Six-DOF (six degrees of freedom) parallel posture adjustment platform for horizontal butted assembly of large heavy-load part

Abstract

The invention relates to a six-DOF (six degrees of freedom) parallel posture adjustment platform for horizontal butted assembly of a large heavy-load part. The six-DOF parallel posture adjustment platform comprises a frame unit and multiple three-driving leg units, wherein the frame unit comprises a frame, an anti-collision bar, a leg unit interface, a laser range finder, an inclinometer, a storage battery pack, a controller and a driver, each three-driving leg unit comprises a lifting module, a turning module and a moving module, the multiple three-driving leg units are symmetrically arrangedon the first side and the second side of the bottom surface of the frame, the frame unit moves along the X axis, the Y axis and the Z axis and rotates around the X axis, the Y axis and the Z axis through coordination control for the multiple three-driving leg units, and accordingly, omnidirectional movement and six-DOF posture adjustment of the frame unit can be realized. The six-DOF parallel posture adjustment platform for horizontal butted assembly of the large heavy-load part can adapt to various grounds and meet the demand of fully-automatic posture adjustment, no virtual leg is producedin a posture adjustment process, and the six-DOF parallel posture adjustment platform has the advantages of being high in load capacity and capable of crossing obstacles and moving in all directions.

Description

technical field [0001] The invention belongs to the technical field of intelligent docking assembly equipment for large heavy-duty parts, and in particular relates to a 6-degree-of-freedom parallel attitude adjustment platform for horizontal docking assembly of large heavy-duty parts. Background technique [0002] During the docking and assembly process of large heavy-duty parts such as the cabin section of the space capsule and the fuselage wing of a large aircraft, the pose of the parts needs to be adjusted. The process of posture adjustment is not only difficult to control but also extremely inefficient, requiring a lot of human resources. In view of the above problems, the general solution in the industry is to adjust the posture of these large heavy-duty components by using lifting fixtures or spreaders. The technical requirements are high, the labor intensity is high, the docking process is still time-consuming, and the installation of the crane also has certain requi...

AI Technical Summary

Problems solved by technology

The lifting platform of the transport vehicle has only vertical freedom of movement and no attitude adjustment capability, so it cannot be applied to rocket cabin attitude adjustment assembly; Chinese patent CN108608383A discloses an assembly that can be used for rocket cabin attitude adjustment with six degrees of freedom , transportation requirements, but this device does not have the ability to overcome obstacles, and can only rely on omni-directional wheels to avoid obstacles. When there is nowhere to hide, the ability to overcome obstacles is particularly important

The omnidirectional motion mechanical structure and the attitude adjustment mechanical structure of this patent are independent, resulting in the inability to integrate the motion system and the attitude adjustment system, and the mechanical structure and control system are too complicated

At present, there is still no effective solution that can meet the application requirements of "fast, efficient, highly reliable, digital, flexible, and automated assembly" for rocket cabin docking assembly, so it is necessary to adopt a new solution to meet these requirements

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