A rudder cabin automatic docking device and method

Abstract

The present application relates to the technical field of non-standard component assembly, and relates to a rudder cabin automatic butt joint device and method. The device comprises a base, a through hole is formed in the base, a first driving unit of a first driving mechanism is used to drive a lifting cylinder to reciprocate in the through hole; a positioning block is fixed at the top end of the lifting cylinder; a support seat of a second driving mechanism is connected above the positioning block, and the positioning block is used to place a workpiece; a second driving unit is driven to force a first pressing head of a first cantilever unit and a second pressing head of a second cantilever unit to abut against the top end of the workpiece; the force applied to the top end of the workpiece by the first pressing head is greater than the force applied to the top end of the workpiece by the second pressing head; a positioning disc is further connected above the base, and the positioning disc is used to place a rudder cabin; each connecting piece is inserted into an assembly hole of the rudder cabin and an assembly hole of the workpiece and is locked. In this way, the problems of low efficiency and easy product eccentricity caused by manual product and process rudder cabin assembly and disassembly during the product testing process of the existing servo mechanism are solved.

Description

Technical Field

[0001] This invention relates to the field of non-standard component assembly technology, and more specifically, to an automatic docking device and method for a rudder compartment. Background Technology

[0002] During the testing of servo mechanism products, it is necessary to repeatedly dock and disassemble the product with the process servo compartment. The main tasks involved in this process are docking and separating the product with the process servo compartment, and tightening and loosening the fastening screws of the product and the process servo compartment. Currently, the main method for docking and disassembling the product and the process servo compartment is manual, which has the following problems: 1) The repetitive docking and disassembly work is large and inefficient, making it difficult to balance the product production cycle; 2) When manually docking and disassembling the product and the process compartment, the small clearance between the outer circle of the product and the process servo compartment can easily scratch the product surface and generate excess material, causing quality risks; 3) The product has a circular structure and is heavy, making manual operation labor-intensive and posing safety risks; 4) When manually tightening the fastening screws, the lack of control over the tightening torque and angle can easily cause the product to become eccentric, thus affecting the product performance test. Summary of the Invention

[0003] To address the problems of low efficiency and product misalignment caused by the manual assembly and disassembly of product and process servo cabins in the existing servo mechanism product testing process, this invention provides an automatic servo cabin docking device and method.

[0004] In a first aspect, the present invention provides an automatic docking device for a servo module, the servo module comprising a workpiece and a servo module, including:

[0005] A base, wherein a perforation is formed through the base along a first direction;

[0006] The first driving mechanism includes a first driving unit and a lifting cylinder; the first driving unit is used to drive the lifting cylinder to reciprocate in the perforation along a first direction; a positioning block is fixed at the top of the lifting cylinder, and a positioning groove is formed on the positioning block, which is used to restrict the workpiece from moving along the radial direction of the perforation.

[0007] The second driving mechanism includes a second driving unit, a support base, a first cantilever unit, and a second cantilever unit. The support base is detachably fixedly connected above the positioning block and located within the positioning groove. The first and second cantilever units are movably connected to the top of the support base, and are arranged in an aligned manner. The second driving unit synchronously drives the first and second cantilever units, forcing the first pressure head of the first cantilever unit and the second pressure head of the second cantilever unit to abut against the top of the workpiece. The force exerted by the first pressure head on the top of the workpiece is greater than the force exerted by the second pressure head on the top of the workpiece.

[0008] A positioning disk is movably connected above the base. The positioning disk is used to place the rudder cabin so that the rudder cabin is fitted onto the workpiece. A positioning unit is also provided on the positioning disk, which is used to restrict the movement of the rudder cabin on the positioning disk.

[0009] Multiple connectors, each of which passes through an assembly hole in one of the rudder compartments and an assembly hole in one of the workpieces and is locked in place.

[0010] In some embodiments, the support base includes a transition block, a support column, a support platform, and a support shaft; the transition block is detachably fixedly connected to the positioning block, the support column is fixedly connected to the periphery of the transition block, the support platform is fixedly connected to the top of the support column, and the support platform has a first central hole formed along a first direction between the first end and the second end; the main body of the second drive unit is fixed to the transition block, and the output part of the second drive unit passes through the first central hole and is connected to the support shaft;

[0011] The first cantilever unit further includes a first rocker arm and a first pressure rod; the bottom end of the first rocker arm is hinged to the first end of the support platform, the top end of the first rocker arm is hinged to the middle of the first pressure rod, the bottom end of the first pressure rod is hinged to the first end of the support shaft, and the top end of the first pressure rod is fixed with the first pressure head.

[0012] The second cantilever unit further includes a second rocker arm and a second pressure rod; the bottom end of the second rocker arm is hinged to the second end of the support platform, the top end of the second rocker arm is hinged to the middle of the second pressure rod, the bottom end of the second pressure rod is hinged to the second end of the support shaft, and the top end of the second pressure rod is fixed with the second pressure head.

[0013] In some embodiments, the support shaft is arranged parallel to the support platform, and the thickness of the first pressure head along the pressing direction is greater than the thickness of the second pressure head along the pressing direction.

[0014] In some embodiments, an angle is formed between the support shaft and the support platform, and the distance from the hinged portion of the first pressure rod that is hinged to the support shaft to the support platform is greater than the distance from the hinged portion of the second pressure rod that is hinged to the support shaft to the support platform.

[0015] In some embodiments, the first drive unit includes a base plate, which is fixed below the base platform along a first direction. A slide rail extends along the first direction on the base plate, and a slider is slidably disposed on the slide rail. The base plate is also provided with a lead screw and nut assembly and a first drive motor. The output shaft of the first drive motor is connected to the lead screw, and a lead screw nut is fixedly connected to the slider. The base plate is also provided with a connecting block, one end of which is fixed to the lifting cylinder, and the other end of which is fixed to the slider.

[0016] In some embodiments, a hollow rotating platform is movably connected to the base, a bearing is provided in the middle of the hollow rotating platform, the bearing is sleeved in the through hole, and the positioning disk is fixed on the hollow rotating platform;

[0017] A second drive motor is also provided on the base, which is used to drive the hollow rotating platform to rotate.

[0018] In some embodiments, the positioning unit includes a first cylinder and a positioning shaft. The first cylinder is fixed on the positioning plate, the output shaft of the first cylinder is connected to the positioning shaft, and the positioning shaft extends through the positioning hole of the rudder compartment.

[0019] In some embodiments, a proximity sensor is also provided on the base plate at the slide rail position, and a detection block is fixedly connected to the slider.

[0020] On the other hand, the present invention provides a method for an automatic docking device for a rudder compartment, comprising:

[0021] Step 1: Place the rudder compartment on the positioning plate, drive the first cylinder of the positioning unit, and push the positioning shaft of the positioning unit to position the rudder compartment;

[0022] Step 2: Place the workpiece on the positioning slot of the positioning block, drive the second drive unit, and simultaneously drive the first pressure head of the first cantilever unit and the second pressure head of the second cantilever unit to abut against the top of the workpiece to position the workpiece.

[0023] Step 3: Drive the first drive unit to move the lifting cylinder within the perforation until the assembly hole of the workpiece aligns with the assembly hole of the rudder compartment.

[0024] Step 4: Drive the first connector to pass through and lock it into the assembly hole of a rudder compartment and a workpiece at the end away from the first pressure head. Drive the second connector to pass through and lock it into the assembly hole of a rudder compartment and a workpiece at the end near the first pressure head. Drive the other connectors to pass through and lock them into the assembly holes of a rudder compartment and a workpiece.

[0025] Thirdly, the present invention provides a method for an automatic docking device for a rudder compartment, comprising:

[0026] Step 1: Place the rudder compartment on the positioning plate, drive the first cylinder of the positioning unit, and push the positioning shaft of the positioning unit to position the rudder compartment;

[0027] Step 2: Place the workpiece on the positioning slot of the positioning block, drive the second drive unit, and simultaneously drive the first pressure head of the first cantilever unit and the second pressure head of the second cantilever unit to abut against the top of the workpiece to position the workpiece.

[0028] Step 3: Drive the first drive unit to move the lifting cylinder within the perforation until the assembly hole of the workpiece aligns with the assembly hole of the rudder compartment.

[0029] Step 4: Drive the first connector to pass through the assembly hole of a rudder compartment and a workpiece at the end near the first pressure head for initial locking. Drive the second connector to pass through the assembly hole of a rudder compartment and a workpiece at the end away from the first pressure head and lock them. Drive the first connector again for secondary locking. Drive the other connectors to pass through the assembly holes of a rudder compartment and a workpiece and lock them. When the first connector is initially locked, the force exerted on the workpiece and rudder compartment by it is less than the force exerted on the workpiece and rudder compartment by it when the second connector is locked. When the first connector is locked again, the force exerted on the workpiece and rudder compartment by it is greater than or equal to the force exerted on the workpiece and rudder compartment by it when the second connector is locked.

[0030] To address the problems of low efficiency and product misalignment caused by the manual assembly and disassembly of product and process control cabins in existing servo mechanism product testing processes, this invention has the following advantages:

[0031] The technical solution of this invention utilizes a positioning groove formed on the positioning block to restrict the movement of the workpiece along the radial direction of the perforation. This, combined with the synchronous driving of the first and second cantilever units by the second drive unit, forces the first pressure head of the first cantilever unit and the second pressure head of the second cantilever unit to abut against the top of the workpiece, achieving precise positioning of the workpiece. Simultaneously, the positioning unit on the positioning plate limits the rudder compartment, and the first drive unit drives the lifting cylinder to reciprocate along the first direction within the perforation. This moves the lifting cylinder within the perforation until the assembly hole of the workpiece aligns with the assembly hole of the rudder compartment. Furthermore, the force applied to the top of the workpiece by the first pressure head is greater than the force applied to the top of the workpiece by the second pressure head. Combined with a specific sequence of installation connectors, this avoids the problem of workpiece and rudder compartment misalignment caused by positioning deviations during the docking process or by misalignment of the connectors. Attached Figure Description

[0032] Figure 1 A schematic diagram of an automatic docking device for a rudder compartment is shown.

[0033] Figure 2 It shows Figure 1 An enlarged schematic diagram of the structure of coil A shown in the figure;

[0034] Figure 3 It shows Figure 1 The diagram shows a top view of the automatic docking device for the rudder cabin.

[0035] Reference numerals: 1-Pressure head; 2-Rocker arm; 3-Pin shaft; 4-Support platform; 5-Pressure rod; 6-Support shaft; 7-Second cylinder; 8-Adapter block; 9-Positioning block; 10-Positioning disc; 11-Hollow rotating platform; 12-Second drive motor; 13-Lifting cylinder; 14-Connecting block; 15-Slider; 16-Slide rail; 17-Mounting plate; 18-Crossbeam; 19-Base plate; 20-Support plate; 21-Vertical beam; 22-First drive motor; 23-Foot cup; 24-First cylinder; 26-Positioning shaft. Detailed Implementation

[0036] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.

[0037] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0038] This embodiment discloses an automatic docking device for the rudder compartment, such as Figure 1 , Figure 2 and Figure 3 As shown, the automatic docking device for the rudder compartment is applied to a servo assembly, which includes a workpiece and a rudder compartment. The automatic docking device for the rudder compartment includes:

[0039] A base, with a perforation formed through it along a first direction;

[0040] The first driving mechanism includes a first driving unit and a lifting cylinder 13; the first driving unit is used to drive the lifting cylinder 13 to reciprocate along a first direction in the through hole; a positioning block 9 is fixed at the top of the lifting cylinder 13, and a positioning groove is formed on the positioning block 9, which is used to restrict the movement of the workpiece along the radial direction of the through hole.

[0041] The second drive mechanism includes a second drive unit, a support base, a first cantilever unit, and a second cantilever unit. The support base is detachably fixedly connected above the positioning block 9 and located within the positioning groove. The first and second cantilever units are movably connected to the top of the support base, and are arranged in alignment. The second drive unit synchronously drives the first and second cantilever units, forcing the first pressure head 1 of the first cantilever unit and the second pressure head 1 of the second cantilever unit to abut against the top of the workpiece. The force applied by the first pressure head 1 to the top of the workpiece is greater than the force applied by the second pressure head 1 to the top of the workpiece.

[0042] A positioning disk 10 is also movably connected above the base. The positioning disk 10 is used to place the rudder compartment so that the rudder compartment is fitted onto the workpiece. A positioning unit is also provided on the positioning disk 10. The positioning unit is used to restrict the movement of the rudder compartment on the positioning disk 10.

[0043] Multiple connectors, each of which passes through an assembly hole in a rudder compartment and an assembly hole in a workpiece and is locked in place.

[0044] In this embodiment, this application provides an automatic docking device for a rudder cabin. A positioning groove is formed on the positioning block 9 to restrict the movement of the workpiece along the radial direction of the perforation. This, in conjunction with a second drive unit, synchronously drives the first and second cantilever units, forcing the first pressure head 1 of the first cantilever unit and the second pressure head 1 of the second cantilever unit to respectively abut against the top of the workpiece, achieving precise positioning of the workpiece. Simultaneously, the positioning unit on the positioning disk 10 limits the rudder cabin's position and, in conjunction with the first drive unit, drives the lifting cylinder 13 to reciprocate along a first direction within the perforation. This causes the lifting cylinder 13 to move within the perforation until the assembly hole of the workpiece aligns with the assembly hole of the rudder cabin. Furthermore, the force applied to the top of the workpiece by the first pressure head 1 is greater than the force applied to the top of the workpiece by the second pressure head 1. Combined with a specific sequence of installation connectors, this avoids the problem of workpiece and rudder cabin misalignment caused by positioning deviations during the docking process or by misalignment of the connectors.

[0045] Furthermore, the support base includes a transition block 8, a support column, a support platform 4, and a support shaft 6. The transition block 8 is connected to the positioning block 9, the support column is fixedly connected to the periphery of the transition block 8, and the support platform 4 is fixedly connected to the top of the support column to provide support. A support platform 4 has a first central hole formed along a first direction between the first end and the second end; the main body of the second drive unit is fixed on the adapter block 8, and the output of the second drive unit passes through the first central hole and is connected to the support shaft 6; the first cantilever unit also includes a first rocker arm 2 and a first pressure rod 5; the bottom end of the first rocker arm 2 is hinged to the first end of the support platform 4, the top end of the first rocker arm 2 is hinged to the middle of the first pressure rod 5, the bottom end of the first pressure rod 5 is hinged to the first end of the support shaft 6, and a first pressure head 1 is fixed to the top end of the first pressure rod 5; the second cantilever unit also includes a second rocker arm 2 and a second pressure rod 5; the bottom end of the second rocker arm 2 is hinged to the second end of the support platform 4, the top end of the second rocker arm 2 is hinged to the middle of the second pressure rod 5, the bottom end of the second pressure rod 5 is hinged to the second end of the support shaft 6, and a second pressure head 1 is fixed to the top end of the second pressure rod 5. In this application, the second drive unit can be a second cylinder 7.

[0046] In this embodiment, the positioning block 9 is mounted on the lifting cylinder 13 by screws, the adapter block 8 is mounted on the positioning block 9 by screws, and the second cylinder 7 is mounted on the adapter block 8 by screws; the rocker arm 2 (first rocker arm 2 and second rocker arm 2), the pressure rod 5 (first pressure rod 5 and second pressure rod 5), the support shaft 6, and the support platform 4 are connected by the pin 3 to form a hinge, wherein the center of the support shaft 6 is connected to the output shaft of the second cylinder 7; the support platform 4 is fastened to the support column by screws; the first pressure head 1 is fixed on the first pressure rod 5, and the second pressure head 1 is fixed on the second pressure rod 5.

[0047] Specifically, in order to achieve synchronous driving of the first cantilever unit and the second cantilever unit by the second drive unit, the force exerted by the first pressure head 1 of the first cantilever unit and the second pressure head 1 of the second cantilever unit on the top of the workpiece is made such that the force exerted by the first pressure head 1 on the top of the workpiece is greater than the force exerted by the second pressure head 1 on the top of the workpiece. This application explains these two methods.

[0048] In some embodiments, the support shaft 6 is arranged parallel to the support platform 4, and the thickness of the first pressure head 1 along the pressing direction is greater than the thickness of the second pressure head 1 along the pressing direction.

[0049] In this embodiment, by means of the above method, since the first rocker arm 2 and the second rocker arm 2 are the same size and dimensions, the first pressure rod 5 and the second pressure rod 5 are also the same size and dimensions, and the positions of each hinge part are the same, therefore, when the thickness of the first pressure head 1 is greater than the thickness of the second pressure head 1, the first pressure head 1 can contact the top of the workpiece first before the second pressure head 1; secondly, when the first pressure head 1 and the second pressure head 1 are firmly pressed together, the downward pressing distance of the first pressure head 1 is greater than the downward pressing distance of the second pressure head 1, thus the force applied by the first pressure head 1 to the top of the workpiece is greater than the force applied by the second pressure head 1 to the top of the workpiece.

[0050] In some embodiments, an angle is formed between the support shaft 6 and the support platform 4, and the distance from the hinged part of the first pressure rod 5 that is hinged to the support shaft 6 to the support platform 4 is greater than the distance from the hinged part of the second pressure rod 5 that is hinged to the support shaft 6 to the support platform 4.

[0051] In this embodiment, by means of the above method, since the first rocker arm 2 and the second rocker arm 2 are the same size and dimensions, the first pressure rod 5 and the second pressure rod 5 are also the same size and dimensions, and the positions of each hinge part are the same, when an angle is formed between the support shaft 6 and the support platform 4, by making the distance from the hinged part where the first pressure rod 5 is hinged to the support shaft 6 to the support platform 4 greater than the distance from the hinged part where the second pressure rod 5 is hinged to the support shaft 6 to the support platform 4, the first pressure head 1 can contact the top of the workpiece first before the second pressure head 1. Therefore, when the first pressure head 1 and the second pressure head 1 are firmly pressed together, the downward pressing distance of the first pressure head 1 is greater than the downward pressing distance of the second pressure head 1, thus achieving a force exerted by the first pressure head 1 on the top of the workpiece greater than the force exerted by the second pressure head 1 on the top of the workpiece.

[0052] Furthermore, the first drive unit includes a base plate 19, which is fixed below the base in a first direction. A slide rail 16 extends from the base plate 19 in the first direction, and a slider 15 is slidably mounted on the slide rail 16. The base plate 19 also includes a lead screw and nut assembly and a first drive motor 22. The output shaft of the first drive motor 22 is connected to the lead screw, and a lead screw nut is fixedly connected to the slider 15. The base plate 19 also includes a connecting block 14, one end of which is fixed to the lifting cylinder 13, and the other end of which is fixed to the slider 15.

[0053] Specifically, a proximity sensor is also installed on the base plate 19 at the position of the slide rail 16, and a detection block is fixedly connected to the slider 15.

[0054] Specifically, a hollow rotating platform 11 is movably connected to the base. A bearing is provided in the middle of the hollow rotating platform 11, and the bearing is sleeved in the through hole. A positioning disk 10 is fixed on the hollow rotating platform 11. A second drive motor 12 is also provided on the base, which is used to drive the hollow rotating platform 11 to rotate.

[0055] Specifically, the positioning unit includes a first cylinder 24 and a positioning shaft 26. The first cylinder 24 is fixed on the positioning plate 10, and the output shaft of the first cylinder 24 is connected to the positioning shaft 26. The positioning shaft 26 extends through the positioning hole of the rudder compartment.

[0056] In this embodiment, the base is welded together by a horizontal beam 18 and a vertical beam 21, with pre-drilled threaded holes (through holes). A foot cup 23 is installed at the bottom of the vertical beam 21. The mounting plate 17 is bolted to the horizontal beam 18 and the vertical beam 21. The base plate 19 is bolted to the mounting plate 17. The hollow rotating platform 11 is movably fitted into the through holes via bearings. The support plate 20 is bolted to the base plate 19 and the mounting plate 17, serving as a reinforcing rib. The slide rail 16 is screwed to the base plate 19. The slider 15 is movable. The mounting block 14 and the lifting cylinder 13 are fastened to the slider 15 with screws; the lead screw nut in the lead screw nut assembly is installed on the slider 15 with screws, and the two ends of the lead screw are respectively sleeved on the bearings of the mounting block and the mounting plate 17; the servo motor is fastened to the mounting block or installed on the base plate 19 with screws, and is connected to the lead screw head shaft through a coupling; the positioning plate 10 is installed on the hollow rotating platform 11; the first cylinder 24 is installed on the positioning plate 10 with screws, and the positioning shaft 26 is connected to the shaft of the first cylinder 24. In this application, the mounting block is fixed on the base plate 19.

[0057] In this embodiment, the automatic docking device for the rudder compartment operates on the following principle:

[0058] 1) The device is combined with robot application. First, the rudder compartment is placed on the positioning plate 10. The first cylinder 24 pushes the positioning shaft 26 to position the rudder compartment. Then, the workpiece is placed on the positioning block 9 to position the product. At the same time, the working shaft of the second cylinder 7 extends and, through the linkage of the rocker arm 2, the pressure rod 5, and the support shaft 6, the pressure head 1 is pressed onto the product to fix the product.

[0059] 2) The servo motor operates to make the lead screw nut work. The slider 15 installed on the lead screw nut moves downward along the slide rail 16, which drives the lifting cylinder 13 containing the workpiece to descend. The descent distance is detected and controlled by the detection block and the proximity sensor (preferably a metal proximity sensor in this application) until the assembly hole of the workpiece is aligned with the assembly hole of the rudder compartment.

[0060] 3) The workpiece and the rudder compartment are locked together by screws (i.e., connecting parts). When connecting, the assembly hole of the workpiece and the assembly hole of the rudder compartment can be rotated through the hollow rotating platform 11 until they are in the corresponding positions, which is convenient for operation.

[0061] 4) The second cylinder 7 retracts, rocker arm 2, pressure rod 5, and support shaft 6 work together to detach the pressure head 1 from the product; the output shaft of the first cylinder 24 retracts, pulling the positioning shaft 26 to unlock the rudder compartment.

[0062] 5) The flexible automatic assembly of the product can be completed by removing the rudder compartment with the workpiece.

[0063] 6) When disassembling the workpiece and the rudder compartment, place the process rudder compartment with the workpiece on the positioning plate 10. The first cylinder 24 pushes the positioning shaft 26 to position the rudder compartment. At the same time, the working shaft of the second cylinder 7 extends and, through the linkage of the rocker arm 2, the pressure rod 5, and the support shaft 6, presses the pressure head 1 onto the product to fix the product.

[0064] 7) Remove the connecting screws (i.e., connectors) between the workpiece and the process control cabin.

[0065] 8) The second cylinder 7 retracts, and the rocker arm 2, pressure rod 5, and support shaft 6 work together to detach the pressure head 1 from the product.

[0066] 9) When the servo motor is working, the lead screw nut is working. The slider 15 installed on the lead screw nut moves upward along the slide rail 16, which drives the lifting cylinder 13 containing the workpiece to rise.

[0067] 10) Remove the workpiece.

[0068] 11) The first cylinder 24 retracts, pulling the positioning shaft 26 to unlock the rudder compartment.

[0069] 12) The workpiece and the rudder compartment can be disassembled by removing the rudder compartment.

[0070] This embodiment discloses a method for an automatic docking device for a rudder compartment, the method steps of which include:

[0071] Step 1: Place the rudder compartment on the positioning plate 10, drive the first cylinder 24 of the positioning unit, and push the positioning shaft 26 of the positioning unit to position the rudder compartment.

[0072] Step 2: Place the workpiece on the positioning slot of the positioning block 9, drive the second drive unit, and simultaneously drive the first pressure head 1 of the first cantilever unit and the second pressure head 1 of the second cantilever unit to abut against the top of the workpiece to position the workpiece.

[0073] Step 3: Drive the first drive unit to move the lifting cylinder 13 within the perforation until the assembly hole of the workpiece aligns with the assembly hole of the rudder compartment.

[0074] Step 4: Drive the first connector to pass through the assembly hole of a rudder compartment and the assembly hole of a workpiece at the end away from the first pressure head 1 and lock it. Drive the second connector to pass through the assembly hole of a rudder compartment and the assembly hole of a workpiece at the end close to the first pressure head 1 and lock it. Drive the other connectors to pass through the assembly hole of a rudder compartment and the assembly hole of a workpiece and lock them.

[0075] In this embodiment, by taking the above steps and ensuring that the force applied to the top of the workpiece by the first pressure head 1 is greater than the force applied to the top of the workpiece by the second pressure head 1, the problem of workpiece and rudder compartment misalignment caused by positioning deviation during docking or twisting of the connector can be avoided.

[0076] This embodiment also discloses another method for an automatic docking device for the rudder compartment, the method steps of which include:

[0077] Step 1: Place the rudder compartment on the positioning plate 10, drive the first cylinder 24 of the positioning unit, and push the positioning shaft 26 of the positioning unit to position the rudder compartment.

[0078] Step 2: Place the workpiece on the positioning slot of the positioning block 9, drive the second drive unit, and simultaneously drive the first pressure head 1 of the first cantilever unit and the second pressure head 1 of the second cantilever unit to abut against the top of the workpiece to position the workpiece.

[0079] Step 3: Drive the first drive unit to move the lifting cylinder 13 within the perforation until the assembly hole of the workpiece aligns with the assembly hole of the rudder compartment.

[0080] Step 4: Drive the first connector to pass through the assembly hole of a rudder compartment and the assembly hole of a workpiece at the end near the first pressure head 1 for initial locking. Drive the second connector to pass through the assembly hole of a rudder compartment and the assembly hole of a workpiece at the end away from the first pressure head 1 and lock them. Drive the first connector again for locking. Drive the other connectors to pass through the assembly holes of a rudder compartment and the assembly hole of a workpiece and lock them. The force exerted by the first connector on the workpiece and the rudder compartment when it is initially locked is less than the force exerted by the second connector when it is locked. The force exerted by the first connector on the workpiece and the rudder compartment when it is locked again is greater than or equal to the force exerted by the second connector when it is locked.

[0081] In this embodiment, by taking the above steps and ensuring that the force applied to the top of the workpiece by the first pressure head 1 is greater than the force applied to the top of the workpiece by the second pressure head 1, the problem of workpiece and rudder compartment misalignment caused by positioning deviation during docking or twisting of the connector can be avoided.

[0082] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0083] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A rudder pod automatic docking device applied to a servo assembly, the servo assembly comprising a workpiece and a rudder pod, characterized in that, The utility model relates to a rudder cabin positioning device and rudder cabin pressing device, including: The base is formed with a through hole in the first direction on the base; First drive mechanism, first drive mechanism includes first drive unit and lifting cylinder; The first drive unit is used for driving the lifting cylinder to reciprocate in the through hole along the first direction, the top of the lifting cylinder is fixed with a positioning block, the positioning block is formed with a positioning groove, and the positioning groove is used to limit the workpiece to move along the radial direction of the through hole; Second drive mechanism, second drive mechanism includes second drive unit, support seat, first cantilever unit and second cantileaver unit;The support seat is detachably fixedly connected above the positioning block and is located in the positioning groove;The first cantilever unit and the second cantilever unit are movably connected at the top of the support seat respectively, and the first cantilever unit and the second cantilever unit are arranged in pairs;The second drive unit is used for synchronously driving the first cantilever unit and the second cantilever unit, forcing the first pressure head of the first cantilever unit and the second pressure head of the second cantilever unit to abut on the top of the workpiece respectively;The force exerted on the top of the workpiece by the first pressure head is greater than the force exerted on the top of the workpiece by the second pressure head; The positioning disc is movably connected above the base, and the positioning disc is used to place the rudder cabin so that the rudder cabin is sleeved on the workpiece;The positioning disc is also provided with a positioning unit, and the positioning unit is used to limit the movement of the rudder cabin on the positioning disc; A plurality of connecting pieces are provided, each of which is arranged in the assembly hole of a rudder cabin and the assembly hole of a workpiece and is locked.

2. The automatic docking device for rudder pods of claim 1, wherein, The support seat includes an adapter block, a support column, a support table, and a support shaft;The adapter block is detachably fixedly connected to the positioning block, the support column is fixedly connected to the periphery of the adapter block, the top end of the support column is fixedly connected to the support table, and the support table is located between the first end and the second end and has a first central hole formed in the first direction;The main body of the second drive unit is fixed to the adapter block, and the output part of the second drive unit is connected to the support shaft through the first central hole; The first cantilever unit further includes a first rocker arm and a first pressure rod;The bottom end of the first rocker arm is hinged to the first end of the support table, the top end of the first rocker arm is hinged to the middle part of the first pressure rod, the bottom end of the first pressure rod is hinged to the first end of the support shaft, and the top end of the first pressure rod is fixed with the first pressure head; The second cantilever unit further includes a second rocker arm and a second pressure rod;The bottom end of the second rocker arm is hinged to the second end of the support table, the top end of the second rocker arm is hinged to the middle part of the second pressure rod, the bottom end of the second pressure rod is hinged to the second end of the support shaft, and the top end of the second pressure rod is fixed with the second pressure head.

3. The pod auto-docking apparatus of claim 2, wherein, The support shaft and the support table are arranged in parallel, and the thickness of the first pressure head in the pressing direction is greater than the thickness of the second pressure head in the pressing direction.

4. The pod auto-docking apparatus of claim 2, wherein, An included angle is formed between the support shaft and the support table, and the distance from the hinged part of the first pressing rod hinged to the support shaft to the support table is greater than the distance from the hinged part of the second pressing rod hinged to the support shaft to the support table.

5. The pod auto-docking apparatus of claim 1, wherein, The first driving unit comprises a bottom plate fixed below the base in a first direction, a sliding rail provided on the bottom plate and extending in the first direction, and a sliding block provided on the sliding rail; a screw nut assembly and a first driving motor are further provided on the bottom plate, the output shaft of the first driving motor is in transmission connection with the screw rod, and a screw nut is fixedly connected to the sliding block; a connecting block is further provided on the bottom plate, one end of the connecting block is fixed to the lifting cylinder, and the other end of the connecting block is fixed to the sliding block.

6. The pod auto-docking apparatus of claim 1, wherein, A hollow rotating platform is further movably connected to the base, a bearing is arranged at the middle part of the hollow rotating platform, the bearing is sleeved in the through hole, and the positioning disc is fixed to the hollow rotating platform; A second driving motor is further arranged on the base, and the second driving motor is used for driving the hollow rotating platform to rotate.

7. The pod auto-docking apparatus of claim 1, wherein, The positioning unit comprises a first cylinder and a positioning shaft, the first cylinder is fixed to the positioning disc, the output shaft of the first cylinder is connected with the positioning shaft, and the positioning shaft penetrates the positioning hole of the rudder cabin.

8. The pod auto-docking apparatus of claim 5, wherein, A proximity sensor is further arranged at the position of the sliding rail on the bottom plate, and a detection block is fixedly connected to the sliding block.

9. A method for use in the automatic docking device for rudders according to any one of claims 1-7, characterized in that, The method comprises the following steps: Step 1: placing the rudder cabin on the positioning disc, driving the first cylinder of the positioning unit, and pushing the positioning shaft of the positioning unit to position the rudder cabin; Step 2: placing the workpiece on the positioning groove of the positioning block, driving the second driving unit, and synchronously driving the first pressing head of the first cantilever unit and the second pressing head of the second cantilever unit to abut against the top end of the workpiece to position the workpiece; Step 3: driving the first driving unit to drive the lifting cylinder to move in the through hole until the assembly hole of the workpiece is aligned with the assembly hole of the rudder cabin; Step 4: driving the first connecting piece to penetrate the assembly hole of one rudder cabin and the assembly hole of one workpiece away from the side where the first pressing head is located and to be locked, driving the second connecting piece to penetrate the assembly hole of one rudder cabin and the assembly hole of one workpiece close to the side where the first pressing head is located and to be locked, and driving the other connecting pieces to penetrate the assembly hole of one rudder cabin and the assembly hole of one workpiece and to be locked.

10. A method for use in the automatic docking device for rudders according to any one of claims 1-7, characterized in that, The method comprises the following steps: Step 1: placing the rudder cabin on the positioning disc, driving the first cylinder of the positioning unit, and pushing the positioning shaft of the positioning unit to position the rudder cabin; Step 2: placing the workpiece on the positioning groove of the positioning block, driving the second driving unit, and synchronously driving the first pressing head of the first cantilever unit and the second pressing head of the second cantilever unit to abut against the top end of the workpiece to position the workpiece; Step 3: driving the first driving unit to drive the lifting cylinder to move in the through hole until the assembly hole of the workpiece is aligned with the assembly hole of the rudder cabin; Step 4: driving the first connecting piece to penetrate the assembly hole of one rudder cabin and the assembly hole of one workpiece away from the side where the first pressing head is located and to be locked, driving the second connecting piece to penetrate the assembly hole of one rudder cabin and the assembly hole of one workpiece close to the side where the first pressing head is located and to be locked, and driving the other connecting pieces to penetrate the assembly hole of one rudder cabin and the assembly hole of one workpiece and to be locked. Step 4: drive the first connecting piece to pass through the assembly hole of a rudder cabin near one end of the side where the first pressing head is located and the assembly hole of a workpiece for primary locking, drive the second connecting piece to pass through the assembly hole of a rudder cabin away from one end of the side where the first pressing head is located and the assembly hole of a workpiece and lock, drive the first connecting piece again for relocking, and drive the other connecting pieces to pass through the assembly hole of a rudder cabin and the assembly hole of a workpiece and lock; wherein the force of the first connecting piece on the workpiece and the rudder cabin when it is primarily locked is less than the force of the second connecting piece on the workpiece and the rudder cabin when it is locked; the force of the first connecting piece on the workpiece and the rudder cabin when it is relocked is greater than or equal to the force of the second connecting piece on the workpiece and the rudder cabin when it is locked.

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