A flexible docking device and method

Abstract

The technical scheme of the present application is to provide a flexible docking device, characterized in that the device comprises a base, two X-axis movement mechanisms arranged on the base, a six-dimensional attitude adjustment mechanism arranged on the X-axis movement mechanisms, a product to be assembled fixing and X-axis rotating mechanism arranged on the six-dimensional attitude adjustment mechanism, and a load measuring mechanism arranged between the six-dimensional attitude adjustment mechanism and the product to be assembled fixing and X-axis rotating mechanism. Another technical scheme of the present application is to provide a flexible docking method, characterized in that the method uses the above flexible docking device. Compared with the prior art, the present application has the following beneficial effects: the present application can complete the assembly and subsequent coupling and fixing operations of two hollow cylinders by one person, and the operator participates in the assembly at the beginning of the device, thereby reducing the invalid working time of the personnel. The present application discards the traditional measurement link, thereby reducing the initial equipment investment cost and the subsequent maintenance cost.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of for hollow cylinder of segmented assembly required suspension (equilibrium) flexible docking equipment and method, belong to the flexible assembly docking field of hollow cylinder product of segmented assembly required. BACKGROUND

[0002] The existing hollow cylinder product of segmented assembly required, due to its interior needs to assemble various components, and the structure and appearance requirement of assembly finished product, cannot complete all component assembly requirements in a complete hollow cylinder interior.Therefore, before the assembly of finished product, it needs to be segmented into several segments and assembled respectively, and then, each segment is assembled, to form the final product.

[0003] The current hollow cylinder connection mode mainly has flange connection, plug-in and screw connection three ways.Most hollow cylinders to be assembled are thin-walled parts, and the rigidity and appearance size requirement of assembly finished product after the assembly of each hollow cylinder segment are relatively high.In the above three connection modes of hollow cylinder, the plug-in mode is relatively high for the size and machining quality requirement of assembly surface of each hollow cylinder to be assembled, and the assembly tolerance requirement, so that the requirement of assembly technology is also relatively high.At present, the assembly of most products is carried out by manual assembly.For the hollow cylinder to be assembled, which is not particularly heavy, long, and small in diameter, it needs to consume multiple manpower to lift together during assembly, or to adjust the position of hollow cylinder segment to be assembled by adjusting tooling equipment according to the position of assembly to carry out assembly.For the hollow cylinder to be assembled, which is large in weight and diameter, it can only be assembled by adjusting tooling step by step by manual.

[0004] Such assembly mode not only has low efficiency, but also the quality of assembly and the level of assembly efficiency are greatly affected by the technical level of assembly personnel, at the same time, the labor intensity of assembly personnel is also relatively large, and the assembly quality is not easy to guarantee.

[0005] In view of the above actual problems, the colleges and enterprises have proposed a scheme of using automatic equipment for automatic docking: let the machine replace the manual automatic assembly and docking work of each hollow rotating main body. Among them: Xu Jiazhong, Chen Jiyuan and Huang Cheng of the School of Automation of Harbin University of Science and Technology, from the contact force borne by the hollow cylinder when assembling the end of the two plug-in assembly hollow cylinders, proposed the scheme of "cylinder cabin active compliant docking strategy". In his paper "Research on modular flexible capture and docking mechanism", Jiang Bowen of Harbin Institute of Technology proposed a method of adjusting the spatial position and posture of the hollow cylinder to be assembled in real time by measuring the contact force borne by the hollow cylinder at its assembly end. However, in this method, before adjusting the spatial posture of the hollow cylinder to be assembled, a set of calculation system is needed to convert the position of the resistance borne by the hollow cylinder to be assembled to the absolute coordinate system of the posture adjusting mechanism through at least two times of spatial coordinate conversion, and then decompose it into the distance required to adjust each part of the posture adjusting mechanism, so as to adjust the position of each part of the posture adjusting mechanism, so as to adjust the spatial posture of the hollow cylinder to be assembled. Although this method can finally realize the adjustment of the spatial position and posture of the hollow cylinder to be assembled, so as to achieve the purpose of automatic docking of the cylinder to be assembled, the difficulty of implementation is large and it is not easy to implement, and the requirements for algorithm and calculation system are high. SUMMARY

[0006] The purpose of the present application is to solve the semi-automatic assembly of hollow cylinders assembled by plug-in, so that the plug-in assembly work originally completed by multiple people can be completed by a single person.

[0007] In order to achieve the above purpose, one technical scheme of the present application is to provide a flexible docking equipment, characterized by comprising:

[0008] a base;

[0009] two X-axis motion mechanisms arranged on the base, the two X-axis motion mechanisms being arranged at a certain distance along the X-axis;

[0010] a six-dimensional posture adjusting mechanism arranged on the X-axis motion mechanism, the six-dimensional posture adjusting mechanism being driven by the X-axis motion mechanism to move along the X-axis;

[0011] a product to be assembled fixing and X-axis rotating mechanism arranged on the six-dimensional posture adjusting mechanism, the product to be assembled fixing and X-axis rotating mechanism being kept in a horizontal state at all times by the six-dimensional posture adjusting mechanism;

[0012] a load measuring mechanism located between the six-dimensional posture adjusting mechanism and the product to be assembled fixing and X-axis rotating mechanism, the load measuring mechanism being capable of detecting the load state of the product to be assembled on the product to be assembled fixing and X-axis rotating mechanism in real time, and calculating the horizontal position offset of the product so as to drive the six-dimensional posture adjusting mechanism to adjust the posture.

[0013] Preferably, the six-dimensional attitude adjusting mechanism comprises a parallel mechanism, the X-axis movement mechanism and the product to be assembled fixing and X-axis rotating mechanism are respectively connected to the upper and lower ends of the parallel mechanism; the parallel mechanism is composed of six groups of servo electric cylinders which are cooperatively extended and retracted to keep the product to be assembled fixing and X-axis rotating mechanism in a horizontal state.

[0014] Preferably, the product to be assembled fixing and X-axis rotating mechanism comprises a bottom plate provided on the six-dimensional attitude adjusting mechanism through the load measuring mechanism, the bottom plate is provided with a driven rotating clasp mechanism and a driving rotating clasp mechanism, the driven rotating clasp mechanism and the driving rotating clasp mechanism both fix and lock the hollow cylinder to be assembled through the clasp, the clasp of the driving rotating clasp mechanism can rotate under the driving of the driving motor, thereby driving the hollow cylinder to be assembled fixed thereon to rotate, and the clasp of the driven rotating clasp mechanism rotates together with the hollow cylinder to be assembled under the action of the driving rotating clasp mechanism.

[0015] Another technical scheme of the present application provides a flexible docking method, characterized by using the flexible docking device, comprising the following steps:

[0016] Step 1: the operator starts the flexible docking device, and each product to be assembled fixing and X-axis rotating mechanism is initialized to a horizontal position state;

[0017] Step 2: the six-dimensional attitude adjusting mechanism, the X-axis movement mechanism and the driving rotating clasp mechanism are paused, and each mechanism is kept in the current state;

[0018] Step 3: the clasp of the driving rotating clasp mechanism and the driven rotating clasp mechanism is opened, the hollow cylinder to be assembled is respectively placed in the corresponding clasp, and then each clasp is locked;

[0019] Step 4: the X-axis movement mechanism 2 is manually started, and one of the hollow cylinders to be assembled is pushed / pulled to gradually approach the other hollow cylinder, when the artificial force is applied to the hollow cylinder, the force is transmitted to the load measuring mechanism through the hollow cylinder and the product to be assembled fixing and X-axis rotating mechanism, the load measuring mechanism transmits the received load to the computer system, the computer system converts the load into the position parameters required by the six groups of servo electric cylinders in the six-dimensional attitude adjusting mechanism, and transmits the parameters to the six-dimensional attitude adjusting mechanism to adjust the state, so that the hollow cylinder always follows the direction of the artificial force and keeps in a horizontal state;

[0020] Step 5: when the two hollow cylinders are about to contact, the radial positioning features of the two hollow cylinders are visually confirmed to be basically centered, and the movement of the X-axis movement mechanism is paused and locked in the current position;

[0021] Step 6, start the product fixing and X-axis rotating mechanism and the six-dimensional pose adjusting mechanism of the hollow cylinder moved to the position in the last step, and the six-dimensional pose adjusting mechanism automatically readjusts the level of the hollow cylinder thereon;

[0022] Step 7, manually pull / push the hollow cylinder moved to the position in the last step to continue moving forward, and the six-dimensional pose adjusting mechanism adjusts the spatial pose of the hollow cylinder in real time according to the data measured by the load measuring mechanism, so that the moving hollow cylinder always keeps horizontal and follows the position of the manual pulling / pushing, keeps the hollow cylinder horizontal in real time, maintains the state that the force of the human body on the hollow cylinder is zero, and realizes the relative balance between the moving hollow cylinder and the human hand;

[0023] Step 8, during the assembly of the two hollow cylinders, if the operator perceives that the two hollow cylinders interfere, the force in the corresponding direction can be adjusted in time, and the force in the opposite direction is used, then the hollow cylinder keeps horizontal in the new position again under the joint action of the six-dimensional pose adjusting mechanism and the load measuring mechanism, until it is finally adjusted to the required position;

[0024] Step 9, pause the X-axis moving mechanism, the six-dimensional pose adjusting mechanism, the product fixing and X-axis rotating mechanism, and the load measuring mechanism of the hollow cylinder, so as to fix and keep them in the current state, so that the operator can perform the subsequent assembly work;

[0025] Step 10, if there are more than two hollow cylinders to be assembled, the above steps 1 to 9 are repeated, and the hollow cylinders are assembled in turn.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] 1) The assembly of the hollow cylinder requires manual screw fixing, keyway assembly fixing and other coupling fixing processes after the two hollow cylinders are assembled into one, so as to completely couple the two hollow cylinders and meet the final process requirements. The present application can complete the assembly and subsequent coupling of the two hollow cylinders by one person, and the operator participates in the assembly at the beginning of the equipment, thereby reducing the invalid working time of the personnel.

[0028] 2) The present application discards the traditional measurement link (visual or contact measurement), thereby reducing the initial equipment investment cost and the subsequent maintenance cost.

[0029] 3) The present application adjusts the position of the product to be assembled in real time, so that it always keeps synchronous following the operation of the operator, keeps balance between the operator and the fixed product, and maximizes the simulation of the manual assembly process. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 The schematic diagram of the overall structure of the device used in the present application;

[0031] Figure 2 The schematic diagram of the structure of the base 1 used in the present application;

[0032] Figure 3 The schematic diagram of the structure of the X-axis motion mechanism in the present application;

[0033] Figure 4 The schematic diagram of the structure of the six-dimensional pose adjustment mechanism;

[0034] Figure 5 The schematic diagram of the structure of the load measurement mechanism;

[0035] Figure 6 The X-axis rotation mechanism for fixing the product to be assembled;

[0036] Figure 7 The schematic diagram of the principle of the serial pose adjustment mechanism;

[0037] Figure 8 The schematic diagram of the principle of the serial pose adjustment mechanism and the parallel pose adjustment mechanism. DETAILED DESCRIPTION

[0038] The present application will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present application and not used to limit the scope of the present application. Furthermore, it should be understood that those skilled in the art can make various modifications or changes to the present application after reading the content taught by the present application, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0039] As shown in Figure 1 , the flexible docking device disclosed in the present embodiment comprises a base 1, two X-axis motion mechanisms 2 mounted on the base 1, a six-dimensional pose adjustment mechanism 3 mounted on each X-axis motion mechanism 2, an X-axis rotation mechanism 4 for fixing the product to be assembled mounted on the six-dimensional pose adjustment mechanism 3, and a load measurement mechanism 5 located between the X-axis rotation mechanism 4 for fixing the product to be assembled and the six-dimensional pose adjustment mechanism 3.

[0040] As shown in Figure 2 , the base 1 comprises a base frame 1-2 welded by section bars, and a reference plate 1-4 of the X-axis motion mechanism 2 and the six-dimensional pose adjustment mechanism 3 is fixed on the top of the base frame 1-2. The reference plate 1-4 can also be replaced by a marble. The movable sealing plate 1-3 made of sheet metal is used to close and decorate the four sides of the base frame 1-2, and the internal space thereof can be used as a storage space for small objects. The shock-absorbing foot cups 1-1 used for bearing and shock absorption are arranged at the bottom of the base frame 1-2.

[0041] As shown in Figure 3As shown, the X-axis movement mechanism 2 comprises a bearing bottom plate 2-3, a movement guide rail 2-2, a fixed rack 2-1, a driving gear 2-4 and an X-axis driving motor 2-5. The movement guide rail 2-2 comprises two groups of linear guides with linear sliders, which are fixed on the reference plate 1-4. The linear sliders are coupled with the bearing bottom plate 2-3. The X-axis driving motor 2-5 is a servo motor and is fixed on the bearing bottom plate 2-3. The X-axis driving motor 2-5 has a driving gear 2-4 fixed on the protruding shaft, which is engaged with the fixed rack 2-1 fixed on the frame 1-2 or the reference plate 1-4. When the X-axis driving motor 2-5 rotates, the driving gear 2-4 rotates together, and since the driving gear 2-4 is engaged with the fixed rack 2-1, the bearing plate 2-3 moves along the X-axis forward and backward. The combination of the fixed rack 2-1, the driving gear 2-4 and the X-axis driving motor 2-5 can also be replaced by a linear servo module.

[0042] As shown in Figure 4 The six-dimensional attitude adjusting mechanism 3 comprises a lower connecting plate 3-1, a parallel mechanism 3-2 and an upper connecting plate 3-3. The bottom of the parallel mechanism 3-2 is connected to the upper surface of the lower connecting plate 3-1, and the lower surface of the lower connecting plate 3-1 is connected to the bearing bottom plate 2-3 of the X-axis movement mechanism. The top of the parallel mechanism 3-2 is connected to the upper connecting plate 3-3. When the bearing bottom plate 2-3 moves along the X-axis, the six-dimensional attitude adjusting mechanism 3 can move along the X-axis synchronously. The parallel mechanism 3-2 is composed of six groups of servo electric cylinders, which cooperate with each other to extend and retract, so as to adjust the balance of the upper connecting plate 3-3, fix the to-be-assembled product placed on the load measuring mechanism 5 and keep the X-axis rotating mechanism 4 always in a horizontal state.

[0043] As shown in Figure 5 The load measuring mechanism 5 comprises a lower connecting plate 5-1, a six-dimensional force sensor 5-2 and an upper connecting plate 5-1. The lower connecting plate 5-1 is fixedly connected to the upper connecting plate 3-3 of the six-dimensional attitude adjusting mechanism 3. The six-dimensional force sensor 5-2 is located between the lower connecting plate 5-1 and the upper connecting plate 5-2, and the upper connecting plate 5-2 is connected to the to-be-assembled product fixing and X-axis rotating mechanism 4. The six-dimensional force sensor 5-2 can detect the load state of the to-be-assembled product on the to-be-assembled product fixing and X-axis rotating mechanism 4 in real time, and through calculation, the horizontal position offset of the product is obtained, so as to drive the six-dimensional attitude adjusting mechanism 3 to adjust the attitude.

[0044] As shown in Figure 6As shown, the product to be assembled fixing and X-axis rotating mechanism 4 includes a bottom plate 4-1, a driven rotating clasp ring mechanism 4-2, a driving motor 4-3 and a driving rotating clasp ring mechanism 4-4. The bottom plate 4-1 is connected with the upper connecting plate 5-1 of the load measuring mechanism 5, and the driven rotating clasp ring mechanism 4-2 and the driving rotating clasp ring mechanism 4-4 are respectively fixed on the bottom plate 4-1. The driven rotating clasp ring mechanism 4-2 and the driving rotating clasp ring mechanism 4-4 jointly fix and lock the hollow cylinder to be assembled. The driving rotating clasp ring mechanism 4-4 is fixed with the driving motor 4-3, so that the clasp ring on the driving rotating clasp ring mechanism 4-4 can rotate under the driving of the driving motor 4-3, thereby driving the hollow cylinder to be assembled fixed thereon to rotate. The driven rotating clasp ring mechanism 4-2 is a non-powered mechanism, and the clasp ring thereon rotates together with the hollow cylinder to be assembled under the action of the driving rotating clasp ring mechanism 4-4.

[0045] Based on the flexible docking equipment, a flexible docking method disclosed by the embodiment includes the following steps:

[0046] Step 1: The operator starts the flexible docking equipment, and the flexible docking equipment automatically detects the level of each product to be assembled fixing and X-axis rotating mechanism 4 and automatically adjusts the level. After initializing the product to be assembled fixing and X-axis rotating mechanism 4 in the horizontal position, the parameter values of the six groups of servo electric cylinders in the six-dimensional attitude adjusting mechanism 3 are recorded.

[0047] Step 2: The six-dimensional attitude adjusting mechanism 3, the X-axis motion mechanism 2 and the driving rotating clasp ring mechanism 4-4 are manually paused, so that each mechanism maintains its current state.

[0048] Step 3: The clasp rings of the driving rotating clasp ring mechanism 4-4 and the driven rotating clasp ring mechanism 4-2 are manually opened, and the hollow cylinders to be assembled are respectively placed in the corresponding clasp rings, and then the clasp rings are locked.

[0049] Step 4: The X-axis motion mechanism 2 is manually started, and one of the hollow cylinders to be assembled is pushed (pulled) to gradually approach the other hollow cylinder. When the artificial force is applied to the hollow cylinder, the applied force is transmitted to the six-dimensional force sensor 5-2 through the hollow cylinder and the product to be assembled fixing and X-axis rotating mechanism 4. The six-dimensional force sensor 5-2 transmits the received load force to the computer system, which converts the load force into the position parameters required for the adjustment of the six groups of servo electric cylinders in the six-dimensional attitude adjusting mechanism 3, and transmits the position parameters to the six-dimensional attitude adjusting mechanism 3 to adjust the state of the six-dimensional attitude adjusting mechanism 3, so that the hollow cylinder always follows the direction of the artificial force and maintains a horizontal state.

[0050] Step 5: When the two hollow cylinders are about to contact, it can be confirmed by visual observation that the radial positioning features of the two hollow cylinders are basically centered (if any), and the movement of the X-axis motion mechanism 2 is paused and locked at the current position.

[0051] Step 6, start the product to be assembled fixing and X-axis rotating mechanism 4 of the hollow cylinder moved to the position in the last step and the six-dimensional pose adjusting mechanism 3, and make the six-dimensional pose adjusting mechanism 3 automatically re-adjust the level of the hollow cylinder thereon.

[0052] Step 7, manually pull (push) the hollow cylinder moved to the position in the last step to continue moving forward, and the six-dimensional pose adjusting mechanism 3 adjusts the spatial pose of the hollow cylinder in real time according to the data measured by the load measuring mechanism 5, so that the moving hollow cylinder always maintains horizontal and follows the position of the manual pulling (pushing), and keeps the hollow cylinder horizontal in real time, maintains the state that the force of the human body on the hollow cylinder is zero, and realizes the relative balance of the moving hollow cylinder and the human hand.

[0053] Step 8, during the assembly of the two hollow cylinders, if the operator perceives that the two hollow cylinders interfere, the force in the corresponding direction can be adjusted in time, and the force in the opposite direction is used, then the hollow cylinder is kept horizontal again in the new position under the joint action of the six-dimensional pose adjusting mechanism 3 and the load measuring mechanism 5, until it is finally adjusted to the required position.

[0054] Step 9, manually pause the X-axis moving mechanism 2 of the hollow cylinder, the six-dimensional pose adjusting mechanism 3, the product to be assembled fixing and X-axis rotating mechanism 4, and the load measuring mechanism 5, so as to fix and keep them in the current state, so that the operator can carry out the following assembly work.

[0055] Step 10, if there are more than two segments of hollow cylinders for splicing assembly, the above steps 1 to 9 can be repeated to assemble the hollow cylinders in turn.

[0056] Combination Figure 6 and Figure 7 In the prior art, whether a kinematics model based on position or an impedance control model based on position is used, the contact position (6-2 or 7-2) value or force value based on the coordinate system at the end of the cabin segment (6-3 or 7-3) needs to be converted into the coordinate system based on the pose adjusting mechanism (6-4 or 7-4), and then the pose adjusting mechanism (6-1 or 7-1) is adjusted according to the converted parameters. Among them, the position (6-2 or 7-2) contacted by the end of the cabin segment is not fixed, but the contact point will be different positions at the end of the cabin segment with the adjustment of the docking cabin segment, and the establishment of the actual mathematical model and the solution of the mathematical model are relatively complex. At the same time, from the contact of the docking cabin segment to the adjustment of the pose of the pose adjusting mechanism, two coordinate system conversions are needed.

[0057] In the present application, the initial state has adjusted the level of the attitude adjusting mechanism (6-1 or 7-1), and records the attitude of the system at this time. In the process of docking the two cabin sections, the operator manually pushes the movable cabin section to dock the two cabin sections, and adjusts the size and direction of the pushing and pulling force of the cabin section according to the approximate direction of the resistance felt during the actual docking process (6-2 or 7-1) (simulating the state of manual assembly). In this process, the attitude adjusting mechanism only needs to adjust the attitude of the attitude adjusting mechanism according to the change of the force in each direction acting on itself, taking the initial horizontal state as the reference, to adjust and keep the cabin section in real time. The level is advanced in the same direction as the manual pushing and pulling, and the cabin section position after the advance is adjusted and kept in real time, and the whole process of the attitude adjusting mechanism only needs to calculate the attitude of the attitude adjusting mechanism in its own coordinate system (6-4 or 7-4), without the need for secondary coordinate system conversion.

Claims

1. A method of flexible docking, characterized by, The flexible docking equipment comprises a base, two X-axis movement mechanisms arranged at a distance apart along the X-axis on the base, a six-dimensional attitude adjustment mechanism arranged on the X-axis movement mechanism and moved along the X-axis by the X-axis movement mechanism, a product to be assembled fixing and X-axis rotating mechanism arranged on the six-dimensional attitude adjustment mechanism and kept in a horizontal state by the six-dimensional attitude adjustment mechanism, and a load measuring mechanism between the six-dimensional attitude adjustment mechanism and the product to be assembled fixing and X-axis rotating mechanism, which can detect the load state of the product to be assembled on the product to be assembled fixing and X-axis rotating mechanism in real time, calculate the horizontal position offset of the product, and drive the six-dimensional attitude adjustment mechanism to adjust the attitude. The six-dimensional attitude adjustment mechanism comprises a parallel mechanism, and the X-axis movement mechanism and the product to be assembled fixing and X-axis rotating mechanism are respectively connected to the upper and lower ends of the parallel mechanism. The parallel mechanism comprises six sets of servo electric cylinders which are cooperatively extended and retracted to keep the product to be assembled fixing and X-axis rotating mechanism in a horizontal state. The product to be assembled fixing and X-axis rotating mechanism comprises a bottom plate arranged on the six-dimensional attitude adjustment mechanism by the load measuring mechanism, a driven rotating clasp mechanism and a driving rotating clasp mechanism arranged on the bottom plate, and the driven rotating clasp mechanism and the driving rotating clasp mechanism both fix and lock the hollow cylinder to be assembled by a clasp. The clasp of the driving rotating clasp mechanism can rotate under the drive of a driving motor, thereby driving the hollow cylinder to be assembled fixed thereon to rotate. The clasp of the driven rotating clasp mechanism rotates together with the hollow cylinder to be assembled under the action of the driving rotating clasp mechanism. The flexible docking method comprises the following steps: Step 1: an operator starts the flexible docking equipment, and each product to be assembled fixing and X-axis rotating mechanism is initialized to a horizontal position state; Step 2: the six-dimensional attitude adjustment mechanism, the X-axis movement mechanism and the driving rotating clasp mechanism are paused, and each mechanism is kept in the current state; Step 3: the clasp of the driving rotating clasp mechanism and the driven rotating clasp mechanism is opened, the hollow cylinder to be assembled is respectively placed in the corresponding clasp, and then each clasp is locked; Step 4: the X-axis movement mechanism is manually started, and one of the hollow cylinders to be assembled is pushed / pulled to gradually approach the other hollow cylinder. When the operator applies an external force to the hollow cylinder, the force is transmitted to the load measuring mechanism through the hollow cylinder and the product to be assembled fixing and X-axis rotating mechanism. The load measuring mechanism transmits the received load to the computer system, the computer system converts the position parameters required by the six sets of servo electric cylinders in the six-dimensional attitude adjustment mechanism into adjustment parameters, and transmits the adjustment parameters to the six-dimensional attitude adjustment mechanism to adjust the state of the six-dimensional attitude adjustment mechanism, so that the hollow cylinder always follows the direction of the manual force and keeps in a horizontal state; Step 5: when the two hollow cylinders are about to contact, the radial positioning features of the two hollow cylinders are visually confirmed to be basically centered, and the movement of the X-axis movement mechanism is paused and locked at the current position. Step 6, start the product fixation and X-axis rotation mechanism and the six-dimensional attitude adjustment mechanism of the hollow cylinder moved to the position in the last step, and the six-dimensional attitude adjustment mechanism automatically re-adjusts the level of the hollow cylinder thereon; Step 7, manually pull / push the hollow cylinder moved to the position in the last step to continue moving forward, and the six-dimensional attitude adjustment mechanism adjusts the spatial attitude of the hollow cylinder in real time according to the data measured by the load measuring mechanism, so that the moving hollow cylinder always maintains the horizontal state and follows the position of the manual pulling / pushing, and the hollow cylinder always maintains the horizontal state in real time, maintains the state that the force applied by the human hand on the hollow cylinder is zero, and realizes the relative balance between the moving hollow cylinder and the human hand; Step 8, during the assembly of the two hollow cylinders, if the operator perceives that the two hollow cylinders interfere with each other, the force in the corresponding direction can be adjusted in time, and the force in the opposite direction is applied, then the hollow cylinder is kept horizontal at the new position again under the joint action of the six-dimensional attitude adjustment mechanism and the load measuring mechanism, until it is finally adjusted to the required position; Step 9, pause the X-axis motion mechanism, the six-dimensional attitude adjustment mechanism, the product fixation and X-axis rotation mechanism, and the load measuring mechanism of the moving hollow cylinder, so that they are fixed and maintained in the current state, so that the operator can perform the subsequent assembly work; Step 10, if there are more than two segments of hollow cylinders for splicing assembly, repeat steps 1 to 9 above, and sequentially assemble each segment of the hollow cylinder.

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