锥形飞行体部段自动柔性对接机构的设计  

Design of Automatic Flexible Docking Mechanism for Conical Flight Body Segment

作　　者：郭永才 游广飞 来颜博 郑国良 栗世豪 Guo Yongcai;You Guangfei;Lai Yanbo;Zheng Guoliang;Li Shihao(Intelligent Equipment Division,Zhengzhou Research Institute of Mechanical Engineering Co.,Ltd.,Zhengzhou 450052,China)

机构地区：[1]郑州机械研究所有限公司智能装备事业部,郑州450052

出　　处：《兵工自动化》2024年第8期27-31,70,共6页Ordnance Industry Automation

摘　　要：针对国内各类锥形飞行体部段对接装配以人工操作为主,生产装配效率低、装配质量不稳定和安全隐患多的现状,设计一种用于锥形飞行体部段对接的自动柔性对接机构。该机构可根据产品不同锥形部段,采用多自由度平台为依托,运用姿态测量算法对对接的不同部段进行位姿检测与对接姿态规划,满足不同锥形部段之间的自动柔性对接装配,位移调整的相对精度达到0.01 mm,角度调整的相对精度达到0.01°。结果表明:该机构可有效提高飞行体总装效率、装配质量,消除装配安全隐患,填补国内锥形飞行体部段智能对接装配技术的空白,满足当下国防产品产能迅速发展的需求。In view of the current situation of manual operation,low efficiency,unstable assembly quality and many potential safety hazards in the docking assembly of various conical flying body sections in China,an automatic flexible docking mechanism for the docking of conical flying body sections is designed.Accord to that different conical sections of the product,the mechanism adopt a multi-degree-of-freedom platform as a support,uses an attitude measurement algorithm to carry out position and attitude detection and docking attitude planning on different doc sections,and meets automatic flexible docking assembly between different conical sections,wherein the relative accuracy of displacement adjustment reaches 0.01 mm,and the relative accuracy of angle adjustment reaches 0.01 degree.The results show that the mechanism can effectively improve the assembly efficiency and assembly quality of the flight body,eliminate the potential safety hazards of assembly,fill the gap of the intelligent docking assembly technology of the conical flight body section in China,and meet the needs of the rapid development of the current national defense product capacity.

关 键 词：舱段自动柔性对接 调姿机构 姿态测量 

分 类 号：TJ71[兵器科学与技术—武器系统与运用工程] V42[航空宇航科学与技术—飞行器设计]