Docking mechanism lower support point pose assembly and method

Abstract

The application provides a lower support point pose installation and adjustment tool and method, which comprises a body, an installation and adjustment assembly and a mounting and positioning assembly. A plurality of lower support point mechanisms are fastened to a product interface frame, a plurality of mounting and positioning assemblies are fastened to the interface frame, the installation and adjustment assembly is matched with the indirect measurement pin holes between the lower support points one by one, and is used for adjusting the mounting positions of the lower support point mechanisms. After the lower support point mechanisms are mounted on the product, the product reference surface and the reference hole are used to mount the lower support point pose installation and adjustment tool on the product through the mounting and positioning assembly. The adjustment of the mounting pose of the lower support point is realized through the matching between the measuring pin on the installation and adjustment assembly and the indirect measurement pin hole between the lower support points. After the adjustment, the positioning pin hole of the lower support point mechanism is drilled, and the mounting position precision is ensured. The structure is simple, the precision of the lower support point which cannot be directly measured is converted into high-precision installation and adjustment tools, and the operation is simple.

Description

Technical Field

[0001] This invention relates to the field of docking mechanism assembly, and more specifically, to a tooling and method for adjusting the lower fulcrum position of a docking mechanism. Background Technology

[0002] The docking mechanism is an important actuator for two spacecraft to rendezvous and dock, and is a key product of the manned space program.

[0003] A Chinese patent with publication number CN107461382A discloses a docking mechanism, which includes a first docking unit and a second docking unit that can be relatively separated and joined; the first docking unit includes an annular docking flange, and the second docking unit includes a base and a capture mechanism for centering and axially positioning the docking flange, wherein the capture mechanism can be raised and lowered relative to the base.

[0004] The docking mechanism is a complex product with high transmission precision and many types of components. It mainly consists of a docking ring, a docking frame, a docking lock, and a lower fulcrum mechanism. It is a parallel mechanism with 6 degrees of freedom. The position and orientation of the lower fulcrum are important parameters of the 6-DOF parallel mechanism. It is the basis for the docking ring to push out and pull back, and affects the realization of the docking mechanism's capture buffer and docking locking functions. Therefore, its assembly and adjustment accuracy requirements are high, and the assembly and adjustment are difficult.

[0005] To ensure the functionality and stable performance of the docking mechanism, the pose of the lower fulcrum mechanism needs to be adjusted. However, after the lower fulcrum mechanism is installed, its theoretical pose cannot be directly measured. Therefore, to meet the requirements of the lower fulcrum pose adjustment, an adjustment fixture needs to be designed to ensure that the lower fulcrum pose accuracy is measurable while reducing the difficulty of adjusting the lower fulcrum mechanism. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a tooling and method for adjusting the lower fulcrum position of a docking mechanism.

[0007] According to the present invention, a tooling and method for adjusting the lower fulcrum position of a docking mechanism includes: a body, an adjustment assembly, and an installation and positioning assembly, wherein a plurality of the installation and positioning assemblies are respectively installed on the top of the body, and a plurality of the adjustment assemblies are respectively installed on the bottom of the body;

[0008] Multiple lower support mechanisms are respectively fastened to the product docking frame, and multiple installation and positioning components are respectively fastened to the docking frame. The installation and adjustment components are matched one-to-one with the lower support indirect measuring pin holes to adjust the installation position of the lower support mechanism.

[0009] Preferably, the body includes a circular ring structure, and the body is provided with mounting threaded holes for mounting positioning components and mounting threaded holes for adjusting components.

[0010] Preferably, the assembly includes a mounting block, a pin sleeve, an adjusting block, and a measuring pin, wherein the mounting block is provided with an assembly mounting through hole that matches the mounting thread hole of the assembly;

[0011] The mounting block is provided with an adjustment block mounting threaded hole, and the adjustment block is provided with an adjustment block mounting through hole that matches the adjustment block mounting threaded hole. The adjustment block is fastened to the mounting block by screws.

[0012] Preferably, the mounting block is provided with a mounting block pin sleeve mounting hole that matches the pin sleeve, and the pin sleeve is fastened to the mounting block;

[0013] The adjusting block is provided with an adjusting block measuring pin hole that matches the measuring pin. The measuring pin includes a segmented pin, with the small diameter segment cooperating with the pin sleeve and the large diameter segment cooperating with the adjusting block.

[0014] Preferably, after the main body and the assembly and adjustment component are installed in place, a three-coordinate precision measurement is performed to adjust the installation position of the assembly and adjustment component to ensure the pin hole position accuracy of the mounting block pin hole, and then the pin is installed.

[0015] Preferably, the pin hole position accuracy includes the hole position distribution angle, the distance from the mounting surface, and the flatness of the pin hole fitting surface.

[0016] Preferably, the mounting and positioning component includes a mounting base, a positioning block, a positioning pin, and a limiting pin, wherein the mounting base is provided with a mounting through hole that matches the mounting thread hole of the mounting and positioning component;

[0017] The mounting base is provided with a positioning block mounting hole that mates with the positioning block, and the positioning block is mounted on the mounting base by screws.

[0018] Preferably, after the main body, the mounting base, and the positioning block are installed in place, positioning pin holes and limiting pin holes that match the product docking frame are opened on the positioning block, the positioning pins and the limiting pins are installed accordingly, and the mounting surface that matches the product docking frame is machined, so that the main body and the product are coaxial after installation.

[0019] Preferably, there are no fewer than three positioning pin holes, and the gap between all the limiting pins and the inner diameter of the product docking frame is consistent.

[0020] According to the present invention, a method for adjusting the lower fulcrum position of a docking mechanism, using the aforementioned tooling for adjusting the lower fulcrum position of the docking mechanism, includes the following steps:

[0021] Step 1: Install the lower fulcrum mechanism to the product docking frame. Tighten the mounting screws of the lower fulcrum mechanism manually. Do not use adjusting shims at the installation joint between the lower fulcrum mechanism and the docking frame for the time being.

[0022] Step 2: Install the tooling and product by aligning the positioning pins, limit pins, and mounting surface of the installation component with the product docking frame;

[0023] Step 3: Utilize the fit between the measuring pin and the lower fulcrum to indirectly measure the pose accuracy of the lower fulcrum;

[0024] Step 4: If the measuring pin and the indirect measuring pin hole of the lower fulcrum cannot be smoothly matched, the positional accuracy of the lower fulcrum does not meet the requirements. Use adjusting shims at the installation and mating point between the lower fulcrum mechanism and the docking frame, and repeat the steps until the measuring pin and the indirect measuring pin hole of the lower fulcrum are smoothly matched.

[0025] Step 5: After the lower fulcrum position accuracy is adjusted to be qualified, a positioning pin is installed between the lower fulcrum mechanism and the docking frame.

[0026] Step 6: Remove the lower fulcrum position adjustment fixture to complete the lower fulcrum position adjustment.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] This invention utilizes the reference surface and reference holes on the product after the lower support mechanism is installed in place. A positioning assembly is then used to install the lower support position adjustment fixture onto the product. The installation position of the lower support mechanism is adjusted by the fit between the measuring pins on the adjustment assembly and the indirect measuring pin holes on the lower support of the product, and by using adjusting shims. After adjustment, the positioning pin holes of the lower support mechanism are drilled to ensure its installation position accuracy. The structure is simple, utilizing the precision measuring holes and measuring surfaces on the docking frame to convert the lower support accuracy, which cannot be directly measured, into a high-precision adjustment fixture. This simplifies operation, reduces the difficulty of assembling and adjusting the lower support mechanism, and ensures the installation accuracy of the lower support mechanism in the docking mechanism. Attached Figure Description

[0029] 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:

[0030] Figure 1 This is a schematic diagram illustrating the installation position of the lower support point attitude adjustment fixture of the present invention.

[0031] Figure 2 This is a schematic diagram illustrating the tooling for adjusting the lower fulcrum position of the docking mechanism, which is the main feature of this invention.

[0032] Figure 3This is a schematic diagram illustrating the position of the lower support point of the docking mechanism's posture adjustment fixture, which is the main feature of this invention.

[0033] Figure 4 This is a schematic diagram of the main body of the tooling for adjusting the lower fulcrum position of the docking mechanism, which is the main feature of this invention.

[0034] Figure 5 This is a schematic diagram of the tooling assembly for adjusting the lower fulcrum position of the docking mechanism, which is the main feature of this invention.

[0035] Figure 6 This is a schematic diagram illustrating the installation and positioning components of the lower fulcrum position adjustment tooling of the docking mechanism, which is the main feature of this invention.

[0036] As shown in the figure:

[0037] Main body 1, assembly and adjustment components 2

[0038] Install positioning component 3, theoretical position of lower fulcrum 4.

[0039] Lower fulcrum indirect measurement pin hole 5, mating frame 6

[0040] Lower pivot mechanism 7 Mounting positioning component mounting threaded hole 11

[0041] Mounting assembly threaded hole 12 Mounting block 21

[0042] Pin 22 Adjusting block 23

[0043] Measuring pin 24; Mounting through hole 25 for assembly and adjustment components.

[0044] 26 Positioning pin hole for assembly and adjustment components; 27 Mounting pin hole for mounting block.

[0045] Adjusting block measuring pin hole 28; Adjusting block mounting through hole 29

[0046] Adjusting block mounting threaded hole 210 Mounting base 31

[0047] Positioning block 32, positioning pin 33

[0048] Limit pin 24, positioning block mounting hole 35

[0049] Mounting positioning component mounting hole 36, mounting surface 37 Detailed Implementation

[0050] 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.

[0051] Example 1

[0052] like Figure 1-6 As shown, a lower fulcrum position adjustment fixture for a docking mechanism according to the present invention includes: a body 1, an adjustment assembly 2, and a mounting and positioning assembly 3. Multiple mounting and positioning assemblies 3 are respectively installed on the top of the body 1, and multiple adjustment assemblies 2 are respectively installed on the bottom of the body 1. Multiple lower fulcrum mechanisms 7 are respectively fastened to a product docking frame 6, and multiple mounting and positioning assemblies 3 are respectively fastened to the docking frame 6. The adjustment assembly 2 and the lower fulcrum indirect measuring pin hole 5 are correspondingly engaged to adjust the installation position of the lower fulcrum mechanism 7. The body 1 is used to install the adjustment assembly 2 and the mounting and positioning assembly 3; the adjustment assembly 2 is used to engage with the product lower fulcrum indirect measuring pin hole 5 to adjust the installation position of the product lower fulcrum mechanism 7; the mounting and positioning assembly 3 is used to install the fixture to the product and ensure the installation position of the fixture.

[0053] The main body 1 includes a circular structure, and the main body 1 is provided with a mounting threaded hole 11 for mounting positioning components and a mounting threaded hole 12 for mounting adjustment components.

[0054] The assembly and adjustment component 2 includes a mounting block 21, a pin sleeve 22, an adjustment block 23, and a measuring pin 24. The mounting block 21 is provided with an assembly and adjustment component mounting through hole 25 that matches the assembly and adjustment component mounting thread hole 12. The mounting block 21 is provided with an adjustment block mounting thread hole 210, and the adjustment block 23 is provided with an adjustment block mounting through hole 29 that matches the adjustment block mounting thread hole 210. The adjustment block 23 is fastened to the mounting block 21 by screws.

[0055] Mounting block 21 is provided with mounting block pin sleeve mounting hole 27 that matches pin sleeve 22, and pin sleeve 22 is fastened to mounting block 21; adjusting block 23 is provided with adjusting block measuring pin hole 28 that matches measuring pin 24, measuring pin 24 includes segmented pin, the small diameter segment cooperates with pin sleeve 22, and the large diameter segment cooperates with adjusting block 23.

[0056] After the main body 1 and the assembly and adjustment component 2 are installed in place, a three-coordinate precision measurement is performed to adjust the installation position of the assembly and adjustment component 2 to ensure the pin hole position accuracy of the mounting hole 27 of the mounting block pin sleeve. Then, the pin sleeve 22 is installed. Then, positioning pin holes are drilled between the mounting block 21 and the main body 1, and between the adjustment block 23 and the mounting block 21 to ensure the installation position accuracy.

[0057] The pin hole position accuracy includes the hole position distribution angle, the distance from the mounting surface, and the flatness of the pin hole fitting surface. All accuracy indicators should be better than the accuracy requirements of the actual product's lower support point assembly.

[0058] The mounting and positioning component 3 includes a mounting base 31, a positioning block 32, a positioning pin 33, and a limit pin 34. The mounting base 31 is provided with a mounting through hole 36 that matches the mounting thread hole 11 of the mounting and positioning component. The mounting base 31 is provided with a positioning block mounting hole 35 that mates with the positioning block 32. The positioning block 32 is mounted on the mounting base 31 by screws.

[0059] After the main body 1, mounting base 31, and positioning block 32 are installed in place, they are assembled and machined. Positioning pin holes and limiting pin holes matching the product docking frame 6 are made on the positioning block 32. Positioning pins 33 and limiting pins 34 are installed accordingly. A mounting surface 37 matching the product docking frame 6 is also machined to ensure that the main body 1 and the product are coaxial after installation. The positioning pin holes are made according to the actual pin hole positions on the product mounting surface, the limiting pin holes are made according to the product's inner diameter, and the positioning block mounting surface 37 is assembled and machined according to the product mounting surface.

[0060] There should be no fewer than three positioning pin holes, and the gap between all the limit pins and the inner diameter of the product docking frame should be consistent.

[0061] Preferably, there are 6 sets of assembly and adjustment components 2 and 3 sets of mounting and positioning components 3. The main body 1 is provided with 6 sets of mounting threaded holes 12 for the assembly and adjustment components and 3 sets of mounting threaded holes 11 for the mounting and positioning components.

[0062] After the main body 1, mounting base 31, and positioning block 32 are installed in place, they are assembled and processed. Positioning pin holes and limit pin holes are made on three positioning blocks using the product docking frame 6, and positioning pins 33 and limit pins 34 are installed. The mounting surfaces 37 of the three positioning blocks that mate with the product are machined to ensure coaxiality between the main body and the product after installation. After the main body 1 and the assembly / adjustment component 2 are installed in place, a coordinate measuring machine is used to precisely measure and adjust the installation positions of the six assembly / adjustment components. The accuracy of the six pin holes 27 must be superior to the accuracy requirements of the actual product's lower support point assembly, including the hole distribution angle, distance from the mounting surface, and the flatness of the fitting surface of the six pin holes. Then, pins 22 are installed. Positioning pin holes are drilled between the positioning block 32 and the main body 1, and positioning pins 33 are installed. Finally, the assembly of the lower fulcrum pose adjustment fixture and the guarantee of its shape and position accuracy are completed, that is, the theoretical position 4 of the lower fulcrum and the indirect measurement pin hole 5 of the lower fulcrum are corresponding, and the pose accuracy of the indirect measurement pin hole 5 of the lower fulcrum is better than the pose accuracy of the theoretical position 4 of the lower fulcrum.

[0063] Since the six lower support points of the docking mechanism are evenly distributed inside the docking frame 6, the assembly and adjustment are difficult and the installation accuracy cannot be directly measured. The tooling structure of this application is simple. By using the precision measuring holes and measuring surfaces on the docking frame 6, the accuracy of the lower support points, which cannot be directly measured, is converted into a high-precision assembly and adjustment tooling to ensure it, which simplifies the operation process and reduces the assembly and adjustment difficulty of the lower support point mechanism.

[0064] The pin hole position accuracy on the assembly and adjustment component 2 corresponding to the lower support point of the product is better than the assembly and adjustment index accuracy of the lower support point. In use, after the lower support point mechanism 7 is installed in place with the product, the lower support point posture adjustment fixture is installed with the product using the upper reference surface and reference hole via the installation positioning component 3. The lower support point installation posture is adjusted by the fit between the measuring pin 24 on the assembly and adjustment component 2 and the indirect measuring pin hole 5 of the lower support point of the product, and by adjusting shims. After adjustment, the positioning pin hole of the lower support point mechanism 7 is drilled to ensure its installation position accuracy. The fixture structure of this application is simple, converting the lower support point accuracy, which cannot be directly measured, into a high-precision assembly and adjustment fixture to ensure accuracy. Operation is simple, reducing the assembly and adjustment difficulty of the lower support point mechanism and ensuring the installation accuracy of the lower support point mechanism of the docking mechanism.

[0065] Example 2

[0066] Based on Embodiment 1, the present invention provides a method for adjusting the lower fulcrum position of a docking mechanism, using the tooling for adjusting the lower fulcrum position of the docking mechanism as described in Embodiment 1, comprising the following steps:

[0067] Step 1: Install the lower fulcrum mechanism 7 to the product docking frame 6. Tighten the mounting screws of the lower fulcrum mechanism 7 manually. Do not use adjustment shims at the installation mating point between the lower fulcrum mechanism 7 and the docking frame 6 for the time being.

[0068] Step 2: Install the tooling and the product by aligning the positioning pins 33, limit pins 34 and mounting surface 37 on the positioning component 3 with the product docking frame 6;

[0069] Step 3: Utilize the fit between the measuring pin 24 and the lower fulcrum indirect measuring pin hole 5 to indirectly measure the pose accuracy of the lower fulcrum;

[0070] Step 4: If the measuring pin 24 and the indirect measuring pin hole 5 of the lower fulcrum cannot be smoothly matched, the positional accuracy of the lower fulcrum does not meet the requirements. Use an adjusting shim at the installation and mating point between the lower fulcrum mechanism 7 and the docking frame 6, and repeat step 3 until the measuring pin 24 and the indirect measuring pin hole 5 of the lower fulcrum are smoothly matched.

[0071] Step 5: After the lower fulcrum position accuracy is adjusted to be qualified, a positioning pin is installed between the lower fulcrum mechanism 7 and the docking frame 6.

[0072] Step 6: Remove the lower fulcrum position adjustment fixture to complete the lower fulcrum position adjustment.

[0073] Each product docking frame has machining deviations. When the tooling of this application is installed with the product docking frame, there are no less than 3 positioning pin holes on the positioning component 3. Depending on the actual installation situation, 2 holes can be installed, but it must be ensured that the gap between each limit pin 34 and the inner diameter of the product docking frame is consistent.

[0074] The tooling structure of this application is simple. By using the precision measuring holes and measuring surfaces on the docking frame, the accuracy of the lower support point, which cannot be directly measured, is converted into a high-precision assembly and adjustment tooling to ensure it. This simplifies the operation process, reduces the assembly and adjustment difficulty of the lower support point mechanism, and provides a new assembly and adjustment scheme for ensuring the position and posture of the lower support point mechanism.

[0075] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0076] 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 tooling for adjusting the position and orientation of the lower fulcrum of a docking mechanism, characterized in that, include: The body (1), the assembly and adjustment components (2) and the installation and positioning components (3) are respectively installed on the top of the body (1) and the assembly and adjustment components (2) are respectively installed on the bottom of the body (1); Multiple lower support mechanisms (7) are respectively fastened to the product docking frame (6), and multiple installation positioning components (3) are respectively fastened to the docking frame (6). The installation and adjustment components (2) are matched one-to-one with the lower support indirect measuring pin holes (5) to adjust the installation position of the lower support mechanism (7). The body (1) includes a circular ring structure, and the body (1) is provided with a mounting threaded hole (11) for mounting positioning components and a mounting threaded hole (12) for mounting adjustment components. The assembly and adjustment component (2) includes a mounting block (21), a pin sleeve (22), an adjustment block (23), and a measuring pin (24). The mounting block (21) is provided with an assembly and adjustment component mounting through hole (25) that matches the assembly and adjustment component mounting thread hole (12). The mounting block (21) is provided with an adjustment block mounting threaded hole (210), and the adjustment block (23) is provided with an adjustment block mounting through hole (29) that matches the adjustment block mounting threaded hole (210). The adjustment block (23) is fastened to the mounting block (21) by screws. The mounting block (21) is provided with a mounting block pin sleeve mounting hole (27) that matches the pin sleeve (22), and the pin sleeve (22) is fastened to the mounting block (21); The adjusting block (23) is provided with an adjusting block measuring pin hole (28) that matches the measuring pin (24). The measuring pin (24) includes a segmented pin, with the small diameter segment cooperating with the pin sleeve (22) and the large diameter segment cooperating with the adjusting block (23). The mounting and positioning component (3) includes a mounting base (31), a positioning block (32), a positioning pin (33) and a limiting pin (34). The mounting base (31) is provided with a mounting through hole (36) that matches the mounting threaded hole (11) of the mounting and positioning component. The mounting base (31) is provided with a positioning block mounting hole (35) that cooperates with the positioning block (32), and the positioning block (32) is mounted on the mounting base (31) by screws; After the main body (1), the mounting base (31) and the positioning block (32) are installed in place, positioning pin holes and limiting pin holes that match the product docking frame (6) are opened on the positioning block (32), and the positioning pin (33) and the limiting pin (34) are installed accordingly. The mounting surface (37) that matches the product docking frame (6) is also machined. The main body (1) and the product are coaxial after installation. There are no fewer than three positioning pin holes, and the gap between all the limiting pins and the inner diameter of the product docking frame is consistent.

2. The tooling for adjusting the lower fulcrum position of the docking mechanism as described in claim 1, characterized in that, After the main body (1) and the assembly and adjustment component (2) are installed in place, a three-coordinate precision measurement is performed to adjust the installation position of the assembly and adjustment component (2) to ensure the pin hole accuracy of the mounting hole (27) of the mounting block pin sleeve, and then the pin sleeve (22) is installed.

3. The tooling for adjusting the lower fulcrum position of the docking mechanism as described in claim 2, characterized in that, The pin hole position accuracy includes the hole position distribution angle, the distance from the mounting surface, and the flatness of the pin hole fitting surface.

4. A method for adjusting the position and orientation of the lower fulcrum of a docking mechanism, characterized in that, The tooling for adjusting the lower fulcrum position of the docking mechanism as described in any one of claims 1-3 includes the following steps: Step 1: Install the lower fulcrum mechanism (7) and the product docking frame (6). Tighten the mounting screws of the lower fulcrum mechanism (7) manually. Do not use adjustment shims at the installation mating point between the lower fulcrum mechanism (7) and the docking frame (6). Step 2: Install the tooling and the product by cooperating with the positioning pin (33), limit pin (34) and mounting surface (37) on the positioning component (3) and the product docking frame (6); Step 3: Utilize the fit between the measuring pin (24) and the lower fulcrum indirect measuring pin hole (5) to indirectly measure the pose accuracy of the lower fulcrum; Step 4: If the measuring pin (24) and the indirect measuring pin hole (5) of the lower fulcrum cannot be smoothly matched, the position accuracy of the lower fulcrum will not meet the requirements. Use an adjustment shim at the installation and matching point between the lower fulcrum mechanism (7) and the docking frame (6), and repeat step 3 until the measuring pin (24) and the indirect measuring pin hole (5) of the lower fulcrum are smoothly matched. Step 5: After the lower fulcrum position accuracy is adjusted to be qualified, a positioning pin is installed between the lower fulcrum mechanism (7) and the docking frame (6); Step 6: Remove the lower fulcrum position adjustment fixture to complete the lower fulcrum position adjustment.

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