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A docking method for large compartments oriented to real-time monitoring

A real-time monitoring, cabin technology, applied in metal processing equipment, metal processing, manufacturing tools, etc., can solve the problems of low quality consistency, cabin transfer, long preparation time, low efficiency, etc., to achieve realistic scenes and real-time updates The effect of docking details

Inactive Publication Date: 2021-02-09
SHANGHAI JIAOTONG 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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  • A docking method for large compartments oriented to real-time monitoring
  • A docking method for large compartments oriented to real-time monitoring
  • A docking method for large compartments oriented to real-time monitoring

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Experimental program
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Embodiment Construction

[0023]Such asfigure 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 pose 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 (Ak} The coordinates under the coordinates are:{A1} Is the coordinate system of the first cabin measurement fixture, {A2} Is the fixed coordinate system of the measurement tooling for the second compartment. ToIs the X axis,Is the Z axis,The coordinate system of the measuring point that is the origin {Sk} In {AkThe pose in} isAssumethen:Measuring tool {Ak}In the measuring point coordinate system {Sk} The pose is

[0026]1.2) According to the survey tooling and cabin installation drawings, define t...

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Abstract

A docking method for large cabins oriented to real-time monitoring, first in the preparation stage: define entity pose information, input accuracy information, establish a collision detection model between the pin body and the hole surface; after completing the docking preparations, proceed to the docking process, the process In the system, the entity pose is updated according to real-time sensors and equipment motion data, and the track segment for docking, attitude adjustment outside the pin-hole, and pin-hole docking are searched based on the real-time pose information. The present invention adopts the common rail transfer series bracket type frame car in the docking workshop, cooperates with large-scale digital measurement technology, realizes closed-loop control through online monitoring, and completes the docking according to the process of finding the docking track section, adjusting the posture outside the pin hole, and pin hole docking, which is obvious Improve the docking efficiency and quality consistency of large cabins.

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 likefigure 1 Shown: the cabin section is a cylindrical structure, and the product is composed of multiple sections. The sections are positioned by positioning pins, and the final connection is achieved through 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 final a...

Claims

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Application Information

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