Uniform distribution type large rocket multi-engine interactive posture adjusting assembly method

Abstract

A multi-engine interactive posture adjusting and docking method for a uniformly-distributed large rocket is characterized by comprising the following steps that firstly, rocket engines to be installed are installed on docking equipment; secondly, according to the position of a specified target TCP point, namely a tool center point, the driving quantity of each movement shaft of the three coordinate numerical control positioning modules is calculated by defining the position translation distance or the rotating angle of a butt joint surface under the condition that the TCP point is not changed, so that the target position of each movement shaft can be controlled; and accurate adjustment of the position and the posture of the butt joint surface is realized. The method does not need an additional lifting appliance, and is low in cost, good in reliability and low in technical risk. According to the posture adjusting method, especially during rotation posture adjustment, adjustment is fully considered under the condition that the position of the TCP point is not changed, the situation that when a large-size product rotates, the position on the butt joint face generates large displacement, and consequently collision occurs can be avoided, and the safety of interactive posture adjustment is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of rocket engine docking devices, in particular to a large rocket multi-engine parallel docking technology, specifically to an evenly distributed large rocket multi-engine interactive attitude adjustment assembly method. Background Art

[0002] As the diameter of liquid rockets becomes larger (5 meters in diameter), the corresponding required engine thrust is also greater. The traditional solution is to use a small number of large rocket engines. The advantage of this is that the installation is relatively simple, but it is a big problem for the design and manufacture of the engine. A parallel rocket engine refers to a rocket engine with greater thrust composed of multiple rocket engines with their longitudinal axes installed in parallel on a common frame. Therefore, it is a better idea to adopt a multi-engine parallel docking solution to meet the requirements of space missions, obtain greater thrust, and ensure the reliability of rocket launches.

[0003] Traditionally, rocket engine docking is accomplished with the help of mechanical slings. However, as the number of engines increases, collisions are inevitable when using slings and hooks to dock and install the engines. This not only reduces the operating efficiency, but also poses a huge safety hazard. Therefore, it is necessary to invent a highly reliable, evenly distributed large rocket multi-engine parallel docking equipment to quickly and accurately complete the engine docking process. Summary of the invention

[0004] The purpose of the present invention is to provide a uniformly distributed large-scale rocket multi-engine interactive attitude adjustment assembly method to address the technical problems of existing rocket engine docking, such as easy interference, difficult installation, and great safety hazards, so as to ensure that the engine is safe and reliable during the docking process and can be quickly and accurately docked and installed inside the rocket.

[0005] The technical solution of the present invention is:

[0006] A method for interactive attitude adjustment docking of evenly distributed large-scale rocket multi-engines is characterized in that it comprises the following steps: first, the rocket engine to be installed is installed on the docking equipment, the docking equipment comprises an engine docking vehicle 1 and a sling 2; the engine docking vehicle 1 comprises a rail moving vehicle 3, a bracket 4 and a positioning attitude adjustment mechanism 5; the sling 2 can be fixed together with the rocket engine on the wall plate of the positioning attitude adjustment platform; the rail moving vehicle 3 is fixed on the ground track 6, the bracket 4 is installed on the rail moving vehicle 3, and the positioning attitude adjustment mechanism 5 is installed on the bracket 4; the rail moving vehicle 3 is installed with a ground support 7; the positioning attitude adjustment mechanism 5 is composed of three coordinate numerical control positioning modules 8, and the coordinate numerical control positioning module 8 is installed and placed on the attitude adjustment base 9;

[0007] Secondly, according to the position of the specified target TCP (tool center point), by defining the distance of position translation or the angle that the docking surface needs to rotate when the TCP point remains unchanged, the size of the driving amount of each motion axis of the three coordinate numerical control positioning module 8 is calculated, so that the target position of each motion axis can be controlled to achieve precise adjustment of the position and posture of the docking surface;

[0008] The above specific posture adjustment method and calculation process are as follows:

[0009] First, determine the target posture of the engine docking surface during attitude adjustment, and take the docking surface on the rocket body as the target posture reference. The final target posture of the engine is that the docking holes on the engine and the rocket body can overlap when the docking surfaces fit together. In this way, the entire attitude adjustment process can be regarded as a reference point on a docking surface on the engine, that is, the process of moving the aforementioned designated target TCP point from the current posture to the corresponding position on the docking surface of the rocket body.

[0010] Second, the coordinate transformation between the product coordinate system and the equipment coordinate system is used to calculate the starting and final position relationship of different positions on the engine during the attitude adjustment process; the product coordinate system OpXpYpZp fixed on the rocket engine is used as the product coordinate system (the specific position of this coordinate system is often specified during the engine modeling process), and the equipment coordinate system OwXwYwZw is established with the S1 hinge on the main drive shaft as the origin (such as Figure 3 As shown); thus, there is a certain posture transformation matrix between the product coordinate system OpXpYpZp and the device coordinate system OwXwYwZw; the posture transformation matrix from the device coordinate system to the product coordinate system is recorded as And the pose transformation matrix from the product coordinate system to the device coordinate system is recorded as As shown in equations (1) and (2), the mutual conversion between the equipment coordinate system and the product coordinate system is realized through these two coordinate transformation matrices;

[0011]

[0012] Where: P P Indicates the coordinate representation in the product coordinate system, P w Indicates the coordinate representation in the device coordinate system;

[0013] Third, during the attitude adjustment process, since all reference points (including TCP and hinge points S1, S2, S3 of each CNC positioner) are fixed in the engine product coordinate system, the attitude adjustment rotation is described using the fixed product coordinate system roll (around X) - pitch (around Y) - yaw angle (around Z);

[0014] Formula (3) is the rotation matrix of RPY (roll-pitch-yaw angle) rotation, where y, p, r are roll, pitch and yaw angles, and c and s are abbreviations of sin and cos functions;

[0015]

[0016] According to formulas (1) and (3), the coordinate transformation relationship of a certain point from the equipment coordinate system to the product coordinate system is expressed by formula (4);

[0017]

[0018] Fourth, the transformation matrix of the initial posture and The calculation can be calibrated with the initial position of the hinge. The specific process is:

[0019]

[0020] Among them, Si p is the position of hinge i in the product coordinate system, Si w is the position of hinge i in the device coordinate system, i = 1 to 3;

[0021] Initial rotation matrix is the unit matrix, that is, the three coordinate axes of the device coordinate system are parallel to the product coordinate system:

[0022]

[0023] Where S1 p0 The origin of the device coordinate system is the position of the hinge in the product coordinate system, S1 w0 The origin of the device coordinate system is the position of the hinge in the device coordinate system;

[0024] From equations (5) and (7), we can get the coordinate transformation matrix (8) and (9) from the equipment coordinate system to the product coordinate system:

[0025]

[0026] Fifth, through the coordinate transformation matrix, by adjusting the positions of the three hinge points at the initial and final positions, the drive amounts of the six active drive axes x1, y1, z1, y2, z2, and y3 on the CNC positioner are calculated to achieve posture adjustment. Note that each CNC positioner has 9 moving pairs (guide rails and screws) and 3 spherical pairs (hinges), but only 6 moving pairs are actively driven;

[0027] Among them, the method of adjusting the posture according to the TCP point position is as follows:

[0028] The translation adjustment moves the entire component together, so the adjustment amount is the expected movement of the TCP point; the position of the product coordinate system before the translation adjustment is P tp , P tp =[x tp y tp z tp ] T ; The position after posture adjustment in the current product coordinate system is P tp n , P tp n =[x tp n y tp n z tp n ] T ;

[0029]

[0030] Note that, because both the TCP point and the hinge points S1, S2, and S3 move the same distance during translation, the drive axes actually have the same relative displacement y of Δy1, Δy2, and Δy3. p -y 0p Linkage, Δz1, Δz2 have the same relative displacement z p -z 0p Linkage, Δx1 moves x p -x 0p ;

[0031] The method of adjusting the posture according to the TCP point position is as follows:

[0032] When adjusting the rotation attitude of the rocket engine, a point on the docking surface is selected as the reference for RPY rotation attitude adjustment. For example, the center point of the docking surface is used as the TCP point for attitude adjustment. The advantage of this is that the position displacement on both sides is symmetrical, making it easier to judge interference collision.

[0033] The TCP point is denoted as P t , as the reference, when rotating and adjusting the posture, it is hoped that the spatial position of the TCP point remains unchanged;

[0034] Let P t The position of the point in the product coordinate system is P tp , position P in the device coordinate system tw ;

[0035] The position in the product coordinate system is P tp , P tp Determined by measurement equipment or by calculation after measuring surrounding points;

[0036] In the initial state of the device, let P t The position of the point in the product coordinate system is P tp0 , position P in the device coordinate system tw0 , the relationship between them is:

[0037]

[0038] Among them, P tp0 Direct or indirect determination, Given by formula (9);

[0039] P tw0 It does not change in the device coordinate system, so in fact the TCP point is always P in the device coordinate system. tw0 ; Assume that the position of the product in the coordinate system before rotation and posture adjustment is P tp After rotation and adjustment, the position of the product in the coordinate system is P tp n ,but:

[0040]

[0041] Where: T p is the transformation matrix of this posture adjustment, T i p It is the left multiplication of the transformation matrix of the previous posture adjustments. Determined by the initial transformation matrix of formula (9);

[0042] Since the rotation adjustment is expected to keep the spatial position of the TCP point Pt unchanged, that is, P in formula (12) tp n =P tp ;

[0043]

[0044] Where R p is the RPY rotation matrix, as shown in formula (3). According to the expected RPY rotation angle, substituting it into formula (13) can obtain the equation group as formula (14), and then d can be obtained. p , as shown in formula (15):

[0045]

[0046] Thus, the adjusted coordinate transformation matrix can be obtained:

[0047]

[0048] With the transformation matrix, the spatial position of each hinge Si can be calculated, as shown in formula (17);

[0049]

[0050] The coordinate value xsi of the hinge point Si can be solved by formula (17): p 、ysi p 、zsi p (i=1, 2, 3), thereby determining the spatial position of each motion axis and calculating it, as shown in formula (18):

[0051]

[0052] When making interactive adjustments, it is not necessary to know the information of previous adjustments. It is only necessary to consider the relative adjustment amount of each drive axis in this adjustment. Therefore, in practice, we can only focus on the relative adjustment amount of the spatial position of each motion axis to deal with some initial position error problems, as shown in formula (19):

[0053]

[0054] At this point, any translation and rotation adjustment can be achieved.

[0055] The beneficial effects of the present invention are:

[0056] The large rocket parallel rocket engine docking device of the present invention hardly needs additional hoisting equipment, has low cost, good reliability, and few technical risks; it integrates existing hoists, is easy to operate, and can be operated by general personnel after simple training, which greatly reduces the requirements for operators; the interactive attitude adjustment method of the present invention is simple to calculate and can be written into the control algorithm of the equipment as an analytical formula, thereby greatly improving the efficiency of operators and ensuring safety; the present invention has good versatility and can be applied to different types of engine workpieces to meet the needs of hoisting and transportation of various models of engines, which is in line with the current development trend of flexible manufacturing processes. The attitude adjustment method of the present invention, especially when rotating the attitude adjustment, fully considers the adjustment under the condition that the TCP point position remains unchanged, which can avoid the large displacement of the position on the docking surface when the large-sized product rotates, thereby avoiding the occurrence of collisions, which greatly improves the safety of interactive attitude adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a structural schematic diagram of the engine docking equipment of the present invention.

[0058] Figure 2 It is a structural schematic diagram of the positioning and posture adjustment device of the present invention.

[0059] Figure 3 It is a schematic diagram of a three-coordinate numerical control positioning module of a positioning and posture adjustment device of the present invention. DETAILED DESCRIPTION

[0060] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0061] like Figure 1-3 shown.

[0062] Embodiment 1, when docking based on interactive posture adjustment of on-site personnel, includes the following steps:

[0063] Step 1: Use a large rocket multi-engine docking device, such as Figure 1 As shown, it includes an engine docking vehicle 1 and a sling 2. The engine docking vehicle 1 includes a track moving vehicle 3, a bracket 4 and a positioning and attitude adjustment mechanism 5. The track moving vehicle 3 carries the bracket 4 and the positioning and attitude adjustment mechanism 5 and is fixed on the ground track 6; the bracket 4 carries the positioning and attitude adjustment mechanism 5 to achieve engine attitude adjustment; the positioning and attitude adjustment mechanism 5 uses a three-coordinate CNC positioning module 8 (such as Figure 2 As shown) is placed on the posture adjustment base 9.

[0064] First, assemble the CNC positioner, engine bracket and rail trolley, and move the hanger for fixing the engine to the positioning and posture adjustment mechanism (5) through the crane transfer tool, lift the foot support 7 of the rail moving vehicle 3, push the rail moving vehicle 3 to the working position, and push the rail trolley to the installation position;

[0065] Step 2: Lower the foot support again to fix the mobile vehicle on the work station to prevent shaking. The bracket 4 can be disassembled or installed to meet the needs of engine installation at different heights.

[0066] Step 3: According to the deviation between the engine docking position and the target position, the positioning and attitude adjustment mechanism 5 is used to interactively adjust the attitude in a certain sequence of translation or rotation: Generally speaking, the positioning and attitude adjustment mechanism 5 adjusts the support points including X-direction travel, Y-direction travel, Z-direction travel, X-direction roll, Y-direction pitch, and Z-direction yaw; it can achieve movement within the range of 150-450mm in the X direction, 50-150mm in the Y direction, and 50-150mm in the Z direction, and rotation within the range of ±4° in the X direction, ±1.5° in the Y direction, and ±1.5° in the Z direction. The specific attitude adjustment process is as follows:

[0067] In step 3.1, the engine docking surface is first moved to a position about 20 mm away from the target position by translation, and the driving amount of each axis is given by formula (10) according to the distance difference;

[0068] Step 3.2: According to the angle deviation between the engine and the rocket body, the center of the docking surface is taken as the TCP point to determine the Euler angle (RPY angle) deviation. Only one angle is adjusted at a time, and then the rotation matrix R is calculated by formula (3): p ;

[0069]

[0070] Step 3.3, the translation vector d can be obtained according to formula (15): p , R p and d p Substitute into formula (16) to obtain the coordinate transformation matrix T p ;

[0071] Step 3.4, T p Substitute into formula (17) to obtain the hinge position Si of each CNC positioner: p , i=1,2,3;

[0072] Step 3.5: p Coordinate value xsi p 、ysi p 、zsi p , i = 1, 2, 3, and is substituted into formula (18) or formula (19) to calculate the absolute position or relative adjustment amount of each motion axis, and then the device control system is used to drive each motion axis to reach the target position;

[0073] Step 3.6: Make sure the engine and the body are parallel and the threaded holes on the surfaces are aligned by visual inspection or other measurement tools. If the requirements are not met, repeat step 3.2.

[0074] Step 4: Use the method in step 3.1 again to adjust the engine and the rocket body mating surfaces to contact through translation, and then install the bolts to complete the attitude adjustment installation of the engine.

[0075] Embodiment 2, automatic posture adjustment docking based on automated measurement, includes the following steps:

[0076] Step 1, same as in case 1, first assemble the CNC positioner, engine bracket and rail trolley, and move the hanger for fixing the engine to the positioning and attitude adjustment mechanism (5) through a crane or other transfer tool, and push the rail trolley to the installation position;

[0077] Step 2: Same as in case 1, lower the ground support again and fix the mobile vehicle on the workstation to prevent shaking. Bracket 4 can be disassembled or installed to meet the needs of engine installation at different heights;

[0078] Step 3: Use automated measuring equipment to measure the target position P of at least three docking holes on the docking surface of the rocket body. ip =[x ip y ip z ip ] T , (i=1,2,3,……);

[0079] Step 4: Use automated measuring equipment to measure the position of the corresponding docking surface of the engine as the current position P ip0 =[xip0 y ip0 z ip0 ] T , (i=1,2,3,……);

[0080] Step 5: Using formula (13), we can list a set of coordinate transformation equations:

[0081]

[0082] Where i = 1 , 2 , 3,……

[0083] Step 6: Using the SVD decomposition method, the transition matrix T from the current state to the target state can be obtained according to the equation group described in the form (21). p , the matrix is ​​equivalent to the form of formula (16);

[0084] Step 7: Use formula (17) to obtain the position transformation matrix, and use the position Si 0p Calculate the hinge position S of the target state ip , (i=1,2,3);

[0085] Step 8: Substitute the hinge position into formula (18) or formula (19) to calculate the absolute position or relative adjustment of each motion axis;

[0086] Step 9: To ensure the safety of docking, after calculating the docking adjustment amount, the three Z-axis parts of the translation part are reduced by 10 to 20 mm, and the positioning and posture adjustment mechanism (5) is used to adjust the X-axis stroke, Y-axis stroke, Z-axis stroke, X-axis roll, Y-axis pitch, and Z-axis yaw; after the adjustment is in place, the parallelism of the docking surface is observed, and then the docking is performed translationally;

[0087] Step 10. During the docking and posture adjustment process, if the overall rotation matrix is ​​determined by measurement and it is desired to further understand the RPY Euler angle, the rotation matrix is ​​expressed in the form of formula (22) and then calculated using formula (23);

[0088]

[0089] Note that the size of the Euler angle is related to the rotation order.

[0090] The present invention does not involve parts that are the same as the prior art or can be implemented by using the prior art.

Claims

1. A method for interactive attitude adjustment and docking of multiple engines of a uniformly distributed large rocket, characterized in that: It includes the following steps: First, the rocket engine to be installed is installed on the docking equipment, and the docking equipment includes an engine docking vehicle (1) and a sling (2); the engine docking vehicle (1) includes a track moving vehicle (3), a bracket (4) and a positioning and attitude adjustment mechanism (5); the sling (2) can be fixed together with the rocket engine on the wall plate of the positioning and attitude adjustment platform; the track moving vehicle (3) is fixed on the ground track (6), the bracket (4) is installed on the track moving vehicle (3), and the positioning and attitude adjustment mechanism (5) is installed on the bracket (4); the track moving vehicle (3) is installed with a ground support (7); the positioning and attitude adjustment mechanism (5) is composed of three coordinate numerical control positioning modules (8), and the coordinate numerical control positioning modules (8) are installed and placed on the attitude adjustment base (9); Secondly, according to the position of the designated target TCP point, i.e., the tool center point, the driving amount of each motion axis of the three coordinate numerical control positioning modules (8) is calculated by defining the distance of position translation or the angle of rotation of the docking surface when the TCP point remains unchanged, so as to control the target position of each motion axis and realize the precise adjustment of the position and posture of the docking surface; The above specific posture adjustment method and calculation process are as follows: First, determine the target posture of the engine docking surface during attitude adjustment, and take the docking surface on the rocket body as the target posture reference. The final target posture of the engine is that the docking holes on the engine and the rocket body can overlap when the docking surfaces fit together. In this way, the entire attitude adjustment process can be regarded as a reference point on a docking surface on the engine, that is, the process of moving the aforementioned designated target TCP point from the current posture to the corresponding position on the docking surface of the rocket body. Second, coordinate transformation between the product coordinate system and the equipment coordinate system is used to calculate the starting and final position relationship of different positions on the engine during the attitude adjustment process; the product coordinate system OpXpYpZp fixed on the rocket engine is used as the product coordinate system (the specific position of this coordinate system is often specified during the engine modeling process), and the equipment coordinate system OwXwYwZw is established with the S1 hinge on the main drive shaft as the origin (as shown in Figure 3); In this way, there is a certain pose conversion matrix between the product coordinate system OpXpYpZp and the device coordinate system OwXwYwZw; the pose conversion matrix from the device coordinate system to the product coordinate system is recorded as And the pose transformation matrix from the product coordinate system to the device coordinate system is recorded as As shown in equations (1) and (2), the mutual conversion between the equipment coordinate system and the product coordinate system is realized through these two coordinate transformation matrices; Where: P P Indicates the coordinate representation in the product coordinate system, P w Indicates the coordinate representation in the device coordinate system; Third, during the attitude adjustment process, since all reference points (including TCP and hinge points S1, S2, S3 of each CNC positioner) are fixed in the engine product coordinate system, the attitude adjustment rotation is described using the fixed product coordinate system roll (around X) - pitch (around Y) - yaw angle (around Z); Formula (3) is the rotation matrix of RPY (roll-pitch-yaw angle) rotation, where y, p, r are roll, pitch and yaw angles, and c and s are abbreviations of sin and cos functions; According to formulas (1) and (3), the coordinate transformation relationship of a certain point from the equipment coordinate system to the product coordinate system is expressed by formula (4); Fourth, the transformation matrix of the initial posture and The calculation can be calibrated with the initial position of the hinge. The specific process is: Among them, Si p is the position of hinge i in the product coordinate system, Si w is the position of hinge i in the device coordinate system, i = 1 to 3; Initial rotation matrix is the unit matrix, that is, the three coordinate axes of the device coordinate system are parallel to the product coordinate system: Where S1 p0 The origin of the device coordinate system is the position of the hinge in the product coordinate system, S1 w0 The origin of the device coordinate system is the position of the hinge in the device coordinate system; From equations (5) and (7), we can get the coordinate transformation matrix (8) and (9) from the equipment coordinate system to the product coordinate system: Fifth, through the coordinate transformation matrix, by adjusting the positions of the three hinge points at the initial and final positions, the drive amounts of the six active drive axes x1, y1, z1, y2, z2, and y3 on the CNC positioner are calculated to achieve posture adjustment. Note that each CNC positioner has 9 moving pairs (guide rails and screws) and 3 spherical pairs (hinges), but only 6 moving pairs are actively driven; Among them, the method of adjusting the posture according to the TCP point position is as follows: The translation adjustment moves the entire component together, so the adjustment amount is the expected movement of the TCP point; the position of the product coordinate system before the translation adjustment is P tp , P tp =[x tp y tp z tp ] T ; The position after posture adjustment in the current product coordinate system is P tp n , P tp n =[x tp n y tp n z tp n ] T ; Note that, because both the TCP point and the hinge points S1, S2, and S3 move the same distance during translation, the drive axes actually have the same relative displacement y of Δy1, Δy2, and Δy3. p -y 0p Linkage, Δz1, Δz2 have the same relative displacement z p -z 0p Linkage, Δx1 moves x p -x 0p ; The method of adjusting the posture according to the TCP point position is as follows: When adjusting the rotation attitude of the rocket engine, a point on the docking surface is selected as the reference for RPY rotation attitude adjustment. For example, the center point of the docking surface is used as the TCP point for attitude adjustment. The advantage of this is that the position displacement on both sides is symmetrical, making it easier to judge interference collision. The TCP point is denoted as P t , as the reference, when rotating and adjusting the posture, it is hoped that the spatial position of the TCP point remains unchanged; Let P t The position of the point in the product coordinate system is P tp , position P in the device coordinate system tw ; The position in the product coordinate system is P tp , P tp Determined by measurement equipment or by calculation after measuring surrounding points; In the initial state of the device, let P t The position of the point in the product coordinate system is P tp0 , position P in the device coordinate system tw0 , the relationship between them is: Among them, P tp0 Direct or indirect determination, Given by formula (9); P tw0 It does not change in the device coordinate system, so in fact the TCP point is always P in the device coordinate system. tw0 ; Assume that the position of the product in the coordinate system before rotation and posture adjustment is P tp , after rotation and posture adjustment, the position of the product in the coordinate system is P tp n ,but: Where: T p is the transformation matrix of this posture adjustment, T i p It is the left multiplication of the transformation matrix of the previous posture adjustments. Determined by the initial transformation matrix of formula (9); Since the rotation adjustment is expected to keep the spatial position of the TCP point Pt unchanged, that is, P in formula (12) tp n =P tp ; Where R p is the RPY rotation matrix, as shown in formula (3). According to the expected RPY rotation angle, substituting it into formula (13) can obtain the equation group as formula (14), and then d can be obtained. p , as shown in formula (15): Thus, the adjusted coordinate transformation matrix can be obtained: With the transformation matrix, the spatial position of each hinge Si can be calculated, as shown in formula (17); The coordinate value xsi of the hinge point Si can be solved by formula (17): p 、ysi p 、zsi p (i=1, 2, 3), thereby determining the spatial position of each motion axis and calculating it, as shown in formula (18): When making interactive adjustments, it is not necessary to know the information of previous adjustments. It is only necessary to consider the relative adjustment amount of each drive axis in this adjustment. Therefore, in practice, only the relative adjustment amount of the spatial position of each motion axis is concerned to deal with some initial position error problems, as shown in formula (19): At this point, any translation and rotation adjustment can be achieved.

2. The method according to claim 1, characterized in that: The following steps are included when the on-site personnel perform interactive posture adjustment docking: Step 1: Assemble the CNC positioner, engine bracket and rail trolley, and move the hanger for fixing the engine to the positioning and posture adjustment mechanism (5) through the crane transfer tool, lift the foot support of the rail moving vehicle, push the rail moving vehicle to the working position, and push the rail trolley to the installation position; Step 2: Lower the foot support again to fix the mobile vehicle on the workstation to prevent shaking; the support can be disassembled or installed to meet the needs of engine installation at different heights; Step 3: According to the deviation between the engine docking position and the target position, the positioning and attitude adjustment mechanism is used to interactively adjust the attitude in a certain sequence of translation or rotation: the positioning and attitude adjustment mechanism adjusts the support points including X-direction travel, Y-direction travel, Z-direction travel, X-direction roll, Y-direction pitch, and Z-direction yaw; it can achieve movement within the range of 150-450mm in the X direction, 50-150mm in the Y direction, and 50-150mm in the Z direction, and rotation within the range of ±4° in the X direction, ±1.5° in the Y direction, and ±1.5° in the Z direction; the specific attitude adjustment process is as follows: In step 3.1, the engine docking surface is first moved to a position about 20 mm away from the target position by translation, and the driving amount of each axis is given by formula (10) according to the distance difference; Step 3.2: According to the angle deviation between the engine and the rocket body, the center of the docking surface is taken as the TCP point to determine the Euler angle (RPY angle) deviation. Only one angle is adjusted at a time, and then the rotation matrix R is calculated by formula (3): p ; Step 3.3, then calculate the translation vector d according to formula (15): p , R p and d p Substitute into formula (16) to obtain the coordinate transformation matrix T p ; Step 3.4, T p Substitute into formula (17) to obtain the hinge position Si of each CNC positioner p , i=1,2,3; Step 3.5: p Coordinate value xsi p 、ysi p 、zsi p , i = 1, 2, 3, substitute into formula (18) or formula (19) to calculate the absolute position or relative adjustment amount of each motion axis, and then use the equipment control system to drive each motion axis to reach the target position; Step 3.6: Make sure the engine and the body are parallel and the threaded holes on the surfaces are aligned by visual inspection or other measurement tools. If the requirements are not met, repeat step 3.

2. Step 4: Use the method in step 3.1 again to adjust the engine and the rocket body mating surfaces to contact through translation, and then install the bolts to complete the attitude adjustment installation of the engine.

3. The method according to claim 1, characterized in that: The interactive posture adjustment and docking based on automated measurement includes the following steps: Step 1: First, assemble the CNC positioner, engine bracket and rail trolley, and move the hanger for fixing the engine to the positioning and posture adjustment mechanism (5) through a crane or other transfer tool, and push the rail trolley to the installation position; Step 2: Lower the foot support again to fix the mobile vehicle on the workstation to prevent shaking; the support can be disassembled or installed to meet the needs of engine installation at different heights; Step 3: Use automated measuring equipment to measure the target position P of at least three docking holes on the docking surface of the rocket body. ip =[x ip y ip z ip ] T , (i=1,2,3,……); Step 4: Use automated measuring equipment to measure the position of the corresponding docking surface of the engine as the current position P ip0 =[x ip0 y ip0 z ip0 ] T , (i=1,2,3,……); Step 5: Use formula (13) to list a set of coordinate transformation equations; Where i = 1 , 2 , 3,…… Step 6: Use the SVD decomposition method to calculate the transition matrix T from the current state to the target state according to the equation system described by formula (21). p , the matrix is ​​equivalent to the form of formula (16); Step 7: Use formula (17) to obtain the position transformation matrix, and use the position Si 0p Calculate the hinge position S of the target state ip , (i=1,2,3); Step 8: Substitute the hinge position into formula (18) or formula (19) to calculate the absolute position or relative adjustment of each motion axis; Step 9: To ensure the safety of docking, after calculating the docking adjustment amount, the three Z-axis parts of the translation part are reduced by 10 to 20 mm, and the positioning and posture adjustment mechanism (5) is used to adjust the X-axis stroke, Y-axis stroke, Z-axis stroke, X-axis roll, Y-axis pitch, and Z-axis yaw; after the adjustment is in place, the parallelism of the docking surface is observed, and then the docking is performed translationally; Step 10: During the docking and posture adjustment process, the overall rotation matrix is ​​determined by measurement. The rotation matrix is ​​first expressed in the form of formula (22), and then the RPY Euler angle is calculated using formula (23); It should be noted that the size of the Euler angle is related to the rotation order.

4. The method according to claim 1, characterized in that: The positioning and posture adjustment mechanism (5) can adjust the support points including X-direction travel, Y-direction travel, Z-direction travel, X-direction rolling, Y-direction pitching, and Z-direction yaw; it can realize movement within the range of 150-450mm in the X direction, 50-150mm in the Y direction, and 50-150mm in the Z direction, and rotation within the range of ±4° in the X direction, ±1.5° in the Y direction, and ±1.5° in the Z direction.

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