A vertical engine automatic docking system

Abstract

The present invention relates to the field of space launch vehicle technology, and provides a vertical engine automatic docking system, including: a transfer docking system, including a transfer vehicle, a lifting mechanism and a posture adjustment mechanism; the lifting mechanism can be lifted and lowered on the transfer vehicle; the posture adjustment mechanism is arranged on the lifting mechanism; a three-dimensional posture measurement system is used to obtain the three-dimensional posture parameters of the engine; and a posture adjustment control system controls the docking system to adjust the posture of the engine according to the three-dimensional posture parameters fed back by the three-dimensional posture measurement system. The system integrates the functions of transfer, lifting and posture adjustment, and based on the three-dimensional posture measurement system and the posture adjustment control system, realizes the one-time hoisting of the engine onto the vehicle, without the need for conversion between multiple tooling and multi-person operation, and can be directly transferred from the factory to the bottom of the thrust frame of the test bench for docking, and the operation process is more convenient and efficient, which can meet the needs of heavy-duty engine transfer and vertical installation.

Description

Technical Field

[0001] The invention relates to the technical field of space launch vehicles, and in particular to a vertical engine automatic docking system. Background Art

[0002] In order to meet the needs of manned lunar landing, Mars exploration and more deep space exploration missions, the development of heavy-duty engines has progressed rapidly. The engine test stations are numerous, dense, fast-paced and strong, requiring a fast, convenient and efficient docking and installation technology, but this technology is not easy. In the prior art, when conducting tests, the engine is mostly installed vertically to reduce the influence of the structural deadweight and improve the thrust measurement accuracy, which is the mainstream installation mode of heavy-duty engines. However, there are pipelines, thrust racks, platforms and other structures on the vertical test bench, and it is impossible to use a crane for lifting. In the past, when lifting, the engine was first transported from the factory to the test station by a horizontal seat and a flatbed truck, and then a crane was used to combine three sets of lifting equipment including a special lifting equipment for a horizontal seat, a special lifting equipment for an engine flip, and a vertical lifting lifting equipment for an engine, as well as a horizontal seat, a vertical temporary parking seat, a top screw (four sets), and a hand-cranked lifting platform. Multiple sets of parking tools are switched to horizontal, flip, vertical and other states to complete the installation on the platform. All processes require more than ten people to cooperate for 2-3 hours to complete. The entire engine lifting process is relatively cumbersome and inefficient. Summary of the invention

[0003] Therefore, the technical problem to be solved by the present invention is that the process of engine hoisting in the prior art is relatively complicated and inefficient, and thus a vertical engine automatic docking system is provided.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] The present invention provides a vertical engine automatic docking system, comprising: a transfer docking system, the transfer docking system comprising a transfer vehicle, a lifting mechanism and a posture adjustment mechanism; the lifting mechanism is arranged on the transfer vehicle in a liftable manner; the posture adjustment mechanism is arranged on the lifting mechanism, and is used to support the engine and adjust the posture of the engine; a three-dimensional posture measurement system is electrically connected to the transfer docking system, and is used to obtain the three-dimensional posture parameters of the engine; a posture adjustment control system, the transfer docking system and the three-dimensional posture measurement system are both electrically connected to the posture adjustment control system, and the posture adjustment control system controls the docking system to adjust the posture of the engine according to the three-dimensional posture parameters fed back by the three-dimensional posture measurement system, so as to achieve docking and installation of the engine and a test bench.

[0006] Furthermore, the attitude adjustment mechanism includes an attitude adjustment platform, a six-degree-of-freedom adjustment component, a long-end robotic arm, an auxiliary robotic arm and a short-end robotic arm; the attitude adjustment platform is an annular platform; one end of the six-degree-of-freedom adjustment component is connected to the bottom surface of the attitude adjustment platform, and the other end is connected to the lifting mechanism, which is used to drive the attitude adjustment platform to translate and flip; the long-end robotic arm, the auxiliary robotic arm and the short-end robotic arm are arranged on the top surface of the attitude adjustment platform at intervals of 90° in sequence, the long-end robotic arm and the short-end robotic arm are used to be respectively connected to the long end and the short end of one of the beams of the engine frame, and the auxiliary robotic arm is used to be connected to the end of another beam of the engine frame to fix the engine on the attitude adjustment platform.

[0007] Furthermore, the arm bodies of the long-end robotic arm and the short-end robotic arm are both L-shaped, the vertical section of the L-shaped arm body is connected to the attitude adjustment platform, and the horizontal section of the L-shaped arm body extends toward the center direction of the attitude adjustment platform; a U-shaped plate is provided at the end of the horizontal section of the L-shaped arm body away from the vertical section, and a through first connecting hole is provided on the plate surface of the U-shaped plate, and the beam end of the engine frame is at least partially inserted into the U-shaped plate, and is fixed to the U-shaped plate by bolts and the first connecting hole along a radial direction parallel to the attitude adjustment platform.

[0008] Furthermore, the attitude adjustment mechanism also includes a linear slide rail and a sliding seat; the linear slide rails are provided at positions on the attitude adjustment platform that are adapted to the long-end robotic arm and the short-end robotic arm, and the long-end robotic arm and the short-end robotic arm are slidably arranged on the linear slide rails through the sliding seat, so that the long-end robotic arm and the short-end robotic arm can move in a direction close to or away from the center of the attitude adjustment platform.

[0009] Furthermore, the auxiliary robotic arm is a U-shaped fork structure, and the opening of the U-shaped fork structure is arranged to face the direction away from the attitude adjustment platform, and the beam of the engine frame is placed in the auxiliary robotic arm through the opening of the U-shaped fork structure, so that the auxiliary robotic arm supports the engine frame; a top cover is provided at the open end of the U-shaped fork structure, and a second connecting hole is provided on the top cover, and the top cover is fixed to the auxiliary robotic arm through bolts and the second connecting hole along an axial direction parallel to the attitude adjustment platform, and the top cover presses the beam of the engine frame into the auxiliary robotic arm.

[0010] Furthermore, the vertical engine automatic docking system also includes a first hanger; the first hanger is L-shaped, and a U-shaped plate is provided at the end of the horizontal section of the first hanger away from the vertical section, and a first pin hole is provided on the U-shaped plate; the horizontal section of the first hanger is inserted into the U-shaped fork structure and clamps the beam of the engine frame through the U-shaped plate, and the first hanger is connected to one end of the beam of the engine frame through the pin and the first pin hole; the vertical section of the first hanger is separated from the outer side wall of the attitude adjustment platform to reserve space required for lifting; an arc-shaped first notch is provided on the U-shaped fork structure at a position adapted to the first pin hole to reserve space for the pin to pass through.

[0011] Furthermore, the vertical engine automatic docking system also includes a second sling, which is arranged 180° apart from the first sling; the second sling is L-shaped, and a U-shaped plate is provided at the end of the horizontal section of the second sling away from the vertical section, and a second pin hole is provided on the U-shaped plate, and the second sling is connected to the other end of the beam of the engine frame through the pin and the second pin hole; a second arc-shaped notch is provided at a position on the attitude adjustment platform that is adapted to the second sling to reserve space required for lifting.

[0012] Furthermore, the six-degree-of-freedom adjustment component includes an electric cylinder, a first Hooke's joint, a second Hooke's joint and a motion servo controller; one end of the electric cylinder is connected to the bottom surface of the attitude adjustment platform through the first Hooke's joint, and the other end of the electric cylinder is connected to the lifting mechanism through the second Hooke's joint; six electric cylinders are arranged at intervals along the circumferential direction of the attitude adjustment platform, and in an initial state, the angle between two adjacent electric cylinders is 60°; each electric cylinder is electrically connected to the motion servo controller, and the motion servo controller can control each electric cylinder to work independently.

[0013] Furthermore, the six-degree-of-freedom adjustment component also includes a handheld adjustment controller; each of the electric cylinders is electrically connected to the handheld adjustment controller, and each of the electric cylinders can be controlled to work independently through the handheld adjustment controller.

[0014] Furthermore, the lifting mechanism includes a lead screw, a guide rod, a lifting ring, a lifting platform and a driving motor; the driving motor is arranged on the transfer vehicle; one end of the lead screw is connected to the output shaft of the driving motor; the lifting ring is arranged on the lead screw, and the lifting platform is connected to the lifting ring; one end of the guide rod is connected to the transfer vehicle, and the other end passes upward through the lifting platform; the driving motor drives the lead screw to rotate, and the lead screw drives the lifting ring to rise and fall along the lead screw, and under the restriction of the guide rod, the lifting platform follows the lifting ring to perform lifting and falling movements along the lead screw.

[0015] Furthermore, the three-dimensional posture measurement system includes a laser tracker and a posture solving workstation; the posture adjustment control system includes a central processing control unit and a data transmission and communication module; the laser tracker is used to obtain the three-dimensional coordinate information of the docking part on the engine frame in real time and feed it back to the posture solving workstation, and the posture solving workstation outputs the translation and rotation angle information required by the docking part on the engine frame according to the three-dimensional coordinate information; the central processing control unit obtains the translation and rotation angle information through the data transmission and communication module, and then issues execution instructions to the lifting mechanism and posture adjustment mechanism through the data transmission and communication module.

[0016] The technical solution of the present invention has the following advantages:

[0017] The vertical engine automatic docking system provided by the present invention comprises a transfer vehicle, a lifting mechanism and a posture adjustment mechanism, which integrates the functions of transfer, lifting and posture adjustment, and is based on a three-dimensional posture measurement system and a posture adjustment control system, so that the engine can be hoisted onto the vehicle at one time without the need for conversion between various tooling and multi-person operation. The engine can be directly transferred from the factory to the bottom of the thrust frame of the test bench for docking. The operation process is more convenient and efficient, and can meet the needs of heavy-duty engine transfer and vertical installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a schematic diagram of a vertical engine automatic docking system in an embodiment of the present invention;

[0020] Figure 2 It is a simplified diagram of a vertical engine docking in the prior art;

[0021] Figure 3 A front view of an engine adapted for the vertical engine automatic docking system in an embodiment of the present invention;

[0022] Figure 4 A top view of an engine adapted for the vertical engine automatic docking system in an embodiment of the present invention;

[0023] Figure 5 Schematic diagram of an attitude adjustment platform in a vertical engine automatic docking system in an embodiment of the present invention;

[0024] Figure 6 Schematic diagram of an attitude adjustment platform and an engine in a vertical engine automatic docking system in an embodiment of the present invention;

[0025] Figure 7 It is an enlarged schematic diagram of the auxiliary mechanical arm in the vertical engine automatic docking system in the embodiment of the present invention;

[0026] Figure 8 It is an enlarged schematic diagram of the second hanger in the vertical engine automatic docking system in the embodiment of the present invention;

[0027] Fig. 9 A schematic diagram of a transfer vehicle in a vertical engine automatic docking system in an embodiment of the present invention;

[0028] Fig.10 Schematic diagram of a lifting mechanism in a vertical engine automatic docking system in an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. Transfer vehicle; 2. Lifting platform; 3. Attitude adjustment platform; 4. Engine; 5. Nozzle; 6. Thrust frame; 7. Frame; 8. Fuselage; 9. Connecting flange; 10. Frame joint; 11. Beam; 12. Long end mechanical arm; 13. Short end mechanical arm; 14. Auxiliary mechanical arm; 15. Linear guide rail; 16. Electric cylinder; 17. First Hooker hinge; 18. Second Hooker hinge; 19. First notch; 20. First sling; 21. Second notch; 22. Second sling; 23. Drive motor; 24. Screw; 25. Guide rod; 26. Lifting ring; 27. Mounting seat. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] like Figure 1 As shown, the present embodiment provides a vertical engine 4 automatic docking system, comprising: a transfer docking system, the transfer docking system comprising a transfer vehicle 1, a lifting mechanism and a posture adjustment mechanism; the lifting mechanism is arranged on the transfer vehicle 1 in a liftable manner; the posture adjustment mechanism is arranged on the lifting mechanism, and is used to support the engine 4 and adjust the posture of the engine 4; a three-dimensional posture measurement system, which is electrically connected to the transfer docking system, and is used to obtain the three-dimensional posture parameters of the engine 4; a posture adjustment control system, the transfer docking system and the three-dimensional posture measurement system are both electrically connected to the posture adjustment control system, and the posture adjustment control system controls the docking system to adjust the posture of the engine 4 according to the three-dimensional posture parameters fed back by the three-dimensional posture measurement system, so as to realize the docking installation of the engine 4 and the test bench.

[0036] The automatic docking system for a vertical engine 4 provided in the present embodiment comprises a transfer and docking system comprising a transfer vehicle 1, a lifting mechanism and a posture adjustment mechanism, which integrates the functions of transfer, lifting and posture adjustment, and is based on a three-dimensional posture measurement system and a posture adjustment control system, so that the engine 4 can be hoisted onto the vehicle at one time, without the need for conversion between various tooling and multi-person operation, and can be directly transferred from the factory to the bottom of the thrust frame 6 of the test bench for docking. The operation process is more convenient and efficient, and can meet the needs of transfer and vertical installation of the heavy-duty engine 4.

[0037] like Figure 3 , Figure 4 , Figure 5As shown, the attitude adjustment mechanism includes an attitude adjustment platform 3, a six-degree-of-freedom adjustment component, a long-end mechanical arm 12, an auxiliary mechanical arm 14 and a short-end mechanical arm 13; the attitude adjustment platform 3 is an annular platform; one end of the six-degree-of-freedom adjustment component is connected to the bottom surface of the attitude adjustment platform 3, and the other end is connected to the lifting mechanism, which is used to drive the attitude adjustment platform 3 to translate and flip; the long-end mechanical arm 12, the auxiliary mechanical arm 14 and the short-end mechanical arm 13 are arranged on the top surface of the attitude adjustment platform 3 at intervals of 90° in sequence, the long-end mechanical arm 12 and the short-end mechanical arm 13 are used to be respectively connected to the long end and the short end of one of the beams 11 of the engine 4 frame 7, and the auxiliary mechanical arm 14 is used to be connected to the end of another beam 11 of the engine 4 frame 7, so as to fix the engine 4 on the attitude adjustment platform 3.

[0038] Among them, the arm bodies of the long-end robotic arm 12 and the short-end robotic arm 13 can both be L-shaped, the vertical section of the L-shaped arm body is connected to the attitude adjustment platform 3, and the horizontal section of the L-shaped arm body extends toward the center direction of the attitude adjustment platform 3; a U-shaped plate is provided at the end of the horizontal section of the L-shaped arm body away from the vertical section, and a through first connecting hole is provided on the plate surface of the U-shaped plate, and the end of the beam 11 of the engine 4 frame 7 is at least partially inserted into the U-shaped plate, and is fixed to the U-shaped plate by bolts and the first connecting hole along the radial direction parallel to the attitude adjustment platform 3.

[0039] Among them, the posture adjustment mechanism also includes a linear slide rail 15 and a sliding seat; the positions on the posture adjustment platform 3 that are suitable for the long-end robotic arm 12 and the short-end robotic arm are provided with linear slide rails 15, and the long-end robotic arm 12 and the short-end robotic arm 13 are slidably arranged on the linear slide rail 15 through the sliding seat, so that the long-end robotic arm 12 and the short-end robotic arm 13 can move in the direction close to or away from the center of the posture adjustment platform 3.

[0040] Among them, the auxiliary robotic arm 14 can be a U-shaped fork structure, and the opening of the U-shaped fork structure is set to face the direction away from the attitude adjustment platform 3, and the beam 11 of the engine 4 frame 7 is placed in the auxiliary robotic arm 14 through the opening of the U-shaped fork structure, so that the auxiliary robotic arm 14 supports the engine 4 frame 7; a top cover is provided at the open end of the U-shaped fork structure, and a second connecting hole is provided on the top cover. The top cover is fixed to the auxiliary robotic arm 14 through bolts and the second connecting hole along the axial direction parallel to the attitude adjustment platform 3, and the top cover presses the beam 11 of the engine 4 frame 7 in the auxiliary robotic arm 14.

[0041] like Figure 6 , Figure 7As shown, the vertical engine 4 automatic docking system also includes a first hanger 20; the first hanger 20 can be L-shaped, and a U-shaped plate is provided at the end of the horizontal section of the first hanger 20 away from the vertical section, and a first pin hole is provided on the U-shaped plate; the horizontal section of the first hanger 20 is inserted into the U-shaped fork structure and clamps the beam 11 of the engine 4 frame 7 through the U-shaped plate, and the first hanger 20 is connected to one end of the beam 11 of the engine 4 frame 7 through the pin and the first pin hole; the vertical section of the first hanger 20 is separated from the outer wall of the attitude adjustment platform 3 to reserve the space required for lifting; an arc-shaped first notch 19 is provided at a position on the U-shaped fork structure that is adapted to the first pin hole to reserve space for the pin to pass through.

[0042] like Figure 6 , Figure 8 As shown, the vertical engine 4 automatic docking system also includes a second sling 22, which is arranged 180° apart from the first sling 20; the second sling 22 can be L-shaped, and a U-shaped plate is provided at the end of the horizontal section of the second sling 22 away from the vertical section, and a second pin hole is provided on the U-shaped plate. The second sling 22 is connected to the other end of the beam 11 of the engine 4 frame 7 through the pin and the second pin hole; an arc-shaped second notch 21 is provided on the attitude adjustment platform 3 at a position adapted for the second sling 22 to reserve the space required for lifting.

[0043] The six-degree-of-freedom adjustment assembly includes an electric cylinder 16, a first Hooke's joint 17, a second Hooke's joint 18, and a motion servo controller; one end of the electric cylinder 16 is connected to the bottom surface of the attitude adjustment platform 3 through the first Hooke's joint 17, and the other end of the electric cylinder 16 is connected to the lifting mechanism through the second Hooke's joint 18; six electric cylinders 16 are arranged in a spaced relationship along the circumferential direction of the attitude adjustment platform 3. In the initial state, the angle between two adjacent electric cylinders 16 is 60°. When the attitude of the attitude adjustment platform is adjusted by the electric cylinder, the angle between two adjacent electric cylinders will also change accordingly; each electric cylinder 16 is electrically connected to the motion servo controller, and the motion servo controller can control each electric cylinder 16 to work independently. The electric cylinder can use a lead screw and a nut to transmit power to push the piston.

[0044] The six-degree-of-freedom adjustment component also includes a handheld adjustment controller; each electric cylinder 16 is electrically connected to the handheld adjustment controller, and each electric cylinder 16 can be controlled to work independently through the handheld adjustment controller.

[0045] like Fig.10As shown, the lifting mechanism includes a lead screw 24, a guide rod 25, a lifting ring 26, a lifting platform 2 and a driving motor 23; the driving motor 23 is arranged on the transfer vehicle 1; one end of the lead screw 24 is connected to the output shaft of the driving motor 23; the lifting ring 26 is arranged on the lead screw 24, and the lifting platform 2 is connected to the lifting ring 26; one end of the guide rod 25 is connected to the transfer vehicle 1, and the other end passes upward through the lifting platform 2; the driving motor 23 drives the lead screw 24 to rotate, and the lead screw 24 drives the lifting ring 26 to rise and fall along the lead screw 24, and under the restriction of the guide rod 25, the lifting platform 2 follows the lifting ring 26 to move up and down along the lead screw 24.

[0046] Among them, the three-dimensional posture measurement system includes a laser tracker and a posture solving workstation; the posture adjustment control system includes a central processing control unit and a data transmission and communication module; the laser tracker is used to obtain the three-dimensional coordinate information of the docking part on the engine 4 frame 7 in real time and feed it back to the posture solving workstation, and the posture solving workstation outputs the required translation and rotation angle information of the docking part on the engine 4 frame 7 according to the three-dimensional coordinate information; the central processing control unit obtains the translation and rotation angle information through the data transmission and communication module, and then issues execution instructions to the lifting mechanism and the posture adjustment mechanism through the data transmission and communication module.

[0047] like Figure 2 , Figure 3 as well as Figure 4 As shown, specifically, during the test, the vertical engine 4 test bench adopts a vertical installation mode as a whole, with the test foundation and thrust frame 6 on the top. The engine 4 is connected to the thrust frame 6 through the frame 7, and the pipeline connected to the ground passes through the gap between the engine 4 and the thrust frame 6 to both sides and is connected to the ground system. The engine 4 is divided into a fuselage 8 and a nozzle 5 for installation in two sections, and the installation order is first the fuselage 8 and then the nozzle 5. The fuselage 8 and the nozzle 5 are connected by flanges. The engine 4 is divided into two parts: the frame 7 and the fuselage 8. The upper end of the frame 7 generally has four joints, which are connected to the thrust frame 6 of the test bench, and the lower end is two beams 11 that cross into a cross, also known as a cross beam 11. Each beam 11 has two connecting holes at both ends, and the beam 11 is divided into a long end and a short end, and the short end is within the envelope of the fuselage 8. The fuselage 8 includes the thrust combustion chamber and the pipelines and interfaces of the supply system required by it. The lower end of the fuselage is a connecting flange 9, which is connected to the nozzle 5.

[0048] like Fig. 9As shown, for the transfer docking system, it includes a transfer vehicle 1, a lifting mechanism, an attitude adjustment platform 3, a six-degree-of-freedom adjustment component, a motion servo controller and a handheld adjustment controller. The functions and relationships of each part are as follows: the transfer vehicle 1 is at the bottom, realizing the transfer and transportation function of the docking vehicle from the factory to the test station; the lifting mechanism is above the transfer vehicle 1, realizing the long-stroke lifting of the engine 4 from the bottom of the test station from the transportation state to the docking state in the height direction. The six-degree-of-freedom adjustment component and the attitude adjustment platform 3 are above the lifting mechanism, realizing the adjustment of six degrees of freedom such as translation and rotation in the X, Y, and Z directions of the engine 4 from the docking state to the centering connection state. The motion servo controller includes a motion controller and six servo motors. It is a connection module between the electric cylinder 16 and the control system, and can realize the position tracking and motion control of the electric cylinder 16.

[0049] Among them, for the transfer vehicle 1, a battery can be used as the main power source, and combined with a drive motor 23, a reducer, etc. to form a drive system of the transfer vehicle 1. The wheels of the transfer vehicle 1 can be made of steel core wheels covered with polyurethane materials to adapt to the transportation road conditions. The transfer vehicle 1 has functions such as forward, backward, left and right turns, speed regulation, emergency stop, abnormal light indication, and power-on light indication. The bottom of the transfer vehicle 1 is a structural frame for setting a lifting mechanism. The driving system of the lifting mechanism can be installed on the structural frame, and the lead screw 24 and the guide rod 25 pass upward through the platform hole and are connected to the lifting platform 2.

[0050] Among them, for the lifting mechanism, four lead screws 24 can be used to achieve four-point simultaneous lifting. The driving motor 23 and the reducer transmit power to all the lead screws 24 through the shaft and the reversing joint. The lead screw 24 converts the rotational motion into a linear motion in the vertical direction. A lifting ring 26 is provided at the lower end of the lead screw 24, and the lifting platform 2 is sleeved on the lifting ring 26. The four points of the platform are lifted and lowered simultaneously through the lead screw 24. A guide rod is provided next to each lead screw 24 to guide the direction of the lifting motion and reduce the shaking of the lifting platform 2 during the lifting process. Three pairs of mounting seats 27 for mounting the second Hook hinge 18 can be provided on the lifting platform 2, and each pair of mounting seats 27 has two mounting holes.

[0051] Among them, for the six-degree-of-freedom adjustment component and the attitude adjustment platform 3, six servo electric cylinders 16 can be used to form a circle. The electric cylinder 16 is connected to the attitude adjustment platform 3 through the first Hooke's hinge 17 and connected to the lifting platform 2 through the second Hooke's hinge 18. Three mechanical arms, a long-end mechanical arm 12, a short-end mechanical arm 13 and an auxiliary mechanical arm 14, are installed above the attitude adjustment platform 3. The long-end mechanical arm 12 and the short-end mechanical arm 13 are respectively connected to the long end and short end of a beam 11 of the engine 4 frame 7, and are fixed with transverse bolts in combination with the first connecting hole to achieve the restriction of the degrees of freedom of the engine 4 in all directions. The auxiliary mechanical arm 14 supports the lower end of another beam 11 of the engine 4 frame 7, and presses the upper end surface of the beam 11 with bolts in combination with the second connecting hole through the top cover, so as to achieve three-point stable support of the engine 4 after limiting, and reduce the shaking of the engine 4 during transportation.

[0052] Among them, for the motion servo controller, it is the information exchange middle layer between the command center (computer) and the front-end control unit, realizing the collection and preprocessing of the control information on site and various status information of the controlled process, and sending them to the upper computer and human-computer interaction interface through the data channel, receiving the output signal of the computer and feeding it back to the control unit. It is mainly composed of motion controller, servo drive, etc.

[0053] Among them, for the manual adjustment controller, it can be composed of a receiver and a transmitter, and there are options such as selecting the direction of action, movement accuracy and movement speed. On the panel, the direction of action can be selected from X-direction displacement, Y-direction displacement, Z-direction displacement, pitch angle, roll angle and yaw angle. The resolution can also be switched to control the movement accuracy of each circle of action to 0.1 mm, 1 mm and 1 cm, etc. The speed of the action can also be selected using the adjustment knob. A red emergency stop button can also be set.

[0054] Among them, when performing automated docking measurement and control, the Ethercat (Ethernet control automation technology) bus control mode can be used to interact with distributed control systems such as motion platforms, automatic measurements, and operation interfaces through network communication protocols. It has the advantages of high communication rate, strong scalability, high reliability, and good security. If the number of docking vehicles needs to be increased later, there is no need to modify the system structure, and only the number of docking systems needs to be reconfigured to continue using it.

[0055] The overall workflow is as follows: based on the position and posture of the engine 4 relative to the thrust frame 6 obtained by the three-dimensional posture measurement system, the lifting platform 2 in the docking vehicle is controlled to lift the engine 4 to the pre-docking height, and then the attitude adjustment platform 3 is controlled to achieve precise attitude adjustment with six degrees of freedom, so that except for a certain deviation in the vertical distance, the deviation on other axes is almost zero, and finally the lifting platform 2 is controlled to rise vertically by the deviation of the axis to complete the vertical assembly process of the engine 4.

[0056] The specific process is as follows: start the docking operation instruction, the four laser trackers work in the continuous measurement mode, monitor the positions of the four tracking target mirrors (frame joint 10) in real time, and measure the coordinates of the target mirrors to obtain the three-dimensional coordinates of the four tracking target mirrors. Through the posture solution workstation, the X-direction, Y-direction, and Z-direction translation and rotation angle information required by the frame joint 10 are output in real time. The measurement results of the three-dimensional posture measurement system are used as real-time feedback values ​​of the lifting mechanism and the posture adjustment platform 3 to achieve posture correction, thereby forming a closed-loop automated docking motion control. The three-dimensional posture measurement system, the lifting mechanism, the posture adjustment platform 3 and the central processing control unit exchange data through the data transmission communication module, transmit information such as the motion state of the joint on the frame 7 and the docking execution instructions, and track the measurement work in real time.

[0057] In summary, the vertical engine 4 automatic docking system in the present application adopts the integrated functions of transfer and docking, and based on the automatic measurement and control system, it realizes the one-time lifting of the engine 4 onto the vehicle without the need for tooling conversion and multi-person operation. It is an efficient and convenient docking method that directly transfers the engine 4 from the factory to the bottom of the thrust frame 6 and then performs high-precision automatic docking, which can meet the needs of heavy-duty engine 4 transfer and vertical installation.

[0058] The vertical engine 4 automatic docking system in this application has a structure in which the transfer vehicle 1 is integrated with the lifting platform 2, the lifting platform 2 is integrated with the posture adjustment platform 3, and the six electric cylinders 16 are distributed in parallel in a ring shape, so that the engine 4 can be installed in a sunken manner to the greatest extent. The structure is compact and lightweight, which not only lowers the center of gravity, but also effectively reduces the load of the device, thereby achieving safe transportation.

[0059] The vertical engine 4 automatic docking system in this application generally adopts a hydraulic system to achieve large stroke and smooth lifting, but this will introduce a complex hydraulic system and require a hydraulic station to be carried on the vehicle, which increases the total load of the structure, which is not conducive to transportation and docking. Therefore, a four-point parallel screw 24 is adopted, and the same motor is used as the power source, and a combined drive method is adopted to achieve an even distribution of the driving force, which solves the problem of consistency of the action of the screw 24. Not only does it meet the conditions of large load capacity and high action stability, but there is no complex hydraulic source and corresponding fluid supply system, which reduces the total load of the structure. The motor adopts a servo motor, which can be controlled by Ethercat bus together with the electric cylinder 16, and a modular safety design is adopted to ensure the inherent safety of the lifting process.

[0060] The vertical engine 4 automatic docking system in this application uses six cylinders in parallel to achieve six degrees of freedom. Compared with a single degree of freedom series integrated structure, it has the advantages of higher docking accuracy, more stable structure, and lighter weight. At the same time, the six-cylinder control can be parallel, so it also has the advantages of faster response and higher reliability. Under the same load conditions, the docking accuracy can reach 0.05mm and the response time can be within 30us.

[0061] The vertical engine 4 automatic docking system in this application uses a multi-station combined laser tracker to obtain the three-dimensional position data of the engine 4, and interacts with distributed control systems such as the Ethercat bus control mode, network communication protocol and motion platform, automatic measurement, and operation interface to realize the entire process of automatic docking of the engine 4, and has the advantages of high communication rate, strong scalability, high reliability, and good safety, which reduces personnel operation, improves work efficiency, and meets the development needs of efficiency and convenience.

[0062] The vertical engine 4 automatic docking system in the present application performs the hoisting and vehicle receiving actions in parallel. The two ends of a cross beam 11 are respectively connected to the first hoist 20 and the second hoist 22, and the two ends of another cross beam 11 are connected to the docking long-end mechanical arm 12 and the short-end mechanical arm 13. The attitude adjustment platform 3 adopts an arc-shaped second notch 21 or a special-shaped half-moon notch corresponding to the position of the second hoist 22, avoiding the protruding part of the second hoist 22. In order to adapt to the vibration road conditions of transportation, the long-end mechanical arm 12 and the short-end mechanical arm 13 both adopt a more reliable connection method than support, that is, a double-sided double-pin limit and nut locking method. For example, the long-end mechanical arm 12 and the short-end mechanical arm 13 can also both adopt an inverted S-shaped sliding arm structure. Before the engine 4 falls, the mechanical main arm slides outward. When the engine 4 falls to the position, the mechanical main arm slides inward and inserts into the cross beam 11, and the upper pin and nut are connected. The horizontal section of the first sling 20 is lengthened to compensate for the length of the short end, so that the falling of the body does not interfere with the posture adjustment platform 3, and the mechanical main arm can be connected after it is in place.

[0063] In the vertical engine 4 automatic docking system of the present application, the two main support positions of the two long-end mechanical arms 12 and the short-end mechanical arms 13 have completely restricted the freedom of the engine 4, and the auxiliary support arms can adopt a fixed support type. According to the conditions of the engine 4, the auxiliary support arm supports the long end of the beam 11 where the first sling 20 is located, and overlaps with the first sling 20. The auxiliary support arm adopts a fixed vertical wide U-shaped fork structure. When the engine 4 falls, the U-shaped fork structure directly envelops both sides of the first sling 20 and inserts into the long end of the cross beam 11 and the first sling 20, until the lower end surface of the long end of the cross beam 11 falls onto the auxiliary mechanical arm 14, and the upper end is then tightened with a top cover and bolts. The side of the U-shaped fork structure adopts an arc-shaped first notch 19 or an anisotropic half-moon structure to facilitate the removal of the double pins. After the double pins are removed, the first sling 20 can be taken out from the rear of the U-shaped fork structure.

[0064] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A vertical engine automatic docking system, characterized in that: include: A transfer docking system, the transfer docking system comprising a transfer vehicle (1), a lifting mechanism and a posture adjustment mechanism; the lifting mechanism is arranged on the transfer vehicle (1) in a manner that it can be raised or lowered; the posture adjustment mechanism is arranged on the lifting mechanism and is used to support an engine (4) and adjust the position and posture of the engine (4); A three-dimensional posture measurement system, electrically connected to the transfer docking system, and used to obtain three-dimensional posture parameters of the engine (4); A posture adjustment control system, wherein the transfer docking system and the three-dimensional posture measurement system are both electrically connected to the posture adjustment control system, and the posture adjustment control system controls the transfer docking system to adjust the posture of the engine (4) according to the three-dimensional posture parameters fed back by the three-dimensional posture measurement system, so as to achieve docking and installation of the engine (4) with the test bench; The posture adjustment mechanism comprises a posture adjustment platform (3), a six-degree-of-freedom adjustment component, a long-end mechanical arm (12), an auxiliary mechanical arm (14), and a short-end mechanical arm (13); The posture adjustment platform (3) is a ring-shaped platform; One end of the six-degree-of-freedom adjustment component is connected to the bottom surface of the posture adjustment platform (3), and the other end is connected to the lifting mechanism, and is used to drive the posture adjustment platform (3) to translate and flip; The long-end mechanical arm (12), the auxiliary mechanical arm (14), and the short-end mechanical arm (13) are sequentially arranged at intervals of 90° on the top surface of the attitude adjustment platform (3); the long-end mechanical arm (12) and the short-end mechanical arm (13) are used to be respectively connected to the long end and the short end of one of the beams (11) of the engine (4) frame (7); and the auxiliary mechanical arm (14) is used to be connected to the end of another beam (11) of the engine (4) frame (7) so as to fix the engine (4) on the attitude adjustment platform (3); The auxiliary mechanical arm (14) is a U-shaped fork structure, and the opening of the U-shaped fork structure is arranged in a direction facing away from the attitude adjustment platform (3); the beam (11) of the engine (4) frame (7) is placed in the auxiliary mechanical arm (14) through the opening of the U-shaped fork structure, so that the auxiliary mechanical arm (14) supports the engine (4) frame (7); A top cover is provided at the open end of the U-shaped fork structure, and a second connecting hole is provided on the top cover. The top cover is fixed to the auxiliary mechanical arm (14) through bolts and the second connecting hole along an axial direction parallel to the attitude adjustment platform (3), and the top cover presses the beam (11) of the engine (4) frame (7) into the auxiliary mechanical arm (14); Also includes a first sling (20); The first sling (20) is L-shaped, and a U-shaped plate is provided at the end of the horizontal section of the first sling (20) away from the vertical section, and a first latch hole is provided on the U-shaped plate; the horizontal section of the first sling (20) is inserted into the U-shaped fork structure and clamps the beam (11) of the engine (4) frame (7) through the U-shaped plate, and the first sling (20) is connected to one end of the beam (11) of the engine (4) frame (7) through a latch and the first latch hole; the vertical section of the first sling (20) is separated from the outer wall of the attitude adjustment platform (3) to reserve space required for lifting; A first arc-shaped notch (19) is provided on the U-shaped fork structure at a position adapted to the first latch hole, so as to reserve space for the latch to pass through; It also includes a second sling (22) disposed 180° apart from the first sling (20); The second sling (22) is L-shaped, a U-shaped plate is provided at the end of the horizontal section of the second sling (22) away from the vertical section, a second latch hole is provided on the U-shaped plate, and the second sling (22) is connected to the other end of the beam (11) of the engine (4) frame (7) via the latch and the second latch hole; A second arc-shaped notch (21) is provided on the posture adjustment platform (3) at a position adapted to fit the second lifting device (22) so as to reserve space required for lifting.

2. The vertical engine automatic docking system according to claim 1, characterized in that: The arm bodies of the long-end mechanical arm (12) and the short-end mechanical arm (13) are both L-shaped, the vertical section of the L-shaped arm body is connected to the posture adjustment platform (3), and the horizontal section of the L-shaped arm body extends toward the center direction of the posture adjustment platform (3); A U-shaped plate is provided at the end of the horizontal section of the L-shaped arm body away from the vertical section, and a through first connection hole is provided on the plate surface of the U-shaped plate. The end of the beam (11) of the engine (4) frame (7) is at least partially inserted into the U-shaped plate and is fixed to the U-shaped plate by bolts in a radial direction parallel to the attitude adjustment platform (3) and the first connection hole.

3. The vertical engine automatic docking system according to claim 1, characterized in that: The posture adjustment mechanism also includes a linear slide rail (15) and a sliding seat; The linear slide rails (15) are arranged on the attitude adjustment platform (3) at positions adapted to the long-end mechanical arm (12) and the short-end mechanical arm; the long-end mechanical arm (12) and the short-end mechanical arm (13) are slidably arranged on the linear slide rails (15) via the sliding seat, so that the long-end mechanical arm (12) and the short-end mechanical arm (13) can move in a direction approaching or moving away from the center of the attitude adjustment platform (3).

4. The vertical engine automatic docking system according to claim 1, characterized in that: The six-degree-of-freedom adjustment component comprises an electric cylinder (16), a first Hooke's joint (17), a second Hooke's joint (18), and a motion servo controller; One end of the electric cylinder (16) is connected to the bottom surface of the posture adjustment platform (3) via the first Hooke's hinge (17), and the other end of the electric cylinder (16) is connected to the lifting mechanism via the second Hooke's hinge (18); Six electric cylinders (16) are arranged in a spaced relationship along the circumferential direction of the posture adjustment platform (3); in an initial state, the angle between two adjacent electric cylinders (16) is 60°; Each of the electric cylinders (16) is electrically connected to the motion servo controller, and the motion servo controller can control each of the electric cylinders (16) to work independently.

5. The vertical engine automatic docking system according to claim 4, characterized in that: The six-degree-of-freedom adjustment assembly also includes a handheld adjustment controller; Each of the electric cylinders (16) is electrically connected to the handheld adjustment controller, and each of the electric cylinders (16) can be controlled to work independently through the handheld adjustment controller.

6. The vertical engine automatic docking system according to claim 4, characterized in that: The lifting mechanism comprises a lead screw (24), a guide rod (25), a lifting ring (26), a lifting platform (2) and a driving motor (23); The driving motor (23) is arranged on the transfer vehicle (1); One end of the lead screw (24) is connected to the output shaft of the drive motor (23); The lifting ring (26) is arranged on the lead screw (24), and the lifting platform (2) is connected to the lifting ring (26); One end of the guide rod (25) is connected to the transfer vehicle (1), and the other end passes through the lifting platform (2) upwards; The driving motor (23) drives the lead screw (24) to rotate, and the lead screw (24) drives the lifting ring (26) to move up and down along the lead screw (24). Under the restriction of the guide rod (25), the lifting platform (2) follows the lifting ring (26) to move up and down along the lead screw (24).

7. The vertical engine automatic docking system according to claim 1, characterized in that: The three-dimensional posture measurement system includes a laser tracker and a posture solution workstation; The posture adjustment control system includes a central processing control unit and a data transmission communication module; The laser tracker is used to obtain three-dimensional coordinate information of the docking part on the engine (4) frame (7) in real time and feed it back to the posture solving workstation, and the posture solving workstation outputs the translation amount and rotation angle information required by the docking part on the engine (4) frame (7) according to the three-dimensional coordinate information; The central processing control unit obtains the translation amount and rotation angle information through the data transmission and communication module, and then issues execution instructions to the lifting mechanism and the posture adjustment mechanism through the data transmission and communication module.

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