An automatic and flexible docking system for ear-plug structure

Abstract

The present invention discloses an automatic compliant docking system of an ear-plug structure, comprising a base, and further comprising: a docking feed assembly mounted on the base; a feed seat movably mounted on the docking feed assembly, the feed surface of the feed seat matching the outer wing ear-plug surface; a first bracket rotatably matched on the feed seat, the top surface of the first bracket being a horizontal plane and intersecting with the feed surface; a second bracket located on the upper part of the first bracket, the top of the second bracket having an inclined outer wing placement surface; a compliant mechanism for buffering the force of the second bracket arranged between the first bracket and the second bracket, when in the outer wing mounting working state, the first bracket drives the second bracket to rotate so that the outer wing placement surface is in a horizontal state; when in the outer wing docking working state, the first bracket drives the second bracket to rotate so that the outer wing on the outer wing placement surface is at the ear-plug docking angle. The present invention ensures the stability of the wing mounting and controls the docking angle and posture.

Description

Technical Field

[0001] The invention relates to the field of aircraft assembly manufacturing, and in particular to an automatic flexible docking system of an ear-insertion type structure. Background Art

[0002] During the aircraft assembly and manufacturing process, the assembly of aircraft products with plug-in structures is a typical matching assembly problem. Due to the large size and weight of the product, high assembly precision requirements, and the fact that the product surface must not be scratched, bumped, or deformed, the difficulty of product assembly is greatly increased.

[0003] The traditional assembly method still uses traditional hoisting and manual assisted assembly. The product posture is difficult to control, the ear-plug structure of the product is prone to scratches and bumps, affecting the product appearance, and the assembly accuracy is difficult to ensure. In addition, multiple workers are required to lift and connect together, which is difficult to operate and is prone to safety accidents such as falling, smashing, and squeezing.

[0004] The utility model patent with authorization announcement number CN206125462U discloses an aircraft wing connection and installation auxiliary equipment, including a wing attitude adjustment mechanism, a wing bracket and an AGV trolley. The wing bracket is installed on the top of the AGV trolley through multiple wing attitude adjustment mechanisms arranged at the bottom of the wing bracket, and the wing is arranged on the wing bracket; the wing attitude adjustment mechanism includes a lifting drive mechanism, a Y-axis sliding mechanism and an X-axis sliding mechanism stacked up and down, the X-axis sliding mechanism and the Y-axis sliding mechanism are driven to slide by their own driving motors respectively, the lifting drive mechanism is arranged on a rotating drive mechanism on the slide table of the Y-axis sliding mechanism, the top of the lifting drive mechanism is movably hinged with the bottom of the wing bracket through a ball head, and the wing attitude adjustment mechanism is displaced up and down, front and back, left and right to make the wing at a suitable angle to align with the mounting hole of the aircraft fuselage to achieve docking assembly. Although the utility model adds a posture adjustment mechanism and reduces the difficulty and error of manual posture adjustment operation, the docking process is still done by workers manually feeding and docking, which depends on the workers' experience, and the assembly accuracy is still difficult to control. The size and weight of the outer wing are very large, and it is very easy to get scratched, bumped and deformed during docking, which makes assembly very difficult. In addition, the utility model does not have a flexible assembly mechanism, and forced assembly often occurs. In this way, the internal stress of the assembled product cannot be controlled, which will affect the quality of the finished product. The degree of automation of the entire device is not high, and manual intervention is often required during the posture adjustment and docking process, and the product quality cannot be controlled.

[0005] The lower part is installed on a trolley, which has the problem of unstable platform, easy displacement and tipping, so its installation accuracy still cannot meet the requirements of aircraft wing installation. The equipment also does not integrate closed-loop control systems such as digital measurement system, control system, monitoring system, etc., and has the problems of low automation and visualization, and high technical requirements for workers.

[0006] The invention patent with publication number CN108216682A discloses a six-degree-of-freedom wing attitude adjustment docking trailer, including a hydraulic lift, a diamond-shaped tilting mechanism assembly, a hinge support, a tilting support plate, a worm gear lift, a longitudinal and transverse support plate assembly, a wing support plate, a high-density sponge, a universal ball head assembly, a support frame, a first handwheel assembly and a plurality of universal casters. Although the invention can be adjusted in six degrees of freedom, the mechanism is too simplified, there is no automated design, and workers need to experience and judge. There is no monitoring of the assembly contact surface force during assembly, which is prone to forced assembly resulting in excessive assembly stress, making it difficult to ensure its assembly accuracy and performance. Summary of the invention

[0007] The purpose of the present invention is to provide an automatic compliant docking system for an ear-plug structure. During the docking process of aircraft products with the ear-plug structure, the servo-driven feed shaft and the rotating shaft in the mechanism are used to complete the automatic docking movement. The six-degree-of-freedom compliant mechanism is used to balance the gravity of the product and the product bracket, and can also give the product sufficient adaptability during docking, so that the product can be smoothly assembled in place according to the ear-plug guide of the target product during the docking process. When the ear-plug docking encounters interference, the compliant mechanism can retreat in the opposite direction to avoid damage during the ear-plug docking, thereby ensuring the assembly efficiency of the ear-plug structure, improving its assembly accuracy, and avoiding forced assembly of the product during the assembly process.

[0008] To achieve the above object, the technical solution adopted by the present invention is:

[0009] An automatic flexible docking system of an ear-insertion structure includes a base and:

[0010] a docking feed assembly mounted on the base;

[0011] A feed seat movably mounted on the docking feed assembly, wherein the feed surface of the feed seat matches the outer wing plug ear surface;

[0012] A first bracket rotatably engaged with the feed seat, wherein the top surface of the first bracket is a horizontal plane and intersects with the feed surface;

[0013] A second bracket is located above the first bracket, wherein the top of the second bracket has an inclined outer wing placement surface;

[0014] a compliant mechanism disposed between the first bracket and the second bracket for buffering the force applied to the second bracket,

[0015] When the outer wing is in the working state of being mounted on the rack, the first bracket drives the second bracket to rotate so that the outer wing placement surface is in a horizontal state;

[0016] When the outer wings are in the docking working state, the first bracket drives the second bracket to rotate, so that the outer wings on the outer wing placement surface are at the ear-inserting docking angle.

[0017] Preferably, the docking feed assembly includes a feed shaft and slide rails on both sides, the feed shaft and the slide rails are both tiltedly arranged on the base, and their tilt angles match the outer wing ear surfaces, the feed seat is fixed on the feed shaft, and its two sides are supported by the slide rails and are in sliding cooperation with the slide rails.

[0018] The feed axis and rotating axis in the system are used to complete the automatic docking movement, and the six-degree-of-freedom compliant mechanism is used to balance the gravity of the product and the product bracket. It can also give the product enough adaptability when docking, so that the product can be smoothly assembled in place according to the ear guide of the target product during the docking process. When the ear docking encounters interference, the compliant mechanism can retreat in the opposite direction to avoid damage during the ear docking, thereby ensuring the assembly efficiency of the ear-type structure, improving its assembly accuracy, and avoiding forced assembly of the product during the assembly process.

[0019] Preferably, the feed shaft is driven by a feed motor through a reducer, and a clutch is provided between the feed motor and the feed shaft, and a hand wheel is provided on the feed shaft. Workers can feed manually with the hand wheel, and the clutch will automatically separate the feed motor and the reducer when the assembly feed force is too large to ensure assembly safety.

[0020] Preferably, a force sensor is provided on the feed shaft, which can monitor the feed force in real time during automatic feeding assembly.

[0021] Preferably, the compliant mechanism includes a bottom plate fixedly connected to the upper surface of the first bracket, an intermediate plate capable of X-axis movement on the bottom plate, and a top plate capable of rotating on the intermediate plate; the lower surface of the second bracket supports a lifting mechanism, and a ball joint is provided between the second bracket and the lifting mechanism; a reset disc spring is provided on the lifting mechanism, a vertical reset spring is provided between the bottom plate and the lower surface of the second bracket, an oblique reset spring is provided between the intermediate plate and the lower surface of the second bracket, and a reset pin is provided between the bottom plate and the lower surface of the second bracket.

[0022] A flexible assembly can be formed by using the middle plate that moves in the X direction, the top plate that can rotate on the middle plate, the lifting mechanism, the top plate and the ball joint connecting the second bracket. When the ear joint encounters interference, the flexible mechanism can retreat in the opposite direction to avoid damage during the ear joint. The reset pin is set to ensure that the product has sufficient stability when it is put on the shelf.

[0023] Preferably, the top plate is provided with a rotating slide rail, and the middle plate is provided with a group of rotating wheel assemblies matching the rotating slide rail, and the group of rotating wheel assemblies clamps the top plate in the middle.

[0024] Preferably, the middle plate is provided with a linear slide rail, and the bottom plate is provided with a group of sliding wheel assemblies matching the linear slide rail, and the group of sliding wheel assemblies clamps the middle plate in the middle.

[0025] Preferably, the lifting mechanism comprises a guide sleeve fixed to the top plate, the guide sleeve is provided with a guide column which is slidably matched with the top plate up and down, and the second bracket is connected to the guide column of the lifting mechanism through the ball joint.

[0026] Preferably, the first bracket is provided with a rotating shaft, one end of which is arranged in a bearing fixed on the feed seat, an annular guide rail is fixed on the feed seat, the first bracket is arranged on the annular guide rail and is in rolling cooperation with the annular guide rail, and the first bracket is provided with a gear driven by a rotating motor, and the gear is meshed with an annular rack fixed on the feed seat.

[0027] Preferably, the first bracket is arranged on the annular guide rail through a rolling assembly, the rolling assembly includes a rolling seat fixed on the first bracket, a rolling block is arranged between the rolling seat and the annular guide rail, and needle roller cam guides are arranged on both sides of the rolling seat, and the needle roller cam guides are against both sides of the annular guide rail, so that the first bracket can rotate more stably around the rotation axis.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. When the outer wing is mounted, the first bracket rotates until the upper surface of the second bracket is horizontal, and when the outer wing is docked, the first bracket rotates until the upper surface of the second bracket is inclined, and its inclination angle matches the outer wing ear surface. This ensures the stability of the wing mounting and the docking angle and posture.

[0030] 2. You can choose to complete the feeding movement in automatic or manual mode, and both modes can monitor the feeding force in real time. When necessary, the feeding motor and clutch can be separated immediately to ensure the assembly quality.

[0031] 3. The six-degree-of-freedom compliant mechanism is used to balance the gravity of the product and the product bracket, and to give the product sufficient adaptability during docking, so that the product can be smoothly assembled in place according to the ear guide of the target product during the docking process. When the ear docking encounters interference, the compliant mechanism can retreat in the opposite direction to avoid damage during the ear docking, thereby ensuring the assembly efficiency of the ear-type structure, improving its assembly accuracy, and avoiding forced assembly of the product during the assembly process.

[0032] 4. The six-degree-of-freedom compliant mechanism is equipped with a reset pin to ensure that the product has sufficient stability when it is put on the shelf.

[0033] 5. The degree of automation is high, and production efficiency is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the base and the docking feed assembly of the present invention;

[0036] Figure 3 It is a schematic structural diagram of the feed seat and the first bracket of the present invention;

[0037] Figure 4 It is a schematic structural diagram of the feed seat and the driving components on the first bracket of the present invention;

[0038] Figure 5 It is a schematic diagram of the cross-sectional matching structure of the rolling assembly and the annular guide rail of the present invention;

[0039] Figure 6 is a schematic structural diagram of the second bracket and the compliant mechanism of the present invention;

[0040] Figure 7 It is a structural schematic diagram of the compliant mechanism of the present invention.

[0041] Description of reference numerals:

[0042] Base 1, ball joint 2, docking feed assembly 3, feed shaft 4, force sensor 5, hand wheel 6, reducer 7, clutch 8, feed motor 9, slide rail 10, rotating shaft 11, bearing 12, annular guide rail 13, feed seat 14, outer wing placement surface 15, gear 16, annular rack 17, rolling assembly 18, needle cam guide 19, rolling block 20, vertical return spring 22, return pin 23, oblique return spring 24, rotating slide rail 25, guide column 26, return disc spring 27, guide sleeve 28, linear slide rail 29, bottom plate 30, middle plate 31, top plate 32, second bracket 33, first bracket 34, compliance mechanism 35, lifting mechanism 36, rotating wheel assembly 37, sliding wheel assembly 38, rotating motor 39, rolling seat 40. DETAILED DESCRIPTION

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below. The directional words "upper", "lower", "left" and "right" involved in this article are set based on the corresponding drawings. It can be understood that the appearance of the above directional words does not limit the scope of protection of the present invention.

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] like Figure 1-7 As shown, the ear-insertion structure automated compliant docking system of this embodiment includes a base 1, a docking feeding assembly 3, a first bracket 34, a second bracket 33 and a compliant mechanism arranged on the base 1.

[0047] The docking feed assembly 3 includes a feed shaft 4 and slide rails 10 on both sides. The feed shaft 11 and the slide rails 10 are tilted on the base 1, and the tilt angle matches the outer wing ear surface. A feed seat 14 is fixed on the feed shaft 4. The feed seat 14 is supported by the slide rails 10 on both sides and is in sliding cooperation with the slide rails 10. The feed shaft 4 is driven by the feed motor 9 through the reducer 7 and has a self-locking function. A clutch 8 is provided between the feed motor 9 and the feed shaft 4, which can quickly separate the feed motor 9 from the reducer 7. A hand wheel 6 is provided on the feed shaft 4 for manual feeding. A force sensor 5 is also provided on the feed shaft 4. The feed force can be monitored in real time during automatic feeding assembly. If the docking force is too large, the servo motor will stop docking immediately, and the system will issue an audible and visual alarm. If the docking force is too large during manual docking, the system will also issue an audible and visual alarm to remind the worker.

[0048] The first bracket 34 is rotatably arranged on the feed seat 14, and its rotation axis 4 is perpendicular to the feed seat 14. The first bracket 34 is tilted, and its bottom end intersects with the bottom surface. The bottom surface of the first bracket 34 is parallel to the feed seat 14. When the outer wing is mounted, the first bracket 34 rotates to the second bracket 33 in a horizontal state; when the outer wing is docked, the first bracket 34 rotates to the second bracket 33 in an inclined state, and its inclination angle matches the outer wing ear plug surface; the feed seat 14 is fixedly provided with an annular guide rail 13, and the first bracket 34 is arranged on the annular guide rail 13 and is in rolling cooperation with the annular guide rail 13. The first bracket 34 is provided with a rotating motor 39 driven The movable gear 16 is meshed with the annular rack 17 fixed on the feed seat 14. The first bracket 34 is arranged on the annular guide rail 13 through a rolling assembly 18. The rolling assembly 18 includes a rolling seat 40 fixed on the first bracket 34. A rolling block 20 is provided between the rolling seat 40 and the annular guide rail 13. Needle roller cam guides 19 are also provided on both sides of the rolling seat 40. The needle roller cam guides 19 are against both sides of the annular guide rail 13. The outer needle roller cam guide 19 is eccentric, and the eccentricity adjustment amount is 0.7mm, which can ensure the close fit between the needle roller cam guide 19 and the annular guide rail 13 and improve the smoothness of rotation.

[0049] The second bracket 33 has an upper surface that is tilted, and its bottom end intersects with the bottom surface. When the outer wing is mounted, the first bracket 34 rotates until the second bracket 33 is in a horizontal state. When the outer wings are docked, the first bracket 34 rotates to form an outer wing angle that matches the ear plug surface together with the tilt angle of the second bracket itself. A proximity switch is provided on the feed seat 14 at each of the upper surface of the second bracket 33 in the docking state and the horizontal state, so that the working state and the transport state can be controlled and switched.

[0050] The compliance mechanism is located between the first bracket 34 and the second bracket 33. When the docking encounters resistance, the outer wing is allowed to evade in the reverse direction. The compliance mechanism 35 includes a bottom plate 30 fixedly connected to the upper surface of the first bracket 34, an intermediate plate 31 that can move in the X direction on the bottom plate 30, and a top plate 32 that can rotate on the intermediate plate 31. A lifting mechanism 36 is supported below the lower surface of the second bracket 33, and a ball joint 2 is provided between the two. A reset disc spring 27 is provided on the lifting mechanism 36. A vertical reset spring 22 is provided between the bottom plate 30 and the lower surface of the second bracket 33. An oblique reset spring 24 is provided between the intermediate plate 31 and the lower surface of the second bracket 33. A reset pin 23 is provided on the bottom plate 30 and the lower surface of the second bracket 33. When the product is put on the shelf, the reset pin 23 can ensure that the product has sufficient stability. The top plate 32 is provided with a rotating slide rail 25, and the intermediate plate 31 is provided with a group of rotating wheel assemblies 37 that match the rotating slide rail 25, and the group of rotating wheel assemblies 37 clamp the top plate 32 in the middle. The middle plate 31 is provided with a linear slide rail 29, and the bottom plate 30 is provided with a group of sliding wheel assemblies 38 matching the linear slide rail 29, and the group of sliding wheel assemblies 38 clamp the middle plate 31 in the middle. The lifting mechanism 36 includes a guide sleeve 28 fixed to the top plate 32, and a guide column 26 is provided in the guide sleeve 28 to slide with it up and down, and the guide column 26 is connected to the second bracket 33 by a ball joint 2.

[0051] When docking the wings, the X-axis direction is the wingspan direction, which requires greater flexibility. Its movement is mainly achieved through the linear slide rail 29. At the same time, the four ball joints 2 can also provide a smaller movement stroke, and its flexibility is mainly provided by the vertical return springs 22 and the oblique return springs 24 on the four corners. The Y-axis direction does not require greater flexibility. The movement is achieved through the four ball joints 2, which have a smaller movement stroke, and its flexibility is mainly provided by the vertical return springs 22 and the oblique return springs 24 on the four corners. The Z-axis direction is the product height direction, which requires greater flexibility. The movement is mainly achieved through the guide column 26, and its flexibility is mainly provided by the vertical return springs 22 on the four corners and the return disc spring 27 in the guide sleeve 28. The rotation around the X-axis and Y-axis is achieved through the four ball joints 2. The flexibility is mainly provided by the vertical return springs 22 on the four corners and the return disc spring 27 in the guide sleeve 28. The rotation about the Z axis is achieved by rotating the slide rail 25, and its flexibility is mainly provided by the vertical return springs 22 and the oblique return springs 24 at the four corners. The compliant mechanism thus has six degrees of freedom to avoid, and with the feed speed, forced assembly can be completely avoided, and it is also used to balance the gravity of the product and the product bracket.

[0052] Working principle: Before installation, the first bracket 34 rotates around the rotating shaft 11 to turn the upper surface of the second bracket 33 to a horizontal level, and the wing is placed on it. After fixing it with a suction cup and a locking claw, it is turned back to the docking state. After laser tracking measurement and posture adjustment of the mechanism, the reset pin 23 is pulled out, the flexibility is opened, and docking is performed. During the docking process, the feed shaft 4 is first automatically fed under the drive of the feed motor 9 to complete the docking and assembly. If there is a large resistance, the sound and light alarm will sound, the flexible mechanism 35 will automatically retreat, the clutch 8 will automatically separate, and the feed shaft 4 will lose power. At this time, the hand wheel 6 can be used to manually feed slowly to ensure smooth docking. Then manually install the connecting bolts, unlock the locking claws, and push open the suction cup. The product is assembled and separated from the docking system.

[0053] As described above, the present invention provides an automatic and compliant docking system for an ear-plug structure, which can choose to complete the feeding movement in automatic or manual modes, and can monitor the feeding force in real time, and immediately separate the feeding motor and clutch when necessary to ensure the assembly quality. The six-degree-of-freedom compliant mechanism is used to balance the gravity of the product and the product bracket, and can also give the product sufficient adaptability during docking, so that the product can be smoothly assembled in place according to the ear-plug guide of the target product during the docking process. When the ear-plug docking encounters interference, the compliant mechanism can retreat in the opposite direction to avoid damage during the ear-plug docking, thereby ensuring the assembly efficiency of the ear-plug structure, improving its assembly accuracy, and avoiding forced assembly of the product during the assembly process. The six-degree-of-freedom compliant mechanism is provided with a reset pin to ensure that the product has sufficient stability when the product is put on the shelf. The degree of automation is very high, and production efficiency is further improved.

[0054] The above description is only an example of a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic flexible docking system of an ear-insertion structure, comprising a base (1), characterized in that: Also includes: A docking feed assembly (3) mounted on the base (1); A feed seat (14) movably mounted on the docking feed assembly (3), wherein a feed surface of the feed seat (14) matches the outer wing plug ear surface; A first bracket (34) rotatably engaged with the feed seat (14), wherein the top surface of the first bracket (34) is a horizontal surface and intersects with the feed surface; A second bracket (33) located above the first bracket (34), wherein the top of the second bracket (33) has an inclined outer wing placement surface (15); a compliant mechanism (35) disposed between the first bracket (34) and the second bracket (33) and used for buffering the force applied to the second bracket (33); When the outer wing is in the working state of being mounted on the frame, the first bracket (34) drives the second bracket (33) to rotate, so that the outer wing placement surface (15) is in a horizontal state; When the outer wing is in the docking working state, the first bracket (34) drives the second bracket (33) to rotate, so that the outer wing on the outer wing placement surface (15) is at an ear-inserting docking angle; The first bracket (34) is provided with a rotating shaft (11), one end of which is arranged in a bearing (12) fixed on a feed seat (14), an annular guide rail (13) is fixed on the feed seat (14), the first bracket (34) is arranged on the annular guide rail (13) and is in rolling cooperation with the annular guide rail (13), the first bracket (34) is provided with a gear (16) driven by a rotating motor (39), and the gear (16) is meshed with an annular rack (17) fixed on the feed seat (14).

2. The automatic flexible docking system of the ear-insertion structure according to claim 1, characterized in that: The docking feed assembly (3) comprises a feed shaft (4) and slide rails (10) on both sides. The feed shaft (4) and the slide rails (10) are both tiltedly arranged on the base (1), and their tilt angles match the outer wing ear surfaces. The feed seat (14) is fixed on the feed shaft (4), and its two sides are supported by the slide rails (10) and are in sliding cooperation with the slide rails (10).

3. The automatic flexible docking system of the ear-insertion structure according to claim 2, characterized in that: The feed shaft (4) is driven by a feed motor (9) through a reducer (7), a clutch (8) is provided between the feed motor (9) and the feed shaft (4), and a hand wheel (6) is provided on the feed shaft (4).

4. The automatic flexible docking system of the ear-insertion structure according to claim 2, characterized in that: A force sensor (5) is provided on the feed shaft (4).

5. The automatic flexible docking system of the ear-insertion structure according to claim 1, characterized in that: The compliant mechanism (35) comprises a bottom plate (30) fixedly connected to the upper surface of the first bracket (34), an intermediate plate (31) capable of X-direction movement on the bottom plate, and a top plate (32) capable of rotating on the intermediate plate (31); the lower surface of the second bracket (33) supports a lifting mechanism (36), and a ball joint (2) is provided between the second bracket (33) and the lifting mechanism (36); a reset disc spring (27) is provided on the lifting mechanism (36); a vertical reset spring (22) is provided between the bottom plate (30) and the lower surface of the second bracket (33); an oblique reset spring (24) is provided between the intermediate plate (31) and the lower surface of the second bracket (33); and a reset pin (23) is provided between the bottom plate (30) and the lower surface of the second bracket (33).

6. The automatic flexible docking system of the ear-insertion structure according to claim 5, characterized in that: The top plate (32) is provided with a rotating slide rail (25), and the middle plate (31) is provided with a group of rotating wheel assemblies (37) matching the rotating slide rail (25), and the group of rotating wheel assemblies (37) clamps the top plate (32) in the middle.

7. The automatic flexible docking system of the ear-insertion structure according to claim 5, characterized in that: The intermediate plate (31) is provided with a linear slide rail (29), and the bottom plate (30) is provided with a group of sliding wheel assemblies (38) matching the linear slide rail (29), and the group of sliding wheel assemblies (38) clamps the intermediate plate (31) in the middle.

8. The automatic flexible docking system of the ear-insertion structure according to claim 5, characterized in that: The lifting mechanism (36) comprises a guide sleeve (28) fixed to the top plate (32), wherein a guide column (26) is arranged in the guide sleeve (28) and is slidably matched with the guide sleeve (28) up and down, and the second bracket (33) is connected to the guide column (26) of the lifting mechanism (36) through the ball joint (2).

9. The automatic flexible docking system of the ear-insertion structure according to claim 1, characterized in that: The first bracket (34) is arranged on the annular guide rail (13) through a rolling assembly (18), and the rolling assembly (18) includes a rolling seat (40) fixed on the first bracket (34), a rolling block (20) is arranged between the rolling seat (40) and the annular guide rail (13), and needle roller cam guides (19) are also arranged on both sides of the rolling seat (40), and the needle roller cam guides (19) are against both sides of the annular guide rail (13).

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