Docking control strategy for automatic pose adjustment of equipment based on docking surface target calibration

Abstract

The application discloses an equipment automatic pose adjusting docking method based on a docking surface targeted calibration, belongs to the technical field of cabin section docking, and solves the low automation degree and slow docking speed of the cabin section docking method in the prior art. The equipment automatic pose adjusting docking method based on the docking surface targeted calibration comprises the following steps: placing two docking sections to be docked, installing an upper fixing assembly to fix the two docking sections, identifying the positions of the two docking sections, calculating the position offset of each degree of freedom of the two docking sections, and controlling each motor through a driver of each mechanism by an automatic docking control box, so that the motion docking of the two docking sections is completed. When a mechanical hand clamps a clamping pressing plate of the upper fixing assembly, the lower fixing assembly and the upper fixing assembly are not fixedly connected. When the mechanical hand does not clamp the clamping pressing plate of the upper fixing assembly, the lower fixing assembly and the upper fixing assembly can be fixed through a clamp, a separate electromagnetic valve is not needed for fixing, and the docking efficiency can be improved.

Description

Technical Field

[0001] This invention belongs to the field of module docking technology, and particularly relates to an automatic attitude adjustment docking method for equipment based on docking surface target calibration. Background Technology

[0002] The research and application of automated docking technology in the field of attitude adjustment and docking of various equipment sections is still in its early stages, with few related introductions and publicly available research results. Boeing uses a laser tracker as its docking measurement system to monitor docking deviations of equipment sections in real time, and utilizes a digital management system to drive a guide rail-type CNC docking platform to complete the section docking based on the deviation information. Raytheon developed a fully automated flexible equipment assembly line in 2012, employing laser-guided high-precision robots as logistics equipment and flexible tooling.

[0003] Traditional assembly and disassembly of spacecraft modules and special equipment at various docking surfaces rely on rigid tooling for positioning and manual drilling connections, making it almost entirely manual. Given the complexity of the various modules, including numerous components, thin and easily deformable structures, intricate cable networks, and demanding sensor installation requirements, traditional docking methods rely on visual feedback of the docking surfaces' positions. This is labor-intensive, inefficient, and time-consuming. Furthermore, the effectiveness of traditional docking methods depends heavily on the experience and skill of the personnel, easily leading to instability in the installation of docking surfaces. In recent years, with the development of machine vision measurement technology, laser tracking measurement technology, and robotics, automated docking has become an inevitable trend for docking large, irregularly shaped spacecraft and equipment modules with multiple constraints.

[0004] Therefore, existing module docking methods have the disadvantages of low automation and slow docking speed. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide an automatic attitude adjustment and docking method for equipment based on docking surface target calibration, in order to solve the shortcomings of existing compartment docking methods, which have low automation and slow docking speed.

[0006] The objective of this invention is mainly achieved through the following technical solutions:

[0007] This invention provides an automatic attitude adjustment and docking method for equipment based on docking surface target calibration, the specific steps of which include:

[0008] Step 1: Place the two docking segments that need to be connected;

[0009] The two docking sections are respectively placed on the lower fixing components of the attitude adjustment mechanism of docking section one and the attitude adjustment mechanism of docking section two;

[0010] Step 2: Install the fixing components to secure the two mating sections;

[0011] Install the fixing components to clamp and fix the two docking sections onto the first docking section attitude adjustment mechanism and the second docking section attitude adjustment mechanism.

[0012] Step 2.1: Clamp the upper fixing component;

[0013] The robotic arm is used to grip the clamping plate of the upper fixed component. When gripping the clamping plate, the clamping plate moves to both sides through the hinge rod and the arc-shaped slide rod to overcome the force of the contraction spring. The spring pin changes from contacting the ejector section to contacting the retractor section, and the spring pin is completely retracted into the first hole.

[0014] Step 2.2: Place the fixing components;

[0015] The upper fixing component is transferred by a robotic arm, and the snap-fit ​​section of the upper fixing component is aligned with the snap-fit ​​groove of the lower fixing component.

[0016] Step 2.3: Complete the docking of the lower fixing component and the upper fixing component;

[0017] Release the robotic arm, move the clamping pressure plate away from the upper arc segment, and the arc-shaped slide bar retracts to the middle of the upper arc segment under the action of the contraction spring. The spring pin changes from contacting the concave section to contacting the ejection section. The spring pin protrudes out of the first hole, and part of the spring pin will extend into the locking hole to achieve fixation between the lower arc segment and the upper arc segment.

[0018] Step 3: Identify the positions of the two docking segments;

[0019] The binocular vision camera identifies the image of the visual target and transmits it to the image acquisition and data processor for position coordinate decoding. The decoded coordinates are then transmitted to the automatic docking control box.

[0020] Step 4: Calculate the positional offset of each degree of freedom of the two docking segments;

[0021] The automatic docking control box determines the position of the target in three-dimensional space relative to the coordinate system defined by the camera based on its image coordinates in the image plane, images multiple feature points of the target, calculates the position of the target in the coordinate system determined by the camera, and calculates the offset of each degree of freedom when the two docking segments dock.

[0022] Step 5: The automatic docking control box controls each motor through the driver of each mechanism, thereby completing the motion docking of the two docking sections;

[0023] By controlling the drive gear assembly, the first drive motor, the second drive motor, and the third drive motor, the horizontal movement, vertical movement, and rotation of the two docking sections are achieved, thereby realizing the docking of the two docking sections.

[0024] An automatic attitude adjustment docking method for equipment based on docking surface target calibration employs a six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system. The device includes a horizontal walking mechanism and a binocular vision camera, a first-stage attitude adjustment mechanism for docking segments, and a second-stage attitude adjustment mechanism for docking segments. The first-stage and second-stage attitude adjustment mechanisms for docking segments are mounted above the horizontal walking mechanism. The binocular vision camera is positioned laterally on both the first-stage and second-stage attitude adjustment mechanisms, and can capture real-time images of the attitude of the docking segments on these mechanisms.

[0025] Furthermore, the horizontal traveling mechanism includes a slide rail chassis, a slider support plate, a fixed rack, and a drive gear assembly; the fixed rack is fixed to the inner side of the slide rail chassis, the slider support plate is slidably connected to the slide rail chassis, the drive gear assembly is mounted on the slider support plate, and the gear in the drive gear assembly meshes with the fixed rack.

[0026] Furthermore, both the first docking section attitude adjustment mechanism and the second docking section attitude adjustment mechanism include a first lifting component, a first lateral movement component, and a first rolling support component; the first lifting component is fixed above the first lateral movement component, and the first rolling support component is installed above the first lateral movement component.

[0027] Furthermore, the first lifting assembly includes a third drive motor, a transfer case, a drive shaft, a third handwheel, a reversing transmission mechanism, a keyed lifting screw, and an internally threaded barrel. The third drive motor is installed at one end of the transfer case, and one end of the drive shaft is installed on both sides of the transfer case. The other end of the drive shaft is connected to the reversing transmission mechanism. The keyed bevel gear of the reversing transmission mechanism is sleeved on the keyed lifting screw. The external thread of the keyed lifting screw is connected to the internally threaded barrel. The third drive motor, the transfer case, the reversing transmission mechanism, and the internally threaded barrel are all fixed on the third plate.

[0028] Furthermore, the first transverse component includes a first drive motor, a first threaded rod, an internal threaded block, and a first manual dial; the first drive motor and the first manual dial are respectively installed on both sides of the first threaded rod, the internal threaded block is threadedly connected to the outer side of the first threaded rod, and the first threaded rod is mounted on the first plate through a bearing seat.

[0029] Furthermore, the first rolling support assembly includes a second drive motor, a second threaded rod, an internal threaded sleeve, a limiting rod, a second handwheel, a passive slider, a compartment fixing mechanism, and a rolling support component; the second drive motor and the second handwheel are respectively installed on both sides of the second threaded rod, and the second threaded rod is mounted on the second plate through a bearing seat; the internal threaded sleeve is sleeved in the middle of the second threaded rod, and the limiting rod is fixed on the surface of the internal threaded sleeve; the limiting rod can drive the passive slider to move; the compartment fixing mechanism is fixed above the passive slider, and the compartment fixing mechanism can rotate under the support of the rolling support component.

[0030] Furthermore, it also includes an automatic docking control box, which is located on one side of the horizontal traveling mechanism.

[0031] Furthermore, the lower end of the horizontal walking mechanism is fixed to the base plate, and rotating wheels are installed at the four lower corners of the base plate.

[0032] Furthermore, the rotating wheel is a Mecanum wheel.

[0033] Furthermore, the compartment fixing mechanism includes a lower fixing component and an upper fixing component. The lower fixing component includes a lower arc-shaped section, a snap-fit ​​groove, and a snap-fit ​​hole. The upper fixing component includes an upper arc-shaped section, a snap-fit ​​section, an arc-shaped sliding channel, a spring pin, an arc-shaped slide rod, a retraction spring, a hinge rod, and a clamping pressure plate.

[0034] Furthermore, the lower arc-shaped segment has locking grooves at both ends, and locking holes are provided on the lower arc-shaped segment located on the sidewalls on both sides of the locking grooves.

[0035] Furthermore, the upper arc-shaped segment has locking sections on both sides, and the upper arc-shaped segment has arc-shaped sliding channels on both sides inside. The arc-shaped sliding channels are slidably connected to the arc-shaped sliding rods. A retraction spring is installed between the arc-shaped sliding rods and the middle of the upper arc-shaped segment. A first hole is opened on one side of the locking section, and a spring pin is installed in the first hole. When the clamping plate is pressed, the clamping plate drives the arc-shaped sliding rods to push them to both sides through the hinge rod. At this time, the spring pins are not subjected to external force and are completely retracted into the first hole. When the force pressing the clamping plate is removed, the arc-shaped sliding rods retract towards the middle under the tension of the retraction springs, and the arc-shaped sliding rods push the spring pins out of the first hole.

[0036] Furthermore, the arc-shaped slide bar includes an arc-shaped slide bar body, a concave section, and an extrusion section; the concave section and the extrusion section are sequentially provided on one side of the arc-shaped slide bar body; when the clamping pressure plate is pressed, the spring pin contacts the concave section; when the force pressing the clamping pressure plate is released, the spring pin contacts the extrusion section.

[0037] Furthermore, the ends of both arc-shaped slide rods are equipped with hinge rods, and the hinge rods on the same side are hinged to the clamping pressure plate. The clamping pressure plate and the upper arc-shaped segment are slidably connected through positioning slide rods and positioning slide holes.

[0038] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0039] 1. The automatic attitude adjustment and docking method for equipment based on docking surface target calibration provided by this invention uses a binocular vision camera to identify the position of the docking segment. Through the setting of a horizontal walking mechanism, a docking segment one attitude adjustment mechanism, and a docking segment two attitude adjustment mechanism, it can realize the relative lateral movement, vertical movement, and rotation of the first docking segment and the second docking segment, and realize relative forward and backward lateral movement, left and right lateral movement, rising, falling, and rotation. Then, by controlling the horizontal walking mechanism, the docking segment one attitude adjustment mechanism, and the docking segment two attitude adjustment mechanism, the docking of the first docking segment and the second docking segment is realized. This avoids dependence on the experience and skill of the operator. The docked segment has good stability and consistency, high degree of automation, and fast docking speed.

[0040] 2. The automatic attitude adjustment docking method for equipment based on docking surface target calibration provided by the present invention allows the first rolling support component to drive the docking section to rotate within a certain range. The arc-shaped support plate can rotate under the support of the rolling support component. The second threaded rod is driven by the second drive motor or the second handwheel, which can provide power for the rotation of the arc-shaped support plate.

[0041] 3. The automatic attitude adjustment docking method for equipment based on docking surface target calibration provided by the present invention, wherein the configuration of the first drive motor and the first manual dial, the second drive motor and the second manual dial, and the third drive motor and the third manual dial enables the adjustment of various attitudes to be carried out automatically and manually.

[0042] 4. The automatic attitude adjustment docking method for equipment based on docking surface target calibration provided by the present invention allows the lower and upper fixed components to be unconnected when the robot arm grips the clamping plate of the upper fixed component, facilitating the movement of the upper fixed component by the robot arm. When the robot arm does not grip the clamping plate of the upper fixed component, the lower and upper fixed components can be fixed by locking, eliminating the need for a separate solenoid valve and improving docking efficiency.

[0043] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0044] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0045] Figure 1 This is a flowchart of an automatic attitude adjustment and docking method for equipment based on docking surface target calibration according to the present invention.

[0046] Figure 2 This is a schematic diagram of the structure of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system employed in the method of this invention.

[0047] Figure 3 This is a diagram showing the positional relationship between the horizontal walking mechanism, walking reference caliper, binocular vision camera, and the first and second attitude adjustment mechanisms of the docking segment, which are part of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system in the method of this invention.

[0048] Figure 4 This is a schematic diagram of the horizontal walking mechanism of the six-degree-of-freedom automatic attitude adjustment docking device equipped with a binocular vision system used in the method of the present invention.

[0049] Figure 5 This is a schematic diagram of the structure of the attitude adjustment mechanism of the docking section of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system in the method of the present invention.

[0050] Figure 6 This is a schematic diagram of the structure of the first transverse component of the six-degree-of-freedom automatic attitude adjustment docking device equipped with a binocular vision system used in the method of the present invention.

[0051] Figure 7 This is a schematic diagram of the structure of the first rolling support component of the six-degree-of-freedom automatic attitude adjustment docking device equipped with a binocular vision system used in the method of the present invention.

[0052] Figure 8 This is a schematic diagram of the structure of the first lifting component of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system employed in the method of the present invention.

[0053] Figure 9 This is a schematic diagram of the structure of the module fixing mechanism of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system in the method of the present invention.

[0054] Figure 10 This is a schematic diagram of the upper fixed component of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system employed in the method of the present invention.

[0055] Figure 11This is a schematic diagram of the lower fixed component of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system employed in the method of the present invention.

[0056] Figure 12 This is a schematic diagram of the arc-shaped sliding rod of the six-degree-of-freedom automatic attitude adjustment docking device using a binocular vision system employed in the method of the present invention.

[0057] Figure label:

[0058] 1. Base plate; 2. Rotating wheels; 3. Horizontal travel mechanism; 4. Travel reference calipers; 5. Automatic docking control box; 6. Binocular vision camera; 7. Dock section one attitude adjustment mechanism; 8. Dock section two attitude adjustment mechanism; 9. Section fixing mechanism.

[0059] 301. Chassis with slide rail; 302. Support plate with slider; 303. Fixed rack; 304. Drive gear assembly;

[0060] 701. First lifting assembly; 702. First lateral movement assembly; 703. First roll support assembly;

[0061] 901. Lower fixing component; 902. Upper fixing component;

[0062] 7011. Third drive motor; 7012. Transfer case; 7013. Drive shaft; 7014. Third handwheel; 7015. Reversing transmission mechanism; 7016. Lifting screw with keyway; 7017. Internal threaded barrel;

[0063] 7021. First drive motor; 7022. First threaded rod; 7023. Internal threaded block; 7024. First hand dial;

[0064] 7031. Second drive motor; 7032. Internal threaded sleeve; 7033. Limiting rod; 7034. Second hand dial; 7035. Passive slider; 7037. Rolling support component;

[0065] 9011. Lower arc-shaped section; 9012. Snap-fit ​​groove; 9013. Snap-fit ​​hole;

[0066] 9021. Upper arc-shaped section; 9022. Snap-fit ​​section; 9023. Arc-shaped sliding channel; 9024. Spring pin; 9025. Arc-shaped slide rod; 9026. Retraction spring; 9027. Hinge rod; 9028. Clamping pressure plate.

[0067] 90251. Arc-shaped slide bar body; 90252. Recessed section; 90253. Push-out section. Detailed Implementation

[0068] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of the present invention and, together with the embodiments of the present invention, serve to illustrate the principles of the present invention.

[0069] Example 1

[0070] This embodiment provides an automatic attitude adjustment and docking method for equipment based on docking surface target calibration, such as... Figure 1 As shown, the specific steps include:

[0071] Step 1: Place the two docking segments that need to be connected;

[0072] Step 2: Install the fixing component 902 to secure the two mating sections;

[0073] Step 2.1: Clamp the upper fixing component 902;

[0074] Step 2.2: Place the fixing component 902;

[0075] Step 2.3: Complete the docking of the lower fixing component 901 and the upper fixing component 902;

[0076] Step 3: Identify the positions of the two docking segments;

[0077] Step 4: Calculate the positional offset of each degree of freedom of the two docking segments;

[0078] Step 5: The docking control box controls each motor through the driver of each mechanism, thereby completing the motion docking of the two docking sections.

[0079] Preferably, the specific steps of step 1 include: placing the two docking segments on the lower fixing components 901 on the first docking segment adjustment mechanism 7 and the second docking segment adjustment mechanism 8, respectively.

[0080] Preferably, step 2 includes: installing the fixing component 902 to clamp and fix the two docking segments onto the first docking segment adjustment mechanism 7 and the second docking segment adjustment mechanism 8.

[0081] Preferably, step 3 includes the following steps: the binocular vision camera 6 identifies the image of the visual target and transmits it to the image acquisition and data processor for position coordinate decoding, and transmits the decoded coordinates to the automatic docking control box 5.

[0082] Preferably, step 4 includes the following steps: the automatic docking control box 5 determines its position in three-dimensional space relative to the coordinate system defined by the camera based on its image coordinates in the image plane, images multiple feature points of the target, calculates the position of the target in the coordinate system determined by the camera, and calculates the offset of each degree of freedom when the two docking segments dock.

[0083] Preferably, step 5 includes the following steps: controlling the drive gear assembly 304, the first drive motor 7021, the second drive motor 7031 and the third drive motor 7011 to achieve horizontal movement, vertical movement and rotation of the two docking segments, so as to achieve docking of the docking segments.

[0084] Preferably, step 2 includes the following specific steps:

[0085] Step 2.1: Clamp the upper fixing component 902;

[0086] Step 2.2: Place the fixing component 902;

[0087] Step 2.3: Complete the docking of the lower fixing component 901 and the upper fixing component 902.

[0088] Preferably, the specific steps of step 2.1 include: using a robotic arm to grip the clamping pressure plate 9028 of the upper fixing component 902. When gripping the clamping pressure plate 9028, the clamping pressure plate 9028 moves to both sides through the hinge rod 9027, driving the arc-shaped sliding rod 9025 to overcome the force of the contraction spring 9026. The spring pin 9024 changes from contacting the ejector section 90253 to contacting the retractor section 90252, and the spring pin 9024 is completely retracted into the first hole.

[0089] Preferably, the specific steps of step 2.1 include: using a robotic arm to grip the clamping pressure plate 9028 of the upper fixing component 902. When gripping the clamping pressure plate 9028, the clamping pressure plate 9028 moves to both sides through the hinge rod 9027, driving the arc-shaped sliding rod 9025 to overcome the force of the contraction spring 9026. The spring pin 9024 changes from contacting the ejector section 90253 to contacting the retracted section 90252, and the spring pin 9024 is completely retracted into the first hole.

[0090] Preferably, step 2.3 includes the following steps: releasing the robotic arm, moving the clamping pressure plate 9028 away from the upper arc segment 9021, and causing the arc-shaped slide rod 9025 to retract to the middle of the upper arc segment 9021 under the action of the contraction spring 9026. The spring pin 9024 changes from contacting the concave section 90252 to contacting the ejector section 90253. The spring pin 9024 protrudes out of the first hole, and part of the spring pin 9024 extends into the locking hole 9013, thereby fixing the lower arc segment 9011 and the upper arc segment 9021.

[0091] Example 2

[0092] An automatic attitude adjustment and docking method based on docking surface target calibration employs a six-DOF automatic attitude adjustment and docking device with a binocular vision system for docking of modules, such as... Figure 2 and Figure 3As shown, it includes a horizontal walking mechanism 3, a binocular vision camera 6, a docking segment one attitude adjustment mechanism 7, and a docking segment two attitude adjustment mechanism 8; the docking segment one attitude adjustment mechanism 7 and the docking segment two attitude adjustment mechanism 8 are installed on the top of the horizontal walking mechanism 3, and the binocular vision camera 6 is provided on the side of the docking segment one attitude adjustment mechanism 7 and the docking segment two attitude adjustment mechanism 8. The binocular vision camera 6 can capture the attitude of the docking segments on the docking segment one attitude adjustment mechanism 7 and the docking segment two attitude adjustment mechanism 8 in real time.

[0093] The horizontal walking mechanism 3 can drive the binocular vision camera 6, the attitude adjustment mechanism 7 of docking section one, and the attitude adjustment mechanism 8 of docking section two to move.

[0094] The binocular vision camera 6 can capture the attitude of the docking segments on the first docking segment attitude adjustment mechanism 7 and the second docking segment attitude adjustment mechanism 8 in real time.

[0095] The first docking section adjustment mechanism 7 and the second docking section adjustment mechanism 8 can lift, move laterally and rotate the docking section installed above them.

[0096] Preferred, such as Figure 4 As shown, the horizontal traveling mechanism 3 includes a slide rail chassis 301, a slider support plate 302, a fixed rack 303, and a drive gear assembly 304. The fixed rack 303 is fixed to the inner side of the slide rail chassis 301. The slider support plate 302 is slidably connected to the slide rail chassis 301. The drive gear assembly 304 is mounted on the slider support plate 302, and the gear in the drive gear assembly 304 meshes with the fixed rack 303.

[0097] The drive component in the drive gear assembly 304 can drive the gear in the drive gear assembly 304 to rotate. The gear meshes with the fixed rack 303. When the gear rotates, it can drive the slider support plate 302 to move along the track direction of the slide rail chassis 301.

[0098] Preferred, such as Figure 5 As shown, both the first docking section attitude adjustment mechanism 7 and the second docking section attitude adjustment mechanism 8 include a first lifting component 701, a first lateral movement component 702 and a first rolling support component 703; the first lifting component 701 is fixed above the first lateral movement component 702, and the first rolling support component 703 is installed above the first lateral movement component 702.

[0099] The first lifting assembly 701 can drive the docking section above it to rise or fall, the first lateral movement assembly 702 can drive the docking section above it to move laterally to the left or right, and the first rolling support assembly 703 can drive the docking section above it to rotate.

[0100] Preferred, such as Figure 8As shown, the first lifting assembly 701 includes a third drive motor 7011, a transfer case 7012, a drive shaft 7013, a third handwheel 7014, a reversing transmission mechanism 7015, a keyed lifting screw 7016, an internally threaded barrel 7017, and a third plate. The third drive motor 7011 is installed at one end of the transfer case 7012, and one end of the drive shaft 7013 is installed on both sides of the transfer case 7012. The other end of the drive shaft 7013 is connected to the reversing transmission mechanism 7015. The keyed bevel gear of the reversing transmission mechanism 7015 is sleeved on the keyed lifting screw 7016. The external thread of the keyed lifting screw 7016 is connected to the internally threaded barrel 7017. The third drive motor 7011, the transfer case 7012, the reversing transmission mechanism 7015, and the internally threaded barrel 7017 are all fixed on the third plate.

[0101] When the third drive motor 7011 inputs power, it drives the transfer case 7012. The transfer case 7012 drives the drive shafts 7013 on both sides to rotate. The drive shafts 7013 drive the reversing transmission mechanism 7015 to work. The keyed bevel gear of the reversing transmission mechanism 7015 drives the keyed lifting screw 7016 to rotate. When the keyed lifting screw 7016 rotates, it moves up and down inside the internal threaded barrel 7017, thereby driving the first transverse component 702 above it to move up and down.

[0102] Preferably, a third handwheel 7014 is fixed to the end of one of the drive shafts 7013.

[0103] When the third hand dial 7014 inputs power, it drives the drive shaft 7013 connected to it to rotate. The drive shaft 7013 drives another drive shaft 7013 to rotate through the transfer case 7012. The drive shaft 7013 drives the reversing transmission mechanism 7015 to work. The keyed bevel gear of the reversing transmission mechanism 7015 drives the keyed lifting screw 7016 to rotate. When the keyed lifting screw 7016 rotates, it moves up and down in the internal threaded barrel 7017, thereby driving the first transverse component 702 above it to move up and down.

[0104] Preferred, such as Figure 6 As shown, the first transverse component 702 includes a first drive motor 7021, a first threaded rod 7022, an internal threaded block 7023, a first manual dial 7024, and a first plate. The first drive motor 7021 and the first manual dial 7024 are respectively installed on both sides of the first threaded rod 7022. The internal threaded block 7023 is threaded to the outer side of the first threaded rod 7022, and the first threaded rod 7022 is mounted on the first plate through a bearing seat.

[0105] The internally threaded block can slide within the track.

[0106] The internal threaded block 7023 can slide within the track.

[0107] The first drive motor 7021 or the first manual dial 7024 drives the first threaded rod 7022 to rotate. The first threaded rod 7022 drives the internal threaded block 7023 to slide to the left or right under the limit of the track. The internal threaded block 7023 drives the first rolling support assembly 703 above to move laterally to the left or right.

[0108] Preferred, such as Figure 7 As shown, the first rolling support assembly 703 includes a second drive motor 7031, a second threaded rod, an internal threaded sleeve 7032, a limiting rod 7033, a second handwheel 7034, a passive slider 7035, a compartment fixing mechanism 9, a rolling support component 7037, and a second plate. The second drive motor 7031 and the second handwheel 7034 are respectively installed on both sides of the second threaded rod, and the second threaded rod is mounted on the second plate through a bearing seat. The internal threaded sleeve 7032 is sleeved in the middle of the second threaded rod, and the limiting rod 7033 is fixed on the surface of the internal threaded sleeve 7032. The limiting rod 7033 can drive the passive slider 7035 to move. The compartment fixing mechanism 9 is fixed above the passive slider 7035, and the compartment fixing mechanism 9 can rotate under the support of the rolling support component 7037.

[0109] The roll support component 7037 allows the compartment fixing mechanism 9 to rotate but not move horizontally.

[0110] The second drive motor 7031 or the second handwheel 7034 drives the second threaded rod to rotate. The second threaded rod drives the internal threaded sleeve 7032 to slide left or right under the limit. The internal threaded sleeve 7032 drives the limit rod 7033 to slide left or right. The limit rod 7033 moves the passive slider 7035 to make the compartment fixing mechanism 9 rotate left or right under the limit of the rolling support component 7037.

[0111] Preferred, such as Figure 2 As shown, it also includes an automatic docking control box 5, which is located on one side of the horizontal walking mechanism 3.

[0112] Preferred, such as Figure 2 As shown, the lower end of the horizontal walking mechanism 3 is fixed on the base plate 1, and rotating wheels 2 are installed at the four lower corners of the base plate 1.

[0113] The base plate and rotating wheels are designed to drive the docking device to move as a whole.

[0114] Preferred, such as Figure 2 As shown, the rotating wheel 2 is a Mecanum wheel.

[0115] Mecanum wheels offer advantages such as high flexibility and omnidirectional capability.

[0116] The automatic attitude adjustment and docking method based on docking surface target calibration in this embodiment consists of a docking section composed of a horizontal walking mechanism 3, a docking section one attitude adjustment mechanism 7, and a docking section two attitude adjustment mechanism 8; a docking control section composed of two binocular vision cameras (6 groups of layered vision detection units); and an automatic docking control box 5. The docking section receives instructions from the docking control system of the docking control section, completes the attitude adjustment of the two docking sections, and provides real-time feedback of position coordinates from the vision detection units. The three parts work together to achieve docking of each docking section. During the docking process, the various functions of the docking control section are nested and coordinated, ensuring accurate and feasible docking strategies. The vision detection units acquire the relative position deviation of the docking sections in real time, and after calculation by the docking control system, output the control quantities to each motor of the docking section to achieve tracking and follow-up between docking sections. The first lifting component 701, the first lateral movement component 702, and the first rolling support component 703 work to normally achieve the positioning function of the initial attitude of the propulsion stage and the load, and realize the automatic adjustment of attitude deviation. The docking control system detects the relative positions of the docking segments and, based on the corresponding control laws, adjusts the attitude adjustment mechanisms to lift, lateralize, and roll, thereby achieving position matching between the docking segments and completing the docking process.

[0117] Visual targets are installed on the docking surfaces of each docking segment, serving as signal points for the binocular vision cameras 6 and providing pose information for the docking surfaces. The horizontal walking mechanism 3 provides directional degrees of freedom for the attitude adjustment of the two docking segments. The automatic docking control box 5 can be operated via a panel for single-step or continuous movements, or via a handheld terminal. The electronic drive mechanism within the device communicates with the automatic docking control box 5 via CAN communication. The measurement control box within the automatic docking control box 5 reports the calculated position offsets of each degree of freedom to the automatic docking control box 5. The automatic docking control box 5 then controls each motor through the drivers of each attitude adjustment system, thereby completing the process control. A walking reference caliper 4 serves as a visual display for the degree of freedom adjustment and is positioned at each degree of freedom adjustment location.

[0118] Preferred, such as Figure 9 As shown, the compartment fixing mechanism 9 includes a lower fixing component 901 and an upper fixing component 902. The lower fixing component 901 includes a lower arc-shaped section 9011, a snap-fit ​​groove 9012, and a snap-fit ​​hole 9013. The upper fixing component 902 includes an upper arc-shaped section 9021, a snap-fit ​​section 9022, an arc-shaped sliding channel 9023, a spring pin 9024, an arc-shaped slide rod 9025, a retraction spring 9026, a hinge rod 9027, and a clamping pressure plate 9028.

[0119] Preferred, such as Figure 11 As shown, both ends of the lower arc-shaped segment 9011 are provided with the snap-fit ​​groove 9012, and the lower arc-shaped segment 9011 located on the sidewalls on both sides of the snap-fit ​​groove 9012 is provided with the locking hole 9013.

[0120] Preferred, such as Figure 10 As shown, the upper arc-shaped segment 9021 has snap-fit ​​sections 9022 on both sides, and the upper arc-shaped segment 9021 has arc-shaped sliding channels 9023 on both sides inside. The arc-shaped sliding channels 9023 are slidably connected to the arc-shaped sliding rods 9025. A retraction spring 9026 is installed between the arc-shaped sliding rods 9025 and the middle of the upper arc-shaped segment 9021. A first hole is opened on one side of the snap-fit ​​section 9022, and a spring pin 9026 is installed in the first hole. 024; When the clamping plate 9028 is pressed, the clamping plate 9028 drives the arc-shaped slide rod 9025 to push out to both sides through the hinge rod 9027. At this time, the spring pin 9024 is completely retracted into the first hole without being subjected to external force. When the force pressing the clamping plate 9028 is removed, the arc-shaped slide rod 9025 retracts to the middle under the tension of the contraction spring 9026, and the arc-shaped slide rod 9025 pushes the spring pin 9024 out of the first hole.

[0121] Preferred, such as Figure 12 As shown, the arc-shaped slide bar 9025 includes an arc-shaped slide bar 9025 body, a concave section 90252, and an extrusion section 90253; the concave section 90252 and the extrusion section 90253 are sequentially provided on one side of the arc-shaped slide bar 9025 body; when the clamping pressure plate 9028 is pressed, the spring pin 9024 contacts the concave section 90252; when the force pressing the clamping pressure plate 9028 is released, the spring pin 9024 contacts the extrusion section 90253.

[0122] Preferably, the ends of both arc-shaped slide rods 9025 are equipped with hinge rods 9027, and the hinge rods 9027 on the same side are hinged to the clamping pressure plate 9028. The clamping pressure plate 9028 and the upper arc-shaped segment 9021 are slidably connected through a positioning slide rod and a positioning slide hole.

[0123] The lower fixing component 901 and the upper fixing component 902 are locked together, and the locking process does not require an electric control pin or other locking structure to fix the lower fixing component 901 and the upper fixing component 902 separately.

[0124] When the robotic arm grips the clamping plate 9028 of the upper fixing component 902, the clamping plate 9028 approaches the upper arc-shaped section 9021. The clamping plate 9028 drives the arc-shaped slide bar 9025 to move to both sides against the force of the contraction spring 9026 through the hinge rod 9027. The spring pin 9024 changes from contacting the ejection section 90253 to contacting the return section 90252. The spring pin 9024 is completely retracted into the first hole.

[0125] When the robotic arm no longer grips the clamping pressure plate 9028 of the upper fixing component 902, the clamping pressure plate 9028 moves away from the upper arc-shaped segment 9021. Under the action of the contraction spring 9026, the arc-shaped slide rod 9025 retracts to the middle of the upper arc-shaped segment 9021. The spring pin 9024 changes from contacting the concave segment 90252 to contacting the ejector segment 90253. The spring pin 9024 protrudes out of the first hole. At this time, if the upper arc-shaped segment 9021 is placed on the lower arc-shaped segment 9011, part of the spring pin 9024 will penetrate into the locking hole 9013, thereby fixing the lower arc-shaped segment 9011 and the upper arc-shaped segment 9021.

[0126] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic attitude adjustment and docking method for equipment based on docking surface target calibration, characterized in that, The specific steps include: Step 1: Place the two docking segments to be docked; place the two docking segments on the lower fixing components of the attitude adjustment mechanism of docking segment one and the attitude adjustment mechanism of docking segment two, respectively; Step 2: Install the fixing component (902) to secure the two mating sections; Step 2.1: Clamping the upper fixing component (902); specifically including: using a robotic arm to clamp the clamping pressure plate (9028) of the upper fixing component (902). When clamping the clamping pressure plate (9028), the clamping pressure plate (9028) drives the arc-shaped slide bar (9025) to move to both sides against the force of the contraction spring (9026) through the hinge rod (9027). The spring pin (9024) changes from contacting the ejection section (90253) to contacting the return section (90252). The spring pin (9024) is completely retracted into the first hole. Step 2.2: Place the upper fixing component (902); specifically, this includes: using a robotic arm to transfer the upper fixing component (902) and aligning the snap-fit ​​section (9022) of the upper fixing component (902) with the snap-fit ​​groove (9012) of the lower fixing component (901). Step 2.3: Complete the docking of the lower fixing component (901) and the upper fixing component (902); specifically, this includes: releasing the robot arm, moving the clamping pressure plate (9028) away from the upper arc segment (9021), and the arc-shaped slide rod (9025) retracting to the middle of the upper arc segment (9021) under the action of the retraction spring (9026). The spring pin (9024) changes from contacting the concave section (90252) to contacting the ejection section (90253). The spring pin (9024) protrudes out of the first hole. At this time, if the upper arc segment is placed on the lower arc segment, part of the spring pin (9024) will extend into the locking hole (9013), thereby achieving the fixation between the lower arc segment (9011) and the upper arc segment (9021). Step 3: Identify the positions of the two docking segments; Step 4: Calculate the positional offset of each degree of freedom of the two docking segments; Step 5: Automatic docking control box (5) controls each motor through the driver of each mechanism, thereby completing the motion docking of the two docking sections.

2. The automatic attitude adjustment and docking method for equipment based on docking surface target calibration according to claim 1, characterized in that, The specific steps of step 3 include: the binocular vision camera (6) identifies the image of the visual target and transmits it to the image acquisition and data processor for position coordinate decoding, and transmits the decoded coordinates to the automatic docking control box (5).

3. The automatic attitude adjustment and docking method for equipment based on docking surface target calibration according to claim 1, characterized in that, The specific steps of step 4 include: the automatic docking control box (5) determines its position in three-dimensional space relative to the coordinate system defined by the camera based on its image coordinates in the image plane, images multiple feature points of the target, calculates the position of the target in the coordinate system determined by the camera, and calculates the offset of each degree of freedom when the two docking segments dock.

4. The automatic attitude adjustment and docking method for equipment based on docking surface target calibration according to claim 1, characterized in that, The specific steps of step 5 include: controlling the drive gear assembly (304), the first drive motor (7021), the second drive motor (7031) and the third drive motor (7011) to realize the horizontal movement, vertical movement and rotation of the two docking segments, so as to realize the docking of the docking segments.

5. The automatic attitude adjustment and docking method for equipment based on docking surface target calibration according to any one of claims 1-4, characterized in that, The docking of the modules was carried out using a six-degree-of-freedom automatic attitude adjustment docking device with a binocular vision system.

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