CN101739478A - Spacecraft assembly simulation technique-based virtual assembly system and virtual assembly method - Google Patents

Spacecraft assembly simulation technique-based virtual assembly system and virtual assembly method Download PDF

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CN101739478A
CN101739478A CN200810180605A CN200810180605A CN101739478A CN 101739478 A CN101739478 A CN 101739478A CN 200810180605 A CN200810180605 A CN 200810180605A CN 200810180605 A CN200810180605 A CN 200810180605A CN 101739478 A CN101739478 A CN 101739478A
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assembly
virtual
model
information
planning
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CN200810180605A
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CN101739478B (en
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熊涛
孙刚
易旺民
黄磊
符浩
郑圣余
吕景辉
贺文兴
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北京卫星环境工程研究所
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Abstract

The invention relates to a spacecraft assembly simulation technique-based virtual assembly system. The virtual assembly system comprises a CAD modeling module, a virtual assembly planning module and an assembly process design module, wherein the CAD modeling module is used for designing components and tooling tools, and assembling the components together by defining a series of matching constraint relations so as to obtain an assembling model of products; the virtual assembly planning module is used for establishing a geometrical constraint-based virtual environment, planning an optimized assembly sequence according to disassembly directions, disassembly tools and precedence constraint information recorded in the virtual environment for execution, verifying the optimized assembly sequence, and performing simulation evaluation in the virtual environment; and the assembly process design module is used for designing a product structure tree and a process step catalog, editing process steps and assembling a technological process. The CAD modeling module is connected with the virtual assembly planning module through a CAD modeling interface so that models generated in the CAD modeling module are guided into the virtual assembly planning module; and the process planning result in the virtual assembly planning module is guided into the assembly process design module through a Mockup interface.

Description

Virtual assembly system and dummy assembly method based on spacecraft assembly simulation technology

Technical field

The present invention relates to a kind of virtual assembly system and dummy assembly method, particularly relate to virtual assembly system and dummy assembly method based on spacecraft assembly simulation technology.

Background technology

Along with the development of modern science technology, great changes have all taken place in the theory of engineering design, ways and means.Over particularly past 30 years, the advanced person of engineering design means whether, the height of digitized degree (is the model with cad technique and FEA technology), determined cycle, quality and the cost of product design and development to a great extent.Cad technique be in computer utility and the engineering design the earliest and the most successful model.Its appearance and be extensive use of has changed traditional method for designing that is as the criterion with experience from method for designing.The application of finite element analysis (FEA) technology in engineering design process greatly improved the design means of product once more.It can help the designer to analyze structural strength, the rigidity of mechanical system zero parts, and thermal characteristics and dynamic perfromance, has not only further promoted the application of cad technique in every profession and trade, and solved many before reluctant engineering problems.But, along with science and technology development, people recognize such fact gradually: even each parts in the mechanical system all are that the performance that can not guarantee total system is good through what optimize, promptly system-level optimization never is the simple superposition of each component optimization in the system.At present, most companies and research institution all adopt these conventional methods for designing, promptly at first carry out different conceptual designs, and draw out engineering drawing; Through after the demonstration of long period, select more suitable scheme and manufacture experimently out physical prototyping then based on experience; After this carry out test design, and physical prototyping is tested under various working.When finding structure or aspect of performance defectiveness, just revise design proposal and engineering drawing, and then make physical prototyping and it is tested.Be not difficult to find out that this traditional physical prototyping makes test method and increased the cycle of new product development greatly and has become wood, and the real prioritization scheme of very difficult acquisition.

Virtual assembly process planning is the typical application of virtual reality technology in the product design field, and along with the progressively development and the popularization of virtual assembly process planning technology, its using value has caused concern more and more widely.Yet at present domesticly when the spacecraft total coating process plan, still rest on the stage of removing to formulate process planning only according to the general assembly experience, and be output as two-dimentional paper document, the problem that is difficult to effectively to verify the feasibility of total coating process route and finds existence in the design.Particularly for spacecraft products such as satellite, because that it has mostly is wide in variety, in batches many, the assembly quality of little, assembly precision requirement height, required assembling resource type is difficult to characteristics such as prediction, so the research of virtual mounting technology has important significance for theories and practical value.It can be optimized product design, avoids or reduce physical model and make, shortens the construction cycle, reduces development risk, reduces cost, improve assembly manipulation personnel's training speed, raising assembly quality and efficient, solve the technical matters that is difficult to physical experiments or check.Native system is a target with the spacecraft product, set up the digitizing geometric model that general assembly is used, carry out virtual assembly technology design, finish the pre-assembled of cabin section level product, carry out process sequence planning and generate the technical papers masterplate, generate visual technology at the assembling of some typical process.

Summary of the invention

The present invention relates to a kind of virtual assembly system based on spacecraft assembly simulation technology, it comprises: the CAD MBM; Be used for design elements and frock tool, and, these parts fitted together, to obtain the assembling model of product by a series of fiting constraint relations of definition; Virtual assembling planning module: be used to set up virtual environment based on geometrical constraint, the disassembly direction of in virtual environment, carrying out, remover and precedence constraint information according to record, cook up the assemble sequence of optimization, and the assemble sequence of optimizing is verified, under virtual environment, carried out simulation evaluation again; The assembly technology design module; Be used for deisgn product structure tree and operation catalogue, process is carried out layout and assembly technology rules; Wherein the CAD MBM is connected with virtual assembling planning module, so that the model that is produced in the CAD MBM is imported in the virtual assembling planning module by described CAD modeling interface; By the Mockup interface process planning result in the virtual assembling planning module is imported in the assembly technology design module.

A kind of dummy assembly method based on spacecraft assembly simulation technology, it may further comprise the steps: at first, carry out the CAD modeling procedure, with design elements and frock tool, and by a series of fiting constraint relations of definition, these parts are fitted together, obtain the assembling model of product; Secondly, send the model that is produced in the CAD modeling procedure to following virtual assembling planning step by CAD modeling interface; Then, in virtual assembling planning step, foundation is based on the virtual environment of geometrical constraint, the disassembly direction of in virtual environment, carrying out, remover and precedence constraint information according to record, cook up the assemble sequence of optimization, and the assemble sequence of optimizing is verified, under virtual environment, carried out simulation evaluation again; At last, the assembly technology design procedure is used for deisgn product structure tree and operation catalogue, and process is carried out layout and assembly technology rules, wherein, by the Mockup interface process planning result who generates in the virtual assembling planning step is sent in the assembly technology design procedure.

Description of drawings

Fig. 1 is the architectural schematic of software of the present invention;

Fig. 2 is the general structure frame synoptic diagram of the virtual mechanical assembly software of satellite;

Fig. 3 is the techniqueflow and the route synoptic diagram of virtual assembly technology design software of the present invention;

Fig. 4 is functional mode figure of the present invention;

Fig. 5 is a model management part-structure business process map of the present invention;

Fig. 6 is a process planning functional mode of the present invention;

Fig. 7 is a process planning overall procedure of the present invention;

Fig. 8 accurate measurement coordinate extracts the interface;

Accurate measurement interface, Fig. 9 position;

Figure 10 accurate measurement query interface;

Figure 11 determines coordinate system and planimetric position;

Two Plane intersects after Figure 12 translation;

The projection on public vertical plane of Figure 13 two planes;

Figure 14 finds the solution projected length on the public vertical plane;

Figure 15 adjustment process simplified model.

Embodiment

Hereinafter with reference to accompanying drawing virtual assembly system structure and the operating procedure based on spacecraft assembly simulation technology of the present invention is described in detail.

As shown in Figure 1, system can be divided into three modules, and two interface sections.Under the support of oracle database and CAD software (Pro/E), adopt OO method to develop the virtual assembly technology software of satellite.The architecture of whole software is as follows.

(1) CAD modeling part: part and frock tool at first design in CAD software and finish.By defining a series of fiting constraint relations, these parts are assembled together, and obtain the assembling model of product.

(2) process planning part: at first set up a virtual assembly environment based on geometrical constraint.The user rule of thumb carries out the interactive mode dismounting with knowledge in this environment, record disassembly direction, remover and precedence constraint information.Use ant group algorithm and cook up the initial optimization assemble sequence, simulation evaluation should be near optimizing assemble sequence under virtual environment, consider factors such as interference and collision and tool operation space constraint, constantly discern new precedence constraint and interpretational criteria, again cook up more excellent assemble sequence, in virtual, carry out simulation evaluation.This be one constantly repeatedly, continuous perfecting process, till obtaining satisfied best assemble sequence.

(3) training and teaching part: for complex product, its assembling process needs certain operative skill and experience.The assembly crewman grasps these skills and experiences needs one than growth process, based on the emulation of virtual reality assembling process, for the slip-stick artist provides a kind of fabulous training means.The assembly crewman carries out the fittage training in virtual environment, fully be familiar with the assembling process of product, and then carries out the practical set of product.According to the best assembling scheme that virtual assembling planning obtains, exploitation multimedia teaching software, the dynamic assembling process of artificial product is on one side the assembler watches product assembling process dynamic demonstration, Yi Bian carry out practical set.

(4) CAD interface section: virtual reality software shows object with multiaspect sheet model.The model of CAD software design is packed into after the virtual environment, and some Useful Informations must extract, and comprise geological information, physical message and the fiting constraint information etc. of part.

(5) virtual assembling (Mockup) interface section: according to best assemble sequence, the assembling process of artificial product under virtual environment, information such as record assembly path, installation time, these assembling sequences and assembling process information are exported from virtual environment, input training and teaching module, instruct assembled in situ with generating the assembling animation file on the one hand, generate files such as assembly technology card on the other hand.

Fig. 2 is the general structure frame synoptic diagram of the virtual mechanical assembly software of satellite, mainly is made up of three parts: the supporting layer of virtual assembly system; The application layer of virtual assembly system software; Virtual assembly system service layer.Supporting layer is made up of model and data base management system (DBMS), and collaborative bottom-up information support, the whole model informations in responsible preservation and the managing virtual assembling process of providing of the foundation and the design of model are provided for they.By coordination and the communication between PDM realization product design department and the Assembling Production department, guarantee the consistance of model Satellite Product product structure and model modification, realization all departments information is reused and is shared.Finally, Assembling Production department feeds back to design department by PDM according to virtual assembling result again with the design improvement suggestion.Service layer mainly is the demand at virtual assembling, and some gordian techniquies in the research and development virtual support assembling process comprise foundation, the assembly constraint contextual definition of virtual environment and interfere detection algorithm realization etc.At first set up towards the virtual environment of satellite assembling, comprise virtual workshop, worktable, part rack etc., each the model node in the virtual scene is carried out unified planning and management according to the hierarchical position relation.Under the support of interference detection algorithm, set up between each parts and the relation of the assembling and positioning between the frock tool, support processor-oriented assembling planning and emulation.Application layer mainly is the actual conditions at workshop satellite Assembling Production, and the applying virtual mounting technology provides technical support for solving a difficult problem that exists in the practical set.By sequential program(me) in the virtual assembling process and path planning, operation catalogue and visual technology that production can instruct practical set to produce are impelled foundation are provided for formulating correct quality safety, for process optimization and on-the-spot teaching provide means.

Fig. 3 is the techniqueflow and the route synoptic diagram of virtual assembly technology design software of the present invention.Design the spacecraft product model in design department, carry out the model secondary processing through after the model analysis, comprise the normative model name, sophisticated model structure and set up frock tool standard component model, model is input in the Pro/E system, comprise and load the frock tool standard component, load satellite equipment equipment, to the Pro/E secondary development, extract components information and parts are put in storage, in virtual mechanical assembly software (Division Mockup), carry out interactive mode assembling planning, generate the operation catalogue, the planning assembly path, the emulation assembly manipulation, check interference and collision and making assembling animation, carry out virtual assembly technology design through data-switching at last, comprise the extraction product tree, the abstraction process directory tree, planning operation work step, emulation operation work step, generate supporting information, generate technological procedure and carry out on-the-spot teaching.

Fig. 4 is functional mode figure of the present invention.The model management part comprises that mainly model imports among model management, the manual importing of model and the PROE.This part is that a series of information of model are imported and managed, and comprises operating input to model, inquiry, modification, deletion, output etc. wherein model mainly comprising standard component, parts and frock tool.In the database table that software will deposit in according to satellite attribute and the automatic selection of type mark, parts, frock tool, standard component model information import automatically or model information are input in the database by hand by PRO/E on PRO/E assembly structure tree basis, the output that model imports is as the input of model management, together with corresponding model being managed according to cabin section or the standard component title selected, to producing corresponding standard part information after the model management, components information, frock tool information also can be exported the PRO/E graphic file of being concerned about and watch.

Fig. 5 is a model management part-structure business process map of the present invention.The file that the initialization of first step reading software generates is obtained the satellite attribute information; Second step opened the PRO/E model and imports menu under the menu of software, PRO/E moves automatically, and will add in the menu of PRO/E software based on the menu of the secondary development of PRO/E, opened a part or assembly in PRO/E; If what the 3rd step opened is a part, shown by the PRO/E model name and the corresponding satellite information of extraction parts information this part, the user can make amendment to parts information on interface displayed, otherwise what open is assembly, by extracting assembly information assembly inner model title is write in the file, reads this document, obtain model name, judge its type mark by model name, and statistical model quantity, on the interface, show; The 4th step deposited into the information of being extracted in the database according to type mark, satellite attribute, PRO/E filename; The 5th step was read model information in associated databases, by judging that the satellite attribute carries out data with institute's care model information and prepares; The 6th step was inquired about the model data of being concerned about according to satellite attribute, model name (optional), cabin section (optional); The 7th step can make amendment the model information that inquires, and revised the back and preserved, perhaps can be with the model deletion of choosing, also the graphical information of the model chosen can be outputed to (if having graphical information) on the hard disk.

Fig. 6 is a process planning functional mode of the present invention.Assembly process planning mainly carries out the layout and the emulation of operation work step according to the operation catalogue that generates in the Mockup software, generate the assembly technology rules of product at last.The technological design personnel watch the assembling process flash demo on one side, on one side layout operation work step.To each assembly process, figure demonstrating and operation content are associated, quality safety information, auxiliary material information and supporting information etc. to input manage, in use expand maintenance according to the development of factory by managerial personnel, accomplish that finally the technologist grasps easily, use simple, convenient, fast.Specifically, the following function of the main realization of process planning part:

A. import the Mockup model and generate product tree

B. import the Mockup model and generate the operation directory tree

C. assembly process planning

D. operation technological document information

E. process quality safety requirements information

F. operation auxiliary material information

G. frock/instrument/list of devices of needing of operation

H. assemble work step planning

I. assembly manipulation planning

J. content of operation text description

K. operating process flash demo

L. should operate the components information of assembling

M. should operate the routing information of Assembly part

N. the editor of technique information, preservation, inquiry, modification

Fig. 7 is a process planning overall procedure of the present invention.The process planning part can further be subdivided into the planning of operation work step and two submodules of operation work step emulation, operation work step planning module mainly comes the assembly process of layout product according to the operation directory tree, each assembly process is divided into many work steps again, the corresponding a plurality of assembly manipulations of each work step, the task of process planning are exactly that the assembling process emulation of the part of operation, work step, operation and assembling, the frock tool that needs, part and assembly path thereof etc. are associated.The emulation of operation work step is exactly that the assembling process of product is demonstrated out according to planning good operation, work step, operation step by step, adjusts as required and revises.The overall procedure of process planning is as follows, at first import the Mockup model of Satellite Product, generate product tree and operation directory tree, carry out the planning of assembly process in view of the above, be divided into the assembling work step below the assembly process again, the assembling work step is divided into assembly manipulation again, supporting information such as the corresponding parts of each assembly manipulation, frock tool, instrument and equipment, standard component, assembly manipulation and assembling process animation are associated, instruct the technological design personnel to watch the assembling process flash demo on one side, Yi Bian carry out process layout.

The accuracy test part

For solving the lower problem of accurate measurement efficient in the satellite assembling process, designed and developed the accurate measurement analysis module.Specifically the function that will realize is as follows:

Extract valid data and experimental knowledge in the satellite accurate measurement process, set up spacer thickness and adjust the analyze mathematics model, and the real-time graph demonstration is provided, personnel provide theoretical direction for accurate measurement.In detail, to various attitude sensitive element and the instrument on the satellite, as 10N thruster, 490N engine, momenttum wheel, gyrounit, earth sensor, sun sensor assembly etc., set up the mathematical model that the spacer thickness adjustment is analyzed, according to the ideal position normal light path of instrument detecting prism square and the angle between the physical location normal light path, calculate corresponding need position of adjusting and the thickness of adjusting pad, under the three-dimensional picture environment, provide the light path demonstration that attitude adjustment and pipeline change, and provide real-time angle variation.Each back result that measures can be kept in the database treating and inquires about in the future.

Accurate measurement analysis part present stage mainly is divided into following illustrated three functional modules, and the major technique of utilization is the technology that VC development data storehouse technology, VC three-dimensional animation OpenGel technology, VC are extracted model data the secondary development of Pro/E.

All data are the data under whole star coordinate system in the accurate measurement adjustment process, three fulcrums under the standard state or the coordinate of four fulcrums utilize the Pro/E secondary exploitation technology to extract from the Pro/E model, the centre coordinate of single part extracts than being easier to, but pilot hole is on piece surface, the extraction of concrete coordinate has certain difficulty, and how to solve is a very important problem.So will be by the local coordinate of the pilot hole axis centre that extracts and the world coordinates that the location matrix multiplication cross of part under world coordinates obtains the pilot hole axis centre, the concrete operations interface as shown in Figure 8, easy to use for the user, added, inquiry, delete function.

The accurate measurement adjustment is calculated, obtain the raw data that position deviation is calculated by extraction and initialization,, data with existing is calculated according to the mathematical model of building up in advance to model data, drawing needs the deviate adjusted under the virtual condition, and can obtain adjusted center point coordinate.Deciding the thickness and the quantity of adding pad according to this deviate by the accurate measurement personnel then.This deviate is for adjusting to instrument the net result of specification condition, after obtaining net result, the user can also be by importing the adjustment amount adjusted angle result of variations of substep and the center point coordinate of any fulcrum, and the change procedure of its adjustment has a detailed embodiment in the demonstration of accurate measurement process.

Fig. 9 is the position accurate measurement operation interface of design, detecting information initialization after entering system obtains, test condition is by selecting manually, coordinate extracts and calls accurate measurement coordinate extraction module, automatically extract the coordinate figure of tested model among the Pro/E, computed push-buttom is responsible for calculating the departure of being adjusted to dbjective state by the accent face, adjusting button is responsible for the single step adjustment process and produces corresponding data, the demonstration button is responsible for the three-dimensional animation demonstration of adjustment process, and save button obtains data with all and is kept in the database.

The accurate measurement inquiry, the data of utilizing the querying condition inquiry in the past to survey, tested instrument code name and measurement date are two independently conditions, can inquire about separately also can query composition, the result shows with tabular form, as does not have eligible record, can eject information automatically.Any delegation in the selection result tabulation, selected row is with highlighted demonstration, and the operator can click delete button deletion tabulation and with record in the database also deletion in the lump, operate and successfully eject information, as shown in figure 10.

Accurate measurement computation process:

1. the accurate measurement coordinate extracts

In the accurate measurement analysis module, if will adjust calculating, the coordinate of tested surface fulcrum normal place must be as known conditions, yet in the actual measurement process, the normal place coordinate is unknown, for this reason, can only in the Pro/E three-dimensional model, extract, this has just used the secondary exploitation technology of Pro/E, in Pro/E, can propose the location matrix of part in global coordinate system, can also extract the local coordinate of fulcrum hole axis centre, this center, hole local coordinate be multiply by location matrix in the part global coordinate system, just can obtain the normal place coordinate of fulcrum, mathematical model is as follows:

Fulcrum hole center matrix: T1=[x1 y1 z1 1]

Part world coordinates position T 2 = a 11 a 12 a 13 a 14 a 21 a 22 a 23 a 24 a 31 a 32 a 33 a 34 a 41 a 42 a 43 a 44 Matrix:

The part fulcrum overall situation is a coordinate: T=T1 * T2=[x1 ' y1 ' z1 ']

The gained part fulcrum overall situation is that coordinate T is calculation deviation two required normal place planes and props up point coordinate.Coordinate extraction button adds in the test condition point coordinate edit box in the calculating by adjusting.

2. the accurate measurement adjustment is calculated

Computation process utilizes the VC programming to realize, ABC (ABCD) three (four) points are determined that by the Pro/E model data promptly the displayed value in the operation interface edit box is judging that by program lowest point gets final product.

See Figure 11, face ABC and face A ' B ' C ' are respectively the plane, target location and the physical location plane of instrument tested surface to be adjusted, n1, n2 is respectively its normal vector, by three fulcrums of ABC are added pad, make the physical location face of skew adjust to the target location, thereby reach the design accuracy requirement.

Suppose with respect to the plane, target location, the A point is minimum point (plane, target location with design is a benchmark), plane, target location ABC is moved to the A point to be overlapped with A ' point, and two planar process vector n 1, n2 moved to A point place, then two plane intersection lines were A point and perpendicular to the straight line L of n1, n2, as shown in figure 12, normal vector n1, n2 constitute plane M, and promptly plane M is the public vertical plane of plane ABC and plane A ' B ' C '.

If n1 and n2 are unit normal vector, be respectively α 1 with the angle of whole each coordinate axis of star coordinate system, β 1, and γ 1; α 2, and β 2, and γ 2, then have:

n1={cosα1,cosβ1,cosγ1};n2={cos?α2,cosβ2,cosγ2}。

The normal vector of straight line L:

n1=n1×n2=

{cosβ1cosγ2-cosβ2cosγ1,cosα2cosγ1-cosγ2cosα1,cosα1cosβ2-cosα2cosβ1}

If angle is α between two vectors, utilize angle formula between two vectors: Can draw α.

Projection is done to plane M respectively in two planes, constitute triangle shown in Figure 13, do not subtract principle at only adding in the actual adjustment process, only need be raised to A ', B ' point with target location plane projection line parallel and get final product.

H1=s1tg α wherein; H2=s2tg α, s1, s2 are AB, the projected length of AC on public vertical plane.

Hence one can see that: minimum point A ' point needs bed hedgehopping h2, and B ' point needs bed hedgehopping h2-h1, and this is the net result of tested surface adjusted value, and AE, AF are plane, target location AB among Figure 14, the projected length s1 of AC, s2.

s1=|AB|*sinθ1 s2=|AC|*sinθ2;

θ 1, and θ 2 is obtained by the vector angle formula,

cos θ 1 = cos θ 1 = | AB × n 1 | | AB | · | n 1 | cos θ 2 = | AC × n 1 | | AC | · | n 1 | ;

AB, AC straight line vector is tried to achieve by each point coordinate, and coordinate figure is the coordinate of standard flat position herein, note when finding the solution vectorial standardization,

The AB vector: { xb - xa | AB | , yb - ya | AB | , zb - za | AB | } ;

The AC vector: { xc - xa | AC | , yc - ya | AC | , zc - za | AC | } ;

Just can calculate 3 adjustment amount according to these conditions:

A point adjustment amount d1=h2=s2 * tg α;

B point adjustment amount d2=h2-h1=(s2-s1) * tg α;

C point adjustment amount d3=0 (peak need not be adjusted);

4 types are consistent with 3 type principles.

For making mathematical model have versatility, we determine in the program that or and operation interface 3 or are corresponding one by one at 3 at 4 at 4, and the judgement of minimum point is the important step that program realizes mathematical algorithm like this.With 3 types is example, with the A point of importing or read is true origin, AB is the Z axle, the direction vector of AB * AC is that X-axis is set up coordinate system, at first judge the position that C is ordered, determining minimum or peak by the projected position of normal vector in this coordinate system on plane, dividing four quadrants and eight kinds of situation discussion of four coordinate axis.

3. adjustment process computational analysis

According to only adding the principle that does not subtract in the reality, ignore the translational movement that normal place plane and physical location plane may exist, it is a bit crossing to suppose that two planes must have, and adjusts variation all the time on the direction of standard flat normal vector.

According to Figure 15, normal place 3 points (4 points) coordinate is known, then target location (dotted line) 3 points (4 points) coordinate only needs normal place X, Y, Z coordinate are added that maximum adjustment amount d1 projection on three axes gets final product after the translation, and every point coordinate of any like this position can get final product at the component of three axes by deduct every final adjustment amount d and the difference of substep adjustment amount h on target location coordinate.Is example with the A point after by bed hedgehopping h:

A point actual coordinate is behind the bed hedgehopping: (xa1, ya1, za1),

The cos α of xa1=xa+d1cos α-(d1-h) wherein;

ya1=ya+d1cosβ-(d1-h)cosβ;

za1=za+d1cosγ-(d1-h)cosγ;(d1=h2)

With plane, target location (dotted line) after the translation is that to carry out coordinate Calculation be can not produce error accumulation in order to be implemented in the actual coordinate value that obtains when single step is adjusted at every turn to benchmark.

The normal vector of position was taken advantage of and can be obtained by the difference on any both sides this moment.The problem of noting is, the normal vector on the tested plane of actual conditions must be towards celestial body instrument outside, determine by the right-hand rule by the normal vector direction that coordinate is determined, towards two kinds of possibilities are arranged, it is very difficult to utilize mathematics to judge merely, for adapting with actual, adds in program and judges statement, to adjust back gained angle and normal place angle comparison, and guarantee that both symbols are consistent to get final product.

The virtual checking of total coating process route

Virtual assembly process planning is the typical application of virtual reality technology in the product design field, and along with the progressively development and the popularization of virtual assembly process planning technology, its using value has caused concern more and more widely.By in three dimensions, handling parts in real time the assembling strategy in the aircraft assembling, tool applications etc. are verified, finish assembly process planning, real time collision detection, part and penetrated three-dimensional cooperation of prevention, assembly parts etc., obtained extraordinary effect.

The present invention has carried out technological innovation aspect following:

(1) tentatively sets up the technological feasibility verification platform of satellite overall design

The mass data that overall design now and general assembly link produce can't effectively be utilized, and realization information is rationally shared, and also exists many information islands, and production informationization has been brought obstacle.By the present invention, can search some technological problemses that exist the design from the angle of total coating process, get through the information link between overall design and the general assembly, strengthen information sharing, forming total coating process and get involved overall design, the benign cycle of the timely and effective processing feedback of Feedback Design problem, raising technological level and on-the-spot problem in time in advance, is informationization, the integrated exploration effective way of satellite development.

(2) the preliminary digitizing checking that realizes total coating process highway route design feasibility

In the general assembly actual mechanical process, because some odjective causes, sequence of process steps in the original plan need be changed, whether the process route to change is feasible, the main experience that relies on the technologist, so not only waste a large amount of time, especially, have very big technical risk some operation changes that does not have experience for reference.By the emulation of this 3-dimensional digital process planning, can verify the feasibility of process route very intuitively, for the upper strata decision-making provides effective support, reduce total process of assembling repeatedly, improved general assembly efficient.

(3) set up the analytical model of satellite accurate measurement, instruct field staff's measurement and adjustment

The satellite accurate measurement in satellite assembly in occupation of critical role, yet the major part work of the precision measure adjustment of present stage is all leaned on accurate measurement personnel's experience estimation examination to gather and is finished, this is to accurate measurement personnel's skill level, empirical value requires than higher, often the time of half a day can only be surveyed simple parts one or two, complicated wants seeking time more, efficient is lower, accurate measurement analysis module in the native system has been set up the mathematical model that the precision analysis spacer thickness is adjusted, pass through Theoretical Calculation, draw the direction of adjustment, adjust thickness, and demonstration is analyzed in the adjustment that can carry out single step under virtual environment, draw each adjustment back variation tendency, give the accurate measurement personnel, reduced the time that examination is gathered when measuring with theoretical direction and visual in image process demonstration, improved the efficient of accurate measurement, experience proportion reduces, and makes the accurate measurement personnel measure difficulty and reduces, and operating is more prone to convenient.

(4) tentatively realize the visual of critical process

Present stage, what instruct that the workman carries out the spacecraft assembly manipulation all is two-dimentional drawing and technological document, understanding is got up not directly perceived, and make a mistake easily, need the operator to have higher technical ability and operating experience, formed the unfavorable general layout that the satellite development will depend on workman's operant level, thereby the low level quality problems happen occasionally, this causes the spacecraft assembly quality to be difficult to effective guarantee, and the lead time is longer.On-the-spot teaching module among the present invention, to carry out virtual emulation to the overall process of critical process assembling, record into video file then, play back in the form of client with animation, make the workman can see whole operation process and assembly path intuitively, avoid misloading and neglected loading, reduce rework rate, explore one and change approach more easily for technology visualization technique and produced on-site instruct.

Claims (20)

1. virtual assembly system based on spacecraft assembly simulation technology, it comprises:
CAD MBM: be used for design elements and frock tool, and, these parts fitted together, to obtain the assembling model of product by a series of fiting constraint relations of definition;
Virtual assembling planning module: be used to set up virtual environment based on geometrical constraint, the disassembly direction of in virtual environment, carrying out, remover and precedence constraint information according to record, cook up the assemble sequence of optimization, and the assemble sequence of optimizing is verified, under virtual environment, carried out simulation evaluation again;
Assembly technology design module: be used for deisgn product structure tree and operation catalogue, process is carried out layout and assembly technology rules;
Wherein the CAD MBM is connected with virtual assembling planning module, so that the model that is produced in the CAD MBM is imported in the virtual assembling planning module by described CAD modeling interface; By the Mockup interface process planning result in the virtual assembling planning module is imported in the assembly technology design module.
2. virtual assembly system as claimed in claim 1, it is characterized in that: also comprise the process planning module in the virtual assembling planning module, be used for importing product tree and the operation directory tree that virtual assembly system generates, carry out assembly process planning, work step planning, the automatic extraction of operation Assembly part, frock information, the demonstration of operation animation.
3. virtual assembly system as claimed in claim 1 is characterized in that: in virtual assembling planning module, also comprise the model management module, it is used for model management, the manual importing of model and Pro/E model and imports automatically.
4. virtual assembly system as claimed in claim 3, it is characterized in that: when the model input mode is manual the importing, its target is that model is put in storage for information about, and these information comprise basic relevant information, Pro/E model name and the types of models mark of spacecraft.
5. virtual assembly system as claimed in claim 3, it is characterized in that: when the model input mode is importing automatically, its target is that model is imported for information about automatically, and these information comprise basic relevant information, Pro/E model name, types of models mark and the Pro/E assembly structure tree of spacecraft.
6. virtual assembly system as claimed in claim 3 is characterized in that: the model management module also is used for administrative standard part information, components information and frock tool information.
7. virtual assembly system as claimed in claim 6 is characterized in that: standard component information comprises the affiliated cabin of basic relevant information, standard component title and the standard component section of spacecraft.
8. virtual assembly system as claimed in claim 6 is characterized in that: components information comprises the affiliated cabin of basic relevant information, parts title and the parts section of spacecraft.
9. virtual assembly system as claimed in claim 8 is characterized in that: frock tool information comprises the affiliated cabin of basic relevant information, frock tool title and the frock tool section of spacecraft.
10. virtual assembly system as claimed in claim 1, it is characterized in that: in virtual assembling planning module, also comprise satellite accurate measurement accurate adjustment module, it is used under the analog simulation environment tested model being extracted data message, set up the mathematical model that the spacer thickness adjustment is analyzed, according to the ideal position normal light path of instrument detecting prism square and the angle between the physical location normal light path, calculate corresponding position of adjusting and the thickness of adjusting pad of needing, and under the three-dimensional picture environment, provide the real time demonstration of attitude adjustment and pipeline variation.
11. the dummy assembly method based on spacecraft assembly simulation technology, it may further comprise the steps:
At first, carry out the CAD modeling procedure,, and, these parts are fitted together, obtain the assembling model of product by a series of fiting constraint relations of definition with design elements and frock tool;
Secondly, send the model that is produced in the CAD modeling procedure to following virtual assembling planning step by CAD modeling interface;
Then, in virtual assembling planning step, foundation is based on the virtual environment of geometrical constraint, the disassembly direction of in virtual environment, carrying out, remover and precedence constraint information according to record, cook up the assemble sequence of optimization, and the assemble sequence of optimizing is verified, under virtual environment, carried out simulation evaluation again;
At last, the assembly technology design procedure is used for deisgn product structure tree and operation catalogue, and process is carried out layout and assembly technology rules, wherein, by the Mockup interface process planning result who generates in the virtual assembling planning step is sent in the assembly technology design procedure.
12. dummy assembly method as claimed in claim 12, it is characterized in that: in virtual assembling planning step, also comprise the process planning step, be used for importing product tree and the operation directory tree that virtual assembly system generates, carry out assembly process planning, work step planning, the automatic extraction of operation Assembly part, frock information, the demonstration of operation animation.
13. dummy assembly method as claimed in claim 12 is characterized in that: in virtual assembling planning step, also comprise the model management step, it is used for model management, the manual importing of model and Pro/E model and imports automatically.
14. dummy assembly method as claimed in claim 14, it is characterized in that: when the model input mode is manual the importing, its target is that model is put in storage for information about, and these information comprise basic relevant information, Pro/E model name and the types of models mark of spacecraft.
15. dummy assembly method as claimed in claim 14, it is characterized in that: when the model input mode is importing automatically, its target is that model is imported for information about automatically, and these information comprise basic relevant information, Pro/E model name, types of models mark and the Pro/E assembly structure tree of spacecraft.
16. dummy assembly method as claimed in claim 14 is characterized in that: in the model management step, also be used for administrative standard part information, components information and frock tool information.
17. dummy assembly method as claimed in claim 17 is characterized in that: standard component information comprises the affiliated cabin of basic relevant information, standard component title and the standard component section of spacecraft.
18. dummy assembly method as claimed in claim 17 is characterized in that: components information comprises the affiliated cabin of basic relevant information, parts title and the parts section of spacecraft.
19. dummy assembly method as claimed in claim 17 is characterized in that: frock tool information comprises the affiliated cabin of basic relevant information, frock tool title and the frock tool section of spacecraft.
20. dummy assembly method as claimed in claim 12, it is characterized in that: in virtual assembling planning step, also comprise satellite accurate measurement accurate adjustment module, it is used under the analog simulation environment tested model being extracted data message, set up the mathematical model that the spacer thickness adjustment is analyzed, according to the ideal position normal light path of instrument detecting prism square and the angle between the physical location normal light path, calculate corresponding position of adjusting and the thickness of adjusting pad of needing, and under the three-dimensional picture environment, provide the real time demonstration of attitude adjustment and pipeline variation.
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