Large cabin attitude adjusting and docking device

Abstract

The invention relates to a large cabin attitude adjusting and docking device which comprises a movable platform assembly and a supporting platform assembly, the supporting platform assembly comprises at least two lifting mechanisms and a two-layer base body installed on the movable platform assembly, and the lifting mechanisms are arranged in the length direction of the two-layer base body; each lifting mechanism comprises a lifting assembly connected to the second-layer base body and at least two lead screws arranged in the width direction of the second-layer base body, and the lead screws are vertically arranged and are in threaded connection with the lifting assembly. The lower ends of the profiling pieces are rotationally connected to the upper ends of the corresponding lead screws at the same time. By the adoption of the technical scheme, the technical problems that an existing docking device of large cabin equipment is poor in flexibility, low in precision and complex in operation can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of docking assembly platforms, and in particular to a large cabin section attitude adjustment docking device. Background Art

[0002] In the fields of aerospace and marine engineering, when docking and adjusting the attitude of large cabin equipment, the docking devices usually used rely on fixed tracks or linear moving platforms. During the cabin docking process, only linear movement is carried out by the platform or track. During the attitude adjustment and docking process, the docking angle needs to be adjusted back and forth many times. These devices have problems such as poor flexibility, low precision, and complex operation when performing large-scale attitude adjustment. Summary of the invention

[0003] Aiming at the technical problems that the existing docking devices of large cabin equipment have poor flexibility, low precision and complex operation, the present invention provides a large cabin posture adjustment docking device.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: A large-section attitude adjustment and docking device comprises a mobile platform assembly and a support platform assembly, wherein the support platform assembly comprises at least two lifting mechanisms and a two-layer base installed on the mobile platform assembly, wherein each of the lifting mechanisms is arranged along the length direction of the two-layer base, and each of the top ends is rotatably connected to a profiling member having an upper opening structure, wherein each of the lifting mechanisms comprises a lifting component connected to the two-layer base and at least two lead screws arranged along the width direction of the two-layer base, wherein the lead screws are vertically arranged and threadedly connected to the lifting component, and the lower end of the profiling member is simultaneously rotatably connected to the upper end of each corresponding lead screw.

[0005] The beneficial effects of the present invention are as follows: a large cabin section is supported by a plurality of contoured parts. During the support, the axis center line of the large cabin section on the contoured part can be slightly moved by rotating a lead screw arranged perpendicular to the length direction of the second-layer substrate, thereby completing the posture adjustment operation of the large cabin section, thereby improving the technical problems in the prior art that the linear movement can only be performed by a platform or a track, and there are poor flexibility, low precision, and complex operation.

[0006] Based on the above technical solution, the present invention can also be improved as follows.

[0007] Furthermore, the lifting assembly includes a base plate whose two ends are connected to the two-layer base, a lifting plate located above the base plate, a plurality of second guide shafts whose lower ends are slidably connected to the base plate and whose upper ends are fixedly connected to the lifting plate, and an electric push rod installed on the base plate, the output end of the electric push rod is connected to the lifting plate, and the lead screw is threadedly connected to the lifting plate and slidably connected to the base plate.

[0008] The beneficial effect of adopting the above further scheme is that while the angle of the contour piece is changed by rotating the screw rod, the lifting plate can be pushed and pulled by the electric push rod, so that the contour piece can rise or fall in the vertical direction, so as to further improve the technical problems in the prior art that the platform can only make large cabin sections move linearly, and has poor flexibility, low precision and complex operation.

[0009] Furthermore, the lifting assembly is slidably connected to the second-layer base, and the lifting assembly is equipped with a track locker for applying pressure to the second-layer base.

[0010] The beneficial effect of adopting the above further scheme is: in the process of supporting the large cabin section by each contour member, the spacing between adjacent contour members can be changed by sliding the lifting assembly to drive the contour members to move, so as to change the supporting effect on the large cabin section. After sliding the lifting assembly, the lifting assembly can be limited by the track locker to prevent the lifting assembly from sliding naturally, so as to ensure that the lifting assembly forms a stable support for the large cabin section.

[0011] Furthermore, the mobile platform assembly includes an omnidirectional mobile platform and at least two attitude adjustment platforms, each of the attitude adjustment platforms is spaced apart along the length direction of the omnidirectional mobile platform, and the lower ends are fixedly connected to the omnidirectional mobile platform, and the upper ends are supported on the two-layer base.

[0012] The beneficial effect of adopting the above further scheme is: using the omnidirectional mobile platform as the support basis, and each attitude adjustment platform as the support transfer point, after each contoured part supports the large cabin section, it can be moved by the omnidirectional mobile platform to achieve the docking operation.

[0013] Furthermore, each of the posture adjustment platforms includes a first base plate fixedly connected to the omnidirectional mobile platform, a second base plate horizontally slidably connected to the first base plate, a third base plate horizontally slidably connected to the second base plate, and a spherical pair vertically slidably connected to the third base plate, the two-layer base is connected to the spherical pair, and the sliding directions of the second base plate and the third base plate are perpendicular to each other.

[0014] The beneficial effect of adopting the above-mentioned further scheme is that when the second-layer base is supported by the attitude adjustment platform, the second-layer base and the large cabin section supported by each contour member can be driven to move on the horizontal plane through the sliding action of the second bottom plate and the sliding action of the third bottom plate, so as to adjust the extension direction and horizontal swing angle of the large cabin section on the horizontal plane. At the same time, the vertical movement action of the spherical pair is utilized to change the support height of each arranged contour member, so as to further adjust the pitch angle of the supported large cabin section, thereby quickly realizing the attitude adjustment operation of the large cabin section.

[0015] Furthermore, the omnidirectional mobile platform includes a base layer and at least two omnidirectional walking mechanisms spaced apart and supported on the base layer, and the upper end of each of the omnidirectional walking mechanisms is fixedly connected to the side surface of the base layer.

[0016] The beneficial effect of adopting the above further scheme is that when the docking operation of a large cabin section is realized by the movement of the omnidirectional mobile platform, the movement direction can be independently adjusted by each omnidirectional walking mechanism to achieve rapid posture adjustment.

[0017] Furthermore, the omnidirectional walking mechanism includes a suspension component fixedly connected to the one-layer substrate, a slewing gear rotatably connected to the lower side of the suspension component, and a slewing gear train installed on the lower side of the slewing gear.

[0018] The beneficial effect of adopting the above further scheme is that when the docking operation of large cabin sections is realized by the movement of the omnidirectional mobile platform, the slewing gear can be driven to rotate to drive the slewing gear train to rotate, so that each omnidirectional walking mechanism can independently adjust the moving direction to realize rapid posture adjustment operation.

[0019] Furthermore, the suspension assembly includes a suspension upper plate fixedly connected to the one layer of the base, a suspension lower plate located at the lower side of the suspension upper plate, a plurality of first guide shafts whose upper ends are slidably connected to the suspension upper plate and whose lower ends are fixedly connected to the suspension lower plate, and a plurality of positioning telescopic rods, the upper and lower ends of each positioning telescopic rod being fixedly connected to the suspension upper plate and the suspension lower plate respectively, each positioning telescopic rod being sleeved with a spring located between the suspension upper plate and the suspension lower plate, and the rotating gear being rotationally connected to the suspension lower plate.

[0020] The beneficial effect of adopting the above further scheme is that when loaded, the gravity of the large cabin section is transmitted to each positioning telescopic rod, so that the upper suspension plate and the lower suspension plate move toward each other, the positioning telescopic rod contracts, and the spring is compressed to achieve shock absorption.

[0021] Furthermore, the omnidirectional mobile platform also includes at least two groups of lifting mechanisms that are arranged at intervals and are all supported on the one layer of the base. Each of the lifting mechanisms includes an adapter plate fixedly connected to the one layer of the base, a plurality of elevators installed on the adapter plate, and a plurality of lifting rods. The plurality of lifting rods are installed one by one on the plurality of elevators and are driven to rise and fall by the corresponding elevators.

[0022] The beneficial effect of adopting the above-mentioned further scheme is: after being moved into position through the omnidirectional walking mechanism, when performing the attitude adjustment operation of the lifting mechanism and the attitude adjustment platform, the entire large cabin attitude adjustment docking device can be stably supported by supporting it on the ground through the jacking rod, so as to ensure the stability and accuracy of the docking and attitude adjustment operations.

[0023] Furthermore, the lifting mechanism also includes a lifting motor installed on the first layer of the base, a lifting reducer whose input end is transmission-connected to the lifting motor, and an output shaft whose one end is connected to the output end of the lifting reducer, and the other end of each output shaft is transmission-connected to the input end of each elevator.

[0024] The beneficial effect of adopting the above further scheme is: after the entire large cabin section attitude adjustment and docking device is stably supported, the jacking motor can be started, and the transmission of the jacking reducer and each output shaft can be utilized to achieve simultaneous driving of each elevator and simultaneous lifting of each jacking rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an axonometric diagram of the large cabin section posture adjustment docking device of the present invention; Figure 2 for Figure 1 A partial enlarged view of the first perspective; Figure 3 for Figure 1 A partial enlarged view of the second viewing angle; Figure 4 for Figure 3 A partial enlarged view of the middle A part; Figure 5 It is an axonometric diagram of the lifting mechanism of the large cabin section posture adjustment docking device of the present invention; Figure 6 for Figure 5 A partial enlarged view of part B in the middle; Figure 7 It is an axonometric view of the attitude adjustment platform of the large cabin attitude adjustment docking device of the present invention; Figure 8 for Figure 7 Enlarged view of the center left; Fig. 9 for Figure 7 Enlarged view of the center right; Fig.10 It is an axonometric diagram of the omnidirectional walking mechanism of the large cabin section posture adjustment and docking device of the present invention; Fig.11 It is an exploded view of the omnidirectional walking mechanism of the large cabin section posture adjustment and docking device of the present invention; Fig.12 for Fig.11 A partial enlarged view of the middle C part; Fig.13 The isometric view of the jacking mechanism of the large cabin section posture adjustment docking device of the present invention.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. One layer of matrix; 2. Omnidirectional walking mechanism; 21. Suspension assembly; 211. Suspension upper plate; 212. Suspension lower plate; 2121. Shock-absorbing plate; 2122. Suspension plate; 213. First guide shaft; 214. Positioning telescopic rod; 2141. Sleeve rod; 2142. Sliding rod; 215. Spring; 22. Rotary gear; 23. Rotary gear train; 231. Rotary motor; 232. Rubber-coated wheel; 233. Steering wheel; 24. Steering motor; 241. Steering pinion; 25. Encoder pinion; 251. Encoder; 3. Lifting mechanism; 31. Adapter plate; 32. Lifter; 33. Lifting rod; 34. Lifting motor; 35. Lifting reducer; 36. Output shaft; 4. Attitude adjustment platform; 41. First base plate; 411. Receiver plate; 42. Second base plate; 43. Third base plate; 44. Spherical pair; 45. Servo motor; 46. Synchronous belt transmission group; 461. Main synchronous wheel; 462. Synchronous belt; 463. Slave synchronous wheel; 47. Screw nut transmission group; 471. Nut screw; 472. Screw nut; 5. Second layer base; 51. Base slide rail; 6. Lifting mechanism; 61. Lifting assembly; 611. Base plate; 6111. Base slide seat; 612. Lifting plate; 613. Second guide shaft; 614. Electric push rod; 615. Track locker; 6151. Track lock plate; 6152. Bidirectional threaded rod; 6153. Track lock block; 62. Lead screw; 621. Articulated seat; 622. Handle; 7. Profiling piece; 71. Profiling base. DETAILED DESCRIPTION

[0027] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0028] Example 1 like Figures 1 to 6 A large cabin section attitude adjustment and docking device includes a mobile platform assembly and a support platform assembly. The support platform assembly includes at least two lifting mechanisms 6 and a two-layer base 5 installed on the mobile platform assembly. Each lifting mechanism 6 is arranged along the length direction of the two-layer base 5, and the top end is rotatably connected with a profiling member 7 with an upper opening structure. Each lifting mechanism 6 includes a lifting component 61 connected to the two-layer base 5 and at least two lead screws 62 arranged along the width direction of the two-layer base 5. The lead screw 62 is vertically arranged and threadedly connected to the lifting component 61. The lower end of the profiling member 7 is simultaneously rotatably connected to the upper end of each corresponding lead screw 62.

[0029] The beneficial effects of this embodiment are: a large cabin section is supported by a plurality of contoured parts 7. During the support, the axis center line of the large cabin section on the contoured part 7 can be slightly moved by rotating the lead screw 62 arranged perpendicular to the length direction of the second-layer base 5, so as to complete the posture adjustment operation of the large cabin section, thereby improving the technical problems in the prior art that the linear movement can only be performed by relying on a platform or a track, and there are poor flexibility, low precision and complex operation.

[0030] In this embodiment, the number of lead screws 62 of the same lifting mechanism 6 may be two, three, four, five, etc. Figure 5 Only two are shown. When adjusting the axial direction of the large compartment section, the lead screws 62 of the same lifting mechanism 6 are rotated so that the multiple lead screws 62 of the same lifting mechanism 6 rise to the same height, so that the contoured member 7 supported by the multiple lead screws 62 at the same time can be tilted, thereby adjusting the extension direction of the central axis of the large compartment section and achieving posture adjustment.

[0031] Figure 1 In the figure, the width direction of the second-layer base 5 is the X direction, which is the radial direction when the large compartment is supported; the length direction of the second-layer base 5 is the Y direction, which is the axial direction when the large compartment is supported.

[0032] Based on the above embodiment, the upper end of the lead screw 62 is fixedly connected to the hinge seat 621, and the lower end of the profiling member 7 is rotatably connected to the hinge seat 621 through a rotating shaft. A plurality of handles 622 are inserted outside the upper end of the lead screw 62 so that the lead screw 62 can be smoothly rotated by the handles 622.

[0033] Based on the above embodiment, the lower part of the profiling member 7 is detachably connected to the profiling base 71, the lower side of the profiling base 71 is rotatably connected to the hinge seat 621 through a rotating shaft, and the upper side is detachably connected to the profiling member 7 through a latch, so as to quickly replace the profiling member 7 in a detachable manner. As a parallel solution, the profiling member 7 and the profiling base 71 can also be detachably connected by means of snap connection, plug connection, etc.

[0034] The profiling member 7 can be an opening member with any shape structure and an upper opening structure, such as an upper opening structure member with an arc-shaped opening, a U-shaped opening, etc.

[0035] Example 2 like Figures 1 to 6On the basis of Example 1, the lifting assembly 61 includes a base plate 611 whose two ends are connected to the second-layer base 5, a lifting plate 612 located above the base plate 611, a plurality of second guide shafts 613 whose lower ends are slidably connected to the base plate 611 and whose upper ends are fixedly connected to the lifting plate 612, and an electric push rod 614 installed on the base plate 611, the output end of the electric push rod 614 is connected to the lifting plate 612, and the lead screw 62 is threadedly connected to the lifting plate 612 and slidably connected to the base plate 611.

[0036] The beneficial effect of adopting the preferred scheme in the above embodiment is that, while the angle of the contour member 7 is changed by rotating the screw 62, the lifting plate 612 can be pushed and pulled by the electric push rod 614, so that the contour member 7 can rise or fall in the vertical direction, so as to further improve the technical problems of the platform in the prior art that can only make large compartments move linearly, and there are poor flexibility, low precision and complex operation.

[0037] As a specific solution of the above embodiment, the second-layer base 5 is a frame structure, the cylinder body of the electric push rod 614 extends into the opening of the second-layer base 5, and the piston rod extends vertically upward to reduce the space occupancy rate of the lifting assembly 61 and the contour member 7 in the vertical direction. Relative to the arrangement in which the cylinder body of the electric push rod 614 is located above the second-layer base 5, the contour member 7 can reach the lowest position.

[0038] The piston rod of the electric push rod 614 is located in the middle of the base plate 611 and the lifting plate 612, and the second guide shaft 613 and the lead screw 62 can be provided with multiple, such as two, three, four, etc., distributed on both sides of the electric push rod 614 to achieve stable support for the contoured member 7.

[0039] In this embodiment, the second guide shaft 613 and the lead screw 62 can both slide relative to the lifting plate 612 via linear bearings.

[0040] Example 3 like Figures 3 to 6 On the basis of embodiments 1 and 2, the lifting assembly 61 is slidably connected to the second-layer substrate 5, and the lifting assembly 61 is installed with a track locker 615 for applying pressure to the second-layer substrate 5.

[0041] The beneficial effect of adopting the preferred scheme in the above embodiment is that, in the process of supporting the large compartment section by each contour member 7, the spacing between adjacent contour members 7 can be changed by sliding the lifting component 61 to drive the contour member 7 to move, so as to change the supporting effect on the large compartment section. After sliding the lifting component 61, the lifting component 61 can be limited by the track locker 615 to prevent the lifting component 61 from sliding naturally, so as to ensure that the lifting component 61 forms a stable support for the large compartment section.

[0042] On the basis of the above embodiment, a plurality of base slide rails 51 are extended and arranged on the upper side of the two-layer base 5 along its length direction, and the plurality of base slide rails 51 are arranged at intervals along the width direction (X direction) of the two-layer base 5. A plurality of base slide seats 6111 corresponding to and slidably connected to the plurality of base slide rails 51 are fixed on the lower sides of both ends of the base plate 611, so that the lifting assembly 61 can slide relative to the two-layer base 5 by means of the base slide seats 6111 being slidably connected to the base slide rails 51, and the relative positions of the contoured parts 7 can be quickly changed.

[0043] like Figure 3 The base slide rail 51 can be detachably mounted with the second-layer base 5 by bolts. The end of the base slide rail 51 horizontally extends out of the second-layer base 5, so that the base slide seat 6111 of the lifting assembly 61 can be quickly installed and removed from the end of the base slide rail 51.

[0044] As one of the parallel schemes of the above-mentioned embodiment, the track locker 615 includes a track locking plate 6151 which is detachably connected to the lower side of the track locker 615 by bolts, a bidirectional threaded rod 6152 whose two ends are rotatably connected to the track locking plate 6151, and two track locking blocks 6153 which are respectively threadedly connected to the bidirectional threaded rod 6152; the threads at both ends of the bidirectional threaded rod 6152 have opposite rotation directions; the two track locking blocks 6153 are both slidably connected to the track locking blocks 6153 and are located on both sides of the base slide rail 51; and one end of the bidirectional threaded rod 6152 passes through the track locking plate 6151 and extends out to form a rotating section.

[0045] When the lifting assembly 61 is limited by the track locker 615 , the rotating section of the bidirectional threaded rod 6152 can be rotated to make the two track locking blocks 6153 move toward each other and be clamped on the base slide rail 51 at the same time.

[0046] As a second parallel solution of the above embodiment, the track locker 615 includes a track locking plate 6151 detachably connected to the lower side of the track locker 615 by bolts and a limiting bolt vertically threadedly connected to the track locking plate 6151, and the limiting bolt extends downward toward the base slide rail 51.

[0047] When the lifting assembly 61 is limited by the rail locker 615 , the limiting bolt can be rotated so that the limiting bolt is pressed against the base slide rail 51 to achieve the limiting.

[0048] Example 4 like Figures 1 to 3 , Figures 7 to 9 On the basis of embodiments 1-3, the mobile platform assembly includes an omnidirectional mobile platform and at least two attitude adjustment platforms 4, each attitude adjustment platform 4 is spaced apart along the length direction of the omnidirectional mobile platform, and the lower ends are fixedly connected to the omnidirectional mobile platform, and the upper ends are supported on the second-layer base 5.

[0049] The beneficial effect of adopting the preferred solution in the above embodiment is that the omnidirectional mobile platform is used as the support basis, and each attitude adjustment platform 4 is used as a support transfer point. After each contoured member 7 supports the large cabin section, it can be moved by the omnidirectional mobile platform to achieve docking operation.

[0050] As a specific solution of the above embodiment, the number of the posture adjustment platforms 4 can be two, three, four, five, etc. When there are two or three, each posture adjustment platform 4 can be supported on the lower side of the two-layer base 5 at the same time; when there are four or more, each posture adjustment platform 4 is distributed at both ends of the length direction of the two-layer base 5 and on both sides of the width direction of the two-layer base 5, so as to realize the installation of the two-layer base 5 from the side of the two-layer base 5, and realize the installation relative to the omnidirectional mobile platform from the side, saving space.

[0051] Example 5 like Figures 1 to 3 , Figures 7 to 9 On the basis of embodiments 1-4, each posture adjustment platform 4 includes a first base plate 41 fixedly connected to the omnidirectional mobile platform, a second base plate 42 horizontally slidably connected to the first base plate 41, a third base plate 43 horizontally slidably connected to the second base plate 42, and a spherical pair 44 vertically slidably connected to the third base plate 43, the two-layer base 5 is connected to the spherical pair 44, and the sliding directions of the second base plate 42 and the third base plate 43 are perpendicular to each other.

[0052] The beneficial effect of adopting the preferred scheme in the above embodiment is that when the second-layer base 5 is supported by the attitude adjustment platform 4, the second-layer base 5 and the large cabin section supported by each contour member 7 can be driven to move on the horizontal plane through the sliding action of the second bottom plate 42 and the sliding action of the third bottom plate 43, so as to adjust the extension direction and horizontal swing angle of the large cabin section on the horizontal plane. At the same time, the vertical movement action of the spherical pair 44 is utilized to change the support height of each contour member 7 arranged along the Y direction, so as to further adjust the pitch angle of the supported large cabin section, thereby quickly realizing the attitude adjustment operation of the large cabin section.

[0053] In this embodiment, the second bottom plate 42 slides horizontally along the X direction, the third bottom plate 43 slides horizontally along the Y direction, and the spherical pair 44 slides vertically along the X direction.

[0054] The ball socket and the ball head of the spherical pair 44 can realize accurate centering rotation to ensure the accurate position of the motion platform.

[0055] In the embodiment of the present invention, four posture adjustment platforms 4 are provided, and two are arranged at both ends of the two-layer base 5 in the length direction, and the two posture adjustment platforms 4 at the same end of the two-layer base 5 are relatively distributed on both sides of the posture adjustment platform 4 in the width direction.

[0056] On the basis of the above embodiment, the lower ends of the two relative posture adjustment platforms 4 are fixedly connected with a receiving plate 411, and the receiving plate 411 is fixedly connected to the lower side of the omnidirectional mobile platform to improve the supporting stability through the omnidirectional mobile platform.

[0057] Based on the above embodiments, sliding connections are achieved between the first base plate 41 and the second base plate 42, between the second base plate 42 and the third base plate 43, and between the spherical pair 44 and the third base plate 43 by means of matching the slider with the track.

[0058] Specifically, at least two X-direction rails extending in the X direction are installed on the upper side of the first bottom plate 41, and the lower side of the second bottom plate 42 slides with the X-direction rails through the X-direction sliders. At least two Y-direction rails extending in the Y direction are installed on the upper side of the second bottom plate 42, and the third bottom plate 43 slides with the Y-direction rails through the Y-direction sliders.

[0059] At least two Z-direction rails extending along the Z-direction are installed on the side surface of the third bottom plate 43 , and the spherical pair 44 slides with the Z-direction rails via Z-direction sliders.

[0060] As one of the parallel solutions of the above embodiment, the sliding of the second base plate 42, the third base plate 43 and the spherical pair 44 can be driven by a driving assembly, and the driving assembly can be a linear driving member such as a cylinder or an electric cylinder to achieve linear driving. In this embodiment, the driving assembly is shown to be driven by a synchronous belt transmission group.

[0061] Furthermore, in order to ensure the stability of the servo motor output, the driving assembly includes a planetary reducer and a servo motor 45 , and the output shaft of the servo motor 45 is connected to the planetary reducer and fixed to the corresponding first base plate 41 , the second base plate 42 and the third base plate 43 .

[0062] Furthermore, in order to convert the rotation of the servo motor 45 into the linear motion required by the device, the drive assembly includes a synchronous belt drive group 46 and a lead screw nut drive group 47; The synchronous belt transmission group 46 includes a main synchronous wheel 461 connected to the output shaft of the planetary reducer, and a slave synchronous wheel 463 connected to the main synchronous wheel through a synchronous belt 462. The main synchronous wheel 461 and the slave synchronous wheel 463 are connected through the synchronous belt 462. The screw and nut transmission group 47 includes a nut screw 471 connected to the slave synchronous wheel 463 and a screw nut 472 connected to the nut screw 471. The screw nut 472 moves along the axis direction of the nut screw 471 as the nut screw 471 rotates.

[0063] Linear bearings are fixedly arranged on the first bottom plate 41, the second bottom plate 42 and the third bottom plate 43, and the guide shaft is adapted to the linear bearings and passes through the bearings to guide the guide shaft.

[0064] The upper end of the nut screw 471 vertically mounted on the third base plate 43 is connected to the spherical pair 44 to achieve the lifting and lowering of the spherical pair 44 .

[0065] Example 6 like Figure 1 , Figure 2 , Figures 10 to 12 On the basis of Examples 1-5, the omnidirectional mobile platform includes a substrate 1 and at least two omnidirectional walking mechanisms 2 spaced apart and supported on the substrate 1, and the upper end of each omnidirectional walking mechanism 2 is fixedly connected to the side of the substrate 1.

[0066] The beneficial effect of adopting the preferred scheme in the above embodiment is that when the docking operation of the large cabin section is realized by the movement of the omnidirectional mobile platform, the moving direction can be independently adjusted by each omnidirectional walking mechanism 2 to achieve rapid posture adjustment; and the upper end of the omnidirectional walking mechanism 2 is fixedly connected to the side of a layer of the base 1, so that the large cabin section can be supported at the lowest height, thereby increasing the docking range.

[0067] The number of the omnidirectional walking mechanisms 2 can be two, three, four, five, etc. In this embodiment, in order to achieve stable and balanced support for a layer of substrate 1, four omnidirectional walking mechanisms 2 are provided and distributed at both ends of the length direction of a layer of substrate 1 and located on both sides of a layer of substrate 1.

[0068] The first-layer substrate 1 is located directly below the second-layer substrate 5 .

[0069] Example 7 like Figure 1 and Figure 2 On the basis of Examples 1-6, the omnidirectional walking mechanism 2 includes a suspension assembly 21 fixedly connected to a layer of a substrate 1, a slewing gear 22 rotatably connected to the lower side of the suspension assembly 21, and a slewing gear train 23 installed on the lower side of the slewing gear 22.

[0070] The beneficial effect of adopting the preferred scheme in the above embodiment is that when the docking operation of the large cabin section is realized by the movement of the omnidirectional mobile platform, the slewing gear 22 can be driven to rotate, so as to drive the slewing gear train 23 to rotate, so that each omnidirectional walking mechanism 2 can independently adjust the moving direction to realize rapid posture adjustment operation.

[0071] Based on the above embodiment, the omnidirectional walking mechanism 2 also includes a steering motor 24 installed on the suspension lower plate 212 of the suspension assembly 21, and the output end of the steering motor 24 is transmission-connected to a steering pinion 241, and the steering pinion 241 is rotationally connected to the suspension lower plate 212 and meshes with the rotating gear 22.

[0072] When the omnidirectional walking mechanism 2 is driven to turn, the steering motor 24 is started to drive the steering pinion 241 to turn, thereby causing the slewing gear 22 to rotate, driving the slewing gear train 23, and the steering motor 24, the steering pinion 241 and the slewing gear 22 themselves to rotate with the central axis of the slewing gear 22 as the central axis of rotation, thereby adjusting the driving direction.

[0073] The output shaft of the steering motor 24 is drivingly connected to a steering reducer installed on the suspension lower plate 212 , and the steering pinion 241 is coaxially connected to the output end of the steering reducer.

[0074] On the basis of the above embodiment, the steering motor 24 is further communicatively connected to the control system so as to control the start and stop of the steering motor 24 through the control system, thereby realizing independent control of multiple omnidirectional walking mechanisms 2 .

[0075] On the basis of the above embodiment, the omnidirectional walking mechanism 2 further includes an encoder pinion 25 meshing with the rotary gear 22 . The encoder pinion 25 is rotatably connected to the suspension lower plate 212 and is connected to an encoder 251 installed on the suspension lower plate 212 .

[0076] During the process of adjusting the driving direction, the rotary gear 22 rotates, driving the encoder pinion 25 to rotate, and the rotation angle data is transmitted to the encoder 251. The encoder 251 records the data and can transmit it to the controller to realize real-time recording and observation of the steering angle.

[0077] The connection between the encoder pinion 25 and the encoder 251 is achieved by mechanical means, aiming to convert the movement of the mechanical device into an electrical signal for subsequent processing. The main connection methods include direct connection, coupling connection, flange connection, etc.

[0078] The encoder 251 is also communicatively connected to the control system so that the control system receives data transmitted by the encoder 251. The control system is also communicatively connected to a display module so that the data received by the control system can be displayed in real time through the display module.

[0079] As is common knowledge among those skilled in the art, the control system and the display module can be integrated on the same remote control panel.

[0080] On the basis of the above embodiment, the rotary gear train 23 includes a rotary motor 231, a rubber-coated wheel 232 and a steering wheel 233 installed on the suspension lower plate 212; the rubber-coated wheel 232 is rotatably connected to the shock-absorbing plate 2121 of the suspension lower plate 212, and is coaxially connected to the output end of the rotary motor 231.

[0081] Example 8 like Figures 10 to 12On the basis of Examples 1-7, the suspension assembly 21 includes a suspension upper plate 211 fixedly connected to a layer of a substrate 1, a suspension lower plate 212 located at the lower side of the suspension upper plate 211, a plurality of first guide shafts 213 whose upper ends are slidably connected to the suspension upper plate 211 and whose lower ends are fixedly connected to the suspension lower plate 212, and a plurality of positioning telescopic rods 214, the upper and lower ends of each positioning telescopic rod 214 being respectively fixedly connected to the suspension upper plate 211 and the suspension lower plate 212, each positioning telescopic rod 214 being sleeved with a spring 215 located between the suspension upper plate 211 and the suspension lower plate 212, and the slewing gear 22 being rotatably connected to the suspension lower plate 212.

[0082] The beneficial effect of adopting the preferred scheme in the above embodiment is that when loaded, the gravity of the large cabin section is transmitted to each positioning telescopic rod 214, causing the suspended upper plate 211 and the suspended lower plate 212 to move toward each other, the positioning telescopic rod 214 to contract, and the spring 215 to be compressed, thereby achieving shock absorption.

[0083] Based on the above embodiment, the suspension lower plate 212 includes a shock absorbing plate 2121 and two hanging plates 2122 detachably connected to the two ends of the shock absorbing plate 2121, and the two hanging plates 2122 are both located at the lower side of the shock absorbing plate 2121. The rotary gear 22 is rotatably connected to the lower side of the shock absorbing plate 2121; the lower end of the first guide shaft 213 is connected to the shock absorbing plate 2121 through a nut, the middle end is slidably connected to the shock absorbing plate 2121 through a sleeve, and the upper end is connected to the suspension upper plate 211 through a nut.

[0084] Each positioning telescopic rod 214 includes a vertically arranged sleeve rod 2141 and a slide rod 2142. The upper end of the sleeve rod 2141 is hingedly connected to a rod seat of the hanging upper plate 211, and the lower end is downwardly opened to form a slide hole; the upper end of the slide rod 2142 is adapted and slidably connected to the slide hole of the sleeve rod 2141, and the lower end is fixedly connected to the end of the hanging plate 2122. The spring 215 is sleeved on the lower ends of the sleeve rod 2141 and the slide rod 2142 at the same time.

[0085] When the shock absorbing operation is performed, the sleeve rod 2141 and the slide rod 2142 slide relative to each other, and the spring 215 is compressed.

[0086] Example 9 like Figure 1 , Figure 2 as well as Fig.13 On the basis of Examples 1-8, the omnidirectional mobile platform further includes at least two groups of lifting mechanisms 3 which are spaced apart and supported on a layer of substrate 1, each lifting mechanism 3 includes an adapter plate 31 fixedly connected to a layer of substrate 1, a plurality of lifts 32 installed on the adapter plate 31, and a plurality of lifting rods 33, the plurality of lifting rods 33 are installed one by one on the plurality of lifts 32, and are driven to rise and fall by the corresponding lifts 32.

[0087] The beneficial effect of adopting the preferred scheme in the above embodiment is that after being moved into position by the omnidirectional walking mechanism 2, when performing the attitude adjustment operation of the lifting mechanism 6 and the attitude adjustment platform 4, the entire large cabin attitude adjustment docking device can be stably supported by supporting it on the ground by the jacking rod 33, so as to ensure the stability and accuracy of the docking and attitude adjustment operations.

[0088] The lift 32 can be purchased from the market and installed.

[0089] Example 10 like Figure 1 , Figure 2 as well as Fig.13 On the basis of Examples 1-9, the lifting mechanism 3 also includes a lifting motor 34 installed on a layer of a substrate 1, a lifting reducer 35 whose input end is transmission-connected to the lifting motor 34, and an output shaft 36 whose one end is connected to the output end of the lifting reducer 35, and the other end of each output shaft 36 is transmission-connected to the input end of each elevator 32.

[0090] The beneficial effect of adopting the preferred scheme in the above embodiment is that after the entire large cabin section attitude adjustment and docking device is stably supported, the jacking motor 34 can be started, and the transmission of the jacking reducer 35 and each output shaft 36 can be utilized. After the jacking reducer 35 reduces speed and increases torque, the power is distributed to each elevator 32, so that each elevator 32 can be driven simultaneously, and each jacking rod 33 can be lifted and lowered simultaneously, ensuring that the omnidirectional mobile platform can smoothly and reliably adjust its height.

[0091] The number of the plurality of lifters 32 , the number of the plurality of lifting rods 33 and the number of the output shafts 36 are all two.

[0092] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0094] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0095] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0097] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A large cabin attitude adjustment docking device, characterized in that: The invention comprises a movable platform assembly and a supporting platform assembly, wherein the supporting platform assembly comprises at least two lifting mechanisms (6) and a two-layer base (5) mounted on the movable platform assembly, wherein each of the lifting mechanisms (6) is arranged along the length direction of the two-layer base (5), and each of the top ends is rotatably connected to a profiling member (7) with an upper opening structure, wherein each of the lifting mechanisms (6) comprises a lifting component (61) connected to the two-layer base (5) and at least two lead screws (62) arranged along the width direction of the two-layer base (5), wherein the lead screws (62) are vertically arranged and threadedly connected to the lifting component (61), and the lower end of the profiling member (7) is simultaneously rotatably connected to the upper end of each corresponding lead screw (62).

2. According to claim 1, a large cabin section attitude adjustment docking device is characterized in that: The lifting assembly (61) comprises a base plate (611) whose two ends are connected to the second-layer base (5), a lifting plate (612) located above the base plate (611), a plurality of second guide shafts (613) whose lower ends are slidably connected to the base plate (611) and whose upper ends are fixedly connected to the lifting plate (612), and an electric push rod (614) mounted on the base plate (611), wherein the output end of the electric push rod (614) is connected to the lifting plate (612), and the lead screw (62) is threadedly connected to the lifting plate (612) and is slidably connected to the base plate (611).

3. According to claim 1, a large cabin section posture adjustment docking device is characterized in that: The lifting assembly (61) is slidably connected to the second-layer base (5), and the lifting assembly (61) is equipped with a track locker (615) for applying pressure to the second-layer base (5).

4. A large cabin section attitude adjustment docking device according to any one of claims 1 to 3, characterized in that: The mobile platform assembly comprises an omnidirectional mobile platform and at least two posture adjustment platforms (4), wherein the posture adjustment platforms (4) are spaced apart along the length direction of the omnidirectional mobile platform, and the lower ends are fixedly connected to the omnidirectional mobile platform, and the upper ends are supported on the two-layer base (5).

5. A large cabin section attitude adjustment docking device according to claim 4, characterized in that: Each of the posture adjustment platforms (4) comprises a first base plate (41) fixedly connected to the omnidirectional mobile platform, a second base plate (42) horizontally slidably connected to the first base plate (41), a third base plate (43) horizontally slidably connected to the second base plate (42), and a spherical pair (44) vertically slidably connected to the third base plate (43); the two-layer base (5) is connected to the spherical pair (44); and the sliding directions of the second base plate (42) and the third base plate (43) are perpendicular to each other.

6. A large cabin section attitude adjustment docking device according to claim 4, characterized in that: The omnidirectional mobile platform comprises a base layer (1) and at least two omnidirectional walking mechanisms (2) arranged at intervals and supported on the base layer (1), and the upper end of each omnidirectional walking mechanism (2) is fixedly connected to the side surface of the base layer (1).

7. A large cabin section attitude adjustment docking device according to claim 6, characterized in that: The omnidirectional walking mechanism (2) comprises a suspension component (21) fixedly connected to the layer of substrate (1), a slewing gear (22) rotatably connected to the lower side of the suspension component (21), and a slewing gear train (23) mounted on the lower side of the slewing gear (22).

8. A large cabin section attitude adjustment docking device according to claim 7, characterized in that: The suspension assembly (21) comprises an upper suspension plate (211) fixedly connected to the first layer of the substrate (1), a lower suspension plate (212) located at the lower side of the upper suspension plate (211), a plurality of first guide shafts (213) whose upper ends are slidably connected to the upper suspension plate (211) and whose lower ends are fixedly connected to the lower suspension plate (212), and a plurality of positioning telescopic rods (214), wherein the upper and lower ends of each positioning telescopic rod (214) are respectively fixedly connected to the upper suspension plate (211) and the lower suspension plate (212), and each positioning telescopic rod (214) is sleeved with a spring (215) located between the upper suspension plate (211) and the lower suspension plate (212), and the rotary gear (22) is rotationally connected to the lower suspension plate (212).

9. A large cabin section attitude adjustment docking device according to claim 6, characterized in that: The omnidirectional mobile platform further comprises at least two groups of lifting mechanisms (3) which are spaced apart and supported on the one layer of substrate (1), each of the lifting mechanisms (3) comprising an adapter plate (31) fixedly connected to the one layer of substrate (1), a plurality of lifts (32) mounted on the adapter plate (31), and a plurality of lifting rods (33), wherein the plurality of lifting rods (33) are mounted on the plurality of lifts (32) in a one-to-one correspondence and are driven to rise and fall by the corresponding lifts (32).

10. A large cabin section attitude adjustment docking device according to claim 9, characterized in that: The lifting mechanism (3) further comprises a lifting motor (34) mounted on the first layer of the substrate (1), a lifting reducer (35) whose input end is transmission-connected to the lifting motor (34), and an output shaft (36) whose one end is connected to the output end of the lifting reducer (35), and the other end of each output shaft (36) is transmission-connected to the input end of each elevator (32).

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