to lock the connector.

8. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The movable connector placement rack in the dual-arm collaborative electrical interface automatic docking robot adopts an electric cylinder and a card slot fixing mechanism as the initial connector placement table for the electric and pneumatic connectors respectively, and a photoelectric shooting and identification code installation bracket is arranged on the placement table. When performing a grasping operation, the main operating arm starts to move to the target position to grasp the connector when the connector placement position is obtained. After grasping, the electric cylinder releases the connector, and the main operating arm carries the connector to the docking interface for docking operation. After the docking operation is completed, the main operating arm carries the connector to the connector placement rack, closes the electric cylinder, releases the main operating arm clamp, and puts the connector back.

9. The dual-arm collaborative electrical interface automatic docking robot according to claim 1, characterized in that: The dual-arm collaborative electrical interface automatic docking robot adopts an automatic positioning system that combines coarse positioning and precise positioning of vision and photoelectric reflection, including: using a visual camera to obtain image data, observing the cooperation marks installed on the surface of the arrow body and the connector placement rack, obtaining their three-dimensional coordinates in the camera coordinate system, and converting the detection results into three-dimensional coordinates under the base of the robotic arm through coordinate transformation, thereby obtaining coarse positioning so that the robotic arm can move to the corresponding target position; based on the coarse positioning, precise positioning is performed through photoelectric reflection to obtain the final target position, so as to meet the millimeter-level positioning technology and realize automatic docking of the electrical connector.

10. The dual-arm collaborative electrical interface automatic docking robot according to claim 9, characterized in that: Use visual detection to roughly locate the target, preprocess and extract features through the acquired image. Based on the pixel position and actual size of the cooperative logo in the image, use the cv::solvePnP program to solve the logo relative to the camera. The camera is fixedly connected to the end of the robotic arm to obtain the coordinate transformation matrix of the camera coordinate system relative to the end of the robotic arm The transformation matrix between the end of the robot and the base of the robot obtained in real time The position of the identification code relative to the robot base Obtained through rigid body coordinate transformation: The relative positions of the cooperation mark and the corresponding photoelectric transmitter on the rocket body are fixed, and the fixed coordinate transformation of the two is obtained. Therefore, the photoelectric reflection position of the robot base can be obtained. Obtained through The robotic arm is further controlled to perform precise searches; Then, according to the rough positioning result, the precise position search is performed, and the robot arm searches for the photoelectric signal in a 5cm×5cm window. According to the acquired spot position, the center position of the spot is calculated to obtain the position P of the photoelectric reflection relative to the base of the robot arm. accurate , due to the location parameters of the photoelectric beam and the interface is fixed, then the coordinates of the docking interface relative to the robot base are obtained When the disturbance caused by transportation and docking of the rocket body causes the rocket body and the launch pad to roll, the roll angle θ must be calculated to calculate the correct positioning position and docking angle. When the rocket rolls, since the search of the robotic arm is always parallel to the edge of the launch pad, in order to accurately obtain the rocket roll angle, it is necessary to search at least two different distances. The longitudinal deviation between the search distances is Δy, and the deviation of the lateral coordinates obtained by the search is Δx. The roll angle θ can be obtained using the inverse tangent function: After obtaining the roll angle, the end of the robot arm rotates along the z-axis by θ to compensate for the roll angle. Then, the conventional search algorithm is performed to obtain the true position of the interface relative to the end of the robot arm, that is, the coordinates of the interface relative to the base of the robot arm.

Images