CN109693085A - Eight degrees of freedom heavy duty module docking facilities and algorithm - Google Patents
Eight degrees of freedom heavy duty module docking facilities and algorithm Download PDFInfo
- Publication number
- CN109693085A CN109693085A CN201811233480.0A CN201811233480A CN109693085A CN 109693085 A CN109693085 A CN 109693085A CN 201811233480 A CN201811233480 A CN 201811233480A CN 109693085 A CN109693085 A CN 109693085A
- Authority
- CN
- China
- Prior art keywords
- plane
- freedom
- space
- engaging lug
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Abstract
The embodiment of the invention provides a kind of eight degrees of freedom heavy duty module docking facilities and algorithms, are related to Photomechanical equipment technical field, by constructing the pose detection system of closed loop, complete the docking in two different platforms between heavily loaded module.The eight degrees of freedom heavy duty module docking facilities include: Three Degree Of Freedom translation trolley, Five-degree-of-freedom spatial trolley and positioned at the accurate sensor-based system to connection module base angle.The algorithm includes the following steps, carries out surface sweeping along 45 degree of base angle direction using 2D Zaser contourgraph, is fitted spatial plane equation and space normal direction.The relative pose relationship of two engaging lugs can be calculated with corresponding normal direction further according to each plane space equation.The angle between the two planes finally can be calculated in conjunction with the overall size of heavily loaded module, to realize the detection of space six degree of freedom relative pose between two interface upper connecting ears.
Description
Technical field
The present invention relates to Photomechanical equipment technical field more particularly to a kind of eight degrees of freedom heavy duty module docking facilities and calculations
Method.
Background technique
In order to complete the docking between the heavily loaded module in two different platforms, because docking benchmark is different, two docking
Platform at least needs 6 spatial degrees of freedom, it is contemplated that specific function needs, and is generally configured to 7 to 9 in the design process certainly
By spending.Docking the result is that two end faces of heavily loaded module are overlapped, and bolt hole all on end face can pass through
The bolt of nominal diameter.
Summary of the invention
Object of the present invention is to: the docking between the heavily loaded module in two different platforms is completed, the module after the completion of docking
The concentricity of geometric center is 0.1mm, and can display real-time in docking operation module spatial attitude and it is mutual away from
From etc. docking operations amount, the sensor in docking concept cannot be mounted in module to influence to dock efficiency.Therefore the present invention
It proposes the docking facilities and algorithm between the heavily loaded module in two different platforms of one kind, realizes the heavily loaded module after the completion of docking
Smoothly complete bolt.
The technical solution used in the present invention is:
A kind of eight degrees of freedom heavy duty module docking facilities and algorithm, include the following steps:
Base modules are placed on the top surface of left side trolley, left side trolley can satisfy the translation function of space three-freedom
Energy.By another to connection module be mounted on right side trolley top surface on, right side trolley can other than the translation of short transverse,
The movement of other five freedom degrees in space may be implemented.
The bolt process of the heavy duty module is carried out on the engaging lug of four apex angles, if will in practical docking operation
Two vertical planes of engaging lug are to upper, then the bolt on engaging lug can be smoothly inserted into.Therefore, respectively will in docking operation
Laser displacement sensor and Zaser contourgraph are placed on two base angles position to connection module, and the docking operation of two modules is always
Within the range ability of sensor.
The left side trolley definition for meeting space three-freedom translation function is main vehicle, and it is flat that right side meets short transverse out
The trolley for moving other outer five degree of freedom is defined as secondary vehicle；
The laser displacement sensor 5 is mounted on precision mobile guide rail a4, precision mobile guide rail a4 be horizontally mounted to
Meet laser displacement sensor 5 and scans up the range points of main vehicle engaging lug 6 and secondary 7 base angle of vehicle engaging lug in the side that module is docked
Data.Zaser contourgraph 2 be mounted on on the precision mobile guide rail b1 of 45 degree of angles of horizontal plane, to guarantee Zaser contourgraph 2
The available point data to main vehicle engaging lug 6 and secondary vehicle 7 two vertical planes of engaging lug before and after translation；
The coordinate system of secondary vehicle is xb1 yb1 zb1 ob1, the coordinate system of main vehicle is xa ya za oa and Zaser contourgraph 2
The measurement coordinate XYZO constituted with precision mobile guide rail.Plane 6.1 and plane 6.2 be on the engaging lug of main vehicle main vehicle horizontal plane with
Main vehicle vertical plane, plane 7.1 and plane 7.2 are secondary vehicle horizontal plane and secondary vehicle vertical plane on the engaging lug of secondary vehicle, laser profile
Instrument 2 can move in XOY plane, wherein XOY plane and 45 degree of horizontal plane installations.
Specific Measurement Algorithm is as follows:
(1) measurement data that 2 gauge head of recording laser contourgraph returns while Zaser contourgraph 2 is moved along XOY plane, because
This can extract plane 6.1, plane 6.2, three of different location in plane 7.1 and plane 7.2 under the same coordinate system
Coordinate of the line segment in XYZO coordinate system；
(2) by the space coordinate point of three line segments in plane 6.1, the plane can be calculated in coordinate system XYZO
Plane equation and space normal direction are PA1；
(3) similar processing method can calculate the plane equation and space law of plane 6.2, plane 7.1 and plane 7.2
To respectively corresponding as PB1, PA2 and PB2；
(4) spatial position of plane 6.1 Yu plane 6.2 can be calculated with corresponding normal direction according to each plane space equation
Relationship, i.e., the relative angle of two planes these three amounts at a distance from interplanar；Plane 7.1 and 7.2 can similarly be calculated
Spatial relation, i.e. two angles these three amounts at a distance from interplanar；
(5) by plane 6.2 and plane 7.2 can calculate two engaging lugs along the vertical direction on difference in height, and be used for
Two capable angles are leveled in level；Left and right of the engaging lug on vertical section can be calculated by plane 6.1 and plane 7.1
The depth of parallelism of the axis of circular hole where go departure and engaging lug, namely 6.1 are mainly realized by the calculating in this two faces
Plane is parallel with 7.1 planes and these three amounts of two interplanar spacing deviations；
(6) parameter calculated in S4 and S5 is combined, actually realizes and allows plane 6.1 and plane 7.1 and plane 6.2 and flat
5, space freedom degree required in a plane at face 7.2；
(7) it is measured on secondary vehicle between plane yb1 zb1 ob1 and main two plane of vehicle ya za oa by Zaser contourgraph 2
Distance L1, then the distance between the two planes L2 is measured by laser range finder 5；By the two distance measurements L1 and
The overall size of L2 and heavily loaded module can calculate the angle between the two planes, that is, determine space the last one from
By spending.
Detailed description of the invention
Fig. 1 is the device of the invention figure；
Fig. 2 is detection scheme of the present invention and coordinate system；
Fig. 3 is the data scaling figure of engaging lug of the present invention.
Specific embodiment
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
The present invention is a kind of eight degrees of freedom heavy duty module docking facilities and algorithm, is included the following steps:
As shown in Figure 1, base modules are placed on the top surface of left side trolley, left side trolley can satisfy space three-freedom
Translation function.Another is mounted on the top surface of right side trolley connection module, right side trolley can be in addition to short transverse
Other than translation, the movement of other five freedom degrees in space may be implemented.
The bolt process of the heavy duty module is carried out on the engaging lug of four apex angles, if will in practical docking operation
Two vertical planes of engaging lug are to upper, then the bolt on engaging lug can be smoothly inserted into.Therefore, respectively will in docking operation
Laser displacement sensor and Zaser contourgraph are placed on two base angles position to connection module, and the docking operation of two modules is always
Within the range ability of sensor.
The left side trolley definition for meeting space three-freedom translation function is main vehicle, and it is flat that right side meets short transverse out
The trolley for moving other outer five degree of freedom is defined as secondary vehicle；
The laser displacement sensor 5 is mounted on precision mobile guide rail a4, precision mobile guide rail a4 be horizontally mounted to
Meet laser displacement sensor 5 and scans up the range points of main vehicle engaging lug 6 and secondary 7 base angle of vehicle engaging lug in the side that module is docked
Data.Zaser contourgraph 2 be mounted on on the precision mobile guide rail b1 of 45 degree of angles of horizontal plane, to guarantee Zaser contourgraph 2
The available point data to main vehicle engaging lug 6 and secondary vehicle 7 two vertical planes of engaging lug before and after translation；
As shown in Fig. 2, the coordinate system of secondary vehicle is xb1 yb1 zb1 ob1, the coordinate system of main vehicle is xa ya za oa and is swashed
The measurement coordinate XYZO that light contourgraph 2 and precision mobile guide rail are constituted.Plane 6.1 and plane 6.2 are main on the engaging lug of main vehicle
Vehicle horizontal plane and main vehicle vertical plane, plane 7.1 and plane 7.2 are that secondary vehicle horizontal plane on the engaging lug of secondary vehicle and pair vehicle are vertical
Face, Zaser contourgraph 2 can move in XOY plane, and wherein XOY plane and horizontal plane clamping become 45 degree of installation forms.
As shown in figure 3, specific Measurement Algorithm is as follows:
(1) measurement data that 2 gauge head of recording laser contourgraph returns while Zaser contourgraph 2 is moved along XOY plane, because
This can extract plane 6.1, plane 6.2, three of different location in plane 7.1 and plane 7.2 under the same coordinate system
Coordinate of the line segment in XYZO coordinate system；
(2) by the space coordinate point of three line segments in plane 6.1, the plane can be calculated in coordinate system XYZO
Plane equation and space normal direction are PA1；
(3) similar processing method can calculate the plane equation and space law of plane 6.2, plane 7.1 and plane 7.2
To respectively corresponding as PB1, PA2 and PB2；
(4) spatial position of plane 6.1 Yu plane 6.2 can be calculated with corresponding normal direction according to each plane space equation
Relationship, i.e., the relative angle of two planes these three amounts at a distance from interplanar；Plane 7.1 and 7.2 can similarly be calculated
Spatial relation, i.e. two angles these three amounts at a distance from interplanar；
(5) by plane 6.2 and plane 7.2 can calculate two engaging lugs along the vertical direction on difference in height, and be used for
Two capable angles are leveled in level；Left and right of the engaging lug on vertical section can be calculated by plane 6.1 and plane 7.1
The depth of parallelism of the axis of circular hole where go departure and engaging lug, namely 6.1 are mainly realized by the calculating in this two faces
Plane is parallel with 7.1 planes and these three amounts of two interplanar spacing deviations；
(6) parameter calculated in (4) and (5) step is combined, actually realizes and allows plane 6.1 and plane 7.1 and flat
5, space freedom degree required in a plane at face 6.2 and plane 7.2；
(7) it is measured on secondary vehicle between plane yb1 zb1 ob1 and main two plane of vehicle ya za oa by Zaser contourgraph 2
Distance L1, then the distance between the two planes L2 is measured by laser range finder 5；By the two distance measurements L1 and
The overall size of L2 and heavily loaded module can calculate the angle between the two planes, that is, determine space the last one from
By spending.
The beneficial effects of the present invention are: the pose detection system by constructing closed loop is completed in two different platforms
Docking between heavily loaded module, and can display real-time the spatial attitude and mutual distance etc. pair of module in docking operation
Termination process amount, and meet higher merging precision and efficiency.
Claims (1)
1. a kind of eight degrees of freedom heavy duty module docking facilities characterized by comprising base modules are placed on to the top of left side trolley
On face, left side trolley can satisfy the translation function of space three-freedom.Another is mounted on right side trolley to connection module
On top surface, the movement of other five freedom degrees in space can be may be implemented other than the translation of short transverse in right side trolley；
The bolt process of the heavy duty module is carried out on the engaging lug of four apex angles, if will connection in practical docking operation
Two vertical planes of ear are to upper, then the bolt on engaging lug can be smoothly inserted into, therefore, respectively by laser in docking operation
Displacement sensor and Zaser contourgraph are placed on two base angles position to connection module, and the docking operation of two modules is passing always
Within the range ability of sensor；
The left side trolley definition for meeting space three-freedom translation function is main vehicle, and it is outer that right side meets short transverse translation out
The trolleies of other five degree of freedom be defined as secondary vehicle；
The laser displacement sensor 5 is mounted on precision mobile guide rail a4, and precision mobile guide rail a4 is horizontally mounted to meet
Laser displacement sensor 5 scans up the distance points of main vehicle engaging lug 6 and secondary 7 base angle of vehicle engaging lug in the side that module is docked
According to；Zaser contourgraph 2 be mounted on on the precision mobile guide rail b1 of 45 degree of angles of horizontal plane, to guarantee that Zaser contourgraph 2 exists
The available point data to main vehicle engaging lug 6 and secondary vehicle 7 two vertical planes of engaging lug in translation front and back；
The coordinate system of secondary vehicle is xb1 yb1 zb1 ob1, the coordinate system of main vehicle is xa ya za oa and Zaser contourgraph 2 and essence
The measurement coordinate XYZO that close moving guide rail is constituted；Plane 6.1 and plane 6.2 are main vehicle horizontal plane and main vehicle on the engaging lug of main vehicle
Vertical plane, plane 7.1 and plane 7.2 are secondary vehicle horizontal plane and secondary vehicle vertical plane on the engaging lug of secondary vehicle, 2 energy of Zaser contourgraph
It is enough to be moved in XOY plane, wherein XOY plane and 45 degree of horizontal plane installations；
Specific Measurement Algorithm is as follows:
The measurement data that 2 gauge head of recording laser contourgraph returns while S1 Zaser contourgraph 2 is moved along XOY plane, therefore can
To extract three line segments of plane 6.1, plane 6.2, plane 7.1 and different location in plane 7.2 under the same coordinate system
Coordinate in XYZO coordinate system；
S2 can calculate plane of the plane in coordinate system XYZO by the space coordinate point of three line segments in plane 6.1
Equation and space normal direction are PA1；
S3 similar processing method can calculate the plane equation and space normal direction point of plane 6.2, plane 7.1 and plane 7.2
PB1, PA2 and PB2 are not corresponded to；
S4 can calculate the spatial relation of plane 6.1 Yu plane 6.2 according to each plane space equation with corresponding normal direction,
The relative angle of i.e. two planes these three amounts at a distance from interplanar；The space bit of plane 7.1 and 7.2 can similarly be calculated
Set relationship, i.e. two angles these three amounts at a distance from interplanar；
S5 by plane 6.2 and plane 7.2 can calculate two engaging lugs along the vertical direction on difference in height, and in level
Two angles of interior leveling row；Left-right deviation of the engaging lug on vertical section can be calculated by plane 6.1 and plane 7.1
The depth of parallelism of the axis of circular hole where go amount and engaging lug, namely 6.1 planes are mainly realized by the calculating in this two faces
These three parallel with 7.1 planes and two interplanar spacing deviations amounts；
The parameter calculated in S6 combination S4 and S5 actually realizes and allows plane 6.1 and plane 7.1 and plane 6.2 and plane 7.2
5, space freedom degree needed for locating in a plane；
S7 by Zaser contourgraph 2 measure on secondary vehicle between plane yb1 zb1 ob1 and main two plane of vehicle ya za oa away from
The distance between the two planes L2 is measured from L1, then by laser range finder 5；By the two distance measurements L1 and L2 with
And the overall size of heavily loaded module can calculate the angle between the two planes, that is, determine the last one freedom of space
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233480.0A CN109693085A (en) | 2018-10-23 | 2018-10-23 | Eight degrees of freedom heavy duty module docking facilities and algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233480.0A CN109693085A (en) | 2018-10-23 | 2018-10-23 | Eight degrees of freedom heavy duty module docking facilities and algorithm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109693085A true CN109693085A (en) | 2019-04-30 |
Family
ID=66230075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811233480.0A Pending CN109693085A (en) | 2018-10-23 | 2018-10-23 | Eight degrees of freedom heavy duty module docking facilities and algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109693085A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692798A (en) * | 2020-12-14 | 2021-04-23 | 武汉红星杨科技有限公司 | High-precision 13-degree-of-freedom automatic butt joint device and method |
| FR3137860A1 (en) * | 2022-07-16 | 2024-01-19 | Institut De Recherche Technologique Jules Verne | Automated docking process for two parts including servo control with profilometers |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2298248A1 (en) * | 1999-05-05 | 2000-11-05 | Siegfried Niedermair | Composite railroad cross tie and method of manufacturing same |
| CN102091933A (en) * | 2010-12-31 | 2011-06-15 | 大连理工大学 | Ship block assembly quick alignment device and method |
| CN104148931A (en) * | 2014-07-04 | 2014-11-19 | 上海拓璞数控科技有限公司 | Multipoint servo adjustment device for alignment of large barrel-section member and method thereof |
| CN104424601A (en) * | 2013-08-28 | 2015-03-18 | 深圳市智信精密仪器有限公司 | Centering assembling method and apparatus of irregularly-shaped assembly part |
| CN106078190A (en) * | 2016-07-07 | 2016-11-09 | 上海航天设备制造总厂 | Rocket level segment flexible digitalization total Butt Assembling Apparatus and method for |
| CN108000135A (en) * | 2017-12-05 | 2018-05-08 | 上海交通大学 | There is the large-scale Cylinder shape constructional element automatic butt posture adjustment positioner of the coordinated movement of various economic factors |
| CN108274231A (en) * | 2017-12-05 | 2018-07-13 | 上海航天精密机械研究所 | Bay section class part automatic butt jointing device and control method |
-
2018
- 2018-10-23 CN CN201811233480.0A patent/CN109693085A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2298248A1 (en) * | 1999-05-05 | 2000-11-05 | Siegfried Niedermair | Composite railroad cross tie and method of manufacturing same |
| CN102091933A (en) * | 2010-12-31 | 2011-06-15 | 大连理工大学 | Ship block assembly quick alignment device and method |
| CN104424601A (en) * | 2013-08-28 | 2015-03-18 | 深圳市智信精密仪器有限公司 | Centering assembling method and apparatus of irregularly-shaped assembly part |
| CN104148931A (en) * | 2014-07-04 | 2014-11-19 | 上海拓璞数控科技有限公司 | Multipoint servo adjustment device for alignment of large barrel-section member and method thereof |
| CN106078190A (en) * | 2016-07-07 | 2016-11-09 | 上海航天设备制造总厂 | Rocket level segment flexible digitalization total Butt Assembling Apparatus and method for |
| CN108000135A (en) * | 2017-12-05 | 2018-05-08 | 上海交通大学 | There is the large-scale Cylinder shape constructional element automatic butt posture adjustment positioner of the coordinated movement of various economic factors |
| CN108274231A (en) * | 2017-12-05 | 2018-07-13 | 上海航天精密机械研究所 | Bay section class part automatic butt jointing device and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692798A (en) * | 2020-12-14 | 2021-04-23 | 武汉红星杨科技有限公司 | High-precision 13-degree-of-freedom automatic butt joint device and method |
| FR3137860A1 (en) * | 2022-07-16 | 2024-01-19 | Institut De Recherche Technologique Jules Verne | Automated docking process for two parts including servo control with profilometers |
| WO2024017810A1 (en) * | 2022-07-16 | 2024-01-25 | Institut De Recherche Technologique Jules Verne | Method for automated alignment of two parts comprising servo-control with profilometers |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101408349B1 (en) | Ship resetting method and coordinate measuring system for resetting ship | |
| CN112945137B (en) | Storage ore heap scanning method based on single-line laser radar and range finder equipment | |
| BR102016024179B1 (en) | AIRCRAFT WING TO BODY JOINING METHOD | |
| CN102198857B (en) | Assessment method for wing level of airplane based on robot and height detection unit | |
| CN109764805B (en) | Mechanical arm positioning device and method based on laser scanning | |
| CN109693085A (en) | Eight degrees of freedom heavy duty module docking facilities and algorithm | |
| CN103900489A (en) | Linear laser scanning three-dimensional contour measuring method and device | |
| CN106114553B (en) | The photoelectricity dynamic measurement method that a kind of railway detection car platform rocks | |
| CN106441149B (en) | It is a kind of based on more range estimations away from tower secondary reflection mirror surface type detection system and method | |
| CN104019745A (en) | Method for measuring size of free plane based on monocular vision indirect calibration method | |
| US20150248125A1 (en) | Control device for machining apparatus, machining apparatus, and correction method of machining data | |
| KR20210045389A (en) | Batch system and method | |
| CN112139470A (en) | Three-dimensional modeling measurement method for base of sector section of slab continuous casting machine | |
| CN205342667U (en) | Check out test set of five digit control machine tool rotation axis errors | |
| CN105806217B (en) | Single stay formula measuring system and method for the measurement of object space position | |
| CN102393211A (en) | performance testing method of section monitoring system of cantilever excavator | |
| CN202814397U (en) | Novel gradienter | |
| CN206556592U (en) | A kind of mechanical arm end effector positioning precision measurement apparatus | |
| CN104374327A (en) | Three-dimension detecting method for front window frame of high speed train body | |
| CN210400323U (en) | Three-dimensional moving platform motion angle error rapid measurement device | |
| CN108637037A (en) | A kind of method of steel cold straightener verification straightening roll levelness | |
| CN112902845A (en) | Track type automatic pipe jacking guiding method | |
| KR20140018682A (en) | Method and system for measuring road surface profile | |
| TWI644851B (en) | Steel coil center coordinate detecting device and method thereof | |
| CN108332039B (en) | Three-point laser type gas chamber piston inclination detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| DD01 | Delivery of document by public notice |
Addressee: BEIJING GUOHUA HENGYUAN TECHNOLOGY DEVELOPMENT Co.,Ltd. Person in charge of patentsThe principal of patent Document name: Notice of Registration |
|
| DD01 | Delivery of document by public notice | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20230901 |
|
| AD01 | Patent right deemed abandoned |