Dual-arm cooperative electrical interface automatic docking robot

Abstract

The application relates to a double-arm cooperative electric interface automatic docking robot, which comprises the following steps: a main operating arm and a cooperative arm in a double-mechanical-arm system are respectively fixed on the two sides of a launching platform through respective supports; an end execution mechanism is integrated with a vision camera, a photoelectric counter sensor and an electric control gripper at the tail end of the main operating arm, and the tail end of the cooperative arm is configured with an electric control gripper and a connector containing an oil pressure buffer; a connector fixing mechanism comprises an electric / gas docking interface installed on a simulated missile body and a ground connector placing rack; a control system realizes millimeter-level precision docking of the robot by combining visual coarse positioning with photoelectric fine positioning. The main mechanical arm is responsible for connector bearing and precise displacement, the auxiliary mechanical arm is responsible for docking torque balance and knob operation, and the simulated human double arms realize the docking of the connector; a high-precision positioning system is adopted to realize the millimeter-level positioning of the electric connector, and the automatic docking of the electric connector is realized by combining mechanical arm planning control and the operation of each end execution mechanism.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a dual-arm collaborative automatic electrical interface docking robot for use in rocket launch scenarios, used to achieve unmanned, high-precision docking of electrical / pneumatic connectors. Background Technology

[0002] During rocket launch preparation, the connection and disconnection of numerous electrical and pneumatic connectors is a critical and tedious task. Traditional methods rely on manual operation, which is not only inefficient but also has many drawbacks. On the one hand, the uncertainty of personnel condition can easily lead to operational errors, thereby affecting the accuracy and safety of the launch; on the other hand, manual operation is difficult to meet the high requirements of autonomy and intelligence for next-generation rocket launches and cannot adapt to the development trend of intelligent launch technology.

[0003] With the continuous advancement of aerospace technology, the demand for automation and efficiency in rocket launch preparation is becoming increasingly urgent. In order to improve the autonomy and efficiency of the launch process and reduce safety risks, an advanced system capable of automatically docking onboard connectors is urgently needed.

[0004] Against this backdrop, in order to adapt to the key technologies and intelligent launch technologies of the new generation of rocket launches, and to improve the autonomy and efficiency of the launch process, reduce the uncertainty of personnel status and safety risks, a dual-arm collaborative electrical interface automatic docking robot hardware was designed. Based on the corresponding hardware, a software operating system was developed. The system has high-precision docking capabilities and remote control capabilities, realizing unmanned and intelligent interface operation in the launch area, effectively reducing the number of personnel and the workload of tasks in the launch area, and eliminating safety hazards to personnel.

[0005] The robot is built entirely on a simulated launch pad and consists of a collaborative six-degree-of-freedom robotic arm, its end effector, connector adapter system, and posture measurement system. Mounted on the launch pad via a fixed base, the robot uses two robotic arms working together to perform electrical disconnection and insertion operations, as well as the docking of the air hose connector. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of traditional manual climbing for connector docking during rocket launches, and to provide a dual-arm cooperative automatic electrical interface docking robot. This robot is designed to automatically dock on-rocket connectors, addressing the need for connecting and disconnecting a large number of electrical and pneumatic connectors during rocket launch preparation.

[0007] The objective of this invention is mainly achieved through the following technical solutions:

[0008] A dual-arm cooperative automated electrical interface docking robot, comprising:

[0009] The dual robotic arm system consists of a main operating arm and a cooperating arm, which are mounted and fixed to both sides of the launch pad via main operating arm supports and cooperating arm supports, respectively.

[0010] The end effector integrates a vision camera, photoelectric through-beam sensor and electronically controlled gripper at the end of the main manipulator arm, and electronically controlled gripper and connector containing hydraulic shock absorber at the end of the cooperating arm.

[0011] The connector fixing mechanism includes an electrical / pneumatic interface mounted on the simulated rocket body and a ground connector placement rack;

[0012] An electrical connector clamping mating device includes an I-shaped boss gripper whose groove matches the pyramidal structure of the electrical control jaws, providing a gripping point for the end of the electrical control jaws.

[0013] A gas connector clamping and mating device includes a gas connector gripper with four quadrangular pyramidal grooves to provide gripping points for the end-effector electronically controlled gripper.

[0014] The control system includes an industrial computer, electrical box, and communication module; it achieves millimeter-level precision docking of the robot by combining visual coarse positioning with photoelectric fine positioning.

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

[0016] Furthermore, the end effector includes an end effector connector and a cooperating arm end effector. The end effector connector consists of four sets of hydraulic dampers, a camera, and a photoelectric beam mounting bracket. The left side of the end effector connector is mounted on the end joint flange of the robotic arm, and the right side is connected to the electrically controlled gripper. The photoelectric beam sensor and vision camera are mounted at the corresponding mounting holes of the camera and photoelectric beam mounting bracket above the connector. A finger sleeve is installed at the end movement of the electrically controlled gripper. The cooperating arm end effector consists of an electrically controlled end gripper and a cooperating arm connector. The cooperating arm connector is used to connect the end of the robotic arm and the electrically controlled gripper. It contains a hydraulic damper that allows for a 20mm extension / retraction. The robotic arm and gripper are connected through four symmetrically distributed dampers.

[0017] Furthermore, the connector fixing mechanism includes an electrical connector placement frame and a pneumatic connector placement frame. The electrical connector placement frame is equipped with an electric cylinder and a buffer rubber, while the pneumatic connector placement frame integrates a photoelectric through-beam sensor mounting bracket.

[0018] Furthermore, the electrical box includes a 10A three-phase power plug for supplying power to each module inside the entire electrical box, 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 cooperating arm end gripper control box, a USO to IO module, a relay, and a DC wireless controller, which controls the movement of the electric cylinder and gripper 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 position of the electrical and pneumatic connectors, determining the posture of the robotic arm to control the main operating arm to grasp the electrical and pneumatic connectors, determining the mating interface position of the electrical and pneumatic connectors, controlling the main operating arm to dock with the pneumatic interface after grasping the pneumatic connector, and controlling the main operating arm to simultaneously control the cooperating arm to perform dual-arm cooperative docking after grasping the electrical connector with the electrical interface; the entire function is remotely controlled through a software control interface.

[0020] Furthermore, during the automatic docking process of the dual-arm cooperative electrical interface automatic docking robot, when the main operating arm clamps the electrical connector to the docking interface, the main operating arm clamps the connector and the cooperative arm clamps the lower side of the connector, keeping them horizontal and advancing forward to dock. After docking, the cooperative arm turns the knob of the electrical connector to lock the connector.

[0021] Furthermore, in the dual-arm cooperative automatic electrical interface docking robot, the movable connector placement frame uses an electric cylinder and a slot fixing mechanism as the initial connector placement platform for the electrical and pneumatic connectors, respectively. A photoelectric beam and identification code mounting bracket are set on the placement platform. During the 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 interface for docking operation. After the docking operation is completed, the main operating arm carries the connector to the connector placement frame, closes the electric cylinder, releases the main operating arm gripper, and puts the connector back.

[0022] Furthermore, the dual-arm collaborative electrical interface automatic docking robot adopts an automatic positioning system that combines coarse and precise positioning using vision and photoelectric beam rendition. This system includes: acquiring image data using a vision camera, observing the cooperation markings installed on the surface of the rocket body and connector placement frame, obtaining their three-dimensional coordinates in the camera coordinate system, and converting the detection results into three-dimensional coordinates under the robot arm base through coordinate transformation to obtain coarse positioning, so that the robot arm can move to the corresponding target position; and performing precise positioning based on coarse positioning using photoelectric beam rendition to obtain the final target position, thereby meeting millimeter-level positioning technology and realizing automatic docking of electrical connectors.

[0023] Furthermore, visual detection is used for coarse target localization. The acquired images are preprocessed and feature extracted. Based on the pixel position and actual size of the cooperative identifier in the image, the cv::solvePnP program is used to calculate the identifier's pose relative to the camera.

[0024] The camera is fixedly connected to the end effector of the robotic arm, resulting in a coordinate transformation matrix of the camera coordinate system relative to the end effector of the robotic arm. Real-time acquisition of the transformation matrix between the robotic arm end effector and the robotic arm base The position of the identifier relative to the robotic arm base Obtained through rigid body coordinate transformation:

[0025]

[0026] With the relative positions of the cooperation marker and the through-beam photoelectric transmitter fixed on the rocket body, a fixed coordinate transformation of the two is obtained. Therefore, the pose of the photoelectric beam relative to the robotic arm base can be obtained.

[0027]

[0028] By obtaining Further control the robotic arm to perform precise searches;

[0029] Then, based on the coarse positioning results, a precise position search is performed, allowing the robotic arm to search for photoelectric signals within a 5cm×5cm window. Based on the acquired spot position, the center position of the spot is calculated, yielding the position P of the photoelectric beam relative to the robotic arm base. accurate Due to the position parameters of the photoelectric beam and the interface If it is fixed, then the coordinates of the interface relative to the robot arm base are obtained.

[0030]

[0031] When the rocket body rolls relative to the launch pad due to disturbances during transport and docking, the roll angle θ needs to be calculated to determine the correct positioning and docking angle. During rocket roll, since the robotic arm's search is always parallel to the edge of the launch pad, to accurately obtain the rocket's roll angle, searches need to be performed at at least two different distances. The longitudinal deviation between the search distances is Δy, and the lateral deviation of the obtained search coordinates is Δx. The roll angle θ can be obtained using the arctangent function.

[0032]

[0033] After obtaining the roll angle, the robotic arm end effector rotates by θ along the z-axis to compensate for the roll angle. Then, the conventional search algorithm is performed again to obtain the true pose of the interface relative to the robotic arm end effector, i.e., the coordinates of the interface relative to the robotic arm base.

[0034] The beneficial effects of this invention are:

[0035] 1. This invention designs a hardware system for an electrical docking robot that simulates the two arms of a human body through dual-arm collaboration. The main robotic arm is responsible for supporting and precisely displacing the connector, while the auxiliary robotic arm is dedicated to balancing the docking torque and operating the knob. The docking of the connector is achieved by simulating the two arms of a human body.

[0036] 2. The dual-arm end of this invention adopts a 20mm buffer hydraulic structure design, which can overcome the impact force of connector docking when docking electrical connectors. At the same time, it provides forward and backward distance for locking electrical connectors, and provides buffer for the mechanical arm to move forward and backward when locking the connector, avoiding mechanical damage caused by tension.

[0037] 3. The high-precision positioning system of the dual-arm collaborative docking robot design achieves millimeter-level positioning of electrical connectors. Combined with the planning and control of the robotic arm and the operation of each end effector, it enables automatic docking of electrical connectors. Attached Figure Description

[0038] Figure 1 A diagram illustrating the docking status of a dual-arm collaborative robot with an automated electrical interface docking system.

[0039] Figure 2 Schematic diagram of the end connector of the main control arm;

[0040] Figure 3 Schematic diagram of the end connector of the collaborative arm;

[0041] Figure 4 Schematic diagram of mounting bracket on the electrical connector arrow;

[0042] Figure 5 Schematic diagram of the mounting bracket on the air connector arrow;

[0043] Figure 6 Schematic diagram of the ground-mounted fixing mechanism for electrical and pneumatic pipe connectors;

[0044] Figure 7 This is a schematic diagram of the electrical connector installation.

[0045] Figure 8 This is a schematic diagram of the gas connector installation.

[0046] Figure 9 This is a diagram showing the internal structure of the electrical box. Detailed Implementation

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

[0048] like Figures 1 to 9 As shown, the dual-arm collaborative electrical interface automatic docking robot provided in this embodiment of the invention includes two parts: a mechanical structure and a control system.

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

[0050] a. Diagram of the docking of a dual-arm collaborative robot (as shown below) Figure 1 As shown in (a) and (b), the system mainly comprises dual robotic arms and their end effectors, a simulated rocket body 7, a simulated launch platform 8, and robotic arm supports. The dual robotic arms, consisting of a main operating arm 1 and a cooperating arm 2, are respectively mounted on corresponding main operating arm supports 3 and cooperating arm supports 4. The main operating arm support 3 is mounted on the left side of the launch platform, and the cooperating arm support 4 is mounted on the simulated launch platform approximately 1.57 meters to the right and 0.15 meters behind the main operating arm support.

[0051] b. Main operating arm end effector 9, as shown Figure 2 As shown, it mainly consists of a vision camera 9-1, a photoelectric sensor 9-2, an end-effector 9-3, an end-effector connector 9-4, and gripper finger sleeves 9-5. The end-effector connector 9-4 consists of a hydraulic buffer 9-4-1 and a camera and photoelectric sensor mounting bracket 9-4-2. The left side of the end-effector connector 9-4 is mounted on the end joint flange of the robotic arm, and the right side is connected to the end-effector 9-3. The photoelectric sensor 9-2 and the vision camera 9-1 are mounted on the end-effector connector 9-4 at the corresponding mounting holes of the camera and photoelectric sensor mounting bracket 9-4-2. The gripper finger sleeves 9-5 are installed at the end-effector movement of the end-effector 9-3. The collaborative arm end effector 10 is as follows. Figure 3 As shown, it consists of an electrically controlled gripper 10-1 at the end of the cooperating arm and a cooperating arm connector 10-2. The cooperating arm connector 10-2 is used to connect the electrically controlled gripper 10-1 at the end of the cooperating arm and contains a hydraulic buffer 10-3, allowing a 20mm extension range.

[0052] c. The electrical and pneumatic connection port fixing mechanism fixed on the simulated rocket body, such as... Figure 4 , 5 As shown, the simulated rocket body 7 is directly installed on one side, conforming to the arc shape of the simulated rocket body design. The other side is fitted with the electrical connector interface 5 and the pneumatic connector interface 6. The connector ground mounting bracket 13, composed of the pneumatic connector mounting bracket 11 and the electrical connector mounting bracket 12, is as follows... Figure 6As shown, the electrical connector placement frame 12 consists of an electric cylinder mounting bracket 12-1 and an electric cylinder 12-2. The photoelectric through-beam sensor and vision camera mounting bracket are mounted on the pneumatic connector placement frame 11. The pneumatic connector placement frame 11 is also equipped with an identification code mounting bracket 15 and a photoelectric through-beam interface 16. The electric cylinder 12-2 is fixed on the designed electric cylinder mounting bracket 12-1. Buffer rubber 12-3 is installed at the fixed contact point between the electric cylinder 12-1 and the connector auxiliary fixing mechanism 14.

[0053] d. Electrical connector clamping mating device, such as Figure 7 As shown, it consists of an electrical connector gripper 17 (an I-shaped boss with a four-sided pyramidal groove), an electrical connector handle 18, and a U-shaped support bracket 19. The electrical connector gripper 17 is designed with four four-sided pyramidal grooves to provide gripping points for the end effector of the robotic arm. The pneumatic connector clamping device is as follows: Figure 8 The device shown consists of a pneumatic connector gripper 20, which has four quadrangular pyramidal grooves to provide gripping points for the end effector of the robotic arm.

[0054] e. An electrical robot electrical box composed of multiple modules, such as Figure 9 As shown, the electrical box includes a rail-mounted socket and circuit breaker 21, a 10A three-phase power plug for supplying power to all modules inside the electrical box, a switch, an industrial 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 gripper driver 26, a main operating arm end gripper control box, a cooperating arm end gripper control box, a USO to IO module, a relay, and a DC wireless controller.

[0055] The robot's control system includes:

[0056] a. The hardware of the robot control system includes an industrial computer, a vision camera, a photoelectric sensor, an electric cylinder, a main manipulator, a cooperating arm, an end effector gripper of the main manipulator, and an end effector gripper of the cooperating arm.

[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 electrical and pneumatic connectors and the docking interface on the arrow; controlling the main operating arm to accurately grasp the electrical and pneumatic connectors; controlling the main operating arm to guide the electrical connector to the electrical docking interface after grasping it, while coordinating the collaborating arms to perform dual-arm collaborative docking; controlling the main operating arm to grasp the pneumatic connector and complete the docking of the pneumatic connector; and enabling remote operation of the robot throughout the entire process through the software control interface, thereby improving the system's intelligence and flexibility.

[0058] c. The dual-arm collaborative electrical interface automatic docking robot adopts an automatic positioning system that combines coarse and fine positioning using vision and photoelectric beam rendition. This system includes: acquiring image data using a vision camera, observing the cooperation markings installed on the surface of the rocket body and connector placement frame, obtaining their three-dimensional coordinates in the camera coordinate system, and converting the detection results into three-dimensional coordinates under the robot arm base through coordinate transformation to obtain coarse positioning, so that the robot arm can move to the corresponding target position; and performing fine positioning based on coarse positioning using photoelectric beam rendition to obtain the final target position, so as to meet the millimeter-level positioning technology and realize the automatic docking of electrical connectors.

[0059] In this process, visual detection is used for coarse target localization. The acquired images are preprocessed and feature extracted. Based on the pixel position and actual size of the cooperative identifier in the image, the cv::solvePnP program is used to calculate the identifier's pose relative to the camera.

[0060] The camera is fixedly connected to the end effector of the robotic arm, resulting in a coordinate transformation matrix of the camera coordinate system relative to the end effector of the robotic arm. Real-time acquisition of the transformation matrix between the robotic arm end effector and the robotic arm base The position of the identifier relative to the robotic arm base Obtained through rigid body coordinate transformation:

[0061] d.

[0062] With the relative positions of the cooperation marker and the through-beam photoelectric transmitter fixed on the rocket body, a fixed coordinate transformation of the two is obtained. Therefore, the pose of the photoelectric beam relative to the robotic arm base can be obtained.

[0063] e.

[0064] By obtaining Further control the robotic arm to perform precise searches;

[0065] Then, based on the coarse positioning results, a precise position search is performed, allowing the robotic arm to search for photoelectric signals within a 5cm×5cm window. Based on the acquired spot position, the center position of the spot is calculated, yielding the position P of the photoelectric beam relative to the robotic arm base. accurate Due to the position parameters of the photoelectric beam and the interface If it is fixed, then the coordinates of the interface relative to the robot arm base are obtained.

[0066] f.

[0067] When the rocket body rolls relative to the launch pad due to disturbances during transport and docking, the roll angle θ needs to be calculated to determine the correct positioning and docking angle. During rocket roll, since the robotic arm's search is always parallel to the edge of the launch pad, to accurately obtain the rocket's roll angle, searches need to be performed at at least two different distances. The longitudinal deviation between the search distances is Δy, and the lateral deviation of the obtained search coordinates is Δx. The roll angle θ can be obtained using the arctangent function.

[0068] g.

[0069] After obtaining the roll angle, the robotic arm end effector rotates by θ along the z-axis to compensate for the roll angle. Then, the conventional search algorithm is performed again to obtain the true pose of the interface relative to the robotic arm end effector, i.e., the coordinates of the interface relative to the robotic arm base.

[0070] Specifically, the control function of the dual-arm collaborative electrical interface automatic docking robot is realized through the collaboration of multiple sensors. Specifically, the position of the fixed frame under the arrow and the docking interface on the arrow are determined by combining visual coarse positioning and photoelectric search with fireball image data from a vision camera; the movement of the electric cylinder is controlled through the GPIO interface and feedback information from the photoelectric docking sensor is obtained in real time; the opening and closing of the grippers at the end of the main operating arm and the collaborating arm are controlled through the network port and RS485 communication interface to achieve precise grasping and docking operations.

[0071] Specifically, during the electrical docking process, the positions of the mounting bracket and the docking interface on the arrow are determined based on coarse and precise positioning algorithms. The control system guides the main operating arm to move to the electrical connector at the mounting bracket, where it precisely grips the connector using its end effector. After successful gripping, the control cylinder opens, allowing the main operating arm to carry the connector to the target position on the arrow docking interface. At this point, the position of the cooperating arm is determined based on the main operating arm's position, and the cooperating arm is controlled to move to the position corresponding to the main operating arm. The cooperating arm's gripper rests against the lower end of the connector, and both arms simultaneously advance horizontally forward at the same speed to dock the connector. After docking, the main operating arm maintains the gripping state, and the cooperating arm moves to the connector knob, rotating the knob to lock the connector. If it is necessary to unlock and eject the connector, the cooperating arm rotates the knob in the opposite direction to unlock the connector, then retracts the cooperating arm, the main operating arm retracts, and places the connector back into the mounting bracket. The control cylinder closes, at which point the main operating arm's gripper releases and the main operating arm retracts.

[0072] Specifically, during the gas docking process, the positions of the fixed frame and the docking interface on the rocket are determined based on coarse and precise positioning algorithms. The control system guides the main operating arm to move to the gas connector at the fixed frame. The gas connector is precisely gripped by the end gripper. After successful gripping, the main operating arm can carry the gas connector 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 cooperative automatic electrical interface docking robot, characterized in that, include: The dual robotic arm system consists of a main operating arm and a cooperating arm, which are mounted and fixed to both sides of the launch pad via main operating arm supports and cooperating arm supports, respectively. The end effector includes a main end effector and a cooperating end effector. The main end effector integrates a vision camera, a photoelectric through-beam sensor, and an electrically controlled gripper. The cooperating end effector is equipped with an electrically controlled gripper and a connector containing a hydraulic buffer. The connector fixing mechanism includes an electrical / pneumatic interface mounted on the simulated rocket body and a ground connector placement rack; An electrical connector clamping mating device includes an I-shaped boss gripper whose groove matches the pyramidal structure of an electrically controlled jaw, providing a gripping point for the end electrically controlled jaw; A gas connector clamping and mating device includes a gas connector gripper with four quadrangular pyramidal grooves to provide gripping points for the end-effector electronically controlled gripper. The control system includes an electrical box and a communication module; it achieves millimeter-level precision docking of the robot by combining visual coarse positioning with photoelectric fine positioning.

2. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The main control arm support is installed on the left side of the launch pad, and the auxiliary arm support is installed 1.57 meters to the right and 0.15 meters behind the main control arm support.

3. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The end effector of the main operating arm includes an end connector, which consists of four sets of hydraulic buffers, a camera and a photoelectric beam mounting bracket. The left side of the end connector is mounted on the end joint flange of the robotic arm, and the right side is connected to the electronically controlled gripper. The photoelectric through-beam sensor and vision camera are mounted on the corresponding mounting holes of the camera and photoelectric through-beam mounting bracket above the connector. A finger sleeve is installed at the end of the electrically controlled gripper's moving part; The collaborative arm end effector consists of an end-effector electrically controlled gripper and a collaborative arm connector. The collaborative arm connector is used to connect the end of the robotic arm and the electrically controlled gripper. It contains a hydraulic buffer that allows for a 20mm extension range. The robotic arm and gripper are connected by four symmetrically distributed buffers.

4. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The connector fixing mechanism includes an electrical connector placement frame and a pneumatic connector placement frame. The electrical connector placement frame is equipped with an electric cylinder and a buffer rubber, while the pneumatic connector placement frame integrates a photoelectric through-beam sensor mounting bracket.

5. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The electrical box includes a 10A three-phase power plug for supplying power to each module inside the box, 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 cooperating arm end gripper control box, a USO to IO module, a relay, and a DC wireless controller. The USO to IO module controls the movement of the electric cylinder and gripper.

6. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The control system is used to achieve high-precision autonomous docking of the electric robot, including determining the placement position of the electrical and pneumatic connectors, determining the posture of the robotic arm to control the main operating arm to grasp the electrical and pneumatic connectors, determining the mating interface position of the electrical and pneumatic connectors, controlling the main operating arm to dock with the pneumatic interface after grasping the pneumatic connector, and controlling the main operating arm to simultaneously control the cooperating arm to perform dual-arm cooperative docking after grasping the electrical connector to the electrical interface. The entire function can be remotely controlled through a software control interface.

7. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, During the automatic docking of electrical connectors by the dual-arm collaborative electrical interface automatic docking robot, when the main operating arm clamps the electrical connector to the docking interface, the main operating arm clamps the connector and the collaborating arm clamps the lower side of the connector, keeping them horizontal and advancing forward to dock. After docking, the collaborating arm turns the knob of the electrical connector to lock the connector.

8. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The movable connector placement frame in the dual-arm cooperative electrical interface automatic docking robot uses an electric cylinder and a slot fixing mechanism as the initial connector placement platform for electrical and pneumatic connectors, respectively. A photoelectric beam and identification code mounting bracket are set on the placement platform. During the 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 interface for docking operation. After the docking operation is completed, the main operating arm carries the connector to the connector placement frame, closes the electric cylinder, releases the main operating arm gripper, and puts the connector back.

9. The dual-arm cooperative 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 and precise positioning using vision and photoelectric beam rendition. This system includes: acquiring image data using a vision camera, observing the cooperation markers installed on the surface of the rocket body and connector mounting bracket, obtaining their three-dimensional coordinates in the camera coordinate system, and converting the detection results into three-dimensional coordinates under the robot arm base through coordinate transformation to obtain coarse positioning, enabling the robot arm to move to the corresponding target position; and then performing precise positioning based on the coarse positioning using photoelectric beam rendition to obtain the final target position, meeting millimeter-level positioning technology requirements and achieving automatic docking of the electrical connectors.

10. The dual-arm cooperative electrical interface automatic docking robot according to claim 9, characterized in that, Coarse target localization is performed using visual detection. The acquired images are preprocessed and feature extracted. Based on the pixel position and actual size of the cooperative identifier in the image, the cv::solvePnP program is used to calculate the identifier's pose relative to the camera. ; The camera is fixedly connected to the end effector of the robotic arm, resulting in a coordinate transformation matrix of the camera coordinate system relative to the end effector of the robotic arm. The transformation matrix between the robotic arm end effector and the robotic arm base is acquired in real time. The position of the identifier relative to the robotic arm base Obtained through rigid body coordinate transformation: With the relative positions of the cooperation marker and the through-beam photoelectric transmitter fixed on the rocket body, a fixed coordinate transformation of the two is obtained. Therefore, the pose of the photoelectric beam relative to the robotic arm base can be obtained. : By obtaining This allows for further control of the robotic arm to perform precise searches; Then, based on the coarse positioning results, a precise position search is performed, allowing the robotic arm to search for photoelectric signals within a 5cm×5cm window. Based on the acquired spot position, the center position of the spot is calculated, thus obtaining the position of the photoelectric beam relative to the robotic arm base. Due to the position parameters of the photoelectric beam and the interface If it is fixed, then the coordinates of the interface relative to the robot arm base are obtained. When the disturbance caused by transportation and docking of the rocket body causes the rocket body to roll relative to the launch pad, the roll angle must be calculated. To calculate the correct positioning position and docking angle, when the rocket rolls, since the robotic arm's search is always parallel to the edge of the launch pad, at least two different distances are needed to accurately obtain the rocket's roll angle. The longitudinal deviation between the search distances is... The deviation of the horizontal coordinate obtained from the search is Roll angle It can be obtained using the arctangent function: After obtaining the roll angle, the end effector of the robotic arm rotates as a whole along the z-axis. After compensating for the roll angle and performing the previous conventional search algorithm, the true pose of the interface relative to the robotic arm's end effector, i.e., the coordinates of the interface relative to the robotic arm's base, can be obtained. .

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