Multi-degree-of-freedom docking platform

Abstract

This invention belongs to the field of workpiece installation and adjustment technology, specifically a multi-degree-of-freedom docking platform. It includes two sets of carrier components, with a displacement component between them, and a docking component mounted on the displacement component. Each carrier component includes two columns, with a reinforcing rod between the tops and a fixing rod between the bottoms of the two columns. A laser positioning sensor is located on one side of each column, and a Z-axis slide rail is located on their opposite end faces. The displacement component includes a movable plate with movable blocks at its four corners, which are slidably connected to the Z-axis slide rail. This invention, through the coordinated operation of the carrier components, the movable component, and the docking component, enables precise adjustment of any position and angle of the moving workpiece, improving the docking and installation accuracy of the moving workpiece, thereby enhancing the overall quality and performance of the product while ensuring the safety of the docking process.

Description

Technical Field

[0001] This invention belongs to the field of workpiece installation and adjustment technology, specifically a multi-degree-of-freedom docking platform. Background Technology

[0002] A multi-degree-of-freedom (DOF) docking platform is a device capable of free movement in multiple directions, typically including linear and rotational motion, to perform automated installation and docking. In industrial manufacturing, DDF docking platforms can be applied to various scenarios. For example, in automobile manufacturing, they can be used to automatically install large components such as engines and transmissions; in electronics manufacturing, they can be used to assemble precision circuit boards; and in aerospace, they can be used to assemble and dock various aircraft components.

[0003] Chinese patent application number 201821924467.5 discloses a multi-degree-of-freedom (DOF) installation and docking platform. This platform includes a bottom frame assembly, a horizontally moving frame assembly, a lifting frame assembly, and a rotating frame assembly. The bottom frame assembly can move along the X-axis, the horizontally moving frame assembly can move along the Y-axis, the lifting frame assembly can move along the Z-axis, and the rotating frame assembly can rotate along the Z-axis, thereby enabling multi-angle adjustment of the workpiece to meet installation or docking requirements. However, this docking platform is difficult to operate and has poor docking accuracy.

[0004] Due to assembly requirements, when making fine adjustments to the position of some large moving workpieces, the traditional docking method usually involves using a gantry to hoist the moving workpiece. Workers can only rely on experience to visually estimate and push the moving workpiece closer to the fixed workpiece to complete the position adjustment of the moving workpiece, which directly affects the docking accuracy and quality between the moving and fixed workpieces, and the docking process also poses certain safety hazards. Summary of the Invention

[0005] To address the above problems, this invention provides a multi-degree-of-freedom docking platform to solve the issues raised in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-degree-of-freedom docking platform, comprising two sets of carrier components, a displacement component between the two sets of carrier components, and a docking component on the displacement component;

[0007] The carrier assembly includes two columns, with a reinforcing rod connecting the tops of the two columns and a fixing rod connecting the bottoms of the two columns. A laser positioning sensor is provided on the side of the two columns near the displacement assembly, and a Z-axis slide rail is provided on the opposite end face.

[0008] The displacement component includes a movable plate, and movable blocks are provided at the four corners of the movable plate. The movable blocks are slidably connected to the Z-axis slide rail.

[0009] The docking assembly includes a base on which multiple telescopic cylinders are arranged in a circular array, and each of the multiple telescopic cylinders has a small spherical hinge at its output end.

[0010] Preferably, the fixed rod is provided with a coupling, a moving motor is provided at one input end of the coupling, a threaded rod is provided at one output end of the coupling, the end of the threaded rod away from the coupling is fixedly connected to a reinforcing rod, a connecting block is sleeved on the threaded rod, and the upper end face of the connecting block is fixedly connected to the lower end face of the movable plate.

[0011] Preferably, the movable plate is provided with multiple sets of X-axis electromagnetic slide rails, and each set of X-axis electromagnetic slide rails is slidably connected to an X-axis slider. The end of the X-axis slider away from the X-axis electromagnetic slide rail is connected to a movable plate. A connecting hole is opened at the center of the movable plate. The movable plate is provided with multiple sets of Y-axis electromagnetic slide rails, and each set of Y-axis electromagnetic slide rails is slidably connected to a Y-axis slider. The end of the Y-axis slider away from the Y-axis electromagnetic slide rail is fixedly connected to the base.

[0012] Preferably, a docking hole is provided at the center of the base, a large spherical hinge is provided on the docking hole, a top plate is connected to the end of the large spherical hinge away from the base, a slide rail is provided on the lower end face of the top plate, and a small spherical hinge is slidably connected inside the slide rail.

[0013] Preferably, a double cross universal joint is provided at the center of the upper surface of the movable plate, and a rotary motor is provided at the input end of the double cross universal joint. The 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.

[0014] Preferably, the top plate is provided with multiple sets of flexible supports, and movable workpieces are provided on the multiple sets of flexible supports. A fixed workpiece is provided on the side of the movable workpiece away from the flexible support.

[0015] Preferably, the flexible support has a supporting spring inside.

[0016] Preferably, a connecting rod is provided between the two sets of carrier components.

[0017] Compared with the prior art, the beneficial effects of this application are as follows:

[0018] 1. By setting up a carrier component, a moving component, and a docking component to cooperate with each other, the present invention can achieve precise adjustment of any position and angle of the moving workpiece, improve the docking and installation accuracy of the moving workpiece, and thus improve the overall quality and performance of the product.

[0019] 2. This invention uses the compression change value of the support spring to identify whether the installation position of the moving workpiece is accurate. When the compression difference of multiple sets of support springs is outside the preset range, it indicates that the moving workpiece is not centered. The position of the moving workpiece is finely adjusted to make the compression difference of multiple sets of support springs within the preset range, thereby improving the support stability of the flexible support for the moving workpiece and preventing the moving workpiece from tipping over during docking.

[0020] 3. This invention eliminates the error caused by the accuracy limitation of the laser positioning sensor by setting a support spring to adaptively eliminate the error. When the moving workpiece encounters obstruction during docking, it indicates that there is an error in the positioning of the moving workpiece. The moving workpiece is controlled to move back and forth within the error range until it is sent into the fixed workpiece. This ensures that the moving workpiece will not be damaged when it encounters obstruction, and at the same time ensures the safety of the docking process, further improving the docking accuracy. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom docking platform;

[0022] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the internal structure of the present invention from the right side.

[0024] Figure 4 This is a schematic diagram of the displacement component structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the docking component structure of the present invention;

[0026] Figure 6 This is an exploded view of the docking assembly of the present invention;

[0027] Figure 7 This is a schematic diagram of the docking of the moving workpiece and the fixed workpiece of the present invention.

[0028] In the diagram: 1. Carrier assembly; 101. Column; 102. Reinforcing rod; 103. Fixing rod; 104. Z-axis slide rail; 105. Coupling; 106. Moving 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 element 207. Hole; 208. Y-axis electromagnetic slide rail; 3. Y-axis slider; 3. Docking assembly; 301. Base; 302. Telescopic cylinder; 303. Small spherical hinge; 304. Docking hole; 305. Large spherical hinge; 306. Top plate; 307. Slide rail; 308. Double cross universal joint; 309. Rotating motor; 310. Flexible support; 311. Support spring; 4. Moving workpiece; 5. Connecting rod; 6. Fixed workpiece. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1:

[0031] like Figure 1-2 , Figure 7 As shown, a multi-degree-of-freedom docking platform is defined with the length, width, and height directions of the platform as the X-axis, Y-axis, and Z-axis, respectively. It includes two sets of carrier components 1. The carrier components 1 provide 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. The displacement component 2 is provided between the two sets of carrier components 1. 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 provided on the displacement component 2. The docking component 3 is used to realize the functions of rotation, pitch, and tilt of the moving workpiece 4 to complete the docking and installation of the moving workpiece 4.

[0032] like Figure 2As shown, a connecting rod 5 is provided between the two sets of carrier components 1. The carrier component 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 their bottoms. The setting of the connecting rod 5, the reinforcing rod 102 and the fixing rod 103 improves the stability and safety of the carrier component 1. A laser positioning sensor 109 is provided on the side of the two columns 101 near the displacement component 2. A Z-axis slide rail 104 is provided on the opposite end face. The laser positioning sensor 109 is used to position the spatial position of the moving workpiece 4. The displacement component 2 includes a movable plate 201. Movable blocks 202 are provided at the four corners of the movable plate 201. The movable blocks 202 are slidably connected to the Z-axis slide rail 104. The movable plate 201 can move up and down along the Z-axis slide rail 104.

[0033] A coupling 105 is provided on the fixed rod 103. 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. A connecting block 108 is sleeved on the threaded rod 107. The upper end face of the connecting block 108 is fixedly connected to the lower end face of the movable plate 201. When the moving motor 106 is started, it 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 up and down movement of the connecting block 108 in the Z-axis direction drives the movable plate 201 to move up and down along the Z-axis slide rail 104. Therefore, the vertical displacement of the docking platform can be controlled by the moving motor 106.

[0034] Furthermore, such as Figure 3-4 As shown, the movable plate 201 is equipped with multiple sets of X-axis electromagnetic slide rails 203, and X-axis sliders 204 are slidably connected to each set of X-axis electromagnetic slide rails 203. A movable plate 205 is connected to the end of the X-axis slider 204 away from the X-axis electromagnetic slide rail 203. When the multiple sets of X-axis electromagnetic slide rails 203 are energized, they drive the X-axis sliders 204 to move simultaneously along the X-axis. The movement of the X-axis sliders 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 05 is equipped with multiple sets of Y-axis electromagnetic slide rails 207, and each set of Y-axis electromagnetic slide rails 207 is slidably connected to a Y-axis slider 208. The end of the Y-axis slider 208 away from the Y-axis electromagnetic slide rail 207 is fixedly connected to the base 301. When the multiple sets of Y-axis electromagnetic slide rails 207 are energized, they drive the Y-axis slider 208 to move simultaneously along the Y-axis direction. The movement of the Y-axis slider 208 drives the base 301 to move synchronously. In the above process, by controlling the energization of the X-axis electromagnetic slide rail 203 and the Y-axis electromagnetic slide rail 207, the horizontal displacement of the docking platform in the XY plane can be controlled.

[0035] Furthermore, such as Figure 5-6As shown, the docking assembly 3 includes a base 301, on which multiple telescopic cylinders 302 arranged in a circular array are mounted. Each telescopic cylinder 302 has a small spherical hinge 303 at its output end. When the telescopic cylinders 302 are activated, their output ends drive the small spherical hinges 303 to move up and down. A docking hole 304 is provided at the center of the base 301, and a large spherical hinge 305 is mounted on the docking hole 304. The end of the large spherical hinge 305 away from the base 301 is connected to a top plate 306. The large spherical hinge 305 has a certain degree of damping, allowing the docking assembly 3 to hover at any position within the conical range formed by the 30° angle between the docking assembly 3 and the Z-axis. A slide rail 307 is provided on the lower surface of the top plate 306. The internal sliding connection is a small ball hinge 303. A double cross universal joint 308 is provided at the center of the upper surface of the movable plate 201. A rotary 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 rotary 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 top plate 306 to rotate around the Z-axis. The top plate 306 drives the slide rail 307 to rotate synchronously. In the above process, by controlling the rotation of the double cross universal joint 308 around the Z-axis, the rotation of the top plate 306 can be achieved, and the docking platform can be rotated around the Z-axis.

[0036] The top plate 306 is provided with four sets of flexible supports 310. The flexible supports 310 are provided with support springs 311 inside. The four sets of flexible supports 310 are provided with movable workpieces 4. The top of the flexible supports 310 and the bottom of the movable workpieces 4 abut against each other, providing stable support for the movable workpieces 4.

[0037] In use, the multi-degree-of-freedom docking platform is externally connected to a central control module. The central control module 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 springs 311, it is determined whether the moving workpiece 4 is centered on the docking platform. Specifically, the operator uses a special hanger to install the moving workpiece 4 on the four sets of flexible supports 310. The moving workpiece 4 applies a compressive force to the support springs 311 inside the flexible supports 310 and moves downward a certain distance. When the difference in the compression of the four sets of support springs 311 is small and within the preset value range, it indicates that the moving workpiece 4 is centered on the platform. The moving workpiece 4 is centered on four sets of flexible supports 310. When the difference in compression between the four sets of support springs 311 is large and outside the preset range, it indicates that the moving workpiece 4 is not centered on the four sets of flexible supports 310. For example, if the compression of one set of support springs 311 is the smallest, it means that the center of gravity of the moving workpiece 4 is closer to that support spring 311. The signal is transmitted to the central control module, and the operator makes a fine adjustment to the position of the moving workpiece 4 away from that support spring 311, so that the difference in compression between the four sets of support springs 311 is within the preset range, thereby improving the support stability of the flexible supports 310 for the moving workpiece 4 and preventing the moving workpiece 4 from tipping over during docking. Next, the laser positioning sensor 109 is activated to accurately measure the preset final position of the moving workpiece 4 in three-dimensional space, providing an accurate reference point for the subsequent movement trajectory of the moving workpiece 4. Then, the movable motor 106 is started, causing the movable plate 201 to move the docking platform up and down along the Z-axis slide rail 104, controlling the movable workpiece 4 to remain stable at a predetermined height in the Z-axis direction. Next, multiple sets of X-axis electromagnetic slide rails 203 and Y-axis electromagnetic slide rails 207 are energized, enabling the docking platform to move precisely in the XY plane, that is, moving the movable workpiece 4 to the preset position in the X and Y axes. Subsequently, the rotary motor 309 is started, driving the double universal joint 308 to rotate around the Z-axis. The double universal joint 308 drives the docking platform to rotate around the Z-axis to a suitable angle, and multiple sets of telescopic cylinders 302 are started, extending the output end to a preset length. At the same time, the large spherical hinge 305 rotates, realizing the precise pitch and tilt of the docking platform, completing the movable workpiece. For precise positioning of workpiece 4 in three-dimensional space, after workpiece 4 completes the predetermined motion trajectory, the laser positioning sensor 109 precisely scans the end position of 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 workpiece 4 is accurate and meets the requirements of the docking process, the operator can proceed to the next docking operation to ensure the precise assembly between workpieces. If the detection result finds that the position of workpiece 4 is deviated and does not meet the accuracy requirements, then the above motion process needs to be repeated to fine-tune the position of workpiece 4 to ensure that workpiece 4 can move accurately to the correct position.During the aforementioned movement, by coordinating the adjustment of the carrier component 1, the displacement component 2, and the docking component 3, the precise adjustment of any position and angle of the moving workpiece 4 can be achieved, thereby improving the docking and installation accuracy of the moving workpiece 4 and thus enhancing the overall quality and performance of the product.

[0038] When the moving workpiece 4 and the fixed workpiece 6 are docked, if high precision is required, conventional laser positioning sensors 109 often cannot meet the requirements because their positioning accuracy is typically only at the millimeter level. In this case, the laser positioning sensor 109 may produce certain errors, thus affecting the accuracy and safety of the docking. To solve this problem, a 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. The fixed workpiece 6 is installed and fixed in place. When the docking platform moves the movable workpiece 4 close to the fixed workpiece 6, if the movable workpiece 4 encounters obstruction, causing its displacement to be unable to proceed smoothly, this 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. The central control module prompts the operator to make fine adjustments to the movable workpiece 4 to eliminate the error. The operator 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 make flexible and fine adjustments in multiple directions, causing 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. This eliminates the error caused by the accuracy limitation of the laser positioning sensor 109 and ensures that the movable workpiece 4 will not be damaged when it encounters obstruction. At the same time, it ensures the safety of the docking process and further improves the docking accuracy.

[0039] Example 2:

[0040] This embodiment also discloses a docking method for a multi-degree-of-freedom docking platform, including the following steps:

[0041] Step 1: The staff uses a special hanger to install the movable workpiece 4 on the four sets of flexible supports 310. When the compression difference of the four sets of support springs 311 is small and within the preset value range, it means that the movable workpiece 4 is centered on the four sets of flexible supports 310.

[0042] Step 2: When the compression difference of the four sets of support springs 311 is large and outside the preset value range, it indicates that the movable workpiece 4 is not centered on the four sets of flexible supports 310. The position of the movable workpiece 4 is finely adjusted to make the compression difference of the multiple sets of support springs 311 within the preset range.

[0043] Step 3: Start the moving motor 106 to make the movable plate 201 drive the docking platform to move up and down along the Z-axis slide rail 104, and control the movable workpiece 4 to stay at a predetermined height in the Z-axis direction and keep it stable.

[0044] Multiple sets of X-axis electromagnetic slide rails 203 and Y-axis electromagnetic slide rails 207 are energized, driving the moving workpiece 4 to move to the preset position in the X-axis and Y-axis directions;

[0045] 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 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.

[0046] Step 4: When the docking platform moves 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 operator 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 make flexible and fine adjustments in multiple directions.

[0047] By further defining the docking methods of multi-degree-of-freedom docking platforms, docking accuracy can be improved, the safety of the docking process can be guaranteed, and product quality can be enhanced.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom docking platform, characterized in that: It includes two sets of carrier components (1), a displacement component (2) is provided between the two sets of carrier components (1), and a docking component (3) is provided on the displacement component (2); The carrier assembly (1) includes 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 the side of the two columns (101) near the displacement assembly (2), and a Z-axis slide rail (104) is provided on the opposite end face. The displacement component (2) includes a movable plate (201), and movable blocks (202) are provided at the four corners of the movable plate (201). The movable blocks (202) are slidably connected to the Z-axis slide rail (104). The docking assembly (3) includes a base (301), on which a plurality of telescopic cylinders (302) are arranged in a circular array, and the output ends of the plurality of telescopic cylinders (302) are provided with small spherical hinges (303). The movable plate (201) is provided with multiple sets of X-direction electromagnetic slide rails (203), and each set of X-direction electromagnetic slide rails (203) is slidably connected to an X-direction slider (204). The 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 opened at the center of the movable plate (205). The movable plate (205) is provided with multiple sets of Y-direction electromagnetic slide rails (207), and each set of Y-direction electromagnetic slide rails (207) is slidably connected to a Y-direction slider (208). The end of the Y-direction slider (208) away from the Y-direction electromagnetic slide rail (207) is fixedly connected to the base (301). The base (301) has a docking hole (304) at its center. A large spherical hinge (305) is provided on the docking hole (304). The end of the large spherical hinge (305) away from the base (301) is connected to a top plate (306). A slide rail (307) is provided on the lower end face of the top plate (306). A small spherical hinge (303) is slidably connected inside the slide rail (307). The upper surface of the movable plate (201) is provided with a double cross universal joint (308), the input end of the double cross universal joint (308) is provided with a rotating motor (309), and the 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); The top plate (306) is provided with multiple sets of flexible supports (310), and the multiple sets of flexible supports (310) are provided with movable workpieces (4). The movable workpieces (4) are provided with fixed workpieces (6) on the side away from the flexible supports (310). The flexible support (310) is equipped with a support spring (311) inside.

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

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

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