Six-degree-of-freedom hybrid assembly docking device

Abstract

The present application belongs to the technical field of cabin segment assembly docking, and particularly relates to a six-degree-of-freedom hybrid assembly docking device, which comprises, from top to bottom, a rotation mechanism, a Y-direction driving and rotating assembly, a parallel four-bar adjusting mechanism and an assembly docking track vehicle; the rotation mechanism is the end effector of the whole docking device, and is used for realizing self-rotation positioning of the cabin segment; the Y-direction driving and rotating assembly is used for driving the rotation mechanism to perform rotation movement around the Z axis and linear movement along the Y axis; the parallel four-bar adjusting mechanism is used for realizing linear movement of the cabin segment along the Z axis and rotation around the Y axis; and the assembly docking track vehicle is used for moving the assembly docking device along a predetermined track to a specified position. The present application can realize automatic pose adjustment of six degrees of freedom during cabin segment assembly docking, can better satisfy assembly docking work of cabin segment type components, can improve assembly efficiency, can replace traditional manual assembly, and can greatly improve assembly docking efficiency.

Description

Technical Field

[0001] This invention belongs to the field of module assembly and docking technology, specifically relating to a six-degree-of-freedom hybrid assembly and docking device. Background Technology

[0002] Modular assembly and docking are widely used in critical fields such as aerospace and defense. Currently, domestic docking assembly typically involves fixing the target module to a docking platform, while the follow-up modules are fixed to a docking trolley. The docking trolley is then moved along a track to the module docking position. Workers manually adjust the position and attitude of the modules to complete the docking. This process demands a high level of skill from the workers, poses significant safety hazards, and suffers from long assembly times, low efficiency, low automation, and is unsuitable for mass production. Furthermore, the low level of automation in the docking process leads to poor product consistency and unstable product quality, among other problems that urgently need to be addressed.

[0003] With the development of manufacturing and the progress of science, traditional semi-mechanical and semi-automated assembly methods can no longer meet the requirements of modern industrial production.

[0004] To address the aforementioned issues, a six-degree-of-freedom hybrid assembly and docking device needs to be designed to solve the problems raised in the background technology. Summary of the Invention

[0005] The purpose of this invention is to provide a six-degree-of-freedom hybrid assembly and docking device, which can achieve automatic attitude adjustment of six degrees of freedom during the assembly and docking process of compartments, and can better meet the assembly and docking work of compartment-type components, thereby solving the technical problems in the background art.

[0006] To achieve the above objectives, the present invention adopts the following specific technical solution: a six-degree-of-freedom hybrid assembly and docking device, comprising a rotation mechanism, a Y-axis drive and rotation component, a parallel four-bar adjustment mechanism, and an assembly and docking railcar connected sequentially from top to bottom;

[0007] The rotation mechanism is located at the top of the docking device, and its lower end is connected to the Y-axis drive and rotation component. The rotation mechanism is the end actuator of the entire docking device and is used to realize the rotation and positioning of the compartment.

[0008] The upper end of the Y-axis drive and rotation assembly is connected to the rotation mechanism, and its lower end is mounted on the parallel four-bar linkage adjustment mechanism; the Y-axis drive and rotation assembly is used to drive the rotation mechanism to perform rotational motion around the Z-axis and linear motion along the Y-axis.

[0009] The parallel four-bar adjustment mechanism is located at the lower end of the Y-axis drive and rotation assembly, and is used to realize the linear movement of the compartment along the Z-axis and the rotation around the Y-axis.

[0010] The assembly and docking track vehicle is located at the bottom of the device and is used to move the assembly and docking device to a designated position along a predetermined track.

[0011] Preferably, the rotation mechanism includes a covering structure, a retaining ring bracket, and a rotation transmission structure;

[0012] The covering structure serves as a support structure for the rotation mechanism and is located at the lower part of the rotation mechanism.

[0013] The lower part of the self-rotating transmission structure is connected to the covering structure, and the top part is connected to the retaining ring bracket; the self-rotating transmission structure drives the retaining ring bracket to rotate.

[0014] The retaining ring bracket is a retaining ring structure composed of two semi-circular structures, and the compartment to be assembled can be snapped into the retaining ring bracket.

[0015] Preferably, the self-rotating transmission structure includes an arc track guide, a rolling resistance base plate, a drive motor, a motor mounting bracket, a rolling resistance connector, a first lead screw and nut pair, a rack, an external gear bracket support, and a bracket fixing component;

[0016] The rolling resistance base plate is installed on the inner bottom of the covering structure. Two motor mounting brackets are symmetrically fixed at both ends of the upper surface of the rolling resistance base plate. A first lead screw and nut pair is rotatably connected between the two motor mounting brackets. A rolling resistance connector is threaded onto the first lead screw and nut pair. The lower surface of the rolling resistance connector is slidably connected to the rolling resistance base plate. A rack is fixedly connected to the top of the rolling resistance connector.

[0017] The drive motor is fixed on a motor mounting bracket, and the output end of the drive motor is connected to one end of the first lead screw and nut pair;

[0018] The circular arc track guide is symmetrically installed on both sides of the inside of the covering structure; the corresponding external gear bracket support is a circular arc structure, with circular arc movable slide rails on both sides that cooperate with the circular arc track guide; and a gear tooth structure that meshes with the rack is provided at its bottom.

[0019] The bracket fixing component is fixed to the upper part of the external gear bracket support component, and the retaining ring bracket is fixed to the upper part of the bracket fixing component.

[0020] Preferably, the Y-axis drive and rotation assembly includes a second lead screw and nut pair, a Y-axis drive guide rail slider, a second motor fixing frame, a second drive motor, a rotating hollow platform, a process ball head support, a Y-axis drive base plate, a third drive motor, and a rotating connection platform;

[0021] Two second lead screw nut pairs are placed parallel to each other along the Y direction. Each end of each second lead screw nut pair is provided with a second motor mounting bracket. The second lead screw nut pairs are mounted on the Y-direction drive base plate through the second motor mounting brackets.

[0022] There are two second drive motors, each located at one end of a second lead screw nut pair; the second drive motors are mounted on a second motor mounting bracket.

[0023] The Y-axis drive guide slider has two transmission threads inside that mate with the second lead screw nut pair. The Y-axis drive guide slider is mounted on the two second lead screw nut pairs. The second drive motor drives the second lead screw nut pairs to rotate, thereby driving the Y-axis drive guide slider to move along the Y-axis.

[0024] The upper surface of the Y-axis drive guide slider is provided with a rotating hollow platform and a third drive motor; a rotating connecting platform is connected above the rotating hollow platform, and the rotating hollow platform is driven by the third drive motor to rotate the rotating connecting platform; the upper part of the rotating connecting platform is fixedly connected to the rotation mechanism.

[0025] The process ball head support has four parts, which are respectively installed at the four corners of the Y-direction drive base plate.

[0026] Preferably, a bearing is provided at the axial center of the rotating hollow platform, and the rotating connecting platform is supported by the rotation of the bearing. The rotating hollow platform is also provided with a worm gear reduction transmission gear inside, which drives the rotating connecting platform to rotate under the drive of the third drive motor.

[0027] Preferably, the parallel four-bar adjustment mechanism includes a fixed guide column, a guide limit block, a center of mass weighing platform, a piston telescopic device, a piston drive support structure, a piston sliding block, and a piston sliding guide rail;

[0028] The fixed guide pillars are four in number and are respectively fixed to the four corners of the upper surface of the assembly docking railcar;

[0029] The guide limit blocks are four in number and are fixedly installed at the four corners of the center of mass weighing platform. At the same time, the guide limit blocks are fitted onto the fixed guide posts, so that the parallel four-bar adjustment mechanism can move up and down along the fixed guide posts.

[0030] The piston drive support structure is fixed on the center of mass weighing platform. The piston drive support structure is provided with the piston sliding guide rail inside. The piston sliding block is slidably connected to the piston sliding guide rail.

[0031] There are four piston sliding blocks, and correspondingly four piston telescopic devices that provide power. The piston telescopic device is fixed on the center of mass weighing platform. The telescopic end of the piston telescopic device is connected to the lower end of the piston sliding block and drives the piston sliding block to move up and down along the piston sliding guide rail. The upper end of the piston sliding block is connected to the Y-axis drive and rotation assembly.

[0032] Preferably, the assembly includes the inner rail wheels of the railcar, the transmission helical gear drive, the transmission shaft, the railcar body, and the lifting mechanism.

[0033] The inner rail wheels are fixed at both ends of the drive shaft, which is rotatably mounted under the railcar body.

[0034] The transmission helical gear drive consists of a pair of meshing helical gears and is driven by a motor. The output end of the transmission helical gear drive is fixed coaxially with the transmission shaft. The transmission shaft is rotated by driving the transmission helical gear drive through the motor.

[0035] Preferably, the lifting mechanism includes a lower lifting platform, a first support frame, a second support frame, an upper lifting platform, and a second piston telescopic device;

[0036] The lifting platform is installed and fixed on the railcar body;

[0037] One end of the first support frame is hinged to the lower lifting platform, and the other end is hinged to the upper lifting platform; the upper end of the second support frame is hinged to the upper lifting platform, and the lower end of the second support frame slides in cooperation with the slide rail provided on the lower lifting platform; the first support frame and the second support frame intersect each other and are hinged at the contact position.

[0038] The second piston telescopic device is connected to the lower end of the second support frame, and the piston head of the second piston telescopic device is connected to the first support frame; the second piston telescopic device drives the lifting mechanism to perform lifting and lowering movements.

[0039] Preferably, the railcar body is also equipped with four weighing sensors; the weighing sensors are installed and fixed at the four corners of the railcar body for measuring the center of gravity and mass during the docking process of the modules.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] This invention employs a self-rotating mechanism, a Y-axis drive and rotation component, a parallel four-bar linkage adjustment mechanism, and an assembly docking railcar working together to achieve automatic attitude adjustment of six degrees of freedom during the assembly docking process of compartments. This better meets the assembly docking needs of compartment-type components, improves assembly efficiency, replaces traditional manual assembly, and ensures stable and reliable equipment with significantly improved assembly docking efficiency.

[0042] This invention, through the design and analysis of a six-degree-of-freedom hybrid assembly and docking system for a certain module, can solve a series of problems in the assembly process of module-type components, such as severe manual labor and poor precision. It can also provide technical support for the construction of subsequent aerospace and weapon assembly production lines. This is of great significance for improving the technical content of final assembly docking, enhancing the precision and quality of docking assembly, and increasing assembly efficiency. Attached Figure Description

[0043] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the six-degree-of-freedom hybrid assembly and docking device disclosed in this invention.

[0044] Figure 2 This is a two-dimensional schematic diagram of the overall structure of the six-degree-of-freedom hybrid assembly and docking device disclosed in this invention.

[0045] Figure 3 This is a three-dimensional structural schematic diagram and an exploded view of the self-rotating mechanism disclosed in this invention;

[0046] Figure 4 This is a schematic diagram of the Y-axis driving and rotation assembly disclosed in this invention;

[0047] Figure 5 This is a schematic diagram of the parallel four-bar linkage adjustment mechanism disclosed in this invention;

[0048] Figure 6 This is a structural schematic diagram of the assembly and docking railcar disclosed in this invention.

[0049] In the picture:

[0050] 1. Rotation mechanism; 101. Covering structure; 102. Arc track guide; 103. Roller resistance base plate; 104. Drive motor; 105. Motor mounting bracket; 106. Roller resistance connector; 107. First lead screw and nut pair; 108. Rack; 109. External gear bracket support; 110. Bracket fixing component; 111. Snap ring bracket;

[0051] 2. Y-axis drive and rotation assembly; 201. Second lead screw and nut pair; 202. Y-axis drive guide rail slider; 203. Second motor mounting bracket; 204. Second drive motor; 205. Rotating hollow platform; 206. Process ball head support; 207. Y-axis drive base plate; 208. Third drive motor; 209. Rotating connection platform;

[0052] 3. Parallel four-bar linkage adjustment mechanism; 301. Fixed guide column; 302. Guide limit block; 303. Center of mass weighing platform; 304. Piston telescopic device; 305. Piston drive support structure; 306. Piston sliding block; 307. Piston sliding guide rail;

[0053] 4. Assemble and dock the railcar; 401. Roller bearing; 402. Inner rail wheel; 403. Transmission helical gear; 404. Transmission shaft; 405. Lower lifting platform; 406. First support frame; 407. Second support frame; 408. Upper lifting platform; 409. Second piston telescopic device; 410. Weighing sensor; 411. Railcar body. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0055] As attached Figure 1 To be continued Figure 6 As shown: A six-degree-of-freedom hybrid assembly and docking device includes a self-rotating mechanism 1, a Y-axis drive and rotation component 2, a parallel four-bar adjustment mechanism 3, and an assembly and docking track vehicle 4 connected in sequence from top to bottom;

[0056] The rotation mechanism 1 is located on the top of the docking device, and its lower end is connected to the Y-axis drive and rotation component 2. The rotation mechanism is the end actuator of the entire docking device, used to realize the rotation and positioning of the compartment; and to provide the compartment with a degree of freedom α of rotation around the X-axis.

[0057] The upper end of the Y-axis drive and rotation component 2 is connected to the rotation mechanism 1, and its lower end is mounted on the parallel four-bar adjustment mechanism 3; the Y-axis drive and rotation component 2 is used to drive the rotation mechanism 1 to perform rotational motion around the Z-axis and linear motion along the Y-axis; it provides the device with the Y-axis linear motion degree of freedom and the rotational degree of freedom γ around the Z-axis.

[0058] The parallel four-bar adjustment mechanism 3 is located at the lower end of the Y-axis drive and rotation assembly 2, and is used to realize the degree of freedom β of the cabin section's linear motion along the Z-axis and rotational motion around the Y-axis;

[0059] The assembly docking track 4 is located at the bottom of the device and is used to move the assembly docking device to a designated position along a predetermined track. In this embodiment, the assembly docking track 4 is set to move along the X-axis.

[0060] Preferred options are listed below. Figure 3 As shown, the self-rotation mechanism 1 includes a covering structure 101, a retaining ring bracket 111, and a self-rotation transmission structure;

[0061] The covering structure 101 is a frame structure that serves as a support structure for the rotation mechanism 1, and it is located at the lower part of the rotation mechanism 1.

[0062] The lower part of the self-rotation transmission structure is connected to the covering structure 101, and its top is connected to the retaining ring bracket 111; the self-rotation transmission structure drives the retaining ring bracket 111 to rotate.

[0063] The retaining ring bracket 111 is a retaining ring structure composed of two semi-circular structures, which are joined together by connecting bolts; the compartment to be assembled can be snapped into the retaining ring bracket 111.

[0064] Preferably, the self-rotating transmission structure includes an arc track guide 102, a rolling resistance base plate 103, a drive motor 104, a motor fixing frame 105, a rolling resistance connector 106, a first lead screw nut pair 107, a rack 108, an external gear bracket support 109, and a bracket fixing component 110.

[0065] The rolling resistance base plate 103 is installed on the inner bottom of the covering structure 101. Two motor mounting brackets 105 are symmetrically fixed at both ends of the upper surface of the rolling resistance base plate 103. A first lead screw and nut pair 107 is rotatably connected between the two motor mounting brackets 105. A rolling resistance connector 106 is threaded onto the first lead screw and nut pair 107. The lower surface of the rolling resistance connector 106 is slidably connected to the rolling resistance base plate 103. A rack 108 is fixedly connected to the top of the rolling resistance connector 106.

[0066] The drive motor 104 is fixed on a motor mounting bracket 105, and the output end of the drive motor 104 is connected to one end of the first lead screw nut pair 107.

[0067] Two circular arc track guides 102 are symmetrically installed on both sides of the inner side of the covering structure 101; the corresponding external gear bracket support 109 is a circular arc structure, and its two sides are provided with circular arc movable slide rails that cooperate with the circular arc track guides 102.

[0068] The bracket fixing component 110 is fixed to the upper part of the external gear bracket support component 109, and the retaining ring bracket 111 is positioned and connected to the bracket fixing component 110 by a special positioning pin; the retaining ring bracket 111 is fixed to the upper part of the bracket fixing component 110.

[0069] The external gear bracket support 109, bracket fixing 110, and retaining ring bracket 111 are fixed together as a whole by positioning pins. The outer surface of the external gear bracket support 109 is provided with an external gear that cooperates with the rack 108 to drive the compartment to rotate. The two sides of the external gear bracket support 109 are provided with protruding structures that can cooperate with the arc-shaped sliding rail on the arc-shaped track guide 102 to achieve relative sliding.

[0070] During operation, the drive motor 104 drives the first lead screw nut pair 107 to rotate. The internal thread structure of the rolling resistance connector 106 engages with the thread of the first lead screw nut pair 107, causing the rolling resistance connector 106 to move linearly, which in turn drives the rack 108 to move linearly. The rack 108 meshes with the gear on the outer surface of the external gear bracket support 109, which in turn drives the external gear bracket support 109, the bracket fixing part 110, and the snap ring bracket 111, which are fixed by the positioning pin, to rotate as a whole. This causes the compartment to rotate, providing the compartment with a degree of freedom α around the X-axis.

[0071] During operation, the hoisting equipment installs and fixes the compartment-type components in the shackle bracket 111 of the self-rotating mechanism 1. The shackle bracket 111 is equipped with radial special positioning bolts, which are screwed in radially along the shackle bracket 111 to fasten the compartment in the shackle bracket 111.

[0072] Preferred options are listed below. Figure 4 As shown, the Y-axis drive and rotation assembly 2 includes a second lead screw and nut pair 201, a Y-axis drive guide rail slider 202, a second motor fixing frame 203, a second drive motor 204, a rotating hollow platform 205, a process ball head support 206, a Y-axis drive base plate 207, a third drive motor 208, and a rotating connection platform 209.

[0073] Two second lead screw nut pairs 201 are placed parallel to each other along the Y direction. Each of the two ends of each second lead screw nut pair 201 is provided with a second motor mounting bracket 203. The second lead screw nut pairs 201 are mounted on the Y-direction drive base plate 207 through the second motor mounting brackets 203.

[0074] There are two second drive motors 204, which are respectively disposed at one end of the two second lead screw nut pairs 201; the second drive motors 204 are mounted on the second motor mounting bracket 203.

[0075] The Y-axis drive guide slider 202 has two transmission threads that cooperate with the second lead screw nut pair 201. The Y-axis drive guide slider 202 is mounted on the two second lead screw nut pairs 201. The second drive motor 204 drives the second lead screw nut pairs 201 to rotate, thereby driving the Y-axis drive guide slider 202 to move along the Y-axis.

[0076] The upper surface of the Y-axis drive guide slider 202 is provided with a rotating hollow platform 205 and a third drive motor 208; a rotating connecting platform 209 is connected above the rotating hollow platform 205, and the rotating hollow platform 205 is driven by the third drive motor 208 to drive the rotating connecting platform 209 to rotate; the upper part of the rotating connecting platform 209 is fixedly connected to the self-rotating mechanism 1, thereby realizing the degree of freedom γ of the self-rotating mechanism 1 to rotate around the Z-axis;

[0077] The process ball head support 206 has four parts, which are respectively installed at the four corners of the Y-direction drive base plate 207.

[0078] Specifically, the upper part of the process ball head support 206 is hinged to the Y-direction drive base plate 207, and its lower part is rigidly connected to the piston sliding block 306 of the parallel four-bar adjustment mechanism 3 to ensure structural strength.

[0079] During operation, the four sets of process ball head support members 206 can provide stable support for the Y-axis drive and rotation component 2. When the docking device performs the section docking operation, under the combined drive of the four sets of piston telescopic devices 304 of the parallel four-bar adjustment mechanism 3, the four sets of process ball head support members 206 can realize the degree of freedom of linear motion of the section along the Z-axis and the degree of freedom β of rotational motion around the Y-axis.

[0080] It should be noted that when the four sets of piston telescopic devices 304 move synchronously along the Z-axis, they drive the four sets of process ball head support members 206 to move along the Z-axis; when the two piston telescopic devices 304 on the Y-axis side of the four sets of piston telescopic devices 304 move upward and the two piston telescopic devices 304 on the other side of the Y-axis move downward, the four sets of process ball head support members 206 will also move accordingly, driving the Y-axis drive and rotation component 2 to rotate around the Y-axis.

[0081] Preferably, the rotating hollow platform 205 has a bearing at its axial center, which supports the rotating connecting platform 209 through rotation. The rotating hollow platform 205 also has a worm gear reduction transmission gear inside, which drives the rotating connecting platform 209 to rotate through the worm gear reduction transmission gear under the drive of the third drive motor 208.

[0082] Preferred options are listed below. Figure 5 As shown, the parallel four-bar adjustment mechanism 3 includes a fixed guide column 301, a guide limit block 302, a center of mass weighing platform 303, a piston telescopic device 304, a piston drive support structure 305, a piston sliding block 306, and a piston sliding guide rail 307.

[0083] The fixed guide post 301 has four corners that are respectively fixed to the upper surface of the assembly docking railcar 4;

[0084] The guide limit block 302 has four blocks that are fixedly installed at the four corners of the center of mass weighing platform 303 by screws. At the same time, the guide limit block 302 is fitted on the fixed guide post 301, so that the parallel four-bar adjustment mechanism 3 can move up and down along the fixed guide post 301.

[0085] The piston drive support structure 305 is fixed on the center-of-gravity weighing platform 303. The piston drive support structure 305 has a piston sliding guide rail 307 inside, and the piston sliding block 306 is slidably connected to the piston sliding guide rail 307. The piston sliding block 306 has a sliding structure that cooperates with the piston sliding guide rail 307, and can move linearly under driving action.

[0086] There are four piston sliding blocks 306, and correspondingly four piston telescopic devices 304 that provide power to each piston. The piston telescopic device 304 is fixed on the center of mass weighing platform 303. The telescopic end of the piston telescopic device 304 is connected to the lower end of the piston sliding block 306 and drives the piston sliding block 306 to move up and down along the piston sliding guide rail 307. It should be noted that the piston telescopic device 304 is composed of a telescopic shaft, a telescopic sleeve, a drive motor, etc. The telescopic shaft cooperates with the telescopic sleeve, and the telescopic shaft can move linearly along the telescopic sleeve under the action of the drive motor.

[0087] During operation, the four sets of piston telescopic devices 304 of the parallel four-bar adjustment mechanism 3 perform lifting and lowering movements under the combined drive of four drive motors. The telescopic rod head of the piston telescopic device 304 is hinged to the lower plane of the piston sliding block 306, and the upper surface of the four piston sliding blocks 306 is rigidly connected to the lower surface of the process ball head support 206, thereby adjusting the attitude and position of the Y-axis drive and rotation component 2 through the four sets of piston telescopic devices 304.

[0088] Preferred options are listed below. Figure 6 As shown, the assembly docking railcar 4 includes a pair of roller bearings 401, inner rail wheels 402, transmission helical gear drive 403, transmission shaft 404, railcar body 411 and lifting mechanism.

[0089] The inner rail wheels 402 are fixed at both ends of the drive shaft 404, which is rotatably mounted below the railcar body 411 by a pair of roller bearings 401.

[0090] The transmission helical gear drive 403 consists of a pair of helical gears meshing at 90° and is driven by a motor. The output end of the transmission helical gear drive 403 is fixed coaxially with the transmission shaft 404. Under the action of the drive motor, the helical gears meshing at 90° transmit power to the transmission shaft 404, and the transmission shaft 404 transmits power to a pair of inner rail wheels 402, driving the entire six-degree-of-freedom hybrid assembly device to move linearly along a predetermined track.

[0091] Preferably, the lifting mechanism includes a lower lifting platform 405, a first support frame 406, a second support frame 407, an upper lifting platform 408, and a second piston telescopic device 409;

[0092] The lifting platform 405 is installed and fixed on the railcar body 411;

[0093] One end of the first support frame 406 is hinged to the lower lifting platform 405, and the other end is hinged to the upper lifting platform 408; the upper end of the second support frame 407 is hinged to the upper lifting platform 408, and the lower end of the second support frame 407 slides in cooperation with the slide rail provided on the lower lifting platform 405; the first support frame 406 and the second support frame 407 intersect each other and are hinged at the contact position;

[0094] The second piston telescopic device 409 is connected to the lower end of the second support frame 407, and the piston head of the second piston telescopic device 409 is connected to the first support frame 406; the second piston telescopic device 409 drives the lifting mechanism to perform lifting and lowering movements.

[0095] Preferably, the railcar body 411 is also provided with four weighing sensors 410; the four weighing sensors 410 are installed and fixed on the four corners of the upper surface of the railcar body 411; during measurement, they contact the lower surface of the center of mass weighing platform 303, and are used to measure and monitor the center of mass of the entire compartment and measure the mass of the compartment.

[0096] Specifically, during the docking process, the lifting mechanism is in a falling state, and the parallel four-bar adjustment mechanism 3 is pressed down under the action of gravity. The lower surface of the center of mass weighing platform 303 is pressed onto the four weighing sensors 410. At this time, the center of mass of the entire compartment can be measured and the mass of the compartment can be measured.

[0097] After the mass center measurement is completed during the assembly process, the lifting mechanism, driven by the second piston telescopic device 409, lifts the entire structure above the mass center weighing platform 303 to the limit position of the guide limit block 302. At this time, the load cell 410 is separated from the lower surface of the mass center weighing platform 303 to protect the four sets of load cells and extend their service life.

[0098] This application discloses a six-degree-of-freedom hybrid assembly and docking device, designed to achieve precise assembly and docking of compartments. The following is a detailed description of its working principle and usage:

[0099] 1. Rotation of the self-rotating mechanism (1): The drive motor 104 starts and drives the rolling resistance connector 106 to move linearly along the rolling resistance base plate 103 through the first lead screw nut pair 107.

[0100] The linear motion of the rolling resistance connector 106 is transmitted to the external gear bracket support 109 via the rack 108, causing it to rotate along the circular arc guide 102.

[0101] The rotation of the external gear bracket support 109 drives the snap ring bracket 111 to rotate, thereby achieving the rotational positioning of the compartment around the X-axis.

[0102] 2. The Y-axis drive and rotation component (2) drives the self-rotating mechanism (1) to move linearly along the Y-axis and rotate around the Z-axis: Specifically, the second drive motor 204 starts and drives the second lead screw nut pair 201 to rotate, so that the Y-axis drive guide rail slider 202 moves linearly along the Y-axis. The rotating hollow platform 205 is driven by the third drive motor 208, and the rotating connecting platform 209 is rotated through the worm gear reduction transmission gear, so as to realize the rotation of the self-rotating mechanism 1 around the Z-axis.

[0103] 3. Z-axis linear motion and Y-axis rotation: The piston telescopic device 304 extends and retracts synchronously under the control of four drive motors, causing the piston sliding block 306 to move linearly along the piston sliding guide rail 307. The linear motion of the piston sliding block 306 is transmitted to the Y-axis drive and rotation assembly 2 through the process ball head support 206, realizing linear motion along the Z-axis. When the two piston telescopic devices 304 on both sides of the piston telescopic device 304 move in opposite directions or extend and retract asynchronously, the process ball head support 206 drives the Y-axis drive and rotation assembly 2 to rotate around the Y-axis.

[0104] 4. The docking device moves along the X-axis: The transmission helical gear drive 403 of the assembly docking railcar 4 is driven by a motor, and transmits power to the inner rail wheels 402 through the transmission shaft 404, so as to realize the linear movement of the entire device along the X-axis.

[0105] Based on the above working principle, the six-degree-of-freedom hybrid assembly and docking device can realize automated and precise assembly and docking of modules, which greatly improves assembly efficiency and safety and reduces the need for manual operation.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0107] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0108] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A six-degree-of-freedom hybrid assembly and docking device, characterized in that, It includes a self-rotating mechanism (1), a Y-axis drive and rotation component (2), a parallel four-bar adjustment mechanism (3), and an assembly docking railcar (4) connected from top to bottom. The self-rotation mechanism (1) is located on the top of the docking device, and its lower end is connected to the Y-direction drive and rotation component (2). The self-rotation mechanism is the end actuator of the entire docking device and is used to realize the self-rotation positioning of the compartment. The upper end of the Y-axis drive and rotation assembly (2) is connected to the self-rotation mechanism (1), and its lower end is mounted on the parallel four-bar adjustment mechanism (3); the Y-axis drive and rotation assembly (2) is used to drive the self-rotation mechanism (1) to perform rotational motion around the Z-axis and linear motion along the Y-axis. The parallel four-bar adjustment mechanism (3) is located at the lower end of the Y-axis drive and rotation assembly (2) and is used to realize the linear movement of the compartment along the Z-axis and the rotation around the Y-axis. The assembly docking railcar (4) is located at the lowest end of the docking device and is used to move the assembly docking device to a designated position along a predetermined track. The self-rotation mechanism (1) includes a covering structure (101), a retaining ring bracket (111), and a self-rotation transmission structure; The covering structure (101) serves as a support structure for the rotation mechanism (1) and is located at the lower part of the rotation mechanism (1). The lower part of the self-rotation transmission structure is connected to the covering structure (101), and its top is connected to the retaining ring bracket (111); the self-rotation transmission structure drives the retaining ring bracket (111) to rotate. The snap ring bracket (111) is a snap ring structure composed of two semi-circular structures, and the compartment to be assembled can be snapped into the snap ring bracket (111). The Y-direction drive and rotation assembly (2) includes a second lead screw and nut pair (201); two second lead screw and nut pairs (201) are placed parallel to each other along the Y direction, and a Y-direction drive guide slider (202) is mounted on the two second lead screw and nut pairs (201); a rotating hollow platform (205) and a third drive motor (208) are provided on the upper surface of the Y-direction drive guide slider (202); a rotating connecting platform (209) is connected above the rotating hollow platform (205), and the rotating hollow platform (205) is driven by the third drive motor (208) and drives the rotating connecting platform (209) to rotate; the upper part of the rotating connecting platform (209) is fixedly connected to the self-rotation mechanism (1); The process ball head support (206) has four parts, which are respectively installed at the four corners of the Y-direction drive base plate (207); The parallel four-bar adjustment mechanism (3) includes a fixed guide column (301), a guide limit block (302), a center of mass weighing platform (303), a piston telescopic device (304), a piston drive support structure (305), a piston sliding block (306), and a piston sliding guide rail (307). The fixed guide post (301) has four corners that are respectively fixed to the upper surface of the assembly docking railcar (4); The guide limit block (302) has four fixed installations at the four corners of the center of mass weighing platform (303), and the guide limit block (302) is fitted on the fixed guide column (301), so that the parallel four-bar adjustment mechanism (3) moves up and down along the fixed guide column (301); The piston drive support structure (305) is fixed on the center of mass weighing platform (303). The piston drive support structure (305) is provided with the piston sliding guide rail (307) inside. The piston sliding block (306) is slidably connected to the piston sliding guide rail (307). There are four piston sliding blocks (306), and correspondingly four piston telescopic devices (304) that provide power respectively; the piston telescopic device (304) is fixed on the center of mass weighing platform (303), the telescopic end of the piston telescopic device (304) is connected to the lower end of the piston sliding block (306), and drives the piston sliding block (306) to move up and down along the piston sliding guide rail (307); the upper end of the piston sliding block (306) is connected to the Y-direction drive and rotation assembly (2).

2. The six-degree-of-freedom hybrid assembly and docking device according to claim 1, characterized in that, The self-rotating transmission structure includes an arc track guide (102), a rolling resistance base plate (103), a drive motor (104), a motor mounting bracket (105), a rolling resistance connector (106), a first lead screw nut pair (107), a rack (108), an external gear bracket support (109), and a bracket fixing component (110). The rolling resistance base plate (103) is installed on the inner bottom of the covering structure (101). Two motor mounting brackets (105) are symmetrically fixed at both ends of the upper surface of the rolling resistance base plate (103). A first lead screw and nut pair (107) is rotatably connected between the two motor mounting brackets (105). A rolling resistance connector (106) is threaded onto the first lead screw and nut pair (107). The lower surface of the rolling resistance connector (106) is slidably connected to the rolling resistance base plate (103). A rack (108) is fixedly connected to the top of the rolling resistance connector (106). The drive motor (104) is fixed on a motor mounting bracket (105), and the output end of the drive motor (104) is connected to one end of the first lead screw nut pair (107); Two circular arc track guides (102) are symmetrically installed on both sides of the inner side of the covering structure (101); the corresponding external gear bracket support (109) is an arc-shaped structure, and its two sides are provided with arc-shaped moving slide rails that cooperate with the circular arc track guides (102); the rack (108) meshes with the gear on the outer surface of the external gear bracket support (109). The bracket fixing member (110) is fixed on the upper part of the external gear bracket support member (109), and the snap ring bracket (111) is fixed on the upper part of the bracket fixing member (110).

3. The six-degree-of-freedom hybrid assembly and docking device according to claim 1, characterized in that, The Y-axis drive and rotation assembly (2) also includes a Y-axis drive guide rail slider (202), a second motor mounting bracket (203), and a second drive motor (204). Each of the two ends of the second lead screw nut assembly (201) is provided with a second motor mounting bracket (203), and the second lead screw nut assembly (201) is mounted on the Y-direction drive base plate (207) through the second motor mounting bracket (203); There are two second drive motors (204), which are respectively disposed at one end of the two second lead screw nut pairs (201); the second drive motors (204) are mounted on the second motor mounting bracket (203); The Y-direction drive guide slider (202) has two transmission threads that cooperate with the second lead screw nut pair (201). The second drive motor (204) drives the second lead screw nut pair (201) to rotate, thereby driving the Y-direction drive guide slider (202) to move along the Y direction.

4. The six-degree-of-freedom hybrid assembly and docking device according to claim 3, characterized in that, The rotating hollow platform (205) has a bearing at its axial center, which supports the rotating connecting platform (209) through the rotation of the bearing. The rotating hollow platform (205) also has a worm gear reduction transmission gear inside. Under the drive of the third drive motor (208), the rotating connecting platform (209) is driven to rotate through the worm gear reduction transmission gear.

5. The six-degree-of-freedom hybrid assembly and docking device according to claim 1, characterized in that, The assembly docking railcar (4) includes inner rail wheels (402), transmission helical gear drive (403), transmission shaft (404), railcar body (411), and lifting mechanism; The inner rail wheels (402) are fixed at both ends of the drive shaft (404), which is rotatably mounted below the railcar body (411). The transmission helical gear drive (403) consists of a pair of meshing helical gears and is driven by a motor. The output end of the transmission helical gear drive (403) is fixed coaxially with the transmission shaft (404). The transmission helical gear drive (403) is driven by the motor, thereby driving the transmission shaft (404) to rotate.

6. The six-degree-of-freedom hybrid assembly and docking device according to claim 5, characterized in that, The lifting mechanism includes a lower lifting platform (405), a first support frame (406), a second support frame (407), an upper lifting platform (408), and a second piston telescopic device (409). The lifting platform (405) is installed and fixed on the railcar body (411); One end of the first support frame (406) is hinged to the lower lifting platform (405), and the other end is hinged to the upper lifting platform (408); the upper end of the second support frame (407) is hinged to the upper lifting platform (408), and the lower end of the second support frame (407) slides in cooperation with the slide rail provided on the lower lifting platform (405); the first support frame (406) and the second support frame (407) intersect each other and are hinged at the contact position; The second piston telescopic device (409) is connected to the lower end of the second support frame (407), and the piston head of the second piston telescopic device (409) is connected to the first support frame (406); the second piston telescopic device (409) drives the lifting mechanism to perform lifting and lowering movements.

7. The six-degree-of-freedom hybrid assembly and docking device according to claim 6, characterized in that, The railcar body (411) is also equipped with four weighing sensors (410); the weighing sensors (410) are installed and fixed at the four corners of the railcar body (411) for measuring the center of mass and mass during the docking process of the modules.

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