CN115556522A - Active and passive switchable docking system of self-reconfiguration carrying equipment - Google Patents
Active and passive switchable docking system of self-reconfiguration carrying equipment Download PDFInfo
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Abstract
The invention provides an active and passive switchable docking system for self-reconfigurable carrying equipment, which can meet the requirement of rapid docking of the self-reconfigurable carrying equipment under the manned/unmanned condition; the butt joint efficiency is high, and the steadiness can be strong. The docking control system includes: the docking device comprises an active docking unit and a passive docking unit; the active docking unit includes: the system comprises an active sensing system, an active capturing device, a rope hanging system and an active locking device; the passive docking unit includes: the device comprises a bolt mechanism, a marking system and a locking mechanism; the active sensing system is matched with the marking system and used for sensing the relative pose between the two self-reconfigurable carrying units; the hook in the hanging rope system can be actively pulled or manually and passively pulled into the capturing opening of the passive docking unit by the active capturing device; the latch mechanism is used for locking the position of the hook entering the capturing opening; the rope hanging system is used for drawing two self-reconfigurable carrying units to a butt joint position; the active locking device is matched with the locking mechanism to realize butt joint and locking of the two self-reconfigurable carrying units.
Description
Technical Field
The invention relates to a docking system, in particular to a docking system of a self-reconfigurable carrying device, and belongs to the technical field of vehicle control.
Background
The self-reconfigurable carrying equipment can be automatically reconfigured, combined and disassembled, and has become a great demand for research and development of the mace weapon of the land, sky, air and sea killers.
Due to the complexity of the land environment, the difficulty in developing the self-reconfigurable ground carrying equipment is extremely high, and the self-reconfigurable ground carrying equipment is a major challenge recognized by the world. More revolutionary, the self-reconstruction technology enables self-reconstruction large land-based equipment. The large land-based equipment comprises an airport runway, a missile/rocket launching device, an electromagnetic gun/laser weapon and the like, is a strategic importance device for maintaining national security, and is a means for fighting and defeating by reconnaissance, counterreconnaissance, destruction and counterdestruction. Once the self-reconstruction technology is broken through, the large land-based equipment consists of the reconstruction cell units, so that self-reconstruction, self-combination, self-disassembly and self-concealment are realized, and the large-size equipment has larger capacity; the method is characterized by breaking the whole into parts, dispersing the mechanical hidden phenomenon, almost not discovering the parts and not destroying the parts, forging the tip weapons such as a self-reconfigurable airplane take-off and landing platform, a self-reconfigurable missile/rocket launching device, a self-reconfigurable electromagnetic gun/laser weapon and the like.
The fast reconstruction time is one of the key performance indexes of the large-scale self-reconstruction land-based equipment. The method is significant for constructing new-form reconstructed large land-based equipment by developing a rapid docking technology for potential large-scale combat threats in a future off-road environment, wherein a docking system is a core physical foundation for realizing rapid docking.
The docking system can be divided into an active docking system and a passive docking system according to whether a person participates in the docking process. The active docking system can realize the rapid unmanned splicing and disassembling of any number of self-reconfigurable module units and simultaneously put high requirements on the integrity of a perception-decision-control system by depending on the multi-dimensional spatial information perception, docking behavior decision and autonomous motion control capabilities; the passive docking system returns the identification of the docking pose, the planning of the docking behavior and the important control of the docking device to the assistant personnel, improves the success rate of docking in a complex environment, but puts higher requirements on the number of the personnel and the operation proficiency in order to ensure the rapidity of docking. The traditional carrier docking device design usually only adopts an active or passive mode, and any inherent defects cannot be avoided.
Disclosure of Invention
In view of this, the invention provides an active and passive switchable docking system for a self-reconfigurable carrying device, which can meet the requirement of rapid docking of the self-reconfigurable carrying device under the manned/unmanned condition; the applicable boundary is wide, the butt joint efficiency is high, and the stability is strong.
Self-reconfiguration active and passive switchable docking systems for vehicle equipment:
the self-reconfigurable carrying equipment is formed by a plurality of self-reconfigurable carrying units which are connected through a butt joint system; the docking system includes: the docking device comprises an active docking unit and a passive docking unit;
each self-reconfiguration carrying unit is provided with the docking system; when two self-reconfigurable carrying units are in butt joint, the active butt joint unit of one self-reconfigurable carrying unit is in butt joint with the passive butt joint unit on the other self-reconfigurable carrying unit;
the active docking unit includes: the system comprises an active sensing system, an active capturing device, a rope hanging system and an active locking device;
the passive docking unit includes: the locking device comprises a bolt mechanism, a marking system and a locking mechanism;
the active sensing system is matched with the marking system and used for sensing the relative pose between the two self-reconfigurable carrying units;
a hook in the roping system can be actively pulled by the active capture device or manually and passively pulled into a capture port of the passive docking unit; the latch mechanism is used for locking the position of the hook entering the capture port;
the hanging rope system is used for pulling two self-reconfigurable carrying units to a butt joint position after the latch mechanism locks the position of the hook;
the active locking device is used for being matched with the locking mechanism to realize butt joint and locking of the two self-reconfigurable carrying units.
As a preferred mode of the present invention, two sets of the same active docking units are symmetrically arranged in the transverse direction at the head of the self-reconfigurable carrying unit, and two sets of the same passive docking units are symmetrically arranged in the transverse direction at the tail of the self-reconfigurable carrying unit.
As a preferable mode of the present invention, the roping system further includes a fixed pulley, a cable, and a winch installed inside the self-reconfigurable carrying unit; one end of the inhaul cable is wound on the winch, and the other end of the inhaul cable is connected with the hook backwards through the fixed pulley.
As a preferred mode of the present invention, the active capturing device is a spatial six-degree-of-freedom mechanical arm; the tail end of the mechanical arm is an electromagnetic head; after the electromagnetic head is electrified, the hook in the rope hanging system is magnetically attracted; and drives the hook to move.
As a preferable mode of the present invention, when the docking is not performed, the robot arm is folded inside the self-reconfigurable carrying unit; when in butt joint, the mechanical arm is expanded to the outside of the self-reconstruction carrying unit through a space notch reserved on the self-reconstruction carrying unit under the control of the control unit; and moving to the position of the hook; then the electromagnetic head at the tail end of the mechanical arm is triggered to be powered on, and the hook in the rope hanging system is magnetically attracted.
As a preferred mode of the present invention, the active sensing system includes: a camera and a laser range finder;
the marking system includes: a vehicle body pose target and a locking mechanism position target; a vehicle body pose target is arranged at the center of a passive butt joint surface of the self-reconfigurable carrying unit, and a locking mechanism position target is arranged near a capture port;
the camera acquires the relative pose between the two self-reconfigurable carrying units by identifying the vehicle body pose target; acquiring six-degree-of-freedom deviation between a capture target point and an active capture device by identifying a locking mechanism position target; the capture target point is the intersection point of the axis of the capture port and the axis of a bolt in the bolt mechanism;
the laser range finder is used for measuring the relative distance between the two self-reconfigurable carrying units.
As a preferred mode of the present invention, the active locking device comprises more than one locking beam arranged along the longitudinal direction, and the locking beams are distributed along the transverse direction of the vehicle body at intervals;
each lock beam includes: the device comprises a locking square steel, a longitudinal pushing motor and two lateral locking motors A; the longitudinal pushing motor is used for longitudinally pushing the locking square steel to enable the head of the locking square steel to extend out or retract into the self-reconstruction carrying unit; the two lateral locking motors A are used for respectively and laterally compressing the locking square steel from two side surfaces of the tail part of the locking square steel after the locking square steel extends in place;
a locking square groove for enabling the locking square steel to extend into is arranged in the passive butt joint unit on the self-reconfigurable carrying unit, and a locking mechanism for locking the locking square steel is arranged in the locking square groove;
the locking mechanism includes: the locking device comprises a longitudinal locking motor, two lateral locking motors B and a locking head; the locking head is arranged in the center of the locking square groove, and the longitudinal locking motor is used for driving the locking head to rotate around the axis of the locking head; the end part of the locking square steel head part is provided with a locking block with an inner molded surface consistent with that of the locking head, and after the locking square steel head part extends into the locking square groove and passes through the locking head, the locking head is driven to rotate through a longitudinal locking motor, so that the locking head and the locking block are locked; and the two lateral locking motors B respectively carry out lateral locking on the locking square steel extending into the locking square groove from the two lateral surfaces.
As a preferable aspect of the present invention, the latch mechanism includes: the push electric cylinder, the proximity switch and the bolt are arranged on the push electric cylinder; the proximity switch is used for detecting in-place information of the hook so as to trigger the propulsion electric cylinder; the pushing electric cylinder is used for pushing the bolt to enable the bolt to be inserted into the hook.
As a preferable mode of the present invention, a guide taper surface is provided at the capturing opening; the guiding conical surface is matched with a boss at the tail end of the hook and used for correcting the posture between two self-reconfigurable carrying units at the tail end of the pulling-in stage.
Has the beneficial effects that:
(1) The docking system provided by the invention has an active docking mode and a passive docking mode, can realize docking of the self-reconfigurable carrying unit (the minimum reconfigurable unit of the self-reconfigurable carrying equipment) under the manned/unmanned working condition in the battlefield environment, and is flexible in use mode.
(2) The butt joint system divides the butt joint process into a capture stage, a pull-up stage and a locking stage, and has the advantages of high butt joint efficiency and strong stability through a large-range capture, quick pull-up and effective locking complete process.
(3) The butt joint system has wide applicable boundary, and the hook can be pulled close to realize locking after being hung by the rope hanging system; the butt joint system can allow the initial pose deviation range of two self-reconfigurable carrying units to be in butt joint to be larger, and is suitable for butt joint in various environments such as off-road and urban roads.
(4) In the butt joint system, a butt joint unit structure which is symmetrical left and right is adopted; compared with an integrated docking system, on one hand, the stress balance of the self-reconfigurable carrying unit in the normal docking process is ensured, the docking efficiency is effectively improved, and the strong stability after docking is ensured; on the other hand, certain docking capacity is still ensured after the single-side docking unit fails.
(5) In the docking system, the cost for configuring equivalent performance hardware in the integrated docking system can be greatly reduced through the comprehensive operation of the multiple sensors and the multiple actuators.
Drawings
FIG. 1 is a schematic overall view of a self-reconfigurable carrier assembly formed by two self-reconfigurable carrier units docked by a docking system;
FIG. 2 is a top view of the self-righting vehicle docking system of the present invention;
FIG. 3 is a front view of an active docking unit of the docking system;
fig. 4 is an end elevation view of a passive docking unit of the docking system.
Wherein: 1-fixed pulley, 2-cable, 3-winch, 4-mechanical arm, 5-longitudinal propulsion motor, 6-lateral locking motor A, 7-hook, 8-propulsion electric cylinder, 9-longitudinal locking motor, 10-lateral locking motor B, 11-camera, 12-laser range finder, 13-locking square steel, 14-proximity switch, 15-guiding conical surface, 16-locking mechanism position target, 17-locking head, 18-bolt and 19-vehicle body position target.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides an active and passive switchable docking system for self-reconfigurable carrying equipment, which is used for realizing docking between self-reconfigurable carrying units (minimum reconfigurable units of the self-reconfigurable carrying equipment), realizing large-range capturing, rapid approaching and effective locking of the self-reconfigurable carrying equipment under the working conditions of people or no people in a battlefield environment, and having the advantages of wide applicable boundary, high docking efficiency and strong stability.
The self-reconfigurable carrying equipment shown in fig. 1 is formed by two self-reconfigurable carrying units which are butted by a butting system.
This butt joint system includes: the docking system comprises an active docking unit, a passive docking unit and a control unit, wherein each self-reconstruction carrying unit is provided with the docking system, the active docking unit is installed at the head part of the self-reconstruction carrying unit, and the passive docking unit is installed at the tail part of the self-reconstruction carrying unit. When two self-reconfigurable carrying units need to be butted, the active butting unit of one self-reconfigurable carrying unit is butted with the passive butting unit on the other self-reconfigurable carrying unit.
For convenience of description, two self-reconfigurable carrying units in a butt joint state are arranged, wherein the self-reconfigurable carrying unit for providing the active butt joint unit is an active self-reconfigurable carrying unit, and the self-reconfigurable carrying unit for providing the passive butt joint unit is a passive self-reconfigurable carrying unit. The width direction of the self-reconfigurable carrier unit is set as the transverse direction, and the length direction (i.e. the traveling direction of the self-reconfigurable carrier unit) is set as the longitudinal direction.
In order to improve the butt joint efficiency, two sets of same active butt joint units are symmetrically arranged on the head of the self-reconfigurable carrying unit along the transverse direction, and two sets of same passive butt joint units are symmetrically arranged on the tail of the self-reconfigurable carrying unit along the transverse direction; only one of the hardware architectures is described in detail herein.
As shown in fig. 2 and 3, the active docking unit includes: the system comprises an active sensing system, an active capturing device, a rope hanging system and an active locking device. The passive docking unit includes: a latch mechanism, a guide mechanism, a marking system, and a locking mechanism.
The active sensing system is matched with the marking system in the passive docking unit and is used for sensing the relative pose between the two self-reconfigurable carrying units; the active sensing system is arranged at the head part of the active self-reconstruction carrying unit and is embedded in the vehicle body, so that the outer side surface of the vehicle body is flush with the outer surface of the head part after the active sensing system is arranged, and the abutting of the passive self-reconstruction carrying unit after the passive self-reconstruction carrying unit is butted is not affected. The active sensing system comprises: a camera 11 and a laser range finder 12; the camera 11 is mainly used for identifying the identifier on the passive self-reconfigurable carrying unit, and further provides expected spatial pose information of the active capture device through resolving; the laser range finder 12 is mainly used for assisting in judging the relative distance between the active self-reconfigurable carrying unit and the passive self-reconfigurable carrying unit, and is used for triggering the locking process.
The active capturing device is used for driving a hook in the hanging rope system to move into a capturing port in the passive butt joint unit; in this example, the active capturing device is a mechanical arm 4 mounted on the head of the active self-reconfigurable carrying unit, and the tail end of the mechanical arm 4 is an electromagnetic head; in this example, the mechanical arm 4 is a spatial six-degree-of-freedom mechanical arm. In the normal running process of the active self-reconfigurable carrying unit, the mechanical arm 4 is folded into the vehicle body; only when possessing the butt joint demand, arm 4 expands to the automobile body outside through the space notch that the locomotive reserved under the control unit's control, catches the operation. The mechanical arm 4 magnetically attracts a hook 7 in the rope hanging system through an electromagnetic head at the tail end and drives the hook 7 to move. The mechanical arm 4 is provided with a preset movable point, and the movable point corresponds to the position of the hook 7; when the mechanical arm 4 moves to the movable point, the electromagnet is electrified to realize the operation of taking the hook 7.
The system of hanging rope is used for drawing two from the reconfiguration carrying unit to docking station, and the system of hanging rope includes: fixed pulley 1, cable 2, capstan winch 3 and couple 7, except that couple 7, fixed pulley 1, cable 2, capstan winch 3 all install in the automobile body through the fastener. One end of the inhaul cable 2 is wound on the winch 3, and the other end of the inhaul cable is connected with the hook 7 limited at the vehicle head after reversing through the fixed pulley 1 (the limit is a one-way limit to the hook 7 and prevents the hook from retracting into the vehicle body). The spatial movement of the draw hook 7 can be achieved by rotation of the winch 3 in different directions. In the capture stage, if the automatic docking mode is adopted, the drag hook 7 completes the space motion under the traction of the active capture device; if the mode is the passive butt joint mode, the drag hook 7 is dragged by manpower to complete the space movement. In the pulling-up stage, the capstan 3 pulls up the passive self-reconfigurable carrying unit by the retrieval of the cable 2. The winch 3 is controlled by a control unit.
The active locking device is used for being matched with a locking mechanism in the passive butt joint unit to realize butt joint and locking of the two self-reconfigurable carrying units. In this example, the active locking device is a pair of locking beams arranged along the longitudinal direction, and four locking beams in the two active butt joint units are respectively arranged at two sides and the middle position of the vehicle head and are distributed at intervals along the transverse direction of the vehicle body. Each lock beam includes: a locking square steel 13, a longitudinal pushing motor 5 and two lateral locking motors A6. The length direction of the locking square steel 13 is consistent with the longitudinal direction of the vehicle body, and the longitudinal pushing motor 5 is used for longitudinally pushing the locking square steel 13 to extend out or retract into the vehicle body (one end of the locking square steel 13 extending out of the active self-reconfiguration carrying unit is the head part of the locking square steel, and the other end of the locking square steel 13 is the tail part of the locking square steel); the two lateral locking motors A6 are used for laterally pressing the locking square steel 13 from two lateral sides of the locking square steel 13 after the locking square steel 13 is extended to the position. Initially, locking square steel 13 is located the automobile body inside of initiative self-reconfigurable carrying unit, and after getting into the locking stage, vertical propulsion motor 5 promoted locking square steel 13 and outwards stretches out, and after 13 heads of locking square steel arrived preset position, two side direction locking motors A6 carried out the side direction from two sides of locking square steel 13 to it and compressed tightly, realized the side direction locking to 13 afterbody of locking square steel. The longitudinal propulsion motor 5 and the lateral locking motor A6 are controlled by a control unit.
A capturing port is arranged at the position corresponding to the hook 7 at the head of the passive self-reconfigurable carrying unit vehicle, and the bolt mechanism is arranged inside the tail of the passive self-reconfigurable carrying unit vehicle; the bolt mechanism includes: the propelling electric cylinder 8, the proximity switch 14 and the bolt 18; the proximity switch 14 is an inductive proximity switch and is used for detecting the in-place information of the hook 7 to trigger the propulsion electric cylinder 8 (specifically, after the control unit receives the in-place information of the hook 7 detected by the proximity switch 14, the propulsion electric cylinder 8 is controlled to be started); the propelling electric cylinder 8 is used for pushing the bolt 18 to insert the hook 7, thereby realizing the connection between the two self-reconfigurable carrying units; in this example, the thrust cylinder 8 pushes the latch 18 in the lateral direction, i.e. with the axis of the latch 18 in the width direction of the self-reconfigurable carrying unit, and with the hook 7 entering the catch opening, with the axis also in the width direction of the self-reconfigurable carrying unit. When the hook 7 reaches the set position in the capture port, the proximity switch 14 is triggered; at the moment, the electric propulsion cylinder 8 pushes out the bolt 18, so that the bolt 18 is inserted into the hook 7, and when the bolt 18 moves to a preset position, a position switch carried by the electric propulsion cylinder 8 is triggered, so that the electric propulsion cylinder 8 is self-locked.
The guiding mechanism is a guiding conical surface 15 arranged at the capturing opening, the guiding conical surface 15 is embedded in the vehicle body, the outer side surface is flush with the vehicle body after installation, and the guiding conical surface 15 is matched with a boss at the tail end of the hook 7 and used for posture correction between the tail end active self-reconstruction carrying unit and the passive self-reconstruction carrying unit in the pulling-up stage.
The marking system is the mark of the camera 11 in the active perception system, and comprises: a body pose target 19 and a locking mechanism position target 16; a large-size center positioning label is arranged in the middle of the tail of the passive self-reconfigurable carrying unit to serve as a vehicle body pose target 19, and two passive butt joint units share one vehicle body pose target 19; mounting a small-sized tag near the capture port as a locking mechanism position target 16; this ensures that the complete imaging of the marking system in the camera 11 is ensured at a greater distance and at a lesser distance. The vehicle body pose target 19 and the locking mechanism position target 16 are marked by ARTag two-dimensional code codes by adopting a two-dimensional calibration plate.
A locking square groove is arranged at the position of the tail of the passive self-reconfigurable carrying unit corresponding to the active locking device of the head of the active self-reconfigurable carrying unit, so that locking square steel 13 in the active locking device can extend into the interior of the active locking device; a locking mechanism for locking the locking square steel 13 is arranged in the locking square groove; the locking mechanism includes: a longitudinal locking motor 9, two lateral locking motors B10 and a locking head 17; a locking head 17 is arranged at the center of the locking square groove, and the longitudinal locking motor 9 is used for driving the locking head 17 to rotate around the axis of the locking head; the two lateral locking motors B10 respectively perform lateral locking on the locking square steel 13 extending into the locking square groove from two lateral surfaces. The end part of the head part of the locking square steel 13 is provided with a locking block with an inner profile consistent with that of the locking head 17, when the head part of the locking square steel 13 extends into the locking square groove and passes through the locking head 17, the locking head 17 is driven to rotate through the longitudinal locking motor 9, the locking head 17 and the locking block are staggered at a certain angle, and the locking square steel 13 is longitudinally limited through locking between the locking head 17 and the locking block, so that the longitudinal locking of the locking square steel 13 is realized; and simultaneously, the head of the locking square steel 13 is laterally locked by two lateral locking motors B10. The longitudinal locking motor 9 and the lateral locking motor B10 are both controlled by a control unit.
When two self-reconfigurable carrying units are butted through the butting system, the two adjacent self-reconfigurable carrying units can be longitudinally butted in a laminating way and also can be butted at intervals, namely, the locking square steel 13 in the active butting unit of the butting system can be completely inserted into the locking square groove corresponding to the passive butting unit and can be partially inserted into the locking square groove corresponding to the passive butting unit; the wheelbase of the rigid chassis consisting of the two self-reconfigurable carrying units is thereby made adjustable.
The following respectively describes the active docking process and the passive docking process of the docking system comprehensively:
the active butt joint working process comprises the following steps:
the active docking process is divided into three stages, which are respectively: a capture phase, a pull-in phase, and a lock-in phase.
And (3) a capturing stage:
when the control units of the two self-reconfigurable carrying units receive the butt-joint command, the two self-reconfigurable carrying units automatically drive to carry out intersection; at this time, the camera 11 mounted on the head of the active self-reconfigurable carrying unit operates to actively recognize the vehicle body position target 19 at the center of the tail of the passive self-reconfigurable carrying unit, and to calculate the relative position deviation between the mechanical arm 4 and the capturing port corresponding to the mechanical arm in real time, where the relative position deviation includes: position deviation in six degrees of freedom of transverse direction, longitudinal direction, vertical direction, yaw, roll and pitch.
When the deviations are all located in a set range (the set range is the movement range of the mechanical arm 4), the mechanical arm 4 arranged in the vehicle body of the active self-reconstruction carrying unit is unfolded through a reserved space notch under the control of the control unit and moves to a preset moving point (namely the position of the hook 7); then the electromagnetic head at the tail end of the mechanical arm 4 is triggered to be electrified, and active adsorption on the hook 7 is completed. Preferably, the hook 7 is arranged at a dead point of the mechanical arm 4, so that the mechanical arm 4 can quickly and accurately adsorb the hook 7. When some of the deviations exceed the set range, the pose of the self-reconfigurable carrying unit can be adjusted through remote control initiative self-reconfigurable carrying units until all the deviations are within the set range.
Then, the two cameras 11 respectively identify locking mechanism position targets 16 near the corresponding guide conical surfaces 15, the control unit solves the six-degree-of-freedom deviation between the corresponding side capture target point (the intersection of the axis of the guide conical surface 15 and the axis of the bolt 18 is the capture target point) and the electromagnetic head at the tail end of the mechanical arm 4, and the length of the required guy cable 2 and the motion amount of each joint of the mechanical arm 4 are calculated according to the deviation information; then the control unit controls the winch 3 to release the inhaul cable 2 according to a certain rotating speed, and the mechanical arm 4 drives the hook 7 and the inhaul cable 2 to perform spatial movement, so that the hook 7 moves towards the capture opening.
After the mechanical arm 4 drives the hook 7 to enter the capturing port, an upper proximity switch 14 and a lower proximity switch 14 which are arranged in a pin inserting mechanism in the vehicle body of the passive self-reconfigurable carrying unit detect that the metal hook 7 reaches a capturing position, the metal hook is automatically triggered, and an electric signal is sent to the propulsion electric cylinder 8 through the control unit; the electric propulsion cylinder 8 is activated upon receiving the electric signal, pushing the latch 18 to insert the hook 7, thus completing the capture.
And (3) a pulling-in stage:
after a pushing electric cylinder 8 in the passive docking unit pushes a pushing bolt 18 to a preset length position, a bolt in-position signal is sent to a self control unit; after the passive self-reconfigurable carrying unit receives the bolt in-place signal, the bolt in-place signal is shared through a wireless communication transceiver between the active self-reconfigurable carrying unit and the passive self-reconfigurable carrying unit; enabling the control unit of the active self-reconfigurable carrying unit to receive the signal; after the control unit of the active self-reconfiguration carrying unit receives the bolt in-place signal, the electromagnetic head of the mechanical arm 4 is controlled to lose power, and the mechanical arm 4 is controlled to reset, so that the mechanical arm 4 is folded back to the initial state.
After the mechanical arm 4 is reset, the control unit controls the winch 3 to rotate to withdraw the inhaul cable 2 so as to quickly draw close the passive self-reconfigurable carrying unit; in the drawing process, the rotating speed of the left winch 3 and the rotating speed of the right winch 3 are corrected according to the numerical values of the left laser range finder 12 and the right laser range finder 12, so that the left inhaul cable and the right inhaul cable 2 can synchronously pull the passive self-reconfiguration carrying units; until the distance values detected by the two laser distance meters 12 distributed at the head of the active self-reconfigurable carrying unit reach preset values, the active self-reconfigurable carrying unit and the passive self-reconfigurable carrying unit are pulled to the right position and the butt joint surfaces are aligned.
And (3) locking:
after the laser range finder 12 judges that the active self-reconfigurable carrying unit and the passive self-reconfigurable carrying unit are drawn to the right position and the butt joint surfaces are aligned, the control unit in the active self-reconfigurable carrying unit controls the longitudinal propulsion motor 5 to start, and pushes the locking square steel 13 to move forwards, so that the locking square steel 13 extends into the locking square groove at the corresponding position of the passive self-reconfigurable carrying unit; after the head of the locking square steel 13 reaches the locking square groove and passes through the locking head 17, two corresponding lateral locking motors A6 and two lateral locking motors B10 are controlled to complete circumferential locking, meanwhile, the longitudinal locking motor 9 located in the locking square groove of the passive self-reconfigurable carrying unit drives the locking head 17 to rotate to complete longitudinal locking of the locking square steel 13, and the autonomous butt joint process is finished.
And (3) passive butt joint working process:
the passive docking process is also divided into three stages, namely a capture stage, a pull-up stage and a locking stage, and the passive docking process is different from the autonomous docking process in that an operator participates in the capture stage and the pull-up stage.
And (3) a capturing stage:
two self-reconfigurable carrying units to be butted are parked in the visual range of an operator, the operator enters a remote control mode, and the operator remotely and actively self-reconfigurable carrying units move until the relative pose deviation between the mechanical arm 4 and the corresponding capture port meets the requirement. An operator takes down the hooks 7 at the left side and the right side of the active self-reconfigurable carrying unit, and the manual traction hooks 7 are hung at the capture ports at the left side and the right side of the tail of the passive self-reconfigurable carrying unit. When the hook 7 reaches the capture point position, the upper and lower inductive proximity switches installed in the front vehicle body automatically trigger after detecting that the hook 7 approaches, and send an electric signal to the propulsion electric cylinder 8; the electric propulsion cylinder 8 is activated upon receiving the electric signal, pushing the latch 18 to insert the hook 7, thus completing the capture.
And (3) a pulling-in stage:
an operator remotely controls a winch 3 on the active self-reconfigurable carrying unit to rotate and retract the inhaul cable 2 so as to rapidly draw up the passive self-reconfigurable carrying unit.
And (3) locking:
an operator judges that the active self-reconfigurable carrying unit and the passive self-reconfigurable carrying unit are basically aligned; the locking square steel 13 of the remote control initiative self-reconstruction carrying unit is advanced, so that the locking square steel 13 extends into a locking square groove at a corresponding position of the passive self-reconstruction carrying unit, when the head of the locking square steel 13 reaches the locking square groove and passes through a locking head 17, two lateral locking motors A6 and two lateral locking motors B10 are remotely controlled to complete circumferential locking, meanwhile, a longitudinal locking motor 9 remotely located in the locking square groove of the passive self-reconstruction carrying unit drives the locking head 17 to rotate to complete longitudinal locking of the locking square steel 13, and the passive butt joint process is finished.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The active and passive switchable docking system of the self-reconfigurable carrying equipment is characterized in that the self-reconfigurable carrying equipment is formed by docking a plurality of self-reconfigurable carrying units through the docking system; the docking system includes: the docking system comprises an active docking unit and a passive docking unit;
each self-reconfiguration carrying unit is provided with the docking system; when the two self-reconfigurable carrying units are in butt joint, the active butt joint unit of one self-reconfigurable carrying unit is in butt joint with the passive butt joint unit on the other self-reconfigurable carrying unit;
the active docking unit includes: the system comprises an active sensing system, an active capturing device, a rope hanging system and an active locking device;
the passive docking unit includes: the locking device comprises a bolt mechanism, a marking system and a locking mechanism;
the active sensing system is matched with the marking system and used for sensing the relative pose between the two self-reconfigurable carrying units;
a hook in the roping system can be actively pulled by the active capturing device or manually pulled into a capturing port of the passive docking unit; the latch mechanism is used for locking the position of the hook entering the capture port;
the hanging rope system is used for pulling two self-reconfigurable carrying units to a butt joint position after the latch mechanism locks the position of the hook;
the active locking device is used for being matched with the locking mechanism to realize butt joint and locking of the two self-reconfigurable carrying units.
2. The active-passive switchable docking system of claim 1, wherein two sets of the same active docking units are symmetrically arranged in the transverse direction at the head of the self-reconfigurable carrying unit, and two sets of the same passive docking units are symmetrically arranged in the transverse direction at the tail of the self-reconfigurable carrying unit.
3. The active-passive switchable docking system for self-reconfigurable carrying equipment according to claim 1 or 2, wherein the roping system further comprises a fixed pulley, a cable and a winch installed inside the self-reconfigurable carrying unit; one end of the inhaul cable is wound on the winch, and the other end of the inhaul cable is connected with the hook backwards through the fixed pulley.
4. The active-passive switchable docking system of claim 1 or 2 wherein the active capture device is a spatial six degree-of-freedom robotic arm; the tail end of the mechanical arm is an electromagnetic head; after the electromagnetic head is electrified, the hook in the rope hanging system is magnetically attracted; and drives the hook to move.
5. The active-passive switchable docking system of claim 4 wherein the robotic arm folds inside the self-configuring carrier unit when not docked; when in butt joint, the mechanical arm is expanded to the outside of the self-reconstruction carrying unit through a space notch reserved on the self-reconstruction carrying unit under the control of the control unit; and moving to the position of the hook; then the electromagnetic head at the tail end of the mechanical arm is triggered to be powered on, and the hook in the rope hanging system is magnetically attracted.
6. The active-passive switchable docking system for self-configuring load carrying equipment as claimed in claim 1 or 2, wherein the active sensing system comprises: a camera and a laser range finder;
the marking system includes: a vehicle body pose target and a locking mechanism position target; a vehicle body pose target is arranged at the center of a passive butt joint surface of the self-reconfigurable carrying unit, and a locking mechanism position target is arranged near a capture port;
the camera acquires the relative pose between the two self-reconfigurable carrying units by identifying the vehicle body pose target; acquiring six-degree-of-freedom deviation between a capture target point and an active capture device by identifying a locking mechanism position target; the capture target point is the intersection point of the axis of the capture port and the axis of a bolt in the bolt mechanism;
the laser range finder is used for measuring the relative distance between the two self-reconfigurable carrying units.
7. The active and passive switchable docking system of self-reconfigurable carrying equipment according to claim 1 or 2, wherein the active locking device comprises more than one locking beam arranged along the longitudinal direction, and the locking beams are distributed at intervals along the transverse direction of the vehicle body;
each lock beam includes: the device comprises a locking square steel, a longitudinal pushing motor and two lateral locking motors A; the longitudinal pushing motor is used for longitudinally pushing the locking square steel to enable the head of the locking square steel to extend out or retract into the self-reconstruction carrying unit; the two lateral locking motors A are used for respectively laterally pressing the locking square steel from two side surfaces of the tail part of the locking square steel after the locking square steel extends in place;
a locking square groove for enabling the locking square steel to extend into is arranged in the passive butt joint unit on the self-reconfigurable carrying unit, and a locking mechanism for locking the locking square steel is arranged in the locking square groove;
the locking mechanism includes: the locking device comprises a longitudinal locking motor, two lateral locking motors B and a locking head; the locking head is arranged in the center of the locking square groove, and the longitudinal locking motor is used for driving the locking head to rotate around the axis of the locking head; the end part of the locking square steel head part is provided with a locking block with an inner molded surface consistent with that of the locking head, and after the locking square steel head part extends into the locking square groove and passes through the locking head, the locking head is driven to rotate through a longitudinal locking motor, so that the locking head and the locking block are locked; and the two lateral locking motors B respectively perform lateral locking on the locking square steel extending into the locking square grooves from the two lateral surfaces.
8. The active and passive switchable docking system of claim 1 or 2, wherein the latching mechanism comprises: the electric cylinder, the proximity switch and the bolt are pushed; the proximity switch is used for detecting in-place information of the hook so as to trigger the propulsion electric cylinder; the pushing electric cylinder is used for pushing the bolt to enable the bolt to be inserted into the hook.
9. The active and passive switchable docking system for self-reconfigurable carrying equipment according to claim 1 or 2, wherein a guide taper is provided at the catch opening; the guiding conical surface is matched with a boss at the tail end of the hook and used for correcting the posture between two self-reconfigurable carrying units at the tail end of the pulling-in stage.
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