An interactive attitude adjustment assembly method for large rocket multi-engine with uniform distribution

Abstract

An equal distribution type large rocket multi-engine interactive attitude adjustment docking method, characterized in that it comprises the following steps: first, installing the rocket engine to be installed on the docking equipment; second, according to the position of the specified target TCP point, i.e. the tool center point, the size of the driving amount of each movement axis of the three coordinate numerical control positioning modules is calculated by defining the distance of the position translation or the angle of the docking surface required to be rotated under the condition that the TCP point is unchanged, so as to control the target position of each movement axis and realize the accurate adjustment of the position and attitude of the docking surface. The present application does not need to make a lifting tool additionally, has low cost, good reliability and less technical risk. The attitude adjustment method of the present application, especially when rotating the attitude, fully considers the adjustment under the condition that the TCP point position is unchanged, can avoid the large displacement of the position on the docking surface when the large-size product is rotated, so as to avoid the collision and rubbing, and greatly improves the safety of the interactive attitude adjustment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rocket engine docking device, in particular to a large rocket multi-engine parallel docking technology, in particular to a uniform distribution type large rocket multi-engine interactive attitude adjustment assembly method. BACKGROUND

[0002] With the increasing diameter of liquid rocket (5 meters in diameter), the required engine thrust is also larger. The traditional solution is to choose a small number of large rocket engines, which has the advantage of relatively simple installation, but it is a big problem for engine design and manufacture. Parallel rocket engine refers to a larger rocket engine composed of multiple rocket engines with longitudinal axes parallel to the common frame. Therefore, the parallel docking scheme of multiple engines is used to meet the requirements of space missions, obtain greater thrust, and ensure the reliability of rocket launch, which is a better idea.

[0003] The traditional rocket engine docking is completed by mechanical hangers, but as the number of engines increases, collisions are inevitable when using hangers and hooks for engine docking and installation, which not only reduces the work efficiency, but also has great safety hazards. Therefore, it is necessary to invent a high-reliability uniform distribution type large rocket multi-engine parallel docking equipment to quickly and accurately complete the docking process of the engine. SUMMARY

[0004] The present application aims to solve the technical problems of existing rocket engine docking, such as easy interference, difficult installation, and great safety hazards, and provides a uniform distribution type large rocket multi-engine interactive attitude adjustment assembly method to ensure the safety and reliability of the engine during docking and quickly and accurately install it inside the rocket.

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

[0006] A uniform distribution type large rocket multi-engine interactive attitude adjustment docking method, characterized by the following steps: first, install the rocket engine to be installed on the docking equipment, the docking equipment includes an engine docking vehicle 1 and a hanger 2; the engine docking vehicle 1 includes a track moving vehicle 3, a support 4, and a positioning and attitude adjustment mechanism 5; the hanger 2 can be fixed with the rocket engine on the positioning and attitude adjustment platform wall plate; the track moving vehicle 3 is fixed on the ground track 6, the support 4 is installed on the track moving vehicle 3, and the positioning and attitude adjustment mechanism 5 is installed on the support 4; the track moving vehicle 3 is provided with a footing 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;

[0007] Secondly, according to the position of the specified target TCP (tool center point), the driving amount of each motion axis of the three coordinate numerical positioning modules 8 is calculated by defining the distance of the position translation or the angle of the interface rotation in the case of the TCP point being unchanged, so as to control the target position of each motion axis and realize the accurate adjustment of the position and posture of the interface.

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

[0009] Firstly, the target posture of the engine interface in the posture adjustment is determined, and the interface on the rocket body is taken as the reference of the target posture. Finally, the target posture of the engine is that the interface on the engine and the interface hole on the rocket body can coincide in the case of the interface fitting. In this way, the whole posture adjustment process can be regarded as the process that the reference point on the interface of the engine is adjusted from the current posture to the corresponding position on the interface of the rocket body, that is, the process that the specified target TCP point moves from the current posture.

[0010] Secondly, the coordinate transformation between the product coordinate system and the device coordinate system is adopted to calculate the initial and final position relationship of different position points on the engine in the posture adjustment process. The product coordinate system OpXpYpZp fixed on the rocket engine is taken as the product coordinate system (the specific position of the coordinate system is often specified in the process of modeling the engine), and the S1 hinge on the main drive shaft is taken as the origin to establish the device coordinate system OwXwYwZw (as shown in Figure 3 In this way, there is a certain posture conversion matrix between the product coordinate system OpXpYpZp and the device coordinate system OwXwYwZw. The posture conversion matrix from the device coordinate system to the product coordinate system is denoted as And the posture conversion matrix from the product coordinate system to the device coordinate system is denoted as As shown in formula (1) and formula (2), the mutual conversion between the device coordinate system and the product coordinate system is realized through the two coordinate conversion matrices.

[0011]

[0012] In the formula, P P represents the coordinate representation under the product coordinate system, P w represents the coordinate representation under the device coordinate system.

[0013] Thirdly, in the posture adjustment process, since each reference point (including TCP and hinge points S1, S2 and S3 of each numerical positioning device) is fixed in the product coordinate system of the engine, the posture adjustment rotation is described by the fixed product coordinate system roll (around X)-pitch (around Y)-yaw angle (around Z).

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

[0015]

[0016] According to Equations (1) and (3), the coordinate conversion relationship of a certain point from the device coordinate system to the product coordinate system is represented by Equation (4);

[0017]

[0018] Fourth, the conversion matrix of the initial pose and The calculation can be calibrated by the initial position of the hinge, and the specific process is as follows:

[0019]

[0020] wherein, 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 ~ 3;

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

[0022]

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

[0024] The coordinate conversion matrix (8) and (9) from the device coordinate system to the product coordinate system can be obtained from Equations (5) and (7):

[0025]

[0026] Fifth, by adjusting the positions of the three hinge points of the initial and final positions, the driving amounts of the six active driving shafts x1, y1, z1, y2, z2 and y3 on the numerical control positioner are calculated, so as to realize the pose adjustment. It is noted that each numerical controller has 9 moving pairs (guide rail screw) and 3 spherical pairs (hinge), but only 6 moving pairs are active driving;

[0027] wherein, according to the TCP point position translation pose adjustment method as follows:

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

[0029]

[0030] Note that because the translation moves the TCP point and the hinge points S1, S2, S3 by the same distance, the actual relative displacement of the drive shafts is y p -y 0p , z p -z 0p , and x p -x 0p ;

[0031] The rotation adjustment method according to the TCP point position is as follows:

[0032] When the rocket engine is adjusted by rotation, a point on the docking surface is selected as the reference for RPY rotation adjustment, such as adjusting the TCP point at the center of the docking surface. This has the advantage that the position displacement on both sides is symmetrical, making it easier to determine interference and collision;

[0033] Let the TCP point be P t , and the reference point be P t . When the TCP point is adjusted by rotation, the spatial position of the TCP point is expected to remain unchanged;

[0034] Let the position of P t in the product coordinate system be P tp , and the position in the device coordinate system be P tw ;

[0035] The position in the product coordinate system is P tp , P tp determined by measurement equipment or calculated after determining the surrounding points;

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

[0037]

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

[0039] P tw0 This doesn't change in the device coordinate system, so the TCP point is actually always P in the device coordinate system. tw0 Let P be the position of the product in the coordinate system before rotation and orientation adjustment. tp After rotation and orientation adjustment, the product's position in the coordinate system is P. tp n ,but:

[0040]

[0041] Wherein: T p This is the transformation matrix for this pose adjustment, T. i p It is the left multiplication of the transformation matrices from all previous pose adjustments. Determined by the initial transformation matrix of formula (9);

[0042] Since rotational attitude adjustment aims to keep the spatial position of TCP point Pt unchanged, i.e., P in formula (12) tp n =P tp ;

[0043]

[0044] Where R p Let RPY be the rotation matrix, as shown in formula (3). Substituting the desired RPY rotation angle into formula (13) yields the system of equations as shown in formula (14), from which d can be calculated. p As shown in formula (15):

[0045]

[0046] Therefore, 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 values xsi, ysi, zsi of each hinge point Si can be solved from formula (17) p , ysi p , zsi p (i = 1, 2, 3), so as to determine the spatial positions of each motion axis

[0051]

[0052] When the interactive adjustment is performed, the information of previous adjustments does not need to be known, and only the relative adjustment amount of each driving axis in the current adjustment needs to be considered, so that the initial position error problem can be actually processed by focusing on the relative adjustment amount of the spatial position of each motion axis, as shown in formula (19):

[0053]

[0054] Thus, the adjustment of arbitrary translation and rotation can be realized.

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

[0056] The large rocket parallel rocket engine docking device of the present application almost does not need an additional lifting appliance, has low cost, good reliability and less technical risk; integrates the existing lifting appliance, is simple to operate, and can be operated by general personnel after simple training, thereby greatly reducing the requirements for the operating personnel; the interactive pose adjustment method of the present application is simple to calculate, can be written into the control algorithm of the equipment as an analytical formula, thereby greatly improving the efficiency of the operating personnel and ensuring safety; the present application has good universality, can be applied to different types of engine workpieces, meets the hoisting, transfer and other needs of various types of engines, and conforms to the current development trend of flexible manufacturing process. The pose adjustment method of the present application, especially when the pose is adjusted in rotation, fully considers the adjustment under the condition that the TCP point position is unchanged, can avoid the situation that a large displacement is generated on the docking surface when a large-size product is rotated, thereby avoiding the collision and rubbing, and greatly improves the safety of the interactive pose adjustment. BRIEF DESCRIPTION OF DRAWINGS

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

[0058] Figure 2 is a structural schematic diagram of the positioning and pose adjustment device of the present application.

[0059] Figure 3 is a principle diagram of the three-coordinate numerical control positioning module of the positioning and pose adjustment device of the present application. DETAILED DESCRIPTION

[0060] The present application will be further described below in combination with the drawings and embodiments.

[0061] As shown in Figures 1-3 .

[0062] Embodiment one, when based on the field personnel interactive attitude docking, including the following steps:

[0063] Step 1, a large rocket multi-engine docking equipment is used, as shown in Figure 1 , which includes an engine docking vehicle 1 and a lifting appliance 2. The engine docking vehicle 1 includes a track mobile vehicle 3, a support 4 and a positioning and attitude adjusting mechanism 5. The track mobile vehicle 3 carries the support 4 and the positioning and attitude adjusting mechanism 5 and is fixed on the ground track 6; the support 4 carries the positioning and attitude adjusting mechanism 5 to realize engine attitude adjustment; the positioning and attitude adjusting mechanism 5 uses three coordinate numerical control positioning modules 8 (as shown in Figure 2 ) placed on the attitude adjusting base 9.

[0064] First, the numerical control positioner, engine support and track trolley are assembled, and the lifting appliance for fixing the engine is moved to the positioning and attitude adjusting mechanism (5) by the traveling crane transfer tool, the track mobile vehicle 3 is lifted with the foot support 7, the track mobile vehicle 3 is pushed to the working position, and the track trolley is pushed to the installation position;

[0065] Step 2, the foot support is lowered again, and the mobile vehicle is fixed on the workbench to prevent shaking. The support 4 can be disassembled or assembled to adapt to the engine installation needs of different height workstations.

[0066] Step 3, manually according to the deviation of the engine docking position and the target position, using the positioning and attitude adjusting mechanism 5, interactive attitude adjustment is performed according to a certain sequence of translation or rotation: generally, the positioning and attitude adjusting mechanism 5 adjusts the support point to contain X direction stroke, Y direction stroke, Z direction stroke, X direction roll, Y direction pitch and Z direction yaw; the movement in the range of X direction 150-450mm, Y direction 50-150mm and Z direction 50-150mm and the rotation in the range of X direction ±4°, Y direction ±1.5° and Z direction ±1.5° can be realized. The specific attitude adjusting process is as follows:

[0067] Step 3.1, first move the engine docking surface to about 20mm away from the target position by translation, and use formula (10) to give the driving amount of each axis according to the distance difference;

[0068] Step 3.2, according to the angle deviation of the engine and the docking surface of the rocket body, the center position of the docking surface is determined as the TCP point, and the Euler angle (RPY angle) deviation is determined, and only one angle is adjusted at a time, and then the rotation matrix R p is obtained by formula (3);

[0069]

[0070] Step 3.3, the translation vector d can be calculated according to formula (15) p , p and d p , p ;

[0071] Step 3.4, the coordinate transformation matrix T p , p i = 1, 2, 3;

[0072] Step 3.5, the corresponding Si p coordinate values xs i p , ys i p , zs i p , i = 1, 2, 3, are brought 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, through visual inspection or other tools, it is determined that the engine and the missile body are parallel to the interface, and the threaded hole positions on the interface are aligned. If the requirement is not met, repeat step 3.2.

[0074] Step 4, again using the method of step 3.1, the engine and the missile body interface are adjusted to contact through translation, and then the bolts are installed to complete the engine installation.

[0075] Example two, automatic attitude adjustment docking based on automatic measurement, including the following steps:

[0076] Step 1, same as case one, first assemble the numerical control positioner, engine support and track trolley, and move the engine lifting tool through the crane to the positioning and attitude adjustment mechanism (5), and push the track trolley to the installation position.

[0077] Step 2, same as case one, re-lower the foot support and fix the moving vehicle on the work station to prevent shaking. The support 4 can be detached or installed to adapt to the engine installation needs of different height work stations.

[0078] Step 3, measure the target position P ip = [x ip y ip z ip ] T , (i = 1, 2, 3, …) of at least three docking connection holes on the missile body docking surface through automatic measurement equipment.

[0079] Step 4, 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, a set of coordinate conversion equations can be listed by using formula (13)

[0081]

[0082] wherein, i=1 , 2 , 3, …

[0083] Step 6, according to the above equations described as (21), the conversion matrix T from current to target state can be solved by using SVD decomposition method p , which is equivalent to formula (16) form;

[0084] Step 7, the position conversion matrix is obtained by using formula (17), and the hinge position S 0p of the target state is calculated by using the position Si ip , (i=1, 2, 3);

[0085] Step 8, the absolute position or relative adjustment amount of each motion axis can be calculated by bringing the hinge position into formula (18) or formula (19);

[0086] Step 9, in order to ensure the safety of docking, after the docking adjustment amount is calculated, the translational part Z is reduced by 10-20mm in three axes, the positioning and attitude adjusting mechanism (5) is used to adjust the X direction stroke, Y direction stroke, Z direction stroke, X direction roll, Y direction pitch and Z direction yaw; after adjustment, the parallelism of the docking surface is observed, and then the docking is translated;

[0087] Step 10, in the docking attitude adjusting process, if the overall rotation matrix is determined by measurement, and it is desired to further understand the RPY Euler angle, after the rotation matrix is expressed in the form of formula (22), formula (23) is used for calculation;

[0088]

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

[0090] The part not involved in the present application is the same as the prior art or can be realized by using the prior art.

Claims

1. An interactive attitude adjustment docking method for large rocket multi-engine with uniform distribution, characterized in that: It includes the following steps: First, the rocket engine to be installed is mounted on the docking equipment, which includes an engine docking vehicle (1) and a lifting device (2). The engine docking vehicle (1) includes a track moving vehicle (3), a support (4), and a positioning and attitude adjustment mechanism (5). The lifting device (2) can be fixed together with the rocket engine on the wall panel of the positioning and attitude adjustment platform. The track moving vehicle (3) is fixed on the ground track (6), the support (4) is mounted on the track moving vehicle (3), and the positioning and attitude adjustment mechanism (5) is mounted on the support (4). The track moving vehicle (3) is equipped with foot supports (7). The positioning and attitude adjustment mechanism (5) consists of three coordinate numerical control positioning modules (8), which are mounted on the attitude adjustment base (9). Secondly, based on the position of the specified target TCP point, i.e. the tool center point, the magnitude of the driving amount of each motion axis of the three coordinate CNC positioning modules (8) is calculated by defining the distance of position translation or the angle of rotation required for the docking surface when the TCP point remains unchanged. This enables control of the target position of each motion axis and precise adjustment of the position and attitude of the docking surface. The specific posture adjustment method and calculation process are as follows: First, determine the target pose of the engine docking surface during attitude adjustment. The docking surface on the rocket body is used as the target pose reference. The final target pose of the engine is when the docking surfaces are in contact and the docking holes on the engine and the rocket body can be aligned. In this way, the entire attitude adjustment process can be regarded as the process of adjusting the reference point on a certain docking surface on the engine, that is, the aforementioned specified target TCP point, from the current pose to the corresponding position on the docking surface of the rocket body. Second, the coordinate transformation between the product coordinate system and the device coordinate system is used to calculate the initial and final position relationship of different position points on the engine during the adjustment process; the product coordinate system OpXpYpZp fixed on the rocket engine is taken as the product coordinate system (the specific position of the coordinate system is often specified in the process of engine modeling), and the device coordinate system Owxwywzw is established with the S1 hinge on the main drive shaft as the origin; 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 denoted as and the pose conversion matrix from the product coordinate system to the device coordinate system is denoted as As shown in equation (1) and equation (2), the mutual conversion between the device coordinate system and the product coordinate system is realized through the two coordinate conversion matrices; where: P P represents a coordinate representation in the product coordinate system, P w represents a coordinate representation in the device coordinate system; Third, during the attitude adjustment process, since the various reference points (including TCP and the hinge points S1, S2, S3 of each CNC positioner) are fixed in the engine product coordinate system, the attitude adjustment rotation is described by the fixed product coordinate system roll (around X) - pitch (around Y) - yaw (around Z). Formula (3) is the rotation matrix of RPY (roll-pitch-yaw angle) rotation, where y, p, and r are the 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 point from the equipment coordinate system to the product coordinate system is expressed by formula (4); Fourth, the transformation matrix of the initial pose and The calculation can be calibrated with the initial position of the hinge, the specific process: wherein 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 ~ 3; Initial rotation matrix is the identity matrix, i.e. the three coordinate axes of the device coordinate system are parallel to the product coordinate system: where S1 p0 is the position of the origin of the device coordinate system in the product coordinate system, S1 w0 is the position of the origin of the device coordinate system in the device coordinate system; From equations (5) and (7), we can obtain the coordinate transformation matrices (8) and (9) from the equipment coordinate system to the product coordinate system: Fifth, by using the coordinate transformation matrix and adjusting the positions of the three hinge points at the beginning and end positions, the driving amount of the six active drive axes x1, y1, z1, y2, z2, and y3 on the CNC positioner is calculated to achieve pose adjustment. Note that each CNC has nine prismatic joints (guide rails and lead screws) and three spherical joints (hinges), but only six prismatic joints are actively driven. The pose adjustment method based on TCP point position translation is as follows: The translational adjustment is the movement of the entire part, so the adjustment is the desired movement of the TCP point; translational adjustment, the position of the product in the product coordinate system before adjustment is P tp , P tp =[x tp y tp z tp ] T ; the position in the current product coordinate system after adjustment is P tp n , P tp n =[x tp n y tp n z tp n ] T ; Note that because the translation moves the TCP point as well as the hinge points S1, S2, S3 by the same distance, in effect the drives are the same relative displacements y of Ay1, Ay2, Ay3 p - y 0p Linkage, same relative displacement z of Az1, Az2 p - z 0p Linkage, Ay1 moves x p - x 0p ; The attitude adjustment method based on the TCP point position is as follows: When rotating and adjusting the attitude of a rocket engine, a point on the docking surface is selected as a reference for RPY rotation and 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 displacement of the two sides is symmetrical, making it easier to judge interference and collision. TCP point is P t In order to be a reference in the rotation of the posture, the TCP point space position remains unchanged; Let P t be the position of the point in the product coordinate system tp , P tw be the position of the point in the device coordinate system The position in the product coordinate system is P tp , P tp Computed determination after determination of the surrounding points by the measuring device In the initial state of the device, let P t The position of the point in the product coordinate system is P tp0 , the position of the point in the device coordinate system is P tw0 , and the relationship is: where P tp0 directly or indirectly, is given by equation (9); P tw0 does not change in the device coordinate system, so in fact the TCP point is always P tw0 ; before rotating the pose, the position in the product coordinate system is P tp , after rotating the pose, the position in the product coordinate system is P tp n then: wherein: T p is the transformation matrix of this time of alignment, T i p is the left multiplication of the transformation matrix of the previous time of alignment, is determined by the initial transformation matrix of formula (9); Since the TCP point Pt is desired to keep the same spatial position during the rotation, i.e. P tp n = P tp ; where R p is the RPY rotation matrix as shown in equation (3), and by substituting equation (13) into equation (3) according to the desired RPY rotation angle size, the equation set as shown in equation (14) can be obtained, and then d p as shown in equation (15): Therefore, 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 values xsi, ysi, zsi of each hinge point Si can be solved from equation (17) p , p , p (i = 1, 2, 3), thereby determining the spatial positions of each motion axis. Thus, the coordinates of each hinge point Si are calculated as shown in equation (18): When making interactive adjustments, it is not necessary to know the information of previous adjustments. Only the relative adjustment amount of each drive axis in this adjustment needs to be considered. Therefore, in practice, only the relative adjustment amount of the spatial position of each motion axis is considered to deal with some initial position error problems, as shown in formula (19): This allows for arbitrary translation and rotation adjustments.

2. The method of claim 1, wherein: The interactive attitude adjustment and docking based on on-site personnel includes the following steps: Step 1: Assemble the CNC positioner, engine bracket and track trolley, and move the lifting device that fixes the engine to the positioning and attitude adjustment mechanism (5) through the trolley transfer tool. Lift the foot support of the track moving vehicle, push the track moving vehicle to the working position, and push the track trolley to the installation position. Step 2: Lower the foot support again to secure the mobile vehicle in the workstation and prevent it from shaking; the bracket can be disassembled or installed to adapt to the engine installation needs of workstations at different heights. Step 3: Based on the deviation between the engine docking position and the target position, the manual operator uses the aforementioned positioning and attitude adjustment mechanism to interactively adjust the attitude according to a certain sequence of translation or rotation. The positioning and attitude adjustment mechanism adjusts the support point by including X-axis travel, Y-axis travel, Z-axis travel, X-axis roll, Y-axis pitch, and Z-axis 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, as well as 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: Step 3.1: First, move the engine mating surface to a distance of about 20mm from the target position by translation. Then, use formula (10) to give the driving amount of each axis based on the distance difference. Step 3.2, according to the angle deviation of the engine and the interface of the missile body, the Euler angle (RPY angle) deviation is determined with the TCP point as the center position of the interface, only one angle is adjusted at a time, and then the rotation matrix R is obtained through formula (3) p ; In step 3.3, the translation vector d is further calculated according to formula (15) p , R p and d p are substituted into formula (16) to obtain the coordinate conversion matrix T p ; Step 3.4, T p Substitute equation (17) to obtain the position of each CNC positioner hinge Si p , i = 1, 2, 3; Step 3.5, the corresponding Si p coordinate value xsi p , ysi p , zsi p , i = 1, 2, 3, are substituted into formula (18) or formula (19) to calculate the absolute position or relative adjustment amount of each motion axis, and then each motion axis is driven to the target position by the equipment control system. Step 3.6: Determine by visual inspection or other tools that the mating surfaces of the engine and the rocket body are parallel and that the threaded holes on the mating surfaces are aligned. If the requirements are not met, repeat step 3.

2. Step 4: Using the method described in step 3.1 again, the engine and rocket body docking surfaces are adjusted to contact by translation, and then the bolts are installed to complete the attitude adjustment and installation of the engine.

3. The method of claim 1, wherein: Interactive attitude adjustment docking based on automated measurement includes the following steps: Step 1: First, assemble the CNC positioner, engine bracket and track trolley, and move the hoist that fixes the engine to the positioning and attitude adjustment mechanism (5) by means of a crane or other transfer tool, and push the track trolley to the installation position; Step 2: Lower the foot support again to secure the mobile vehicle in the workstation and prevent it from shaking; the bracket can be disassembled or installed to adapt to the engine installation needs of workstations at different heights. Step 3, measure the target position P of at least three butt joint connecting holes on the butt joint surface of the missile body by an automatic measuring device ip = [x ip y ip z ip ] T , (i = 1, 2, 3, …) Step 4, measure the position of the corresponding interface of the engine as the current position P by the automated measuring device 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; wherein i = 1 , 2 , 3,…… Step 6, using SVD decomposition method, according to the equation group described by formula (21), the conversion matrix T from the current to the target state is solved p The matrix is equivalent to the form of formula (16); Step 7, the position conversion matrix is obtained by using formula (17), and the position Si 0p The hinge position S of the target state is calculated 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: In order to ensure the safety of docking, after calculating the docking adjustment amount, the three axes of the translation part in the Z direction are reduced by 10-20mm. The positioning and attitude 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 moved and docked. Step 10: During the docking and attitude 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 Euler angles of RPY are calculated using formula (23). It should be noted that the size of Euler angles is related to the order of rotation.

4. The method according to claim 1, characterized in that: The positioning and attitude adjustment mechanism (5) adjusts the support point including X-axis travel, Y-axis travel, Z-axis travel, X-axis roll, Y-axis pitch, and Z-axis yaw; it can achieve movement within the range of 150-450mm in the X-axis, 50-150mm in the Y-axis, and 50-150mm in the Z-axis, as well as rotation within the range of ±4° in the X-axis, ±1.5° in the Y-axis, and ±1.5° in the Z-axis.

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