摘要
针对运载火箭推进剂加注自动化过程的实现,设计了一种能够与箭体连接头自动对接与脱离的加注机器人。该机器人以管道机械臂作为机器人本体,配合激光雷达实现自动定位与跟踪。机械臂既是机器人定位跟踪的载体也是推进剂加注管道,加泄连接器安装在机械臂末端,作为与箭体连接头对接的机械载体。利用建模软件建立机器人三维实体模型,将模型简化后导入SolidWorks Simulation进行有限元分析,得到了其应力云图以及变形位移图,通过分析验证了机构设计的可靠性和合理性。
Aiming at the realization of the automatic process of launch vehicle propellant filling,a filling robot that can automatically dock and disconnect with the rocket body connector is designed.The robot uses the pipeline manipulator as the robot body,and cooperates with the laser radar to realize automatic positioning and tracking.The robotic arm is not only a carrier for the positioning and tracking of the robot but also a propellant filling pipe.The filldrain connector is installed at the end of the robotic arm as a mechanical carrier for docking with the rocket body connector.The 3D solid model of the robot was established using modeling software,and the model was simplified and imported into SolidWorks Simulation for finite element analysis,and its stress cloud diagram and deformation displacement diagram were obtained.The reliability and rationality of the mechanism design were verified through analysis.
作者
黄钺
顿向明
山磊
HUANG Yue;DUN Xiangming;SHAN Lei(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240,China;Changzhou Yuanliang Robot Technology Co.,Ltd.,Changzhou 213164,China)
出处
《机械与电子》
2021年第1期76-80,共5页
Machinery & Electronics
