Multi-degree-of-freedom docking platform

Abstract

The invention belongs to the technical field of workpiece installation and adjustment, and particularly relates to a multi-degree-of-freedom butt joint platform which comprises two carrier assemblies, a displacement assembly is arranged between the two carrier assemblies, and a butt joint assembly is arranged on the displacement assembly. The carrier assembly comprises two stand columns, a reinforcing rod is arranged between the tops of the two stand columns, a fixing rod is arranged between the bottoms of the two stand columns, laser positioning sensors are arranged on one sides of the two stand columns, and Z-direction sliding rails are arranged on the opposite end faces of the two stand columns. The displacement assembly comprises a movable plate, movable blocks are arranged at the four corners of the movable plate, and the movable blocks are in sliding connection with the Z-direction sliding rails; through mutual cooperation of the carrier assembly, the moving assembly, the butt joint assembly and other parts, accurate adjustment of any position and angle of the movable workpiece can be achieved, the butt joint installation precision of the movable workpiece is improved, then the overall quality and performance of a product are improved, and meanwhile the safety of the butt joint process is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of workpiece installation and adjustment, in particular to a multi-degree-of-freedom docking platform. Background Art

[0002] A multi-degree-of-freedom docking platform is a device that can achieve free movement in multiple directions, usually including linear and rotational movements, to complete automatic installation and docking. In the field of industrial manufacturing, multi-degree-of-freedom docking platforms can be applied to various scenarios. For example, in the automobile manufacturing process, it can be used to automatically install large parts such as engines and gearboxes; in the field of electronic manufacturing, it can be used to assemble precision circuit boards; in the field of aerospace, it can be used to assemble and dock various parts of an aircraft.

[0003] The Chinese patent application number 201821924467.5 discloses a multi-degree-of-freedom installation and docking platform, which includes a bottom frame assembly, a horizontal moving layer frame assembly, a lifting frame assembly and a rotating layer frame assembly. The bottom frame assembly can realize movement along the X direction, the horizontal moving layer frame assembly can realize movement along the Y direction, the lifting frame assembly can realize movement along the Z direction, and the rotating layer frame assembly can realize rotation along the Z direction, thereby realizing multi-angle adjustment of the workpiece to meet the installation or docking requirements. The docking platform is difficult to operate and has poor docking accuracy.

[0004] Due to assembly requirements, when fine-tuning the position of some large movable workpieces, the traditional docking method usually uses a hanger to lift the movable workpiece. The staff can only rely on experience to visually estimate and push the movable workpiece close to the fixed workpiece to complete the orientation adjustment of the movable workpiece, which directly affects the docking accuracy and quality between the movable workpiece and the fixed workpiece. There are also certain safety hazards in the docking process. Summary of the invention

[0005] In view of the above problems, the present invention provides a multi-degree-of-freedom docking platform to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: a multi-degree-of-freedom docking platform, comprising two groups of carrier components, a displacement component is provided between the two groups of carrier components, and a docking component is provided on the displacement component; The carrier assembly includes two columns, a reinforcing rod is connected between the tops of the two columns, a fixing rod is connected between the bottoms, and a laser positioning sensor is provided on one side of the two columns close to the displacement assembly, and a Z-direction slide rail is provided on the opposite end surface; The displacement assembly comprises a movable plate, and movable blocks are arranged at four corners of the movable plate, and the movable blocks are slidably connected with the Z-direction slide rail; The docking assembly comprises a base, on which a plurality of telescopic cylinders arranged in a circular array are arranged, and output ends of the plurality of telescopic cylinders are all provided with small spherical hinges.

[0007] Preferably, a coupling is provided on the fixed rod, a movable motor is provided on one input end of the coupling, a threaded rod is provided on one output end of the coupling, an end of the threaded rod away from the coupling is fixedly connected to the reinforcing rod, a connecting block is sleeved on the threaded rod, and the upper end surface of the connecting block is fixedly connected to the lower end surface of the movable plate.

[0008] Preferably, the movable plate is provided with a plurality of groups of X-direction electromagnetic slide rails, and the plurality of groups of X-direction electromagnetic slide rails are slidably connected with X-direction sliders, and the end of the X-direction slider away from the X-direction electromagnetic slide rail is connected to the movable plate, and a connecting hole is opened at the center of the movable plate, and the movable plate is provided with a plurality of groups of Y-direction electromagnetic slide rails, and the plurality of groups of Y-direction electromagnetic slide rails are slidably connected with Y-direction sliders, and the end of the Y-direction slider away from the Y-direction electromagnetic slide rail is fixedly connected to the base.

[0009] Preferably, a docking hole is opened at the center of the base, a large spherical hinge is provided on the docking hole, the end of the large spherical hinge away from the base is connected to a top plate, a slide is provided on the lower end surface of the top plate, and a small spherical hinge is slidably connected inside the slide.

[0010] Preferably, a double cross universal joint is provided at the center of the upper end surface of the movable plate, a rotating motor is provided at the input end of the double cross universal joint, and one end of the double cross universal joint away from the movable plate passes through the docking hole and the connecting hole and is fixedly connected to the top plate.

[0011] Preferably, a plurality of groups of flexible supports are provided on the top plate, movable workpieces are provided on the plurality of groups of flexible supports, and a fixed workpiece is provided on a side of the movable workpiece away from the flexible supports.

[0012] Preferably, a supporting spring is provided inside the flexible support.

[0013] Preferably, a connecting rod is provided between the two groups of carrier assemblies.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention can realize precise adjustment of any position and angle of the movable workpiece by arranging the carrier assembly, the moving assembly and the docking assembly and other components to improve the docking installation accuracy of the movable workpiece, thereby improving the overall quality and performance of the product.

[0015] 2. The present invention utilizes the compression change value of the support spring to identify whether the installation position of the movable workpiece is accurate. When the compression difference of multiple groups of support springs is outside the preset range, it means that the movable workpiece is not arranged in the center. The position of the movable workpiece is controlled for fine adjustment to ensure that the compression difference of multiple groups of support springs is within the preset range, thereby improving the support stability of the flexible support for the movable workpiece and preventing the movable workpiece from tipping over during docking.

[0016] 3. The present invention adaptively eliminates the error caused by the accuracy limitation of the laser positioning sensor by setting a support spring. When the movable workpiece encounters a jam during the docking process, it indicates that there is an error in the positioning of the movable workpiece. The movable workpiece is controlled to move back and forth within the error range until the movable workpiece is sent into the fixed workpiece, thereby ensuring that the movable workpiece will not be damaged when encountering a jam. At the same time, the safety of the docking process is guaranteed, and the docking accuracy is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a multi-degree-of-freedom docking platform; Figure 2 It is a schematic diagram of the overall structure of the present invention; Figure 3 It is a schematic diagram of the internal structure of the present invention from the right side; Figure 4 It is a schematic diagram of the structure of the displacement assembly of the present invention; Figure 5 It is a schematic diagram of the docking assembly structure of the present invention; Figure 6 It is a schematic diagram of the exploded structure of the docking assembly of the present invention; Figure 7 It is a schematic diagram of the docking of the movable workpiece and the fixed workpiece of the present invention.

[0018] In the figure: 1. Carrier assembly; 101. Column; 102. Reinforcement rod; 103. Fixed rod; 104. Z-axis slide rail; 105. Coupling; 106. Mobile motor; 107. Threaded rod; 108. Connecting block; 109. Laser positioning sensor; 2. Displacement assembly; 201. Movable plate; 202. Movable block; 203. X-axis electromagnetic slide rail; 204. X-axis slider; 205. Movable plate; 206. Connecting hole; 207, Y-axis electromagnetic slide rail; 208, Y-axis slider; 3, docking assembly; 301, base; 302, telescopic cylinder; 303, small ball hinge; 304, docking hole; 305, large ball hinge; 306, top plate; 307, slideway; 308, double cross universal joint; 309, rotating motor; 310, flexible support; 311, support spring; 4, movable workpiece; 5, connecting rod; 6, fixed workpiece. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1: like Figure 1-2 , Figure 7 As shown, a multi-degree-of-freedom docking platform is defined with the length, width and height of the platform as the X-axis, Y-axis and Z-axis respectively, including two groups of carrier components 1, the carrier component 1 provides stable physical support for the docking platform, and can control the displacement component 2 and the docking component 3 to move up and down in the Z-axis direction. A displacement component 2 is arranged between the two groups of carrier components 1, and the displacement component 2 is used to control the precise movement of the docking component 3 in the XY plane. The docking component 3 is arranged on the displacement component 2, and the docking component 3 is used to realize the functions of rotation, pitch and tilt of the movable workpiece 4, so as to complete the docking installation of the movable workpiece 4.

[0021] like Figure 2 As shown, a connecting rod 5 is provided between the two groups of carrier assemblies 1, and the carrier assembly 1 includes two columns 101, a reinforcing rod 102 is connected between the tops of the two columns 101, and a fixing rod 103 is connected between the bottoms. The arrangement of the connecting rod 5, the reinforcing rod 102 and the fixing rod 103 improves the stability and safety of the carrier assembly 1, and a laser positioning sensor 109 is provided on the side of the two columns 101 close to the displacement assembly 2, and a Z-direction slide rail 104 is provided on the opposite end faces, wherein the laser positioning sensor 109 is used to locate the spatial position of the movable workpiece 4, and the displacement assembly 2 includes a movable plate 201, and movable blocks 202 are provided at four corners of the movable plate 201, and the movable blocks 202 are slidably connected to the Z-direction slide rail 104, and the movable plate 201 can move up and down along the Z-direction slide rail 104.

[0022] A coupling 105 is provided on the fixed rod 103, and a moving motor 106 is provided on one input end of the coupling 105, and a threaded rod 107 is provided on one output end of the coupling 105. The end of the threaded rod 107 away from the coupling 105 is fixedly connected to the reinforcing rod 102, and a connecting block 108 is sleeved on the threaded rod 107. The upper end surface of the connecting block 108 is fixedly connected to the lower end surface of the movable plate 201. The moving motor 106 is started and drives the threaded rod 107 to rotate through the coupling 105. The rotation of the threaded rod 107 drives the connecting block 108 to move up and down in the Z-axis direction. The connecting block 108 moves up and down in the Z-axis direction and then drives the movable plate 201 to move up and down along the Z-direction slide rail 104. Therefore, the vertical displacement of the docking platform can be controlled by the moving motor 106.

[0023] Furthermore, if Figure 3-4 As shown, a plurality of groups of X-direction electromagnetic rails 203 are provided on the movable plate 201, and an X-direction slider 204 is slidably connected to each of the plurality of groups of X-direction electromagnetic rails 203. The end of the X-direction slider 204 away from the X-direction electromagnetic rail 203 is connected to a movable plate 205. The plurality of groups of X-direction electromagnetic rails 203 are energized and drive the X-direction slider 204 to move along the X-axis direction at the same time. The movement of the X-direction slider 204 drives the movable plate 205 to move synchronously. A connecting hole 206 is provided at the center of the movable plate 205 to facilitate the subsequent installation and use of the double cross universal joint 308. The movable plate 205 05 is provided with multiple groups of Y-direction electromagnetic rails 207, and the multiple groups of Y-direction electromagnetic rails 207 are all slidably connected with Y-direction sliders 208. The end of the Y-direction slider 208 away from the Y-direction electromagnetic rails 207 is fixedly connected to the base 301. The multiple groups of Y-direction electromagnetic rails 207 are energized and drive the Y-direction sliders 208 to move along the Y-axis direction at the same time. The movement of the Y-direction sliders 208 drives the base 301 to move synchronously. In the above process, the horizontal displacement of the docking platform in the XY plane can be controlled by controlling the X-direction electromagnetic rails 203 and the Y-direction electromagnetic rails 207 to be energized.

[0024] Furthermore, if Figure 5-6 As shown, the docking assembly 3 includes a base 301, on which are disposed a plurality of telescopic cylinders 302 arranged in a circular array, and the output ends of the plurality of telescopic cylinders 302 are all provided with small spherical hinges 303, and the telescopic cylinders 302 are started and the output ends drive the small spherical hinges 303 to move up and down, and a docking hole 304 is provided at the center of the base 301, and a large spherical hinge 305 is provided on the docking hole 304, and the end of the large spherical hinge 305 away from the base 301 is connected to a top plate 306, and the large spherical hinge 305 has a certain damping, so that the docking assembly 3 can be suspended at any position within the cone range formed by an angle of 30° with the Z axis, and a slideway 307 is provided on the lower end surface of the top plate 306, and the slideway 307 A small spherical hinge 303 is internally slidably connected, a double cross universal joint 308 is provided at the center of the upper end surface of the movable plate 201, a rotating motor 309 is provided at the input end of the double cross universal joint 308, the end of the double cross universal joint 308 away from the movable plate 201 passes through the connecting hole 206 and the docking hole 304 and is fixedly connected to the top plate 306, the rotating motor 309 is started and drives the double cross universal joint 308 to rotate around the Z axis, the double cross universal joint 308 drives the top plate 306 to rotate around the Z axis, and the top plate 306 drives the slide 307 to rotate synchronously. In the above process, the docking platform can be rotated around the Z axis by controlling the double cross universal joint 308 to rotate around the Z axis and driving the top plate 306 to rotate.

[0025] Four groups of flexible supports 310 are provided on the top plate 306 , support springs 311 are provided inside the flexible supports 310 , and movable workpieces 4 are provided on the four groups of flexible supports 310 . The tops of the flexible supports 310 and the bottoms of the movable workpieces 4 are in contact with each other, providing stable support for the movable workpieces 4 .

[0026] When in use, the multi-degree-of-freedom docking platform is externally connected to a central control module, which is electrically connected to each electrical component on the docking platform and can detect and control the status of each electrical component. First, based on the difference in the compression of the support spring 311, it is identified whether the movable workpiece 4 is centered on the docking platform. Specifically, the staff installs the movable workpiece 4 on four groups of flexible supports 310 through a special hanger. The movable workpiece 4 applies an extruding force to the support springs 311 in the flexible supports 310 and moves downward a certain distance. When the difference in the compression of the four groups of support springs 311 is small and within the preset value range, it means that the movable workpiece 4 is currently centered. The movable workpiece 4 is arranged on four sets of flexible supports 310; when the difference in compression of the four sets of support springs 311 is large and outside the preset value range, it means that the movable workpiece 4 is not arranged on the four sets of flexible supports 310 in the center. For example, the compression of one set of support springs 311 is the smallest, which means that the center of gravity of the movable workpiece 4 is closer to the support spring 311. The signal is transmitted to the central control module, and the staff fine-tunes the position of the movable workpiece 4 away from the support spring 311, so that the difference in compression of the four sets of support springs 311 is within the preset range, thereby improving the support stability of the flexible supports 310 on the movable workpiece 4 and preventing the movable workpiece 4 from tipping over during docking. Secondly, the laser positioning sensor 109 is started to accurately measure the preset final position of the movable workpiece 4 in three-dimensional space, providing an accurate reference point for the subsequent motion trajectory of the movable workpiece 4. Then, the moving motor 106 is controlled to start, so that the movable plate 201 drives the docking platform to move up and down along the Z-direction slide rail 104, and the movable workpiece 4 is controlled to be at a predetermined height in the Z-axis direction and remain stable. Then, the multiple sets of X-direction electromagnetic slide rails 203 and the Y-direction electromagnetic slide rails 207 are controlled to be energized, so that the docking platform moves accurately in the XY plane, that is, the movable workpiece 4 is driven to move to a preset position in the X-axis direction and the Y-axis direction. Subsequently, the rotating motor 309 is started and drives the double cross universal joint 308 to rotate around the Z-axis. The double cross universal joint 308 drives the docking platform to rotate around the Z-axis to a suitable angle, and controls the multiple sets of telescopic cylinders 302 to start and the output end extends to a preset length. At the same time, the large spherical hinge 305 rotates to achieve precise pitch and tilt of the docking platform, and the movable workpiece is completed. The laser positioning sensor 109 accurately positions the movable workpiece 4 in three-dimensional space. Finally, after the movable workpiece 4 completes the predetermined motion trajectory, the laser positioning sensor 109 accurately scans the motion end position of the movable workpiece 4 and collects its spatial coordinate data. The central control module compares and analyzes the real-time data collected by the laser positioning sensor 109 with the preset final position data. If the detection result shows that the spatial positioning of the movable workpiece 4 is accurate and meets the requirements of the docking process, the staff can proceed to the next docking operation to ensure accurate assembly between the workpieces. If the detection result finds that there is a deviation in the position of the movable workpiece 4 and it does not meet the accuracy requirements, then it is necessary to re-execute the above-mentioned motion process and fine-tune the position of the movable workpiece 4 to ensure that the movable workpiece 4 can be accurately moved to the correct position.During the above movement process, by coordinated adjustment of the carrier component 1, the displacement component 2 and the docking component 3, precise adjustment of any position and angle of the movable workpiece 4 can be achieved, thereby improving the docking installation accuracy of the movable workpiece 4 and thereby improving the overall quality and performance of the product.

[0027] When the movable workpiece 4 and the fixed workpiece 6 are docked, if there is a high requirement for accuracy, the conventional laser positioning sensor 109 is often difficult to meet the requirement, because the positioning accuracy of the laser positioning sensor 109 can usually only reach the millimeter level. In this case, the laser positioning sensor 109 may produce a certain error, thereby affecting the accuracy and safety of the docking. In order to solve this problem, the flexible support 310 can be used to adaptively eliminate this error, specifically: Figure 7 As shown, a fixed workpiece 6 is provided on the side of the movable workpiece 4 away from the flexible support 310, and the fixed workpiece 6 is installed and stationary. When the docking platform drives the movable workpiece 4 to approach the fixed workpiece 6, if the movable workpiece 4 encounters an obstruction, its displacement cannot be carried out smoothly, which indicates that there is a certain error in the positioning of the movable workpiece 4. The error signal will be transmitted to the central control module, and the central control module will prompt the staff to fine-tune the movable workpiece 4 to eliminate the error. The staff applies a slight squeezing force to the movable workpiece 4. Under the action of the squeezing force, the supporting spring 311 inside the flexible support 310 can be flexibly and finely adjusted in multiple directions, prompting the movable workpiece 4 to move back and forth within the error range until the docking platform can send the movable workpiece 4 into the fixed workpiece 6 to complete the docking work, thereby eliminating the error caused by the accuracy limitation of the laser positioning sensor 109, and ensuring that the movable workpiece 4 will not be damaged when encountering an obstruction, while ensuring the safety of the docking process and further improving the docking accuracy.

[0028] Embodiment 2: This embodiment also discloses a docking method of a multi-degree-of-freedom docking platform, comprising the following steps: Step 1: The staff installs the movable workpiece 4 on the four sets of flexible supports 310 through a special hanger. When the difference in the compression amount of the four sets of support springs 311 is small and within the preset value range, it means that the movable workpiece 4 is now centrally arranged on the four sets of flexible supports 310; Step 2: When the difference in compression of the four groups of support springs 311 is large and outside the preset range, it means that the movable workpiece 4 is not centrally arranged on the four groups of flexible supports 310, and the position of the movable workpiece 4 is controlled to be fine-tuned to make the difference in compression of the multiple groups of support springs 311 within the preset range; Step 3: Control the moving motor 106 to start, so that the movable plate 201 drives the docking platform to move up and down along the Z-direction slide rail 104, and control the movable workpiece 4 to be at a predetermined height in the Z-axis direction and remain stable; The plurality of sets of X-direction electromagnetic slide rails 203 and Y-direction electromagnetic slide rails 207 are energized to drive the movable workpiece 4 to move to a preset position in the X-axis direction and the Y-axis direction; The rotating motor 309 starts and drives the double cross universal joint 308 to rotate around the Z axis. The double cross universal joint 308 drives the docking platform to rotate around the Z axis to a suitable angle, and controls the multiple sets of telescopic cylinders 302 to start and extend the output end to a preset length. At the same time, the large spherical hinge 305 rotates to achieve precise pitch and tilt of the docking platform. Step 4: When the docking platform drives the movable workpiece 4 close to the fixed workpiece 6, if the movable workpiece 4 encounters obstruction, it indicates that there is a certain error in the positioning of the movable workpiece 4. The staff applies a slight squeezing force to the movable workpiece 4. Under the action of the squeezing force, the support spring 311 inside the flexible support 310 can be flexibly and finely adjusted in multiple directions.

[0029] By further limiting the docking method of the multi-degree-of-freedom docking platform, the docking accuracy is improved, the safety of the docking process is guaranteed, and the product quality is improved.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom docking platform, characterized in that: It comprises two groups of carrier components (1), a displacement component (2) is provided between the two groups of carrier components (1), and a docking component (3) is provided on the displacement component (2); The carrier assembly (1) comprises two columns (101), a reinforcing rod (102) is connected between the tops of the two columns (101), a fixing rod (103) is connected between the bottoms, and a laser positioning sensor (109) is provided on one side of the two columns (101) close to the displacement assembly (2), and a Z-direction slide rail (104) is provided on the opposite end faces; The displacement assembly (2) comprises a movable plate (201), and movable blocks (202) are provided at four corners of the movable plate (201), and the movable blocks (202) are slidably connected to the Z-direction slide rail (104); The docking assembly (3) comprises a base (301), on which a plurality of telescopic cylinders (302) arranged in a circular array are provided, and output ends of the plurality of telescopic cylinders (302) are each provided with a small spherical hinge (303).

2. The multi-degree-of-freedom docking platform according to claim 1, characterized in that: A coupling (105) is provided on the fixed rod (103); a movable motor (106) is provided on one input end of the coupling (105); a threaded rod (107) is provided on one output end of the coupling (105); an end of the threaded rod (107) away from the coupling (105) is fixedly connected to the reinforcing rod (102); a connecting block (108) is sleeved on the threaded rod (107); and an upper end surface of the connecting block (108) is fixedly connected to a lower end surface of the movable plate (201).

3. The multi-degree-of-freedom docking platform according to claim 1, characterized in that: The movable plate (201) is provided with a plurality of groups of X-direction electromagnetic slide rails (203), each of the plurality of groups of X-direction electromagnetic slide rails (203) is slidably connected to an X-direction slider (204), one end of the X-direction slider (204) away from the X-direction electromagnetic slide rail (203) is connected to a movable plate (205), a connecting hole (206) is provided at the center of the movable plate (205), a plurality of groups of Y-direction electromagnetic slide rails (207) are slidably connected to a Y-direction slider (208), and one end of the Y-direction slider (208) away from the Y-direction electromagnetic slide rail (207) is fixedly connected to the base (301).

4. The multi-degree-of-freedom docking platform according to claim 1, characterized in that: A docking hole (304) is provided at the center of the base (301), a large spherical hinge (305) is provided on the docking hole (304), an end of the large spherical hinge (305) away from the base (301) is connected to a top plate (306), a slideway (307) is provided on the lower end surface of the top plate (306), and a small spherical hinge (303) is slidably connected inside the slideway (307).

5. The multi-degree-of-freedom docking platform according to claim 1, characterized in that: A double cross universal joint (308) is provided at the center of the upper end surface of the movable plate (201), a rotating motor (309) is provided at the input end of the double cross universal joint (308), and one end of the double cross universal joint (308) away from the movable plate (201) passes through the docking hole (304) and the connecting hole (206) and is fixedly connected to the top plate (306).

6. The multi-degree-of-freedom docking platform according to claim 4, characterized in that: A plurality of groups of flexible supports (310) are provided on the top plate (306), movable workpieces (4) are provided on the plurality of groups of flexible supports (310), and a fixed workpiece (6) is provided on a side of the movable workpiece (4) away from the flexible supports (310).

7. The multi-degree-of-freedom docking platform according to claim 6, characterized in that: A supporting spring (311) is provided inside the flexible support (310).

8. The multi-degree-of-freedom docking platform according to claim 1, characterized in that: A connecting rod (5) is provided between the two groups of carrier components (1).

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