Thirteen-degree-of-freedom active and passive compliance and pose adjustment docking platform and flexible docking method thereof

Abstract

The invention relates to a thirteen-degree-of-freedom active and passive compliance and pose adjustment docking platform. The thirteen-degree-of-freedom active and passive compliance and pose adjustment docking platform comprises a moving platform, an active pose adjustment platform, a passive compliance platform and a dynamic bearing platform. The moving platform is located on guide rails at thebottom. The active pose adjustment platform is located on the moving platform, a second platform machine frame on the active pose adjustment platform and the passive compliance platform are connectedin series, and a third platform machine frame on the passive compliance platform is connected with the dynamic bearing platform. V-shaped rolling wheels and ordinary flat wheels are arranged at the bottom of the moving platform. Both the active pose adjustment platform and the passive compliance platform are six-degree-of-freedom parallel mechanisms. The active pose adjustment platform achieves active adjustment of the six-degree-of-freedom position pose of the second machine frame through electric push rods. Springs and a sensor are arranged on each supporting leg of the passive compliance platform, and compliance movement and micro-motion detection of the docking process are achieved. The dynamic bearing platform can fix a bearing compartment section. The thirteen-degree-of-freedom active and passive compliance and pose adjustment docking platform and a flexible docking method of the thirteen-degree-of-freedom active and passive compliance and pose adjustment docking platform have the advantages of being high in detection accuracy, high in docking efficiency, fine to control, high in degree of intelligence and quick in internal stress control response.

Description

technical field [0001] The invention relates to the field of aviation technology, in particular to a thirteen-degree-of-freedom active and passive compliant docking platform and a flexible docking method. Background technique [0002] With the development of aerospace and military industries, the demand for tooling for rockets, missiles and other cabin sections continues to increase. However, due to the large size and weight of these equipments, the precision of the tooling is high, and large internal stress is not allowed, which makes the docking operation of the cabin very difficult during the tooling process. At present, although the traditional method of manual assembly with the help of spreaders can effectively reduce the internal stress of assembly, it is inefficient and labor-intensive, and cannot guarantee the uniformity of batch assembly performance. More advanced docking methods generally use two types of compliance mechanisms, active compliance and passive compli...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the large internal stress in the docking of existing cabins, the docking efficiency is low, the detection accuracy is low, the process of docking attitude adjustment is vague, and the positioning operation is complicated

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