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针对运载火箭推进剂加注自动化过程的实现,设计了一种能够与火箭加注口自动对接与撤离的机器人。该机器人的SCARA机械臂配合激光雷达定位系统,实现自动定位与跟踪。柔顺对接与撤收机构为机器人与火箭对接的机械载体,当火箭晃动时,能够避免机器人的刚性结构对火箭的冲击。大量实验验证了该机器人的机械结构能够很好地适应塔架与火箭组成的特殊工作环境。
In view of the realization of the rocket propellant filling automation process, a robot capable of automatically docking with and evacuation of rocket filling port was designed. The robot SCARA robot with laser radar positioning system, automatic positioning and tracking. The compliant docking and retracting mechanism is a mechanical carrier for docking the robot with the rocket. When the rocket rocks, the impact of the rigid structure of the robot on the rocket can be avoided. A large number of experiments have verified that the robot’s mechanical structure can well adapt to the special working environment composed of the tower and the rocket.