Large-scale cabin section butt joint method oriented in real-time monitoring

A real-time monitoring and cabin technology, applied in metal processing, metal processing equipment, hand-held tools, etc., can solve the problems of low quality consistency, cabin transfer, long preparation time, shortened docking time, etc., to achieve realistic scenes 、Real-time update the effect of docking details

Inactive Publication Date: 2020-10-09
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The track is laid in the traditional workshop, and the attitude-adjusting frame car is transferred to the docking position through the track, and then the docking is completed through manual coordination and manual adjustment of the frame car, which is inefficient and low in quality consistency
Existing solutions are usually to design complex high-precision parallel attitude adjustment equipment to realize automatic docking, but the parallel attitude adjustment equipment is large in size, and the docking time is shortened when multiple dockings are performed in the above scenario, but the cabin transfer and preparation time is relatively long. long

Method used

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  • Large-scale cabin section butt joint method oriented in real-time monitoring
  • Large-scale cabin section butt joint method oriented in real-time monitoring
  • Large-scale cabin section butt joint method oriented in real-time monitoring

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Experimental program
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Embodiment Construction

[0023] Such as figure 2 As shown, this embodiment specifically includes the following steps:

[0024] Step 1. Define the entity pose information, including the pose of the measuring tool in the measuring point coordinate system, the pose of the cabin under the measuring tool, the movement model of the posture adjustment equipment, and the ideal docking of the first cabin relative to the second cabin. ,Specifically:

[0025] 1.1) Set the position sensor in the fixed coordinate system of each measuring tool (A k } The coordinates under the coordinates are: {A 1 } Is the coordinate system of the first cabin measurement fixture, {A 2 } Is the fixed coordinate system of the measurement tooling for the second compartment. To Is the X axis, Is the Z axis, The coordinate system of the measuring point that is the origin {S k } In {A k } In the pose is Assume then: Measuring tool {A k }In the measuring point coordinate system {S k } The pose is

[0026] 1.2) According to the survey...

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Abstract

The invention provides a large-scale cabin section butt joint method oriented in real-time monitoring. The method comprises the following steps: 1, physical pose information is defined, precision information is input, and a collision detection model of a pin body and a hole surface is established; and 2, after the butt joint preparation is completed, a butt joint process is performed, a physicalpose is updated according to real-time sensor and device motion data in the process, a butt joint track section is searched based on the real-time pose information, the pose is adjusted outside the pin hole, and the pin hole is docked. According to the method, a common rail transit series bracket frame car which is docked with a workshop is adopted, the large-size digital measurement technology ismatched, closed-loop control is achieved through online monitoring, and butt joint is completed according to the process of finding the butt joint track section, adjusting the pose outside the pin hole and carrying out butt joint with the pin hole, so that the butt joint efficiency and quality consistency of a large cabin section are obviously improved.

Description

Technical field [0001] The invention relates to a technology in the field of spacecraft manufacturing, in particular to a large-scale cabin docking method for real-time monitoring. Background technique [0002] The docking process is like figure 1 Shown: The cabin section is a cylindrical structure, and the product is composed of multiple sections. Each section is positioned by positioning pins, and the final connection is realized by bolts or studs after completion of the docking. During the docking process, the cabin section is installed on the attitude adjustment equipment, and the attitude adjustment equipment adjusts the attitude of the cabin section so that the positioning pin matches the positioning hole to the required position of the assembly design. [0003] At present, the rocket assembly adopts the production mode of "multiple models in parallel, single piece and small batch", and the entire assembly process is carried out in one station. As a core part of the rocket's...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23P19/00B25B27/00
CPCB23P19/00B25B27/00
Inventor 武殿梁张入元黄顺舟
Owner SHANGHAI JIAO TONG UNIV
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