HCPS-based theodolite-type satellite-borne laser coarse pointing mechanism man-machine interaction assembly quality detection methodTechnical Field
The application relates to the technical field of quality detection, in particular to a human-computer interaction assembly quality detection method of a theodolite-type satellite-borne laser rough pointing mechanism based on HCPS.
Background
Satellites are an important device for space exploration. The increase in human space activity places greater demands on the transmission of information for inter-satellite communications. The satellite-borne laser communication gradually replaces the traditional microwave communication due to the advantages of large data capacity, long transmission distance, strong anti-interference capability and the like. On-board LCTs rely primarily on CPM to maintain high pointing accuracy of laser beam capture, tracking, and pointing (ATP). The large tracking field of view and low tracking bandwidth of CPM ensures that the laser beam enters the active communication area and establishes an optical communication link using a Focal Plane Array (FPA). Where LCT stands for laser communication terminal, is an important component of a satellite communication network, where laser pointing accuracy is critical to ensure high quality communication. CPM represents a coarse pointing mechanism, a key mechanical component in LCTs for maintaining laser pointing accuracy. In the satellite motion process, the posture of the CPM must be adjusted in real time and the high rotation stability of the CPM must be maintained, so as to ensure the LCT communication stability in the satellite motion process.
The quality of CPM assembly has been gaining attention in academia and industry. The assembly process of CPM relies largely on manual labor due to current automation level limitations. This results in many detection steps requiring manual measurement lacking standardized procedures, particularly shaft wobble problems during assembly. Although some studies mention a significant impact of assembly on CPM pointing accuracy, no effective solution has been proposed. In order to solve the information sharing and feedback challenges in highly customized CPM human-computer interaction assembly and to improve the level of intelligence and success rate of the assembly process, HCPS-based human-computer collaboration methods are considered to be a promising solution, but HCPS-based human-computer interaction assembly methods still lack assembly specifications. The main reason for this is that CPM is a typical small-lot, customized satellite-borne product that varies in weight and structure. Thus, designers and fitters often spend a great deal of time communicating with each other, resulting in lower fitting efficiency and success rate.
As shown in fig. 1, theodolite CPM is mainly composed of a shafting, a locking/releasing device, and some structural components (including a U-shaped frame, etc.). In addition, the CPM is equipped with functional components such as telescope and kude optical system. The shafting consists of a pitching axis and an azimuth axis which are mutually perpendicular. The motor rotates the shaft through the angular contact ball bearing, thereby controlling the laser direction.
The rotational accuracy of the shaft directly affects the pointing accuracy of the laser. The rotation error of the shafting can be decomposed into three independent components, namely an axial displacement error, a radial swing error and an angular motion error. Since the laser pointing is mainly controlled by the rotation of the turntable, the influence of the axial displacement error and the axial swing error on the angle is negligible. Therefore, in CPM human-computer interaction assembly, quality detection is mainly focused on the detection of angular motion errors, also called axis wobble.
Technological advances have driven industry to shift from manual to automated manufacturing while increasing the level of intelligence in the system. So far, industry emphasis has been on converting experience-based operations into standardized procedures that can be performed by machines, thereby improving the robustness of the system. Numerous studies and practices aim to optimize the exploitation of human knowledge and skills while reducing reliance on human operators. However, due to cost considerations and technical limitations, the production of small batches of mechanical products still requires human assistance. Accordingly, there has been an increasing discussion in recent years about the role of humans in smart manufacturing. In our view, humans continue to play a vital role in industrial production for the following reasons:
1. The ability to formulate an integrated solution, whether to build new production lines, manufacture new products, upgrade production equipment, or adjust processes, must be systematically considered before the project can be implemented. Currently, human engineers' experience and knowledge are not interchangeable in making integrated solutions. In other words, humans remain the leader and creator in HCPS.
2. The ability to handle anomalies and make decisions-mechanical devices and systems do not always operate as expected to be stable. When a deviation from a preset condition or an abnormal situation occurs, it is necessary for a human to find out the cause and determine an appropriate countermeasure. While Artificial Intelligence (AI) can assist in data-driven reasoning and assist in decision-making, its ability to handle accidents is still limited. Thus, most manufacturing systems are designed to allow human decision makers to intervene and make final decisions.
3. The ability to operate and perform, while machines may alleviate human labor and perform repetitive tasks, they may not be suitable for certain scenarios, such as small lot or custom production. The operation and execution of humans is still of great importance in the manufacturing process. The data measured and collected by the human operator is an important input to the manufacturing system.
Disclosure of Invention
The application aims to provide a HCPS-based coarse pointing mechanism man-machine interaction assembly quality detection method, which is used for providing a HCPS-based theodolite-type satellite-borne laser man-machine interaction assembly quality detection framework through the mutual connection and interaction among human space, information space and physical space in a CPM assembly scene.
In order to achieve the above purpose, the following technical scheme is adopted:
A human-computer interaction assembly quality detection method of a theodolite-type satellite-borne laser coarse pointing mechanism based on HCPS (host computer system), which comprises the following steps:
In the design stage, generating a design scheme based on design requirements, wherein the design requirements are determined according to constraint of set indexes, and the generated design scheme and design resources are stored in an information space, and the design resources comprise a design manual and a design standard file;
In the manufacturing stage, the similarity of production tasks and the skill level of manufacturing personnel are evaluated, so that the tasks are matched with corresponding skills through strategy transfer, the AI technology is combined, diversified interaction modes are adopted, feedback of the manufacturing personnel is continuously collected, a self-adaptive strategy of man-machine interaction is implemented, and incremental learning based on event or historical data is automatically carried out through a man-machine cooperation system, so that the system adaptability is improved;
In the assembly stage, when the coarse pointing mechanism of the equipment in the physical space is utilized for assembly, based on the support of the information space, checking the quality of all components before assembly so as to enable all the components to meet the design requirements, and under the condition that all the components are in place, carrying out assembly operation manually according to the assembly standard or by means of an assembly tool;
in the detection stage, the assembly quality of the man-machine interaction of the coarse pointing mechanism requires an assembly personnel to set a test workstation to counteract the gravity influence of the mechanical structure, measure a plurality of parameters, determine the assembly quality according to the corresponding detection principle, and the obtained measurement data are input and stored in an assembly quality test plug-in, wherein a quality evaluation standard is built in the assembly quality test plug-in.
Preferably, in the above-mentioned HCPS-based theodolite-type satellite-borne laser coarse pointing mechanism man-machine interaction assembly quality detection method, the constraints of the set index include constraints of total weight, platform torque and pointing accuracy.
Preferably, in the above-mentioned HCPS-based man-machine interaction assembly quality detection method for the theodolite-based satellite-borne laser coarse pointing mechanism, in the manufacturing stage, in each manufacturer, a manufacturer operates equipment by sending out instructions, the equipment also directly retrieves the instructions from different information systems and displays the retrieved instructions to the manufacturer, wherein the different information systems comprise a product life cycle management system and a manufacturing execution system.
Preferably, in the above-mentioned HCPS-based theodolite-type satellite-borne laser coarse pointing mechanism man-machine interaction assembly quality detection method, the process parameters are comprehensively and detailed recorded in the manufacturing stage.
Preferably, in the above-mentioned HCPS-based theodolite-type satellite-borne laser coarse pointing mechanism man-machine interaction assembly quality detection method, two assembly quality control points are set in the assembly stage, and are respectively used for controlling redundant materials in the process and controlling the precision of the large-sized thin-wall angular contact ball bearing.
Preferably, in the above-mentioned HCPS-based man-machine interaction assembly quality detection method for a theodolite-based satellite-borne laser coarse pointing mechanism, for control of redundant materials in the process, the assembly process is performed in a thousand-level dust-free workshop, related parts are cleaned and inspected, screw parts are preassembled for multiple times to ensure no burrs, a microscope is used for cleaning redundant parts of a bearing, a cleaning oven is used for packaging and protecting the preheated bearing, and all fastening screws are cleaned and inspected before and after dispensing to ensure no redundant glue.
Preferably, in the above-mentioned HCPS-based theodolite-type satellite-borne laser coarse pointing mechanism man-machine interaction assembly quality detection method, the precision control of the large-scale thin-wall angular contact ball bearing is performed, and the deformation, pitching axis and azimuth axis of the relevant components are appropriately repaired so as to avoid the thin wall.
Preferably, in the above-mentioned HCPS-based theodolite-type satellite-borne laser coarse pointing mechanism man-machine interaction assembly quality detection method, in the detection stage, it is determined that shafting swing of the coarse pointing mechanism meets the pointing precision requirement by the following method:
The optical component of the coarse pointing mechanism rotates one circle in the front direction and the back direction respectively so as to check whether the laser pointing has obvious change;
during actual measurement, the light offset will be recorded every 15 °.
The beneficial effects of the application are as follows:
According to the application, the theodolite type satellite-borne laser CPM man-machine interaction assembly frame based on HCPS is constructed, and data, information, states and standards from different stages and spaces are updated continuously through interaction, so that the assembly quality of CPM man-machine interaction is ensured in the frame. Moreover, elements in the HCPS-based theodolite-type satellite-borne laser CPM man-machine interaction assembly frame are relatively universal, and can be properly modified to match different industrial scenes and targets. Regardless of how the framework changes, a suitable interaction mechanism is the basis for smooth and efficient operation of the system.
Drawings
FIG. 1 is a diagram of a theodolite CPM structure according to the prior art;
FIG. 2 is a schematic diagram of a CPM design, manufacturing, assembly, and inspection stage human-computer interaction process provided by an embodiment of the present application;
FIG. 3 is a visual illustration of test results provided by an embodiment of the present application.
Detailed Description
Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
The following describes in further detail the embodiments of the present application with reference to the drawings and examples.
Laser Communication Terminals (LCTs) are an important component of satellite communication networks, where laser pointing accuracy is critical to ensure high quality communications. Coarse Pointing Mechanisms (CPMs) are key mechanical components in LCTs for maintaining laser pointing accuracy. During satellite motion, the attitude of the CPM must be adjusted in real time and maintained at high rotational stability, depending primarily on the bearing system. Based on the above, the embodiment of the application provides a human-computer interaction assembly quality detection method of a theodolite-type satellite-borne laser rough pointing mechanism based on HCPS, which can be realized by constructing a human-computer interaction assembly quality detection frame of the theodolite-type satellite-borne laser rough pointing mechanism based on HCPS. In particular, the function and structure of the CPM of this method determines that its bearings must be able to withstand radial and axial loads, and angular contact bearings are therefore commonly used. Compared with other types of bearings such as deep groove ball bearings, the angular contact bearing has smaller clearance, so that the shafting can be fixed in position, and higher rotation precision is achieved. The theodolite type satellite-borne laser CPM man-machine interaction assembly quality detection framework based on HCPS consists of four stages (figure 2).
First, the design phase.
The design of complex mechanical devices stems from customer requirements. For CPM, customers typically have a rich professional background that eliminates the challenges of explicitly representing implicit and exploring ambiguous demands that are often faced in normal machine designs. The design requirements of CPM are generally well defined and constrained by specific criteria such as overall weight, platform torque and pointing accuracy. These design requirements are then translated into specific functional requirements. For example, to meet the platform torque requirements, it is necessary to design or find a motor with high torque capability while also meeting the weight constraints. However, high torque motors tend to have lower control accuracy, and therefore require integration of Fine Pointing Mechanisms (FPMs) with the CPM. In addition to meeting functional requirements, the structural design of CPM must also take into account specific application scenarios. One basic approach is to use a minimum of structural units to meet the requirements of a minimum of functional units. The need-function-structure decoupling process in complex mechanical product designs is a collaborative and iterative process involving continuous partitioning and refinement, which has been largely studied, but beyond the working scope of this document, a detailed discussion will not be provided herein.
In general, the higher the degree of customization of a mechanical product, the greater the reliance on human participation. In the context of CPM designs, the knowledge and expertise of the designer and the preliminary verification performed constitute key design resources. These human driven processes belong to the human space in HCPS. In addition, design resources include design manuals, design criteria, and the like, which are references, typically provided in physical or electronic documents, that belong to the information space. Also, the design solutions generated by the design phase exist only in the information space, as they have not been converted to physical entities. A comprehensive and accurate design is a major guideline for the subsequent fabrication and assembly of CPM assemblies. The advantage of this approach is that a consensus is established between multiple design teams of different discipline areas and organizations. It helps to reduce communication and understanding disturbances due to term ambiguity and standard inconsistencies, thereby improving design efficiency and accuracy.
Second, the manufacturing stage.
Component fabrication of complex products is typically accomplished through a discrete manufacturer collaboration. This approach is driven by the significant differences between the different components of the complex product and the consideration of supply chain stability, with the aim of better controlling project schedule and production costs. Critical components of CPM, such as lock/release devices, U-brackets and bearings, are also produced by means of co-manufacture. Component manufacturing requires cooperation between the manufacturer and the manufacturing equipment, particularly for customizing the component, personnel skills are critical for equipment tuning and debugging. Thus, the skill level of the manufacturer has a significant impact on manufacturing quality and efficiency. To solve this problem and to improve the quality of human-machine collaboration, improvements can be made in three ways:
1) The similarity of production tasks and skill levels of manufacturing personnel are evaluated to effectively match tasks with corresponding skills through policy transfer.
2) In combination with AI technology and with a more varied interaction pattern. For example, human-computer interaction can be simplified by using a voice-based method, but this requires deep integration of techniques such as natural language processing and edge computation. In environments where noise levels are high and voice interactions are inconvenient, simpler, user-friendly human-machine interfaces can be used, which require a profound understanding of human operating habits.
3) And continuously collecting feedback of the manufacturing personnel and implementing a man-machine interaction self-adaptive strategy. This enables the human-computer collaboration system to autonomously perform incremental learning based on event or historical data, thereby improving system adaptability. In addition, practical suggestions can be provided for the design stage, so that the design scheme is ensured to conform to the equipment performance and human habit.
Inside each manufacturer, the manufacturer operates the device by issuing instructions. Highly automated and intelligent devices also retrieve instructions directly from different information systems, such as Product Lifecycle Management (PLM) and Manufacturing Execution Systems (MES), and display them to manufacturing personnel. In this process, the interrelation of human space, information space, and physical space facilitates the collaborative completion of component manufacturing tasks. For quality traceability purposes, the process parameters are recorded in full detail.
Third, the assembly phase.
The assembly process of CPM requires coordination between different personnel. Similar to the production phase, CPM assembly in physical space still requires support of human and information space. Humans are responsible for checking the quality of all components before assembly, ensuring that they meet design requirements. Humans also need to determine if a component is complete in case of a component missing. Once all components are confirmed in place, the assembly operation is performed manually or by means of an assembly tool according to the assembly standard.
Fourth, detection phase.
There are several aspects that affect the assembly quality of CPM, and this embodiment focuses mainly on the assembly of angular contact bearings. As previously mentioned, the assembly quality of CPM bearings requires that the assembler set up a test workstation to counter the gravitational effects of the mechanical structure. It is necessary to measure a plurality of parameters and to determine the quality of the assembly on the basis of corresponding detection principles. Auxiliary tools such as a photoelectric collimator and a plane reflector are used in the assembly process, and all measuring tools need to be positioned correctly. The obtained measurement data is entered and stored in an assembly quality test insert, which has built-in a number of quality assessment criteria. Thus, in most cases, the system can automatically assist the inspector in determining whether the bearing assembly meets regulatory requirements.
The operation mechanism of the theodolite type spaceborne laser CPM human-computer interaction assembly quality detection framework based on HCPS is mainly embodied in cross-stage and cross-space interaction among three spaces, namely human space, information space and physical space. Fig. 2 shows the main interaction lines, with the numbers indicating their starting and ending points. It should be noted that the interaction lines in the figures represent only key interactions, not all interactions. In fact, interactions between three spaces are ubiquitous and difficult to describe with only "lines". Attempting to depict all interactions results in an extremely complex "network". Interactions occur spontaneously and are difficult to predetermine and comprehensively categorize. However, the interaction lines depicted in fig. 2 constitute the main skeleton of the network during CPM human-computer interaction design, manufacturing, assembly and quality inspection. The meanings represented by the interaction lines are listed in Table 1.
TABLE 1 Interactive line meaning
The data, information and status and criteria from the different phases and spaces are updated constantly by interaction in order to ensure the quality of the assembly of the CPM human-computer interaction within the HCPS framework. However, the elements in the HCPS-based framework discussed in this embodiment are relatively generic and may be suitably modified to match different industrial scenarios and goals. Regardless of how the framework changes, a suitable interaction mechanism is the basis for smooth and efficient operation of the system.
The proposed HCPS-based man-machine interaction assembly detection method is applied to one theodolite type CPM. The effectiveness of the proposed method is verified through the detection process of CPM shafting swing. This process is mainly divided into three steps. Firstly, dividing responsibility of each party in the assembly process from the angle of HCPS, then, assembling a bearing, finally, measuring quality parameters of assembled CPM, and calculating whether shafting swing meets design requirements or not. The specific implementation steps are as follows:
Step 1, the assembly of theodolite-type CPM requires multiparty collaboration. Before assembly begins, the responsibilities of the different parties need to be clarified. The main responsibilities are listed in Table 2 after multiple rounds of iterative discussion among the designer, manufacturer, assembler and inspector.
TABLE 2 roles and responsibilities of people
And 2, starting the assembly process. In order to ensure the pointing precision of CPM, two main assembly quality control points exist in the assembly process of the bearing, namely a) the control of redundant materials in the process, and b) the precision control of the large thin-wall angular contact ball bearing.
For the control of excess material, the assembly process is carried out in a thousand-level dust-free workshop. The relevant parts were cleaned and inspected and the threaded parts preassembled 3 times to ensure no burrs. And cleaning redundant parts of the bearing by using a microscope, packaging by using a cleaning oven, and protecting the preheated bearing. All the fastening screws are cleaned and inspected before and after dispensing to ensure that no excess glue is present. And for the precision control of the assembly of the large thin-wall angular contact ball bearing, the deformation, the pitching axis and the azimuth axis of related parts such as the outer pressing plate are properly repaired so as to avoid the thin-wall deformation.
Step 3, in order to determine whether the shafting swing of the CPM meets the pointing accuracy requirement, some quality parameters need to be measured and calculated. The optics of CPM need to be rotated one revolution in both the forward and reverse directions to check if there is a significant change in the laser pointing direction. During actual measurement, the inspector will record the light offset every 15 °. Furthermore, to ensure the validity of the measurement, the test will be repeated once. Fig. 3 visualizes the measurement results of the once CPM man-machine interaction assembly quality check. And according to the result obtained by automatic calculation of the plug-in, the quality inspection shows that the assembly quality meets the requirement.
The assembly of small batches of customized mechanical products has been a hot topic in both academia and industry. As mechanical product structures become increasingly complex, more and more responsible parties participate throughout the life cycle of their design, production, assembly and operation. For a satellite-borne LCT, the assembly accuracy of CPM will seriously affect the pointing accuracy of the laser communication system. Due to cost and state-of-the-art limitations, the assembly process of CPM still relies heavily on humans to formulate assembly plans, perform assembly operations, and check assembly quality. In order to fully develop the potential of human beings in terms of intelligence and labor resources, the embodiment provides a human-computer interaction assembly quality detection framework based on HCPS. The method is applied to a theodolite CPM, and the result shows that the method is very in line with the habit of human beings, the probability of assembly errors is greatly reduced, and the pointing precision can be well ensured.
The above embodiments are only for illustrating the present application, not for limiting the present application, and various changes and modifications may be made by one of ordinary skill in the relevant art without departing from the spirit and scope of the present application, and therefore, all equivalent technical solutions are also within the scope of the present application, and the scope of the present application is defined by the claims.