Double-arm cooperative automatic butt joint robot for electrical interface

Abstract

The utility model relates to a double-arm cooperative electrical interface automatic docking robot, which is characterized in that a double-mechanical-arm system consists of a main operating arm and a cooperative arm which are respectively mounted and fixed on two sides of a launching pad through a main operating arm support and a cooperative arm support; the tail end executing mechanism comprises a main operation arm tail end executor and a cooperative arm tail end executor, the main operation arm tail end executor integrates a visual camera, a photoelectric correlation sensor and an electric control clamping jaw, and the cooperative arm tail end executor is provided with the electric control clamping jaw and a connector internally provided with an oil pressure buffer. The connector fixing mechanism comprises an electric / gas butt joint port and a ground connector placing frame which are installed on the simulation rocket body. 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 utility model relates to robot technical field, concretely is a kind of double-arm cooperation electrical interface automatic docking robot applied to rocket launching scene, for realizing the unmanned high-precision docking of electric / gas connector. BACKGROUND

[0002] In the rocket launching preparation process, the connection and shedding operation of a large number of on-rocket electric and gas connectors is a key and tedious 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 personnel state can easily lead to operation errors, thereby affecting the accuracy and safety of launching. On the other hand, manual operation cannot meet the high requirements of autonomy and intelligence of the new generation of rocket launching, and cannot adapt to the development trend of intelligent launching technology.

[0003] With the continuous progress of aerospace technology, the automation and efficiency of the rocket launching preparation process are increasingly urgent. In order to improve the autonomy and efficiency of the launching process and reduce safety risks, an advanced system capable of automatically docking on-rocket connectors is urgently needed.

[0004] Under this background, in order to adapt to the key technologies of the new generation of rocket launching and intelligent launching technology, improve the autonomy and efficiency of the launching process, reduce the uncertainty of personnel state and safety risk requirements, a double-arm cooperation electrical interface automatic docking robot hardware is designed. The system relies on corresponding hardware to develop a software operating system. The system has high-precision docking capability and remote control capability, realizes unmanned and intelligent interface operation in the launching area, effectively reduces the number of personnel in the launching area and the workload of tasks, and eliminates safety hazards to personnel.

[0005] The robot is attached to the simulation launching platform as a whole, and is composed of six-degree-of-freedom mechanical arms and their end effectors, connector adaptation systems, pose measurement systems, etc. It is installed on the launching platform by a fixed base and uses double mechanical arms to cooperatively complete the docking operation of electric and gas connector. Utility model content

[0006] The utility model aims at the deficiencies of traditional manual climbing for connector docking during rocket launching, and provides a double-arm cooperation electrical interface automatic docking robot. For the operation needs of connecting and shedding a large number of on-rocket electric and gas connectors during the rocket launching preparation process, an operation robot capable of automatically docking on-rocket connectors is designed.

[0007] The utility model mainly realizes the following technical solutions:

[0008] A dual-arm collaborative automatic docking robot for electrical interfaces includes a dual-arm system, an end effector, a connector fixing mechanism, and a control system. The dual-arm system consists of a main manipulator and a cooperating arm, which are respectively mounted and fixed to both sides of a launch pad via main manipulator supports and cooperating arm supports. The end effector includes an end effector for the main manipulator and an end effector for the cooperating arm. The end effector for the main manipulator integrates a vision camera, a photoelectric beam sensor, and an electrically controlled gripper at its end, while the end effector for the cooperating arm is equipped with an electrically controlled gripper and a connector containing a hydraulic buffer at its end. The connector fixing mechanism includes an electrical / pneumatic docking interface mounted on a simulated rocket body and a ground connector placement frame. The control system includes an electrical box and a communication module. The electrical box is connected to the vision camera, photoelectric beam sensor, main manipulator, cooperating arm, and end-effector electrically controlled gripper via an industrial control computer. By combining the visual coarse positioning of the vision camera with the positioning of the photoelectric beam sensor, the robot achieves millimeter-level precision docking.

[0009] Furthermore, the main control arm support is installed on the left side of the launch pad, and the cooperating arm bracket is installed 1.57 meters to the right and 0.15 meters behind the main control arm support.

[0010] Furthermore, the end effector of the main manipulator consists of a hydraulic buffer, a camera, and a photoelectric beam mounting bracket. The left side of the end connector is mounted on the end joint wheel of the robotic arm, and the right side is connected to the electrically controlled gripper. Gripper finger sleeves are installed at the end of the electrically controlled gripper.

[0011] Furthermore, a vision camera and a photoelectric beam sensor are installed at the corresponding mounting holes of the mounting bracket above the end connector.

[0012] Furthermore, 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, and contains a hydraulic buffer that allows for a 20mm extension / retraction.

[0013] Furthermore, the automatic electrical interface docking robot also includes an electrical connector gripper, which consists of an electrical connector gripper, an electrical connector handle, and a U-shaped support bracket. The electrical connector gripper has four quadrangular pyramidal grooves.

[0014] Furthermore, the automatic electrical interface docking robot also includes a pneumatic connector gripper, which consists of a pneumatic connector gripper with four quadrangular pyramidal grooves on the gripper.

[0015] Furthermore, the connector fixing mechanism also includes an electrical connector placement rack and a pneumatic connector placement rack. The electrical connector placement rack is equipped with an electric cylinder and a buffer rubber, while the pneumatic connector placement rack integrates a photoelectric through-beam sensor mounting bracket.

[0016] 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. The USO to IO module controls the connection between the electric cylinder and the electric gripper.

[0017] The beneficial effects of this utility model are:

[0018] This utility model designs a hardware system for an electrical docking robot that simulates the two arms of a human body working together. The main robotic arm is responsible for supporting and precisely displacing the connector, while the auxiliary robotic arm is responsible for balancing the docking torque and operating the knob. The system simulates the two arms of a human body to achieve the docking of the connector.

[0019] This utility model features a 20mm buffer hydraulic structure at the end of the dual arms, which can overcome the impact force of connector docking when connecting electrical connectors. At the same time, it provides forward and backward distance for locking the electrical connectors, and provides buffer for the mechanical arm to move forward and backward while locking the connectors, thus avoiding mechanical damage caused by tension.

[0020] The high-precision positioning system of the dual-arm collaborative docking robot 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

[0021] Figure 1 A diagram illustrating the docking status of a dual-arm collaborative robot with an automated electrical interface docking system.

[0022] Figure 2 Schematic diagram of the end connector of the main control arm;

[0023] Figure 3 Schematic diagram of the end connector of the collaborative arm;

[0024] Figure 4 Schematic diagram of mounting bracket on the electrical connector arrow;

[0025] Figure 5 Schematic diagram of the mounting bracket for the air connector on the arrow;

[0026] Figure 6 Schematic diagram of the ground-mounted fixing mechanism for electrical and pneumatic pipe connectors;

[0027] Figure 7 This is a schematic diagram of the electrical connector installation.

[0028] Figure 8 This is a schematic diagram of the gas connector installation.

[0029] Figure 9 This is a diagram showing the internal structure of the electrical box. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] like Figures 1 to 9 As shown in the figure, the dual-arm collaborative electrical interface automatic docking robot provided in this embodiment of the utility model includes two parts: a mechanical structure and a control system.

[0032] The mechanical structure of the robot is shown in the figure below, and specifically includes:

[0033] A diagram illustrating the docking of a dual-arm collaborative robot is shown below. Figure 1 As shown in (a) and (b), the system mainly includes 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.

[0034] Master arm end effector 9 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-effector articulation wheel 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.

[0035] The electrical and pneumatic connection ports fixed to the simulated rocket body are such as the interface fixing mechanism. 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.

[0036] 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.

[0037] 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.

[0038] The robot's control system includes:

[0039] 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.

[0040] 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 grasped electrical connector to the electrical docking interface, 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 control interface, thereby improving the system's intelligence and flexibility.

[0041] 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.

[0042] 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.

[0043] 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, The system comprises a dual-arm robotic system, an end effector, a connector fixing mechanism, and a control system. The dual-arm robotic system consists of a main manipulator and a cooperating arm, which are mounted and fixed to both sides of the launch pad via main manipulator supports and cooperating arm supports, respectively. The end effector includes an end effector for the main manipulator and an end effector for the cooperating arm. The end effector for the main manipulator integrates a vision camera, a photoelectric beam sensor, and an electrically controlled gripper at its end, while the end effector for the cooperating arm is equipped with an electrically controlled gripper and a connector containing a hydraulic buffer at its end. The connector fixing mechanism includes an electrical / pneumatic interface mounted on the simulated rocket body and a ground connector placement frame. The control system includes an electrical box and a communication module. The electrical box connects to the vision camera, photoelectric beam sensor, main manipulator, cooperating arm, and end-effector electrically controlled gripper via an industrial control computer. By combining the coarse visual positioning of the vision camera with the positioning of the photoelectric beam sensor, the robot achieves millimeter-level precision docking.

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 manipulator consists of a hydraulic buffer, a camera, and a photoelectric beam mounting bracket. The left side of the end effector is mounted on the end joint wheel of the robotic arm, and the right side is connected to the electrically controlled gripper. A gripper finger sleeve is installed at the end of the electrically controlled gripper.

4. The dual-arm cooperative electrical interface automatic docking robot according to claim 3, characterized in that, A vision camera and a photoelectric sensor are installed at the corresponding mounting holes of the mounting bracket above the end connector.

5. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, 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 damper that allows for a 20mm extension / retraction range.

6. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The automatic docking robot for electrical interfaces also includes an electrical connector gripper, which consists of an electrical connector gripper, an electrical connector handle, and a U-shaped support bracket. The electrical connector gripper has four quadrangular pyramidal grooves.

7. The dual-arm cooperative electrical interface automatic docking robot according to claim 1, characterized in that, The automatic docking robot for electrical interfaces also includes a pneumatic connector gripper, which consists of a pneumatic connector gripper with four quadrangular pyramidal grooves.

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

9. 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 powering 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 connection between the electric cylinder and the electric gripper.

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