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44results about How to "The method is versatile" patented technology

Method for establishing blocking condition models of heat transfer tubes of vapor generators in nuclear power plants

The invention discloses a method for rapidly establishing three-dimensional fine thermos-hydraulic calculation models for primary side systems of large-scale natural circulation vapor generators in nuclear power plants under certain heat transfer tube blocking accident conditions. The method comprises the following steps of: 1, carrying out complete primary side hydraulic analysis on a vapor generator so as to analyze a flow distribution law at a tube plate; 2, selecting a tube blocking scheme according to a result of the last step; 3, determining a tube blocking share and a tube blocking position; 4, carrying out geometric simplification and overall geometric modeling on a plurality of heat transfer tubes in the real vapor generator; 5, dividing preliminary calculation nodes; 6, establishing a tube blocking equation to tracing marked control areas, and carrying out calculation domain grid marking on the control areas by adoption of a network marking method so as to realize a tube blocking function; and 7, carrying out blocking condition calculation by adoption of a preliminarily established model and analyzing the precision of the result, and if a requirement is satisfied, considering that the modeling is completed, and otherwise, returning to the step 5 to encrypt the calculation nodes until the model satisfies the calculation precision requirement.
Owner:XI AN JIAOTONG UNIV

Parameter mapping-based measurement planning method for complex curved surface

The invention relates to a parameter mapping-based measurement planning method for a complex curved surface which belongs to the field of precision measurement. In the method, a triangular grid curvedsurface is mapped into a plane parameter domain by adopting a grid parameterization method to form a plane grid model corresponding to the vertex of the triangular grid curved surface and the vertexof the plane parameter domain; a boundary contour of the plane grid model is extracted, boundary contour lines are utilized as guiding line segments, and according to a measurement accuracy requirement, each segment is offset in a normal direction to generate measurement paths covering the entire plane grid model; each measurement path is again inversely mapped to the triangular grid curved surface to obtain curved surface measurement paths; and arranging points on the curved surface measurement paths by using an equal-chord height difference method to complete measurement and planning of thecomplex curved surface. The method enables the measurement efficiency to be improved, and enables the difficulty of the measurement and planning of the complex curved surface to be reduced, and versatility is strong, and requirements of unified processing of curved surface measurement path planning of various models under the same framework can be satisfied.
Owner:DALIAN UNIV OF TECH

Pressurized water reactor containment vessel two-side condensation and evaporation coupling calculation method

The invention discloses a pressurized water reactor containment vessel two-side condensation and evaporation coupling calculation method. The method comprises the following steps: establishing a pressurized water reactor containment vessel computational domain simplified geometric model; performing grid generation on each part in the pressurized water reactor containment vessel computational domain model to obtain a grid model of each part; setting an interface of each part in a calculation domain of the pressurized water reactor containment as a grid interface to realize splicing of grids ofeach part; performing steam condensation calculation in the range of the fluid domain grid model in the containment vessel; calculating the temperature distribution in the solid domain of the containment body structure through the heat conduction relational expression; and calculating a flow field and a temperature field of a liquid film in an external fluid domain of the containment vessel by adopting a liquid film model.
Owner:XI AN JIAOTONG UNIV

Resource display platform for design teaching in digital media art environment

InactiveCN110211427AIncrease interest in learning and communicatingEasy to observeProjectorsStands/trestlesEngineering
The invention discloses a resource display platform for design teaching in a digital media art environment. The resource display platform comprises a bottom box and a main computer machine cabinet located on one side of the bottom box, and two symmetrically arranged side frames are fixedly installed on the rear side of the upper surface of the bottom box. According to the resource display platformfor design teaching in the digital media art environment, a work display platform is arranged, art design works of students can be placed on the work display platform for display, so that the art design works can be displayed visually, the students can conveniently learn from one other, and the improvement of the interest of learning and communication between the students is facilitated; and courseware works of teachers can further be displayed through a panel display or projection cloth, so that the teachers can display digital media art more dynamic and vividly, better teaching effect can be conveniently achieved, and a display method is versatile to facilitating choosing and using of the teachers for teaching according to actual needs.
Owner:WEIFANG UNIV OF SCI & TECH

Two-side cooling and evaporation coupling calculation method for liquid metal spiral tube steam generator

The invention discloses a two-side cooling and evaporation coupling calculation method for a liquid metal spiral tube steam generator. The method comprises the following steps: establishing a spiral tube steam generator computational domain prototype geometric model; meshing each part in the spiral tube steam generator computational domain model to obtain a mesh model of each part, and setting boundary conditions; setting an interface of each part in the spiral pipe steam generator computational domain as a grid interface to realize splicing of grids of each part; importing the physical property of the liquid metal according to a turbulence Pr number correction relational expression; carrying out reasonable initialization and boundary condition correction; and carrying out steam evaporation, lead bismuth condensation and coupled flow heat transfer calculation of a pipe wall solid region in all regions including a solid region and a grid model range of a shell side fluid region and a pipe side fluid region of the spiral pipe steam generator.
Owner:XI AN JIAOTONG UNIV

Multi-shaft-hole automatic aligning method based on laser tracker

ActiveCN109093376AOvercome efficiencyOvercoming the problem of easy damage to the workpieceMetal working apparatusClosed loopEngineering
The invention provides a multi-shaft-hole automatic aligning method based on a laser tracker, and belongs to the technical field of large part assembly control. The multi-shaft-hole automatic aligningmethod comprises the steps that firstly, a multi-shaft-hole automatic aligning system constituted by the laser tracker, a mechanical arm and a computer is set up, and a shaft part is mounted on the end face of the mechanical arm; a shaft part coordinate system and a perforated part coordinate system are built, and a rotation matrix and a translation vector between the two coordinate systems are obtained; four non-collinear reflecting target spheres are mounted on the shaft part, and the target positions corresponding to all the target spheres are calculated; and an initial jacobian matrix ofthe mechanical arm is obtained; movement of the mechanical arm is controlled in an iterating mode from the initial position, thus the shaft part gets close to the perforated part gradually, and when the four reflecting target spheres reach the target portions, the shaft part and the perforated part are aligned. Movement of the mechanical arm is controlled in a closed-loop mode through measuring data of the laser tracker, multi-shaft-hole high-precision automatic aligning can be achieved, and the assembly efficiency and robustness are improved.
Owner:TSINGHUA UNIV

Post-processing method for numerical simulation calculation result of pressurized water nuclear reactor pressure vessel

The invention discloses a post-processing method for a numerical simulation calculation result of a pressurized water nuclear reactor pressure vessel. The post-processing method comprises the following steps: firstly, confirming and grading a flowing phenomenon existing in an existing pressurized water nuclear reactor pressure vessel; respectively establishing three-dimensional geometric models ofan upper chamber and a lower chamber in the pressurized water reactor pressure vessel; using meshing software for meshing the three-dimensional geometric models of the upper chamber and the lower chamber of the pressure vessel, and importing the three-dimensional geometric models into computational fluid mechanics software for numerical simulation calculation; establishing a three-dimensional geometric model of a complete component in the pressure vessel, carrying out mesh generation on the three-dimensional geometric model, and then carrying out simulation calculation; and importing a calculation result into data analysis processing software, performing a series of processing on the result by utilizing a software trajectory tracking function, and generating a required Python script and arequired result picture. According to the method, different types of pressurized water reactor pressure vessel simulation calculation results can be analyzed and processed, different forms of numerical simulation calculation results can be processed with the same method, and a large amount of repeated and redundant work is avoided.
Owner:XI AN JIAOTONG UNIV

Method for establishing a grid model of a steam generator dryer assembly with an inclined sealing plate

The invention discloses a method for establishing a grid model of a steam generator dryer assembly with an inclined sealing plate, which comprises the following steps: establishing a dryer assembly geometry structure without a sealing plate; T establishing he fluid domain model of dryer assembly without inclined sealing plate. Establishing a three-dimensional cuboid topological block suitable forthe fluid domain model; setting The number and distribution of nodes on the topology block to form a structured hexahedral mesh model. Checking whether the coordinates of the center of each grid cellsatisfy the projection straight line equation of the oblique seal plate, and marking the grid cell of the oblique seal plate according to the projection straight line equation; Setting the marked gridcells as solid to form a dryer assembly grid model of an inclined sealing plate; The invention solves the problem of establishing the geometric model when the dryer assembly with the inclined sealingplate is mesh-depicted, the mesh quantity is large and the mesh quality is low when the unstructured mesh is adopted, and the invention also provides convenience for establishing a new mesh model bychanging the inclination angle of the dryer assembly.
Owner:苏州同元软控信息技术有限公司

Method for establishing fast neutron reactor fuel assembly grid model under flow blocking condition

The invention discloses a method for establishing a fast neutron reactor fuel assembly grid model under a flow blocking condition. The method comprises the following steps: establishing a three-dimensional geometric model of a fast neutron reactor fuel assembly according to real design parameters; establishing a fluid domain model of the unblocked fast neutron reactor fuel assembly; carrying out unstructured tetrahedral mesh generation on the fluid domain model of the unblocked fast neutron reactor fuel assembly by using mesh generation software; performing grid marking operation on the flow blocking position according to calculation requirements, and adding a resistance source item which is three orders of magnitudes larger than the resistance source item in the other two directions in the flowing direction of the coolant. According to the method, the position, shape and size of the blocked area can be flexibly adjusted, and repeated geometric modeling work is avoided.
Owner:XI AN JIAOTONG UNIV

Method for detecting preparation success of artificial antigens

The invention discloses a method for estimating preparation success of artificial antigens. The method comprises the following steps: a) weighing artificial antigens and carrier protein of the same weight, adding solvent 1 to 10 times the weight for dissolution, applying ultrasound for 1 minute, performing centrifugation at 12,000 rpm, taking supernatant and obtaining an artificial antigen test sample and a carrier protein test sample respectively; b) using an instrument combining ultra performance liquid chromatography and quadrupole-rod electro-spray mass spectrometry to detect the test samples respectively to obtain ultra performance liquid chromatograms and quadrupole-rod electro-spray mass spectrograms respectively; and c) comparing the differences between the ultra performance liquid chromatograms of the artificial antigens and the carrier protein, as well as the corresponding mass spectrograms thereof to determine whether the preparation of the artificial antigens is successful. The method has the advantages of simple sample pretreatment, strong universality, no special requirement for the physical-chemical characteristics of hapten, simple instrument operation conditions, suitability for large-scale popularization and application, and the like.
Owner:SHANGHAI VETERINARY RES INST CHINESE ACAD OF AGRI SCI

Webpage level memorizing and returning method

The invention discloses a webpage level memorizing and returning method, belong to the technical field of the network data processing, and particularly relates to a webpage generating method. A valid level of a webpage entering can be dynamically recorded and a corresponding page layer can be returned based on a developer preset or a user request, and a data state of a corresponding webpage can be maintained. According to the webpage level memorizing and returning method, the phenomena in the traditional webpage design that only the downward click can be carried out, the return to an original state cannot be achieved or the return can only be carried out on a previous webpage are overcome, the operation is convenient, the achieving efficiency is high, and the resources occupancy is low. The webpage level memorizing and returning method has the advantages that the code reusability is good and the method universality is good. The effect can be achieved only by putting a length of simple codes in the front portion of the corresponding webpage and linking the corresponding linkage on the place needed to be returned.
Owner:众事达(福建)信息技术股份有限公司

Method for testing power performance indexes

InactiveCN102662149ALower performance requirementsOvercoming the serious disadvantage of being bundledPower supply testingTest powerTest performance
The invention discloses a method for testing power performance indexes, particularly relates to intelligent instrument control technology and belongs to the technical field of intelligent control systems. The method includes that electronic engineers compile a GPIB (general purpose interface bus) instruction group card of performance indexes required by fault testing for a circuit board; program development personnel build a database for storing each GPIB instruction group required by testing for the corresponding performance index; the instruction groups are inputted into the database via a user interface; and programmers write an intelligent GPIB instruction interpreter. Software development personnel do not need to know specific electronic and electrical professional knowledge of the tested performance indexes, and accordingly requirements on comprehensive abilities of various personnel in a system are greatly lowered. In addition, severe shortcomings that GPIB instructions are directly bound with programming languages traditionally, programs need to be modified even if the used GPIB instructions or parameters are changed subtly, and software development personnel and electronic and electrical engineers need to work together are overcome.
Owner:NANJING UNIV OF INFORMATION SCI & TECH

Correction method considering influence of local structure in reactor core flow field calculation

The invention discloses a correction method considering the influence of a local structure in reactor core flow field calculation, which can add the influence of a positioning grid on a local flow field to overall flow field calculation for correction when performing three-dimensional thermal hydraulic calculation on a fuel assembly with the positioning grid. The correction process comprises the following steps: 1, determining a correction area; 2, establishing a calculation region geometric model; 3, performing hydraulics analysis of a local flow field; 4, calculating an influence range and an influence factor; and 5, substituting into overall calculation for correction. According to the method, the defect that an existing reactor core flow field three-dimensional analysis program difficultly reflects a local flow field near the positioning grillwork can be overcome, and the accuracy of a result obtained through numerical calculation is improved; the successful establishment of the local flow field correction method can be suitable for various computational fluid mechanics analysis programs to carry out numerical simulation on various rod bundle / tube bundle channels containing similar structures under different working conditions to obtain a calculation result capable of reflecting a local flow field near a local structure; and the correction method is also suitable for similar working conditions of other similar equipment.
Owner:XI AN JIAOTONG UNIV

Chocolate containing microorganism resource of polydextrose and preparation method thereof

InactiveCN106135604AProblems Affecting FlavorOvercome the problem of spoilageCocoaFood ingredient functionsNutritive valuesDietary fiber
The invention discloses chocolate containing a microorganism resource of polydextrose and a preparation method thereof. Curdlan dry powder with the mass percentage being 0.4 percent to 0.6 percent or Curdlan prefabricated food gum (the mass percentage content of Curdlan is 10 percent to 15 percent) with the mass percentage being 4 percent to 6 percent is added into chocolate slurry. The chocolate slurry is subjected to mixing, fine grinding, refining and molding; then, the slurry in a mold disc is subjected to heating treatment, so that the inside temperature of the slurry reaches 85 to 95 percent; the temperature is maintained for 10 to 15 minutes; after the temperature is lowered, chocolate with thermostabilityis obtained. The obtained chocolate product has the advantages that the thermostability is fast formed within 5 to 30 minutes; the Curdlan can absorb water in the chocolate product; the problem of bad favor in the storage period is avoided; used as microorganism resource dietary fiber, the Curdlan can achieve an effect of enhancing the nutritive value of the chocolate product.
Owner:TAIXING DONGSHENG FOOD TECH

Rapid test and identification method for organic mixed liquid sample and application

The invention provides a rapid test and identification method for an organic mixed liquid sample. The rapid test and identification method comprises the following steps: (1) qualitative analysis: 1) infrared spectroscopy qualitative analysis; (2) carrying out qualitative analysis by using a gas chromatography-mass spectrometry method; (2) when the qualitative analysis result in the step (1) shows that the sample contains one or more of toluene, acetone and butanone, further quantitatively analyzing the contents of toluene, acetone and butanone, wherein when the qualitative analysis result in the step (1) shows that the sample does not contain any one of toluene, acetone and butanone, the step (2) does not need to be carried out. The method has the following beneficial effects: (1) the pretreatment conditions are simple and rapid, and complicated extraction, purification and other means are not needed; (2) the method has strong universality and is suitable for various organic mixed liquid samples; and (3) component identification of the organic mixed liquid sample can be rapidly realized, rapid customs clearance of enterprises is facilitated, and customs are served for law enforcement and customs control.
Owner:INSPECTION & QUARANTINE TECH CENT SHANDONG ENTRY EXIT INSPECTION & QUARANTINE BUREAU

Method for breeding special ornamental rape variety

The invention discloses a method for breeding a special ornamental rape variety. The method comprises the steps of utilizing a radish cytoplasmic sterile line of brassica napus as a female parent anda brassica juncea strain as a male parent, and carrying out hybridization to obtain filial generation, namely a special ornamental rape variety. The radish cytoplasmic sterile line of the brassica napus is utilized as a platform, and the special ornamental rape variety suitable for being planted in a scenic area is created through an interspecific hybridization method, so that the method is simpleto operate, short in breeding period, high in hybrid seed yield, high in purity and good in quality, and can ensure the consistency of the variety in production performance; the bred hybrid can maintain a tall rape plant, vigorous growth of a vegetative body, large and flat petals, lateral overlapping growth, multiple branches, a long flowering period and purplish red leaves in a seedling stage;and the special ornamental rape variety can be used for viewing, and is very suitable for the viewing requirements of the scenic area. The method is high in universality, can be generalized to breeding of other similar varieties, provides a reference method for cultivating more and better landscape or a rape variety required for agriculture and tourism combination in practice and has great significance.
Owner:湖南省作物研究所

Preparation method of calcium silicate hydrate nano-film

The invention discloses a preparation method of a calcium silicate hydrate nano-film, and particularly relates to a method for preparing the calcium silicate hydrate (C-S-H) nano-film through a magnetron sputtering method. The method comprises the steps that firstly, calcium silicate hydrate powder with a certain calcium-silicon ratio is calcined; secondly, the calcined powder is pressed into a target material through a steel die; thirdly, a film with a certain thickness is deposited on the substrate surface through a magnetron sputtering technology; and lastly, a film sample is put into a calcium hydroxide saturated aqueous solution to be soaked, and then the calcium silicate hydrate nano-film can be obtained. According to the preparation method of the calcium silicate hydrate nano-film,a foundation is laid for observation of the calcium silicate hydrate microtopography on the microscale and research on the aspects such as the mechanical property and the durability.
Owner:WUHAN UNIV

A method for calculating a steam humidity load distribution non-uniformity coefficient of a corrugated plate dryer assembly in a steam-water separation dryer system

The invention discloses a method for calculating a steam humidity load distribution non-uniformity coefficient of a corrugated plate dryer assembly in a steam-water separation dryer system. The methodcomprises the following steps: introducing computational fluid mechanics software into a grid model of the steam-water separation dryer system as a computational domain; determining the physical properties and boundary conditions of the continuous-phase steam, and calculating the turbulence flow of the continuous-phase steam by applying a Reynolds time-averaging method; iteratively solving a massconservation equation and a momentum conservation equation in each grid unit of the computational domain to obtain a steady-state flow field of the continuous-phase steam; determining a physical property, a boundary condition and a stress model of the discrete phase liquid drop; carrying out single-phase coupling calculation on the discrete-phase liquid drops and the continuous-phase steam on a steady-state flow field of the continuous-phase steam, and solving a position equation and a momentum conservation equation of the discrete-phase liquid drops; and calculating the humidity load non-uniformity coefficient of the continuous phase steam at each corrugated plate dryer unit inlet in the dryer assembly of the steam-water separation dryer system.
Owner:XI AN JIAOTONG UNIV

Minimum triggering angle running test method for high-voltage direct current power transmission converter valve

The invention provides a minimum triggering angle running test method for a high-voltage direct current power transmission converter valve. According to the method, switch-on voltage of a test sample valve Vt is flexibly selected by selecting a triggering moment of an auxiliary valve V1 during charging of a resonant capacitor C according to different engineering requirements, and is adjustable continuously; and therefore, the contradiction between low triggering voltage and high test voltage is solved, and the low triggering voltage and the high test voltage are not interfered with each other. The method is suitable for different test sample valves, and is high in generality.
Owner:CHINA ELECTRIC POWER RES INST +1

Three-dimensional target multi-viewpoint view modeling method based on support vector data description

The invention provides a three-dimensional target multi-viewpoint view modeling method based on support vector data description. The method comprises three steps of 1, obtaining a full gesture image of a test target; 2, extracting a target characteristic vector set {xi|i=1,2,ellipsis N} from the obtained full gesture image set; and 3, representing the distribution of the characteristic vectors extracted from the image in a characteristic space by a support vector data description (SVDD) method, and using the obtained few characteristic vectors with fully representativeness as the multi-viewpoint view modeling result of the target. Aiming at the problem that the single target view description cannot identify the target caused by difference of the target image under different viewpoints, the invention discloses the three-dimensional target multi-viewpoint view modeling method with less redundant information and capability of describing the full gesture characteristic vector of the target. The method provided by the invention has good practical value and wide application prospect in the field of pattern recognition.
Owner:BEIHANG UNIV

SVPWM harmonic suppression method applied to nine-phase open-end winding motor

The invention discloses an SVPWM harmonic suppression method applied to a nine-phase open-end winding motor. The method comprises the following steps of: reconstructing a vector point representation mode, and representing different vector points by using a level state instead of a switch state; dividing all the vector points into nine groups of vector point sets according to a distribution relation between a non-zero level and a zero level; selecting a vector point with the maximum amplitude from each group of vector point sets as nine groups of new optimal vector sets; classifying the nine groups of optimal vector sets into odd number item maximum amplitude subsets and even number item maximum amplitude subsets according to parity; according to the characteristics of the level combination corresponding to the vector points, selecting continuous vector points in the same sector to carry out harmonic plane projection vector analysis; and constructing a target function which enables the resultant vector not to contain third and fifth harmonic components, selecting a proper vector point and distributing action time. According to the SVPWM harmonic suppression method, the calculated amount is greatly simplified, the harmonic elimination effect is very remarkable, and the condition of level jump is avoided.
Owner:QINGDAO UNIV +1

A kind of breeding method of special ornamental rape varieties

The invention discloses a method for breeding rape varieties special for ornamental use. The cytoplasmic sterile line of cabbage-type rape radish is used as the female parent, and the rapeseed strain of mustard type is used as the male parent, and hybridization is carried out to obtain hybrid offspring, that is, the special ornamental rape variety is obtained. Varieties of rapeseed. The invention uses the cytoplasmic sterile line of Brassica napus radish as a platform to create a special ornamental rape variety suitable for planting in scenic spots through an interspecific hybridization method. The operation is simple, the breeding cycle is short, the seed production has high yield, high purity, and good quality To ensure the consistency of the varieties in production performance, the bred hybrids can keep the rapeseed plant tall and strong, the vegetative body grows vigorously, the petals are large and flat, side-folded, many branches, long flowering period, purple-red leaves at the seedling stage, It can also be used for viewing, which is very suitable for the viewing requirements of scenic spots. The method has strong versatility and can be extended to the breeding of other similar varieties. It is of great significance to provide a reference method for cultivating more and better landscapes or rapeseed varieties required for the combination of agriculture and tourism in practice.
Owner:湖南省作物研究所

Hybrid vehicle creep control method and device

ActiveCN104149785BCrawl control method is simpleThe method is versatileHybrid vehiclesPower batteryElectric machine
The invention provides a crawling control method for a hybrid electric vehicle. An engine of the hybrid electric vehicle provides power for a front axle through a transmission, a drive motor provides power for a rear axle, and a high-voltage power battery provides electric energy for the drive motor. The method includes the steps that whether the hybrid electric vehicle meets the following conditions that a gear shifting lever is in a reverse gear or a forward gear, the value of the vehicle speed is lower than a preset vehicle speed value, and an accelerator pedal is loosened or not is detected; when the hybrid electric vehicle meets all the conditions, whether the transmission is in a neutral position or not is detected; if the detection result shows that the transmission is in the neutral position, the drive motor is controlled to drive the hybrid electric vehicle, and the hybrid electric vehicle is in a crawling mode; if the detection result shows that the transmission is not in the neutral position, after the transmission is in the neutral position, the drive motor is controlled to drive the hybrid electric vehicle, and the hybrid electric vehicle is in the crawling mode. The invention further provides a crawling control device. The crawling control method is simple, easy to implement and high in universality.
Owner:GUANGZHOU AUTOMOBILE GROUP CO LTD

Method for Calculating Uneven Coefficient of Steam Humidity Load Distribution in Steam-Water Separation Dryer

The invention discloses a method for calculating a steam humidity load distribution non-uniformity coefficient of a corrugated plate dryer assembly in a steam-water separation dryer system. The methodcomprises the following steps: introducing computational fluid mechanics software into a grid model of the steam-water separation dryer system as a computational domain; determining the physical properties and boundary conditions of the continuous-phase steam, and calculating the turbulence flow of the continuous-phase steam by applying a Reynolds time-averaging method; iteratively solving a massconservation equation and a momentum conservation equation in each grid unit of the computational domain to obtain a steady-state flow field of the continuous-phase steam; determining a physical property, a boundary condition and a stress model of the discrete phase liquid drop; carrying out single-phase coupling calculation on the discrete-phase liquid drops and the continuous-phase steam on a steady-state flow field of the continuous-phase steam, and solving a position equation and a momentum conservation equation of the discrete-phase liquid drops; and calculating the humidity load non-uniformity coefficient of the continuous phase steam at each corrugated plate dryer unit inlet in the dryer assembly of the steam-water separation dryer system.
Owner:XI AN JIAOTONG UNIV

An automatic alignment method for multi-axis holes based on laser tracker

ActiveCN109093376BMake up for the shortcomings of absolute lack of exerciseStable and efficient assembly workMetal working apparatusEngineeringLaser tracker
The invention provides a multi-shaft-hole automatic aligning method based on a laser tracker, and belongs to the technical field of large part assembly control. The multi-shaft-hole automatic aligningmethod comprises the steps that firstly, a multi-shaft-hole automatic aligning system constituted by the laser tracker, a mechanical arm and a computer is set up, and a shaft part is mounted on the end face of the mechanical arm; a shaft part coordinate system and a perforated part coordinate system are built, and a rotation matrix and a translation vector between the two coordinate systems are obtained; four non-collinear reflecting target spheres are mounted on the shaft part, and the target positions corresponding to all the target spheres are calculated; and an initial jacobian matrix ofthe mechanical arm is obtained; movement of the mechanical arm is controlled in an iterating mode from the initial position, thus the shaft part gets close to the perforated part gradually, and when the four reflecting target spheres reach the target portions, the shaft part and the perforated part are aligned. Movement of the mechanical arm is controlled in a closed-loop mode through measuring data of the laser tracker, multi-shaft-hole high-precision automatic aligning can be achieved, and the assembly efficiency and robustness are improved.
Owner:TSINGHUA UNIV
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