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当抢险救援机器人腕部的全自动快换装置(full-AQHCD)自动锁紧属具接口即下耦合件(LCP)时,要同步精准对接和自动接通下耦合件的液压管路,为此,分别提出了数字量测量条件下和模拟量测量条件下精准对接理论(PDT),分别用于指导产品阶段和样机阶段的生产。产品阶段的精准对接理论是:把全自动快换装置视为被动目标,把下耦合件视为主动目标;通过4个耦合点实现全自动快换装置与下耦合件的连接;通过测量分别建立被动目标坐标系(X_1O_1Y_1)、主动目标坐标系(X_2O_2Y_2)与精准对接坐标系(XOY)之间的位姿关系;将被动目标对接点X_1O_1Y_1坐标变换到XOY坐标,再变换到主动目标对接点X_2O_2Y_2坐标;根据主动目标对接点X_2O_2Y_2坐标对主动目标对接点进行调姿以实现精准对接被动目标对接点;最后固定主动目标对接点。样机阶段的精准对接理论是:把全自动快换装置视为被动目标,把下耦合件视为主动目标;不完工被动目标布线舱,从而暴露出工作舱类似扳手空间的操作空间;通过4个耦合点实现全自动快换装置与下耦合件的连接;另外布置油源,在操作空间中先“对接”液压管路,再“测量、调姿和最后固定”主动目标的液压管路;完工被动目标布线舱。对上述2种条件下理论进行了仿真验证。
When the full-AQHCD of the rescue robot’s wrist is automatically locked to the lower coupling (LCP), the precision coupling and the automatic coupling of the hydraulic lines of the lower coupling are synchronized Respectively, put forward the precise docking theory (PDT) under the conditions of digital measurement and analog measurement, which are respectively used to guide the production of the product phase and the prototype phase. The precise docking theory of the product stage is that the fully automatic quick change device is regarded as a passive target and the lower coupler is taken as an active target. The connection between the fully automatic quick change device and the lower coupling device is achieved through four coupling points. The passive target coordinate system (X_1O_1Y_1), the active target coordinate system (X_2O_2Y_2) and the precise docking coordinate system (XOY); transforming the passive target docking point X_1O_1Y_1 coordinate to XOY coordinate and then to the active target docking point X_2O_2Y_2 Coordinates; according to the active target contact X_2O_2Y_2 coordinates on the active target docking position adjustment to achieve accurate docking passive target docking; Finally, the active target docking. The precise docking theory of the prototype phase is that the fully automatic quick change device is regarded as a passive target and the lower coupling is regarded as an active target; the passive target cabling compartment is not completed, thereby exposing a working space like a wrench space of a working cabin; Coupling point to achieve fully automatic quick change device and the lower coupling connection; In addition, the layout of the oil source in the operating space first “docking ” hydraulic pipe, and then “measuring, adjusting position and finally fixed ” active target hydraulic Piping; completed passive target cabling. The above two kinds of conditions under the theory of simulation.