Suspension centre automatic adjusting method of leveling spreader for spacecraft

Abstract

The invention discloses a suspension centre automatic adjusting method of a leveling spreader for a spacecraft; according to the method, measured values of a tension sensor and a dip angle sensor and intrinsic parameter of the spreader are used as input, displacements respectively in the X and the Y directions of an XY worktable are calculated by using different formulae, and then iteration is carried out repeatedly until the measured values of the sensors meet the levelness lifting requirement. Compared with the prior art, the accurate adjusting method disclosed by the invention solves the difficulty of fast and automatic leveling of the suspension center of the spreader in a two-dimensional plane, has advanced technical index, achieves digitization and automation of the adjusting process, improves suspension precision and suspension efficiency, reduces labor intensity of operators, can reach the levelness within the range of 5mm / m by only three times of adjustments, and has significant value in application.

Description

technical field [0001] The invention belongs to the technical field of hoisting of spacecraft, and in particular relates to a method for automatically adjusting the hoisting point of the hoisting tool that can adjust the level of the spacecraft based on the hoisting point adjustment. Background technique [0002] Spacecraft docking In the process of spacecraft assembly, the precise docking and disassembly assembly of the spacecraft are completed by hoisting, and the docking surface needs to be kept level during the docking and disassembly process. [0003] Because there is a certain difference between the actual center of mass position of the spacecraft and the theoretical center of mass position, the hoisting tilt will cause point contact on the docking surface of the spacecraft, damage the docking surface, and damage the positioning pin (or guide pin); at the same time, due to the difference between the actual center of mass position and the theoretical The deviation of th...

AI Technical Summary

Problems solved by technology

[0006] The object of the present invention is to provide a high-precision fast adjustment method for the suspension point of a horizontal adjustment spreader for a spacecraft based on the suspension point adjustment, aiming to automatically obtain the adjustment amount of the suspension point of the spreader through quantitative sensors, so as to realize the rapid adjustment of the spacecraft. Automatic two-dimensional level adjustment, using automatic adjustment methods to replace the problems of low hoisting efficiency and difficulty in ensuring docking quality caused by existing manual adjustments, and at the same time solve the problem of measuring and adapting the spreader to different quality characteristics of different spacecraft, and Solve the problem that the support of the support vehicle to the spacecraft limits interference when the spacecraft is not fully lifted

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