Automatic flexible docking device for cabin

Abstract

The present invention relates to an automatic flexible docking device for a cabin, wherein a flexible floating unit is movably arranged on a base unit, and a pushing mechanism is provided on the flexible floating unit. The flexible floating unit includes a unit bottom plate, a pitch floating bottom plate, and a supporting top plate. The front end of the unit bottom plate is provided with a front floating bracket, the middle portion is provided with a floating hinge bracket, and the rear end is provided with a rear floating bracket. The lower middle side of the pitch floating bottom plate is hinged to the floating hinge bracket via a pitch hinge shaft. The front end of the pitch floating bottom plate is supported by a pitch front support wheel provided on the front floating bracket, and the rear end is supported by a pitch rear support wheel provided on the rear floating bracket. Balancing cylinders are provided on the lower ends of the front floating bracket, the lower ends of the floating hinge bracket, and the lower ends of the rear floating bracket, and each balancing cylinder is provided on the unit bottom plate. The supporting top plate is connected to the pitch floating bottom plate via a universal connector. The present invention can achieve adaptive flexible support when the cabin is placed and flexible adjustment during docking.

Description

Technical Field

[0001] The present invention relates to the technical field of cabin docking, in particular to an automatic flexible docking device for cabins. Background Art

[0002] In existing technology, cabin docking assembly typically involves manually hoisting one cabin section while fixing the other. This method wastes manpower and time, easily causes wear and tear to the product during the docking process, and makes it impossible to monitor the docking quality and store quality data. Furthermore, this method fails to meet the requirements of intelligent manufacturing and cannot achieve the required automated and precise docking, which poses significant challenges to tact control and quality control throughout the production line.

[0003] Patent CN219255557U discloses a docking structure for a cabin, wherein movable plates are movably connected to the left and right sides of the top of the base plate. The tops of the movable plates are each provided with an electric telescopic rod, and the bottoms of the movable plates are each provided with a T-shaped slider transversely disposed. A T-shaped slot that matches the T-shaped slider is transversely disposed at the top center of the base plate. The left and right docking support frames are each connected to the base plate via an electric telescopic rod. This allows the left and right docking support frames to be independently height-adjusted, thereby quickly and effectively adjusting the height difference during docking. Simultaneously, the movable plates can be adjusted left and right. However, this structure utilizes the docking support frames to support the cabin, and cannot achieve adaptive support for the cabin's flexible floating motion required for docking assembly.

[0004] Patent CN114589482B discloses a multi-segment joint tightening device. This device adjusts the axis of each set of multi-degree-of-freedom clamping and adjustment unit's annular fixtures before assembly. Once the fixtures are coaxial, the device locks the various degrees of freedom of the adjustment mechanism to achieve precise jointing. However, this device utilizes annular fixtures to position the segments, which differs from cabin support and positioning jointing. Summary of the Invention

[0005] The object of the present invention is to provide an automatic flexible docking device for cabins, which can achieve adaptive flexible support when the cabin is placed in and flexible adjustment during docking.

[0006] The object of the present invention is achieved through the following technical solutions:

[0007] The yoke is secured to the chassis and has an eccentric clutch pedal, which is adapted to engage said yoke's engaging member and to engage said yoke's engaging member.

[0008] The front and rear ends of the unit base plate are both provided with brake connecting seats, and brakes are provided on the brake connecting seats. The lower middle side of the front floating bracket and the lower middle side of the rear floating bracket are both provided with brake plates, and the brake plates can be raised and lowered in the brakes on the brake connecting seats. Each corner end of the floating articulated bracket is supported by a floating guide shaft.

[0009] The middle part of the pitch floating bottom plate is connected by a connecting plate, and universal connectors are provided at both ends of the connecting plate. The lower side of the middle part of the supporting top plate is respectively connected to the universal connectors on the corresponding sides. A rear cabin presence sensor is provided on the connecting plate, and a rear cabin circumferential detection sensor is provided on the supporting top plate.

[0010] The front end of the support top plate is connected via a connecting frame, and a locking plate is provided at the lower end of the connecting frame. The front end of the unit bottom plate is provided with a floating locking device, and the locking plate is locked in position by the floating locking device.

[0011] The support top plate is provided with a front support wheel and a rear support wheel, wherein the rear support wheel is coaxially connected to the circumferential locking disk, the rear end of the unit bottom plate is provided with a circumferential locking device, and the circumferential locking disk is locked in position by the circumferential locking device.

[0012] The unit bottom plate is provided with a docking lifting cylinder and a docking return mechanism, wherein the cylinder rod end of the docking lifting cylinder is provided with a limit head, and the docking return mechanism includes a pressure block, a return rotation device, a return lifting device and a return support arranged in sequence from top to bottom, wherein the return support is fixed on the unit bottom plate.

[0013] The unit bottom plate is driven to move on the base unit by a rear drive assembly, and the rear drive assembly includes a rear drive device, a gear and a rack, wherein the rear drive device is arranged on the unit bottom plate, the gear is arranged on the output shaft of the rear drive device, the rack is arranged on the base unit, and the gear is engaged with the rack.

[0014] The base unit includes a base frame, and a fixed table is provided at one end of the base frame, and a plurality of movable support plates are provided at the other end. The support unit is provided on the fixed table, and the unit bottom plate of the flexible floating unit is installed on each support plate. A displacement sensor is provided inside the base frame.

[0015] The support unit includes a fixed base plate, a movable plate, a lifting clamping device, a limit seat and a front drive assembly, wherein the fixed base plate is arranged on the base unit, the lower side of the movable plate is slidingly connected to the fixed base plate, and the upper side is provided with a supporting roller, and the movable plate is driven to move by the front drive assembly provided on the fixed base plate, the lifting clamping device and the limit seat are both provided on the end of the fixed base plate away from the flexible floating unit, the fixed base plate is provided with a front cabin zero position sensor, the movable plate is provided with a front cabin presence or absence sensor, one side of the limit seat is provided with an axial position sensor, and the other side is provided with a front cabin circumferential detection sensor.

[0016] The pushing mechanism includes a pushing base, a movable bracket, a centering device and a pushing cylinder, wherein the pushing base is fixed to the unit bottom plate of the flexible floating unit, and the two movable brackets are respectively slidably connected to the two ends of the pushing base, the centering device is provided at the upper end of the pushing base, and the movable brackets on both sides are driven to move by the centering device, the pushing cylinders are respectively installed on the corresponding movable brackets, and the power shaft end of the pushing cylinder is connected to the pressure sensor through a connecting piece, and the pressure sensor is provided with a pushing contact on the side away from the pushing cylinder, and the upper end of the pushing base is provided with a cabin positioning device.

[0017] The advantages and positive effects of the present invention are:

[0018] 1. The flexible floating unit of the present invention can have 5 degrees of freedom of flexibility, can realize adaptive flexible support when the cabin is placed, and can realize adaptive flexible adjustment when the cabin is docked. While ensuring that the cabin will not be damaged, it can also realize the precise docking of the two sections of the cabin.

[0019] 2. The present invention can realize automatic positioning judgment of the end face and circumference of the cabin, and then use the flexible floating unit to move to complete the cabin docking. The pressure sensor in the pushing mechanism can also realize docking pressure detection, thereby ensuring safety while also improving the degree of automation and efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1It is a structural schematic diagram of the present invention,

[0021] Figure 2 for Figure 1 Schematic diagram of the middle base unit structure,

[0022] Figure 3 for Figure 1 Schematic diagram of the structure of the middle support unit.

[0023] Figure 4 for Figure 3 Schematic diagram of the structure of the middle support unit after removing the movable support plate.

[0024] Figure 5 for Figure 1 Schematic diagram of the structure of the flexible floating unit.

[0025] Figure 6 for Figure 1 Side view of the compliant floating unit.

[0026] Figure 7 for Figure 1 Schematic diagram of the structure of the middle push mechanism.

[0027] Among them, 1 is the base unit, 101 is the base frame, 102 is the leveling foot, 103 is the displacement sensor, 104 is the cable lifting frame, 105 is the support plate slider, 106 is the support plate, 107 is the fixed table, 2 is the support unit, 201 is the fixed bottom plate, 202 is the drive seat, 203 is the front drive reducer, 204 is the front drive motor, 205 is the mobile plate slider, 206 is the mobile plate, 207 is the support roller, 208 is the lifting clamping device, 209 is the limit seat, 210 is the front Cabin zero position sensor, 211 is the front cabin presence sensor, 212 is the axial position sensor, 213 is the front cabin circumferential detection sensor, 214 is the lead screw, 3 is the flexible floating unit, 301 is the unit base plate, 302 is the balance cylinder, 303 is the docking lifting cylinder, 3031 is the limit head, 304 is the pitch floating base plate, 305 is the pitch hinge axis, 3051 is the floating articulated bracket, 3052 is the floating guide axis, 306 is the pitch front support wheel, 3061 is the front floating bracket, 307 is the pitch rear support Support wheel, 3071 is the rear floating bracket, 308 is the universal connector, 309 is the front support wheel, 310 is the rear support wheel, 311 is the floating locking device, 312 is the rear cabin presence sensor, 313 is the connecting plate, 314 is the docking return mechanism, 3141 is the pressure block, 3142 is the return rotation device, 3143 is the return lifting device, 3144 is the return support, 315 is the gear, 316 is the rear drive reducer, 317 is the rear drive motor, 318 is the support top plate, 3181 is the locking plate , 319 is the rear cabin circumferential detection sensor, 320 is the rack, 321 is the brake connecting seat, 322 is the brake plate, 323 is the circumferential locking disk, 324 is the circumferential locking device, 3025 is the brake, 4 is the pushing mechanism, 401 is the pushing base, 4011 is the centering slide rail, 402 is the centering device, 403 is the movable bracket, 4031 is the bracket slider, 404 is the pushing cylinder, 405 is the connecting part, 406 is the pressure sensor, 407 is the pushing contact, and 408 is the cabin positioning device.

[0028] (Different brakes need to be named separately to distinguish them, add 3052 floating guide shaft and 3025 brake) DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] like Figures 1 to 7 As shown, the present invention includes a base unit 1 and a support unit 2 and a flexible floating unit 3 provided on the base unit 1, wherein the flexible floating unit 3 is movably provided on the base unit 1, and a pushing mechanism 4 is provided on the flexible floating unit 3. Figures 5-6As shown, the compliant floating unit 3 includes a unit bottom plate 301, a pitch floating bottom plate 304 and a supporting top plate 318, wherein the front end of the unit bottom plate 301 is provided with a front floating bracket 3061, the middle part is provided with a floating hinge bracket 3051, and the rear end is provided with a rear floating bracket 3071. The lower side of the middle part of the pitch floating bottom plate 304 is hinged to the floating hinge bracket 3051 through a pitch hinge shaft 305. The front end of the pitch floating bottom plate 304 is supported by a pitch front support wheel 306 provided on the front floating bracket 3061, and the rear end is supported by a pitch front support wheel 306 provided on the rear floating bracket 3071. The rear support wheels 307 support, and balancing cylinders 302 are provided on the lower sides of both ends of the front floating bracket 3061, the lower sides of both ends of the floating articulated bracket 3051, and the lower sides of both ends of the rear floating bracket 3071, and each balancing cylinder 302 is provided on the unit bottom plate 301, and the supporting top plate 318 is connected to the pitch floating bottom plate 304 through a universal connector 308, so that the supporting top plate 318 and the pitch floating bottom plate 304 can have a relative rotation tendency, and the universal connector 308 is a well-known technology in the art, and for example, commercially available products such as universal ball joints can be used. When the present invention is working, the front section of the cabin is supported by the support unit 2 and its position is fixed, the rear section of the cabin is supported by the flexible floating unit 3, and the support top plate 318 and the pitch floating bottom plate 304 have relative rotation, and at the same time the pitch floating bottom plate 304 has pitch floating, so that adaptive flexible support can be achieved for the cabin when the cabin is placed, and each balancing cylinder 302 can be controlled to extend and retract through the pneumatic system to adjust the horizontality of the front floating bracket 3061, the floating articulated bracket 3051 and the rear floating bracket 3071, thereby achieving floating adjustment and gravity balance of the rear section of the cabin.

[0031] like Figures 5-6 As shown, in this embodiment, brake connection bases 321 are provided at both the front and rear ends of the unit base plate 301. Brakes 325 are housed within these connection bases. Brake plates 322 are located on the lower middle sides of the front floating support 3061 and the lower middle sides of the rear floating support 3071. These brake plates 322 are raised and lowered within the brakes 325 on the brake connection bases 321. These brakes 325 are commercially available, such as pneumatic disc brakes. Each corner of the floating articulated support 3051 is supported by a floating guide shaft 3052. These floating guide shafts 3052 are well-known in the art, and may comprise, for example, a shaft, a sleeve, and a spring. The spring is housed within the sleeve, and the lower end of the shaft is inserted into the sleeve and counteracts the spring. The present invention utilizes the structural design of each of these supports in conjunction with the balancing cylinder 302, coupled with the pitch floating motion of the pitch floating base plate 304, to achieve floating adjustment of the cabin's gravity. The above-mentioned bracket of the present invention may also adopt other suitable floating structures as needed.

[0032] like Figures 5-6 As shown, in this embodiment, the front floating bracket 3061 and the rear floating bracket 3071 are both provided with wheel seats, and the pitch front support wheel 306 and the pitch rear support wheel 307 are respectively provided on the corresponding wheel seats, the floating articulated bracket 3051 is provided with an articulated seat, and the pitch hinge shaft 305 is provided on the articulated seat.

[0033] like Figures 5-6 As shown, in this embodiment, the middle part of the pitch floating bottom plate 304 is connected by a connecting plate 313, and a universal connector 308 is provided at both ends of the connecting plate 313, and the lower side of the middle part of the supporting top plate 318 is respectively connected to the universal connector 308 on the corresponding side.

[0034] like Figures 5-6 As shown, in this embodiment, the front end of the support top plate 318 is connected by a connecting frame, and a locking plate 3181 is provided at the lower end of the connecting frame. The front end of the unit bottom plate 301 is provided with a floating locking device 311 with a brake clamp 3111, and the locking plate 3181 is clamped and locked in position by the brake clamp 3111, thereby realizing position locking of the support top plate 318 and other structures. The floating locking device 311 is a commercially available product, for example, a disc brake type pneumatic brake can be used.

[0035] like Figures 5-6 As shown, in this embodiment, the support top plate 318 is provided with a front support wheel 309 and a rear support wheel 310 for supporting the cabin body, wherein the rear support wheel 310 is coaxially connected to the circumferential locking disk 323, and the rear end of the unit bottom plate 301 is provided with a circumferential locking device 324 with a brake clamp, and the circumferential locking disk 323 is clamped in a locking position by the brake clamp, thereby locking the rear support wheel 310 to circumferentially lock the cabin body. The circumferential locking device 324 has the same structure and working principle as the floating locking device 311.

[0036] like Figures 5-6 As shown, in this embodiment, a docking lifting cylinder 303 and a docking return mechanism 314 are provided on the unit bottom plate 301, and the cylinder rod end of the docking lifting cylinder 303 is provided with a limit head 3031 that cooperates with the corresponding structure on the cabin, and the docking return mechanism 314 is provided with a lifting and lowering pressure block 3141 that cooperates with the corresponding structure on the cabin. When the present invention is working, when the rear cabin is put in and detected to be in place, the pressure block 3141 in the docking return mechanism 314 is first started to drive the rear cabin to a set position below the initial displacement, and then the pressure block 3141 returns to its original position, and the docking lifting cylinder 303 is started to lift the cabin to the docking position, wherein as shown in FIG. Figures 5-6As shown, in this embodiment, the docking return mechanism 314 includes, from top to bottom, a pressing block 3141, a return rotation device 3142, a return lifting device 3143, and a return support 3144. The return support 3144 is fixed to the unit bottom plate 301. The pressing block 3141 and the return rotation device 3142 are driven to rise and fall by the return lifting device 3143, and the pressing block 3141 is driven to rotate by the return rotation device 3142. The return rotation device 3142 can be a servo motor, and the return lifting device 3143 can be a cylinder.

[0037] like Figures 5-6 As shown, in this embodiment, the connection plate 313 is provided with a rear cabin presence sensor 312, and the support top plate 318 is provided with a rear cabin circumferential detection sensor 319. The above sensors are all commercially available products.

[0038] like Figures 5-6 As shown, in this embodiment, the unit bottom plate 301 is driven to move on the base unit 1 by the rear drive assembly, and the rear drive assembly includes a rear drive device, a gear 315 and a rack 320, wherein the gear 315 is provided on the output shaft of the rear drive device, and the rack 320 is provided on the base unit 1, and the gear 315 is meshed with the rack 320. Figure 5 As shown, in this embodiment, the rear drive device includes a rear drive motor 317 and a rear drive reducer 316 .

[0039] like Figure 2 As shown, in this embodiment, the base unit 1 includes a base frame 101, and a fixed table 107 is provided at one end of the base frame 101, and a plurality of movable support plates 106 are provided at the other end. The support unit 2 is provided on the fixed table 107, and the unit bottom plate 301 of the flexible floating unit 3 is installed on each support plate 106.

[0040] like Figure 2 As shown, in this embodiment, leveling feet 102 are provided on both sides of the base frame 101. Support rails are provided on the base frame 101. Support plate sliders 105 are provided at both ends of the support plate 106, which respectively cooperate with the support rails on the corresponding sides to achieve movement. A cable lifting frame 104 is provided on the base frame 101 for supporting equipment cables. In addition, a displacement sensor 103 is provided inside the base frame 101 for real-time detection of the movement distance of the flexible floating unit 3. The leveling feet 102 and displacement sensor 103 are both well-known in the art.

[0041] like Figures 3-4As shown, in this embodiment, the support unit 2 includes a fixed base plate 201, a movable plate 206, a lifting clamping device 208, a limiting seat 209, and a front drive assembly. The fixed base plate 201 is provided on the fixed table 107 of the base unit 1. The lower side of the movable plate 206 is slidably connected to the fixed base plate 201, and the upper side is provided with support rollers 207 for supporting the front section cabin. The movable plate 206 is driven to move by the front drive assembly. The lifting clamping device 208 and the limiting seat 209 are both provided at the end of the fixed base plate 201 away from the flexible floating unit 3. When the present invention is in operation, the front section cabin is placed on the support rollers 207 on the upper side of the movable plate 206, and then the movable plate 206 drives the front section cabin to move toward the limiting seat 209. After the front section cabin is moved into position, the lifting clamping device 208 is activated to position the front section cabin, and the limiting seat 209 acts as a limiter to prevent accidents.

[0042] like Figures 3-4 As shown, in this embodiment, the front drive assembly includes a screw drive device, a screw 214 and a drive base 202, wherein the screw 214 is driven to rotate by the screw drive device, a nut is provided in the drive base 202 and is sleeved on the screw 214, and the drive base 202 is connected to the movable plate 206. In this embodiment, the screw drive device includes a front drive motor 204 and a front drive reducer 203.

[0043] like Figures 3-4 As shown, in this embodiment, an adjustment slide rail is provided on the fixed base plate 201, and a moving plate slider 205 is provided on the lower side of the movable plate 206 to cooperate with the adjustment slide rail on the corresponding side, thereby realizing a sliding connection between the movable plate 206 and the fixed base plate 201.

[0044] like Figures 3-4 As shown, in this embodiment, a front cabin zero position sensor 210 is provided on the fixed base plate 201, a front cabin presence sensor 211 is provided on the movable plate 206, an axial position sensor 212 is provided on one side of the limit seat 209, and a front cabin circumferential detection sensor 213 is provided on the other side. The above-mentioned detection sensors are all well-known technologies in the art and are commercially available products. The front cabin presence sensor 211 detects whether the front cabin body is inserted, the axial position sensor 212 detects whether the cabin body has reached the docking position, and the front cabin circumferential detection sensor 213 is used to detect the circumferential position of the front cabin body. When all sensors detect that they are in position, the lifting and clamping device 208 is activated to position the front cabin body. In this embodiment, the lifting and clamping device 208 includes a lifting cylinder and a clamping claw cylinder. After the clamping claw cylinder is lifted into position by the lifting cylinder, it drives the two clamping finger pins thereon to move and insert into the clamping finger groove on the front cabin body to achieve locking.

[0045] like Figure 7As shown, in this embodiment, the pushing mechanism 4 includes a pushing base 401, a movable bracket 403, a centering device 402 and a pushing cylinder 404, wherein the pushing base 401 is fixed on the unit bottom plate 301 of the flexible floating unit 3, and the two movable brackets 403 are respectively slidably connected to the two ends of the pushing base 401. In this embodiment, the pushing base 401 is provided with a centering slide rail 4011, and the lower end of the movable bracket 403 is provided with a bracket slider 4031 which cooperates with the corresponding centering slide rail 4011 respectively. The centering device 402 is provided in the middle of the upper end of the pushing base 401 and the two ends are connected to the movable bracket 403 on the corresponding side. The pushing cylinders 404 are respectively installed on the corresponding movable brackets 403. The centering device 402 is used to drive the movable brackets 403 on both sides to close toward the middle. The centering device 402 can adopt commercially available products such as double-outlet shaft cylinders.

[0046] like Figure 7 As shown, in this embodiment, the power shaft end of the push cylinder 404 is connected to a pressure sensor 406 via a connector 405. A push contact 407 is provided on the side of the pressure sensor 406 away from the push cylinder 404, which contacts the cabin. The pressure sensor 406 is a commercially available product and is used to detect the thrust of the push cylinder 404 on the cabin in real time to prevent damage to the cabin due to excessive docking force during docking.

[0047] like Figure 7 As shown, in this embodiment, a cabin positioning device 408 is provided at the upper end of the pushing base 401 for locking the cabin position. The cabin positioning device 408 includes a positioning pin and a cylinder, and the positioning pin is driven up by the cylinder to be inserted into the corresponding groove on the cabin to achieve locking. When the cabin is pulled backward, the cabin positioning device 408 can drive the cabin to move backward together, thereby preventing the floating section of the cabin from slipping on the front support wheel 309 and the rear support wheel 310.

[0048] The working principle of the present invention is:

[0049] When the present invention is working, the front section cabin is placed on the support unit 2 at the front end and supported by various support rollers 207, and then the movable plate 206 in the support unit 2 drives the front section cabin to move toward the limit seat 209. After the front section cabin moves into position and the axial position sensor 212, the front cabin circumferential detection sensor 213 and other sensors are detected to be in position, the lifting clamping device 208 starts to lock the front section cabin, and the flexible floating unit 3 moves to the set position, and the rear section cabin is placed on the flexible floating unit 3 at the rear end and supported by the front support wheels 309 and the rear support wheels 310, wherein the support top plate 318 in the flexible floating unit 3 rotates relative to the pitch floating bottom plate 304, and the pitch floating bottom plate 304 has pitch floating, so that adaptive flexible support can be achieved for the cabin when the cabin is placed in, and when the cabin is placed in, each balancing cylinder 302 can be controlled to extend and retract through the pneumatic system to adjust the front floating bracket 30 61. The horizontality of the floating articulated bracket 3051 and the rear floating bracket 3071, thereby realizing the gravity balance and adjustment of the rear section cabin body. The rear cabin presence sensor 312 detects whether the rear section cabin body is in place. After detection, the docking return mechanism 314 is started to bring the rear section cabin body below the initial displacement, and then the docking lifting cylinder 303 is started to lift the rear section cabin body to the docking position. Then the rear cabin circumferential detection sensor 319 detects whether the cabin body is in place circumferentially. After it is in place, the cabin positioning device 408 on the pushing mechanism 4 locks the rear section cabin body, and the centering device 402 drives the pushing cylinder 404 to close to the middle. The pushing cylinder 404 pushes forward to make the pushing contact 407 contact with the cabin body, and finally the flexible floating unit 3 moves toward the support unit 2 to achieve docking. During docking, the pressure sensor 406 and the displacement sensor 103 on the base frame 101 detect the pressure and displacement in real time to ensure smooth docking. If disassembly is required, the flexible floating unit 3 moves in the opposite direction.

Claims

1. A cabin automatic flexible docking device, characterized by: The invention comprises a base unit (1), a support unit (2) and a flexible floating unit (3) arranged on the base unit (1), wherein the flexible floating unit (3) is movably arranged on the base unit (1), and the flexible floating unit (3) is provided with a pushing mechanism (4), and the flexible floating unit (3) comprises a unit bottom plate (301), a pitch floating bottom plate (304) and a supporting top plate (318), wherein the front end of the unit bottom plate (301) is provided with a front floating bracket (3061), the middle part is provided with a floating hinge bracket (3051), and the rear end is provided with a rear floating bracket (3071), and the lower side of the middle part of the pitch floating bottom plate (304) is connected to the pitch hinge shaft (305) through the pitch hinge shaft (305). The floating articulated bracket (3051) is hinged, the front end of the pitch floating base plate (304) is supported by the pitch front support wheel (306) provided on the front floating bracket (3061), and the rear end is supported by the pitch rear support wheel (307) provided on the rear floating bracket (3071). The lower sides of both ends of the front floating bracket (3061), the lower sides of both ends of the floating articulated bracket (3051), and the lower sides of both ends of the rear floating bracket (3071) are all provided with balancing cylinders (302), and each balancing cylinder (302) is provided on the unit base plate (301). The supporting top plate (318) is connected to the pitch floating base plate (304) via a universal joint (308); The middle portion of the pitch floating bottom plate (304) is connected via a connecting plate (313), and both ends of the connecting plate (313) are provided with universal connectors (308). The lower side of the middle portion of the supporting top plate (318) is respectively connected to the universal connectors (308) on the corresponding sides. A rear cabin presence sensor (312) is provided on the connecting plate (313), and a rear cabin circumferential detection sensor (319) is provided on the supporting top plate (318); The support unit (2) comprises a fixed base plate (201), a movable plate (206), a lifting clamping device (208), a limiting seat (209) and a front drive assembly, wherein the fixed base plate (201) is arranged on the base unit (1), the lower side of the movable plate (206) is slidably connected to the fixed base plate (201), and the upper side is provided with a supporting roller (207), the movable plate (206) is driven to move by the front drive assembly arranged on the fixed base plate (201), the lifting clamping device (208) and the limiting seat (209) are both arranged at one end of the fixed base plate (201) away from the flexible floating unit (3), the fixed base plate (201) is provided with a front cabin zero position sensor (210), the movable plate (206) is provided with a front cabin presence sensor (211), one side of the limiting seat (209) is provided with an axial position sensor (212), and the other side is provided with a front cabin circumferential detection sensor (213).

2. The automatic flexible docking device for cabins according to claim 1, characterized in that: The front and rear ends of the unit base plate (301) are both provided with brake connection seats (321), and a brake (325) is provided on the brake connection seat (321). The lower middle side of the front floating bracket (3061) and the lower middle side of the rear floating bracket (3071) are both provided with brake plates (322), and the brake plates (322) are movably arranged in the brake (325) on the brake connection seat (321). Each corner end of the floating articulated bracket (3051) is supported by a floating guide shaft (3052).

3. The automatic flexible docking device for cabins according to claim 1, characterized in that: The front end of the support top plate (318) is connected via a connecting frame, and a locking plate (3181) is provided at the lower end of the connecting frame. The front end of the unit bottom plate (301) is provided with a floating locking device (311), and the locking plate (3181) is locked in position via the floating locking device (311).

4. The automatic flexible docking device for cabins according to claim 1, characterized in that: The support top plate (318) is provided with a front support wheel (309) and a rear support wheel (310), wherein the rear support wheel (310) is coaxially connected to the circumferential locking disk (323), and a circumferential locking device (324) is provided at the rear end of the unit bottom plate (301), and the circumferential locking disk (323) is locked in position by the circumferential locking device (324).

5. The automatic flexible docking device for cabins according to claim 1, characterized in that: The unit bottom plate (301) is provided with a docking lifting cylinder (303) and a docking return mechanism (314), wherein the cylinder rod end of the docking lifting cylinder (303) is provided with a limit head (3031), and the docking return mechanism (314) comprises a pressure block (3141), a return rotation device (3142), a return lifting device (3143) and a return support (3144) arranged in sequence from top to bottom, wherein the return support (3144) is fixedly arranged on the unit bottom plate (301).

6. The automatic flexible docking device for cabins according to claim 1, characterized in that: The unit bottom plate (301) is driven to move on the base unit (1) by a rear drive assembly, wherein the rear drive assembly comprises a rear drive device, a gear (315) and a rack (320), wherein the rear drive device is arranged on the unit bottom plate (301), the gear (315) is arranged on the output shaft of the rear drive device, the rack (320) is arranged on the base unit (1), and the gear (315) is meshed with the rack (320).

7. The automatic flexible docking device for cabins according to claim 1, characterized in that: The base unit (1) comprises a base frame (101), wherein one end of the base frame (101) is provided with a fixed table (107), and the other end is provided with a plurality of movable support plates (106), the support unit (2) is provided on the fixed table (107), the unit bottom plate (301) of the compliant floating unit (3) is installed on each support plate (106), and a displacement sensor (103) is provided inside the base frame (101).

8. The automatic flexible docking device for cabins according to claim 1, characterized in that: The pushing mechanism (4) includes a pushing base (401), a movable bracket (403), a centering device (402) and a pushing cylinder (404), wherein the pushing base (401) is fixed on the unit bottom plate (301) of the flexible floating unit (3), the two movable brackets (403) are respectively slidably connected to the two ends of the pushing base (401), the centering device (402) is provided at the upper end of the pushing base (401), and the movable brackets (403) on both sides are driven to move by the centering device (402), the pushing cylinders (404) are respectively installed on the corresponding movable brackets (403), and the power shaft end of the pushing cylinder (404) is connected to the pressure sensor (406) through a connecting piece (405), and the pressure sensor (406) is provided with a pushing contact (407) on the side away from the pushing cylinder (404), and the upper end of the pushing base (401) is provided with a cabin positioning device (408).

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