Multi-degree-of-freedom docking platform capable of moving in all directions
Through the omnidirectionally movable multi-degree-of-freedom docking platform, the problems of low efficiency and poor safety during the docking process between the wing and the fuselage are solved, and efficient and safe docking of the wing and the fuselage is achieved, thereby improving the transportation efficiency and safety.
Patent Information
- Application Number
- CN202510944865.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-09
- Publication Date
- 2025-10-03
AI Technical Summary
The existing technology has problems of low efficiency and poor safety in the process of docking the wing and the fuselage, especially when the wing is transferred and docked, manual operation is required and there are safety hazards.
An omnidirectionally movable multi-degree-of-freedom docking platform was designed, which included an omnidirectionally movable vehicle chassis, a two-stage lifting mechanism, a lateral movement component, a longitudinal movement component, and a rotation component. These components were used to realize the multi-degree-of-freedom adjustment of the docking platform. The Mecanum wheels and a hydraulic station were used to provide power to achieve omnidirectional movement and multi-degree-of-freedom adjustment of the platform.
It improves the efficiency of docking between the wing and the fuselage, enhances the safety of transportation, simplifies the docking process between the wing and the fuselage through omnidirectional movement and multi-degree-of-freedom adjustment, and improves the degree of automation and safety of the operation.
Smart Images
Figure CN120735972A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of aircraft assembly, in particular to an omnidirectionally movable multi-degree-of-freedom docking platform. Background Art
[0002] The design of the wing-to-fuselage connection is one of the most critical aspects of aircraft structural design. This is due in part to the inherent importance of these connections; also, at the wing-to-fuselage junction, the connecting components may also be connected to other components, resulting in complex load and force transmission conditions and making analysis difficult. Furthermore, the components and connecting elements such as lugs and bolts at the junction are often fatigue-sensitive.
[0003] However, the current docking of wings and fuselages mostly still uses traditional trapezoidal screw brackets for support and adjustment. The wings on the wing brackets still need to be transferred manually or by a tractor to the docking position with the aircraft. Manual transfer is slow and inefficient, and the safety of transfer by a tractor cannot be guaranteed due to the length of the wings. Summary of the Invention
[0004] In response to the above technical problems, the present invention provides a docking platform with omnidirectional movement and 6-degree-of-freedom adjustment, which can be used for docking objects in multiple occasions.
[0005] The present invention is implemented by adopting the following technical scheme: an omnidirectionally movable multi-degree-of-freedom docking platform, including an omnidirectionally movable vehicle chassis, a two-stage lifting mechanism is arranged on the vehicle chassis, the two-stage lifting mechanism includes a scissor arm assembly, the scissor arm assembly is a first-stage lifting mechanism, a posture adjustment platform is arranged on it, the posture adjustment platform is provided with a transverse movement assembly, a longitudinal movement assembly, a rotary assembly and a second-stage lifting mechanism, and multi-degree-of-freedom adjustment of the docking platform is achieved through the two-stage lifting mechanism, the transverse movement assembly, the longitudinal movement assembly and the rotary assembly.
[0006] Furthermore, the vehicle chassis is provided with multiple sets of Mecanum wheels, each of which is equipped with a motor. By controlling the Mecanum wheels with the motor, the vehicle chassis can be moved in all directions. In addition, the vehicle chassis is also provided with an energy storage device and a hydraulic station. The energy storage device can provide electrical energy for the entire multi-degree-of-freedom docking platform. The hydraulic station is connected to the scissor arm assembly and provides power for the lifting and lowering of the scissor arm assembly. The hydraulic station drives the movement of the scissor arm assembly to realize the lifting and lowering adjustment of the multi-degree-of-freedom docking platform.
[0007] Furthermore, the scissor arm assembly is a scissor fork structure, one side of the lower part of the scissor arm assembly is hinged to the vehicle chassis, and the other side is arranged on the scissor arm guide rail of the vehicle chassis. The hydraulic station can drive one side of the scissor arm assembly to slide longitudinally along the scissor arm guide rail, thereby driving the lifting and lowering of the multi-degree-of-freedom docking platform; in addition, the upper part of the scissor arm assembly is connected to the posture adjustment platform.
[0008] Furthermore, the posture adjustment platform includes a three-frame structure, wherein the first frame is a longitudinal movement frame, the second frame is a pitch and roll frame, and the third frame is a replaceable rotary frame. Specifically, the bottom of the longitudinal movement frame is connected to the scissor arm assembly, the pitch and roll frames are arranged on the longitudinal movement frame, and the rotary frame is arranged on the pitch and roll frames.
[0009] Furthermore, a longitudinal movement assembly is provided on the longitudinal movement frame, and the longitudinal movement assembly includes a longitudinal movement electric cylinder, and the longitudinal movement electric cylinder is connected to the ear seat. Specifically, the longitudinal movement electric cylinder is fixed on the longitudinal movement frame, and its lead screw is connected to the ear seat. The longitudinal movement operation of the longitudinal movement frame can be realized through the longitudinal movement electric cylinder; in addition, one end of the ear seat is connected to the longitudinal movement frame through the ear seat guide rail slider, and the other end is connected to the scissor arm assembly.
[0010] Furthermore, a second-stage lifting mechanism is provided on the longitudinal movement frame, and the second-stage lifting mechanism includes multiple spiral elevators, and the spiral elevators are all connected to the pitch and roll frames. The spiral elevators form multiple fulcrum platforms, and each spiral elevator can independently realize the up and down adjustment function, thereby realizing the adjustment of different angles of the pitch and roll frames.
[0011] Furthermore, a transverse movement assembly is provided on the pitch and roll frame, and the transverse movement assembly includes a transverse movement plate and a transverse movement electric cylinder. The lead screw of the transverse movement electric cylinder is connected to the transverse movement plate. The transverse movement plate is provided on the upper part of the pitch and roll frame, and is connected to the pitch and roll frame through a transverse movement guide rail slider. The transverse movement plate can be driven by the transverse movement electric cylinder to perform transverse movement operation.
[0012] Furthermore, a rotating assembly is provided on the transverse plate, and the rotating assembly includes a rotating frame, and the rotating frame is provided on the arc guide rail of the transverse plate; in addition, the rotating assembly also includes a rotating electric cylinder, one end of the rotating electric cylinder is hinged to the transverse plate, and the other end is hinged to the rotating frame, and the rotating operation of the rotating frame can be realized by the rotating electric cylinder.
[0013] The beneficial effects of the present invention are: the present invention can realize the adjustment of the docking platform through the two-stage lifting mechanism, the transverse movement component, the longitudinal movement component and the rotation component, and has the functions of omnidirectional movement and 6-degree-of-freedom adjustment. It can be used for the docking of objects in multiple occasions, and greatly improves the docking efficiency of the wing and the fuselage; and through the telescopic function of the scissor arm component, the docking platform can be folded, which facilitates the transportation of the equipment and improves the safety of the equipment transportation. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.
[0015] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is a structural diagram of the posture adjustment platform; In the figure, 1-vehicle chassis, 2-scissor arm assembly, 3-attitude adjustment platform, 301-scissor arm double-ear seat, 302-first spiral elevator, 303-longitudinal movement electric cylinder, 304-longitudinal movement frame, 305-scissor arm single-ear seat, 306-second spiral elevator, 307-pitch and roll frame, 308-transverse movement plate, 309-rotating frame, 310-transverse movement electric cylinder, 311-rotating electric cylinder. DETAILED DESCRIPTION
[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of 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. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.
[0017] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.
[0018] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.
[0019] See also Figure 1 、 Figure 2 A multi-degree-of-freedom docking platform that is movable in all directions includes a vehicle chassis 1 that is movable in all directions. A two-stage lifting mechanism is provided on the vehicle chassis 1. The two-stage lifting mechanism includes a scissor arm assembly 2. The scissor arm assembly 2 is a first-stage lifting mechanism, on which a posture adjustment platform 3 is provided. The posture adjustment platform 3 is provided with a transverse movement assembly, a longitudinal movement assembly, a rotary assembly and a second-stage lifting mechanism. The multi-degree-of-freedom adjustment of the docking platform is achieved through the two-stage lifting mechanism, the transverse movement assembly, the longitudinal movement assembly and the rotary assembly.
[0020] In this embodiment, the vehicle chassis 1 comprises a main body and a mobile body. The main body comprises a frame, which is welded from profiles. The mobile body is mounted on the frame and primarily utilizes four sets of Mecanum wheels for propulsion. Controlling the motors of the wheels enables omnidirectional movement of the docking platform. Furthermore, the frame houses a hydraulic station that provides power for raising and lowering the scissor arm assembly, as well as a battery pack that provides electrical energy for the entire platform.
[0021] It is conceivable that in some embodiments, an electronic control system may be provided on the vehicle chassis 1 , and the multi-degree-of-freedom docking platform may be adjusted through the electronic control system.
[0022] In this embodiment, the scissor arm assembly 2 is a scissor-fork structure. One side of the lower portion of the scissor arm assembly 2 is hinged to the vehicle chassis 1, and the other side is arranged on the scissor arm guide rail of the vehicle chassis 1. The scissor arm assembly 2 is powered by a hydraulic station, which enables the scissor arm assembly 2 to slide longitudinally along the scissor arm guide rail, thereby achieving the raising and lowering of the docking platform. The upper portion of the scissor arm assembly 2 is hinged to the posture adjustment platform 3, specifically to the ear seat in the posture adjustment platform 3.
[0023] The posture adjustment platform 3 includes a three-frame structure, wherein the first frame is a longitudinal movement frame 304, the second frame is a pitch and roll frame 307, and the third frame is a replaceable rotary frame 309. Specifically, the longitudinal movement frame 304 is arranged on the scissor arm assembly 2, the pitch and roll frames 307 are arranged on the longitudinal movement frame 304, and the rotary frame 309 is arranged on the pitch and roll frames 307.
[0024] The longitudinal movement frame 304 is provided with a scissor arm double-ear seat 301 and a scissor arm single-ear seat 305. The scissor arm assembly 2 is respectively hinged to the scissor arm double-ear seat 301 and the scissor arm single-ear seat 305 on the longitudinal movement frame 304. The scissor arm double-ear seat 301 and the scissor arm single-ear seat 305 are respectively connected to the longitudinal movement frame 304 via ear seat guide sliders. Specifically, the longitudinal movement frame 304 is also provided with a longitudinal movement assembly, which includes a longitudinal movement electric cylinder 303. The cylinder body of the longitudinal movement electric cylinder 303 is fixed to the longitudinal movement frame 304, and the lead screw end of the longitudinal movement electric cylinder 303 is hinged to the middle part of the scissor arm double-ear seat 301. The longitudinal movement electric cylinder 303 can drive the longitudinal movement frame 304 to move longitudinally.
[0025] In this embodiment, the longitudinal movement frame 304 is also provided with a second-stage lifting mechanism, which includes a first spiral elevator 302 and a second spiral elevator 306. There are three groups of first spiral elevators 302 and one group of second spiral elevators 306, which together form a four-point adjustment platform. Furthermore, each group of first spiral elevators 302 has a ball bearing mounted on the end of the lead screw, with a set of Hooke's hinges mounted on the upper portion of the ball bearings. However, the second spiral elevators 306 have only one set of Hooke's hinges mounted on the end of the lead screw, and the upper portion of the Hooke's hinge is connected to the pitch and roll frame 307. Because the first and second spiral elevators 302, 306 can both be raised and lowered independently, the pitch and roll frame 307 can be adjusted at multiple angles.
[0026] Furthermore, a transverse movement component is provided on the pitch and roll frame 307, and the transverse movement component includes a transverse movement plate 308 and a transverse movement electric cylinder 310. The upper part of the pitch and roll frame 307 is connected to the transverse movement plate 308 through a transverse movement guide rail slider, and a transverse movement electric cylinder 310 is installed between the pitch and roll frame 307 and the transverse movement plate 308. The cylinder body of the transverse movement electric cylinder 310 is hinged to the pitch and roll frame 307, and its lead screw is hinged to the transverse movement plate 308. The transverse movement plate 308 can be driven to perform a transverse movement operation through the transverse movement electric cylinder 310.
[0027] A slewing assembly is mounted on the transverse plate 308. The slewing assembly includes a slewing frame 309, which is mounted above the transverse plate 308. An arc-shaped guide rail is installed between the transverse plate 308 and the slewing frame 309, near the outside of the transverse plate 308. To ensure stable cargo rotation, a slewing bearing is mounted in the middle of the transverse plate 308. The lower end of the slewing bearing is connected to the transverse plate 308, and the upper end is connected to the slewing frame 309. Furthermore, the slewing assembly includes a slewing electric cylinder 311, one end of which is hinged to the transverse plate 308, and the other end is hinged to the slewing frame 309. The slewing frame 309 can be replaced to accommodate different load types, and the load is mounted on the slewing frame 309.
[0028] The working principle of the present invention is: The docking platform is powered on, and the omnidirectional walking adjustment of the vehicle chassis 1 is achieved through four sets of Mecanum wheels.
[0029] When the load posture needs to be adjusted, make the following adjustments: The scissor arm assembly 2 is extended and retracted, driving the upper posture adjustment platform 3 to rise and fall; when the longitudinal movement electric cylinder 303 is extended and retracted, the longitudinal movement frame 304 and the upper structure can be moved longitudinally; when the four groups of spiral elevators (including the first spiral elevator 302 and the second spiral elevator 306) are raised and lowered synchronously, a small range of synchronous lifting of the load can be achieved, and when the four groups of spiral elevators are differentially operated, the pitch and roll adjustment of the pitch and roll frame 307 and its upper structure can be achieved; when the transverse movement electric cylinder 310 is extended and retracted, the transverse movement of the transverse plate 308 and the upper structure can be achieved; when the rotary electric cylinder 311 is extended and retracted, the rotation of the rotary frame 309 can be achieved.
[0030] It should be noted that the terms "connected" and "set" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "connected" and "set" may explicitly or implicitly include one or more of the features. Moreover, the terms "connected", "set", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. And for the aforementioned embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited to the order of the actions described, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily required by this application.
[0031] The above embodiments describe the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Without departing from the spirit and scope of the present invention, modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention should be within the scope of protection of the appended claims.
Claims
1. An omnidirectional multi-degree-of-freedom docking platform, characterized in that: The invention comprises an omnidirectionally movable vehicle chassis (1), wherein a two-stage lifting mechanism is provided on the vehicle chassis (1), wherein the two-stage lifting mechanism comprises a scissor arm assembly (2), wherein the scissor arm assembly (2) is a first-stage lifting mechanism, and a posture adjustment platform (3) is provided on the first-stage lifting mechanism, wherein a transverse movement assembly, a longitudinal movement assembly, a rotary assembly and a second-stage lifting mechanism are provided on the posture adjustment platform (3), and wherein the multi-degree-of-freedom adjustment of the docking platform is achieved through the two-stage lifting mechanism, the transverse movement assembly, the longitudinal movement assembly and the rotary assembly.
2. The omnidirectional multi-degree-of-freedom docking platform according to claim 1, characterized in that: The vehicle chassis (1) is provided with a plurality of groups of Mecanum wheels, and the Mecanum wheels are provided with motors. The motors control the Mecanum wheels to achieve omnidirectional movement of the vehicle chassis (1).
3. The omnidirectional multi-degree-of-freedom docking platform according to claim 2, characterized in that: The vehicle chassis (1) is also provided with an energy storage device and a hydraulic station. The energy storage device provides electrical energy for the entire multi-degree-of-freedom docking platform. The hydraulic station is connected to the scissor arm assembly (2) and provides power for the lifting and lowering of the scissor arm assembly (2).
4. The omnidirectional multi-degree-of-freedom docking platform according to claim 1, characterized in that: The scissor arm assembly (2) is a scissor fork structure, one side of the lower portion of the scissor arm assembly (2) is hinged to the vehicle chassis (1), and the other side is arranged on a scissor arm guide rail of the vehicle chassis (1); the upper portion of the scissor arm assembly (2) is connected to the posture adjustment platform (3).
5. The omnidirectional multi-degree-of-freedom docking platform according to claim 1, characterized in that: The posture adjustment platform (3) comprises a three-frame structure, wherein the first frame is a longitudinal movement frame (304), the second frame is a pitch and roll frame (307), and the third frame is a replaceable rotation frame (309).
6. The omnidirectional multi-degree-of-freedom docking platform according to claim 5, characterized in that: A longitudinal movement assembly is provided on the longitudinal movement frame (304), the longitudinal movement assembly comprising a longitudinal movement electric cylinder (303), the longitudinal movement electric cylinder (303) being connected to an ear seat, one end of the ear seat being connected to the longitudinal movement frame (304) via an ear seat guide rail slider, and the other end being connected to the shear arm assembly (2).
7. The omnidirectional multi-degree-of-freedom docking platform according to claim 5, characterized in that: A second-stage lifting mechanism is provided on the longitudinal movement frame (304), and the second-stage lifting mechanism includes a plurality of spiral elevators, and the spiral elevators are all connected to the pitch and roll frame (307).
8. The omnidirectional multi-degree-of-freedom docking platform according to claim 5, characterized in that: The pitch and roll frame (307) is provided with a transverse shift assembly, the transverse shift assembly comprising a transverse shift plate (308) and a transverse shift electric cylinder (310), the lead screw of the transverse shift electric cylinder (310) being connected to the transverse shift plate (308), the transverse shift plate (308) being provided on the upper portion of the pitch and roll frame (307) and being connected to the pitch and roll frame (307) via a transverse shift guide rail slider.
9. The omnidirectional multi-degree-of-freedom docking platform according to claim 8, characterized in that: A rotary assembly is provided on the transverse plate (308), and the rotary assembly includes a rotary frame (309). The rotary frame (309) is provided on the arc-shaped guide rail of the transverse plate (308).
10. The omnidirectional multi-degree-of-freedom docking platform according to claim 9, characterized in that: The rotary assembly further comprises a rotary electric cylinder (311), one end of the rotary electric cylinder (311) being hinged to the transverse plate (308), and the other end being hinged to the rotary frame (309).