Self-adaption flexible assembling and correcting system based on self balance

Abstract

A self-balancing self-adaptive flexible alignment system, which includes a Z-direction motion mechanism, a pitch α motion mechanism, a roll γ motion mechanism, a yaw β motion mechanism, and an X-direction motion mechanism connected in series. mechanism and a Y-direction motion mechanism, so that the six degrees of freedom of the self-balancing adaptive flexible alignment system can be independently controlled and driven independently, which can avoid multiple solutions and errors caused by mutual coupling of each degree of freedom, thereby improving The response speed and motion precision of the self-balancing self-adaptive flexible fitting system.

Description

technical field [0001] The invention relates to a flexible alignment system for docking modules, belonging to the field of alignment of docking modules, in particular to an self-balancing self-adaptive flexible alignment system. Background technique [0002] Space assembly and calibration docking technology has been widely used in modern industry, defense industry, and aerospace industry. Ensuring the docking quality and work efficiency of the assembly and calibration process is the key to this technology. Due to the different shapes and sizes of the docking parts, various interferences are also encountered during the assembly and docking process, which makes the pose of the docking parts inaccurate and seriously affects the quality of the assembly and calibration. It is necessary to adjust the pose of the docking parts in real time. If manual intervention is used, the cost will be greatly increased, time-consuming and labor-intensive, and the quality of installation and cal...

AI Technical Summary

Problems solved by technology

Due to the different shapes and sizes of the docking parts, various interferences are also encountered during the assembly and docking process, which makes the pose of the docking parts inaccurate and seriously affects the quality of the assembly and calibration. It is necessary to adjust the pose of the docking parts in real time

If manual intervention is used, the cost will be greatly increased, time-consuming and labor-intensive, and the quality of installation and calibration cannot be well guaranteed

Most of the existing multi-degree-of-freedom alignment systems are complex in structure and high in cost, and cannot meet the requirements of large-scale promotion of automatic and precise alignment systems. Therefore, a self-balancing self-adaptive flexible alignment system with simple structure is proposed. During the installation and calibration process, the position and posture of the docking parts can be continuously detected in real time, and the x, y direction movement of the control platform can ensure the vertical rise of the docking parts to achieve precise installation

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