Method and system for automatic adjustment of pose of large flexible assembly docking components of launch vehicle

Abstract

The application provides a launch vehicle flexible assembly docking large component pose automatic adjustment method and system, including the following steps: S1: constructing a coordinate system; the coordinate system comprises a ground reference coordinate system O-XYZ and a vehicle support coordinate system O'-X'Y'Z'; the vehicle support supports a launch vehicle cylinder segment, and the vehicle support comprises a first vehicle support, a second vehicle support, a third vehicle support and a fourth vehicle support which are of the same structure; S2: adjusting the cylinder segment to complete the docking of different cylinder segments. The application adopts two groups of four-degree-of-freedom vehicle supports to cooperate to realize six-degree-of-freedom movement of the cylinder segment, measures the pose difference between the rocket cylinder segment and the ground reference by using a large-range space pose measurement system, calculates the adjustment amount of the vehicle support according to an absolute coordinate method and a relative coordinate method and drives the vehicle support to move, completes the adjustment of the pitch, yaw and roll attitude of the cylinder segment and realizes the automatic splicing process; the calculation formula of the adjustment amount is simple, so that the calculation is convenient and fast and has high practicability.

Description

Technical Field

[0001] This invention relates to the field of launch vehicle assembly and docking, specifically to a method and system for automatic adjustment of the position and attitude of large components in flexible launch vehicle assembly and docking. Background Technology

[0002] With the development of aerospace technology, launch vehicles, as the main launch vehicles for satellites and other spacecraft, are facing increasingly higher demands in terms of both quantity and quality. Launch vehicle assembly is a complex assembly problem. The docking and assembly of large sections relies on manual coordination and command. Humans are both the core element of docking technology and the implementers, which can easily lead to problems such as difficulty in controlling quality consistency, low assembly efficiency, and difficulties in data acquisition and process tracking.

[0003] Chinese patent document CN113798842A discloses an automatic oblique docking assembly system for large cylindrical components. The system involves a clamp mounted on the outer surface of the large cylindrical component, which is placed on a trolley for rolling assembly in a horizontal position. A fixed-side trolley supports and adjusts the attitude of the passive-side cylindrical component. A movable-side trolley supports and adjusts the interpolation docking attitude of the active docking portion of the large cylindrical component. A monitoring unit acquires the interpolation docking information of the movable-side trolley based on the relative positions of the passive-side cylindrical component on the fixed-side trolley and the active docking portion of the large cylindrical component on the movable-side trolley. An electronic control unit controls the initial attitude adjustment of the fixed-side trolley and adjusts the interpolation docking attitude of the movable-side trolley based on the interpolation docking information from the monitoring unit, thus completing the docking assembly of the large cylindrical component. While this patent document achieves automatic interpolation docking of variable-angle oblique guide tubes, it does not significantly improve efficiency and therefore fails to solve the aforementioned problems.

[0004] Chinese patent document CN115741073A discloses a method for adjusting the pose of a large structural component based on locators. This method involves: first, measuring the measured coordinates of a reference point and the target coordinates on the large structural component; calculating the pose difference between the current spatial pose and the target pose of the large structural component based on the reference point measurement data; calculating the adjustment amount for three locators based on the pose difference and driving the locators to adjust their movement; then, measuring the measured coordinates of the reference point and the target coordinates on the large structural component again; calculating the position difference between the current spatial position and the target position of the large structural component based on the reference point measurement data; and driving the three locators to move based on this position difference, causing the reference point to move to the target position. While this patent document is easy to implement, data tracking remains difficult, thus failing to solve the aforementioned problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for automatically adjusting the attitude of large components during flexible assembly and docking of launch vehicles.

[0006] The present invention provides a method for automatic attitude adjustment of large components in flexible assembly docking of a launch vehicle, comprising:

[0007] Step S1: Construct a coordinate system;

[0008] The coordinate system includes the ground reference coordinate system O-XYZ and the vehicle coordinate system O′-X′Y′Z′;

[0009] The carrier supports the rocket launcher section, and the carrier includes a first carrier, a second carrier, a third carrier, and a fourth carrier with identical structures;

[0010] Step S2: Adjust the cylinder sections to complete the connection of different cylinder sections.

[0011] Preferably, the ground reference coordinate system O-XYZ is constructed using a spatial pose measurement system, and the ground reference coordinate system O-XYZ serves as a reference for automatic docking of different cylinder sections; the steps for constructing the ground reference coordinate system O-XYZ include:

[0012] Step N1: Select a point on the ground along the track as the origin O of the reference coordinate system;

[0013] Step N2: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, move the vehicle along the X′ direction according to the spatial pose measurement system, measure a series of points by scanning, and fit a straight line as the OX direction of the reference coordinate system;

[0014] Step N3: Move the vehicle along the Y′ direction of the vehicle coordinate system and measure a point C in this direction as a point in the reference coordinate system OXY plane;

[0015] Step N4: Determine the Z direction of the reference coordinate system according to the right-hand rule;

[0016] Step N5: Select the origin O, a point B in the X direction, and a point C in the OXY plane to complete the construction of the ground reference coordinate system O-XYZ.

[0017] Preferably, step S2 includes the following sub-steps:

[0018] Step S2.1: Adjust the levelness of the cylindrical section component with the vehicle frame coordinate system O′-X′Y′Z′ as a reference, and perform detection according to the spatial pose measurement system;

[0019] Step S2.2: Adjust the attitude of the cylinder segment according to the absolute coordinate method; the attitude includes pitch, yaw and roll;

[0020] Step S2.3: Adjust the displacement of different cylinder sections according to the relative coordinate method to complete the docking of different cylinder sections.

[0021] Preferably, the first and third vehicles are respectively positioned at both ends of the same rocket launcher section; the second and fourth vehicles are respectively positioned at both ends of another rocket launcher section; the first and second vehicles have three-dimensional degrees of freedom of movement along the X-axis of the guide rail, and perpendicular to the Y and Z-axis of the guide rail, as well as rotational degrees of freedom about the X-axis; the X-axis is located at the top of the vehicle and at the connection point between the vehicle and the large component clamp of the rocket launcher section; the third and fourth vehicles retain only the drive components in the Y and Z directions, and the transmission in the X direction relies on the clamp to transmit power; one rocket launcher section achieves six degrees of freedom of movement in space through the cooperation of the first and third vehicles, and another rocket launcher section achieves six degrees of freedom of movement in space through the cooperation of the second and fourth vehicles; the six degrees of freedom of the rocket launcher section are achieved through the X-axis of the first or second vehicle. X-axis movement is achieved by motor motion; Y-axis movement is achieved by synchronous movement of the Y-axis motors of the first and third vehicles, or by synchronous movement of the Y-axis motors of the second and fourth vehicles; Z-axis movement is achieved by synchronous movement of the Z-axis motors of the first and third vehicles, or by synchronous movement of the Z-axis motors of the second and fourth vehicles; X-axis roll is achieved by the first or second vehicle driving and the third or fourth vehicle following; Y-axis rotation is achieved by the first and third vehicles moving at different displacements in the Z-axis direction, or by the second and fourth vehicles moving at different displacements in the Z-axis direction, thus completing pitch attitude adjustment; Y-axis rotation is achieved by the first and third vehicles moving at different displacements in the Y-axis direction, or by the second and fourth vehicles moving at different displacements in the Y-axis direction, thus completing yaw attitude adjustment.

[0022] Preferably, step S2.1 includes the following sub-steps:

[0023] Step S2.1.1: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, adjust the Y and Z coordinates of the first and third vehicles to be equal, or adjust the Y and Z coordinates of the second and fourth vehicles to be equal.

[0024] Step S2.1.2: Use a spatial pose measurement system to measure the docking end faces of two different cylinder sections respectively. By measuring the points on the docking end faces, two planes are fitted and constructed. Calculate the included angle between the two planes and the included angle between the planes and the OX axis. Check the parallelism of the docking end faces of the two cylinder sections and their perpendicularity to the OX axis respectively.

[0025] Step S2.1.3: Use a spatial pose measurement system to check whether the two different cylinder sections maintain a straight line along the X′ direction of the vehicle frame.

[0026] Preferably, the pitch attitude adjustment includes measuring the angle α between the current docking end face of the cylinder segment and the reference coordinate system OXY plane based on the two constructed planes; and calculating the vertical adjustment amount δZ of ​​the cylinder segment using the support length L1 of the first and third cars, or the support length L2 of the second and fourth cars. i ,and:

[0027]

[0028] When α ≥ 90°, the first or fourth car adjusts 0.5δZ in the -Z′ direction. i The third or second car adjusts 0.5δZ in the +Z′ direction. i When α < 90°, the first or fourth car adjusts 0.5δZ in the +Z′ direction. i The third or second car adjusts 0.5δZ in the -Z′ direction. i .

[0029] Preferably, the yaw attitude adjustment includes measuring the angle β between the current docking end face of the cylinder segment and the reference coordinate system OXZ plane based on the two constructed planes; and calculating the left and right adjustment amount δY of the cylinder segment using the support length L1 of the first car and the third car, or the support length L2 of the second car and the fourth car. i ,and:

[0030]

[0031] When β≥90°, the first or fourth car adjusts towards -Y′, and the third or second car adjusts towards +Y′; when β<90°, the first or fourth car adjusts towards +Y′, and the third or second car adjusts towards -Y′.

[0032] Preferably, the adjustment of the rolling attitude includes measuring points on the current docking end face of different cylinder segments respectively, fitting the center C1 and C2 of the circle formed by the measured points, constructing a straight line equation between the center C1 of one cylinder segment and any point, constructing a straight line equation between the center C2 of another cylinder segment and the point corresponding to that arbitrary point, calculating the included angle γ of the two straight lines, so that one of the cylinder segments rolls by the corresponding angle; the number of points on the end face is not less than three.

[0033] Preferably, step S2.3 includes calculating the difference in coordinates ΔY and ΔZ of the circle centers based on the obtained circle centers C1 and C2:

[0034]

[0035]

[0036] in, These are the Y and Z coordinates of the fitted circle center C1, respectively; These are the Y-coordinates of the fitted circle center C2;

[0037] The first and third cars move ΔY along the Y direction and ΔZ along the Z direction, or the second and fourth cars move ΔY along the Y direction and ΔZ along the Z direction, to complete the adjustment of the relative displacement of the two cylinder sections;

[0038] The docking of the different cylindrical sections is achieved by calculating the difference ΔX between the coordinates of the two center points C1 and C2, and then moving the first and third vehicles along the X direction by ΔX, or the second and fourth vehicles along the X direction by ΔX.

[0039]

[0040] in, These are the X-coordinates of the fitted circle centers C1 and C2, respectively.

[0041] An automatic attitude adjustment system for large components in flexible assembly docking of a launch vehicle, provided by the present invention, includes:

[0042] Module M1: Constructs a coordinate system;

[0043] The coordinate system includes the ground reference coordinate system O-XYZ and the vehicle coordinate system O′-X′Y′Z′;

[0044] The carrier supports the rocket launcher section, and the carrier includes a first carrier, a second carrier, a third carrier, and a fourth carrier with identical structures;

[0045] Module M2: Adjust the cylinder section to complete the docking of different cylinder sections.

[0046] Preferably, the ground reference coordinate system O-XYZ is constructed through a spatial pose measurement system, and the ground reference coordinate system O-XYZ serves as a reference for automatic docking of different cylinder sections; the construction module of the ground reference coordinate system O-XYZ includes:

[0047] Module Q1: Select a point on the ground along the track as the origin O of the reference coordinate system;

[0048] Module Q2: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, the vehicle is moved along the X′ direction according to the spatial pose measurement system. A series of points are measured by scanning, and a straight line is fitted as the OX direction of the reference coordinate system.

[0049] Module Q3: Move the vehicle along the Y′ direction of the vehicle coordinate system and measure a point C in this direction as a point in the reference coordinate system OXY plane;

[0050] Module Q4: Determine the Z direction of the reference coordinate system according to the right-hand rule;

[0051] Module Q5: Select the origin O, a point B in the X direction, and a point C in the OXY plane to complete the construction of the ground reference coordinate system O-XYZ.

[0052] Preferably, module M2 includes the following sub-modules:

[0053] Module M2.1: Adjusts the levelness of the cylindrical section component with the vehicle frame coordinate system O′-X′Y′Z′ as a reference, and detects it according to the spatial pose measurement system;

[0054] Module M2.2: Adjusts the attitude of the cylinder segment using an absolute coordinate method; the attitude includes pitch, yaw, and roll.

[0055] Module M2.3: Adjusts the displacement of different cylinder sections according to the relative coordinate method to complete the docking of different cylinder sections.

[0056] Preferably, the first and third vehicles are respectively positioned at both ends of the same rocket launcher section; the second and fourth vehicles are respectively positioned at both ends of another rocket launcher section; the first and second vehicles have three-dimensional degrees of freedom of movement along the X-axis of the guide rail, and perpendicular to the Y and Z-axis of the guide rail, as well as rotational degrees of freedom about the X-axis; the X-axis is located at the top of the vehicle and at the connection point between the vehicle and the large component clamp of the rocket launcher section; the third and fourth vehicles retain only the drive components in the Y and Z directions, and the transmission in the X direction relies on the clamp to transmit power; one rocket launcher section achieves six degrees of freedom of movement in space through the cooperation of the first and third vehicles, and another rocket launcher section achieves six degrees of freedom of movement in space through the cooperation of the second and fourth vehicles; the six degrees of freedom of the rocket launcher section are achieved through the X-axis of the first or second vehicle. X-axis movement is achieved by motor motion; Y-axis movement is achieved by synchronous movement of the Y-axis motors of the first and third vehicles, or by synchronous movement of the Y-axis motors of the second and fourth vehicles; Z-axis movement is achieved by synchronous movement of the Z-axis motors of the first and third vehicles, or by synchronous movement of the Z-axis motors of the second and fourth vehicles; X-axis roll is achieved by the first or second vehicle driving and the third or fourth vehicle following; Y-axis rotation is achieved by the first and third vehicles moving at different displacements in the Z-axis direction, or by the second and fourth vehicles moving at different displacements in the Z-axis direction, thus completing pitch attitude adjustment; Y-axis rotation is achieved by the first and third vehicles moving at different displacements in the Y-axis direction, or by the second and fourth vehicles moving at different displacements in the Y-axis direction, thus completing yaw attitude adjustment.

[0057] Preferably, module M2.1 includes the following sub-modules:

[0058] Module M2.1.1: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, adjust the Y and Z coordinates of the first and third vehicles to be equal, or adjust the Y and Z coordinates of the second and fourth vehicles to be equal;

[0059] Module M2.1.2: A spatial pose measurement system is used to measure the docking end faces of two different cylinder sections. By measuring the points on the docking end faces, two planes are fitted and constructed. The included angle between the two planes and the included angle between the planes and the OX axis are calculated. The parallelism of the docking end faces of the two cylinder sections and their perpendicularity to the OX axis are checked.

[0060] Module M2.1.3: Uses a spatial pose measurement system to verify whether two different cylinder sections maintain a straight line along the X′ direction of the vehicle frame.

[0061] Preferably, the pitch attitude adjustment includes measuring the angle α between the current docking end face of the cylinder segment and the reference coordinate system OXY plane based on the two constructed planes; and calculating the vertical adjustment amount δZ of ​​the cylinder segment using the support length L1 of the first and third cars, or the support length L2 of the second and fourth cars. i ,and:

[0062]

[0063] When α ≥ 90°, the first or fourth car adjusts 0.5δZ in the -Z′ direction. i The third or second car adjusts 0.5δZ in the +Z′ direction. i When α < 90°, the first or fourth car adjusts 0.5δZ in the +Z′ direction. i The third or second car adjusts 0.5δZ in the -Z′ direction. i .

[0064] Preferably, the yaw attitude adjustment includes measuring the angle β between the current docking end face of the cylinder segment and the reference coordinate system OXZ plane based on the two constructed planes; and calculating the left and right adjustment amount δY of the cylinder segment using the support length L1 of the first car and the third car, or the support length L2 of the second car and the fourth car. i ,and:

[0065]

[0066] When β≥90°, the first or fourth car adjusts towards -Y′, and the third or second car adjusts towards +Y′; when β<90°, the first or fourth car adjusts towards +Y′, and the third or second car adjusts towards -Y′.

[0067] Preferably, the adjustment of the rolling attitude includes measuring points on the current docking end face of different cylinder segments respectively, fitting the center C1 and C2 of the circle formed by the measured points, constructing a straight line equation between the center C1 of one cylinder segment and any point, constructing a straight line equation between the center C2 of another cylinder segment and the point corresponding to that arbitrary point, calculating the included angle γ of the two straight lines, so that one of the cylinder segments rolls by the corresponding angle; the number of points on the end face is not less than three.

[0068] Preferably, module M2.3 includes calculating the difference in coordinates ΔY and ΔZ of the circle center based on the obtained circle center C1 and C2:

[0069]

[0070]

[0071] in, These are the Y and Z coordinates of the fitted circle center C1, respectively; These are the Y-coordinates of the fitted circle center C2;

[0072] The first and third cars move ΔY along the Y direction and ΔZ along the Z direction, or the second and fourth cars move ΔY along the Y direction and ΔZ along the Z direction, to complete the adjustment of the relative displacement of the two cylinder sections;

[0073] The docking of the different cylindrical sections is achieved by calculating the difference ΔX between the coordinates of the two center points C1 and C2, and then moving the first and third vehicles along the X direction by ΔX, or the second and fourth vehicles along the X direction by ΔX.

[0074]

[0075] in, These are the X-coordinates of the fitted circle centers C1 and C2, respectively.

[0076] Compared with the prior art, the present invention has the following beneficial effects:

[0077] 1. This invention employs two sets of four-degree-of-freedom trolleys to achieve six-degree-of-freedom motion of the rocket tube segment. A large-scale spatial attitude measurement system is used to measure the attitude difference between the rocket tube segment and the ground reference. The adjustment amount of the trolley is calculated based on the absolute coordinate method and the relative coordinate method, and the trolley is driven to move, completing the adjustment of the pitch, yaw and roll attitude of the tube segment, realizing the automated splicing process. The calculation formula of the adjustment amount is simple, making the calculation convenient and fast, and has high practicality.

[0078] 2. This invention solves the problems of poor assembly quality consistency, low automation level, and large personnel requirements in the current process, making the docking process fully automated, reducing the time for manual judgment of whether the posture and position are aligned, reducing the intensity of manual labor, and greatly improving assembly and docking efficiency.

[0079] 3. In view of the current production characteristics and actual needs of launch vehicle stage docking assembly, this invention has developed an automated assembly trolley system. The trolley is used to support the launch vehicle tube section and can complete the adjustment of the tube section pitch, yaw and roll attitude. It can be widely used in the field of launch vehicle final assembly docking.

[0080] Other beneficial effects of the present invention will be explained in detail through the introduction of specific technical features and technical solutions in specific embodiments. Those skilled in the art should be able to understand the beneficial technical effects brought about by these technical features and technical solutions through the introduction of these technical features and technical solutions. Attached Figure Description

[0081] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0082] Figure 1 This is a flowchart of the method of the present invention.

[0083] Figure 2 This is a schematic diagram showing the placement of the launch vehicle assembly rack in an embodiment of the present invention.

[0084] Figure 3 This is a schematic diagram of the four degrees of freedom of the launch vehicle assembly frame in an embodiment of the present invention.

[0085] Figure 4 This is a schematic diagram of the ground reference coordinate system provided in an embodiment of the present invention.

[0086] Figure 5 This is a schematic diagram of pitch attitude adjustment provided in an embodiment of the present invention.

[0087] Figure 6 This is a schematic diagram of yaw attitude adjustment provided in an embodiment of the present invention.

[0088] Explanation of reference numerals in the attached figures:

[0089] Left side section 1, left side mating surface 4

[0090] Right side section 2, right side mating surface 5

[0091] Carriage 3 Detailed Implementation

[0092] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0093] Reference Figure 1 and Figure 4 As shown, a method for automatic attitude adjustment of large components in flexible assembly docking of a launch vehicle includes:

[0094] First, a ground reference coordinate system (O-XYZ) is constructed using a large-scale spatial pose measurement system as a reference for subsequent automatic docking.

[0095] The method for constructing the ground reference coordinate system (O-XYZ) is as follows:

[0096] (1) Select a point on the ground along the track as the origin O of the reference coordinate system;

[0097] (2) Using the vehicle's own coordinate system (O′-X′Y′Z′) as a reference, the vehicle is moved along the X′ direction using a large-scale spatial pose measurement system. A series of points are measured by scanning, and a straight line is fitted as the OX direction of the reference coordinate system.

[0098] (3) Move the vehicle along the Y′ direction of the vehicle 3 coordinate system and measure a point C in this direction as a point in the reference coordinate system OXY plane;

[0099] (4) Determine the Z direction of the reference coordinate system according to the right-hand rule;

[0100] (5) Select the origin O, a point B in the X direction, and a point C in the OXY plane to construct a ground reference coordinate system (O-XYZ).

[0101] Next, using the self-coordinate system (O′-X′Y′Z′) of the support vehicle 3 for the large rocket launcher section as a reference, the levelness of the large rocket launcher section is roughly adjusted by the motor movement of the support vehicle 3, and then detected by the measurement points of the spatial pose measurement system.

[0102] The specific steps are as follows:

[0103] (1) Using the coordinate system (O′-X′Y′Z′) of the vehicle 3 itself as a reference, adjust the Y and Z coordinates of vehicle A1 and vehicle B1 (or vehicle A2 and vehicle B2) respectively so that they are equal;

[0104] (2) A large-scale spatial pose measurement system was used to measure the docking end faces of the left cylindrical segment 1 and the right cylindrical segment 2 respectively. By measuring points (no less than three points) on the docking end faces, two planes (such as Plane_e) were fitted and constructed. 11 e 12 e 13 Plane_e 21 e 22 e 23 ), calculate the included angle between the two planes and the included angle between the plane and the OX axis, and check the parallelism of the two cylinder section end faces and their perpendicularity to the OX axis respectively;

[0105] (3) Use a large-scale spatial pose measurement system to check whether the left cylindrical section 1 and the right cylindrical section 2 maintain a straight line along the X′ direction of the vehicle frame.

[0106] Reference Figure 2 As shown, the support vehicle 3 is used to support the launch vehicle tube section, including the A1 support vehicle (first support vehicle), A2 support vehicle (second support vehicle), B1 support vehicle (third support vehicle), and B2 support vehicle (fourth support vehicle) with the same structure; the A1 support vehicle and the B1 support vehicle are respectively set at both ends of the left tube section 1, and the A2 support vehicle and the B2 support vehicle are respectively set at both ends of the right tube section 2.

[0107] Reference Figure 3 As shown, A1 and A2 frame cars have three-dimensional translational degrees of freedom along the X direction of the guide rail, the Y direction perpendicular to the guide rail, and the Z direction, as well as rotational degrees of freedom around the X axis (located at the top of the frame car, where it connects with the large component of the cylindrical section). B1 and B2 frame cars only retain the drive parts in the Y and Z directions, and the transmission in the X direction relies on the clamp to transmit power. The left cylindrical section 1 achieves six degrees of freedom spatial motion through the cooperation of A1 and B1 frame cars, and the right cylindrical section 2 achieves six degrees of freedom spatial motion through the cooperation of A2 and B2 frame cars.

[0108] The six degrees of freedom motion of the cylinder segment is achieved in the following way:

[0109] (1) X-direction movement: The motor of vehicle A1 (or vehicle A2) moves in the X direction;

[0110] (2) Y-direction movement: The Y-direction motors of vehicles A1 and B1 (or vehicles A2 and B2) move synchronously;

[0111] (3) Z-direction movement: The Z-direction motors of vehicles A1 and B1 (or vehicles A2 and B2) move synchronously;

[0112] (4) Roll around the X-axis: A1 car (or A2 car) drives, B1 car (or B2 car) follows;

[0113] (5) Rotation (pitch) around the Y-axis: Cars A1 and B1 (or A2 and B2) move with different displacements in the Z-axis direction;

[0114] (6) Rotation around the Z-axis (yaw): Cars A1 and B1 (or A2 and B2) move with different displacements in the Y-axis direction.

[0115] Then, the pitch, yaw, and roll attitudes of the tube section are precisely adjusted using the absolute coordinate method.

[0116] Reference Figure 5 As shown, the precise adjustment method for the pitch attitude of the cylinder section is as follows:

[0117] (1) Based on the two constructed planes, measure the angle α between the current docking end face of the cylinder segment and the reference coordinate system OXY plane;

[0118] (2) Calculate the vertical adjustment δZ of ​​the cylinder section using the support length L1 (or L2) of the two frame cars A1 and B1 (or A2 and B2). i The specific relationship is as follows:

[0119]

[0120] (3) When α≥90°, A1 (or B2) is adjusted by 0.5δZ in the -Z′ direction. i B1 (or A2) is adjusted by 0.5δZ in the +Z′ direction. i When α < 90°, A1 (or B2) is adjusted by 0.5δZ in the +Z′ direction. i B1 (or A2) is adjusted by 0.5δZ in the -Z′ direction. i This allows for precise adjustment of the pitch attitude of the tube section.

[0121] Reference Figure 6 As shown, the precise adjustment method for the yaw attitude of the cylinder section is as follows:

[0122] (1) Based on the two constructed planes, measure the angle β between the current docking end face of the cylinder section and the reference coordinate system OXZ plane;

[0123] (2) Calculate the left and right adjustment amount δY of the cylinder section using the support length L1 (or L2) of the two frame cars A1 and B1 (or A2 and B2). i The specific relationship is as follows:

[0124]

[0125] (3) When β≥90°, A1 (or B2) is adjusted in the -Y′ direction and B1 (or A2) is adjusted in the +Y′ direction; when β<90°, A1 (or B2) is adjusted in the +Y′ direction and B1 (or A2) is adjusted in the -Y′ direction, thus completing the precise adjustment of the yaw attitude of the cylinder section.

[0126] The precise adjustment method for the rolling attitude of the cylinder section is as follows:

[0127] (1) For each of the left and right side cylinder sections, measure the points on the current docking end face (no less than three points, such as e). 11 e 12 e 13 (e 21 e 22 e 23 The center of the circle formed by the fitted measurement points is C1 (or C2).

[0128] (2) Construct the equation of the line between the center C1 of the left cylindrical segment 1 and any point, and then construct the equation of the line between the center C2 of the right cylindrical segment 2 and the point corresponding to that arbitrary point. Calculate the angle γ between the two lines.

[0129] (3) Roll the left section 1 (or the right section 2) at the corresponding angle to complete the precise adjustment of the rolling posture of the section.

[0130] Next, the displacements of the two cylinder sections are precisely adjusted using the relative coordinate method:

[0131] (1) Based on the obtained center C1 (or C2), calculate the difference in the coordinates of the center ΔY and ΔZ, specifically as follows:

[0132]

[0133]

[0134] in, These are the Y and Z coordinates of the fitted circle center C1, respectively; These are the Y-coordinates of the fitted circle center C2;

[0135] (2) The gantry assembly (A1, B1 or A2, B2) moves ΔY along the Y direction and ΔZ along the Z direction to complete the precise adjustment of the relative displacement of the two cylinder sections.

[0136] Finally, the difference ΔX between the coordinates of the two center points is calculated. The jacking assembly (A1, B1 or A2, B2) moves ΔX along the X direction to achieve the docking process of the cylinder segment.

[0137]

[0138] in, These are the X-coordinates of the fitted circle centers C1 and C2, respectively.

[0139] This invention employs two sets of four-degree-of-freedom trolleys to achieve six-degree-of-freedom motion of the rocket tube segment. A large-scale spatial attitude measurement system is used to measure the attitude difference between the rocket tube segment and the ground reference. The adjustment amount of the trolley is calculated using absolute and relative coordinate methods, and the trolley is driven to move, completing the adjustment of the tube segment's pitch, yaw, and roll attitudes, thus achieving an automated splicing process. The calculation formula for the adjustment amount is simple, making the calculation convenient and quick, and possessing high practicality.

[0140] The above are basic embodiments of the present invention. The technical solution of the present invention will be further described below through a preferred embodiment.

[0141] Example 1

[0142] Reference Figure 1 As shown, a ground reference coordinate system (O-XYZ) is first constructed using a laser tracker, which serves as the reference for subsequent automatic docking.

[0143] Reference Figure 4 As shown, in this embodiment, a point on the ground along the track is selected as the origin O of the reference coordinate system; with the coordinate system of the vehicle 3 itself (O′-X′Y′Z′) as a reference, a target ball is pasted on the vehicle 3, and the A1 and B1 vehicles and the left cylindrical section 1 are moved along the X′ direction by a certain distance (e.g., more than 400mm). A set of points are obtained by scanning and measuring with a laser tracker, and fitted into a straight line OXline. This straight line is taken as the OX direction, and a line parallel to the OXline is drawn through the origin O, with point B selected at the end; the A1 and B1 vehicles and the left cylindrical section 1 are moved along the Y′ direction by a certain distance (e.g., more than 60mm), and point C is selected at the end as a point in the OXY plane; the Z direction (vertically upward) is determined according to the right-hand rule; the origin O, point B, and point C in the OXY plane are selected to construct the ground reference coordinate system (O-XYZ).

[0144] Next, using the coordinate system (O′-X′Y′Z′) of the support vehicle 3 as a reference, the levelness of the rocket launcher section is roughly adjusted by the motor movement of the support vehicle 3, and then detected by measuring points using a laser tracker.

[0145] In this embodiment, using the coordinate system (O′-X′Y′Z′) of the frame 3 itself as a reference, the Y and Z coordinates of frame A1 and frame B1 (or frame A2 and frame B2) are adjusted to be equal to each other. A laser tracker is used to measure the docking end faces of the left cylindrical section 1 and the right cylindrical section 2 respectively. By measuring three points on the docking end faces, two planes (Plane_e) are constructed. 11 e 12 e 13 Plane_e21 e 22 e 23 ), calculate the included angle between the two planes and the included angle between the plane and the OX axis, check the parallelism of the two cylinder section end faces and their perpendicularity to the OX axis respectively; use a laser tracker to check whether the left cylinder section 1 and the right cylinder section 2 maintain a straight line along the X′ direction of the frame, the straight line travel distance is about 200-300mm, and the maximum measurement deviation is 0.06mm.

[0146] The pitch, yaw, and roll attitudes of the tube section are precisely adjusted using the absolute coordinate method.

[0147] Reference Figure 5 As shown, in this embodiment, based on the two constructed planes, the angle α between the current docking end face of the cylinder segment and the reference coordinate system OXY plane is measured; the vertical adjustment amount δZ of ​​the cylinder segment is calculated using the support length L1 (or L2) of the two frame cars A1 and B1 (or A2 and B2). i The specific relationship is as follows:

[0148]

[0149] When α ≥ 90°, A1 (or B2) is adjusted by 0.5δZ in the -Z′ direction. i B1 (or A2) is adjusted by 0.5δZ in the +Z′ direction. i When α < 90°, A1 (or B2) is adjusted by 0.5δZ in the +Z′ direction. i B1 (or A2) is adjusted by 0.5δZ in the -Z′ direction. i This allows for precise adjustment of the tube section's pitch attitude. Details are shown in Table 1.

[0150] Table 1. Adjustment Amount of Tube Section Pitch Attitude

[0151]

[0152] Reference Figure 6 As shown, based on the two constructed planes, the angle β between the current docking end face of the cylinder segment and the reference coordinate system OXZ plane is measured; the left and right adjustment amount δY of the cylinder segment is calculated using the support length L1 (or L2) of the two frame cars A1 and B1 (or A2 and B2). i The specific relationship is as follows:

[0153]

[0154] When β ≥ 90°, A1 (or B2) is adjusted towards -Y′, and B1 (or A2) is adjusted towards +Y′; when β < 90°, A1 (or B2) is adjusted towards +Y′, and B1 (or A2) is adjusted towards -Y′, thus completing the precise adjustment of the yaw attitude of the cylinder section. See Table 2 for details. When the support length is 5114mm, the adjustment is made to within 0.03° of the included angle and within 3mm of the end deviation. When the support length is 10624.3mm, the adjustment is made to within 0.016° of the included angle and within 3mm of the end deviation.

[0155] Table 2. Yaw Attitude Adjustment Amount for Tube Section

[0156]

[0157] For each of the left and right cylinder sections, measure three points e on the current docking end face. 11 e 12 e 13 (e 21 e 22 e 23 ), calculate e 11 e 12 e 13 (e 21 e 22 e 23 The center of the circle is C1 (or C2) formed by three points; construct the equation of the straight line between the center C1 of the left cylindrical segment 1 and any point, and then construct the equation of the straight line between the center C2 of the right cylindrical segment 2 and the point corresponding to that arbitrary point, and calculate the angle γ between the two straight lines; make the left cylindrical segment 1 (or the right cylindrical segment 2) rotate by the corresponding angle to complete the precise adjustment of the rolling posture of the cylindrical segment.

[0158] The displacement of the two cylinder sections is precisely adjusted using the relative coordinate method:

[0159] In this embodiment, based on the obtained center C1 (or C2), the differences in the coordinates of the center are calculated as follows:

[0160]

[0161]

[0162] The gantry units (A1 and B1, A2 and B2) move ΔY along the Y direction and ΔZ along the Z direction to complete the precise adjustment of the relative displacement of the two cylinder sections.

[0163] In this embodiment, the difference ΔX between the coordinates of the two center points is calculated as follows:

[0164]

[0165] The gantry assembly (A1, B1 or A2, B2) moves ΔX along the X direction to achieve the docking process of the cylinder segments.

[0166] This embodiment addresses the shortcomings of current assembly processes, such as poor consistency in quality, low automation levels, and high personnel requirements. It automates the docking process, reduces the time spent manually judging whether the attitude and position are aligned, alleviates the intensity of manual labor, and greatly improves assembly and docking efficiency. Targeting the production characteristics and actual needs of current launch vehicle stage docking assembly, an automated assembly trolley system has been developed. The trolley supports the launch vehicle tube sections and can adjust the pitch, yaw, and roll attitudes of the tube sections. It can be widely applied in the field of launch vehicle final assembly docking.

[0167] This invention also provides an automatic attitude adjustment system for large components in flexible assembly docking of launch vehicles. The automatic attitude adjustment system for large components in flexible assembly docking of launch vehicles can be implemented by executing the process steps of the automatic attitude adjustment method for large components in flexible assembly docking of launch vehicles. That is, those skilled in the art can understand the automatic attitude adjustment method for large components in flexible assembly docking of launch vehicles as a preferred embodiment of the automatic attitude adjustment system for large components in flexible assembly docking of launch vehicles.

[0168] Specifically, an automatic attitude adjustment system for large components in the flexible assembly and docking of a launch vehicle includes:

[0169] Module M1: Constructs a coordinate system;

[0170] The coordinate system includes the ground reference coordinate system O-XYZ and the vehicle coordinate system O′-X′Y′Z′;

[0171] The carrier supports the rocket launcher section, and the carrier includes a first carrier, a second carrier, a third carrier, and a fourth carrier with identical structures;

[0172] Module M2: Adjust the cylinder section to complete the docking of different cylinder sections.

[0173] The ground reference coordinate system O-XYZ is constructed through a spatial pose measurement system, and serves as a reference for automatic docking of different cylinder sections; the construction module of the ground reference coordinate system O-XYZ includes:

[0174] Module Q1: Select a point on the ground along the track as the origin O of the reference coordinate system;

[0175] Module Q2: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, the vehicle is moved along the X′ direction according to the spatial pose measurement system. A series of points are measured by scanning, and a straight line is fitted as the OX direction of the reference coordinate system.

[0176] Module Q3: Move the vehicle along the Y′ direction of the vehicle coordinate system and measure a point C in this direction as a point in the reference coordinate system OXY plane;

[0177] Module Q4: Determine the Z direction of the reference coordinate system according to the right-hand rule;

[0178] Module Q5: Select the origin O, a point B in the X direction, and a point C in the OXY plane to complete the construction of the ground reference coordinate system O-XYZ.

[0179] Module M2 includes the following sub-modules:

[0180] Module M2.1: Adjusts the levelness of the cylindrical section component with the vehicle frame coordinate system O′-X′Y′Z′ as a reference, and detects it according to the spatial pose measurement system;

[0181] Module M2.2: Adjusts the attitude of the cylinder segment using an absolute coordinate method; the attitude includes pitch, yaw, and roll.

[0182] Module M2.3: Adjusts the displacement of different cylinder sections according to the relative coordinate method to complete the docking of different cylinder sections.

[0183] The first and third vehicles are respectively positioned at both ends of the same rocket launcher section; the second and fourth vehicles are respectively positioned at both ends of another rocket launcher section; the first and second vehicles have three-dimensional translational degrees of freedom along the X-axis, perpendicular to the Y and Z-axis, and rotational degrees of freedom about the X-axis; the X-axis is located at the top of the vehicle and at the connection point with the large component clamp of the rocket launcher section; the third and fourth vehicles retain only the drive components in the Y and Z directions, and the transmission in the X direction relies on the clamp to transmit power; one rocket launcher section achieves six degrees of freedom of spatial motion through the cooperation of the first and third vehicles, and another rocket launcher section achieves six degrees of freedom of spatial motion through the cooperation of the second and fourth vehicles; the six degrees of freedom of the rocket launcher section are achieved through the X-axis motor of the first or second vehicle. The system achieves X-axis movement; Y-axis movement is achieved through synchronized Y-axis motor movement of the first and third vehicles, or synchronized Y-axis motor movement of the second and fourth vehicles; Z-axis movement is achieved through synchronized Z-axis motor movement of the first and third vehicles, or synchronized Z-axis motor movement of the second and fourth vehicles; roll around the X-axis in a full circle, driven by the first or second vehicle and followed by the third or fourth vehicle; pitch attitude adjustment is achieved through different displacements of the first and third vehicles in the Z-axis direction, or different displacements of the second and fourth vehicles in the Z-axis direction; yaw attitude adjustment is achieved through different displacements of the first and third vehicles in the Y-axis direction, or different displacements of the second and fourth vehicles in the Y-axis direction.

[0184] Module M2.1 includes the following sub-modules:

[0185] Module M2.1.1: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, adjust the Y and Z coordinates of the first and third vehicles to be equal, or adjust the Y and Z coordinates of the second and fourth vehicles to be equal;

[0186] Module M2.1.2: A spatial pose measurement system is used to measure the docking end faces of two different cylinder sections. By measuring the points on the docking end faces, two planes are fitted and constructed. The included angle between the two planes and the included angle between the planes and the OX axis are calculated. The parallelism of the docking end faces of the two cylinder sections and their perpendicularity to the OX axis are checked.

[0187] Module M2.1.3: Uses a spatial pose measurement system to verify whether two different cylinder sections maintain a straight line along the X′ direction of the vehicle frame.

[0188] The pitch attitude adjustment includes measuring the angle α between the current docking end face of the cylinder segment and the reference coordinate system OXY plane based on the two constructed planes; and calculating the vertical adjustment amount δZ of ​​the cylinder segment using the support length L1 of the first and third cars, or the support length L2 of the second and fourth cars. i ,and:

[0189]

[0190] When α ≥ 90°, the first or fourth car adjusts 0.5δZ in the -Z′ direction. i The third or second car adjusts 0.5δZ in the +Z′ direction. i When α < 90°, the first or fourth car adjusts 0.5δZ in the +Z′ direction. i The third or second car adjusts 0.5δZ in the -Z′ direction. i .

[0191] The yaw attitude adjustment includes measuring the angle β between the current docking end face of the cylinder section and the reference coordinate system OXZ plane based on the two constructed planes; and calculating the left and right adjustment amount δY of the cylinder section using the support length L1 of the first car and the third car, or the support length L2 of the second car and the fourth car. i ,and:

[0192]

[0193] When β≥90°, the first or fourth car adjusts towards -Y′, and the third or second car adjusts towards +Y′; when β<90°, the first or fourth car adjusts towards +Y′, and the third or second car adjusts towards -Y′.

[0194] The adjustment of the rolling attitude includes measuring points on the current docking end face of different cylinder segments, fitting the center C1 and C2 of the circle formed by the measured points, constructing a straight line equation between the center C1 of one cylinder segment and any point, constructing a straight line equation between the center C2 of another cylinder segment and the point corresponding to that arbitrary point, calculating the included angle γ of the two straight lines, and making one of the cylinder segments roll by the corresponding angle; the number of points on the end face is not less than three.

[0195] The module M2.3 includes calculating the difference in coordinates ΔY and ΔZ of the circle center based on the obtained circle center C1 and C2:

[0196]

[0197]

[0198] in,

[0199] These are the Y and Z coordinates of the fitted circle center C1, respectively; These are the Y-coordinates of the fitted circle center C2;

[0200] The first and third cars move ΔY along the Y direction and ΔZ along the Z direction, or the second and fourth cars move ΔY along the Y direction and ΔZ along the Z direction, to complete the adjustment of the relative displacement of the two cylinder sections;

[0201] The docking of the different cylindrical sections is achieved by calculating the difference ΔX between the coordinates of the two center points C1 and C2, and then moving the first and third vehicles along the X direction by ΔX, or the second and fourth vehicles along the X direction by ΔX.

[0202]

[0203] in, These are the X-coordinates of the fitted circle centers C1 and C2, respectively.

[0204] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0205] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for automatically adjusting the attitude of large components in the flexible assembly and docking of a launch vehicle, characterized in that, include: Step S1: Construct a coordinate system; The coordinate system includes the ground reference coordinate system O-XYZ and the vehicle coordinate system O′-X′Y′Z′; The carrier supports the rocket launcher section, and the carrier includes a first carrier, a second carrier, a third carrier, and a fourth carrier with the same structure; Step S2: Adjust the cylinder sections to complete the connection of different cylinder sections; The ground reference coordinate system O-XYZ is constructed through a spatial pose measurement system, and serves as a reference for automatic docking of different cylinder sections; the construction steps of the ground reference coordinate system O-XYZ include: Step N1: Select a point on the ground along the track as the origin O of the reference coordinate system; Step N2: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, move the vehicle along the X′ direction according to the spatial pose measurement system, measure a series of points by scanning, and fit a straight line as the OX direction of the reference coordinate system; Step N3: Move the vehicle along the Y′ direction of the vehicle coordinate system and measure a point C in the Y′ direction as a point in the reference coordinate system OXY plane; Step N4: Determine the Z direction of the reference coordinate system according to the right-hand rule; Step N5: Select the origin O, a point B in the X direction, and a point C in the OXY plane to complete the construction of the ground reference coordinate system O-XYZ; Step S2 includes the following sub-steps: Step S2.1: Adjust the levelness of the cylindrical section component with the vehicle frame coordinate system O′-X′Y′Z′ as a reference, and perform detection according to the spatial pose measurement system; Step S2.2: Adjust the attitude of the cylinder segment according to the absolute coordinate method; the attitude includes pitch, yaw and roll; Step S2.3: Adjust the displacement of different cylinder sections according to the relative coordinate method to complete the docking of different cylinder sections; The first vehicle and the third vehicle are respectively located at both ends of the same rocket launcher section; the second vehicle and the fourth vehicle are respectively located at both ends of another rocket launcher section; Step S2.1 includes the following sub-steps: Step S2.1.1: Using the vehicle coordinate system O′-X′Y′Z′ as a reference, adjust the Y and Z coordinates of the first and third vehicles to be equal, or adjust the Y and Z coordinates of the second and fourth vehicles to be equal. Step S2.1.2: Use a spatial pose measurement system to measure the docking end faces of two different cylinder sections respectively. By measuring the points on the docking end faces, two planes are fitted and constructed. Calculate the included angle between the two planes and the included angle between the planes and the OX axis. Check the parallelism of the docking end faces of the two cylinder sections and their perpendicularity to the OX axis respectively. Step S2.1.3: Use a spatial pose measurement system to check whether the two different cylinder sections maintain a straight line along the X′ direction of the vehicle frame; The pitch attitude adjustment includes measuring the angle α between the current docking end face of the tube segment and the reference coordinate system OXY plane based on the two constructed planes; and calculating the vertical adjustment amount δZ of ​​the tube segment using the support length L1 of the first and third cars, or the support length L2 of the second and fourth cars. i ,and: ； when At that time, the first or fourth car adjusts 0.5δZ in the -Z′ direction. i The third or second car adjusts 0.5δZ in the +Z′ direction. i ;when At that time, the first or fourth car adjusts 0.5δZ in the +Z′ direction. i The third or second car adjusts 0.5δZ in the -Z′ direction. i ; The adjustment of the rolling attitude includes measuring points on the current docking end face of different cylinder segments, fitting the centers C1 and C2 of the circles formed by the measured points, constructing a straight line equation between the center C1 of one cylinder segment and any point, and then constructing a straight line equation between the center C2 of another cylinder segment and the point corresponding to the arbitrary point, calculating the angle γ between the two lines, and causing one of the cylinder segments to roll by the corresponding angle; the number of points on the end face is not less than three; Step S2.3 includes calculating the differences in the coordinates of the circle centers ΔY and ΔZ based on the obtained circle centers C1 and C2: ； ； in, ； The first and third cars move ΔY along the Y direction and ΔZ along the Z direction, or the second and fourth cars move ΔY along the Y direction and ΔZ along the Z direction, to complete the adjustment of the relative displacement of the two cylinder sections; The docking of the different cylindrical sections is achieved by calculating the difference ΔX between the coordinates of the two center points C1 and C2, and then moving the first and third vehicles along the X direction by ΔX, or the second and fourth vehicles along the X direction by ΔX. ； in, These are the X-coordinates of the fitted circle centers C1 and C2, respectively.

2. The method for automatic attitude adjustment of large components in flexible assembly docking of a launch vehicle according to claim 1, characterized in that, The first and second vehicles have three-dimensional translational degrees of freedom along the X-axis, perpendicular to the Y-axis and Z-axis, and rotational degrees of freedom about the X-axis; the X-axis is located at the top of the vehicle and at the connection point with the large component of the rocket launcher section; the third and fourth vehicles retain only the drive components in the Y and Z directions, and the transmission in the X direction relies on the clamp to transmit power; one rocket launcher section achieves six degrees of freedom of spatial motion through the cooperation of the first and third vehicles, and another rocket launcher section achieves six degrees of freedom of spatial motion through the cooperation of the second and fourth vehicles; the six degrees of freedom of the rocket launcher section are achieved by the X-axis motor movement of the first or second vehicle; and the Y-axis motors of the first and third vehicles move synchronously. The vehicle can move in the Y direction by synchronizing the Y-axis motors of the first and third vehicles, or the second and fourth vehicles; it can roll around the X-axis by synchronizing the Z-axis motors of the first and third vehicles, or the second and fourth vehicles; it can rotate around the Y-axis by synchronizing the Z-axis motors of the first and third vehicles, or the second and fourth vehicles; and it can rotate around the Z-axis by synchronizing the Z-axis motors of the first and third vehicles, or the second and fourth vehicles.

3. The method for automatic attitude adjustment of large components in flexible assembly docking of a launch vehicle according to claim 1, characterized in that, Adjusting the yaw attitude involves measuring the angle β between the current docking end face of the cylinder section and the reference coordinate system OXZ plane based on the two constructed planes; and calculating the left and right adjustment amount δY of the cylinder section using the support length L1 of the first and third cars, or the support length L2 of the second and fourth cars. i ,and: ； when When the first or fourth car adjusts towards -Y′, the third or second car adjusts towards +Y′; when At that time, the first or fourth car adjusts towards the +Y′ direction, and the third or second car adjusts towards the -Y′ direction.

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