Full-automatic precise positioning and stable supporting method for large structural parts based on six-degree-of-freedom pose force depth coupling and joint control

Abstract

The application discloses a large structure piece full-automatic accurate positioning and stable supporting method based on six-degree-of-freedom pose force depth coupling and joint control, and is based on an adjusting module and an adjusting pad block, and the steps are as follows: 1) moving M six-dimensional adjusting modules to the bottom of a structure piece; 2) completing self-calibration of geometric relations; 3) detecting six-dimensional pose information of the structure piece; 4) solving linear displacement of the adjusting module; 5) completing linear displacement adjustment of the adjusting module; 6) installing N adjusting pad blocks at the bottom of the structure piece and ascending, and descending the adjusting module; 7) controlling force of the adjusting pad block to reach a theoretical level; 8) detecting whether the pose of the structure piece reaches positioning accuracy requirements; and 9) filling positioning glue into the adjusting pad block for fixation. The application eliminates over-constrained internal force in the adjusting and supporting process, can realize constraint decoupling of zero-redundant driving or multi-driving, improves positioning accuracy, efficiency and stability of supporting of the large structure piece, and realizes full-automatic accurate positioning and stable supporting of the large structure piece.

Description

Technical Field

[0001] This invention relates to the field of positioning and support of large structural components, specifically to a fully automatic and precise positioning and stable support method for large structural components based on deep coupling and joint control of six-degree-of-freedom pose and force. Background Technology

[0002] Currently, most commonly used six-degree-of-freedom (DOF) adjustment mechanisms are Stewart mechanisms or similar modified versions. These mechanisms connect the upper and lower platforms via six branches, each with a drive. A laser tracker detects the pose of the structural components (i.e., the end effectors) and feeds it back to the adjustment mechanism, achieving 6-DOF motion. However, these mechanisms have relatively limited workspaces, are prone to component interference, exhibit numerous singular configurations, and have poor motion controllability. Traditional methods for positioning large structural components typically use bolt adjustment. In situations where the six-dimensional pose and force of large structural components are deeply coupled, adjustment and support cannot be decoupled. Furthermore, over-constraint is prone to occur during adjustment, resulting in poor load-bearing capacity and stability, severely impacting adjustment efficiency and stability. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automatic and precise positioning and stable support method for large structural components based on deep coupling and joint control of six-degree-of-freedom pose and force, so as to solve the problems existing in the prior art.

[0004] The technical solution adopted to achieve the purpose of this invention is as follows: a fully automatic and precise positioning and stable support method for large structural components based on deep coupling and joint control of six-degree-of-freedom pose and force, based on M six-dimensional adjustment modules and N four-degree-of-freedom adaptive adjustment pads, where M≥3 and N≥3.

[0005] The six-dimensional adjustment module includes a Z1-direction adjustment mechanism, a rotation adjustment mechanism around X1 / Y1 / Z1, a connecting plate, and an X1 / Y1-direction adjustment mechanism, all set in a spatial rectangular coordinate system O1-X1Y1Z1. The plane O1-X1Y1 is horizontal, and the Z1 direction is consistent with the vertical direction.

[0006] The Z1 adjustment mechanism is connected to the X1 / Y1 adjustment mechanism via a connecting plate, and the X1 / Y1 / Z1 rotation adjustment mechanism is connected to the Z1 adjustment mechanism. The X1 / Y1 / Z1 rotation adjustment mechanism is provided with a ball socket I, and a rolling ball I is installed in the ball socket I.

[0007] The four-degree-of-freedom adaptive adjustment pad includes a rolling ball II, a ball socket II, a mounting base plate, an upper support pad, a wedge block, and a pushing bolt, all set in the spatial rectangular coordinate system O1-X1Y1Z1.

[0008] The mounting base plate has a cavity for mounting the ball socket II, the upper support pad and the wedge block. The upper end of the cavity is open, and the bottom surface of the cavity is an inclined surface I in the X1 direction.

[0009] The mounting base plate has an injection hole and a vertical strip hole on its side wall. Both the strip hole and the injection hole penetrate the inner and outer sides of the cavity, and the lower end of the strip hole is close to the lowest point of the bottom surface of the cavity.

[0010] The wedge block is installed on the bottom surface of the cavity, the upper support plate is installed on the wedge block, the ball socket II is installed on the upper support plate, the upper surface of the ball socket II extends out of the cavity, and the rolling ball II is installed inside the ball socket II.

[0011] The lower surface of the wedge block is inclined plane II, which matches and fits with inclined plane I.

[0012] The upper surface of the wedge block is inclined surface III, and the lower surface of the upper support pad is inclined surface IV. Inclined surface III and inclined surface IV are matched and fit together. Inclined surface IV is an inclined surface in the X1 direction.

[0013] The upper support pad has a dispensing groove, one end of which penetrates the upper surface of the upper support pad, and the other end penetrates the side wall of the upper support pad and connects with the dispensing hole.

[0014] The wedge block has a threaded hole on the side facing the slotted hole. One end of the push bolt passes through the slotted hole and is screwed into the threaded hole of the wedge block, while the other end is connected to the rotary motor. The push bolt is equipped with two axial limiting washers, which contact the inner and outer walls of the mounting base plate, respectively.

[0015] The fully automated and precise positioning and stable support method for large structural components based on deep coupling and joint control of six-degree-of-freedom pose and force includes the following steps:

[0016] 1) Hoist the structural component to the designated position and move the M six-dimensional adjustment modules to the designated position at the bottom of the structural component.

[0017] 2) Complete the self-calibration of the geometric relationships between the various six-dimensional adjustment modules. First, establish the O2-X2Y2Z2 coordinate system of the six-dimensional laser tracker and the O3-X3Y3Z3 global coordinate system of the structural components. Using the center of the rolling ball I on each six-dimensional adjustment module as the origin, establish B... i -X 4i Y 4i Z 4i The coordinate system, where i represents the i-th six-dimensional adjustment module, is established with the geometric center of the top of the structural component as the origin, forming a C-X5Y5Z5 coordinate system. The six-dimensional laser tracker performs self-calibration by scanning each six-dimensional adjustment module.

[0018] 3) A six-dimensional laser tracker is used to detect the six-dimensional pose information of the structural components.

[0019] 4) Calculate the linear displacement that each six-dimensional adjustment module needs to be adjusted by inverse kinematics.

[0020] 5) Each six-dimensional adjustment module completes the linear displacement adjustment based on the linear displacement calculated in step 4).

[0021] 6) Install N four-degree-of-freedom adaptive adjustment pads at designated positions on the bottom of the structural component. Each four-degree-of-freedom adaptive adjustment pad is equipped with a one-dimensional force sensor. Rotate each push bolt to move the wedge block in the horizontal direction, causing the ball socket II to rise. After the ball II contacts the bottom of the structural component, adjust each ball I to descend.

[0022] 7) By monitoring and jointly controlling the complex force system, the force on each four-degree-of-freedom adaptive adjustment pad reaches the theoretical level. Specifically, a one-dimensional force sensor monitors the Z1 force on each four-degree-of-freedom adaptive adjustment pad to determine whether the force on each four-degree-of-freedom adaptive adjustment pad reaches the theoretical level.

[0023] 8) Use a six-dimensional laser tracker to check again whether the structural component's pose meets the positioning accuracy requirements. If yes, proceed to the next step. If not, repeat steps 4) to 8) until the structural component's pose meets the positioning accuracy requirements.

[0024] 9) Fill the gaps formed by the ball II, the ball socket II and the upper support plate with positioning glue through the glue injection hole and the glue dispensing groove. After the positioning glue cures, remove all six-dimensional adjustment modules.

[0025] Furthermore, the X1 / Y1 adjustment mechanism includes a feed mechanism I, a Y1 motor, two X1 guide rails, four cross sliders, two Y1 guide rails, and a lower base plate.

[0026] The X1 guide rail is aligned with the X1 direction, and the two X1 guide rails that are spaced apart from each other are fixed on the bottom plate. Each X1 guide rail is equipped with two cross sliders.

[0027] The Y1 guide rail is aligned with the Y1 direction, and each Y1 guide rail is mounted on two cross-shaped sliders.

[0028] The feed mechanism I includes a trapezoidal lead screw I, a nut I, a nut mounting seat I, a bearing seat I, a bearing seat II, a coupling I, and a reducer I.

[0029] The bearing housing I and bearing housing II are fixed at intervals on the lower surface of the connecting plate. Bearing I is installed on both bearing housing I and bearing housing II. The trapezoidal lead screw I is connected to the two bearings I that coincide with the axis. The axis of the trapezoidal lead screw I is consistent with the Y1 direction. One end of the trapezoidal lead screw I is connected to the output end of the reducer I. The reducer I is connected to the output end of the Y1 direction motor through the coupling I.

[0030] A nut mounting plate I is connected between two cross-shaped sliders located on the same X1 guide rail. Nut I is fixed on nut mounting plate I, and the rod segment of trapezoidal screw I located between two bearings I passes through nut I and nut mounting plate I.

[0031] During operation, the Y1 motor drives the trapezoidal lead screw I to rotate, the trapezoidal lead screw I drives the connecting plate to move along the Y direction, and the cross slider moves in the X1 direction.

[0032] Furthermore, the Z1 adjustment mechanism includes an electrical control cabinet, a Z1 motor, a feed mechanism II, a guide rail slider, two Z1 guide rails, and a fixing plate.

[0033] The electrical control cabinet is mounted on the connecting plate. A vertical fixing plate is provided on one side of the electrical control cabinet. Two Z1 guide rails are arranged at intervals on the fixing plate. Each Z1 guide rail is equipped with a guide rail slider. The Z1 guide rails are aligned with the Z1 direction.

[0034] The feeding mechanism II is located between the two Z1 guide rails and connected to the guide rail sliders on the two Z1 guide rails. The upper end of the feeding mechanism II is connected to the Z1 motor, and the rotation adjustment mechanism around X1 / Y1 / Z1 is connected to the guide rail slider.

[0035] The feed mechanism II includes a trapezoidal lead screw II, a nut II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupling II, and a reducer II.

[0036] Both bearing housing V and bearing housing VI are fixed on the fixed plate, with bearing housing V located directly above bearing housing VI. Bearings II are installed on both bearing housing V and bearing housing VI. Trapezoidal lead screw II is connected to two bearings II whose axes coincide. The axis of trapezoidal lead screw II is aligned with the Z direction. The upper end of trapezoidal lead screw II is connected to the output end of reducer II. Reducer II is connected to the output end of the Z1 direction motor through coupling II.

[0037] A nut mounting seat II is connected between the two guide rail sliders located on the two Z1 guide rails. The nut II is fixed on the nut mounting seat II, and the rod segment of the trapezoidal screw II located between the two bearings II passes through the nut II.

[0038] During operation, the Z1 motor drives the trapezoidal lead screw II to rotate, and the nut II drives the nut mounting seat II, the guide rail slider, and the X1 / Y1 / Z1 rotation adjustment mechanism to move along the Z1 direction.

[0039] Furthermore, the rotation adjustment mechanism around X1 / Y1 / Z1 includes a support plate, which is L-shaped. The vertical surface of the support plate is connected to the guide rail slider, and a ball socket I is provided on the horizontal surface of the support plate. During operation, the ball I contacts the bottom of the structural component.

[0040] Furthermore, the upper surface of the lower base plate is provided with a slot for inserting the tray. When the tray is adjusted to the lowest position, the horizontal plate of the tray is located in the slot.

[0041] Furthermore, the lower base plate is a rectangular plate, and a support frame is connected to the lower base plate, with the support frame close to the edge of the lower base plate.

[0042] Furthermore, a number of wheels are mounted on the lower surface of the lower base plate.

[0043] Furthermore, each of the Z1 guide rails is provided with a stop at its upper and lower ends.

[0044] Furthermore, the angle between inclined plane I and the positive direction of the X1 axis is 180-θ, and the angle between inclined plane IV and the positive direction of the X1 axis is θ, where θ ranges from 6° to 8°.

[0045] Furthermore, the push bolt has two annular grooves for installing axial limiting washers. The two annular grooves are arranged at intervals and the distance between them is equal to the thickness of the side wall of the mounting base plate.

[0046] The outer diameter of the axial limiting washer is greater than the width of the strip hole, and the inner diameter of the axial limiting washer is greater than the diameter of the annular groove and smaller than the outer diameter of the push bolt.

[0047] The two axial limiting washers are respectively installed in the two annular grooves on the push bolt. When the rotary motor drives the push bolt to rotate, the axial limiting washers constrain the push bolt to move axially by the supporting force of the side wall of the mounting base plate, and push the bolt to move up and down along the strip hole.

[0048] The technical effects of this invention are undeniable. This invention can effectively solve the problems of positioning and support under the complex force system between large structural components and adjustment modules / adjustment pads, and the six-degree-of-freedom pose deep coupling of large structural components. It effectively eliminates the over-constrained internal forces in the adjustment and support process, and can realize zero-redundancy drive or multi-drive constraint decoupling, improve positioning accuracy, efficiency and support stability, and realize fully automatic precise positioning and stable support of large structural components. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the six-dimensional adjustment module;

[0050] Figure 2 This is a schematic diagram of the adjustment mechanism in the X1 / Y1 direction;

[0051] Figure 3 This is a schematic diagram of the Z1 adjustment mechanism;

[0052] Figure 4 This is a schematic diagram of the adjustment mechanism that rotates around X1 / Y1 / Z1;

[0053] Figure 5 This is a schematic diagram of a four-degree-of-freedom adaptive adjustment pad.

[0054] Figure 6 A cross-sectional view of a four-degree-of-freedom adaptive adjustment pad;

[0055] Figure 7 This is a schematic diagram of the supporting structure for the six-dimensional adjustment module;

[0056] Figure 8 This is a schematic diagram illustrating the principle of six-degree-of-freedom pose measurement and adjustment.

[0057] Figure 9 This is a top view of the structural components and the six-dimensional adjustment module;

[0058] Figure 10 A schematic diagram for precise positioning of structural components;

[0059] Figure 11 A simplified diagram of the force analysis between the structural component and the six-dimensional adjustment module / four-degree-of-freedom adaptive adjustment pad;

[0060] Figure 12 This is a flowchart of the method of the present invention.

[0061] In the diagram: Z1 adjustment mechanism 1, electrical control cabinet 101, Z1 motor 102, feed mechanism II 103, guide rail slider 104, Z1 guide rail 105, stop block 106, fixing plate 107, X1 / Y1 / Z1 rotation adjustment mechanism 2, support plate 201, connecting plate 3, X1 / Y1 adjustment mechanism 4, support frame 401, feed mechanism I 402, Y1 motor 403, X1 guide rail 404, slot 405, cross slider 406, Y1 guide rail 407, lower base plate 408, wheel 409, ball II 5, ball socket II 6, mounting lower base plate 7, cavity 701, strip hole 702, glue injection hole 703, upper support pad 8, wedge block 9, push bolt 10, axial limit washer 1001, glue dispensing groove 11, six-dimensional laser tracker 12, rotary motor 13, and structural component 14. Detailed Implementation

[0062] The present invention will be further described below with reference to embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments. Various substitutions and modifications made based on ordinary technical knowledge and common practices in the art without departing from the above-described technical concept of the present invention should be included within the scope of protection of the present invention.

[0063] Example 1:

[0064] This embodiment discloses a fully automatic and precise positioning and stable support method for large structural components based on deep coupling and joint control of six-degree-of-freedom pose and force, which is based on M six-dimensional adjustment modules and N four-degree-of-freedom adaptive adjustment pads, where M≥3 and N≥3.

[0065] See Figure 1 The six-dimensional adjustment module includes a Z1-direction adjustment mechanism 1, a rotation adjustment mechanism 2 around X1 / Y1 / Z1, a connecting plate 3, and an X1 / Y1-direction adjustment mechanism 4, all located in a spatial rectangular coordinate system O1-X1Y1Z1. The plane O1-X1Y1 is horizontal, and the Z1 direction is consistent with the vertical direction.

[0066] The Z1 direction adjustment mechanism 1 is connected to the X1 / Y1 direction adjustment mechanism 4 through the connecting plate 3. The X1 / Y1 / Z1 rotation adjustment mechanism 2 is connected to the Z1 direction adjustment mechanism 1. The X1 / Y1 / Z1 rotation adjustment mechanism 2 is provided with a ball socket I, and a rolling ball I is installed in the ball socket I.

[0067] See Figure 2 The X1 / Y1 adjustment mechanism 4 includes a feed mechanism I 402, a Y1 motor 403, two X1 guide rails 404, four cross sliders 406, two Y1 guide rails 407, and a lower base plate 408.

[0068] The X1 guide rail 404 is aligned with the X1 direction, and the two X1 guide rails 404 that are spaced apart from each other are fixed on the lower base plate 408. Each X1 guide rail 404 is equipped with two cross sliders 406.

[0069] The Y1 guide rail 407 is aligned with the Y1 direction, and each Y1 guide rail 407 is mounted on two cross sliders 406.

[0070] The feed mechanism I402 includes a trapezoidal lead screw I, a nut I, a nut mounting seat I, a bearing seat I, a bearing seat II, a coupling I, and a reducer I.

[0071] The bearing housing I and bearing housing II are fixed at intervals on the lower surface of the connecting plate 3. Bearing I is installed on both bearing housing I and bearing housing II. The trapezoidal lead screw I is connected to the two bearings I that coincide with the axis. The axis of the trapezoidal lead screw I is consistent with the Y1 direction. One end of the trapezoidal lead screw I is connected to the output end of the reducer I. The reducer I is connected to the output end of the Y1 direction motor 403 through the coupling I.

[0072] A nut mounting plate I is connected between two cross-shaped sliders 406 located on the same X1 guide rail 404. The nut I is fixed on the nut mounting plate I, and the section of the trapezoidal screw I located between the two bearings I passes through the nut I and the nut mounting plate I. During operation, the Y1 motor 403 drives the trapezoidal screw I to rotate, and the trapezoidal screw I drives the connecting plate 3 to move along the Y direction, while the cross-shaped sliders 406 follow in the X1 direction.

[0073] See Figure 3 The Z1 adjustment mechanism 1 includes an electrical control cabinet 101, a Z1 motor 102, a feed mechanism II 103, a guide rail slider 104, two Z1 guide rails 105, and a fixing plate 107.

[0074] The electrical control cabinet 101 is mounted on the connecting plate 3. A vertical fixing plate 107 is provided on one side of the electrical control cabinet 101. Two Z1 guide rails 105 are arranged at intervals on the fixing plate 107. Each Z1 guide rail 105 is equipped with a guide rail slider 104. The Z1 guide rail 105 is aligned with the Z1 direction.

[0075] The feeding mechanism II 103 is located between the two Z1 guide rails 105 and connected to the guide rail sliders 104 on the two Z1 guide rails 105. The upper end of the feeding mechanism II 103 is connected to the Z1 motor 102, and the rotation adjustment mechanism 2 around X1 / Y1 / Z1 is connected to the guide rail sliders 104.

[0076] The feed mechanism Ⅱ103 includes a trapezoidal lead screw Ⅱ, a nut Ⅱ, a nut mounting seat Ⅱ, a bearing seat Ⅴ, a bearing seat Ⅵ, a coupling Ⅱ, and a reducer Ⅱ.

[0077] Both bearing housing V and bearing housing VI are fixed on the fixing plate 107, with bearing housing V located directly above bearing housing VI. Bearings II are installed on both bearing housing V and bearing housing VI. Trapezoidal lead screw II is connected to two bearings II whose axes coincide. The axis of trapezoidal lead screw II is aligned with the Z direction. The upper end of trapezoidal lead screw II is connected to the output end of reducer II. Reducer II is connected to the output end of Z1 motor 102 through coupling II.

[0078] A nut mounting seat II is connected between two guide rail sliders 104 located on the two Z1 guide rails 105. The nut II is fixed on the nut mounting seat II, and the section of the trapezoidal screw II located between the two bearings II passes through the nut II. During operation, the Z1 motor 102 drives the trapezoidal screw II to rotate, and the nut II drives the nut mounting seat II, the guide rail sliders 104, and the X1 / Y1 / Z1 rotation adjustment mechanism 2 to move along the Z1 direction. Each Z1 guide rail 105 has a stop block 106 at its upper and lower ends.

[0079] See Figure 4The X1 / Y1 / Z1 rotation adjustment mechanism 2 includes a support plate 201, which is an L-shaped plate. The vertical surface of the support plate 201 is connected to the guide rail slider 104, and a ball socket I is provided on the horizontal surface of the support plate 201. During operation, the ball I contacts the bottom of the structural component 14.

[0080] The upper surface of the lower base plate 408 has a slot 405 for inserting the support plate 201. When the support plate 201 is adjusted to its lowest position, the horizontal plate of the support plate 201 is located within the slot 405. The lower base plate 408 is a rectangular plate, and a support frame 401 is connected to the lower base plate 408, with the support frame 401 located near the edge of the lower base plate 408. Several wheels 409 are installed on the lower surface of the lower base plate 408.

[0081] See Figure 5 The four-degree-of-freedom adaptive adjustment pad includes a rolling ball II5, a ball socket II6, a mounting base plate 7, an upper support pad 8, a wedge block 9, and a pushing bolt 10, all set in the spatial rectangular coordinate system O1-X1 Y1 Z1.

[0082] See Figure 6 The mounting base plate 7 has a cavity 701 for mounting the ball socket II 6, the upper support pad 8 and the wedge block 9. The upper end of the cavity 701 is open, and the bottom surface of the cavity 701 is an inclined surface I in the X1 direction.

[0083] The mounting base plate 7 has an injection hole 703 and a vertical strip hole 702 on its side wall. Both the strip hole 702 and the injection hole 703 penetrate the inner and outer sides of the cavity 701. The lower end of the strip hole 702 is close to the lowest point of the bottom surface of the cavity 701.

[0084] The wedge block 9 is installed on the bottom surface of the cavity 701, the upper support pad 8 is installed on the wedge block 9, the ball socket II 6 is installed on the upper support pad 8, the upper surface of the ball socket II 6 extends out of the cavity 701, and the rolling ball II 5 is installed in the ball socket II 6.

[0085] The lower surface of the wedge block 9 is inclined plane II, which matches and fits with inclined plane I.

[0086] The upper surface of the wedge block 9 is inclined plane III, and the lower surface of the upper support plate 8 is inclined plane IV. Inclined plane III and inclined plane IV are matched and fit together. Inclined plane IV is an inclined plane in the X1 direction. The angle between inclined plane I and the positive direction of the X1 axis is 180-θ, and the angle between inclined plane IV and the positive direction of the X1 axis is θ, where θ is between 6° and 8°.

[0087] The upper support pad 8 has a dispensing groove 11. One end of the dispensing groove 11 passes through the upper surface of the upper support pad 8, and the other end passes through the side wall of the upper support pad 8 and connects with the dispensing hole 703.

[0088] The wedge block 9 has a threaded hole on the side facing the strip hole 702. One end of the push bolt 10 passes through the strip hole 702 and is screwed into the threaded hole of the wedge block 9, while the other end is connected to the rotary motor 13. The push bolt 10 is provided with two axial limiting washers 1001, which contact the inner and outer walls of the mounting base plate 7, respectively.

[0089] The push bolt 10 has two annular grooves for installing the axial limiting washer 1001. The two annular grooves are arranged at intervals and the distance between them is the thickness of the side wall of the mounting base plate 7.

[0090] The outer diameter of the axial limiting washer 1001 is greater than the width of the strip hole 702, and the inner diameter of the axial limiting washer 1001 is greater than the diameter of the annular groove and smaller than the outer diameter of the push bolt 10.

[0091] The two axial limiting washers 1001 are respectively installed in the two annular grooves on the push bolt 10. When the rotary motor 13 drives the push bolt 10 to rotate, the axial limiting washers 1001 constrain the push bolt 10 to move axially by the supporting force of the side wall of the mounting base plate 7, and push the bolt 10 to move up and down along the strip hole 702.

[0092] See Figure 12 The fully automatic precise positioning and stable support method for large structural components 14 based on six-degree-of-freedom pose-force deep coupling and joint control includes the following steps:

[0093] 1) See Figure 7 The structural component 14 is hoisted to the designated position, and the three six-dimensional adjustment modules are moved to the designated position at the bottom of the structural component 14. The structural component 14 is a large cuboid component.

[0094] 2) Complete the self-calibration of the geometric relationships between the various six-dimensional adjustment modules; for details, see [link to documentation]. Figure 8 First, the O2-X2Y2Z2 coordinate system of the six-dimensional laser tracker 12 and the global coordinate system O3-X3Y3Z3 of the structural component 14 are established. The center of the rolling ball I on each six-dimensional adjustment module is taken as the origin of the coordinate system, and B is established. i -X 4i Y 4i Z 4i The coordinate system, where i represents the i-th six-dimensional adjustment module, is established with the geometric center of the top of structural component 14 as the origin, forming a C-X5Y5Z5 coordinate system. The six-dimensional laser tracker 12 performs self-calibration by scanning each six-dimensional adjustment module; see [link to documentation]. Figure 8 The first six-dimensional adjustment module performs Z-axis adjustment. 41 Towards motion, the second six-dimensional adjustment module performs Y-axis adjustment. 42 and Z 42 Towards motion, the third six-dimensional adjustment module performs X43 Y 43 and Z 43 The movement is arranged in a 1+2+3 pattern to achieve six-degree-of-freedom zero-redundancy drive adjustment of the structural component. Force control of the structural component 14 is achieved by controlling the six-dimensional forces acting on it and the six-dimensional adjustment module. Figure 9 As shown, the height of each six-dimensional adjustment module in the Z direction is equal. B1 and B2 are collinear and symmetrical with the global coordinate system in the X direction. The Y direction of adjustment module B3 is perpendicular to the X direction geometric calibration of B1 / B2.

[0095] 3) A six-dimensional laser tracker 12 is used to detect the six-dimensional pose information of the structural component 14. After force control is achieved, the six-dimensional laser tracker 12 detects the pose of the structural component 14. By recording the six-dimensional attitude of its target point in space, the data is fed back to the six-dimensional adjustment module. The pose of the structural component 14 is mapped to the motion of the three directions of the three six-dimensional adjustment modules through inverse kinematics. That is, by scanning the large structural component with the six-dimensional pose laser tracker to obtain its actual six-dimensional pose, the X / Y / Z displacement of each adjustment module is obtained by inverse kinematics. The difference between this difference and the X / Y / Z target values ​​of each adjustment module under the target value of the large structural component is calculated. This difference is used to adjust and correct the pose of the structural component 14, achieving fully automatic and precise positioning.

[0096] For the X / Y / Z displacement adjustment of the M-branch (M≥3) adjustment module, the solution can be obtained based on the inverse kinematics principle of the structural component (i.e., the end effector) pose, as shown in the following equation:

[0097]

[0098]

[0099] in This represents the expression of the i-th adjustment vector BiC in the global coordinate system {G}; similarly... This represents the expression of the i-th adjustment vector BiC in the coordinate system {C} of the large structural component. Let represent the homogeneous transformation matrix from the global coordinate system {G} to the large structural component coordinate system {C}. The homogeneous transformation matrix from the global coordinate system {G} to the six-dimensional laser tracker coordinate system {O} is also equal to... Represents the homogeneous transformation matrix from the six-dimensional laser tracker coordinate system {O} to the large structural component coordinate system {C}; It can be determined by scanning with a six-dimensional laser instrument;

[0100] Degrees of freedom calculation: D = (Mx3 + 1)x6 - (Mx3x5 + Mx1x3) = 18M + 6 - 18M = 6

[0101] 60-54=6, M=3, M≥3.

[0102] 4) Calculate the linear displacement that each six-dimensional adjustment module needs to be adjusted by inverse kinematics.

[0103] 5) Each six-dimensional adjustment module completes the linear displacement adjustment based on the linear displacement calculated in step 4).

[0104] 6) See Figure 10 Four four-degree-of-freedom adaptive adjustment pads are installed at designated positions on the bottom of structural component 14. Each four-degree-of-freedom adaptive adjustment pad is equipped with a one-dimensional force sensor. Rotating the push bolts 10 causes the wedge block 9 to move horizontally, causing the ball socket II 6 to rise. After the rolling ball II 5 contacts the bottom of structural component 14, the rolling ball II 5, which is also a frictionless self-locking ball joint structure, can achieve three-degree-of-freedom adaptive adjustment, adjusting the descent of each rolling ball I. The four four-degree-of-freedom adaptive adjustment pads are located at the four corners of structural component 14. Through the slow transition between the four-degree-of-freedom adaptive adjustment pads and the adjustment module, there is no over-constraint stress present in traditional solutions, and the impact on the micro-deformation of the component is very small, which can play a role in stable support.

[0105] 7) Through monitoring and joint control of the complex force system, the forces on each of the four-degree-of-freedom adaptive adjustment blocks are brought to the theoretical level. Specifically, a one-dimensional force sensor monitors the Z1 direction force on each of the four-degree-of-freedom adaptive adjustment blocks to determine whether the forces on each block have reached the theoretical level. After the positioning and adjustment of the large structural component is completed, the angles θx / θy / θz of the large structural component with each axis in the global coordinate system are nearly zero. The structural force diagram is shown below. Figure 11 And there is:

[0106]

[0107]

[0108] Wherein: G is the weight of structural component 14, F11, F12, F13, and F14 are the Z-direction force values ​​of the four pads respectively; F21, F22, and F23 are the Z-direction force values ​​of each adjustment module respectively, and the standard force magnitude under the ideal pose level can be obtained by equations (3) and (4) respectively. After the adjustment module completes the pose adjustment of the large structural component through the laser tracker, each adjustment pad is supported, and then the Z-direction force of the adjustment mechanism and the pad is monitored by the force sensor to make the adjustment mechanism and the pad transition smoothly, so as to achieve the effect of precise positioning.

[0109] 8) Use a six-dimensional laser tracker 12 to check again whether the pose of structural component 14 meets the positioning accuracy requirements. If yes, proceed to the next step. If not, repeat steps 4) to 8) until the pose of structural component 14 meets the positioning accuracy requirements.

[0110] 9) Fill the gaps formed by the ball II5, the ball socket II6 and the upper support pad 8 through the glue injection hole 703 and the glue dispensing groove 11 with positioning glue. After the positioning glue cures, remove all six-dimensional adjustment modules.

[0111] It is worth noting that this embodiment proposes a fully automated, precise positioning and stable support method for large structural components based on six-degree-of-freedom pose / force deep coupling and joint control. This method can effectively solve the problems of complex force systems between large structural components and adjustment modules / adjustment pads, as well as positioning and support under six-degree-of-freedom pose deep coupling with large structural components. The method includes a monitoring and control method for complex force systems, a six-degree-of-freedom pose measurement and adjustment method, a precise positioning method for large structural components, a stable support method for large structural components, and a fully automated workflow for these methods. This invention effectively eliminates over-constrained internal forces during adjustment and support processes, enabling zero-redundancy drive or multi-drive constraint decoupling, improving positioning accuracy, efficiency, and support stability, and achieving fully automated, precise positioning and stable support for large structural components.

[0112] Example 2:

[0113] This embodiment discloses a fully automatic and precise positioning and stable support method for large structural components based on deep coupling and joint control of six-degree-of-freedom pose and force, which is based on M six-dimensional adjustment modules and N four-degree-of-freedom adaptive adjustment pads, where M≥3 and N≥3.

[0114] See Figure 1 The six-dimensional adjustment module includes a Z1-direction adjustment mechanism 1, a rotation adjustment mechanism 2 around X1 / Y1 / Z1, a connecting plate 3, and an X1 / Y1-direction adjustment mechanism 4, all located in a spatial rectangular coordinate system O1-X1Y1Z1. The plane O1-X1Y1 is horizontal, and the Z1 direction is consistent with the vertical direction.

[0115] The Z1 direction adjustment mechanism 1 is connected to the X1 / Y1 direction adjustment mechanism 4 through the connecting plate 3. The X1 / Y1 / Z1 rotation adjustment mechanism 2 is connected to the Z1 direction adjustment mechanism 1. The X1 / Y1 / Z1 rotation adjustment mechanism 2 is provided with a ball socket I, and a rolling ball I is installed in the ball socket I.

[0116] See Figure 5 The four-degree-of-freedom adaptive adjustment pad includes a rolling ball II5, a ball socket II6, a mounting base plate 7, an upper support pad 8, a wedge block 9, and a pushing bolt 10, all set in the spatial rectangular coordinate system O1-X1 Y1 Z1.

[0117] See Figure 6 The mounting base plate 7 has a cavity 701 for mounting the ball socket II 6, the upper support pad 8 and the wedge block 9. The upper end of the cavity 701 is open, and the bottom surface of the cavity 701 is an inclined surface I in the X1 direction.

[0118] The mounting base plate 7 has an injection hole 703 and a vertical strip hole 702 on its side wall. Both the strip hole 702 and the injection hole 703 penetrate the inner and outer sides of the cavity 701. The lower end of the strip hole 702 is close to the lowest point of the bottom surface of the cavity 701.

[0119] The wedge block 9 is installed on the bottom surface of the cavity 701, the upper support pad 8 is installed on the wedge block 9, the ball socket II 6 is installed on the upper support pad 8, the upper surface of the ball socket II 6 extends out of the cavity 701, and the rolling ball II 5 is installed in the ball socket II 6.

[0120] The lower surface of the wedge block 9 is inclined plane II, which matches and fits with inclined plane I.

[0121] The upper surface of the wedge block 9 is inclined surface III, and the lower surface of the upper support pad 8 is inclined surface IV. Inclined surface III and inclined surface IV are matched and fit together. Inclined surface IV is an inclined surface in the X1 direction.

[0122] The upper support pad 8 has a dispensing groove 11. One end of the dispensing groove 11 passes through the upper surface of the upper support pad 8, and the other end passes through the side wall of the upper support pad 8 and connects with the dispensing hole 703.

[0123] The wedge block 9 has a threaded hole on the side facing the strip hole 702. One end of the push bolt 10 passes through the strip hole 702 and is screwed into the threaded hole of the wedge block 9, while the other end is connected to the rotary motor 13. The push bolt 10 is provided with two axial limiting washers 1001, which contact the inner and outer walls of the mounting base plate 7, respectively.

[0124] See Figure 12 The fully automatic precise positioning and stable support method for large structural components 14 based on six-degree-of-freedom pose-force deep coupling and joint control includes the following steps:

[0125] 1) See Figure 7 Structural component 14 is hoisted to the designated position, and M six-dimensional adjustment modules are moved to the designated position at the bottom of structural component 14.

[0126] 2) Complete the self-calibration of the geometric relationships between the various six-dimensional adjustment modules. See [link / reference] Figure 8 First, the O2-X2Y2Z2 coordinate system of the six-dimensional laser tracker 12 and the global coordinate system O3-X3Y3Z3 of the structural component 14 are established. The center of the rolling ball I on each six-dimensional adjustment module is taken as the origin of the coordinate system, and B is established. i-X 4i Y 4i Z 4i The coordinate system, where i represents the i-th six-dimensional adjustment module, is established with the geometric center of the top of the structural component 14 as the origin, forming a C-X5Y5Z5 coordinate system. The six-dimensional laser tracker 12 performs self-calibration by scanning each six-dimensional adjustment module.

[0127] 3) The six-dimensional pose information of the structural component 14 is detected by a six-dimensional laser tracker 12.

[0128] 4) Calculate the linear displacement that each six-dimensional adjustment module needs to be adjusted by inverse kinematics.

[0129] 5) Each six-dimensional adjustment module completes the linear displacement adjustment based on the linear displacement calculated in step 4).

[0130] 6) Install N four-degree-of-freedom adaptive adjustment pads at designated positions on the bottom of structural component 14. Each four-degree-of-freedom adaptive adjustment pad is equipped with a one-dimensional force sensor. Rotate each push bolt 10 to drive the wedge block 9 to move horizontally, which in turn drives the ball socket II 6 to rise. After the rolling ball II 5 contacts the bottom of structural component 14, adjust each rolling ball I to descend.

[0131] 7) By monitoring and jointly controlling the complex force system, the force on each four-degree-of-freedom adaptive adjustment pad reaches the theoretical level. Specifically, a one-dimensional force sensor monitors the Z1 force on each four-degree-of-freedom adaptive adjustment pad to determine whether the force on each four-degree-of-freedom adaptive adjustment pad reaches the theoretical level.

[0132] 8) Use a six-dimensional laser tracker 12 to check again whether the pose of structural component 14 meets the positioning accuracy requirements. If yes, proceed to the next step. If not, repeat steps 4) to 8) until the pose of structural component 14 meets the positioning accuracy requirements.

[0133] 9) Fill the gaps formed by the ball II5, the ball socket II6 and the upper support pad 8 through the glue injection hole 703 and the glue dispensing groove 11 with positioning glue. After the positioning glue cures, remove all six-dimensional adjustment modules.

[0134] Example 3:

[0135] The main structure and steps of this embodiment are the same as those of Embodiment 2. Further details can be found in [link to embodiment 2]. Figure 2 The X1 / Y1 adjustment mechanism 4 includes a feed mechanism I 402, a Y1 motor 403, two X1 guide rails 404, four cross sliders 406, two Y1 guide rails 407, and a lower base plate 408.

[0136] The X1 guide rail 404 is aligned with the X1 direction, and the two X1 guide rails 404 that are spaced apart from each other are fixed on the lower base plate 408. Each X1 guide rail 404 is equipped with two cross sliders 406.

[0137] The Y1 guide rail 407 is aligned with the Y1 direction, and each Y1 guide rail 407 is mounted on two cross sliders 406.

[0138] The feed mechanism I402 includes a trapezoidal lead screw I, a nut I, a nut mounting seat I, a bearing seat I, a bearing seat II, a coupling I, and a reducer I.

[0139] The bearing housing I and bearing housing II are fixed at intervals on the lower surface of the connecting plate 3. Bearing I is installed on both bearing housing I and bearing housing II. The trapezoidal lead screw I is connected to the two bearings I that coincide with the axis. The axis of the trapezoidal lead screw I is consistent with the Y1 direction. One end of the trapezoidal lead screw I is connected to the output end of the reducer I. The reducer I is connected to the output end of the Y1 direction motor 403 through the coupling I.

[0140] A nut mounting plate I is connected between two cross-shaped sliders 406 located on the same X1 guide rail 404. The nut I is fixed on the nut mounting plate I, and the rod segment of the trapezoidal screw I located between the two bearings I passes through the nut I and the nut mounting plate I.

[0141] During operation, the Y1 motor 403 drives the trapezoidal lead screw I to rotate, the trapezoidal lead screw I drives the connecting plate 3 to move along the Y direction, and the cross slider 406 follows along the X1 direction.

[0142] Example 4:

[0143] The main structure and steps of this embodiment are the same as those of Embodiment 2. Further details can be found in [link to embodiment 2]. Figure 3 The Z1 adjustment mechanism 1 includes an electrical control cabinet 101, a Z1 motor 102, a feed mechanism II 103, a guide rail slider 104, two Z1 guide rails 105, and a fixing plate 107.

[0144] The electrical control cabinet 101 is mounted on the connecting plate 3. A vertical fixing plate 107 is provided on one side of the electrical control cabinet 101. Two Z1 guide rails 105 are arranged at intervals on the fixing plate 107. Each Z1 guide rail 105 is equipped with a guide rail slider 104. The Z1 guide rail 105 is aligned with the Z1 direction.

[0145] The feeding mechanism II 103 is located between the two Z1 guide rails 105 and connected to the guide rail sliders 104 on the two Z1 guide rails 105. The upper end of the feeding mechanism II 103 is connected to the Z1 motor 102, and the rotation adjustment mechanism 2 around X1 / Y1 / Z1 is connected to the guide rail sliders 104.

[0146] The feed mechanism Ⅱ103 includes a trapezoidal lead screw Ⅱ, a nut Ⅱ, a nut mounting seat Ⅱ, a bearing seat Ⅴ, a bearing seat Ⅵ, a coupling Ⅱ, and a reducer Ⅱ.

[0147] Both bearing housing V and bearing housing VI are fixed on the fixing plate 107, with bearing housing V located directly above bearing housing VI. Bearings II are installed on both bearing housing V and bearing housing VI. Trapezoidal lead screw II is connected to two bearings II whose axes coincide. The axis of trapezoidal lead screw II is aligned with the Z direction. The upper end of trapezoidal lead screw II is connected to the output end of reducer II. Reducer II is connected to the output end of Z1 motor 102 through coupling II.

[0148] A nut mounting seat II is connected between two guide rail sliders 104 located on the two Z1 guide rails 105. The nut II is fixed on the nut mounting seat II, and the rod segment of the trapezoidal screw II located between the two bearings II passes through the nut II.

[0149] During operation, the Z1 motor 102 drives the trapezoidal lead screw II to rotate, and the nut II drives the nut mounting seat II, the guide rail slider 104, and the X1 / Y1 / Z1 rotation adjustment mechanism 2 to move along the Z1 direction.

[0150] Example 5:

[0151] The main structure and steps of this embodiment are the same as those of Embodiment 2. Further details can be found in [link to embodiment 2]. Figure 4 The X1 / Y1 / Z1 rotation adjustment mechanism 2 includes a support plate 201, which is an L-shaped plate. The vertical surface of the support plate 201 is connected to the guide rail slider 104, and a ball socket I is provided on the horizontal surface of the support plate 201. During operation, the ball I contacts the bottom of the structural component 14.

[0152] Example 6:

[0153] The main structure and steps of this embodiment are the same as those of embodiment 3. Furthermore, the upper surface of the lower base plate 408 is provided with a slot 405 for the tray 201 to be placed. When the tray 201 is adjusted to the lowest position, the horizontal plate of the tray 201 is located in the slot 405.

[0154] Example 7:

[0155] The main structure and steps of this embodiment are the same as those of embodiment 3. Furthermore, the lower base plate 408 is a rectangular plate, and a support frame 401 is connected to the lower base plate 408. The support frame 401 is close to the edge of the lower base plate 408.

[0156] Example 8:

[0157] The main structure and steps of this embodiment are the same as those of embodiment 3. Furthermore, a number of wheels 409 are installed on the lower surface of the lower base plate 408.

[0158] Example 9:

[0159] The main structure and steps of this embodiment are the same as those of embodiment 4. Furthermore, each Z1 guide rail 105 is provided with a stop block 106 at its upper and lower ends.

[0160] Example 10:

[0161] The main structure and steps of this embodiment are the same as those of embodiment 2. Furthermore, the angle between the inclined plane I and the positive direction of the X1 axis is 180-θ, and the angle between the inclined plane IV and the positive direction of the X1 axis is θ, where θ is 6° to 8°.

[0162] Example 11:

[0163] The main structure and steps of this embodiment are the same as those of embodiment 2. In addition, the push bolt 10 is provided with two annular grooves for the installation of the axial limiting washer 1001. The two annular grooves are arranged at intervals and the distance between them is the thickness of the side wall of the mounting base plate 7.

[0164] The outer diameter of the axial limiting washer 1001 is greater than the width of the strip hole 702, and the inner diameter of the axial limiting washer 1001 is greater than the diameter of the annular groove and smaller than the outer diameter of the push bolt 10.

[0165] The two axial limiting washers 1001 are respectively installed in the two annular grooves on the push bolt 10. When the rotary motor 13 drives the push bolt 10 to rotate, the axial limiting washers 1001 constrain the push bolt 10 to move axially by the supporting force of the side wall of the mounting base plate 7, and push the bolt 10 to move up and down along the strip hole 702.

Claims

1. A fully automated and precise positioning and stable support method for large structural components based on deep coupling and joint control of six-degree-of-freedom pose and force, characterized in that: Based on M six-dimensional adjustment modules and N four-degree-of-freedom adaptive adjustment pads, M≥3, N≥3; The six-dimensional adjustment module includes a Z1-direction adjustment mechanism (1), a rotation adjustment mechanism (2) around X1 / Y1 / Z1, a connecting plate (3), and an X1 / Y1-direction adjustment mechanism (4) set in the spatial rectangular coordinate system O1-X1Y1Z1. The plane O1-X1Y1 is a horizontal plane, and the Z1 direction is consistent with the vertical direction. The Z1 direction adjustment mechanism (1) is connected to the X1 / Y1 direction adjustment mechanism (4) through the connecting plate (3), and the X1 / Y1 / Z1 rotation adjustment mechanism (2) is connected to the Z1 direction adjustment mechanism (1). The X1 / Y1 / Z1 rotation adjustment mechanism (2) is provided with a ball socket I, and a rolling ball I is installed in the ball socket I. The four-degree-of-freedom adaptive adjustment pad includes a rolling ball II (5), a ball socket II (6), a mounting base plate (7), an upper support pad (8), a wedge block (9), and a push bolt (10) set in the spatial rectangular coordinate system O1-X1Y1Z1. The mounting base plate (7) has a cavity (701) for mounting the ball socket II (6), the upper support pad (8) and the wedge block (9). The upper end of the cavity (701) is open, and the bottom surface of the cavity (701) is an inclined surface I in the X1 direction. The mounting base plate (7) has an injection hole (703) and a vertical strip hole (702) on its side wall. Both the strip hole (702) and the injection hole (703) penetrate the inner and outer sides of the cavity (701). The lower end of the strip hole (702) is close to the lowest point of the bottom surface of the cavity (701). The wedge block (9) is installed on the bottom surface of the cavity (701), the upper support pad (8) is installed on the wedge block (9), the ball socket II (6) is installed on the upper support pad (8), the upper surface of the ball socket II (6) extends out of the cavity (701), and the rolling ball II (5) is installed inside the ball socket II (6); The lower surface of the wedge block (9) is inclined plane II, which matches and fits with inclined plane I; The upper surface of the wedge block (9) is inclined surface Ⅲ, and the lower surface of the upper support pad (8) is inclined surface Ⅳ. Inclined surface Ⅲ and inclined surface Ⅳ match and fit together. Inclined surface Ⅳ is an inclined surface in the X1 direction. The upper support pad (8) has a dispensing groove (11) with one end penetrating the upper surface of the upper support pad (8) and the other end penetrating the side wall of the upper support pad (8) and connecting with the dispensing hole (703). The wedge block (9) has a threaded hole on the side facing the strip hole (702). One end of the push bolt (10) passes through the strip hole (702) and is screwed into the threaded hole of the wedge block (9), and the other end is connected to the rotary motor (13). The push bolt (10) is provided with two axial limiting washers (1001), and the two axial limiting washers (1001) contact the inner and outer walls of the mounting base plate (7) respectively. The fully automatic and precise positioning and stable support method for large structural components (14) based on deep coupling and joint control of six-degree-of-freedom pose and force includes the following steps: 1) Hoist the structural component (14) to the designated position and move the M six-dimensional adjustment modules to the designated position at the bottom of the structural component (14); 2) Complete the self-calibration of the geometric relationship between each six-dimensional adjustment module; firstly, establish the O2-X2Y2Z2 coordinate system of the six-dimensional laser tracker (12) and the global coordinate system O3-X3Y3Z3 of the structural component (14), and establish B with the center of the rolling ball I on each six-dimensional adjustment module as the coordinate origin. i -X 4i Y 4i Z 4i The coordinate system, i represents the i-th six-dimensional adjustment module, and the C-X5Y5Z5 coordinate system is established with the top geometric center of the structural component (14) as the origin; the six-dimensional laser tracker (12) performs self-calibration by scanning each six-dimensional adjustment module; 3) A six-dimensional laser tracker (12) is used to detect the six-dimensional pose information of the structural component (14); 4) Calculate the linear displacement that each six-dimensional adjustment module needs to be adjusted by inverse kinematics; 5) Each six-dimensional adjustment module completes the linear displacement adjustment based on the linear displacement calculated in step 4); 6) Install N four-degree-of-freedom adaptive adjustment pads at designated positions on the bottom of the structural component (14). Each four-degree-of-freedom adaptive adjustment pad is equipped with a one-dimensional force sensor. Rotate each push bolt (10) to drive the wedge block (9) to move in the horizontal direction, drive the ball socket II (6) to rise, and after the rolling ball II (5) contacts the bottom of the structural component (14), adjust each rolling ball I to descend. 7) By monitoring and jointly controlling the complex force system, the force on each four-degree-of-freedom adaptive adjustment pad reaches the theoretical level; in particular, by monitoring the Z1 force on each four-degree-of-freedom adaptive adjustment pad through a one-dimensional force sensor, it is determined whether the force on each four-degree-of-freedom adaptive adjustment pad reaches the theoretical level. 8) Use a six-dimensional laser tracker (12) to check again whether the pose of the structural component (14) meets the positioning accuracy requirements. If yes, proceed to the next step; if no, repeat steps 4) to 8) until the pose of the structural component (14) meets the positioning accuracy requirements. 9) Fill the gap formed by the ball II (5), the ball socket II (6) and the upper support plate (8) with positioning glue through the glue injection hole (703) and the glue dispensing groove (11). After the positioning glue is cured, remove all six-dimensional adjustment modules.

2. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 1, characterized in that: The X1 / Y1 adjustment mechanism (4) includes a feed mechanism I (402), a Y1 motor (403), two X1 guide rails (404), four cross sliders (406), two Y1 guide rails (407), and a bottom plate (408). The X1 guide rail (404) is aligned with the X1 direction. Two X1 guide rails (404) spaced apart from each other are fixed on the bottom plate (408). Two cross sliders (406) are installed on each X1 guide rail (404). The Y1 guide rail (407) is aligned with the Y1 direction, and each Y1 guide rail (407) is mounted on two cross sliders (406); The feed mechanism I (402) includes a trapezoidal lead screw I, a nut I, a nut mounting seat I, a bearing seat I, a bearing seat II, a coupling I, and a reducer I; The bearing housing I and bearing housing II are fixed at intervals on the lower surface of the connecting plate (3). Bearing I is installed on both bearing housing I and bearing housing II. The trapezoidal screw I is connected to two bearings I that coincide with the axis. The axis of the trapezoidal screw I is consistent with the Y1 direction. One end of the trapezoidal screw I is connected to the output end of the reducer I. The reducer I is connected to the output end of the Y1 direction motor (403) through the coupling I. A nut mounting plate I is connected between two cross-shaped sliders (406) located on the same X1 guide rail (404). The nut I is fixed on the nut mounting plate I. The rod segment of the trapezoidal screw I located between the two bearings I passes through the nut I and the nut mounting plate I. During operation, the Y1 motor (403) drives the trapezoidal lead screw I to rotate, the trapezoidal lead screw I drives the connecting plate (3) to move along the Y direction, and the cross slider (406) moves in the X1 direction.

3. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 1, characterized in that: The Z1 adjustment mechanism (1) includes an electrical control cabinet (101), a Z1 motor (102), a feed mechanism II (103), a guide rail slider (104), two Z1 guide rails (105), and a fixing plate (107). The electrical control cabinet (101) is installed on the connecting plate (3). A vertical fixing plate (107) is provided on one side of the electrical control cabinet (101). Two Z1 guide rails (105) are arranged at intervals on the fixing plate (107). Each Z1 guide rail (105) is equipped with a guide rail slider (104). The Z1 guide rail (105) is aligned with the Z1 direction. The feeding mechanism II (103) is located between two Z1 guide rails (105) and connected to the guide rail slider (104) on the two Z1 guide rails (105). The upper end of the feeding mechanism II (103) is connected to the Z1 motor (102), and the rotation adjustment mechanism (2) around X1 / Y1 / Z1 is connected to the guide rail slider (104). The feed mechanism II (103) includes a trapezoidal lead screw II, a nut II, a nut mounting seat II, a bearing seat V, a bearing seat VI, a coupling II, and a reducer II; Both bearing housing V and bearing housing VI are fixed on the fixed plate (107) and bearing housing V is located directly above bearing housing VI. Bearing II is installed on both bearing housing V and bearing housing VI. Trapezoidal screw II is connected to two bearing II with the same axis. The axis of trapezoidal screw II is consistent with the Z direction. The upper end of trapezoidal screw II is connected to the output end of reducer II. Reducer II is connected to the output end of Z1 motor (102) through coupling II. A nut mounting seat II is connected between two guide rail sliders (104) located on the two Z1 guide rails (105). The nut II is fixed on the nut mounting seat II, and the rod segment of the trapezoidal screw II located between the two bearings II passes through the nut II. During operation, the Z1 motor (102) drives the trapezoidal lead screw II to rotate, and the nut II drives the nut mounting seat II, the guide rail slider (104) and the X1 / Y1 / Z1 rotation adjustment mechanism (2) to move along the Z1 direction.

4. The fully automatic and precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 1, characterized in that: The rotation adjustment mechanism (2) around X1 / Y1 / Z1 includes a support plate (201), which is an L-shaped plate. The vertical plate surface of the support plate (201) is connected to the guide rail slider (104), and a ball socket I is provided on the horizontal plate surface of the support plate (201). During operation, the ball I contacts the bottom of the structural component (14).

5. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 2, characterized in that: The upper surface of the lower base plate (408) is provided with a slot (405) for inserting the tray (201). When the tray (201) is adjusted to the lowest position, the horizontal plate of the tray (201) is located in the slot (405).

6. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 2, characterized in that: The lower base plate (408) is a rectangular plate, and a support frame (401) is connected to the lower base plate (408). The support frame (401) is close to the edge of the lower base plate (408).

7. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 2, characterized in that: Several wheels (409) are mounted on the lower surface of the lower base plate (408).

8. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 3, characterized in that: Each of the Z1 guide rails (105) is provided with a stop (106) at its upper and lower ends.

9. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 1, characterized in that: The angle between the inclined plane I and the positive direction of the X1 axis is 180°. The angle between inclined plane IV and the positive direction of the X1 axis is , The value ranges from 6° to 8°.

10. The fully automatic precise positioning and stable support method for large structural components based on six-degree-of-freedom pose-force deep coupling and joint control as described in claim 1, characterized in that: The push bolt (10) has two annular grooves for installing the axial limiting washer (1001). The two annular grooves are arranged at intervals and the distance between them is the thickness of the side wall of the mounting base plate (7). The outer diameter of the axial limiting washer (1001) is greater than the width of the strip hole (702), and the inner diameter of the axial limiting washer (1001) is greater than the diameter of the annular groove and smaller than the outer diameter of the push bolt (10). The two axial limiting washers (1001) are respectively installed on the two annular grooves on the push bolt (10). When the rotary motor (13) drives the push bolt (10) to rotate, the axial limiting washers (1001) constrain the push bolt (10) to move axially by the supporting force of the side wall of the mounting base plate (7), and the push bolt (10) moves up and down along the strip hole (702).

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