A compliant connection platform

Abstract

This invention discloses a compliant connection platform, comprising a first cross spring group, a frame unit, and a second cross spring group sequentially connected along the axial direction. The frame unit includes a support component and a first connecting portion and a second connecting portion respectively disposed at both ends of the support component. The first cross spring group is fixedly connected to the first connecting portion, and the second cross spring group is fixedly connected to the second connecting portion. The support component can deform in a plane perpendicular to the axial direction. The first and second cross spring groups are orthogonally arranged in a plane perpendicular to the axial direction, enabling the compliant connection platform to achieve five degrees of freedom passive compliance compensation. This invention achieves automatic alignment of docking points without active sensing control, has a simplified and compact structure, significantly reduces the accuracy requirements for docking and assembly, and is suitable for the rapid docking and reconfiguration needs of modular vehicles under complex operating conditions.

Description

Technical Field

[0001] This invention relates to the field of vehicle engineering technology, and more particularly to a compliant connection platform. Background Technology

[0002] Modular reconfigurable vehicles, with their ability to be quickly disassembled and reassembled, have become core equipment for special operations deployments and emergency mission execution scenarios. The inter-module connection unlocking device is a core functional component for realizing rapid vehicle reconfiguration, and its docking reliability and environmental adaptability directly determine the vehicle system's mission execution capability and operational safety.

[0003] Current rigid connection unlocking devices generally adopt a purely rigid docking structure, which has extremely stringent requirements for the assembly precision between modules. During the docking process, they cannot adaptively compensate for position offsets and angular deviations, making them prone to fatal problems such as docking jamming, structural interference, and local overload, and even directly causing irreversible deformation and damage to the docking interface. At the same time, rigid docking structures have no impact buffering capacity, and under the complex working conditions of unstructured road surfaces in the field, the docking fault tolerance rate is extremely low. They are completely unable to adapt to the rapid docking and reconstruction requirements of modular vehicles under low-precision conditions, which seriously restricts the level of automated docking and task execution efficiency of vehicle systems.

[0004] Existing flexible connection solutions also have unavoidable drawbacks. First, existing compliant mechanisms generally adopt an architecture of multiple single-degree-of-freedom compliant hinges, which is complex and cumbersome, with numerous assembly nodes and mating gaps. Under continuous vibration and impact conditions in vehicles, they are prone to loosening and fatigue fracture, resulting in extremely poor reliability and a significantly shortened service life. Second, existing compliant mechanisms suffer from severe deformation coupling problems, with the compensation actions of each degree of freedom interfering with each other. The position adjustment accuracy is seriously insufficient, making it impossible to accurately adapt to the requirements of mating deviation compensation, and the mating jamming problem is still prone to occur. Third, existing solutions generally require the matching of active sensing systems and drive control systems to achieve position adjustment, which results in high system complexity, high cost, and high maintenance difficulty, making them unsuitable for the mass application of modular vehicles and the use in complex field conditions.

[0005] In summary, existing connection unlocking devices have the disadvantage of not being able to simultaneously achieve low-precision docking fault tolerance, simplified and reliable structure, and high-load operational stability. Summary of the Invention

[0006] The purpose of this invention is to provide a compliant connection platform to solve the aforementioned technical problems in the prior art. The specific technical solution is as follows: A compliant connection platform includes a first cross spring group, a frame unit, and a second cross spring group sequentially connected along the axial direction. The frame unit includes a support component and a first connecting portion and a second connecting portion respectively disposed at both ends of the support component. The first cross spring group is fixedly connected to the first connecting portion, and the second cross spring group is fixedly connected to the second connecting portion. The support component can deform in a plane direction perpendicular to the axial direction. The first cross spring group and the second cross spring group are orthogonally arranged in a plane direction perpendicular to the axial direction, so that the compliant connection platform can achieve five degrees of freedom passive compliant compensation.

[0007] Furthermore, both the first cross spring group and the second cross spring group include a first fixed part and a second fixed part arranged opposite to each other, as well as a first piece and a second piece disposed between the first fixed part and the second fixed part; the two ends of the first piece are fixedly connected to the first fixed part and the second fixed part respectively, and the two ends of the second piece are fixedly connected to the first fixed part and the second fixed part respectively, and the first piece and the second piece are arranged in a cross configuration.

[0008] Furthermore, the first piece has a first long side, the second piece has a second long side, and the midpoint of the first long side is fixedly connected to the midpoint of the second long side, so that the first piece and the second piece are arranged in a non-coplanar staggered manner.

[0009] Furthermore, the second fixing part of the first cross spring group is fixedly connected to the first connecting part; the first fixing part of the second cross spring group is fixedly connected to the second connecting part.

[0010] Furthermore, the support assembly includes at least two support beams extending along the platform axis, with all support beams evenly spaced circumferentially along a plane perpendicular to the axis.

[0011] Furthermore, the support beams are designed as slender, elastic structures, with both ends of the support beams fixedly connected to the first connecting part and the second connecting part, respectively, and the axes of all support beams are parallel to the axis of the platform.

[0012] Furthermore, there are four support beams, which are arranged in a square with evenly spaced corners along a plane perpendicular to the axial direction.

[0013] Furthermore, it also includes a rigid locking platform, which is fixedly connected to the first fixing part on the first cross spring group.

[0014] Furthermore, the rigid locking platform includes a base and at least two positioning posts fixedly disposed on the side of the base facing away from the first cross spring group, the positioning posts being evenly spaced along the circumference of the base.

[0015] Furthermore, the central axis of the base coincides with the axial direction of the platform, and the base is provided with threaded holes for connecting the positioning pins.

[0016] The compliant connection platform of the present invention has the following advantages: 1. By constructing the core architecture of an axially serial five-degree-of-freedom compliant docking platform, the full-dimensional passive compliant compensation required for docking scenarios can be achieved through the orthogonal serial combination of three core components: the first cross spring group, the frame unit, and the second cross spring group. This covers all compensation requirements for planar position offset and multi-directional angular deviation during modular vehicle docking, avoiding the complex design of multiple hinge splicing in existing multi-degree-of-freedom compliant mechanisms. It fundamentally solves the problems of jamming, interference, and local overload in rigid docking structures. This architecture has no redundant assembly nodes, is streamlined and compact, and significantly reduces the assembly accuracy requirements for docking. Automatic alignment of docking points can be achieved without active sensing and control, adapting to the rapid docking and reconstruction needs of modular vehicles in complex field conditions.

[0017] 2. By setting up a basic core structure of cross-spring plates, the relatively fixed part and the two cross-arranged spring plates establish a stable force transmission and deformation benchmark for the spring plate group, which can ensure the continuous and stable transmission of force flow during deformation and effectively avoid the problem of local stress concentration. The cross-arranged double spring plate structure can produce stable and controllable rotational deformation under extremely small contact force, while having excellent structural stiffness in the non-rotational direction. It achieves a basic balance between low rotational stiffness and high load-bearing stiffness, providing a reliable structural carrier for platform angular deviation compensation. At the same time, the structure is simple and easy to process and form.

[0018] 3. The non-coplanar midpoint fixed structure is the core optimization of the cross spring assembly. It solves the inherent defects of traditional coplanar cross springs, such as in-plane coupling stress, axial parasitic axis drift, and stress concentration at the intersection point during rotation. The two springs are rigidly fixed only at the midpoint of their long sides. During rotation, they undergo independent pure bending deformation. The deformation process is completely decoupled, and the rotation axis is stable and without offset throughout the entire process. The angular compensation process does not produce additional positional errors. At the same time, the stress is evenly distributed along the length of the spring, and the maximum stress value is significantly reduced compared to the traditional coplanar structure. This significantly improves the fatigue resistance and service life of the structure under frequent docking cycles, and further enhances the accuracy and operational reliability of the platform's angular compensation.

[0019] 4. An axially connected deformation system consisting of "angular compensation unit - planar compensation unit - angular compensation unit" is constructed to ensure the stable transmission of force and displacement during the docking process. This system clearly defines the functional division between the rotational deformation of the two sets of orthogonal cross spring sets and the planar deformation of the frame unit, effectively avoiding coupling interference between deformations of different degrees of freedom. This provides structural assurance for independent and precise compensation of deviations in each dimension. At the same time, this fixed connection relationship simplifies the assembly process of the overall structure, ensuring the dimensional accuracy of the structure without complex alignment and debugging, further improving the assembly efficiency and structural consistency of the platform.

[0020] 5. A stable planar compliant compensation unit is constructed for the platform through circumferentially uniformly spaced axial support beams. The support beams of this structure have extremely low bending stiffness in the plane perpendicular to the axial direction, which can easily achieve compliant deformation in XY translation and rotation around the Z axis, fully covering the compensation requirements for planar position offset and torsional angle deviation. At the same time, they have extremely high tensile and compressive stiffness in the axial direction, which can stably transmit docking thrust and ensure axial load-bearing capacity after locking. The circumferentially uniformly spaced arrangement makes the deformation characteristics of the frame unit uniform and symmetrical in all directions in the plane, effectively avoiding the problems of deformation asymmetry and insufficient compensation accuracy caused by eccentric loading, and perfectly balancing compliant compensation performance and structural load-bearing stability.

[0021] 6. By arranging all support beams with their axes parallel to the platform axis, the deformation characteristics of each support beam are completely consistent, and the stress on each beam is uniform during translational and torsional deformation, avoiding the problem of single beam overload failure; the structure in which the two ends of the support beam are fixedly connected to the connection part eliminates stress concentration at the connection node, ensures the continuity of force flow transmission, and further improves the fatigue life and long-term operational stability of the structure. Attached Figure Description

[0022] Figure 1 This is an overall schematic diagram of the compliant connection platform of the present invention.

[0023] Figure 2 This is a three-dimensional schematic diagram of the first cross spring group, the frame unit, and the second cross spring group in the compliant connection platform of the present invention.

[0024] Figure 3 This is a schematic diagram of the rigid locking platform in the compliant connection platform of the present invention. Detailed Implementation

[0025] To better understand the purpose, structure, and function of this invention, a compliant connection platform of this invention will be described in detail below with reference to embodiments and accompanying drawings.

[0026] This invention provides a compliant connection platform, particularly suitable for the connection and unlocking of modules in modular reconfigurable vehicles. During combat deployment and mission execution, modular reconfigurable vehicles require frequent disassembly and reassembly of modules, and high-precision assembly and docking conditions cannot be guaranteed under field operating conditions. Furthermore, the vehicles experience continuous vibration and impact loads during operation.

[0027] like Figures 1 to 3 As shown, the coordinate system is first defined as follows: the axial extension direction of the compliant connection platform is defined as the Z-axis, the plane perpendicular to the axial direction is defined as the XY plane, and the two mutually orthogonal coordinate axes in the XY plane are the X-axis and the Y-axis, respectively. All descriptions of directions and positional relationships in the embodiment are based on this coordinate system.

[0028] The compliant connection platform provided in this embodiment includes a first cross spring group 1, a frame unit 2, and a second cross spring group 3, which are sequentially connected along the Z-axis. The frame unit 2, serving as the intermediate structure of the platform, includes a support component 4 and a first connecting portion 5 and a second connecting portion 6 respectively disposed at both axial ends of the support component 4. The first cross spring group 1 is fixedly connected to the first connecting portion 5, and the second cross spring group 3 is fixedly connected to the second connecting portion 6, forming an axially connected integrated structure. The support component 4 can undergo elastic deformation in the XY plane perpendicular to the axial direction. The first cross spring group 1 and the second cross spring group 3 are orthogonally arranged in the XY plane. Through the coordinated elastic deformation of the three core structures, the compliant connection platform as a whole achieves five degrees of freedom passive compliant compensation. This series-type integrated architecture, through the combination of only three core components, can cover all the deviation compensation requirements of the docking scenario. It has a simplified structure with no assembly gaps, and offers the advantages of structural stability and high reliability.

[0029] Furthermore, the first cross spring assembly 1, frame unit 2, and second cross spring assembly 3 are integral continuous components, which can be manufactured through integral molding processes such as wire cutting and 3D printing. The structures are connected by a natural transition of continuous material, without any welding, bolt fastening, or other splicing nodes. This integral design eliminates the unavoidable assembly gaps and fitting errors of spliced ​​structures, avoiding the risk of loosening and fatigue fracture at the splicing points under vehicle vibration conditions. At the same time, it greatly simplifies the assembly process, ensuring the dimensional accuracy of the structure without complex alignment and adjustment. Under the cyclical conditions of frequent docking and reconstruction in modular vehicles, it has better structural stability and fatigue life.

[0030] In this embodiment, the compliant connection platform implements five degrees of freedom passive compliance compensation, specifically rotational compliant deformation about the X-axis, rotational compliant deformation about the Y-axis, translational compliant deformation along the X-axis, translational compliant deformation along the Y-axis, and rotational compliant deformation about the Z-axis. This five-degree-of-freedom configuration perfectly matches the docking requirements of modular reconfigurable vehicles: during vehicle module docking, horizontal position offsets in the XY plane, pitch or yaw angle deviations around the X and Y axes, and torsional angle deviations around the Z-axis are inevitable. These five degrees of freedom can completely cover all docking deviation types. Furthermore, the Z-axis, as the docking feed direction, maintains high rigidity constraint through structural design, avoiding thrust leakage and axial instability after locking during docking, thus achieving a balance between deviation compensation and load-bearing rigidity.

[0031] To enhance structural versatility and deformation consistency, the first cross spring group 1 and the second cross spring group 3 are structurally identical. This arrangement significantly reduces processing difficulty and manufacturing costs, as both spring groups can be prepared using the same set of molds and processing parameters. Furthermore, it ensures that the rotational flexibility, load-bearing stiffness, and other mechanical properties of the two spring groups are completely consistent. The orthogonal arrangement results in highly symmetrical rotational deformation characteristics in both directions, avoiding deformation coupling and attitude adjustment deviations caused by structural differences, and improving the accuracy of posture compensation.

[0032] Specifically, both the first cross spring group 1 and the second cross spring group 3 include a first fixing part 7 and a second fixing part 8 disposed opposite to each other, and a first piece 9 and a second piece 10 disposed between the first fixing part 7 and the second fixing part 8; the two ends of the first piece 9 are fixedly connected to the first fixing part 7 and the second fixing part 8 respectively, and the two ends of the second piece 10 are fixedly connected to the first fixing part 7 and the second fixing part 8 respectively, with the first piece 9 and the second piece 10 arranged in a cross configuration. The two sets of fixing parts serve as the force transmission and installation reference for the spring groups, providing stable support for the two cross-arranged springs, ensuring stable transmission of force flow during deformation, and avoiding local stress concentration.

[0033] In this embodiment, the first piece 9 has a first long side, and the second piece 10 has a second long side. The midpoints of the first and second long sides are fixedly connected. The first piece 9 and the second piece 10 are non-coplanar and staggered, and they only contact and are fixed at the midpoint, with no contact or interference at other positions. This non-coplanar midpoint fixed connection is an optimization that differs from the traditional coplanar cross springs: when the traditional coplanar cross springs rotate, the two springs bend in the same plane, which generates in-plane coupling stress, accompanied by uncontrollable axial parasitic drift. At the same time, there is severe compressive shear stress at the intersection point, which is prone to fatigue failure. However, the non-coplanar staggered arrangement in this embodiment allows the two springs to undergo independent pure bending deformation when rotating around the cross axis. The deformation process is completely decoupled, the rotation axis is stable and without offset throughout the entire process, there is no parasitic drift, the angular compensation process does not generate additional positional errors, and the stress is evenly distributed along the length of the spring. The maximum stress value is significantly reduced compared to the traditional coplanar structure, and it has better fatigue resistance under cyclic docking conditions. Furthermore, this structure achieves decoupling between high load-bearing stiffness and low rotational stiffness: in the radial and axial directions perpendicular to the rotation axis, two staggered intersecting springs form a spatially symmetrical rigid support structure with extremely high tensile, compressive, and shear stiffness, which can stably transmit docking thrust and dynamic loads from vehicle operation; while in the rotation direction around the intersecting axis, the springs have high bending flexibility, which can generate large-stroke rotational deformation under minimal docking contact force, thus improving compliance compensation performance.

[0034] In terms of the overall structural connections, the first fixing part 7 of the first cross spring group 1 is fixedly connected to the base 11 described below. The base 11 serves as the structure connecting the entire compliant connection platform to the docking actuator. The second fixing part 8 of the second cross spring group 3 is fixedly connected to the vehicle, serving as the fixed reference for the entire compliant connection platform. The second fixing part 8 of the first cross spring group 1 is fixedly connected to the first connecting part 5, and the first fixing part 7 of the second cross spring group 3 is fixedly connected to the second connecting part 6, which are used to connect the first cross spring group 1, the second cross spring group 3, and the frame unit 2. This connection method connects two sets of orthogonally arranged cross spring groups in series at both ends of the axial direction of the frame unit 2, so that the rotational deformation of the two sets of spring groups and the planar deformation of the frame unit 2 form a coordinated and continuous deformation unit. The synergistic effect of the compensation actions of each degree of freedom realizes the automatic alignment and smooth insertion of the connection point, avoiding jamming, interference, and local overload phenomena caused by rigid connection conditions, and ensuring the controllability and accuracy of the position adjustment.

[0035] To achieve complete decoupling of the two rotational directions, the first cross spring group 1 and the second cross spring group 3 are orthogonally arranged at 90° in the XY plane. The rotation axis of the first cross spring group 1 coincides with the X-axis, providing smooth rotational deformation of the platform around the X-axis. The rotation axis of the second cross spring group 3 coincides with the Y-axis, providing smooth rotational deformation of the platform around the Y-axis. This 90° orthogonal arrangement ensures that the rotational axes of the two spring groups are completely perpendicular, preventing rotational deformation in one direction from coupling interference in the other. During docking, angular deviations in both pitch and yaw dimensions can be adjusted independently, with precise and controllable adjustment, avoiding docking jamming and interference problems caused by coupling deformation.

[0036] In this embodiment, the support component 4 includes at least two slender elastic support beams extending axially along the Z-axis. All slender elastic support beams are evenly spaced circumferentially along the XY plane. The slender elastic support beams have extremely low bending stiffness in the XY plane perpendicular to the axial direction, easily generating translational bending deformation in the XY direction and torsional deformation around the Z-axis under external force. In the Z-axis axial direction, their tensile and compressive stiffness is higher than their bending stiffness, allowing for stable transmission of the docking thrust and ensuring axial load-bearing capacity after locking. Regarding material selection, the slender elastic support beams can be made of elastic metal materials such as spring steel, titanium alloy, and aluminum alloy, or high-elasticity and high-toughness polymer materials such as nylon and polyoxymethylene, depending on the actual load requirements, adapting to the compliance and load-bearing requirements of different working conditions. The circumferentially evenly spaced arrangement ensures that the deformation characteristics of the support component 4 are uniform and symmetrical in all directions within the XY plane, avoiding problems such as asymmetrical deformation and insufficient compensation accuracy caused by eccentric loading.

[0037] In the preferred embodiment, four slender elastic support beams are used. These four support beams are arranged in a square with evenly spaced corners along the XY plane, and the axis of each support beam corresponds perpendicularly to the four sides of the square. This square corner arrangement forms a symmetrical match with the 90° orthogonal spatial arrangement of the two sets of cross spring groups, ensuring that the bending stiffness of the support assembly 4 is completely consistent in both the X and Y axes, and that the response characteristics of translational deformation are completely symmetrical. Regardless of whether the docking deviation occurs in the X or Y direction, it can achieve adaptive compensation with the same precision, without the problem of excessive flexibility or insufficient stiffness in one direction. When torsional deformation occurs around the Z axis, the four support beams form a symmetrical and balanced force system, with the bending deformation of each beam evenly distributed, and the torsional flexibility stable and controllable, effectively avoiding the problem of axial sway during torsion. Meanwhile, the arrangement of four support beams has a stronger resistance to eccentric loads compared to a double-beam structure. When asymmetrical contact forces occur during the docking process, it can effectively suppress unexpected additional deformations and ensure the stability of the position adjustment. Compared with a larger number of support beams, it also greatly simplifies the processing and forming process, reduces the difficulty of one-piece molding, and takes into account both structural performance and processing feasibility.

[0038] Those skilled in the art can flexibly adjust the number and arrangement of support beams according to the load level, compensation stroke, installation space, and other requirements of the actual docking conditions. For example, a single slender elastic support beam extending along the Z-axis can be set at the center of frame unit 2. This single support beam can precisely match the required bending compliance in the XY plane and torsional compliance around the Z-axis by adjusting its cross-sectional dimensions, axial length, material properties, and other parameters. This can also achieve flexible compensation for planar position deviation and torsional angle deviation during docking, adapting to lightweight docking applications with small volume and light load. It is understood that as long as the structural design of support component 4 can achieve compliant translational deformation in the XY plane and compliant rotational deformation around the Z-axis, it falls within the protection scope of this invention.

[0039] Furthermore, both ends of the slender elastic support beams are integrally fixed to the first connecting part 5 and the second connecting part 6, respectively, and the axes of all the slender elastic support beams are parallel to the Z-axis. This parallel axial arrangement ensures that the deformation characteristics of each support beam are completely consistent. During translational and torsional deformation, the stress on each support beam is uniform, and no single beam will be overloaded. The integral fixing eliminates stress concentration at the connection nodes, ensures the continuity of force transmission, and further improves the fatigue life of the structure.

[0040] To provide a stable connection reference for the support beam and the cross spring assembly, the first connecting part 5 and the second connecting part 6 are configured as plate-shaped rigid connecting seats that are parallel to each other and perpendicular to the Z-axis. The two ends of the slender elastic support beam are integrally connected to the inner surfaces of the corresponding plate-shaped rigid connecting seats. The plate-shaped rigid connecting seats have high structural rigidity and will not produce unexpected deformation during the docking process. They can accurately transmit the force and displacement between the cross spring assembly and the support component 4, ensuring precise and controllable compliant deformation. At the same time, the parallel and perpendicular arrangement to the axial direction can ensure that the installation reference of the two sets of cross spring assemblies is parallel, avoiding deformation coupling problems caused by installation misalignment.

[0041] To achieve locking and fixation after docking, the compliant connection platform in this embodiment also includes a rigid locking platform 12, which is fixedly connected to the rigid first fixing part 7 on the first cross spring group 1. As the docking execution end, the rigid locking platform 12, after the compliant connection platform completes its posture adaptive adjustment and docking point alignment, cooperates with the docking mechanism on the opposite side to complete coaxial positioning and rigid locking. This achieves functional synergy of "compliant adaptation during docking and rigid load bearing after docking," solving the problems of jamming and interference in rigid docking structures while avoiding the defects of insufficient load-bearing stiffness and poor stability after locking in a purely compliant structure.

[0042] Specifically, the rigid locking platform 12 includes a disc-shaped base 11 and at least two cylindrical positioning posts 13 fixedly disposed on the side of the base 11 facing away from the first cross spring group 1. The cylindrical positioning posts 13 are evenly spaced around the circumference of the base 11. During the docking process, the cylindrical positioning posts 13 can cooperate with the positioning sockets of the docking mechanism on the opposite side to achieve coarse positioning and coaxial guidance during the docking process, assisting in completing the posture adjustment. At the same time, after locking, they can withstand radial shear loads, improving the impact resistance of the connection structure.

[0043] The central axis of the disc-shaped base 11 coincides with the Z-axis, and the base 11 has a threaded mounting hole 14 for fixed connection with the positioning post 13. The coaxial arrangement ensures that the force is evenly distributed along the axial direction during the docking process and does not generate additional off-center load torque; the threaded mounting hole 14 enables rigid fastening with the positioning post 13, ensuring the connection strength after locking and meeting the dynamic load bearing requirements of the modular vehicle during operation.

[0044] The solution in this embodiment significantly reduces the assembly precision requirements for docking through five-degree-of-freedom passive compliance compensation. It can achieve automatic alignment and docking even under conditions of positional and orientation deviations. The integrated structure has excellent vibration resistance and fatigue life, adapting to the usage requirements of modular vehicles under complex operating conditions. It can effectively improve the efficiency of vehicle module reconfiguration and operational reliability. The specific working principle is as follows: The compliant connection platform is based on a passive adaptive posture compensation mechanism of an integrated series compliant structure. It does not require additional active drive components and sensing control systems. It only triggers the structure to produce elastic deformation in a preset direction through passive excitation generated by contact force during docking. Simultaneously, it completes the adaptive absorption and compensation of multi-dimensional docking deviations, and finally achieves smooth docking and stable locking under low assembly precision conditions.

[0045] The triggering mechanism for docking deviation compensation is as follows: When there is a position or attitude deviation between the two vehicle modules to be docked, the rigid locking platform 12 comes into contact with the docking mechanism on the opposite side during the docking feed process. The resulting contact force and torque are used as passive excitations and are transmitted to the first cross spring group 1 through the base 11, and then sequentially transmitted to the frame unit 2 and the second cross spring group 3 along the axial series structure. The entire series structure takes the fixed end of the second cross spring group 3 connected to the vehicle base as the reference and generates elastic deformation in the corresponding direction, triggering the passive compliance compensation action.

[0046] To address different types of deviations during the docking process, the platform achieves precise multi-dimensional compensation through the independent decoupling and deformation of each structural unit: For pitch angle deviation around the X-axis and yaw angle deviation around the Y-axis, compensation is achieved through two sets of orthogonally arranged cross spring groups. The first cross spring group 1 and the second cross spring group 3 are orthogonally arranged at 90° in the XY plane, and their rotation axes coincide with the X-axis and Y-axis respectively. They can independently respond to angular deviations in the two directions, generating corresponding pure bending rotational deformations without coupling interference. At the same time, based on the non-coplanar misalignment of the first part 9 and the second part 10, which are only fixed at the midpoint, the two springs undergo independent pure bending deformations during rotation. The rotation axis remains stable throughout the entire process without offset or axial parasitic drift. The angular compensation process does not generate additional positional errors, ensuring accurate adaptive matching of the docking angle.

[0047] The horizontal positional offset within the XY plane and the torsional angle deviation around the Z-axis are compensated by the support component 4 of frame unit 2. The slender, elastic support beams have extremely low bending stiffness in the XY plane, allowing them to undergo bending deformation in the corresponding direction under external force, achieving translational displacement adjustment along the X and Y axes and eliminating horizontal positional offsets within the plane. Multiple circumferentially evenly arranged support beams can simultaneously generate symmetrical bending deformation, forming overall torsional deformation around the Z-axis, absorbing torsional angle deviations during the docking process. The circumferentially evenly spaced arrangement ensures that the deformation characteristics of the support component 4 are uniform and symmetrical in all directions within the XY plane, avoiding asymmetric deformation caused by eccentric loading and ensuring the accuracy of planar and torsional deviation compensation.

[0048] The platform possesses self-regulating stiffness characteristics, enabling performance adaptation between the docking process and the locking operation state. During docking, the platform undergoes a pre-set compliant deformation under contact force to compensate for deviations. In the Z-axis docking feed direction, both the support beam and the cross spring assembly maintain extremely high tensile and compressive stiffness, stably transmitting the docking thrust without issues such as thrust leakage or uncontrolled docking stroke. After docking is completed and the external force disappears, the platform returns to a stable state under the elastic restoring force of its own structure. This retains a certain elastic buffering capacity to absorb vibration and impact loads during vehicle operation while providing sufficient structural support stiffness to ensure the stability of the connection between modules, achieving a harmonious balance between compliant compensation capability and load-bearing stiffness.

[0049] This embodiment focuses on the inter-module connection and unlocking of modular reconfigurable vehicles as its core application scenario. The method of using the compliant connection platform specifically includes the following steps: Step 1: Installation and Deployment The second fixing part 8 of the second cross spring group 3 is rigidly fixed to the modular vehicle base to be docked, serving as the installation and fixing reference for the entire compliant connection platform. The first fixing part 7 of the first cross spring group 1 is rigidly connected to the base 11, and then the rigid locking platform 12 is fixedly installed on the side of the base 11 away from the compliant structure, with the cylindrical positioning post 13 of the rigid locking platform 12 facing the docking feed direction, thus completing the assembly of the platform with the vehicle module and the docking actuator. Because the core structure of the platform is an integrated continuous component with no splicing assembly nodes, no additional complex alignment and debugging are required. It is only necessary to ensure that the axial direction of the platform coincides with the docking feed direction of the vehicle module to complete the installation and deployment, which greatly simplifies the assembly process of the modular vehicle.

[0050] Step Two: Preparations before docking When a modular vehicle performs a reconfiguration task, the two vehicle modules to be docked travel to the preset docking station, so that the docking end faces of the two modules are set opposite each other. The cylindrical positioning column 13 of the rigid locking platform 12 is coaxially roughly aligned with the positioning socket of the docking mechanism on the opposite side. At this time, the compliant connection platform is in a natural no-load state, and each structural unit is in the initial zero position without elastic deformation, waiting for the docking command.

[0051] Step 3: Adaptive Docking and Deviation Compensation The vehicle module is advanced along the Z-axis docking feed direction by the drive mechanism. When there are position or attitude deviations between the two docking end faces, the cylindrical positioning column 13 of the rigid locking platform 12 first contacts the inner wall of the opposite positioning socket. The lateral force and torque generated by the contact are transmitted to the compliant connection platform, triggering the passive compliant compensation action: If there is a pitch angle deviation around the X-axis or a yaw angle deviation around the Y-axis, the first cross spring group 1 and the second cross spring group 3 respectively generate rotational deformations in the corresponding directions to adaptively absorb the angular deviation; If there is a horizontal position offset in the XY plane or a torsional angle deviation around the Z-axis, the slender elastic support beams of the frame unit 2 generate bending or torsional deformations in the corresponding directions to drive the docking end to complete the adaptive adjustment of the plane position and torsional angle.

[0052] The above multi-dimensional deformation compensations are carried out synchronously and collaboratively. Without active sensing and control, the automatic alignment of the docking points can be achieved, enabling the cylindrical positioning column 13 to smoothly insert into the opposite positioning socket. There are no problems of rigid jamming, structural interference, and local overload throughout the process, effectively avoiding the collision damage of the docking interface.

[0053] Step 4 Locking and fixing and stable operation: When the cylindrical positioning column 13 is completely inserted in place and the docking points are completely aligned, the rigid locking of the two vehicle modules is completed through the locking mechanism supporting the rigid locking platform 12. At this time, the external force for docking feed disappears, and the compliant connection platform maintains a stable working state under the action of its own elastic restoring force. On the one hand, through the elastic characteristics of the structure, it provides continuous vibration buffering ability between the vehicle modules, absorbing the road surface impact and vibration load during vehicle driving. On the other hand, through the high structural stiffness in the Z-axis direction, it provides stable axial and radial bearing capacities between the modules, ensuring the stability and reliability of the connection structure during vehicle driving.

[0054] Step 5 Unlocking and separation: When the vehicle module needs to be disassembled and reconstructed, first release the locking state of the rigid locking platform 12, and drive the vehicle module to feed backward along the Z-axis, so that the cylindrical positioning column 13 of the rigid locking platform 12 exits from the opposite socket. During the separation process, if there is a lateral force generated by vehicle attitude disturbance, the compliant connection platform can still adaptively compensate through elastic deformation to avoid scratching and jamming of the interface during separation; After the two docking end faces are completely separated, the compliant connection platform automatically resets to the initial zero position under the action of its own elastic restoring force, waiting for the next docking task.

[0055] It can be understood that this usage method is not only applicable to the connection and unlocking scenarios between the modules of modular reconfigurable vehicles, but also can be applied to other application scenarios that require passive compliant docking, such as the docking of aerospace equipment and industrial automation assembly, according to actual needs.

[0056] The terms “above,” “below,” and “within” as used above include the number itself; the terms “exceeding” and “excluding” do not include the number itself.

[0057] The present invention has been further described above with reference to specific embodiments. However, it should be understood that the specific descriptions herein should not be construed as limiting the substance and scope of the present invention. Various modifications made to the above embodiments by those skilled in the art after reading this specification are all within the scope of protection of the present invention. The various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0058] If the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

Claims

1. A compliant connection platform, characterized in that, The system includes a first cross spring group, a frame unit, and a second cross spring group connected sequentially along the axial direction. The frame unit includes a support assembly and a first connecting part and a second connecting part respectively disposed at both ends of the support assembly. The first cross spring group is fixedly connected to the first connecting part, and the second cross spring group is fixedly connected to the second connecting part. The support assembly can deform in a plane direction perpendicular to the axial direction. The first cross spring group and the second cross spring group are orthogonally arranged in a plane direction perpendicular to the axial direction, so that the compliant connection platform can achieve five degrees of freedom passive compliant compensation.

2. The compliant connection platform according to claim 1, characterized in that, The first and second cross spring groups each include a first fixed part and a second fixed part arranged opposite to each other, and a first piece and a second piece disposed between the first fixed part and the second fixed part; the two ends of the first piece are fixedly connected to the first fixed part and the second fixed part respectively, and the two ends of the second piece are fixedly connected to the first fixed part and the second fixed part respectively, and the first piece and the second piece are arranged in a cross configuration.

3. The compliant connection platform according to claim 2, characterized in that, The first piece has a first long side, and the second piece has a second long side. The midpoint of the first long side and the midpoint of the second long side are fixedly connected so that the first piece and the second piece are arranged in a non-coplanar staggered manner.

4. The compliant connection platform according to claim 2, characterized in that, The second fixing part of the first cross spring group is fixedly connected to the first connecting part; the first fixing part of the second cross spring group is fixedly connected to the second connecting part.

5. The compliant connection platform according to claim 2, characterized in that, The support assembly includes at least two support beams extending along the platform axis, and all support beams are evenly spaced along a plane perpendicular to the axis.

6. The compliant connection platform according to claim 5, characterized in that, The support beam is configured as a slender elastic structure, with both ends of the support beam fixedly connected to the first connecting part and the second connecting part, respectively, and the axis of all support beams is parallel to the axis of the platform.

7. The compliant connection platform according to claim 5, characterized in that, The number of support beams is four, and the four support beams are arranged in a square with evenly spaced corners along a plane perpendicular to the axial direction.

8. The compliant connection platform according to any one of claims 2 to 7, characterized in that, It also includes a rigid locking platform, which is fixedly connected to the first fixing part on the first cross spring group.

9. The compliant connection platform according to claim 8, characterized in that, The rigid locking platform includes a base and at least two positioning posts fixedly disposed on the side of the base facing away from the first cross spring group, the positioning posts being evenly spaced along the circumference of the base.

10. The compliant connection platform according to claim 9, characterized in that, The central axis of the base coincides with the axial direction of the platform, and the base is provided with threaded holes for connecting positioning columns.

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