CN106078190B - The total Butt Assembling device and method of rocket level segment flexible digitalization - Google Patents
The total Butt Assembling device and method of rocket level segment flexible digitalization Download PDFInfo
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- CN106078190B CN106078190B CN201610528851.2A CN201610528851A CN106078190B CN 106078190 B CN106078190 B CN 106078190B CN 201610528851 A CN201610528851 A CN 201610528851A CN 106078190 B CN106078190 B CN 106078190B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
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Abstract
The invention discloses the total Butt Assembling equipment of rocket level segment flexible digitalization, which is characterized in that including：Unwheeling, the unwheeling are used to support rocket level segment；Locator, the locator are installed on unwheeling, the position for adjusting rocket level segment.Scheme through the invention can not only improve automation and the digitized degree of rocket assembly, reduce labor intensity, rocket general assembly efficiency is improved, and the stress generated during rocket level segment Butt Assembling can be substantially reduced, to improve the quality and assembly precision of rocket Butt Assembling.
Description
Technical field
The present invention relates to the total Butt Assembling fields of launch-vehicle stage piece of digitalization, more particularly to collection checking of redundant substance and matter
The heart is measured in the total Butt Assembling device and method of rocket level segment flexible digitalization of one.
Background technology
Carrier rocket is as satellite and the main delivery vehicle of other spacecrafts, and with the development of space technology, transmitting carries
The diversity of lotus and the intensive of emitting times, it is higher and higher to the quality and quantity demand of carrier rocket.Carrier rocket general assembly
It is a complicated assembling process, is broadly divided into structure installation, equipment cable installation, dynamical system installation three parts, wherein
Structure installation is the important component in rocket general assembly.For the installation of multistep rocket structure, general assembly Butt Assembling task
Include mainly：The docking of rocket engine and changeover portion, oxidizer tank is docked with inter-tank section, fuel tank is docked with inter-tank section, tail
The general assemblies works such as section is docked with changeover portion, leverage is docked with oxidizer tank between grade, interstage section is docked with fuel tank, assembly docking
Make.With the development of technology, the industries such as giant mechanical and electrical equipment, ship, aircraft are instructed using large-scale metrology system extensively
The Butt Assembling of big component is made of especially in aviation field large-scale metrology system, posture adjusting system, servo-control system
Automatic butt assembly system substantially increased the efficiency of assembling and quality of aircraft.In space industry, large space aircraft
The measurement of assembly relies primarily on the measurement means such as laser tracker, and the Butt Assembling of big component is also mainly with craft and experience
It is main.
With the development of China's Aerospace Technology, carrier rocket, manned space flight, moonfall engineering and survey of deep space will welcome highly dense
The peak period of the parallel development of degree, polytypic intensive transmitting and emergent transmitting.Carrier rocket will realize high-performance, high reliability and low
The target of cost has new demand in intensity, rigidity, quality stability etc., while to the reliable of technical process control
More stringent requirements are proposed for property and stability.And the Butt Assembling work of current rocket lacks effective measurement auxiliary assembly hand
Section, during Butt Assembling, experiential operating is relied primarily on, even if target relatively difficult to achieve if assisting assembling using laser tracker
It is automatic identification and aiming, be difficult to realize high quality, high-precision rocket assembly.Therefore the production of rocket is proposed " fast
The strong application demand of fast, efficient, highly reliable, digitlization, flexibility, Automated assembly ".
Invention content
Problems solved by the invention is in the prior art in rocket Butt Assembling, it is difficult to realize the automatic identification of target and take aim at
It is accurate, it is difficult to realize high quality, the assembly of high-precision rocket；A kind of rocket level segment flexibility number is provided to solve the described problem present invention
The total Butt Assembling device and method of wordization.
The total Butt Assembling equipment of rocket level segment flexible digitalization provided by the invention includes：Unwheeling, the unwheeling is for branch
Support rocket level segment；Locator, the locator are installed on unwheeling, the position for adjusting rocket level segment.
Further, the unwheeling includes identical first unwheeling of structure and the second unwheeling, first unwheeling and the second frame
Vehicle is respectively arranged at the both ends of the first rocket level segment；The locator includes：It is installed on the of first underbody seat opposite end
One locator and the second locator；It is installed on the third locator and the 4th locator of the second unwheeling pedestal opposite end.
Further, rectangular coordinate system is established, the first locator is in the direction OX, OY, OZ, and the second locator is in the directions OZ, and
Three locators are active degree of freedom in the directions OZ and OY in the directions OZ, the 4th locator；Second locator is in the directions OY and OX, and
Three locators are passive freedom degree in the directions OX in the directions OY and OX, the 4th locator.
Further, first locator, the second locator, third locator, the 4th locator are in active degree of freedom side
To the driving and the kind of drive for using servo motor+retarder+high-accuracy ball-screw；In active degree of freedom and passive freedom degree
Direction uses the supporting way of high-precision line slideway auxiliary.
Further, first unwheeling includes unwheeling pedestal crossbeam, the track being fixedly connected with unwheeling pedestal crossbeam movement
System；First locator is connected to unwheeling pedestal crossbeam, two sets of supports straight line by two sets of support line slideway auxiliaries
Guideway is symmetrical in Three Degree Of Freedom flexural pivot locator direction.
Further, first locator includes：Locator flexural pivot mechanical interface, flexural pivot headpin, flexural pivot base for post, positioning
The supporting guide of device pedestal, the supporting guide of OX degree of freedom, the supporting guide of OY degree of freedom, OZ degree of freedom；The locator ball
Hinge mechanical interface is used for and the outsourcing shroud of rocket level segment is attached, and locator flexural pivot mechanical interface passes through ball-and-socket and flexural pivot head
Column upper end connects；The lower end of flexural pivot headpin is fixed on flexural pivot base for post；Flexural pivot base for post is fixedly mounted on the branch of OY degree of freedom
It supports on guide rail, the supporting guide of OY degree of freedom is installed on by mating surface on the pedestal tablet of OY degree of freedom motions；OY is certainly
It is mounted on the supporting guide of OX degree of freedom by the pedestal tablet of degree motion；The supporting guide installation of OX degree of freedom passes through
Mating surface is installed on locator pedestal；Locator pedestal is fixed on unwheeling pedestal crossbeam by the supporting guide of OZ degree of freedom
One end.
Further, the movement of OY degree of freedom is real by servo motor and retarder system and ball guide screw nat system
Existing, servo motor and retarder system are fixedly mounted on the pedestal tablet of OY degree of freedom motions, ball guide screw nat
The nut of system is fixedly connected with flexural pivot base for post by being spirally connected, and the bearings at both ends bearing of ball guide screw nat system is then fixed
On the pedestal tablet of OY degree of freedom motions, the movement of OX degree of freedom by servo motor and retarder system and
Ball guide screw nat system realizes that servo motor and retarder system are fixedly mounted on locator pedestal, ball-screw spiral shell
It is fixedly connected between the nut of female subsystem and the pedestal tablet of OY degree of freedom motions by being spirally connected, ball guide screw nat
The bearings at both ends bearing of system is fixedly mounted on locator pedestal；The movement of OX degree of freedom passes through servo motor and retarder system
System and ball guide screw nat system are realized.
Further, the structure of the second locator is mounted on the unwheeling base of the first unwheeling as the structure of the first locator
The other end of seat crossbeam, the OZ freedom degree directions of the second locator are connected with servo motor and retarder system and ball-screw
Nut subsystem；First unwheeling is identical with the structure of the second unwheeling, the knot of the structure of third locator and the first locator
Structure is the same, is mounted on one end of the unwheeling pedestal crossbeam of the second unwheeling, and the OZ freedom degree directions of third locator are connected with servo
Motor and retarder system and ball guide screw nat system；The structure of 4th locator and the structure one of third locator
Sample is mounted on the other end of the unwheeling pedestal crossbeam of the second unwheeling；4th locator is connected with servo motor in the directions OZ and OY
With retarder system and ball guide screw nat system.
Further, further include checking of redundant substance system；The checking of redundant substance system includes：It is fixedly connected on unwheeling pedestal
The the first driven pulley component and the second driven pulley component of crossbeam；The first driven pulley component and second is passively
Friction wheel part is located at the inside for two locators for being installed on same unwheeling, and driven pulley component passes through worm drive
Toward or away from one another along rocket level segment radial direction；Further include：The first active friction inside unwheeling pedestal crossbeam
Wheel component and the second active friction wheel component；Centroid measurement sensor assembly base inside unwheeling pedestal crossbeam 7-19
Seat；First centroid measurement sensor, the top of the second centroid measurement sensor and centroid measurement sensor assembly pedestal bottom surface
Be connected, the first centroid measurement sensor, the second centroid measurement sensor bottom respectively with the first rigidity strengthened beam, second
Rigidity strengthened beam is fixedly connected；Rigidity strengthened beam is fixed on unwheeling pedestal crossbeam bottom.
The present invention also provides the Butt Assembling methods of the rocket level segment flexible digital Butt Assembling equipment.
Advantages of the present invention includes：
It is rocket level segment flexible digital Butt Assembling equipment collection rocket level segment provided by the invention docking posture adjusting system, more
Excess checks system and centroid measurement system in one, by each active of posture adjustment equipment based on Three Degree Of Freedom flexural pivot locator
The control of degree of freedom, realizes the pose adjustment of rocket level segment to be docked, and completes high-precision, the rocket level segment of high quality to tipping
With operation；After waiting for that the docking of rocket level segment is completed, the movement in the directions locator OZ can be passed through so that the outer cladding of rocket level segment
Ring is in contact with the active drive friction pulley of checking of redundant substance link and passive support friction pulley, then passes through active friction wheel
Rotation drives the outsourcing shroud rotation of rocket level segment to complete the extra of rocket level segment to realize the rotation of entire rocket level segment
Quality testing is looked into；After the completion of checking of redundant substance, the contact of driven pulley and rocket outsourcing shroud is released, eliminates driven pulley to fire
The influence of arrow level segment centroid measurement, to which by the high-precision pressure sensor in unwheeling, rocket level segment is realized using four-point method
Centroid measurement.Pass through the integrated digitlization for meeting rocket level segment of posture adjusting system, checking of redundant substance system and centroid measurement system
Production requirement.
Description of the drawings
Fig. 1 is the operation principle signal of the total Butt Assembling equipment of rocket level segment flexible digitalization provided in an embodiment of the present invention
Figure；
Fig. 2 is the structural schematic diagram of the total Butt Assembling equipment of rocket level segment flexible digitalization provided in an embodiment of the present invention；
Fig. 3 is the sectional view of the total Butt Assembling equipment of rocket level segment flexible digitalization provided in an embodiment of the present invention；
Fig. 4 is the sectional view of the total Butt Assembling equipment of rocket level segment flexible digitalization provided in an embodiment of the present invention.
Specific implementation mode
Hereinafter, the present invention is further elaborated in conjunction with the accompanying drawings and embodiments.
Referring to Fig. 1, total the first rocket of the Butt Assembling equipment pair grade of rocket level segment flexible digitalization provided in this embodiment
Section and the second rocket level segment carry out Butt Assembling, and the first rocket level segment is made of fuel tank 1 and interstage section 2, the second rocket
Level segment is made of oxidizer tank 3 and changeover portion 4.
In conjunction with reference to figure 1 and Fig. 2, the total Butt Assembling equipment of rocket level segment flexible digitalization provided in this embodiment includes：
First unwheeling 7 of the second locator 9 and the first locator 10 is installed, third locator 11 and the 4th locator 12 are installed
Second unwheeling 8, the first unwheeling 7 and the second unwheeling 8 coat that ring 13 forms fuel tank 1 and interstage section 2 by rocket level segment the
One rocket level segment is supported and posture adjustment operation, and the second rocket level segment being made of oxidizer tank 3 and changeover portion 4 is then using system
The mode of system by with 7 mutually isostructural third unwheeling 6 of the first unwheeling and with mutually isostructural 4th unwheeling 5 of the second unwheeling into
Row support and posture adjustment.With continued reference to Fig. 2, each locator all has the freedom of motion in tri- directions OX, OY and OZ, therefore every
The posture adjusting system of a rocket level segment includes two unwheelings and 4 locators, if each locator all has 3 active degree of freedom,
Then there are 12 degree of freedom in total, and the spatial pose of rocket level segment only needs 6 active degree of freedom can be realized, each rocket
The pose_adjuster of level segment is super redundant unit, in order to improve posture adjustment precision and reduce the difficulty that posture adjustment campaign resolves and control, from
And ensure the reliability of rocket Butt Assembling, the first locator 10, the second locator 9 in the first unwheeling 7 and the second unwheeling 8,
The configuration of the active degree of freedom of third locator 11 and the 4th locator 12 is respectively the degree of freedom layout type of 3-1-2-1.The
The degree of freedom of one locator 10 configures：OX（It is front and back）、OY（Left and right）、OZ（Lifting）It is active degree of freedom, therefore, the first positioning
Device 10 has 3 active degree of freedom；The degree of freedom of second locator 9 configures：OZ（Lifting）For active degree of freedom, OY（Left and right）With
OX（It is front and back）For passive freedom degree, therefore, the second locator 9 has 1 active degree of freedom, 2 passive freedom degrees；Third positions
The degree of freedom of device 11 configures：OZ（Lifting）For active degree of freedom, OY（Left and right）And OX（It is front and back）For passive freedom degree, therefore,
Three locators 11 have 1 active degree of freedom and 2 passive freedom degrees；The degree of freedom of 4th locator 12 configures：OZ（Lifting）
And OY（Left and right）For active degree of freedom, and OX（It is front and back）For passive freedom degree, therefore, the 4th locator 12 has 2 actives certainly
By degree and 1 passive freedom degree.
Therefore, the active degree of freedom of each unwheeling is distributed as：First unwheeling 7 has 5 active degree of freedom, wherein the first locator
10 have 3 active degree of freedom, the second locator 9 to have 1 active degree of freedom, checking of redundant substance to have 1 active degree of freedom；Second frame
Vehicle 8 has 4 degree of freedom, wherein the 4th locator 12 has 2 active degree of freedom, third locator 11 has 1 active degree of freedom, more
Excess inspection has 1 degree of freedom；The degree of freedom quantity and degree of freedom of third unwheeling 6 configure as the first unwheeling 7；4th unwheeling
5 degree of freedom quantity and degree of freedom configures as the second unwheeling 8.
In other embodiments of the invention, the degree of freedom of locator can have different configuration methods, adjust same fire
The locator of arrow level segment, which shares 6 active degree of freedom, can make posture adjustment precision higher, and can reduce posture adjustment campaign and resolve and control
The difficulty of system.
Please further refer to Fig. 3 and Fig. 4, the basic structure of each unwheeling is the same, and the structure of locator is almost the same in unwheeling.
The driving using servo motor+retarder+high-accuracy ball-screw and the kind of drive and high-precision difference lies in active degree of freedom
The supporting way of line slideway auxiliary is spent, passive freedom degree does not drive and transmission system, but using identical with active degree of freedom
Supporting way.Therefore, the composition of unwheeling is illustrated by taking the first unwheeling 7 as an example.There are two Three Degree Of Freedoms first for installation in first unwheeling 7
Locator 10 and the second locator 9.First locator 10 supports straight line by two sets of the directions Three Degree Of Freedom flexural pivot locator OZ
Guideway 7-17（Two sets symmetrical）Be connected on unwheeling pedestal crossbeam 7-19, the second locator 9 with unwheeling pedestal crossbeam 7-19
Connection type as the first locator 10.Unwheeling pedestal crossbeam 7-19 is the case structure that plank is welded, unwheeling base
Seat crossbeam 7-19 is fixedly connected with the track kinematic system 7-18 of unwheeling by welding.Checking of redundant substance system it is passive
Friction wheel part 7-1 and 7-4 are fixedly connected on unwheeling pedestal crossbeam 7-19, and it is fixed to be located at the first locator 10 and second
The inside of position device 9, driven pulley have radially adjustable whole function, you can push passive two frictions wheel portion by worm drive
Part 7-1 and then 7-4 along rocket level segment radial direction toward or away from one another, so as to adjust with rocket level segment outer cladding loop system 13
Exposure level, meet the requirement of rocket level segment Auxiliary support.Active friction the wheel component 7-2 and 7-3 of checking of redundant substance system
On active friction wheel component and centroid measurement sensor assembly pedestal 7-15, active friction wheel component and centroid measurement pass
Sensor module pedestal 7-15 equally uses plank welded structure form, active friction wheel component and centroid measurement sensor assembly
Pedestal 7-15 is mounted on by two sets of high-precision line slideway auxiliaries 7-20 and 7-26 inside unwheeling pedestal crossbeam 7-19, centroid measurement
The top of sensor 7-21 and 7-23 pass through the mounting post of sensor and active friction wheel component and centroid measurement sensor die
The bottom surface of block pedestal 7-15 is connected, and the bottom of centroid measurement sensor 7-21 and 7-23 are then divided by the way of being spirally connected
It is not fixedly connected with 7-24 in rigidity strengthened beam 7-22, rigidity strengthened beam 7-22 and 7-24 are fixed on unwheeling by the way of being spirally connected
The bottoms pedestal crossbeam 7-19.The active friction wheel component 7-2 and 7-3 of checking of redundant substance system drive using synchronous belt 7-3-3 is synchronous
Dynamic, wherein the output shaft of servo motor 7-3-1 is connected with the input shaft of high-precision turbine and worm retarder 7-3-2, and high-precision
The output shaft of turbine and worm retarder 7-3-2 is connected with the rotation axis of active friction wheel component 7-3.Active friction wheel component 7-2
It is parallel with the axis of driven pulley component 7-1 and 7-4 with 7-3, and the both sides of the face of friction pulley are respectively in the same plane.
With continued reference to Fig. 3 and Fig. 4, locator structure is the same in unwheeling, and difference lies in the configurations of actively and passively degree of freedom
Different, therefore, to have, there are three the first locators 10 of active degree of freedom to illustrate that locator forms.The group of first locator 10
At as follows：Locator flexural pivot mechanical interface 7-5 is used for and the outsourcing shroud of rocket level segment is attached, flexural pivot mechanical interface 7-5
On have ball-and-socket, to being connect with flexural pivot headpin 7-30, the flexural pivot head of flexural pivot headpin 7-30 constrains in ball by lower flexural pivot bushing 7-7
It cuts with scissors in the ball-and-socket on mechanical interface 7-5, the lower end of flexural pivot headpin 7-30 is fixed on ball by the fit system of seam allowance by being spirally connected
On hinge post pedestal 7-8, flexural pivot base for post 7-8 is fixedly mounted on the supporting guide 7-11 of OY degree of freedom（Two sets symmetrical）On, OY is certainly
It is installed by the supporting guide 7-11 spent on the pedestal tablet for installing OY degree of freedom motions by mating surface, the fortune of OY degree of freedom
It is dynamic to be realized by servo motor and retarder system 7-10 and ball guide screw nat system 7-9, servo motor and retarder
System 7-10 is fixedly mounted on the pedestal tablet of OY degree of freedom motions, the nut of ball guide screw nat system 7-9 with
Flexural pivot base for post 7-8 is fixedly connected by being spirally connected, and the bearings at both ends bearing of ball guide screw nat system 7-9 is then fixedly mounted
On the pedestal tablet of OY degree of freedom motions, the pedestal tablet of OY degree of freedom motions is mounted on the support of OX degree of freedom
7-13 on guide rail（Two sets symmetrical）On；The supporting guide 7-13 installations of OX degree of freedom pass through mating surface installation positioner pedestal 7-16
On, the movement of OX degree of freedom is realized by servo motor and retarder system 7-15 and ball guide screw nat system 7-14,
Servo motor and retarder system 7-15 are fixedly mounted on locator pedestal 7-16, the spiral shell of ball guide screw nat system 7-14
Mother is fixedly connected between the pedestal tablet of OY degree of freedom motions by being spirally connected, and ball guide screw nat system 7-14
Bearings at both ends bearing is then fixedly mounted on locator pedestal 7-16, and locator pedestal 7-16 is straight by two sets of supports in the directions OZ
Line guideway 7-17（Two sets symmetrical）It is fixed on the left side of unwheeling pedestal crossbeam 7-19.The structure type of second locator 9 and the
The structure of one locator 10 is the same, is mounted on the right side of unwheeling pedestal crossbeam 7-19, difference lies in OX and OY degree of freedom not to have
Servo motor and retarder system and ball guide screw nat system.
Refering to fig. 1, Fig. 2, Fig. 3 and Fig. 4, the structure type of the second unwheeling 8 and the structure of the first unwheeling 7 are just the same, area
It is not that the 4th locator 12 in the second unwheeling 8 has 2 active degree of freedom, third locator 11 to have 1 active degree of freedom, i.e.,
The OX degree of freedom of 4th locator 12 does not have servo motor and retarder system and ball guide screw nat system, and third is fixed
The structure and the structure of the second locator 9 of position device 11 are just the same；In addition, the structure of third unwheeling 6 and the first unwheeling 7 complete one
Sample；The structure of 4th unwheeling 5 and the second unwheeling 8 are just the same.
In conclusion the present invention is by being integrated into checking of redundant substance and centroid measurement based on Three Degree Of Freedom flexural pivot locator
Posture adjustment equipment on, so as to obtain rocket grade to be docked by the measurement feedback information based on iGPS or laser tracker
The pose of section, and by movement resolving in control algolithm and trajectory planning etc., realize the association of posture adjustment equipment active degree of freedom
Regulation and control system, the pose deviation adjusting completed between level segment to be docked directly meet Butt Assembling requirement, which may be implemented rocket
The digitlization and automation of level segment docking.In addition, integrated checking of redundant substance and centroid detection system, can in advance hang by once
A variety of rocket assembly and detection operation can be completed in dress.Through the invention, current rocket level segment Butt Assembling is solved to high-quality
Amount, high-precision, high efficiency, automation and the high needs of problems of digitized degree.
The total Butt Assembling equipment of rocket level segment flexible digitalization provided in an embodiment of the present invention can be measured according to iGPS
To two sections of rocket level segments for waiting for Butt Assembling posture information, and the relative pose of rocket level segment to be docked that is obtained by measurement
Each axis movement locus that deviation resolves realizes the relative pose deviation adjusting for waiting for Butt Assembling rocket level segment, so that
The pose of rocket level segment to be docked meets the requirement of Butt Assembling.In addition, the collection checking of redundant substance in the present invention and centroid measurement
In the flexible total Butt Assembling equipment of the rocket level segment digitlization of one, the checking of redundant substance of rocket level segment and centroid measurement are integrated
Onto posture adjustment equipment, so that the Butt Assembling demand of rocket level segment not only may be implemented, but also can complete rocket level segment mostly with
Quality testing is looked into and centroid measurement.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, and according to the present invention
Technical spirit to any simple modifications, equivalents, and modifications made by above example, belong to technical solution of the present invention
Protection domain.
Claims (6)
1. the total Butt Assembling equipment of rocket level segment flexible digitalization, which is characterized in that including：Unwheeling, the unwheeling are used to support
Rocket level segment；Locator, the locator are installed on unwheeling, the position for adjusting rocket level segment；
The unwheeling includes identical first unwheeling of structure and the second unwheeling, and first unwheeling and the second unwheeling are respectively arranged at
The both ends of first rocket level segment；The locator includes：It is installed on the first locator and of first underbody seat opposite end
Two locators；It is installed on the third locator and the 4th locator of the second unwheeling pedestal opposite end；
Rectangular coordinate system is established, the first locator is in the direction OX, OY, OZ, and the second locator is in the directions OZ, and third locator is in OZ
Direction, the 4th locator are active degree of freedom in the directions OZ and OY；Second locator is in the directions OY and OX, and third locator is in OY
With the directions OX, the 4th locator is passive freedom degree in the directions OX；
First locator includes：Locator flexural pivot mechanical interface, flexural pivot headpin, flexural pivot base for post, locator pedestal, OX are certainly
By the supporting guide of the supporting guide, OY degree of freedom spent, the supporting guide of OZ degree of freedom；The locator flexural pivot mechanical interface is used
It is attached in the outsourcing shroud with the first rocket level segment, locator flexural pivot mechanical interface is connected by ball-and-socket and flexural pivot headpin upper end
It connects；The lower end of flexural pivot headpin is fixed on flexural pivot base for post；Flexural pivot base for post is fixedly mounted on the supporting guide of OY degree of freedom,
The supporting guide of OY degree of freedom is installed on by mating surface on the pedestal tablet of OY degree of freedom motions；OY degree of freedom fitness machines
On the pedestal tablet of structure is mounted on the supporting guide of OX degree of freedom；The supporting guide installation of OX degree of freedom is installed by mating surface
In on locator pedestal；Locator pedestal is fixed on one end of unwheeling pedestal crossbeam by the supporting guide of OZ degree of freedom.
2. the total Butt Assembling equipment of rocket level segment flexible digitalization according to claim 1, which is characterized in that described first
Locator, the second locator, third locator, the 4th locator use servo motor+retarder+height in active freedom degree direction
The driving of precision ball screw and the kind of drive；High-precision line slideway auxiliary is used in active degree of freedom and passive freedom degree direction
Supporting way.
3. the total Butt Assembling equipment of rocket level segment flexible digitalization according to claim 1, which is characterized in that described first
The track kinematic system that unwheeling includes unwheeling pedestal crossbeam, is fixedly connected with unwheeling pedestal crossbeam；First locator passes through
Two sets of support line slideway auxiliaries are connected to unwheeling pedestal crossbeam, and two sets of support line slideway auxiliaries are positioned in Three Degree Of Freedom flexural pivot
Device direction is symmetrical.
4. the total Butt Assembling equipment of rocket level segment flexible digitalization according to claim 1, which is characterized in that OY degree of freedom
Movement pass through servo motor and retarder system and ball guide screw nat system and realize, servo motor and retarder system
It is fixedly mounted on the pedestal tablet of OY degree of freedom motions, the nut and flexural pivot base for post of ball guide screw nat system are logical
It crosses to be spirally connected and be fixedly connected, the bearings at both ends bearing of ball guide screw nat system is then fixedly mounted on OY degree of freedom motions
On pedestal tablet, the movement of OX degree of freedom is realized by servo motor and retarder system and ball guide screw nat system,
Servo motor and retarder system are fixedly mounted on locator pedestal, nut and the OY degree of freedom of ball guide screw nat system
It is fixedly connected between the pedestal tablet of motion by being spirally connected, the bearings at both ends bearing of ball guide screw nat system fixes peace
On locator pedestal；The movement of OX degree of freedom passes through servo motor and retarder system and ball guide screw nat system
It realizes.
5. the total Butt Assembling equipment of rocket level segment flexible digitalization according to claim 4, which is characterized in that the second positioning
The structure of device is mounted on the other end of the unwheeling pedestal crossbeam of the first unwheeling, the second positioning as the structure of the first locator
The OZ freedom degree directions of device are connected with servo motor and retarder system and ball guide screw nat system；First unwheeling
Identical with the structure of the second unwheeling, the structure of third locator is mounted on the second unwheeling as the structure of the first locator
The OZ freedom degree directions of one end of unwheeling pedestal crossbeam, third locator are connected with servo motor and retarder system and ball
Feed screw nut subsystem；The structure of 4th locator is mounted on the unwheeling base of the second unwheeling as the structure of third locator
The other end of seat crossbeam；4th locator is connected with servo motor and retarder system and ball-screw spiral shell in the directions OZ and OY
Female subsystem.
6. the total Butt Assembling equipment of rocket level segment flexible digitalization according to claim 5, which is characterized in that further include more
Excess checks system；The checking of redundant substance system includes：It is fixedly connected on the first driven pulley portion of unwheeling pedestal crossbeam
Part and the second driven pulley component；The first driven pulley component and the second driven pulley component are located at installation
In the inside of two locators of same unwheeling, driven pulley component is mutual along rocket level segment radial direction by worm drive
Closer or far from；Further include：The first active friction wheel component inside unwheeling pedestal crossbeam and the second active friction wheel
Component；Mounted on unwheeling pedestal crossbeam（7）~（19）Internal centroid measurement sensor assembly pedestal；First centroid measurement senses
Device, the top of the second centroid measurement sensor and centroid measurement sensor assembly pedestal bottom surface are connected, and the first barycenter is surveyed
Quantity sensor, the second centroid measurement sensor bottom be fixedly connected respectively with the first rigidity strengthened beam, the second rigidity strengthened beam；
Rigidity strengthened beam is fixed on unwheeling pedestal crossbeam bottom.
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