CN112372556A - Carrier rocket positioning and attitude adjusting method - Google Patents
Carrier rocket positioning and attitude adjusting method Download PDFInfo
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- CN112372556A CN112372556A CN202011136051.9A CN202011136051A CN112372556A CN 112372556 A CN112372556 A CN 112372556A CN 202011136051 A CN202011136051 A CN 202011136051A CN 112372556 A CN112372556 A CN 112372556A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a carrier rocket positioning and attitude adjusting method, which comprises the following steps: arranging a first tube section of the carrier rocket on a fixed tool, and arranging a second tube section of the carrier rocket on an adjusting device capable of realizing rotation along the X, Y, Z axis in three directions; at least three groups of distance measuring sensors and distance measuring receivers are correspondingly arranged on the surfaces of the second cylinder section and the first cylinder section which are mutually butted; calculating the rotation angle of the second cylinder section along the Y axis and the Z axis according to the positions of the at least three groups of ranging sensors and ranging receivers in the coordinate system, so that the distance difference values of the at least three groups of ranging sensors and ranging receivers are within a first set value, and the second cylinder section is overlapped with the first cylinder section in the axis direction; according to the positions of the at least three groups of distance measuring sensors and the distance measuring receivers in the coordinate system, the rotating angle of the second cylinder section along the X axis is calculated, so that the centers of the at least three groups of distance measuring sensors and the distance measuring receivers coincide, and the high-precision posture adjusting mode can enable the second cylinder section to be accurately aligned to the first cylinder section.
Description
Technical Field
The invention relates to the field of rocket large part installation, in particular to a carrier rocket positioning and attitude adjusting method.
Background
The carrier rocket is used as a main carrier of satellites and other spacecrafts, and the requirements on the number and the quality of the carrier rocket are higher and higher along with the development of aerospace technology, the diversity of launch loads and the density of launch times. The carrier rocket assembly is a complex assembly process and mainly comprises three parts, namely structural installation, equipment cable installation and power system installation, wherein the structural installation is an important component in the rocket assembly.
The intermediate section assembly of the domestic rocket assembly mainly depends on shouting and visual observation to adjust the postures of the rocket parts, and the manual mode not only needs more tools and more operators, but also has complex coordination relationship among rocket tube sections and needs repeated coordination; in addition, because the diameter of the rocket barrel section and the length of the parts are both large, the posture is difficult to adjust, and the positioning accuracy is poor; in addition, the positioning accuracy of the butt joint surface is poor, extrusion assembly can be caused, the assembly efficiency and the assembly quality of the wings are seriously influenced by the mode, and the requirements of high efficiency and high quality cannot be met.
In view of this, it is desirable to design a method for positioning and adjusting the attitude of a launch vehicle, which can achieve automatic attitude adjustment and increase working efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a carrier rocket positioning and attitude adjusting method.
The invention relates to a carrier rocket positioning and attitude adjusting method, which comprises the following steps: arranging a first tube section of the carrier rocket on a fixed tool, and arranging a second tube section of the carrier rocket on an adjusting device capable of realizing rotation along the X, Y, Z axis in three directions; at least three groups of distance measuring sensors and distance measuring receivers are correspondingly arranged on the surfaces of the second cylinder section and the first cylinder section which are mutually butted; calculating the rotation angle of the second cylinder section along the Y axis and the Z axis according to the positions of the at least three groups of ranging sensors and ranging receivers in the coordinate system, so that the distance difference values of the at least three groups of ranging sensors and ranging receivers are within a first set value, and the second cylinder section is overlapped with the first cylinder section in the axis direction; and calculating the rotation angle of the second cylinder section along the X axis according to the positions of the at least three groups of ranging sensors and ranging receivers in the coordinate system, so that the centers of the at least three groups of ranging sensors and ranging receivers coincide.
According to one aspect of the present invention, the angle of rotation of the second cylinder section along the Y-axis and the Z-axis is calculated by an inverse kinematics algorithm and the angle of rotation of the second cylinder section along the X-axis is calculated by an inverse kinematics algorithm based on the positions of the at least three sets of ranging sensors and ranging receivers in the coordinate system.
According to one aspect of the invention, three distance measuring sensors are arranged at the edge of the abutting surface of the second cylinder section, and three distance measuring receivers are arranged at the corresponding positions of the edge of the abutting surface of the first cylinder section.
According to one aspect of the invention, three ranging sensors are located at the edge of the second barrel section interface and are circumferentially spaced at 120 degrees, and three ranging receivers are located at the edge of the first barrel section interface and are circumferentially spaced at 120 degrees.
According to one aspect of the invention, the positions of the three sets of ranging sensors and ranging receivers in the predetermined coordinate system are measured by a laser tracker.
According to one aspect of the invention, the second barrel section is controlled to rotate a first angle along the Y axis and the second barrel section is controlled to rotate a second angle along the Z axis such that the distance difference between the three sets of ranging sensors and ranging receivers is equal.
According to one aspect of the invention, the second barrel section is controlled to rotate a first angle along the Y axis and the second barrel section is controlled to rotate a second angle along the Z axis such that the difference in the distances between the three sets of ranging sensors and ranging receivers is within a first set value.
According to one aspect of the invention, the second cylinder section is controlled to rotate a third angle along the X-axis, the second cylinder section coinciding with the three sets of range sensors and range receivers of the first cylinder section in the direction about the axis.
According to an aspect of the invention, further comprising: adjusting device places on driving, according to the distance of three at least group range finding sensors and range finding receiver, controls to drive and removes along the X axle direction the distance is with the accurate butt joint of second section of thick bamboo section and first section of thick bamboo.
According to the carrier rocket positioning and attitude adjusting method, at least three groups of distance measuring sensors and distance measuring receivers are arranged on the surface, butted with the first cylinder section, of the second cylinder section, the rotating angles of the second cylinder section along the Y axis, the Z axis and the X axis can be calculated, the second cylinder section is accurately aligned to the first cylinder section in a high-precision attitude adjusting mode, and automatic control can be realized by the simple attitude adjusting mode of serial attitude adjustment.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of a launch vehicle positioning and attitude-adjusting method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a layout of rocket launcher segments in a positioning and attitude-adjusting method of a launch vehicle according to an embodiment of the present invention;
fig. 3 is a schematic view of a distance measuring device in the positioning and attitude adjusting method of the launch vehicle according to an embodiment of the invention.
Description of reference numerals:
201-first cylinder section, 202-second cylinder section, 203-fixing tool, 204-adjusting tool, 205-distance measuring sensor, 206-distance measuring receiver.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention, for the purposes of illustrating the principles of the invention. Additionally, the components in the drawings are not necessarily to scale. For example, the dimensions of some of the elements or regions in the figures may be exaggerated relative to other elements or regions to help improve understanding of embodiments of the present invention.
The directional terms used in the following description are used in the illustrated directions, and do not limit the specific configurations of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
Furthermore, the terms "comprises," "comprising," "includes," "including," "has," "having" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure or component comprising a list of elements does not include only those elements but may include other mechanical components not expressly listed or inherent to such structure or component. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
Spatially relative terms such as "below," "… below," "lower," "above," "… above," "upper," and the like are used for convenience in describing the positioning of one element relative to a second element and are intended to encompass different orientations of the device in addition to different orientations than those illustrated in the figures. Further, for example, the phrase "one element is over/under another element" may mean that the two elements are in direct contact, or that there is another element between the two elements. Furthermore, terms such as "first", "second", and the like, are also used to describe various elements, regions, sections, etc. and should not be taken as limiting. Like terms refer to like elements throughout the description.
It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
FIG. 1 is a schematic diagram of a launch vehicle positioning and attitude-adjusting method according to an embodiment of the present invention; FIG. 2 is a schematic view of a layout of rocket launcher segments in a positioning and attitude-adjusting method of a launch vehicle according to an embodiment of the present invention; fig. 3 is a schematic view of a distance measuring device in the positioning and attitude adjusting method of the launch vehicle according to an embodiment of the invention.
The invention provides a carrier rocket positioning and attitude adjusting method, which comprises the following steps:
s101, arranging a first barrel section 201 of the carrier rocket on a fixed tool 203, and arranging a second barrel section 202 of the carrier rocket on an adjusting device 204 capable of rotating along X, Y, Z axis in three directions;
in order to connect the two barrel sections (divided into the first barrel section 201 and the second barrel section 202) of the launch vehicle together, the first barrel section 201 needs to be fixed on a fixing tool 203, a reference coordinate system for realizing the motion of the second barrel section 202 is preset, and the second barrel section 202 is placed on an adjusting device 204 capable of rotating along the X, Y, Z axis in three directions. The directions of rotation of the second cylinder section 202 around three coordinate axes of the spatial coordinate system X, Y, Z are defined as A, B, C three directions, and the position transition of the second cylinder section 202 is realized through posture adjustment in the three directions.
S102, at least three groups of distance measuring sensors 205 and distance measuring receivers 206 are correspondingly arranged on the mutually butted surfaces of the second cylinder section 202 and the first cylinder section 201 respectively;
in order to ensure the accuracy of the butt joint of the first cylinder section 201 and the second cylinder section 202, the same sets of distance measuring sensors 205 and distance measuring receivers 206 are correspondingly arranged on the surfaces of the second cylinder section 202, which are in butt joint with the first cylinder section 201, respectively, wherein the distance measuring sensors 205 can send out signals, and the distance measuring receivers 206 are used for receiving the signals.
S103, calculating the rotation angle of the second cylinder section 202 along the Y axis and the Z axis according to the positions of the at least three groups of ranging sensors 205 and ranging receivers 206 in the coordinate system, so that the distance difference between the at least three groups of ranging sensors 205 and ranging receivers 206 is within a first set value, and the second cylinder section 202 is coincident with the first cylinder section 201 in the axial direction;
wherein, according to the positions of the at least three sets of distance measuring sensors 205 and the corresponding at least three sets of distance measuring receivers 206 in the reference coordinate system, the rotation angle of the second cylinder section 202 along the Y axis, i.e. the movement along the B direction, is calculated, and the rotation angle of the second cylinder section 202 along the Z axis, i.e. the movement along the C direction, is calculated, so that the distance difference between the at least three sets of distance measuring sensors 205 and the corresponding position distance measuring receivers 206 is within a certain range, and the present embodiment provides that the distance difference is within a first set value, so that the second cylinder section 202 and the first cylinder section 201 can be coincided along the axes of the two cylinder sections, i.e. the.
And S104, calculating the rotation angle of the second cylinder section 202 along the X axis according to the positions of the at least three groups of ranging sensors 205 and ranging receivers 206 in the coordinate system, so that the centers of the at least three groups of ranging sensors 205 and ranging receivers 206 coincide.
Wherein the angle of rotation of the second barrel section 202 along the X-axis, i.e. the movement in direction a, is calculated based on the positions of the at least three sets of ranging sensors 205 and ranging receivers 206 in the reference coordinate system, such that the centers of the at least three sets of ranging sensors 205 coincide with the centers of the at least three sets of ranging receivers 206.
The posture adjusting method can solve the problems of difficult posture adjustment and poor adjustment precision of the rocket assembly cylinder section, realizes rocket assembly automation, realizes precise regulation and control of carrier rocket assembly posture adjustment, and is used for realizing rocket assembly work such as posture precise adjustment, accurate involution and the like of the rocket section.
According to an aspect of the present invention, the angle of rotation of the second barrel section 202 along the Y-axis and the Z-axis is calculated by an inverse kinematics algorithm and the angle of rotation of the second barrel section 202 along the X-axis is calculated by an inverse kinematics algorithm based on the positions of the at least three sets of ranging sensors 205 and ranging receivers 206 in the coordinate system.
Specifically, the inverse kinematics algorithm is based on the known position of each of the range sensor 205 and the range receiver 206 in the coordinate system with reference to the coordinate system to determine the need for the adjustment device 204The angle of rotation, the angular transformation from the spatial position of the reference coordinate system to the adjustment device 204 (T6 → θ), the adjustment device 204 drives the second cylinder 202 to rotate along the Y-axis and the Z-axis (θ)B、θC) The adjusting device 204 drives the second cylinder 202 to rotate along the X-axis by the required angle (theta)A)。
According to one aspect of the invention, three distance measuring sensors 205 are arranged at the edge of the abutting surface of the second cylinder section 202, and three distance measuring receivers 206 are arranged at the corresponding positions of the edge of the abutting surface of the first cylinder section 201.
Specifically, as a mode of this embodiment, three sets of paired distance measuring sensors 205 and distance measuring receivers 206 may be selected, three distance measuring sensors 205 are respectively disposed at the edge of the abutting surface of the second barrel section 202, and three distance measuring receivers 206 are disposed at corresponding positions on the edge of the abutting surface of the first barrel section 201.
According to one aspect of the invention, three ranging sensors 205 are located at the edge of the interface of the second barrel section 202 and circumferentially spaced at 120 degrees, and three ranging receivers 206 are located at the edge of the interface of the first barrel section 201 and circumferentially spaced at 120 degrees.
Specifically, three distance measuring sensors 205 may be disposed at the edge of the abutting surface of the second cylinder section 202 and circumferentially spaced at 120 degrees, and three distance measuring receivers 206 may be disposed at the edge of the abutting surface of the first cylinder section 201 and circumferentially spaced at 120 degrees. The distance measuring sensor 205 and the distance measuring receiver 206 can complete the docking process more accurately by the arrangement mode of uniform angles.
According to one aspect of the invention, the positions of the three sets of ranging sensors 205 and ranging receivers 206 in the predetermined coordinate system are measured by a laser tracker.
Specifically, in step S103 of the positioning and attitude adjusting method for a launch vehicle, three sets of ranging sensors 205 and ranging receivers 206 that appear in pairs need to determine the position in the reference coordinate system first, and as a way of this embodiment, the coordinate system position of each ranging sensor 205 and ranging receiver 206 may be measured by a laser tracker.
According to an aspect of the present invention, the second cylinder section 202 is controlled to rotate a first angle along the Y-axis and the second cylinder section 202 is controlled to rotate a second angle along the Z-axis, such that the distance difference between the three sets of ranging sensors 205 and ranging receivers 206 is equal.
Specifically, the adjusting device 204 performs posture adjustment in the directions B and C by using the driving device in the directions B and C, and controls the second barrel section 202 to rotate by a first angle θ along the axis YBControlling the second cylinder section 202 to rotate by a second angle theta along the Z axisCSo that the distance difference between each set of ranging sensors 205 and ranging receivers 206 is equal.
According to an aspect of the present invention, the second cylinder section 202 is controlled to rotate a first angle along the Y-axis and the second cylinder section 202 is controlled to rotate a second angle along the Z-axis such that the distance difference between the three sets of ranging sensors 205 and the ranging receivers 206 is within a first set value.
Specifically, the adjusting device 204 performs posture adjustment in the directions B and C by using the driving device in the directions B and C, and controls the second barrel section 202 to rotate by a first angle θ along the axis YBControlling the second cylinder section 202 to rotate by a second angle theta along the Z axisCSo that the distance difference between each set of ranging sensor 205 and ranging receiver 206 is within the first set value range.
According to one aspect of the present invention, second cylinder section 202 is controlled to rotate a third angle along the X-axis, and second cylinder section 202 coincides with three sets of ranging sensors 205 and ranging receivers 206 of first cylinder section 201 in the direction of the axis.
Specifically, the adjusting device 204 performs a-direction attitude adjustment by the a-direction driving device, and controls the second barrel section 202 to rotate by a third angle θ along the X-axisCThe second cylinder section 202 coincides with the first cylinder section 201 in the direction around the axis with the center of each set of ranging sensors 205 and the center of the ranging receiver 206.
According to an aspect of the invention, further comprising: the adjusting device 204 is placed on the driving vehicle, and controls the driving vehicle to move along the X-axis direction for a distance according to the distances of at least three groups of ranging sensors 205 and ranging receivers 206 so as to precisely butt the second cylinder section 202 and the first cylinder section 201.
Specifically, after the adjustment of the B direction, the C direction and the a direction is completed by the adjustment device 204, so that the posture of the second barrel section 202 is consistent with the posture of the first barrel section 201, the adjustment device 204 needs to be arranged on the driving with the second barrel section 202, and the driving is controlled to move along the X axis direction according to the distance of each set of the distance measuring sensor 205 and the distance measuring receiver 206 in the X axis direction to precisely dock the second barrel section 202 with the first barrel section 201.
The carrier rocket positioning and attitude adjusting method has the following technical effects:
(1) by placing the second cylinder section 202 on the adjusting device 204 capable of rotating along the X, Y, Z axis in three directions, the posture adjusting mode is simple through the serial connection type posture adjusting;
(2) the pair of the distance measuring sensor 205 and the distance measuring receiver 206 is correspondingly arranged on the surface where the second cylinder section 202 and the first cylinder section 201 are butted with each other, so that the posture adjusting precision is high;
(3) the adjusting device 204 with the second cylinder section 202 can realize automatic posture adjustment, and the degree of automation is high;
(4) the whole positioning and posture adjusting method is simple in process, convenient to master and easy to popularize in a large range.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A carrier rocket positioning and attitude adjusting method is characterized by comprising the following steps:
arranging the second barrel section of the carrier rocket on an adjusting device capable of realizing rotation along the X, Y, Z axis in three directions, and arranging the first barrel section of the carrier rocket on a fixed tool;
at least three groups of distance measuring sensors and distance measuring receivers are correspondingly arranged on the surfaces of the second cylinder section and the first cylinder section which are mutually butted;
calculating the rotation angle of the second cylinder section along the Y axis and the Z axis according to the positions of the at least three groups of ranging sensors and ranging receivers in the coordinate system, so that the distance difference values of the at least three groups of ranging sensors and ranging receivers are within a first set value, and the second cylinder section is overlapped with the first cylinder section in the axis direction;
and calculating the rotation angle of the second cylinder section along the X axis according to the positions of the at least three groups of ranging sensors and ranging receivers in the coordinate system, so that the centers of the at least three groups of ranging sensors and ranging receivers coincide.
2. The launch vehicle positioning and attitude adjusting method according to claim 1, wherein the angle of rotation of the second barrel section along the Y-axis and the Z-axis is calculated by an inverse kinematics algorithm and the angle of rotation of the second barrel section along the X-axis is calculated by an inverse kinematics algorithm based on the positions of the at least three sets of ranging sensors and ranging receivers in the coordinate system.
3. The method of claim 1, wherein three distance measuring sensors are disposed at the edge of the butt joint surface of the second barrel section, and three distance measuring receivers are disposed at the edge of the butt joint surface of the first barrel section.
4. A launch vehicle positioning and attitude adjustment method according to claim 3, wherein three ranging sensors are located at the edge of the second barrel segment butt joint face and are circumferentially spaced at 120 degrees, and three ranging receivers are located at the edge of the first barrel segment butt joint face and are circumferentially spaced at 120 degrees.
5. The method of claim 3, wherein the positions of the three sets of ranging sensors and ranging receivers in the predetermined coordinate system are measured by a laser tracker.
6. A launch vehicle positioning and attitude adjustment method according to claim 5, characterised in that the second barrel section is controlled to rotate by a first angle along the Y axis and the second barrel section is controlled to rotate by a second angle along the Z axis, so that the distance differences between the three sets of ranging sensors and ranging receivers are equal.
7. A launch vehicle positioning and attitude adjustment method according to claim 5, characterised in that the second barrel section is controlled to rotate by a first angle along the Y axis and the second barrel section is controlled to rotate by a second angle along the Z axis so that the difference in the distances between the three sets of ranging sensors and ranging receivers is within a first set value.
8. A launch vehicle positioning and attitude adjustment method according to claim 5, characterised in that the second barrel section is controlled to rotate by a third angle along the X-axis, the second barrel section coinciding with the three sets of ranging sensors and ranging receivers of the first barrel section in the direction around the axis.
9. The carrier rocket positioning and attitude adjusting method according to claim 1, further comprising:
adjusting device places on driving, according to the distance of three at least group range finding sensors and range finding receiver, controls to drive and removes along the X axle direction the distance is with the accurate butt joint of second section of thick bamboo section and first section of thick bamboo.
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| CN202011136051.9A CN112372556B (en) | 2020-10-22 | 2020-10-22 | Carrier rocket positioning and attitude adjusting method |
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| CN114043402A (en) * | 2021-11-08 | 2022-02-15 | 陕西飞机工业有限责任公司 | Method for installing numerical control attitude adjusting positioning assembly on airplane assembly platform |
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| CN112372556B (en) | 2022-04-19 |
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