An automatic plug-in device and calibration method for six-degree-of-freedom adaptive pose adjustment

Abstract

The invention relates to the technical field of automatic plugging and unplugging of connectors, and aims to solve the problems of complex wind tunnel working conditions, high automation and reliability requirements for plugging devices, and inability to accurately dock two docking substrates when the initial position deviation is large. An automatic plug-in device and a calibration method for six-degree-of-freedom self-adaptive pose adjustment are provided. The automatic plug-in device includes a drive mechanism for driving a supply-side base, a docking male plate connected to the end of the supply-side base, and The docking motherboard is docked with the male board; the end of the base of the supply end is provided with a cavity, and one end of the docking male board is connected to the cavity; the base of the supply end is provided with a calibration device, and one end of the calibration device can pass through the supply end The end of the base enters the cavity, so that the position of the docking male plate can change relative to the end of the base at the supply end, and it can be positioned; The pose error can be adaptively adjusted, and the mechanism control is simple.

Description

technical field [0001] The invention relates to the technical field of automatic plugging and unplugging of connectors, in particular to an automatic plugging device and a calibration method for six-degree-of-freedom adaptive pose adjustment. Background technique [0002] A wind tunnel is a pipe-shaped test device that produces a controllable and uniform airflow. It is a ground simulation device for studying the law of air flow and the aerodynamic characteristics of aerospace vehicles and other objects. The test model of a large-scale wind tunnel is installed on a support mechanism called a model car. During the operation of the wind tunnel, the model car will run on each assembly, adjustment and test station, and the model car transfer crane can be used to transfer the model car to each work station. transfer between bits. During the operation and transfer of model cars at various stations, in order to ensure that all equipment on the model car is always in a safe and cont...

AI Technical Summary

Problems solved by technology

[0008] The present invention aims to provide a six-degree-of-freedom automatic plug-in device and a calibration method for self-adaptive pose adjustment in response to the high requirements for the performance of the plug-in device in a large-scale wind tunnel with complex operating conditions and a special operating environment , to solve the complex structure of the existing plug-in device, which requires many channels for docking connectors, and requires high automation and reliability; when the initial position deviation of the two docking substrates is large, the precise docking cannot be completed; if rigid plugging is used, the plugging After the completion, the relative displacement of the two docking substrates due to external force is easy to damage the connector, and the reliable connection of the connector cannot be guaranteed.

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