The invention discloses an automatic filling robot structure of a carrier rocket. The automatic filling robot structure comprises a supporting base, a guide rail sliding block mechanism, a ball screw nut mechanism, a pneumatic lifting device, a connecting and anti-overturning mechanism, a pipeline mechanical arm device, a laser radar device and a feeding and discharging connector. The pipeline mechanical arm device comprises four pipeline mechanical arms, four rotary joints and four mechanical arm motor gear transmission devices; the feeding and discharging connector comprises a locking piece, a locking piece driving cylinder, an end cover, an end cover driving cylinder, a non-contact travel switch and a guide cone; the supporting base is fixed to the wall of a rocket tower, and the guide rail sliding block mechanism and the ball screw nut mechanism are installed on the supporting base; the pneumatic lifting device is placed on a rocket tower floor, the feeding and discharging connector is installed at the upper end of the pipeline mechanical arm device, the position and posture adjustment of the feeding and discharging connector is achieved through the pipeline mechanical arm device, the feeding and discharging connector is in butt joint with a rocket body connector, and then filling is conducted after the feeding and discharging connector is locked through the locking piece. Intelligent filling can be achieved.
本发明公开了一种运载火箭自动加注机器人结构。包括支撑座、导轨滑块机构、滚珠丝杠螺母机构、气动托举装置、连接与抗倾覆机构、管道机械臂装置、激光雷达装置和加泄连接器;管道机械臂装置包括四个管道机械臂、四个回转接头和四个机械臂电机齿轮传动装置;加泄连接器包括锁紧件、锁紧件驱动气缸、端盖、端盖驱动气缸、非接触式行程开关和导向锥;支撑座固定在火箭塔架壁上,导轨滑块机构和滚珠丝杠螺母机构安装于支撑座上;气动托举装置放置在火箭塔架地板上,管道机械臂装置的上端安装加泄连接器,通过管道机械臂装置实现加泄连接器的位姿调整,将加泄连接器与火箭箭体连接头对接,再由锁紧件锁紧后进行加注。本发明能实现智能加注。
Automatic filling robot structure of carrier rocket
一种运载火箭自动加注机器人结构
2021-06-25
Patent
Electronic Resource
Chinese
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