CN-121980677-A - Three-dimensional visual modeling method for enveloping space of docking mechanism

CN121980677ACN 121980677 ACN121980677 ACN 121980677ACN-121980677-A

Abstract

The invention discloses a three-dimensional visual modeling method of an envelope space of a docking mechanism, which comprises the steps of defining a characteristic coordinate system and a nominal position of the docking mechanism, obtaining an envelope space boundary condition of the docking mechanism, simplifying the geometric envelope of the docking mechanism and a connecting assembly thereof, establishing a virtual prototype standard envelope model of the docking mechanism, establishing a three-dimensional visual virtual prototype simulation model of the envelope space of the docking mechanism according to the virtual prototype standard envelope model and the envelope space boundary condition of the docking mechanism, and outputting the three-dimensional visual virtual prototype simulation model of the envelope space of the docking mechanism. The three-dimensional visual modeling method for the envelope space of the docking mechanism solves the problems that the description mode of the envelope space data of the docking mechanism is not visual and the visual modeling method for the envelope space of the docking mechanism is lacked in the prior art.

Inventors

LI NING
XIAO YUZHI
XU FENG
GUO JING
WANG SHUAIHU
LI JIAN
LI PENG
WANG MINGXIAO

Assignees

上海宇航系统工程研究所

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. A three-dimensional visual modeling method of a docking mechanism envelope space is characterized by comprising the following steps: defining a characteristic coordinate system and a nominal position type of the docking mechanism; Acquiring envelope space boundary conditions of a docking mechanism; Simplifying the geometric envelope of the docking mechanism and the connecting assembly thereof, and establishing a virtual prototype standard envelope model of the docking mechanism; Establishing a three-dimensional visual virtual prototype simulation model of the docking mechanism envelope space according to the standard envelope model of the virtual prototype of the docking mechanism and the boundary conditions of the envelope space; and outputting a three-dimensional visual virtual prototype simulation model of the docking mechanism envelope space.
2. The method for three-dimensional visual modeling of an envelope space of a docking mechanism according to claim 1, wherein the docking mechanism is a claw-type docking mechanism, the active end of the docking mechanism is fixedly connected to a cabin board of an aircraft a, and the passive end of the docking mechanism is fixedly connected to a cabin board of an aircraft B.
3. The method of three-dimensional visual modeling of an envelope space of a docking mechanism of claim 2, wherein the feature coordinate system of the docking mechanism comprises: The passive docking coordinate system { BD }, wherein the passive docking coordinate system { BD }, the origin O BD of the coordinate system { BD }, is positioned at the intersection point of the central axes of the locking rod components, the X BD axis is along the longitudinal axis direction of the passive docking mechanism end and points to the mounting surface of the passive docking mechanism end, the Z BD axis is along the central axis of the locking rod component No. 1 of the passive docking mechanism end and points to the opposite direction of the locking rod component No. 1, and the Y BD axis, the Z BD axis and the X BD axis form a right-hand rectangular coordinate system; The passive end is mechanically provided with a coordinate system { B }, the coordinate system { B } is fixedly connected to the passive end of the docking mechanism, an origin O B of the coordinate system { B } is positioned at the geometric center of the installation surface of the passive end of the docking mechanism, and the triaxial direction of the coordinate system { B } is consistent with the triaxial direction of the coordinate system { BD }; The active docking coordinate system { ZD }, wherein the active docking coordinate system { ZD } is fixedly connected to the active end of the docking mechanism, the origin O ZD of the coordinate system { ZD } is positioned on the central axis of the mounting surface of the active end of the docking mechanism, and the origin O ZD of the coordinate system { ZD } coincides with the origin O BD of the coordinate system { BD }, and the three-axis direction of the coordinate system { ZD } coincides with the three-axis direction of the coordinate system { BD }, when the active end of the docking mechanism and the passive end of the docking mechanism are in a docking completion state; The driving end is mechanically provided with a coordinate system { Z }, wherein the coordinate system { Z } is fixedly connected to the driving end of the docking mechanism, an origin O Z of the coordinate system { Z } is positioned at the geometric center of the mounting surface of the driving end of the docking mechanism, and the three-axis direction of the coordinate system { Z } is consistent with the three-axis direction of the coordinate system { ZD }; the pose of the active docking coordinate system relative to the passive docking coordinate system is used for accurately and quantitatively describing the space relative state relation between the active end and the passive end of the docking mechanism.
4. The method for three-dimensional visual modeling of a docking mechanism envelope space according to claim 3, wherein the nominal position type is a standard position type describing a spatial relative state relationship between an active end and a passive end of the docking mechanism, and the pose of the active docking coordinate system relative to the passive docking coordinate system is zero under the nominal position type.
5. The method of three-dimensional visual modeling of an envelope space of a docking mechanism of claim 1, wherein the envelope space boundary conditions of the docking mechanism comprise: The static envelope boundary condition comprises a translational static envelope boundary condition and a rotational static envelope boundary condition, wherein the translational static envelope boundary condition comprises a limit pose set of translational motion and rotation of an active end relative to a passive end in an opening state of the docking mechanism; dynamic envelope boundary condition, namely, a set of states with maximum deviation of the position and the posture of the driving end relative to the driven end in the process of capturing, correcting and locking the docking mechanism under different docking initial conditions.
6. The three-dimensional visual modeling method for the abutting mechanism enveloping space according to claim 5 is characterized in that static enveloping boundary conditions of the abutting mechanism are obtained by folding inward holding claws of the abutting mechanism by a certain angle to enable open spaces of all groups of open holding claws to be reduced to a constrained closed space, a constrained closed space abutting mechanism model is obtained, in the constrained closed space abutting mechanism model, the pose of a driving end is adjusted according to a preset rule, whether interference occurs between the driven end and the geometry of the constrained closed space corresponding to the driving end is judged, if interference does not occur between the driven end and the geometry of the constrained closed space corresponding to the driving end, the current pose is judged to be not a static enveloping boundary, static enveloping boundary checking is carried out sequentially, if interference occurs between the driven end and the geometry of the constrained closed space corresponding to the driving end, the current pose is judged to be a static enveloping boundary, the current pose is recorded, the static enveloping boundary checking of the next new direction is sequentially started, and the recorded pose is taken as the set of the static enveloping boundary conditions of the abutting mechanism.
7. The three-dimensional visual modeling method for the envelope space of the docking mechanism according to claim 5 is characterized by obtaining dynamic envelope boundary conditions of the docking mechanism by establishing a dynamic simulation model of the docking mechanism, designing typical simulation working conditions of the docking mechanism, developing docking dynamic simulation of the docking mechanism under each typical simulation working condition based on the dynamic simulation model of the docking mechanism, performing post-processing on docking dynamic simulation results of the docking mechanism under each typical simulation working condition, selecting a group of relative pose parameters from pose-time change curves of an active docking coordinate system relative to a passive docking coordinate system at intervals of 1s, and using the selected set of dynamic envelope boundary conditions under all typical simulation working conditions as the dynamic envelope boundary conditions of the docking mechanism.
8. A three-dimensional visual modeling method for a docking mechanism envelope space according to claim 3 is characterized by simplifying the geometric envelope of a docking mechanism and a connecting assembly thereof to establish a virtual prototype standard envelope model of the docking mechanism, and comprises deleting parts irrelevant to the static envelope of the docking mechanism, combining an active end and an aircraft A into an active end part, combining a passive end and an aircraft B into a passive end part to obtain a simplified three-dimensional model of the docking mechanism, importing the simplified three-dimensional model of the docking mechanism into virtual prototype simulation software to establish a virtual prototype simulation model of the docking mechanism, establishing an active docking coordinate system and an active end mechanical installation coordinate system in the active end part according to a characteristic coordinate system definition, establishing a passive docking coordinate system and a passive end mechanical installation coordinate system in the passive end part according to a nominal position type definition, adjusting the position and posture of the active end part, constructing a spatial relative position state between the active end and the passive end of the docking mechanism, and establishing a virtual prototype simulation model of the docking mechanism.
9. The three-dimensional visual modeling method for the envelope space of the docking mechanism according to claim 1 is characterized in that the three-dimensional visual virtual prototype simulation model of the envelope space of the docking mechanism is built according to a virtual prototype standard envelope model of the docking mechanism and envelope space boundary conditions, and comprises the steps of sequentially constructing the spatial relative position states of a driving end and a driven end of the docking mechanism according to pose parameters corresponding to the envelope space boundary conditions based on the virtual prototype standard envelope model of the docking mechanism by applying virtual prototype simulation software, superposing all geometric shapes of the driving end, and building the three-dimensional visual virtual prototype simulation model of the envelope space of the docking mechanism.
10. The method for three-dimensional visual modeling of a docking mechanism envelope space according to claim 1, wherein outputting the three-dimensional visual virtual prototype simulation model of the docking mechanism envelope space comprises exporting the three-dimensional visual virtual prototype simulation model of the docking mechanism envelope space into a three-dimensional geometric format file for output, wherein the types of the three-dimensional geometric format file comprise Wavefront @ of @ and @ .obj)、STEP( .stp; .step)、Shell( .shl)、Parasolid( .x_t)。

Description

Three-dimensional visual modeling method for enveloping space of docking mechanism Technical Field The invention belongs to the technical field of docking mechanisms, and particularly relates to a three-dimensional visual modeling method for an envelope space of a docking mechanism. Background The on-orbit service is carried out by firstly realizing the on-orbit capturing and docking of a service spacecraft (an active spacecraft) to a served spacecraft (a target spacecraft), and the docking mechanism is used as an important execution system for establishing rigid connection among the spacecraft in the on-orbit service and is key equipment for determining whether on-orbit service tasks can be successfully carried out. The passive end of the target spacecraft docking mechanism is gradually located in the effective capturing tolerance range of the active end of the active spacecraft docking mechanism through on-orbit maneuver of the active spacecraft relative to the target spacecraft, initial conditions are provided for capturing and docking among the spacecrafts, and the docking mechanism gradually completes capturing, correcting and locking processes of the active end to the passive end. The spacecraft thruster at the final stage of space docking is closed, and the implementation is 'just docking' without control power and relying on inertia, which lacks the ability to predict the emergency. During the capture and calibration of the docking mechanism, it must be ensured that no spatial interference occurs between the active spacecraft and the target spacecraft connected at both ends of the docking mechanism, and that a sufficient distance margin remains. In order to ensure the docking safety, it is important to analyze the envelope space of the docking mechanism. The envelope space of the docking mechanism is a quantitative description of capturing and correcting capabilities of the docking mechanism and is used for determining a possible docking position and gesture range between an active end (including an active spacecraft) and a passive end (including a target spacecraft) of the docking mechanism, and the envelope space covers any translational and rotational space in a docking initial condition envelope which can successfully complete docking and also covers any translational and rotational space in the whole docking process of capturing, correcting, locking and the like of the docking mechanism under the set docking initial condition. One boundary condition of the envelope space of the docking mechanism is a set of relative positions and attitudes between the active end and the passive end of the docking mechanism, and the set of the plurality of sets of attitude parameters forms the envelope space of the docking mechanism. The pose parameters of the enveloping space do not contain geometric information of the spacecraft, when the pose parameters of boundary conditions of the enveloping space of a plurality of groups of docking mechanisms are given, whether interference occurs between the active spacecraft and the target spacecraft cannot be intuitively judged, and the conventional verification method is that the active end of the docking mechanism and the active spacecraft are translated and rotated in sequence in three-dimensional model design software according to the given pose parameters of each group, interference conditions among the spacecraft are observed one by one, and the operation is complex and low-efficiency. Disclosure of Invention The invention solves the technical problems of overcoming the defects of the prior art, providing a three-dimensional visual modeling method of the envelope space of the docking mechanism, and aiming at solving the problems of the prior art that the data description mode of the envelope space of the docking mechanism is not intuitive and the visual modeling method of the envelope space of the docking mechanism is lacking. In order to solve the technical problems, the invention discloses a three-dimensional visual modeling method of a docking mechanism envelope space, which comprises the following steps: defining a characteristic coordinate system and a nominal position type of the docking mechanism; Acquiring envelope space boundary conditions of a docking mechanism; Simplifying the geometric envelope of the docking mechanism and the connecting assembly thereof, and establishing a virtual prototype standard envelope model of the docking mechanism; Establishing a three-dimensional visual virtual prototype simulation model of the docking mechanism envelope space according to the standard envelope model of the virtual prototype of the docking mechanism and the boundary conditions of the envelope space; and outputting a three-dimensional visual virtual prototype simulation model of the docking mechanism envelope space. In the three-dimensional visual modeling method of the enveloping space of the docking mechanism, the docking mechanism is a claw-type docking mec