Aerospace cabin compliant docking system and method thereof

Abstract

The system comprises a cabin butt joint equipment base, linear guide rails and racks are installed on the upper surface and the side face of the cabin butt joint equipment base, and the linear guide rails and the racks serve as installation references of other structures; a linear guide rail and a rack on the upper surface are used for slidably mounting a posture-adjusting butt-joint platform; the linear guide rail and the rack on the side surface are used for slidably mounting a binocular vision detection system; the posture adjusting butt joint platform is used for clamping the cabin sections to achieve butt joint of the cabin sections; the three-dimensional force sensor is mounted at the bottom of the posture adjusting and docking platform; the binocular vision detection system is slidably mounted on the two sides of the side face of the cabin butt joint equipment base; the posture adjusting tool is a clamping device of the product; according to the invention, two three-dimensional force sensors are adopted to form a group, related systems, methods and algorithms are matched, six-dimensional stress detection of a cabin section to be butted is realized, the cost is low, the structure is simple, and the effect is good; closed-loop management of the whole process of automatic docking of cabin sections in the aerospace field is achieved, the automation degree of the docking process is improved, and the docking precision and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to an aerospace cabin compliant docking system and method thereof. Background Art

[0002] Module docking is often seen in the assembly stage of medium and large spacecraft. Since the docking process requires high precision, the docking attitude adjustment is difficult, and the docking takes a long time, the module docking method is currently changing from manual docking to automated docking.

[0003] During the automated docking process, the pain point and difficulty of docking is that when the male and female compartments of the two compartments are closed together, the closing process often gets stuck or jammed due to the compartment attitude adjustment accuracy or the product's own accuracy. The reasons for docking jamming may be as follows: 1. Contact rigidity mismatch: During the docking process, if the contact rigidity between components does not match, it may cause deformation or dislocation of the components, affecting the docking accuracy.

[0004] 2. Friction and viscosity effects: Friction and adhesion can affect the relative motion between components, and simple force control or position control may not be able to effectively predict and compensate for these effects.

[0005] 3. Gaps and interferences between individual components: There may be gaps or interferences between different individual components. These gaps and interferences need to be precisely controlled during the docking process, and simple control methods may not be able to adapt to these changes.

[0006] 4. Dynamic changes during assembly: The contact and separation of components during docking may result in dynamic responses such as shock and vibration, which may exceed the processing capabilities of simple control methods.

[0007] 5. Multi-dimensional force and torque control: During the docking process, forces and torques in multiple directions need to be controlled simultaneously to ensure that the parts are properly aligned and fixed. Position control or simple force control may not be able to provide this multi-dimensional control.

[0008] Generally, when the closing process is stuck or stuck, the automatic docking system will generally alarm and stop waiting. Such docking jams have a huge impact on the production rhythm of product docking, and may also affect product quality. Summary of the invention

[0009] The purpose of the present invention is to provide an aerospace cabin flexible docking system and method in view of the defects and shortcomings of the prior art, so as to solve the problems of insufficient automated assembly accuracy and low reliability in the prior art, especially for the docking of components with complex shapes and high precision requirements.

[0010] To achieve the above purpose, the technical solution adopted by the present invention is: a flexible docking system for aerospace cabins, the innovation of which is that it includes the following components: Cabin docking equipment base: its upper surface and side are equipped with linear guides and racks, which are the basis for the installation of other structures; the linear guides and racks on the upper surface are used for sliding installation of the attitude adjustment docking platform; the linear guides and racks on the side are used for sliding installation of the binocular vision detection system; Attitude adjustment docking platform: used to clamp the cabin to achieve cabin docking, and provide attitude adjustment function for cabin docking, with X\Y\Z and X-axis rolling capabilities, which can achieve rapid expansion; Three-dimensional force sensor: installed at the bottom of the attitude adjustment docking platform, the three-dimensional force sensor connects the attitude adjustment docking platform and the cabin docking equipment base, so that the force changes of the attitude adjustment docking platform can be detected, and the force changes of the cabin can be indirectly detected; Binocular vision detection system: It is installed on both sides of the base of the cabin docking equipment by sliding. When working, it moves to the specified position according to the program content. The binocular vision detection system installed on the upper part measures the cabin to be docked and sends the data back to the calculation system to provide a basis for attitude adjustment calculation; Posture adjustment tooling: It is a clamping device for the product. The posture adjustment tooling ring is composed of multiple arc rings and can adapt to products of different diameters. The posture adjustment tooling and the posture adjustment docking platform constitute a support posture adjustment system to jointly achieve posture adjustment of the product. Cabin sections to be docked: cabin sections of various specifications, clamped by attitude adjustment tooling.

[0011] Furthermore, the three-dimensional force sensors are grouped in pairs, and are used to detect and control the docking components in real time. , , Six-dimensional forces and moments in three directions.

[0012] A method for flexible docking of aerospace cabins, the innovation of which is that it includes the following steps: (1) Docking and posture adjustment At the beginning of the attitude adjustment and docking, the binocular vision detection system first measures the attitude of the cabin to be docked, and uploads the attitude data of each cabin to the terminal processing computer. The computer solves the actual attitude of the cabin according to the actual attitude of each cabin, simulates the best attitude adjustment position, and sends the attitude adjustment plan to the attitude adjustment system; each cabin is placed on two independent attitude adjustment and docking platforms through the front and rear attitude adjustment tooling. Each attitude adjustment and docking platform has the ability to rotate along the X\Y\Z axis and along the X axis. Through the relative movement of the front and rear docking attitude adjustment and docking platforms, the cabin can make linear motion along the X\Y\Z axis and rotate around the X\Y\Z axis within a certain range; (2) Active and flexible docking The posture adjustment docking platform is equipped with three-dimensional force sensors, which are used to detect and control the docking parts in real time through a group of two at the front and back. , , Six-dimensional forces and moments in three directions; when docking cabins, the positioning steps or positioning pins may not be aligned due to position deviations due to errors in system measurement or deviations in dimensional accuracy between products, resulting in jams; when products are docked and jammed, a set of three-dimensional force sensors on the attitude adjustment docking platform will receive the reaction force\torque generated by the product due to the jamming. The sensors will analyze the direction of the force\torque and guide the attitude adjustment docking platform to fine-tune the position and posture in the opposite direction, so as to automatically dock the cabins in an active, automatic and compliant manner, thereby maximizing product safety and improving the success rate of automated docking; When two cabin sections are docked, the parts to be docked , , The resultant forces in the three directions are:

[0013]

[0014]

[0015] In the formula is the force measured by the first sensor in the X direction, For the second sensor Direction of the force measured; For two 3D force sensors The net force in the direction, , The same goes for direction; Parts to be connected , , The moments in the three directions are: Axis torque: In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, The force is Length of the arm in the direction , For each force pair The moment generated by the shaft, and the length of the action arm of the two forces is the same, yes The total moment in the axial direction is the sum of these two moments; Axis torque: In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, The force is The length of the arm in the direction, , For each force pair The moment generated by the shaft, and the length of the action arm of the two forces is the same, yes The total moment in the axial direction is the sum of these two moments; Axis torque: In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, for The force is The length of the arm in the direction, for The force is The length of the arm in the direction, , For each force pair The torque generated by the shaft, yes The total moment in the axial direction is the sum of these two moments; (3) After obtaining the six-dimensional force / torque, the force-position hybrid control method is used to achieve docking According to the force signal collected by the three-dimensional force sensor, the constant force feed is maintained through the posture adjustment docking platform to achieve the docking assembly between the two sections; the posture adjustment system sums the initial position of the section and the docking correction value, and obtains the actual posture adjustment trajectory through kinematic transformation; the posture adjustment docking platform adjusts the component posture according to the instructions issued by the system; during the entire docking process, the feed force, torque and position are monitored in real time through dual feedback of force and position. When the feed force, torque and position all reach the set values, the assembly is considered complete; at the same time, when the force / torque is abnormal, passive and flexible actions are made according to the current position to ensure safe and reliable product docking.

[0016] The beneficial effects of the present invention are: 1. The present invention adopts a group of two three-dimensional force sensors and matches the relevant algorithm to realize the six-dimensional force detection of the docking compartment, which has low cost, simple structure and good effect; 2. The present invention controls the final docking process in a closed loop, realizes closed management of the entire process of automatic docking of cabins in the aerospace field, improves the automation of the docking process, and improves docking accuracy and reliability; 3. The present invention can appropriately reduce the accuracy and consistency requirements for cabin products, greatly improving the docking success rate and work efficiency.

[0017] 4. The present invention greatly improves the quality and safety of the cabin product docking process, avoiding damage to the product itself after closing and misalignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 It is a schematic diagram of the installation of the three-dimensional force sensor of the present invention; Figure 3 It is a schematic diagram of the arrangement of the three-dimensional force sensor of the present invention; Figure 4 The component to be connected in the present invention , , Schematic diagram of the resultant forces in three directions; Figure 5 For the present invention Schematic diagram of axial torque; Figure 6 For the present invention Schematic diagram of axial torque; Figure 7 For the present invention Schematic diagram of axial torque; Figure 8 This is a schematic diagram of the force-position hybrid control principle of the present invention; Fig. 9 The present invention is a flowchart of the automatic flexible docking system.

[0019] Description of reference numerals: 1. Cabin docking equipment base, 2. Attitude adjustment docking platform, 3. Three-dimensional force sensor, 4. Binocular vision detection system, 5. Attitude adjustment tooling, 6. Cabin to be docked. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] Example 1 See also Figure 1-2 , an aerospace module flexible docking system, comprising the following components: Cabin docking equipment base 1: Its upper surface and side are equipped with linear guides and racks, which are the basis for the installation of other structures; the linear guides and racks on the upper surface are used for sliding installation of the attitude adjustment docking platform; the linear guides and racks on the side are used for sliding installation of the binocular vision detection system; Attitude adjustment docking platform 2: used to clamp the cabin to achieve cabin docking, and provide attitude adjustment function for cabin docking, with X\Y\Z and X-axis rolling capabilities, which can achieve rapid expansion; Three-dimensional force sensor 3: Installed at the bottom of the posture adjustment docking platform (see Figure 2 ), the attitude adjustment docking platform is connected to the cabin docking equipment base by a three-dimensional force sensor, so that the force change of the attitude adjustment docking platform can be detected, and the force change of the cabin can be detected indirectly; the three-dimensional force sensor 3 is a device for measuring the force of an object in three axes, usually composed of multiple force sensitive elements (such as piezoelectric ceramics), which can convert the force applied to the sensor into electrical signals; by measuring these force signals, the size, direction and position of the point of action of the force acting on the object can be determined.

[0023] Binocular vision detection system 4: Slidingly installed on both sides of the side of the cabin docking equipment base, it moves to the specified position according to the program content during operation. The binocular vision detection system installed on the upper part measures the cabin to be docked and sends the data back to the calculation system to provide a basis for attitude adjustment calculation; Posture adjustment tool 5: It is a clamping device for the product. The posture adjustment tool ring is composed of multiple arc rings and can adapt to products of different diameters. The posture adjustment tool and the posture adjustment docking platform constitute a support posture adjustment system to jointly achieve posture adjustment of the product. Cabin section 6 to be docked: It is a cabin section of various specifications (mainly with different diameters) and is clamped by the posture adjustment tooling.

[0024] The attitude adjustment docking platform 2 and the attitude adjustment tooling 5 have been described in detail in the patent number "2023118666957" and the patent name "Cabin attitude adjustment method, device, electronic device and readable storage medium", and their specific structure will not be described in this application.

[0025] In this embodiment, the three-dimensional force sensors 3 are grouped in pairs, and are used to detect and control the docking components in real time. , , Six-dimensional forces and moments in three directions; the final closed-loop control of the final closing process of cabin section docking is formed by a combination of three-dimensional force sensors, thereby realizing active and compliant docking; the present invention adopts high-precision three-dimensional force sensors, which can monitor contact stress in real time, and adjust the docking strategy according to the detection results to achieve docking with minimum contact stress; the docking end and the section to be docked are each equipped with a three-dimensional force sensor in order to achieve more comprehensive force monitoring. The data from the two sensors can more accurately calculate the resultant force and moment, providing more precise input for the control system.

[0026] The control of contact stress is achieved through a force-position hybrid control system, which dynamically adjusts the docking strategy based on the detected contact stress and ensures that the contact stress is within a safe range based on algorithms and real-time data processing to avoid damage to components.

[0027] Example 2 A method for flexible docking system of aerospace cabin (see the specific process for details) Fig. 9 ), including the following steps: (1) Docking and posture adjustment At the beginning of the attitude adjustment and docking, the binocular vision detection system first measures the attitude of the cabin to be docked, and uploads the attitude data of each cabin to the terminal processing computer. The computer solves the actual attitude of the cabin according to the actual attitude of each cabin, simulates the best attitude adjustment position, and sends the attitude adjustment plan to the attitude adjustment system; each cabin is placed on two independent attitude adjustment and docking platforms through the front and rear attitude adjustment tooling. Each attitude adjustment and docking platform has the ability to rotate along the X\Y\Z axis and along the X axis. Through the relative movement of the front and rear docking attitude adjustment and docking platforms, the cabin can make linear motion along the X\Y\Z axis and rotate around the X\Y\Z axis within a certain range; (2) Active and flexible docking The posture adjustment docking platform is equipped with three-dimensional force sensors, which are used to detect and control the docking parts in real time through a group of two at the front and back. , , Six-dimensional forces and moments in three directions (see Figure 3 ); When docking the cabins, the positioning steps or positioning pins may not be aligned due to position deviations and become stuck due to errors in system measurement or deviations in dimensional accuracy between products. When the product docks and becomes stuck, a set of three-dimensional force sensors on the attitude adjustment docking platform will receive the reaction force\torque generated by the product due to the obstruction of the jam. The sensor will analyze the direction of the force\torque and guide the attitude adjustment docking platform to fine-tune the position and posture in the opposite direction, so as to automatically dock the cabins in an active, automatic and compliant manner, thereby maximizing the protection of product safety and improving the success rate of automated docking. The docking of two sections is analyzed. When the two sections are docked, the parts to be docked , , The resultant forces in the three directions are (see Figure 4 ):

[0028]

[0029]

[0030] In the formula is the force measured by the first sensor in the X direction, For the second sensor Direction of the force measured; For two 3D force sensors The net force in the direction, , The same goes for direction; Parts to be connected , , The moments in the three directions are: Axis torque: (See Figure 5 ) In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, The force is Length of the arm in the direction , For each force pair The moment generated by the shaft, and the length of the action arm of the two forces is the same, yes The total moment in the axial direction is the sum of these two moments; Axis torque: (See Figure 6 ) In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, The force is The length of the arm in the direction, , For each force pair The moment generated by the shaft, and the length of the action arm of the two forces is the same, yes The total moment in the axial direction is the sum of these two moments; Axis torque: (See Figure 7 ) In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, for The force is The length of the arm in the direction, for The force is The length of the arm in the direction, , For each force pair The torque generated by the shaft, yes The total moment in the axial direction is the sum of these two moments; (3) Force-position hybrid control method after obtaining six-dimensional force / torque (see Figure 8 ) According to the force signal collected by the three-dimensional force sensor and the above algorithm, the constant force feed is maintained through the posture adjustment docking platform to achieve the docking assembly between the two sections; the posture adjustment system sums the initial position of the section and the docking correction value, and obtains the actual posture adjustment trajectory through kinematic transformation; the posture adjustment docking platform adjusts the component posture according to the instructions issued by the system; during the entire docking process, the feed force, torque and position are monitored in real time through dual feedback of force and position, and the assembly is considered to be completed when the feed force, torque and position all reach the set values; at the same time, when the force / torque is abnormal, passive and flexible actions are made according to the current position to ensure safe and reliable product docking.

[0031] The force-position hybrid control method is based on the force-position hybrid control system, which combines the advantages of force control and position control. It achieves high-precision docking by real-time monitoring and adjusting the force and torque of the docking components. The system can dynamically adjust the motion trajectory of the posture adjustment platform according to the actual force conditions to ensure the accuracy of docking, including: 1. System structure Sensor Integration: The system is equipped with high-precision three-dimensional force sensors and position sensors to monitor the force and position of assembly parts in real time.

[0032] Control unit: includes multiple microprocessors to process sensor data and generate control instructions.

[0033] Actuator: includes motors, hydraulic actuators, pneumatic actuators, etc., which are used to control the position of components and apply force.

[0034] 2. Control strategy Force control: Based on the feedback from the force sensor, the system adjusts the actuator to apply precise force to ensure that the force during the docking process is controlled within the predetermined range.

[0035] Position Control: Data provided by position sensors is used to ensure that the part moves to the correct position.

[0036] Hybrid control logic: In the early stage of docking, force control is used first to avoid damage to components caused by excessive force. On the basis of force control, position control is used to fine-tune the position of components to ensure docking.

[0037] In summary, the three-dimensional force-controlled flexible docking system provided by the present invention realizes high-precision and high-reliability automated assembly through force-position hybrid control, active and passive compliance technology, and real-time detection and control of docking force / torque. It is particularly suitable for fields with extremely high requirements on assembly accuracy, such as docking of spacecraft components.

[0038] The above description is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A flexible docking system for aerospace cabins, characterized in that: Includes the following components: Cabin docking equipment base: its upper surface and side are equipped with linear guides and racks, which are the basis for the installation of other structures; the linear guides and racks on the upper surface are used for sliding installation of the attitude adjustment docking platform; the linear guides and racks on the side are used for sliding installation of the binocular vision detection system; Attitude adjustment docking platform: used to clamp the cabin to achieve cabin docking, and provide attitude adjustment function for cabin docking, with X\Y\Z and X-axis rolling capabilities, which can achieve rapid expansion; Three-dimensional force sensor: installed at the bottom of the attitude adjustment docking platform, the three-dimensional force sensor connects the attitude adjustment docking platform and the cabin docking equipment base, so that the force changes of the attitude adjustment docking platform can be detected, and the force changes of the cabin can be indirectly detected; Binocular vision detection system: It is installed on both sides of the base of the cabin docking equipment by sliding. When working, it moves to the specified position according to the program content. The binocular vision detection system installed on the upper part measures the cabin to be docked and sends the data back to the calculation system to provide a basis for attitude adjustment calculation; Posture adjustment tooling: It is a clamping device for the product. The posture adjustment tooling ring is composed of multiple arc rings and can adapt to products of different diameters. The posture adjustment tooling and the posture adjustment docking platform constitute a support posture adjustment system to jointly achieve posture adjustment of the product. Cabin sections to be docked: cabin sections of various specifications, clamped by attitude adjustment tooling.

2. The aerospace compartment compliant docking system according to claim 1, characterized in that: The three-dimensional force sensors are arranged in pairs in front and back, and are used to detect and control the docking components in real time. , , Six-dimensional forces and moments in three directions.

3. A method for flexible docking of aerospace compartments according to any one of claims 1 to 2, characterized in that: The following steps are involved: (1) Docking and posture adjustment At the beginning of the attitude adjustment and docking, the binocular vision detection system first measures the attitude of the cabin to be docked, and uploads the attitude data of each cabin to the terminal processing computer. The computer solves the actual attitude of the cabin according to the actual attitude of each cabin, simulates the best attitude adjustment position, and sends the attitude adjustment plan to the attitude adjustment system; each cabin is placed on two independent attitude adjustment and docking platforms through the front and rear attitude adjustment tooling. Each attitude adjustment and docking platform has the ability to rotate along the X\Y\Z axis and along the X axis. Through the relative movement of the front and rear docking attitude adjustment and docking platforms, the cabin can make linear motion along the X\Y\Z axis and rotate around the X\Y\Z axis within a certain range; (2) Active and flexible docking The posture adjustment docking platform is equipped with three-dimensional force sensors, which are used to detect and control the docking parts in real time through a group of two at the front and back. , , Six-dimensional forces and moments in three directions; when docking cabins, the positioning steps or positioning pins may not be aligned due to position deviations due to errors in system measurement or deviations in dimensional accuracy between products, resulting in jams; when products are docked and jammed, a set of three-dimensional force sensors on the attitude adjustment docking platform will receive the reaction force\torque generated by the product due to the jamming. The sensors will analyze the direction of the force\torque and guide the attitude adjustment docking platform to fine-tune the position and posture in the opposite direction, so as to automatically dock the cabins in an active, automatic and compliant manner, thereby maximizing product safety and improving the success rate of automated docking; When two cabin sections are docked, the parts to be docked , , The resultant forces in the three directions are: In the formula is the force measured by the first sensor in the X direction, For the second sensor Direction of the force measured; For two 3D force sensors The net force in the direction, , The same goes for direction; Parts to be connected , , The moments in the three directions are: Axis torque: In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, The force is Length of the arm in the direction , For each force pair The moment generated by the shaft, and the length of the action arm of the two forces is the same, yes The total moment in the axial direction is the sum of these two moments; Axis torque: In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, The force is The length of the arm in the direction, , For each force pair The moment generated by the shaft, and the length of the action arm of the two forces is the same, yes The total moment in the axial direction is the sum of these two moments; Axis torque: In the formula For the first sensor The force measured in the direction, For the second sensor The force measured in the direction, for The force is The length of the arm in the direction, for The force is The length of the arm in the direction, , For each force pair The torque generated by the shaft, yes The total moment in the axial direction is the sum of these two moments; (3) After obtaining the six-dimensional force / torque, the force-position hybrid control method is used to achieve docking According to the force signal collected by the three-dimensional force sensor, the constant force feed is maintained through the posture adjustment docking platform to achieve the docking assembly between the two sections; the posture adjustment system sums the initial position of the section and the docking correction value, and obtains the actual posture adjustment trajectory through kinematic transformation; the posture adjustment docking platform adjusts the component posture according to the instructions issued by the system; during the entire docking process, the feed force, torque and position are monitored in real time through dual feedback of force and position. When the feed force, torque and position all reach the set values, the assembly is considered complete; at the same time, when the force / torque is abnormal, passive and flexible actions are made according to the current position to ensure safe and reliable product docking.

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