CN105059564B - A kind of method of large scale equipment automatic centering - Google Patents
A kind of method of large scale equipment automatic centering Download PDFInfo
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Abstract
A kind of method of large scale equipment automatic centering of the present invention, including aligning equipment and target device step in place, the step of measuring system deviation measurement data input control system, control system judges whether to need rolling, yaw, pitching, traversing and lift adjustment, after confirmation need to be adjusted, control system calculates adjustment amount and drives the adjusting apparatus to complete corresponding adjustment and acts, according to signal is adjusted in place measurement instruction next time is sent to measuring system, the step of untill criterion is met and centering are completed, and aligning equipment docks the step of finishing.The advantage of the method for large scale equipment automatic centering of the present invention is：Using the method for " straight line centering ", measurement error is larger when solving the problems, such as the less large scale equipment of end face using " end face centering ".This method principle is simple, and corollary equipment is few, it is easier to realize, measure, recognize, resolve, perform, control and feed back each link from deviation performs automatically, whole without manual intervention, with centering efficiency higher.
Description
Technical field
The present invention relates to control method, more particularly to a kind of method of large scale equipment automatic centering.
Background technology
In fields such as Aero-Space, it is often necessary to which two or more large scale equipments are carried out into attitude centering, its attitude is set to unite
One, can dock to form an entirety and be operated.For example, two large scale equipment rapid abutting joints of long guideway will be equipped with, make
Guide rail in two equipment is conllinear, so that one section of continuous running track for being available for miscellaneous equipment to walk is formed, and two equipment are initial
Placement and operation there is larger deviation, it is necessary to be carried out centering adjustment (referred to as " straight line centering ").In general, two
Individual large scale equipment only needs one to possess centering adjustment capability, and for convenience of description, the equipment that we will be provided with centering ability claims
It is aligning equipment, another equipment is referred to as target device.
In traditional large scale equipment centering method, realized using hand dipping deviation, artificial shake spiral lift more
Adjustment, the centering method precision is relatively low, is used for aligning equipment and is in same ground rail with target device, and initial attitude is inclined
Smaller and not high to the centering time requirement occasion of difference.
Patent " a kind of quick centring method " is developed on the basis of traditional centering method, employs automatic measurement and oneself
Dynamic centering, is characterized in using 1 group of 6 laser range sensor, by measuring the distance of difference at interface, resolves and obtains
Six degree of freedom deviation, aligning equipment realizes that alignment attitude is adjusted using 2 traversing oil cylinders, 4 hoist cylinders, with to medium velocity
Fast the characteristics of.Because it is based on end face centering, laser range sensor mounting surface, the sensing of argument marking device are needed in this way
Face has larger characteristic size, is otherwise difficult to obtain accurate angular deviation, in addition, distance measuring sensor installation accuracy and its peace
Dress face, sensitive surface requirement on machining accuracy it is also higher, it is necessary to special guarantee.
Paper《Part docking flexible assembly technology based on laser track and localization》(Mei Zhongyi, BJ University of Aeronautics ＆ Astronautics
Journal Vol35No.1, in January, 2009) a kind of automatic centering method is described, digitize automatic assembling for large aircraft section
Field, is characterized in setting some positioning datum points in the aircraft section for needing docking, and installs optical target reflector, leads to
The optical target point position crossed on laser tracker survey aircraft part, obtains positioning datum dot position information, the information and product
After the aircraft components model that product data set is assigned is contrasted via data processing module, data will be calculated and are transmitted to motion control portion,
So as to drive the flexible positioning tool work station below each section to adjust the pose of aircraft components, until positioning datum point reaches public
On target location in difference scope, wherein flexible positioning tool work station is made up of the flexible positioning tool of multiple diverse locations,
Realize the compound motion of aircraft section.The method is adapted to carry out centering to equipment or section with complex appearance and interface, but
Detailed, accurate Design of digital model need to be relied on, and it is very high with the coherence request of design point to production state, it is right
In the large scale equipment that appearance and size differs, process and assemble precision is relatively low, the method is difficult to be applicable.
In addition, paper《Six degree of freedom berth combination automatic centering system》(pay congruence, hydraulics pneumatics and seals, 2004
(3)：13-15) describe a kind of naval vessel segmentation and benchmark block assembling technique；Paper《Large-sized flange position automatic centering system
Analysis》(crow builds medium, electromechanical integration, and 2008 (12)：A kind of offshore wind turbine large-sized flange 83-86) is described to determine
Position installation method.Three of the above method is applied to technique general assembly link, and the preparation of aligning equipment is relatively more, automatically
Centering technical indicator biases toward required precision, and to time requirement relative loose, and the assembled berth combination for using in naval vessel is automatically right
Middle system need to be manually entered initial state information, and large-sized flange is installed used hydraulic pressure automatic centering system and set suitable for centering
The standby vertical centering in space free state, two quick centrings of lengthy product are not suitable for.
In sum, realize the control of large scale equipment centering does not have also mature technology to occur at present.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of conventional art, breaks through the condition limitation of existing automatic centering method, there is provided
A kind of quick centring that two or more lengthy product relative poses can be realized by closed-loop control system, principle is simple, matches somebody with somebody
Complete equipment is few, it is easy to accomplish whole process is without manual intervention, the method for the large scale equipment automatic centering of centering efficiency high.
It is a kind of method of the large scale equipment automatic centering provided up to above-mentioned purpose, the present invention, the method sets measurement system
System, control system and adjusting apparatus, the measuring system are provided with visualizer, and the control system is provided with position sensor, described
Adjusting apparatus are divided into forward and backward 2, are respectively equipped with 2 sets of elevating mechanisms and 1 set of transverse-moving mechanism, and the method comprises the following steps：
Step 1, aligning equipment is in place with target device, prepares centering；
Step 2, starts the measuring system, and deviation measurement data is input into the control system；
Step 3, the control system extracts rolling deviation data, judges whether to need rolling to adjust, and confirmation need to be adjusted
After whole, the control system calculates adjustment amount and drives the adjusting apparatus to complete rolling adjustment and acts, according to position sensor
The signal that is adjusted in place of feedback sends measurement instruction next time to the measuring system, untill rolling criterion is met；
Step 4, the control system extracts yaw, pitch deviation data, judges whether to need yaw, pitching to adjust, really
Recognize after need to being adjusted, the control system calculates adjustment amount and drives the adjusting apparatus to complete yaw, pitching adjustment and acts,
The signal that is adjusted in place according to position sensor feedback sends measurement instruction next time to the measuring system, until meeting horizontal
Untill pendulum, pitching criterion；
Step 5, control system extracts traversing, lifting deviation data, judges whether to need traversing, lift adjustment, confirms to need
After being adjusted, control system calculates adjustment amount and drives adjusting apparatus to complete traversing, lift adjustment and acts, and is passed according to position
The signal that is adjusted in place of sensor feedback sends measurement instruction next time to the measuring system, until meeting traversing, lifting criterion
Untill；
Step 6, centering is completed, and aligning equipment is advanced, and locking is docked with target device, and docking is finished.
The method of a kind of large scale equipment automatic centering that the present invention is provided, wherein the step 3 is further included：The control
System processed compares rolling deviation data with rolling criterion, and rolling criterion is：Δ r=| p1-q1|≤[Δ r], wherein p1、q1For
The vertical scale value of front target, Δ r is rolling deviation actual observed value, and [Δ r] is the rolling departure for allowing, if necessary to rolling
Adjust, the adjustment amount of the adjusting apparatus isH12=H22=-H11=-H21, wherein a is target
Mark width, B is lift between left and right away from H11、H12、H21、H22Respectively front left, front right, rear left, the adjustment of rear right elevating mechanism
Amount.
The method of a kind of large scale equipment automatic centering that the present invention is provided, wherein the step 4 is further included：The control
Yaw, pitch deviation data are corresponded to and compared with yaw, pitching criterion by system processed respectively, and yaw criterion isPitching criterion isWherein m1、n1
It is front target transverse direction scale value, m2、n2It is rear target transverse direction scale value, p1、q1It is the vertical scale value of front target, p2、q2It is rear target
Vertical scale value is marked, Δ s is yaw deviation actual observed value, and [Δ s] is the yaw departure for allowing, and Δ t is pitch deviation reality
Border observation, [Δ t] is the pitch deviation amount for allowing, and is adjusted if necessary to yaw, pitching, and the adjustment amount of the adjusting apparatus is
It is preceding traversingTraversing L afterwards20=-L10, preceding lifting
After lift H21=H22=-H11=-H12, wherein L is front and rear target spacing, and S is front and rear traversing or elevating mechanism spacing, L10、
L20The adjustment amount of respectively forward and backward transverse-moving mechanism, stretches out on the occasion of expression, and negative value represents retraction.
The method of a kind of large scale equipment automatic centering that the present invention is provided, wherein the step 5 is further included：The control
Traversing, lifting deviation data is corresponded to and compared with traversing, lifting criterion by system processed respectively, and traversing criterion isLifting criterion isWherein m1、n1It is front target transverse direction scale value, p1、q1
It is the vertical scale value of front target, u is traversing deviation actual observed value, and [u] is the traversing departure for allowing, and ν is lifting deviation reality
Border observation, [v] is the lifting departure for allowing；Adjusted if necessary to yaw, pitching, the adjustment amount of the adjusting apparatus is
It is forward and backward traversingForward and backward elevating mechanismIts
In stretched out on the occasion of expression, negative value represents retraction.
A kind of advantage of the method for large scale equipment automatic centering of the present invention is：Due to being provided with measuring system, control system
And adjusting apparatus, using the method for " straight line centering ", measurement is missed when solving the less large scale equipment of end face using " end face centering "
The larger problem of difference.This method principle is simple, and corollary equipment is few, it is easier to realize, measured from deviation, recognized, resolved, performed,
Each link is controlled and feeds back to perform automatically, it is whole without manual intervention, with centering efficiency higher.
Brief description of the drawings
Fig. 1 is the schematic diagram of the method large deviations measurement of large scale equipment automatic centering of the present invention；
Fig. 2 is the scheme of installation of the method large deviations measurement of large scale equipment automatic centering of the present invention；
Fig. 3 be large scale equipment automatic centering of the present invention method in aligning equipment scheme of installation；
Fig. 4 is the top view of Fig. 3；
Fig. 5 is the flow chart of the method for large scale equipment automatic centering of the present invention；
Fig. 6 is the schematic diagram of automatic centering process target imaging.
Specific embodiment
A kind of embodiment of the method for large scale equipment automatic centering that the invention will now be described in detail with reference to the accompanying drawings.
As shown in Figures 1 to 4, the method for a kind of large scale equipment automatic centering that the present invention is provided, using automatic centering skill
Art, including measuring system 30, control system 40 and adjusting apparatus, make aligning equipment 2 possess deviation measurement capability and multiple degrees of freedom
Adjustment, control ability, so as to complete to be adjusted with centering with the attitude measurement of target device 1.
Measuring system 30 includes visualizer 4, front and rear target 5,6.Two targets are arranged on target device 1, and its center connects
Line represents the feature attitude of target device 1.Visualizer 4 is arranged on aligning equipment 2, and being calibrated by sight line caliberating device makes observation
Instrument sight line represents the feature attitude of aligning equipment 2.
Sight line caliberating device taken pictures by visualizer 4 to forward and backward target 5,6, carry out image recognition, resolving obtains centering and sets
The standby 2 pose deviations existed with target device 1, by the incoming control system 40 of deviation information.
Adjusting apparatus are divided into forward and backward 2, respectively including 2 sets of elevating mechanism 9-12,1 set of transverse-moving mechanism 7,8.Control system
40 are resolved according to preset formula, are adjusted the adjustment amount that device need to be completed, and drive the executing agency of adjusting apparatus to enter
Row adjustment centering：Adjusted including carrying out left and right differential completion rolling by 4 road elevating mechanism 9-12；By forward and backward transverse-moving mechanism 7,8
Differential completion yaw adjustment；Forward and backward differential completion pitching is carried out by 4 road elevating mechanism 9-12 to adjust；By forward and backward transverse-moving mechanism 7,
8 synchronization actions complete traversing adjustment；Lift adjustment is completed by 4 road elevating mechanism 9-12 synchronization actions.
Because centering need to complete the adjustment of 5 frees degree, therefore there can be various different adjustment sequentially, and then different right of correspondence
Middle efficiency.Therefore, rational centering adjustment need to be determined sequentially, to realize that the centering time minimizes.First angle adjustment is followed, is put down afterwards
The whole order of transposition, it is to avoid repeatedly；Simultaneously because rolling adjustment shares a set of adjustment mechanism with pitching adjustment, it is impossible to while carrying out
Adjustment, therefore whole centering adjustment process is divided into three big steps, rolling is respectively adjusted, leveling row (yaw and pitching), tune are altogether
Line (traversing and lifting).Because target imaging is more beneficial for identification and resolves after rolling adjustment, therefore, adjustment order is set to head
Rolling is first adjusted, secondly leveling row, finally adjust conllinear.Target visual pattern Overlay before and after each step adjustment is as shown in Figure 6
(forward and backward target real image will not be only to illustrate in synchronization comes across the visual field, in figure).
As shown in figure 5, the method for large scale equipment automatic centering of the present invention comprises the following steps：
Step 1, aligning equipment is in place with target device, prepares centering.
Step 2, starts measuring system, deviation measurement data input control system.
Step 3, control system extracts rolling deviation data, judges whether to need rolling to adjust, after confirmation need to be adjusted,
Control system calculates adjustment amount and drives adjusting apparatus to complete rolling adjustment and acts, according to being adjusted in place for position sensor feedback
Signal sends measurement instruction next time to measuring system, untill rolling criterion is met.
Step 3 is further included：Control system compares rolling deviation data with rolling criterion, and rolling criterion is：Δ r=
|p1-q1|≤[Δ r], wherein p1、q1It is the vertical scale value of front target, Δ r is rolling deviation actual observed value, and [Δ r] is permission
Rolling departure, if necessary to rolling adjustment, the adjustment amount of adjusting apparatus isH12=H22
=-H11=-H21, wherein a is target width, and B is lift between left and right away from H11、H12、H21、H22Respectively front left, front right, after
The left, adjustment amount of rear right elevating mechanism.
Step 4, control system extracts yaw, pitch deviation data, judges whether to need yaw, pitching to adjust, and confirms to need
After being adjusted, control system calculates adjustment amount and drives adjusting apparatus to complete yaw, pitching adjustment and acts, according to position sensing
The signal that is adjusted in place of device feedback sends measurement instruction next time to measuring system, untill yaw, pitching criterion is met.
Step 4 is further included：Control system corresponds to and yaw, pitching criterion ratio yaw, pitch deviation data respectively
Compared with yaw criterion isPitching criterion isIts
Middle m1、n1It is front target transverse direction scale value, m2、n2It is rear target transverse direction scale value, p1、q1It is the vertical scale value of front target, p2、q2
It is the vertical scale value of rear target, Δ s is yaw deviation actual observed value, and [Δ s] is the yaw departure for allowing, and Δ t is pitching
Deviation actual observed value, [Δ t] is the pitch deviation amount for allowing, and is adjusted if necessary to yaw, pitching, the adjustment amount of adjusting apparatus
For preceding traversingTraversing L afterwards20=-L10, preceding lifting
After lift H21=H22=-H11=-H12, wherein L is front and rear target spacing, and S is front and rear traversing or elevating mechanism spacing, L10、
L20The adjustment amount of respectively forward and backward transverse-moving mechanism, stretches out on the occasion of expression, and negative value represents retraction.
Step 5, control system extracts traversing, lifting deviation data, judges whether to need traversing, lift adjustment, confirms to need
After being adjusted, control system calculates adjustment amount and drives adjusting apparatus to complete traversing, lift adjustment and acts, according to position sensing
The signal that is adjusted in place of device feedback sends measurement instruction next time to measuring system, untill traversing, lifting criterion is met.Step
Rapid 5 further include：Traversing, lifting deviation data is corresponded to and compared with traversing, lifting criterion by control system respectively, traversing criterion
ForLifting criterion isWherein m1、n1It is front target transverse direction scale value, p1、q1
It is the vertical scale value of front target, u is traversing deviation actual observed value, and [u] is the traversing departure for allowing, and ν is lifting deviation reality
Border observation, [v] is the lifting departure for allowing；Adjusted if necessary to yaw, pitching, the adjustment amount of adjusting apparatus is forward and backward
It is traversingForward and backward elevating mechanismWherein on the occasion of
Expression is stretched out, and negative value represents retraction.
Step 6, centering is completed, and aligning equipment is advanced, and locking is docked with target device, and docking is finished.
Below with leveling behavior embodiment, the flow details to three big steps is illustrated.
As shown in figure 5, first, control system 40 extracts the incoming data of measuring system 30, to avoid unnecessary adjustment,
Need to criterion (yaw, pitching) is compared in place with the centering that sets in control system 40, confirmation bias value after allowed band,
Resolve and adjusted further according to the interior adjustment formula for setting, the stopping action after sensor feedback executing agency in place signal, so
Rearward measurement system 30 sends measurement instruction next time.Wherein, centering in place criterion used as Rule of judgment, can both avoid need not
The adjustment wanted, can control effectively to precision again, to different accuracy of alignment demands, can set different centerings and sentence
According to realize that centering the most economic is controlled.
Although data are extracted in each step needed for control system 40 to be not quite similar, to simplify the scopic Working mould of unification
Formula, could dictate that visualizer is taken pictures all 8 groups of data being provided which on forward and backward target every time, and is transmitted by certain rule
Storage, is extracted on demand by control system 40.
Embodiment is adjusted to yaw below, the centering criterion and adjustment formula of control system 40 is illustrated.
Such as Fig. 6 upper rights, it can be seen from similar triangle theory, the yaw angular deviation between the service of connection devices 2 and target device 1
ForAssuming that the spacing of forward and backward transverse-moving mechanism 7,8 is S, it is former according to similar triangles
Reason understands that forward and backward transverse-moving mechanism 7,8 differential distance of stretch out and draw back are
When other frees degree are adjusted, adjustment amount formula can be similar to and obtain, as shown in table 1.Wherein, after being adjusted through rolling, reason
By should above there is m1=n1、p1=q1Set up, but because the error that measurement and adjustment link are unavoidably present influences, pairing approximation phase
Deng data done equalization treatment.
The adjustment amount computing formula of table 1
As shown in table 2, its specific permissible value is determined centering criterion expression formula by engineering available accuracy demand.
The centering of table 2 criterion in place
In a kind of embodiment of the method for large scale equipment automatic centering that the present invention is provided, advantage is the target before and after
Mark spacing, visualizer are much larger than the situation for docking face size with sight line caliberating device spacing, so as in angle pose deviation
In the case of identical, visualizer can obtain bigger more obviously measured value, so as to improve certainty of measurement.
The automatic centering control formed by certain adjustment order and feedback, makes aligning equipment with target device five more than
Individual free degree direction carries out centering, obtains unifying attitude, and whole process is carried out automatically all in accordance with program, thus can realize it is quick right
In.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to structure of the invention
Think and scope is defined.On the premise of design concept of the present invention is not departed from, this area ordinary person is to technology of the invention
The all variations and modifications that scheme is made, all should drop into protection scope of the present invention, claimed technology contents of the invention,
All record in detail in the claims.
Claims (3)
1. a kind of method of large scale equipment automatic centering, it is characterised in that：The method sets measuring system, control system and adjustment
Device, the measuring system is provided with visualizer, and the control system is provided with position sensor, and the adjusting apparatus are divided into forward and backward 2
Individual, each adjusting apparatus is designed with 2 sets of elevating mechanisms and 1 set of transverse-moving mechanism, and the method comprises the following steps：
Step 1, aligning equipment is in place with target device, prepares centering；
Step 2, starts the measuring system, and deviation measurement data is input into the control system；
Step 3, the control system extracts rolling deviation data, judges whether to need rolling to adjust, after confirmation need to be adjusted,
Control system calculates adjustment amount and drives the adjusting apparatus to complete rolling adjustment and acts, according to the adjustment of position sensor feedback
Signal sends measurement instruction next time to measuring system in place, untill rolling criterion is met；
Step 4, control system extracts yaw, pitch deviation data, judges whether to need yaw, pitching to adjust, and confirmation need to be carried out
After adjustment, control system calculates adjustment amount and drives adjusting apparatus to complete yaw, pitching adjustment and acts, anti-according to position sensor
The signal that is adjusted in place of feedback sends measurement instruction next time to measuring system, untill yaw, pitching criterion is met；
Step 5, control system extracts traversing, lifting deviation data, judges whether the traversing, lift adjustment of needs, and confirmation need to be carried out
After adjustment, control system calculates adjustment amount and drives adjusting apparatus to complete traversing, lift adjustment and acts, anti-according to position sensor
The signal that is adjusted in place of feedback sends measurement instruction next time to measuring system, untill traversing, lifting criterion is met；
Step 6, centering is completed, and aligning equipment is advanced, and locking is docked with target device, and docking is finished；
Wherein described step 3 is further included：Control system compares rolling deviation data with rolling criterion, and rolling criterion is：
Δ r=| p1-q1|≤[Δ r], wherein p1、q1It is the vertical scale value of front target, Δ r is rolling deviation actual observed value, [Δ r]
It is the rolling departure for allowing, if necessary to rolling adjustment, the adjustment amount of adjusting apparatus is
H12=H22=-H11=-H21, wherein a is target width, and B is elevating mechanism between left and right away from H11、H12、H21、H22Before respectively
A left side, front right, rear left, the adjustment amount of rear right elevating mechanism.
2. the method for large scale equipment automatic centering according to claim 1, it is characterised in that：Wherein described step 4 enters one
Step includes：Yaw, pitch deviation data are corresponded to and compared with yaw, pitching criterion by control system respectively, and yaw criterion isPitching criterion isWherein m1、n1For preceding
Target transverse direction scale value, m2、n2It is rear target transverse direction scale value, p1、q1It is the vertical scale value of front target, p2、q2For rear target is perpendicular
To scale value, Δ s is yaw deviation actual observed value, and [Δ s] is the yaw departure for allowing, and Δ t is that pitch deviation is actual to be seen
Measured value, [Δ t] is the pitch deviation amount for allowing, and is adjusted if necessary to yaw, pitching, and the adjustment amount of adjusting apparatus is preceding traversingTraversing L afterwards20=-L10, preceding lifting
After lift H21=H22=-H11=-H12, wherein L is front and rear target spacing, and S is forward and backward transverse-moving mechanism or forward and backward elevating mechanism
Spacing, L10、L20The adjustment amount of respectively forward and backward transverse-moving mechanism, stretches out on the occasion of expression, and negative value represents retraction.
3. the method for large scale equipment automatic centering according to claim 2, it is characterised in that：Wherein described step 5 enters one
Step includes：Traversing, lifting deviation data is corresponded to and compared with traversing, lifting criterion by the control system respectively, and traversing criterion isLifting criterion isWherein m1、n1It is front target transverse direction scale value, p1、q1For
The vertical scale value of front target, u is traversing deviation actual observed value, and [u] is the traversing departure for allowing, and ν is lifting deviation reality
Observation, [v] is the lifting departure for allowing；Adjusted if necessary to yaw, pitching, the adjustment amount of adjusting apparatus is forward and backward horizontal stroke
MoveForward and backward elevating mechanismWherein on the occasion of expression
Stretch out, negative value represents retraction.
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| CN110001998B (en) * | 2019-03-12 | 2022-07-29 | 南京航空航天大学 | Airplane large component frame type structure butt joint guiding device and method based on laser ranging |
| CN112372556B (en) * | 2020-10-22 | 2022-04-19 | 浙江蓝箭航天空间科技有限公司 | Carrier rocket positioning and attitude adjusting method |
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| JP2011206878A (en) * | 2010-03-29 | 2011-10-20 | Fuji Xerox Co Ltd | Assembly inspection apparatus and assembly processing apparatus using the same |
| CN101972928B (en) * | 2010-08-19 | 2011-11-02 | 北京理工大学 | Automatic aligning assembly system for micro members |
| CN103612089B (en) * | 2013-11-18 | 2016-05-18 | 深圳市智信精密仪器有限公司 | Centered assembling method and the device of cylinder assembly parts |
| CN104148914B (en) * | 2014-08-07 | 2016-06-22 | 天津航天长征火箭制造有限公司 | A kind of posture adjustment assembly system for rocket part docking and attitude-adjusting method |
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