Six-degree-of-freedom flexible adaptive mechanism with recovery reset function

Abstract

The application discloses a six-degree-of-freedom flexible adaptive mechanism with a recovery reset function, which comprises a delta parallel structure, the delta parallel structure comprising a moving platform and a static platform, three connecting rod groups being hingedly connected between the moving platform and the static platform, three sliders being slidably arranged on the static platform, the three sliders being arranged in one-to-one correspondence with the three connecting rod groups, one end of each connecting rod group being hingedly connected to the moving platform, the other end of each connecting rod group being hingedly connected to a corresponding slider, a support plate being connected to the moving platform through a locking mechanism, a conical part being fixedly arranged on the support plate, an opening being arranged on the moving platform, an adapter plate being connected to the support plate through a spherical hinge, and an elastic support part being fixedly arranged on the support plate. The six-degree-of-freedom flexible adaptive mechanism with the recovery reset function can realize flexible adaptation to six-direction following errors of a docking device, can realize recovery of a connector outside a safe distance of a rocket, and has the characteristics of simple operation, safe use and strong universality.

Description

Technical Field

[0001] This invention relates to the field of ground support for launch vehicles, and in particular to a flexible adaptation mechanism in the process of connecting a connector to a launch vehicle. Background Technology

[0002] In aerospace launch support systems, ground-based propellant loading, gas supply and distribution, and power supply systems need to be connected to the launch vehicle via connectors to enable the entry and exit of liquid / gaseous media and to supply power. Currently, docking devices are commonly used to connect the connectors to the rocket body. However, due to tracking errors between the docking device and the rocket body, direct docking can lead to collisions between the connectors and the rocket body, potentially causing serious damage to the rocket. Furthermore, after completing connector docking, the docking device needs to be withdrawn a certain distance to avoid collisions with the rocket body. Therefore, after connector loading is completed, long-distance connector retrieval and repositioning are also required. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a six-degree-of-freedom flexible adaptation mechanism with recovery and reset function, which can flexibly adapt to the six-directional following error of the docking device, and at the same time realize the recovery of the connector from outside the safe distance of the rocket. It has the characteristics of simple operation, safe use and strong versatility.

[0004] This invention relates to a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function, comprising a delta parallel structure. The delta parallel structure includes a moving platform and a stationary platform, with three linkage groups hinged between them. Three sliders are slidably mounted on the stationary platform along the direction from the moving platform to the stationary platform. Each of the three sliders corresponds to one of the three linkage groups. One end of each linkage group is hinged to the moving platform, and the other end is hinged to the corresponding slider. The three sliders are designated as a first slider, a second slider, and a third slider. A first cylinder is positioned between the end of the first slider closest to the moving platform and the stationary platform. The first cylinder is fixed to the stationary platform, and its piston rod abuts against the first slider. A first compression spring is positioned between the end of the first slider furthest from the moving platform and the stationary platform. A second cylinder is positioned between the end of the second slider furthest from the moving platform and the stationary platform. The second cylinder is fixed to the stationary platform. The piston rod of the second cylinder abuts against the second slider. A second compression spring is provided between the end of the second slider near the moving platform and the stationary platform. A third cylinder is provided between the end of the third slider away from the moving platform and the stationary platform. The third cylinder is fixed on the stationary platform. The piston rod of the third cylinder abuts against the third slider. A third compression spring is provided between the end of the third slider near the moving platform and the stationary platform. A support plate is connected to the moving platform through a locking mechanism. The support plate is located on the side of the moving platform away from the stationary platform. A conical component is fixedly provided on the support plate. An opening for accommodating the conical component is provided on the moving platform. The conical component is located in the opening. A transition plate is provided on the side of the support plate away from the moving platform. The transition plate is connected to the support plate through a ball joint. An elastic support component is fixedly provided on the support plate, abutting against the transition plate. The elastic support component can keep the relative position between the transition plate and the support plate unchanged. The transition plate is used to install a connector.

[0005] The present invention provides a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function, wherein the moving platform and the stationary platform are arranged coaxially, and the three linkage groups are evenly arranged along the circumference of the moving platform / stationary platform, and the linkage group includes two parallel linkages.

[0006] The present invention provides a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function, wherein the conical member is square-pyramidal, the opening is quadrilateral, and rollers are respectively provided on the four sides of the opening. The wheel surfaces of the four rollers abut against the four sides of the conical member, and the tip of the conical member extends through the opening to the space between the moving platform and the stationary platform.

[0007] This invention relates to a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The locking mechanism includes two locking members, each disposed on a moving platform on opposite sides of an opening. Each locking member includes a fourth cylinder, a locking block, a pin, a first proximity switch, and a second proximity switch. The fourth cylinder is fixedly mounted on the moving platform, and the locking block is slidably mounted on the moving platform. The piston rod of the fourth cylinder is fixedly connected to the locking block. The fourth cylinder can drive the locking block to slide closer to or away from the opening along the moving platform. The pin is fixedly mounted on the end of the locking block closest to the opening. The tip of the conical member... The device has a socket for use with the pin, and the pin is inserted into the socket. The first proximity switch and the second proximity switch are both fixedly mounted on the moving platform. The locking block has a first metal plate and a second metal plate fixedly mounted on it. When the fourth cylinder drives the locking block to slide along the moving platform closer to the opening and insert the pin into the socket, the first metal plate on the locking block moves to the first proximity switch and triggers the first proximity switch. When the fourth cylinder drives the locking block to slide along the moving platform away from the opening and disengage the pin from the socket, the second metal plate on the locking block moves to the second proximity switch and triggers the second proximity switch.

[0008] This invention relates to a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The ball joint includes a ball joint shaft, a pressure plate, and a cover plate. The pressure plate is fixed to the cover plate. A first hemispherical groove is provided on the side of the pressure plate near the cover plate, and a second hemispherical groove is provided on the side of the cover plate near the pressure plate. The first and second hemispherical grooves together form a spherical cavity. One end of the ball joint shaft has a first ball head located within the spherical cavity. The other end of the ball joint shaft passes through the cover plate and is fixed to a support plate. The pressure plate and the cover plate can rotate together relative to the first ball head. The cover plate is fixed to a transition plate.

[0009] This invention relates to a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The elastic support includes a first elastic support and a second elastic support. Multiple first elastic supports are uniformly arranged along the circumference of a ball joint. Each first elastic support includes two oppositely arranged first elastic ball joints, both fixed to a support plate. The center line connecting the two first elastic ball joints is perpendicular to the support plate. The two first elastic ball joints are located on opposite sides of a transition plate and abut against opposite sides of the transition plate. The first elastic support keeps the transition plate parallel to the support plate. The second elastic support includes a second elastic ball joint and a second elastic ball joint. Three elastic ball joints are provided, with the second and third elastic ball joints fixedly mounted on the support plate and arranged parallel to the support plate. A baffle is fixedly provided on the adapter plate, and the baffle abuts against the second and third elastic ball joints. When the adapter plate rotates clockwise relative to the support plate, the baffle compresses the second elastic ball joint, while the third elastic ball joint extends and abuts against the baffle. When the adapter plate rotates counterclockwise relative to the support plate, the baffle compresses the third elastic ball joint, while the second elastic ball joint extends and abuts against the baffle. The second and third elastic ball joints can keep the adapter plate and the support plate parallel and prevent relative circumferential rotation.

[0010] This invention relates to a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The first, second, and third elastic ball joints each include an outer barrel and an inner barrel. The inner barrel is fitted inside the outer barrel, with its opening located inside the outer barrel and its bottom located outside the outer barrel. A fourth compression spring is provided within the cavity formed by the outer and inner barrels. The two ends of the fourth compression spring abut against the inner walls of the bottoms of the outer and inner barrels, respectively. A guide post is fixedly provided on the inner wall of the bottom of the inner barrel, arranged axially along the inner barrel. One end of the guide post, away from the inner wall of the bottom, passes through the bottom extension of the outer barrel. Extending to the outside of the outer barrel, a nut is threaded onto one end of the guide post located on the outside of the outer barrel. The fourth compression spring is arranged around the guide post. A second ball head is fixedly provided on the outer wall of the bottom of the inner barrel. A first elastic ball head located on the side of the adapter plate closer to the support plate is called the first near elastic ball head, and a first elastic ball head located on the side of the adapter plate away from the support plate is called the first away elastic ball head. The outer barrel of the first near elastic ball head is fixedly mounted on the side of the support plate away from the adapter plate. The support plate has a first through hole for the inner barrel of the first near elastic ball head to pass through. The diameter of the first through hole is larger than the outer diameter of the inner barrel. The second ball head near the elastic ball head abuts against the side of the adapter plate near the support plate. The first outer barrel body away from the elastic ball head is fixed to the support plate by a fixing rod. The adapter plate has a second through hole for the fixing rod to pass through. The diameter of the second through hole is larger than the outer diameter of the fixing rod. One end of the fixing rod is fixedly connected to the first outer barrel body away from the elastic ball head, and the other end of the fixing rod passes through the second through hole and is fixedly connected to the support plate. The second ball head of the first outer barrel body away from the elastic ball head abuts against the side of the adapter plate away from the support plate. The outer barrel bodies of both the second and third elastic ball heads are fixedly mounted on the support plate. The plates abut against the second ball heads of the second and third elastic ball heads. When the adapter plate rotates clockwise relative to the support plate, the baffle pushes the second ball head of the second elastic ball head and compresses the fourth compression spring of the second elastic ball head. At the same time, the fourth compression spring of the third elastic ball head extends and abuts against the baffle. When the adapter plate rotates counterclockwise relative to the support plate, the baffle pushes the second ball head of the third elastic ball head and compresses the fourth compression spring of the third elastic ball head. At the same time, the fourth compression spring of the second elastic ball head extends and abuts against the baffle.

[0011] The present invention provides a six-degree-of-freedom flexible adaptation mechanism with a recovery and reset function, wherein the adapter plate is provided with a mounting frame on the side away from the support plate, the adapter plate and the mounting frame are fixedly connected by a three-dimensional force sensor, and the mounting frame is used to install a connector.

[0012] This invention relates to a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The conical component includes a square-conical shell. A third through hole is provided on the support plate. The square-conical shell is fixedly disposed at the third through hole. The shell wall at the tip of the square-conical shell is provided with the insertion hole. The four outer shell walls of the square-conical shell abut against the wheel surfaces of four rollers respectively. A sleeve is fixedly disposed inside the square-conical shell. The end of the ball head shaft away from the first ball head is fixedly inserted into the sleeve.

[0013] The present invention provides a six-degree-of-freedom flexible adaptation mechanism with a recovery and reset function, wherein the sleeve and the four inner shell walls of the square pyramidal shell are respectively fixedly connected with reinforcing ribs.

[0014] The six-degree-of-freedom flexible adaptation mechanism of this invention, with its recovery and reset function, differs from existing technologies in that, during use, a static platform is fixedly connected to a floating platform of a six-degree-of-freedom parallel platform, and a connector is mounted on an adapter plate. The connector is then connected to a first winch via a first traction rope, and a conical component on a support plate is connected to a second winch via a second traction rope. The flexible adaptation mechanism, the six-degree-of-freedom parallel platform, the first winch, and the second winch together constitute an automatic docking device. The six-degree-of-freedom parallel platform is then driven to keep the connector at a certain distance from the docking target (i.e., the arrow interface) and follow it. If the docking conditions are met, the six-degree-of-freedom parallel platform continues to be driven, causing the connector and the arrow interface to enter the docking stage. At this time, the flexible adaptation mechanism can compensate for the following error between the connector and the arrow body, ensuring that the force exerted by the automatic docking device on the arrow body is within safe limits. After the connector is locked to the rocket interface, the connection between the support plate and the moving platform is unlocked through the locking mechanism. The connector, adapter plate, and support plate then detach from the delta parallel structure. The six-degree-of-freedom parallel platform is then driven to evacuate with the delta parallel structure. At this point, the connector is connected to the first winch via the first traction rope, and the conical component on the support plate is connected to the second winch via the second traction rope. The system waits for the connector to be fueled. Once fueling is complete, the winch applies a certain pulling force to assist in detaching the connector from the rocket body. After detachment, the winch retrieves and resets the connector, and the locking mechanism locks the connection between the support plate and the moving platform. Because the connector, adapter plate, and support plate are fixedly connected, the connector's retrieval and reset are completed after the support plate is connected to the moving platform (at which point the conical component of the support plate is inserted into the opening of the moving platform). Therefore, this invention can flexibly adapt to the six-directional following error of the docking device and simultaneously achieve connector retrieval from a safe distance from the rocket. It features simple operation, safe use, and strong versatility.

[0015] The invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 A front view of an automatic docking device using the six-degree-of-freedom flexible adaptation mechanism with recovery and reset function of the present invention;

[0017] Figure 2 For the three-dimensional automatic docking device using the six-degree-of-freedom flexible adaptive mechanism with recovery and reset function of the present invention Figure 1 ;

[0018] Figure 3 For the three-dimensional automatic docking device using the six-degree-of-freedom flexible adaptive mechanism with recovery and reset function of the present invention Figure 2 ;

[0019] Figure 4 For the three-dimensional automatic docking device using the six-degree-of-freedom flexible adaptive mechanism with recovery and reset function of the present invention Figure 3 ;

[0020] Figure 4 For the three-dimensional automatic docking device using the six-degree-of-freedom flexible adaptive mechanism with recovery and reset function of the present invention Figure 5 ;

[0021] Figure 5 For the three-dimensional automatic docking device using the six-degree-of-freedom flexible adaptive mechanism with recovery and reset function of the present invention Figure 6 ;

[0022] Figure 6 A front view of the six-degree-of-freedom parallel platform in the automatic docking device of the present invention;

[0023] Figure 7 A left view of the six-degree-of-freedom parallel platform in the automatic docking device of the present invention;

[0024] Figure 8 A top view of the six-degree-of-freedom parallel platform in the automatic docking device of the present invention;

[0025] Figure 9 A perspective view of a six-degree-of-freedom parallel platform in the automatic docking device of the present invention;

[0026] Figure 10 This is a front view of the six-degree-of-freedom flexible adaptation mechanism and connector with retraction and reset function of the present invention;

[0027] Figure 11 This invention relates to a three-dimensional six-degree-of-freedom flexible adaptable mechanism and connector with retraction and reset functions. Figure 12 ;

[0028] Figure 1 This invention relates to a three-dimensional six-degree-of-freedom flexible adaptable mechanism and connector with retraction and reset functions. Figure 13;

[0029] Figure 2 This is a front view of the delta parallel structure in this invention;

[0030] Figure 14 This is a left view of the delta parallel structure in this invention;

[0031] Figure 15 This is a right view of the delta parallel structure in this invention;

[0032] Figure 16 The three-dimensional delta parallel structure in this invention Figure 17 ;

[0033] Figure 1 The three-dimensional delta parallel structure in this invention Figure 18 ;

[0034] Figure 2 The relative positions of the first slider, the first cylinder, and the first compression spring in this invention. Figure 19 (This also refers to the relative positions of the second slider, the second cylinder, and the second compression spring) Figure 1 And the relative positions of the third slider, the third cylinder, and the third compression spring. Figure 1 );

[0035] Figure 1 The relative positions of the first slider, the first cylinder, and the first compression spring in this invention. Figure 20 (This also refers to the relative positions of the second slider, the second cylinder, and the second compression spring) Figure 2 And the relative positions of the third slider, the third cylinder, and the third compression spring. Figure 2 );

[0036] Figure 2 The three-dimensional dynamic platform in this invention Figure 21 ;

[0037] Figure 1 The three-dimensional dynamic platform in this invention Figure 22 ;

[0038] Figure 2 The three-dimensional locking element in this invention Figure 23 ;

[0039] Figure 1 The three-dimensional locking element in this invention Figure 24 ;

[0040] Figure 2 This is a front view of the support plate, adapter plate, and connector in this invention;

[0041] Figure 25This is a top view of the support plate, adapter plate, and connector in this invention;

[0042] Figure 26 This is a right view of the support plate, adapter plate, and connector in this invention;

[0043] Figure 27 For along Figure 28 Sectional view of line AA in the middle;

[0044] Figure 27 For along Figure 29 Sectional view of the middle BB line;

[0045] Figure 27 This invention relates to a three-dimensional representation of the support plate, adapter plate, and connector. Figure 30 ;

[0046] Figure 1 This invention relates to a three-dimensional representation of the support plate, adapter plate, and connector. Figure 31 ;

[0047] Figure 2 This invention relates to a three-dimensional representation of the support plate, adapter plate, and connector. Figure 32 ;

[0048] Figure 3 The three-dimensional form of the adapter plate and support plate in this invention Figure 33 ;

[0049] Figure 1 For along Figure 34 The C-direction view in the middle;

[0050] Figure 33 For along Figure 35 Sectional view of the DD line;

[0051] Figure 34 For along Figure 36 Sectional view of the middle EE line;

[0052] Figure 34 The three-dimensional form of the adapter plate and support plate in this invention Figure 37 ;

[0053] Figure 2 The three-dimensional support plate in this invention Figure 38 ;

[0054] Figure 1 For along Figure 39 The F-direction view in the middle;

[0055] Figure 38 For along Figure 40 A cross-sectional view of the GG line in the middle;

[0056] Figure 39 The three-dimensional support plate in this invention Figure 41;

[0057] Figure 2 The three-dimensional form of the conical component in this invention Figure 42 ;

[0058] Figure 1 The three-dimensional form of the conical component in this invention Figure 43 ;

[0059] Figure 2 This is a diagram showing the relative positions of the conical component and the ball joint in this invention;

[0060] Figure 44 For along Figure 45 H-direction view in the middle;

[0061] Figure 44 For along Figure 46 Sectional view of line II in the middle;

[0062] Figure 45 The three-dimensional form of the adapter plate in this invention Figure 47 ;

[0063] Figure 1 For along Figure 48 The J-direction view in the middle;

[0064] Figure 47 For along Figure 49 A cross-sectional view of the KK line;

[0065] Figure 48 The three-dimensional form of the adapter plate in this invention Figure 50 ;

[0066] Figure 2 This is a perspective view of the first elastic ball joint, the second elastic ball joint, and the third elastic ball joint in this invention;

[0067] Figure 51 This is a schematic diagram of the internal structure of the first elastic ball joint, the second elastic ball joint, and the third elastic ball joint in this invention.

[0068] Figure 52 This is a flowchart illustrating the process of retrieving and resetting the connector using the automatic docking device of the present invention. Figure 53 ;

[0069] Figure 1 This is a flowchart illustrating the process of retrieving and resetting the connector using the automatic docking device of the present invention. Figure 54 ;

[0070] Figure 2 This is a flowchart illustrating the process of retrieving and resetting the connector using the automatic docking device of the present invention. Figure 55 . Detailed Implementation

[0071] like Figure 3 As shown, and in combination Figure 1 As shown, the automatic docking device using the six-degree-of-freedom flexible adaptive mechanism with recovery and reset function of the present invention includes a six-degree-of-freedom parallel platform. The six-degree-of-freedom parallel platform is prior art and is also referred to as a six-degree-of-freedom motion platform. The six-degree-of-freedom parallel platform includes a fixed platform 13 and a floating platform 12. During use, the fixed platform 13 remains stationary. Six hydraulic cylinders 3 are connected between the fixed platform 13 and the floating platform 12. By controlling the extension and retraction of the piston rods of the hydraulic cylinders 3, the floating platform 12 can perform six-degree-of-freedom motion relative to the fixed platform 13. Since the six-degree-of-freedom parallel platform is prior art, its specific structure and working principle will not be described in detail.

[0072] like Figures 2-10 As shown, and in combination Figure 11 As shown, a six-degree-of-freedom (DOF) parallel platform is fixedly connected to its floating platform 12, which features a retraction and reset function. The flexible adaptation mechanism includes a delta parallel structure comprising a moving platform 10 and a stationary platform 4. The stationary platform 4 is fixedly connected to the floating platform 12 of the six-DOF parallel platform. Three linkage groups 23 are hinged between the moving platform 10 and the stationary platform 4. Three sliders are slidably mounted on the stationary platform 4 along the direction from the moving platform 10 to the stationary platform 4. Each of the three sliders corresponds to one of the three linkage groups 23. One end of each linkage group 23 is hinged to the moving platform 10, and the other end is hinged to the corresponding slider. Since the sliders slide on the stationary platform 4, it can also be said that the other end of the linkage group 23 is hinged to the stationary platform 4 via the sliders, thus achieving the purpose of the linkage group 23 hinged between the moving platform 10 and the stationary platform 4.

[0073] The moving platform 10 and the stationary platform 4 are arranged coaxially, and the three connecting rod groups 23 are evenly arranged along the circumference of the moving platform 10 / stationary platform 4. The slider is slidably mounted on the stationary platform 4 along the direction from the moving platform 10 to the stationary platform 4, that is, the slider is slidably mounted on the stationary platform 4 along the axial direction of the moving platform 10 and the stationary platform 4. Each connecting rod group 23 includes two parallel connecting rods.

[0074] The three sliders are designated as a first slider 18, a second slider 30, and a third slider 32. A first cylinder 16 is installed between the end of the first slider 18 closest to the moving platform 10 and the stationary platform 4. The first cylinder 16 is fixed to the stationary platform 4, and its piston rod abuts against the first slider 18. A first compression spring 20 is installed between the end of the first slider 18 furthest from the moving platform 10 and the stationary platform 4. A second cylinder 24 is installed between the end of the second slider 30 furthest from the moving platform 10 and the stationary platform 4. The second cylinder 24 is fixed to the stationary platform 4, and its piston rod abuts against the second slider 30. A second compression spring 41 is installed between the end of the second slider 30 closest to the moving platform 10 and the stationary platform 4. A third cylinder 33 is provided between the end of the third slider 32 away from the moving platform 10 and the stationary platform 4. The third cylinder 33 is fixed on the stationary platform 4. The piston rod of the third cylinder 33 abuts against the third slider 32. A third compression spring 34 is provided between the end of the third slider 32 near the moving platform 10 and the stationary platform 4.

[0075] like Figures 12-24 , 7 As shown in Figures 9, 11, and 14, when the automatic docking device is in use, the six-degree-of-freedom parallel platforms are arranged in the horizontal direction, that is, the axes of the floating platform 12 and the fixed platform 13 are arranged in the horizontal direction, and both the floating platform 12 and the fixed platform 13 are arranged in the vertical direction. Since the static platform 4 of the delta parallel structure is fixedly connected to the floating platform 12, the delta parallel structure is also arranged in the horizontal direction, that is, the axes of the moving platform 10 and the static platform 4 are arranged in the horizontal direction, and both the moving platform 10 and the static platform 4 are arranged in the vertical direction.

[0076] like Figure 1 As shown, when the static platform 4 is arranged vertically, the first slider 18 is positioned above the second slider 30 and the third slider 32. Since the three linkage groups 23 are evenly arranged along the circumference of the static platform 4, and the three sliders are arranged in a one-to-one correspondence with the three linkage groups 23, the three sliders are arranged in an equilateral triangle. That is, the first slider 18 is located at the upper vertex of the equilateral triangle, and the second slider 30 and the third slider 32 are located at the two lower vertices of the equilateral triangle, respectively.

[0077] In this embodiment, the static platform 4 includes a first frame 22 and a second frame 21 arranged coaxially. Both the first frame 22 and the second frame 21 are arranged vertically, are parallel to each other, and are both equilateral triangles. The three vertices of the first frame 22 correspond one-to-one with the three vertices of the second frame 21. Connecting plates 19 are fixedly connected between the three vertices of the first frame 22 and the corresponding vertices of the second frame 21. A first slide rail 35 is fixedly provided on the inner side of each connecting plate 19 (the inner side refers to the side located inside the first frame 22 and the second frame 21) along the direction from the first frame 22 to the second frame 21. The first slider 18, the second slider 30, and the third slider 32 are slidably disposed on the first slide rails 35 of the three connecting plates 19. In this way, one end of the connecting rod assembly 23 is hinged to the moving platform 10, and the other end of the connecting rod assembly 23 passes through the inside of the first frame 22 and is hinged to the corresponding slider. The edges of the first frame 22 / second frame 21 located between the second slider 30 and the third slider 32 are arranged horizontally. Thus, the first slider 18 is located at the upper vertex of the first frame 22 / second frame 21, and the second slider 30 and third slider 32 are located at the two lower vertexes of the first frame 22 / second frame 21, respectively. A first cylinder 16 is fixedly mounted at the upper vertex of the first frame 22. The first cylinder 16 is arranged along the direction from the first frame 22 to the second frame 21. The piston rod of the first cylinder 16 abuts against the first slider 18 towards the second frame 21. A first compression spring 20 is located between the first slider 18 and the second frame 21. The second cylinder 24 and the third cylinder 33 are respectively fixed at the two lower vertices of the second frame 21. The second cylinder 24 and the third cylinder 33 are arranged along the direction from the second frame 21 to the first frame 22. The piston rod of the second cylinder 24 abuts against the second slider 30 in the direction of the first frame 22. The second compression spring 41 is located between the second slider 30 and the first frame 22. The piston rod of the third cylinder 33 abuts against the third slider 32 in the direction of the first frame 22. The third compression spring 34 is located between the third slider 32 and the first frame 22.

[0078] Combination Figures 11-20 As shown, when the static platform 4 is fixedly connected to the floating platform 12, the first frame 22 of the static platform 4 is fixedly connected to the floating platform 12.

[0079] Combination Figures 1-6 , 22As shown, the moving platform 10 is located near the first frame 22. The moving platform 10 is a regular hexagonal plate. The moving platform 10 is arranged vertically and is coaxial with the first frame 22 / second frame 21. The moving platform 10 is also parallel to the first frame 22 / second frame 21. One end of each of the three linkage groups 23 is hinged to one of the three spaced-apart sides of the moving platform 10 by ball joints. The other end of each of the three linkage groups 23 is hinged to one of the three sliders (i.e., the first slider 18, the second slider 30, and the third slider 32) by ball joints. In this way, the three linkage groups 23 achieve the purpose of being evenly arranged around the circumference of the moving platform 10 / static platform 4.

[0080] Since the first frame 22 and the second frame 21 of the moving platform 10 and the stationary platform 4 are parallel to each other and arranged coaxially, the direction from the moving platform 10 to the stationary platform 4 is also the direction of the axis of the moving platform 10 and the stationary platform 4, and it is also the direction from the first frame 22 to the second frame 21 and the direction from the second frame 21 to the first frame 22.

[0081] like Figure 21 As shown, a support plate 9 is connected to the moving platform 10 via a locking mechanism. The support plate 9 is located on the side of the moving platform 10 away from the stationary platform 4. A conical member 31 is fixedly mounted on the support plate 9. The moving platform 10 has an opening 39 to accommodate the conical member 31, which is located within the opening 39. A transition plate 8 is provided on the side of the support plate 9 away from the moving platform 10. The transition plate 8 is connected to the support plate 9 via a ball joint 28. An elastic support member is fixedly mounted on the support plate 9, abutting against the transition plate 8. The elastic support member can maintain the relative position between the transition plate 8 and the support plate 9. The transition plate 8 is used to install a connector 6. After the connector 6 is installed on the transition plate 8, the connector 6 is connected to the first winch 1 via a first traction rope 2. The conical member 31 is connected to the second winch 14 via a second traction rope 15. Both the first traction rope 2 and the second traction rope 15 are steel wire ropes.

[0082] like Figures 1-55 As shown, connector 6 is connected to the moving platform 10 via adapter plate 8 and support plate 9 in sequence. Due to its own weight, connector 6 tends to move downwards, so the upper end of connector 6 moves away from the stationary platform 4 (i.e., Figures 11-13 As shown on the left, the moving platform 10 is pulled, and the moving platform 10, in turn, pulls the first slider 18 to the left via the linkage group 23. That is, the first slider 18 tends to move towards the first frame 22, while the lower end of the connector 6 moves towards the stationary platform 4 (i.e., Figure 11The moving platform 10 (shown on the right) is pushed, and the moving platform 10, in turn, pushes the second slider 30 and the third slider 32 to the right via the connecting rod assembly 23. That is, both the second slider 30 and the third slider 32 tend to move towards the second frame 21. The first cylinder 16, the second cylinder 24, and the third cylinder 33 are all connected to the air distribution station, ensuring that the piston rods of the first cylinder 16, the second cylinder 24, and the third cylinder 33 always output a constant thrust. Furthermore, the first compression spring 20, the second compression spring 41, and the third compression spring 34 are all pre-compressed and mounted on the stationary platform 4. As described above, the piston rod of the first cylinder 16 moves towards the second frame 21 (i.e.,... Figure 11 The right side shown) presses against the first slider 18, and the first compression spring 20 applies a force to the first slider 18 in the direction of the first frame 22 (i.e., the right side) Figure 11 The elastic force (shown on the left) acts on the first slider 18 such that the force to the left is equal to the force to the right. That is, the rightward thrust of the piston rod of the first cylinder 16 cancels out the leftward pulling force of the connector 6 (which pulls the first slider 18 to the left by its own weight) and the leftward elastic force of the first compression spring 20. Therefore, the first slider 18 will neither slide to the left nor to the right. Similarly, the piston rod of the second cylinder 24 acts towards the first frame 22 (i.e.,...) Figure 11 The left side shown) presses against the second slider 30, and the second compression spring 41 applies a force to the second slider 30 in the direction of the second frame 21 (i.e., Figure 11 The elastic force (shown on the right) acts on the second slider 30 such that the force to the left is equal to the force to the right. That is, the leftward thrust of the piston rod of the second cylinder 24 cancels out the rightward thrust of the connector 6 (by its own weight) and the rightward elastic force of the second compression spring 41. Therefore, the second slider 30 will not slide to the left or right. Since the third slider 32 experiences the same force as the second slider 30, it will also not slide to the left or right. In the initial state, the first slider 18, the second slider 30, and the third slider 32 are located in the same vertical plane (at this time, the moving platform 10 is parallel to and coaxially arranged with the first frame 22 / second frame 21), and the connector 6 remains horizontal.

[0083] Both the adapter plate 8 and the support plate 9 are square plates. The adapter plate 8 and the support plate 9 are parallel to each other and coaxially arranged. The four corners of the adapter plate 8 and the support plate 9 are arranged in a one-to-one correspondence. When the connector 6 is kept in a horizontal state, the adapter plate 8 and the support plate 9 are arranged in a vertical direction. The adapter plate 8 / support plate 9 are parallel to the moving platform 10 / static platform 4 and coaxially arranged with the moving platform 10 / static platform 4.

[0084] When the rocket body drives the connector 6 to perform a translational motion, that is, when the connector 6, adapter plate 8, support plate 9, and moving platform 10 move parallel to the stationary platform 4 together, since the moving platform 10, the stationary platform 4, the connecting rod group 23, and the slider connected between them form a delta parallel structure, the moving platform 10 can move parallel to the stationary platform 4 together with the support plate 9, adapter plate 8, and connector 6. Regardless of how the moving platform 10 moves parallel, for the first slider 18 / second slider 30 / third slider 32, it simply slides closer to the first frame 22 and away from the second frame 21 (i.e.,...). Figure 11 (As shown, slide to the left), or slide closer to the second border 21 while moving away from the first border 22 (i.e., slide to the left). Figure 11 (Slide to the right as shown).

[0085] When the first slider 18 slides closer to the first frame 22 and further away from the second frame 21, it compresses the piston rod of the first cylinder 16. The piston rod of the first cylinder 16 contracts, maintaining a constant thrust. Simultaneously, the first compression spring 20 extends, reducing its elasticity. At this point, when the rocket body no longer drives the connector 6, adapter plate 8, support plate 9, and moving platform 10 to translate relative to the stationary platform 4, because the thrust of the first cylinder 16 piston rod remains constant while the elasticity of the first compression spring 20 decreases, the piston rod of the first cylinder 16 extends and pushes the first slider 18 towards the second frame 21 (i.e.,...). Figure 11 The slider 18 slides to the right side (as shown), causing the first slider 18 to compress the first compression spring 20. During this process, the piston rod of the first cylinder 16 maintains a constant thrust, while the elastic force of the first compression spring 20 increases until the thrust of the piston rod of the first cylinder 16 to the right is canceled out by the pull of the connector 6 to the left by its own weight and the elastic force of the first compression spring 20 to the left. At this point, the first slider 18 stops sliding.

[0086] When the first slider 18 slides closer to the second frame 21 and away from the first frame 22, it compresses the first compression spring 20, increasing its elastic force. Simultaneously, the piston rod of the first cylinder 16 extends, maintaining a constant thrust. At this point, when the rocket no longer drives the connector 6, adapter plate 8, support plate 9, and moving platform 10 to translate relative to the stationary platform 4, the thrust of the first cylinder 16 piston rod remains constant, while the elastic force of the first compression spring 20 increases. Consequently, the first compression spring 20 extends and pushes the first slider 18 towards the first frame 22 (i.e.,...). Figure 11The first slider 18 slides to the left (as shown), causing it to compress the piston rod of the first cylinder 16. During this process, the piston rod of the first cylinder 16 maintains a constant thrust, while the elastic force of the first compression spring 20 decreases until the thrust of the piston rod of the first cylinder 16 to the right is canceled out by the pull of the connector 6 to the left by its own weight and the elastic force of the first compression spring 20 to the left. At this point, the first slider 18 stops sliding.

[0087] When the second slider 30 slides closer to the first frame 22 and further away from the second frame 21, it compresses the second compression spring 41, increasing its elastic force. Simultaneously, the piston rod of the second cylinder 24 extends, maintaining a constant thrust. At this point, when the rocket no longer drives the connector 6, adapter plate 8, support plate 9, and moving platform 10 to translate relative to the stationary platform 4, the thrust of the second cylinder 24 piston rod remains constant, while the elastic force of the second compression spring 41 increases. Consequently, the second compression spring 41 extends and pushes the second slider 30 towards the second frame 21 (i.e.,...). Figure 11 The second slider 30 slides to the right side (as shown), causing the second slider 30 to compress the piston rod of the second cylinder 24. During this process, the piston rod of the second cylinder 24 maintains a constant thrust, while the elastic force of the second compression spring 41 decreases until the thrust of the piston rod of the second cylinder 24 to the left is canceled out by the thrust of the connector 6 pushing the second slider 30 to the right by its own weight and the elastic force of the second compression spring 41 to the right. At this point, the second slider 30 stops sliding.

[0088] When the second slider 30 slides closer to the second frame 21 and further away from the first frame 22, it compresses the piston rod of the second cylinder 24. The piston rod of the second cylinder 24 contracts, maintaining a constant thrust. Simultaneously, the second compression spring 41 extends, reducing its elasticity. At this point, when the rocket body no longer drives the connector 6, adapter plate 8, support plate 9, and moving platform 10 to translate relative to the stationary platform 4, because the thrust of the second cylinder 24 piston rod remains constant while the elasticity of the second compression spring 41 decreases, the piston rod of the second cylinder 24 extends and pushes the second slider 30 towards the first frame 22 (i.e.,...). Figure 11 The second slider 30 slides to the left (as shown), causing the second slider 30 to compress the second compression spring 41. During this process, the piston rod of the second cylinder 24 maintains a constant thrust, while the elastic force of the second compression spring 41 increases until the thrust of the piston rod of the second cylinder 24 to the left cancels out the thrust of the connector 6 pushing the second slider 30 to the right by its own weight and the elastic force of the second compression spring 41 to the right. At this point, the second slider 30 stops sliding.

[0089] The movement of the third slider 32 is exactly the same as that of the second slider 30, so the movement of the third slider 32 will not be described again here.

[0090] likeFigure 11 As shown, the present invention has a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The conical member 31 is square-pyramidal, the opening 39 is quadrilateral, and rollers 36 are respectively provided on the four sides of the opening 39. The wheel surfaces of the four rollers 36 abut against the four sides of the conical member 31, and the tip of the conical member 31 extends through the opening 39 to the space between the moving platform 10 and the stationary platform 4.

[0091] This invention relates to a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The locking mechanism includes two locking members, which are respectively disposed on the moving platforms 10 on opposite sides of the opening 39. In this embodiment, the two locking members are respectively disposed on the moving platforms 10 on the upper and lower sides of the opening 39. Each locking member includes a fourth cylinder 40, a locking block 38, a pin 37, a first proximity switch 45, and a second proximity switch 43. The fourth cylinder 40 is fixedly disposed on the moving platform 10, and the locking block 38 is slidably disposed on the moving platform 10. Specifically, a second slide rail 42 is fixedly disposed on the moving platform 10, and the locking block 38 is slidably disposed on the second slide rail 42. The piston rod of the fourth cylinder 40 is fixedly connected to the locking block 38. The fourth cylinder 40 can drive the locking block 38 to slide along the moving platform 10 towards or away from the opening 39 (that is, when the piston rod of the fourth cylinder 40 extends, the locking block 38 slides along the moving platform 10 towards the opening 39; conversely, when the piston rod of the fourth cylinder 40 retracts, the locking block 38 slides along the moving platform 10 away from the opening 39). The locking block 38 is fixedly provided with the pin 37 at one end near the opening 39. The tip of the tapered member 31 is provided with a socket 47 that cooperates with the pin 37, and the pin 37 is inserted into the socket 47. The first proximity switch 45 and the second proximity switch 43 are both fixedly mounted on the moving platform 10. The locking block 38 is fixedly mounted with a first metal plate 46 and a second metal plate 44. When the fourth cylinder 40 drives the locking block 38 to slide along the moving platform 10 toward the opening 39 and insert the pin 37 into the socket 47, the first metal plate 46 on the locking block 38 moves to the first proximity switch 45 and triggers the first proximity switch 45. When the fourth cylinder 40 drives the locking block 38 to slide along the moving platform 10 away from the opening 39 and disengage the pin 37 from the socket 47, the second metal plate 44 on the locking block 38 moves to the second proximity switch 43 and triggers the second proximity switch 43.

[0092] like Figures 11-46 , 35As shown in Figures 40, 46, and 49, the present invention provides a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The ball joint 28 includes a ball head shaft 50, a pressure plate 49, and a cover plate 48. The pressure plate 49 is fixed to the cover plate 48. A first hemispherical groove is provided on the side of the pressure plate 49 near the cover plate 48, and a second hemispherical groove is provided on the side of the cover plate 48 near the pressure plate 49. The first and second hemispherical grooves together form a spherical cavity. One end of the ball head shaft 50 has a first ball head located within the spherical cavity. The other end of the ball head shaft 50 passes through the cover plate 48 and is fixed to a support plate 9. The pressure plate 49 and the cover plate 48 can rotate together relative to the first ball head. The cover plate 48 is fixed to a transition plate 8.

[0093] like Figure 28 As shown in Figures 47-52, the present invention provides a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The elastic support includes a first elastic support 25 and a second elastic support. Multiple first elastic supports 25 are uniformly arranged along the circumference of the ball joint 28. Each first elastic support 25 includes two opposing first elastic ball joints 52 and 53, both fixedly mounted on the support plate 9. The center line connecting the two first elastic ball joints 52 and 53 is perpendicular to the support plate 9. The two first elastic ball joints 52 and 53 are located on opposite sides of the adapter plate 8, respectively, and abut against opposite sides of the adapter plate 8. The first elastic support 25 maintains the adapter plate 8 parallel to the support plate 9.

[0094] In this embodiment, four first elastic support members 25 are provided, and the four first elastic support members 25 are respectively fixed at the four corners of the support plate 9. For each first elastic support member 25, one of the first elastic ball joints 53 is located on the side of the adapter plate 8 away from the support plate 9, and the first elastic ball joint 53 abuts against the side of the adapter plate 8 away from the support plate 9; the other first elastic ball joint 52 is located on the side of the adapter plate 8 close to the support plate 9, and the first elastic ball joint 52 abuts against the side of the adapter plate 8 close to the support plate 9.

[0095] The second elastic support includes a second elastic ball joint 29 and a third elastic ball joint 26, both of which are fixedly mounted on the support plate 9. The second elastic ball joint 29 and the third elastic ball joint 26 are arranged parallel to the support plate 9. A baffle 27 is fixedly mounted on the adapter plate 8, and the baffle 27 abuts against both the second elastic ball joint 29 and the third elastic ball joint 26. When the adapter plate 8 moves clockwise relative to the support plate 9... When the needle rotates circumferentially, the baffle 27 compresses the second elastic ball head 29, while the third elastic ball head 26 extends and abuts against the baffle 27. When the adapter plate 8 rotates counterclockwise relative to the support plate 9, the baffle 27 compresses the third elastic ball head 26, while the second elastic ball head 29 extends and abuts against the baffle 27. The second elastic ball head 29 and the third elastic ball head 26 can keep the adapter plate 8 and the support plate 9 in a parallel state without relative circumferential rotation.

[0096] Combination Figures 25-41 , 52 As shown, the present invention provides a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The first elastic ball joints 52 and 53, the second elastic ball joint 29, and the third elastic ball joint 26 each include an outer barrel 60 and an inner barrel 58. The inner barrel 58 is fitted inside the outer barrel 60, with its opening located inside the outer barrel 60 and its bottom located outside the outer barrel 60. A fourth compression spring 62 is provided within the barrel cavity formed by the outer barrel 60 and the inner barrel 58. The two ends of the fourth compression spring 62 are respectively connected to the outer barrel... The inner wall of the bottom of the inner barrel 58 and the outer barrel 60 abut against each other. A guide post 61 is fixedly provided on the inner wall of the bottom of the inner barrel 58. The guide post 61 is arranged along the axial direction of the inner barrel 58. One end of the guide post 61 away from the inner wall of the bottom of the inner barrel 58 extends through the bottom of the outer barrel 60 to the outside of the outer barrel 60. A nut 59 is threadedly connected to the end of the guide post 61 located on the outside of the outer barrel 60. The fourth compression spring 62 is arranged around the guide post 61. A second ball head 57 is fixedly provided on the outer wall of the bottom of the inner barrel 58.

[0097] When an external force pushes the inner barrel 58 into the outer barrel 60 through the second ball head 57, the fourth compression spring 62 is compressed, and at the same time, the guide post 61 moves together with the inner barrel 58, that is, the inner barrel 58 and the guide post 61 move together. Figure 51 As shown in the diagram, the nut 59 moves away from the outer barrel 60 along with the guide post 61. When the external force disappears, the compressed fourth spring 62 stretches again, and under the action of the fourth spring 62, the inner barrel 58 and the guide post 61 move together outward from the outer barrel 60. Figure 52As shown in the left-side movement, at this time, the nut 59 moves closer to the outer barrel 60 along with the guide post 61 until the nut 59 abuts against the outer wall of the bottom of the outer barrel 60. At this time, the inner barrel 58 and the guide post 61 stop moving.

[0098] Combination Figure 52 , 34 As shown in Figure 36, the first elastic ball joint on the side of the adapter plate 8 closest to the support plate 9 is the first elastic ball joint 52, and the first elastic ball joint on the side of the adapter plate 8 furthest from the support plate 9 is the first elastic ball joint 53. The outer barrel 60 of the first elastic ball joint 52 is fixedly mounted on the side of the support plate 9 furthest from the adapter plate 8. The support plate 9 has a first through hole through which the inner barrel 58 of the first elastic ball joint 52 passes. The diameter of the first through hole is larger than the outer diameter of the inner barrel 58. After the inner barrel 58 passes through the first through hole, the second ball joint 57 of the first elastic ball joint 52 abuts against the side of the adapter plate 8 furthest from the support plate 9. The outer barrel 60 of the first ball joint 53 is fixed to the support plate 9 by a fixing rod 54. The adapter plate 8 is provided with a second through hole 55 through which the fixing rod 54 passes. The diameter of the second through hole 55 is larger than the outer diameter of the fixing rod 54 (therefore, the fixing rod 54 will not prevent the adapter plate 8 from rotating relative to the support plate 9 in the first and / or second manner). One end of the fixing rod 54 is fixedly connected to the outer barrel 60 of the first ball joint 53, and the other end of the fixing rod 54 is fixedly connected to the support plate 9 after passing through the second through hole 55. The second ball joint 57 of the first ball joint 53 abuts against the side of the adapter plate 8 away from the support plate 9.

[0099] When installing the fourth compression spring 62, a certain amount of compression is preset in the fourth compression spring 62. This ensures that for each first elastic support member 25, the second ball head 57 near the first elastic ball head 52 always abuts against the side of the adapter plate 8 near the support plate 9, and simultaneously, the second ball head 57 away from the first elastic ball head 53 always abuts against the side of the adapter plate 8 away from the support plate 9. By adjusting the elastic force of the fourth compression spring 62 in the four first elastic support members 25, the adapter plate 8 can be made parallel to the support plate 9.

[0100] Combination Figure 33As shown above, the first elastic support 25 can keep the adapter plate 8 parallel to the support plate 9. That is, when the rocket body drives the connector 6 and the adapter plate 8 to rotate relative to the support plate 9 in the first way, this rotation can change the parallel state between the adapter plate 8 and the support plate 9 to a non-parallel state. At this time, the first inner barrel 58 of the first elastic support 25 that is close to the elastic ball head 52 moves into the outer barrel 60 and compresses the fourth compression spring 62. The first inner barrel 58 of the first elastic support 25 that is far away from the elastic ball head 53 moves outward from the outer barrel 60 and causes the fourth compression spring 62 to extend. The first inner barrel 58 of the other part of the first elastic support 25 that is far away from the elastic ball head 53 moves into the outer barrel 60 and compresses the fourth compression spring 62. The first inner barrel 58 of the other part of the first elastic support 25 that is close to the elastic ball head 52 moves outward from the outer barrel 60 and causes the fourth compression spring 62 to extend. Thus, for each first elastic support member 25, even if the adapter plate 8 undergoes the first type of rotation relative to the support plate 9 as described above, the first spring 62 away from the elastic ball joint 53 and the first spring 62 near the elastic ball joint 52 still abut against the adapter plate 8. Alternatively, when the adapter plate 8 undergoes the first type of rotation relative to the support plate 9 as described above, for each first elastic support member 25, either the fourth compression spring 62 of the first spring 62 away from the elastic ball joint 53 is compressed, while the fourth compression spring 62 of the first spring 62 near the elastic ball joint 52 is extended; or the fourth compression spring 62 of the first spring 62 near the elastic ball joint 52 is compressed, while the fourth compression spring 62 of the first spring 62 away from the elastic ball joint 53 is extended. Next, when the rocket body no longer drives the connector 6 and the adapter plate 8 to rotate relative to the support plate 9 in the first type of rotation, for each first elastic support member 25, either the first compressed fourth compression spring 62 away from the elastic ball head member 53 re-extends to its initial state, while the first fourth compression spring 62 near the elastic ball head member 52, which is in an extended state (relative to the initial state of the fourth compression spring 62), is re-compressed to its initial state; or the first compressed fourth compression spring 62 near the elastic ball head member 52 re-extends to its initial state, while the first fourth compression spring 62 away from the elastic ball head member 53, which is in an extended state (relative to the initial state of the fourth compression spring 62), is re-compressed to its initial state. Thus, the adapter plate 8 rotates in the opposite direction to the first type of rotation relative to the support plate 9, causing the adapter plate 8 to return from a state not parallel to the support plate 9 to a state parallel to the support plate 9. In summary, the first elastic support member 25 can keep the adapter plate 8 parallel to the support plate 9.

[0101] Combination Figure 29 , 34As shown, the outer barrel 60 of the second elastic ball joint 29 and the third elastic ball joint 26 are both fixedly mounted on the support plate 9. Specifically, the outer barrel 60 is fixedly mounted on the support plate 9 by the mounting plate 56, and the second elastic ball joint 29 and the third elastic ball joint 26 are both located on the side of the support plate 9 away from the adapter plate 8. The baffles 27 all abut against the second ball head 57 of the second elastic ball head 29 and the third elastic ball head 26. When the adapter plate 8 rotates clockwise relative to the support plate 9, the baffles 27 push the second ball head 57 of the second elastic ball head 29 and compress the fourth compression spring 62 of the second elastic ball head 29. At the same time, the fourth compression spring 62 of the third elastic ball head 26 extends and abuts against the baffles 27. When the adapter plate 8 rotates counterclockwise relative to the support plate 9, the baffles 27 push the second ball head 57 of the third elastic ball head 26 and compress the fourth compression spring 62 of the third elastic ball head 26. At the same time, the fourth compression spring 62 of the second elastic ball head 29 extends and abuts against the baffles 27.

[0102] In this embodiment, there are two second elastic ball joints 29 and two third elastic ball joints 26. The two second elastic ball joints 29 are fixed at both ends of one diagonal of the support plate 9, and the two third elastic ball joints 26 are fixed at both ends of the other diagonal of the support plate 9. The baffle 27 includes four sub-baffles 27, which are fixed at the four corners of the adapter plate 8.

[0103] Both the second elastic ball joint 29 and the third elastic ball joint 26 are arranged horizontally, and the second ball joints 57 of both the second elastic ball joint 29 and the third elastic ball joint 26 are arranged outwards from the support plate 9. Four baffles 27 are fixed vertically on the adapter plate 8, with two baffles 27 abutting against the second ball joints 57 of the two second elastic ball joints 29, and the other two baffles 27 abutting against the second ball joints 57 of the two third elastic ball joints 26. This achieves the purpose of ensuring that all baffles 27 abut against the second ball joints 57 of the second elastic ball joints 29 and the third elastic ball joint 26.

[0104] When installing the fourth compression spring 62 of the second elastic ball joint 29 and the third elastic ball joint 26, the fourth compression spring 62 is preset with a certain amount of compression, so that the second ball joint 57 of the second elastic ball joint 29 and the third elastic ball joint 26 abuts against the baffle 27. In the initial state, the elastic force of the fourth compression spring 62 of the second elastic ball joint 29 and the third elastic ball joint 26 is adjusted so that the four corners of the adapter plate 8 and the support plate 9 are arranged in a one-to-one correspondence, and this state is maintained.

[0105] The second elastic ball joint 29 and the third elastic ball joint 26 can keep the adapter plate 8 and the support plate 9 in a parallel state without relative circumferential rotation. That is, when the rocket body drives the connector 6 and the adapter plate 8 to rotate in a parallel circumferential direction relative to the support plate 9, this parallel circumferential rotation is called the second type of rotation. This second type of rotation has two forms, such as... Figure 33 As shown, one is a clockwise rotation of the adapter plate 8 relative to the support plate 9, and the other is a counterclockwise rotation of the adapter plate 8 relative to the support plate 9. When the adapter plate 8 rotates clockwise relative to the support plate 9, the baffle 27 pushes the second ball head 57 of the second elastic ball head 29 and compresses the fourth compression spring 62 of the second elastic ball head 29. At the same time, the fourth compression spring 62 of the third elastic ball head 26 extends and abuts against the baffle 27. At this time, when the rocket body no longer drives the adapter plate 8 to rotate clockwise relative to the support plate 9, the compressed fourth compression spring 62 of the second elastic ball head 29 extends back to its initial state, and the fourth compression spring 62 of the third elastic ball head 26, which is in an extended state (this extended state is relative to the initial state of the fourth compression spring 62), is compressed back to its initial state. When the adapter plate 8 rotates counterclockwise relative to the support plate 9, the baffle 27 pushes the second ball head 57 of the third elastic ball head 26, compressing the fourth compression spring 62 of the third elastic ball head 26. Simultaneously, the fourth compression spring 62 of the second elastic ball head 29 extends, causing the second ball head 57 of the second elastic ball head 29 to abut against the baffle 27. At this point, when the rocket body no longer drives the adapter plate 8 to rotate counterclockwise relative to the support plate 9, the compressed fourth compression spring 62 of the third elastic ball head 26 re-extends to its initial state, and the fourth compression spring 62 of the second elastic ball head 29, which was in an extended state (relative to the initial state of the fourth compression spring 62), is compressed back to its initial state. Therefore, the second elastic ball head 29 and the third elastic ball head 26 can maintain the adapter plate 8 and the support plate 9 in a parallel state without relative circumferential rotation.

[0106] When the automatic docking device is in use, the six-degree-of-freedom parallel platform moves the connector 6 via a flexible adaptation mechanism to follow the interface on the rocket (during the fueling phase, the rocket body is not stationary but will sway under the influence of wind or other external forces), i.e., follow-up. At this time, the flexible adaptation mechanism exhibits rigidity, that is, the moving platform 10 in the delta parallel structure remains stationary relative to the stationary platform 4 (this is the initial state of the moving and stationary platforms 4, i.e., the moving platform 10 and the stationary platform 4 are parallel and coaxially arranged, and the axis of the moving platform 10 / stationary platform 4 is arranged in the horizontal direction, or it can be said that the moving platform 10 and the stationary platform 4 are both arranged in the vertical direction). The adapter plate 8 also remains stationary relative to the support plate 9 (this is the transition). In the initial state of adapter plate 8 and support plate 9, adapter plate 8 and support plate 9 are arranged parallel and coaxially, with the four corners of adapter plate 8 and support plate 9 corresponding one-to-one. Adapter plate 8 / support plate 9 are arranged parallel and coaxially with moving platform 10 / static platform 4. That is, adapter plate 8 and support plate 9 are also arranged vertically, and connector 6 is fixed horizontally on adapter plate 8. During the following process, there is a following error between connector 6 and the interface on the arrow, which can also be described as a positional error between the two. This positional error includes displacement error and angle error. When entering the docking stage, connector 6 is first connected to the arrow body through a centering guide assembly (guide post 7 on connector 6 is inserted into the guide hole on the arrow body, see guide post 7). Figure 34 , 2 As shown in the diagram, at this time, the rocket body moves together with the connector 6. If a flexible adaptation mechanism is not provided, and the connector 6 is directly and rigidly connected to the six-degree-of-freedom parallel platform, the connector 6 may exert excessive load on the rocket body, causing damage. Under the action of the flexible adaptation mechanism, when an attitude error occurs between the connector 6 and the rocket body, the connector 6 can compensate for this attitude error through the flexible adaptation mechanism to reduce the load on the rocket body and protect it. Specifically: when a displacement error occurs between the connector 6 and the rocket body, under the drive of the rocket body, the connector 6, the adapter plate 8, the support plate 9, and the moving platform 10 together perform corresponding translational movements relative to the stationary platform 4 to compensate for the displacement error; when an angular error occurs between the connector 6 and the rocket body, under the drive of the rocket body, the connector 6 and the adapter plate 8 together perform corresponding rotations relative to the support plate 9 (i.e., the adapter plate 8 undergoes the first type of rotation and / or the second type of rotation relative to the support plate 9) to compensate for the angular error. Of course, when the error between the connector 6 and the rocket body disappears, the flexible adaptation mechanism returns to its initial rigid state. After connector 6 is connected to the arrow body through the centering guide assembly, connector 6 and the arrow body are then locked and fixed.

[0107] Because the fourth compression spring 62 has an initial pre-compression, the adapter plate 8 maintains its original posture under the pre-compression. At this time, the adapter plate 8 and the support plate 9 exhibit rigidity. When the external force on the adapter plate 8 is greater than the pre-compression, the adapter plate 8 will rotate around the ball joint 28 to achieve angle adaptation. At this time, the adapter plate 8 and the support plate 9 exhibit flexibility.

[0108] The delta parallel structure in the flexible adaptation mechanism is used to accommodate the errors of connector 6 and the rocket body in three translational directions in space. Connector 6 is connected to moving platform 10 via adapter plate 8 and support plate 9. Moving platform 10 achieves relative movement to stationary platform 4 via three linkage groups 23. Since the first slider 18 is limited by the first compression spring 20 and the first cylinder 16, the second slider 30 is limited by the second compression spring 41 and the second cylinder 24, and the third slider 32 is limited by the third compression spring 34 and the third cylinder 33, and the first compression spring 20, the second compression spring 41 and the third compression spring 34 are all set with pre-compression, and the piston rods of the first cylinder 16, the second cylinder 24 and the third cylinder 33 always output a constant thrust, in the initial state, moving platform 10 and stationary platform 4 exhibit rigidity. When the external force on moving platform 10 is greater than the pre-compression force of the first compression spring 20, the second compression spring 41 and the third compression spring 34, moving platform 10 will translate along the direction of the force, at which time moving platform 10 and stationary platform 4 exhibit flexibility.

[0109] The usage process of the flexible adaptation mechanism is as follows:

[0110] During docking, the piston rods of the first cylinder 16, the second cylinder 24, and the third cylinder 33 of the flexible adaptation mechanism always output a constant thrust (that is, the pressure in the rod chamber and the rodless chamber of the cylinder is kept equal and constant through the gas distribution station. Since the piston rod is connected to the side facing the rod chamber, the surface area is reduced. Therefore, the side area of ​​the piston facing the rodless chamber is larger than the side area facing the rod chamber. Since the gas pressure in the rod chamber and the rodless chamber is equal and constant, the gas pressure on the piston in the rodless chamber is greater than the gas pressure in the rod chamber. And the difference between the two gas pressures is constant, so the piston rod of the cylinder can always output a constant thrust. Of course, the operator can adjust the thrust according to actual needs). When the connector 6 comes into contact with the rocket and is subjected to force, the first to third cylinders 16, 24, and 33, and the first to fourth compression springs 20, 41, 34, and 62 deform accordingly, thereby realizing flexible adaptation to the six-degree-of-freedom pose error between the connector 6 and the rocket body.

[0111] After connector 6 is docked with the rocket body, the flexible adaptation mechanism needs to release the rigid connection with connector 6. At this time, the locking mechanism in the flexible adaptation mechanism is unlocked, so connector 6, adapter plate 8 and support plate 9 are disengaged from the driven platform 10. Connector 6 is flexibly connected to the first winch 1 by steel wire rope. The conical part 31 on the support plate 9 is also connected to the second winch 14 by steel wire rope. Without rigid connection, the six-degree-of-freedom parallel platform and delta parallel structure can be withdrawn to a safe distance from the rocket body.

[0112] After connector 6 is filled, it will detach on its own. At this time, winches 1 and 14 will retract the wire rope to bring connector 6 back into place, so that the conical part 31 on the support plate 9 fits tightly with the opening 39 of the moving platform 10. The locking mechanism will fix the conical part 31 in the opening 39. At this time, connector 6 and flexible adaptation mechanism are in a rigid connection state, realizing the retrieval and reset of connector 6.

[0113] The six-degree-of-freedom flexible adaptation mechanism with recovery and reset function of the present invention has the following beneficial effects:

[0114] a) The flexible adaptation of the docking device is achieved by using a cylinder-driven delta parallel structure, and the rigidity and flexibility of the entire mechanism can be switched by operating the cylinder according to different working conditions.

[0115] b) When used in conjunction with winches 1 and 14, the connector 6 can be retrieved over a large area by pulling with a wire rope. At the same time, the high precision of the connector 6 reset is ensured by the cooperation between the tapered part 31 and the opening 39.

[0116] c) The overall layout is optimized, the structure is compact and lightweight, and the flexibility is good, reducing the load on the docking device;

[0117] d) Equipped with electrical components such as limit switches and encoders, and has functions such as automatic retraction and automatic reset.

[0118] The present invention provides a six-degree-of-freedom flexible adaptation mechanism with a recovery and reset function to achieve flexible adaptation to the following error between the connector 6 and the arrow body during the docking process. Specifically: (1) When there is a displacement error between the connector 6 and the arrow body, the connector 6, the adapter plate 8, the support plate 9, and the moving platform 10 can move together relative to the stationary platform 4 (since the stationary platform 4 is fixed on the floating platform 12 of the six-degree-of-freedom parallel platform, it can be said to move relative to the six-degree-of-freedom parallel platform) to compensate for the displacement error; (2) When there is an angular error between the connector 6 and the arrow body, the connector 6 and the adapter plate 8 can rotate together relative to the support plate 9 (i.e., the adapter plate 8 rotates relative to the support plate 9 in the first and / or second manner) to compensate for the angular error. In summary, the flexible adaptation mechanism can compensate for the following error between the connector 6 and the arrow body to reduce the load of the connector 6 on the arrow body and prevent damage to the arrow body.

[0119] In addition to its flexible adaptation function, the flexible adaptation mechanism can also cooperate with the first and second winches 1 and 14 to achieve the retraction and reset of connector 6. Therefore, the flexible adaptation mechanism not only improves the safety during the docking process but also simplifies the design of the docking device, featuring simple operation, safe use, and strong versatility.

[0120] like Figure 1 , 26 As shown in 30-33, 37, 47, and 50, the present invention has a six-degree-of-freedom flexible adaptation mechanism with a recovery and reset function. The adapter plate 8 is provided with a mounting frame 17 on the side away from the support plate 9. The adapter plate 8 and the mounting frame 17 are fixedly connected by a three-dimensional force sensor 11. The mounting frame 17 is used to install the connector 6, that is, the connector 6 is fixedly connected on the mounting frame 17.

[0121] The three-dimensional force sensor 11 can detect the force between the flexible adaptation mechanism (specifically the adapter plate 8) and the connector 6 in real time, thereby monitoring the force exerted by the automatic docking device on the rocket body.

[0122] like Figure 25As shown, the present invention provides a six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function. The conical component 31 includes a square-pyramidal shell. A third through hole 51 is provided on the support plate 9. The square-pyramidal shell is fixedly disposed at the third through hole 51. An insertion hole 47 is provided on the shell wall at the tip of the square-pyramidal shell. The four outer shell walls of the square-pyramidal shell abut against the wheel surfaces of four rollers 36. A sleeve 63 is fixedly disposed inside the square-pyramidal shell. Reinforcing ribs 64 are fixedly connected between the sleeve 63 and the four inner shell walls of the square-pyramidal shell. The end of the ball joint 50 furthest from the first ball joint is fixedly inserted into the sleeve 63. Therefore, the end of the ball joint 50 furthest from the first ball joint is fixedly disposed on the sleeve 63 of the conical component 31; that is, the end of the ball joint 50 furthest from the first ball joint is fixedly disposed on the support plate 9 via the conical component 31.

[0123] like Figures 38-46 As shown, the floating platform 12 of the six-degree-of-freedom parallel platform is equipped with a pose detection camera 5. In this embodiment, there are two pose detection cameras 5, one of which is the main pose detection camera 5 and the other is the backup pose detection camera 5. The pose detection camera 5 is used to detect the pose of the on-board interface and then transmits the detected pose signal of the on-board interface to the main control computer. The main control computer controls the hydraulic cylinder 3 of the six-degree-of-freedom parallel platform to move according to the pose signal, so that the floating platform 12 of the load flexible adaptation mechanism and connector 6 can perform real-time six-degree-of-freedom pose adjustment to follow the on-board interface and dock the connector 6 with the on-board interface.

[0124] Combination Figures 1-10 Figures 53-55 As shown, the workflow of the automatic docking device of the present invention is as follows:

[0125] The pose detection camera 5 first detects the movement of the target arrow interface (i.e., detects the pose of the arrow interface), and transmits the pose signal of the arrow interface to the main control computer. After the main control computer determines that the docking conditions are met based on the pose signal of the arrow interface, it controls the six hydraulic cylinders 3 of the six-degree-of-freedom parallel platform to move, so that the connector 6 on the floating platform 12 maintains a certain distance from the docking target and follows it.

[0126] The pose detection camera 5 continues to detect the pose of the arrow interface in real time and transmits the pose signal of the arrow interface to the main control computer. The main control computer calculates the following error based on the pose signal and determines whether the docking conditions are met. If they are met, it controls the six-degree-of-freedom parallel platform to continue advancing, so that the connector 6 and the arrow interface enter the docking stage (the guide post 7 on the connector 6 is inserted into the guide hole on the arrow body). At this time, the flexible adaptation mechanism can compensate for the following error between the connector 6 and the arrow body. During this process, the three-dimensional force sensor 11 is used to detect the load on the arrow of the automatic docking device. When the load on the arrow exceeds the set value, the three-dimensional force sensor 11 will transmit a signal to the main control computer. After receiving the signal, the main control computer controls the automatic docking device to stop docking, thereby ensuring that the force of the automatic docking device on the arrow body is within the safety limit.

[0127] After connector 6 is locked to the interface on the arrow, the connection between support plate 9 and moving platform 10 is unlocked through the locking mechanism. That is, the main control computer controls the fourth cylinder 40 to drive the locking block 38 to slide away from the opening 39, so that the pin 37 is disengaged from the insertion hole 47 (at this time, the second metal plate 44 on the locking block 38 triggers the second proximity switch 43, the second proximity switch 43 sends a signal to the main control computer, and the main control computer controls the fourth cylinder 40 to stop moving after receiving the signal). Then connector 6, adapter plate 8 and support plate 9 are disengaged from the delta parallel structure. After that, the six-degree-of-freedom parallel platform is driven to withdraw with the delta parallel structure and lock the six-degree-of-freedom parallel platform. At this time, connector 6 is connected to the first winch 1 through the first traction rope 2, and the conical part 31 on support plate 9 is connected to the second winch 14 through the second traction rope 15 (as mentioned above, the first traction rope 2 and the second traction rope 15 are both steel wire ropes). Wait for connector 6 to complete the filling.

[0128] After connector 6 is filled with fuel, winches 1 and 14 apply a certain pulling force to connector 6 to help it detach from the arrow body;

[0129] After connector 6 is disengaged, winches 1 and 14 retract the traction rope. Under the pull of the traction rope, connector 6, adapter plate 8 and support plate 9 move together toward moving platform 10 until the conical piece 31 on support plate 9 is inserted into the opening 39 of moving platform 10. Then, the main control computer controls the fourth cylinder 40 to drive the locking block 38 to slide closer to the opening 39, so that the pin 37 is inserted into the socket 47. At this time, the first metal plate 46 on the locking block 38 triggers the first proximity switch 45. The first proximity switch 45 sends a signal to the main control computer. After receiving the signal, the main control computer controls the fourth cylinder 40 to stop, thus completing the retraction and reset of connector 6, ready to perform the next automatic docking task.

[0130] As can be seen from the above description, the three-dimensional force sensor 11, the pose detection camera 5, and the main control computer can detect the status of the docking target and the automatic docking device in real time, calculate and control the automatic docking device to quickly and accurately identify the docking target and safely complete the docking.

[0131] The six-degree-of-freedom flexible adaptation mechanism of this invention with recovery and reset function differs from the prior art in that, in use, the static platform 4 is fixedly connected to the floating platform 12 of the six-degree-of-freedom parallel platform, and the connector 6 is installed on the adapter plate 8. Then, the connector 6 is connected to the first winch 1 via the first traction rope 2, and the conical part 31 on the support plate 9 is connected to the second winch 14 via the second traction rope 15. The flexible adaptation mechanism, the six-degree-of-freedom parallel platform, the first winch 1, and the second winch 14 together constitute an automatic docking device. Next, the six-degree-of-freedom parallel platform is driven to keep the connector 6 at a certain distance from the docking target (i.e., the arrow interface) and follow it. If the docking conditions are met, the six-degree-of-freedom parallel platform is continued to be driven, causing the connector 6 to enter the docking stage with the arrow interface. At this time, the flexible adaptation mechanism can compensate for the following error between the connector 6 and the arrow body, ensuring that the force exerted by the automatic docking device on the arrow body is within safe limits. After the connector 6 completes locking with the arrow interface... Then, the connection between the support plate 9 and the moving platform 10 is unlocked through the locking mechanism. Thus, the connector 6, the adapter plate 8, and the support plate 9 are detached from the delta parallel structure. After that, the six-degree-of-freedom parallel platform is driven to remove the delta parallel structure. At this time, the connector 6 is connected to the first winch 1 through the first traction rope 2, and the conical part 31 on the support plate 9 is connected to the second winch 14 through the second traction rope 15. Wait for the connector 6 to finish filling. After the connector 6 is filled, the winches 1 and 14 apply a certain pulling force to the connector 6 to assist it in falling off the arrow body. After the connector 6 falls off, the winches 1 and 14 retract and reset the connector 6, and lock the connection between the support plate 9 and the moving platform 10 through the locking mechanism. Since the connector 6, the adapter plate 8, and the support plate 9 are fixedly connected together, the retraction and reset of the connector 6 is completed after the support plate 9 is connected to the moving platform 10 (at this time, the conical part 31 of the support plate 9 is inserted into the opening 39 of the moving platform 10). Therefore, the present invention can flexibly adapt to the six-directional following error of the docking device, and at the same time realize the recovery of connector 6 from a safe distance from the rocket. It has the characteristics of simple operation, safe use and strong versatility.

[0132] The automatic docking device of this invention enables unmanned automatic docking of connector 6, and flexibly adapts during the docking process to avoid damage to the rocket body. At the same time, after the connector 6 is fueled, it assists in the detachment of connector 6 and reliably recovers and resets it, which improves the safety of the launch preparation process of the launch vehicle, avoids personnel casualties and damage to equipment and facilities, and is of great significance for realizing unmanned operation of my country's aerospace launch ground support system.

[0133] The advantages of using the automatic docking device of the present invention are as follows:

[0134] (1) The overall process of automatic docking-separation-assisted detachment-recovery and reset is adopted to simplify the pre-launch process and improve mission safety;

[0135] (2) By adopting an automatic docking device, the connector 6 can be automatically docked, achieving unattended operation and improving the safety of the launch mission;

[0136] (3) The automatic docking device can assist connector 6 in falling off and retrieving and resetting it, thereby improving the reliability of connector 6 falling off.

[0137] (4) Combine with a flexible adaptation mechanism to avoid excessive load on the rocket during docking and improve the safety of the docking process;

[0138] (5) Combined with the three-dimensional force sensor 11, the docking process will be alarmed and automatically stop if the load on the arrow exceeds the set value, ensuring the safety of the docking process.

[0139] (6) The docking target is detected and identified by the redundant camera 5, so that the automatic docking device can still complete the work normally when one side camera 5 fails, thereby improving the reliability of the docking process.

[0140] (7) The device has a reserved manual operation interface, which is redundant with the automatic docking. The docking and debugging can be carried out manually in the technical workshop.

[0141] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0142] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0143] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A six-degree-of-freedom flexible adaptive mechanism with a recovery and reset function, characterized in that: The system includes a delta parallel structure, comprising a moving platform and a stationary platform. Three linkage groups are hinged between the moving and stationary platforms. Three sliders slide on the stationary platform along the direction from the moving platform to the stationary platform. Each slider corresponds to one of the three linkage groups. One end of each linkage group is hinged to the moving platform, and the other end is hinged to the corresponding slider. The three sliders are designated as a first slider, a second slider, and a third slider. A first cylinder is located between the end of the first slider closest to the moving platform and the stationary platform. The first cylinder is fixed to the stationary platform, and its piston rod abuts against the first slider. A first compression spring is located between the end of the first slider furthest from the moving platform and the stationary platform. A second cylinder is located between the end of the second slider furthest from the moving platform and the stationary platform. The second cylinder is fixed to the stationary platform, and its piston rod abuts against the second slider. A second compression spring is provided between the end of the second slider near the moving platform and the stationary platform. A third cylinder is provided between the end of the third slider away from the moving platform and the stationary platform. The third cylinder is fixed on the stationary platform, and the piston rod of the third cylinder abuts against the third slider. A third compression spring is provided between the end of the third slider near the moving platform and the stationary platform. A support plate is connected to the moving platform through a locking mechanism. The support plate is located on the side of the moving platform away from the stationary platform. A conical component is fixed on the support plate. An opening for accommodating the conical component is provided on the moving platform, and the conical component is located within the opening. A transition plate is provided on the side of the support plate away from the moving platform. The transition plate is connected to the support plate through a ball joint. An elastic support component is fixed on the support plate and abuts against the transition plate. The elastic support component can maintain the relative position between the transition plate and the support plate unchanged. The transition plate is used to install a connector.

2. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 1, characterized in that: The moving platform and the stationary platform are arranged coaxially, and the three linkage groups are evenly arranged along the circumference of the moving platform / stationary platform. Each linkage group includes two parallel linkages.

3. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 2, characterized in that: The conical component is square-pyramidal in shape, the opening is quadrilateral in shape, and rollers are provided on the four sides of the opening. The surfaces of the four rollers abut against the four sides of the conical component, and the tip of the conical component extends through the opening to the space between the moving platform and the stationary platform.

4. The six-degree-of-freedom flexible adaptive mechanism with recovery and reset function according to claim 3, characterized in that: The locking mechanism includes two locking components, which are respectively disposed on movable platforms on opposite sides of the opening. Each locking component includes a fourth cylinder, a locking block, a pin, a first proximity switch, and a second proximity switch. The fourth cylinder is fixedly disposed on the movable platform, and the locking block is slidably disposed on the movable platform. The piston rod of the fourth cylinder is fixedly connected to the locking block. The fourth cylinder can drive the locking block to slide along the movable platform towards or away from the opening. The pin is fixedly disposed at the end of the locking block near the opening, and the tip of the tapered component is provided with a component that cooperates with the pin. The socket has a pin inserted into it. The first proximity switch and the second proximity switch are both fixedly mounted on the moving platform. The locking block has a first metal plate and a second metal plate fixedly mounted on it. When the fourth cylinder drives the locking block to slide along the moving platform closer to the opening and insert the pin into the socket, the first metal plate on the locking block moves to the first proximity switch and triggers the first proximity switch. When the fourth cylinder drives the locking block to slide along the moving platform away from the opening and disengage the pin from the socket, the second metal plate on the locking block moves to the second proximity switch and triggers the second proximity switch.

5. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 4, characterized in that: The ball joint includes a ball joint shaft, a pressure plate, and a cover plate. The pressure plate is fixed to the cover plate. A first hemispherical groove is provided on the side of the pressure plate near the cover plate, and a second hemispherical groove is provided on the side of the cover plate near the pressure plate. The first and second hemispherical grooves together form a spherical cavity. One end of the ball joint shaft is provided with a first ball head, which is located in the spherical cavity. The other end of the ball joint shaft passes through the cover plate and is fixed to a support plate. The pressure plate and the cover plate can rotate together relative to the first ball head. The cover plate is fixed to a transition plate.

6. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 5, characterized in that: The elastic support includes a first elastic support and a second elastic support. Multiple first elastic supports are evenly arranged along the circumference of the ball joint. Each first elastic support includes two oppositely arranged first elastic ball joints, both fixed to a support plate. The center line between the two ball joints is perpendicular to the support plate. The two ball joints are located on opposite sides of the transition plate and abut against opposite sides of the transition plate. The first elastic support keeps the transition plate parallel to the support plate. The second elastic support includes a second elastic ball joint and a third elastic ball joint. Both the second and third elastic ball joints are fixedly mounted on the support plate. Both the second and third elastic ball joints are arranged parallel to the support plate. A baffle is fixedly mounted on the adapter plate, and the baffles abut against both the second and third elastic ball joints. When the adapter plate rotates clockwise relative to the support plate, the baffles compress the second elastic ball joint, while the third elastic ball joint extends and abuts against the baffle. When the adapter plate rotates counterclockwise relative to the support plate, the baffles compress the third elastic ball joint, while the second elastic ball joint extends and abuts against the baffle. The second and third elastic ball joints ensure that the adapter plate and the support plate remain parallel and do not rotate relative to each other.

7. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 6, characterized in that: The first, second, and third elastic ball joints each include an outer barrel and an inner barrel. The inner barrel is fitted inside the outer barrel, with its opening located inside the outer barrel and its bottom located outside the outer barrel. A fourth compression spring is provided within the cavity formed by the outer and inner barrels. The two ends of the fourth compression spring abut against the inner walls of the bottoms of the outer and inner barrels, respectively. A guide post is fixedly provided on the inner wall of the bottom of the inner barrel, arranged axially along the inner barrel. One end of the guide post, away from the inner wall of the bottom, extends through the bottom of the outer barrel to the outer side of the outer barrel. The guide post is located on the outer barrel... A nut is threaded onto one end of the outer side of the body. The fourth compression spring is arranged around the guide post. A second ball head is fixedly provided on the outer wall of the bottom of the inner barrel. The first elastic ball head on the side of the adapter plate closer to the support plate is called the first near elastic ball head, and the first elastic ball head on the side of the adapter plate away from the support plate is called the first away elastic ball head. The outer barrel of the first near elastic ball head is fixedly provided on the side of the support plate away from the adapter plate. The support plate is provided with a first through hole for the inner barrel of the first near elastic ball head to pass through. The diameter of the first through hole is larger than the outer diameter of the inner barrel. The second ball head of the first near elastic ball head... The outer barrel of the first elastic ball joint, which abuts against the side of the adapter plate near the support plate, is fixed to the support plate by a fixing rod. The adapter plate has a second through hole through which the fixing rod passes. The diameter of the second through hole is larger than the outer diameter of the fixing rod. One end of the fixing rod is fixedly connected to the outer barrel of the first elastic ball joint, and the other end of the fixing rod passes through the second through hole and is fixedly connected to the support plate. The second ball joint of the first elastic ball joint abuts against the side of the adapter plate away from the support plate. The outer barrels of both the second and third elastic ball joints are fixedly mounted on the support plate. The baffles are all in contact with the second elastic ball joint. The second ball head of the first elastic ball head and the second ball head of the third elastic ball head abut against each other. When the adapter plate rotates clockwise relative to the support plate, the baffle pushes the second ball head of the second elastic ball head and compresses the fourth compression spring of the second elastic ball head. At the same time, the fourth compression spring of the third elastic ball head extends and abuts the second ball head of the third elastic ball head against the baffle. When the adapter plate rotates counterclockwise relative to the support plate, the baffle pushes the second ball head of the third elastic ball head and compresses the fourth compression spring of the third elastic ball head. At the same time, the fourth compression spring of the second elastic ball head extends and abuts the second ball head of the second elastic ball head against the baffle.

8. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 7, characterized in that: The adapter plate has a mounting bracket on the side away from the support plate. The adapter plate and the mounting bracket are fixedly connected by a three-dimensional force sensor. The mounting bracket is used to install the connector.

9. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 8, characterized in that: The conical component includes a square-conical shell, a third through hole on the support plate, the square-conical shell being fixedly disposed at the third through hole, the insertion hole being provided on the shell wall at the tip of the square-conical shell, the four outer shell walls of the square-conical shell respectively abutting against the wheel surfaces of the four rollers, a sleeve being fixedly disposed inside the square-conical shell, and the end of the ball head shaft away from the first ball head being fixedly inserted into the sleeve.

10. The six-degree-of-freedom flexible adaptive mechanism with retraction and reset function according to claim 9, characterized in that: Reinforcing ribs are fixedly connected between the sleeve and the four inner shell walls of the square pyramidal shell.

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