Flexible docking mechanism for final assembly of cylindrical flying body

Abstract

The invention discloses a flexible docking mechanism for a cylindrical flight body final assembly, which comprises a six-degree-of-freedom attitude adjusting mechanism, the six-degree-of-freedom attitude adjusting mechanism comprises four first-stage lifting mechanisms, a first-layer supporting plate is fixedly connected to each first-stage lifting mechanism, a second-layer supporting plate is arranged above each first-layer supporting plate, an XY displacement driving unit is mounted on each first-layer supporting plate, and an X-Y displacement driving unit is mounted on each second-layer supporting plate. A third-layer supporting plate is arranged above the second-layer supporting plate, and two Z-axis rotation driving units are installed on the second-layer supporting plate. The second-stage lifting mechanism comprises four second-stage lifting driving units and four second-stage lifting guide rails, the four second-stage lifting guide rails are fixedly connected to the three-layer supporting plate, the second-stage lifting driving units are mounted on the second-stage lifting guide rails, and a flexible supporting table mounting plate is slidably connected among the four second-stage lifting guide rails; and a flexible supporting table is arranged on the flexible supporting table mounting plate. According to the device, large-stroke precise butt joint with a specific working space can be achieved, and it is guaranteed that a key module is stably fed in and withdrawn out in the working process.

Description

Technical Field

[0001] This invention relates to the field of compliant docking devices for cylindrical aircraft, and in particular to a compliant docking mechanism for the assembly of cylindrical aircraft. Background Technology

[0002] In the aerospace field, the vertical docking of the core stage and boosters during the vertical assembly of cylindrical flight vehicles is a crucial step in achieving overall rocket structural integration, load transfer, and flight dynamics control. This process involves large-mass, large-size thin-walled cylindrical sections, and the docking interface includes precise structural interfaces, highly sensitive fluid pipelines, and electrical circuits, all of which must be completed in a clean, temperature- and humidity-controlled vertical assembly facility. Therefore, achieving the safe, precise, and automated approach, alignment, and locking of the boosters from their horizontal parking or transport state to their connection with the vertical core stage is a critical process for ensuring the overall assembly quality, testing efficiency, and final mission reliability of the cylindrical flight vehicle. This requires the motion system to not only possess large stroke, multiple degrees of freedom, and high-precision positioning and attitude adjustment capabilities, but also to ensure absolute stability and the absence of rigid impacts throughout the docking process, while meeting stringent compatibility requirements such as clean environment and anti-static properties.

[0003] Currently, mechanisms used for transporting and docking heavy precision components can be mainly divided into two categories: serial and parallel. Serial mechanisms (such as multi-joint robotic arms) have the advantages of large workspace and high flexibility, but their end-effector positioning accuracy is significantly affected by the cumulative joint errors, and their overall structural rigidity is relatively low. When bearing large-mass rocket sections or requiring high rigidity maintenance, they are prone to vibration, making it difficult to meet the stringent requirements of stability and accuracy in the docking process of cylindrical flying objects. Parallel mechanisms (such as the Stewart platform) are widely used in precision attitude adjustment due to their high structural rigidity, fast dynamic response, and uniform accuracy distribution. However, their workspace is relatively limited, and they are difficult to independently achieve long-stroke linear transport, presenting significant limitations when facing long-distance, large-area initial positioning.

[0004] In actual vertical assembly, existing technologies still face the following prominent challenges in achieving high-precision automated docking between the booster and the core stage: a. The contradiction between accuracy and stroke: Although a single parallel attitude adjustment platform has high local accuracy, its range of movement is limited; while traditional gantry cranes, rail transport vehicles and other long-stroke conveying equipment have insufficient end-positioning accuracy and multi-degree-of-freedom fine adjustment capabilities. In particular, they are prone to low-frequency shaking and positioning deviations during multi-axis compound motion, making it difficult to meet the millimeter-level or even sub-millimeter-level alignment requirements of the docking interface of cylindrical flying bodies.

[0005] b. Insufficient compliance and shock resistance during docking: Existing docking mechanisms are mostly based on rigid motion control. When there is a slight positional deviation between the guide pin on the booster and the receiving hole on the core stage, jamming or rigid collisions can easily occur. Such impacts may not only damage the delicate interface structure and sealing surface, but may also transmit stress waves to sensitive instruments and propellant lines inside the cylinder, threatening product safety and mission reliability.

[0006] c. The system has limited adaptability to complex site conditions: The floor of the vertical assembly plant may experience slight settlement or uneven deformation under long-term loads. When traditional rigid supports and attitude adjustment mechanisms operate on such non-ideal foundations, they are prone to exceeding internal force limits, drive overload, or structural deformation, thus affecting the final docking accuracy. Furthermore, how to achieve rapid and stable deployment and initial attitude calibration of the docking mechanism itself during the transition from transport vehicles to fixed assembly bases or workstations is also a pressing problem to be solved in engineering practice.

[0007] In summary, a compliant docking mechanism for the assembly of cylindrical aircraft is proposed to solve the above problems. Summary of the Invention

[0008] The purpose of this invention is to provide a compliant docking mechanism for the assembly of cylindrical aircraft bodies, so as to solve the problems existing in the prior art, and to comprehensively realize large-range transportation, six-degree-of-freedom precision attitude adjustment and passive or active compliant docking capabilities.

[0009] To achieve the above objectives, the present invention provides the following solution: The present invention provides a compliant docking mechanism for the assembly of a cylindrical flight body, comprising: A six-degree-of-freedom (DOF) attitude adjustment mechanism includes four primary lifting mechanisms. A support plate is fixedly connected to each primary lifting mechanism. A second support plate is positioned above the first support plate. An XY displacement drive unit is mounted on the first support plate and is drively connected to the second support plate. A third support plate is positioned above the second support plate, and two Z-axis rotation drive units are mounted on the second support plate and are drively connected to the third support plate. The secondary lifting mechanism includes four secondary lifting drive units and four secondary lifting guide rails. The four secondary lifting guide rails are fixedly connected to the three-layer support plate. The secondary lifting drive units are mounted on the secondary lifting guide rails. A flexible support platform mounting plate is slidably connected between the four secondary lifting guide rails. The secondary lifting drive units and the flexible support platform mounting plate are drively connected. A flexible support platform is provided on the flexible support platform mounting plate, and the flexible support platform has a key module mounting seat.

[0010] Preferably, the flexible support platform includes a plurality of spring-loaded ball assemblies, which are fixedly connected to the flexible support platform mounting plate. A floating plate is provided on the spring-loaded ball assemblies. A limiting device is provided between the flexible support platform mounting plate and the floating plate. The limiting device includes a limiting baffle, on which a polyurethane plate is fixedly connected. Two polyurethane plate pressure plates are fixedly connected to the polyurethane plate. The limiting device is fixedly connected to the flexible support platform mounting plate. Two positioning units are installed on the flexible support platform mounting plate. The positioning units are pulsatorically connected to the floating plate. The key module mounting seat is installed on the floating plate.

[0011] Preferably, the spring limiting ball assembly includes a lower flange plate of the spring seat, which is fixedly connected to the flexible support platform mounting plate. A housing and a stud tube are fixedly connected to the lower flange plate of the spring seat. A spring pressure adjusting stud is internally threaded into the stud tube. A retaining ring is installed on the housing, and a spring fixing seat is slidably disposed within the retaining ring. A spring is fixedly connected to the spring fixing seat. The spring is located inside the housing and abuts against the spring pressure adjusting stud. A ball support is installed on the spring fixing seat, and the ball support abuts against the floating plate.

[0012] Preferably, the positioning unit includes a motor, a reducer mounted on the output end of the motor, the reducer fixedly connected to a motor mounting base, a perforated coupling mounted on the output end of the reducer, the motor mounting base fixedly connected to a positioning unit mounting base, the positioning unit mounting base fixedly connected to a flexible support platform mounting plate, a copper sleeve fixedly connected to the positioning unit mounting base, a guide shaft slidably disposed within the copper sleeve, a connecting plate fixedly connected to the guide shaft, a positioning head and a lead screw nut fixedly connected to the connecting plate, a lead screw threadedly connected to the perforated coupling, two bearing grooves formed on the positioning head, several positioning shafts fixedly connected to the bottom surface of the floating plate, several bearings mounted on the positioning shafts, and a locking nut mounted on the positioning shafts for locking the bearings.

[0013] Preferably, the primary lifting mechanism includes a lifting platform 1 and a motor 2. The lifting platform 1 is fixedly connected to a support plate. A motor mounting base 2 is fixedly connected to the lifting platform 1. A reducer 2 is installed at the output end of the motor 2. The reducer 2 is mounted on the motor mounting base 2. A double-clutch coupling 2 is fixedly connected to the output end of the reducer 2. A lead screw 2 is rotatably connected to the lifting platform 1. The double-clutch coupling 2 is drivingly connected to the lead screw 2. A guide shaft sleeve mounting plate is fixedly connected to the lifting platform 1. A guide shaft copper sleeve 2 is fixedly connected to the guide shaft sleeve mounting plate. A guide shaft 2 is slidably connected inside the guide shaft copper sleeve 2. A guide shaft support plate is fixedly connected to the guide shaft 2. A lead screw nut cup is fixedly connected to the guide shaft sleeve mounting plate. A lead screw nut 2 is fixedly connected inside the lead screw nut 2. The lead screw 2 is rotatably connected inside the lead screw nut 2. A ball joint 1 is fixedly connected to the lead screw nut cup. A foot is movably connected to the ball joint 1. A locking nut 2 is provided on the ball joint 1.

[0014] Preferably, the XY displacement drive unit includes an X-axis motor and a Y-axis motor. An X-axis displacement mounting base and a Y-axis displacement mounting base are fixedly connected to the first-layer support plate. An X-axis motor mounting base is fixedly connected to the X-axis displacement mounting base. A plurality of X-axis guide rails are fixedly connected to the first-layer support plate. An X-axis slider is slidably connected to the X-axis guide rails. An X-axis displacement plate is fixedly connected to the X-axis slider. A Y-axis guide rail is fixedly connected to the X-axis displacement plate. A Y-axis slider is slidably connected to the Y-axis guide rails. A Y-axis displacement plate is fixedly connected to the Y-axis slider. The second-layer support plate is fixedly connected to the Y-axis displacement plate. The X-axis motor is driven by a first transmission mechanism to the X-axis displacement plate, and the Y-axis motor is driven by a second transmission mechanism to the Y-axis displacement plate.

[0015] Preferably, the transmission mechanism one and the transmission mechanism two have the same structure. The transmission mechanism one includes a reducer three, which is installed at the output end of the X-axis motor. The output end of the reducer three is fixedly connected to a perforated coupling four. The perforated coupling four is fixedly connected to a lead screw three. A trapezoidal square nut is fixedly connected to the X-axis displacement plate. The lead screw three is threadedly connected to the trapezoidal square nut. A locking nut three is installed on the X-axis motor mounting base. The trapezoidal square nut is fixedly connected to the X-axis displacement plate.

[0016] Preferably, the Z-axis rotation drive unit includes an electric cylinder, a ball joint seat is fixedly connected to the bottom surface of the three-layer support plate, an electric cylinder mounting seat is fixedly connected to the two-layer support plate, a sliding bearing seat is fixedly connected to the electric cylinder mounting seat, the electric cylinder is movably connected to the sliding bearing seat through the sliding bearing, four universal ball joint supports are fixedly connected to the two-layer support plate, the universal ball joint supports abut against the three-layer support plate, a second ball joint is installed at the output end of the electric cylinder, a ball joint connecting shaft is installed on the second ball joint, a ball joint seat is fixedly connected to the ball joint connecting shaft, the ball joint seat is fixedly connected to the bottom surface of the three-layer support plate, a Z-axis rotation arc-shaped guide rail assembly is provided between the two-layer support plate and the three-layer support plate, two locking nuts are installed on the second ball joint, the Z-axis rotation arc-shaped guide rail assembly includes an arc-shaped guide rail and an arc-shaped slider, the arc-shaped guide rail is fixedly connected to the two-layer support plate, the arc-shaped slider is fixedly connected to the arc-shaped slider, and the arc-shaped slider is slidably connected to the arc-shaped guide rail.

[0017] Preferably, the secondary lifting guide rail includes a motor three, a lifting platform two, and a guide shaft lower end seat. The lifting platform two and the guide shaft lower end seat are both fixedly connected to the three-layer support plate. A motor mounting base three is fixedly connected to the lifting platform two. A reducer three is installed at the output end of the motor three. A perforated coupling three is fixedly connected to the output end of the reducer three. A lead screw four is installed on the lifting platform two. A lead screw nut four is threaded onto the lead screw four. A guide shaft three is fixedly connected to the guide shaft lower end seat. A lifting support plate is fixedly connected to the lead screw nut four. A linear bearing is fixedly connected to the lifting support plate. The guide shaft three is slidably connected within the linear bearing. A locking nut six is ​​installed on the lead screw four, and the locking nut six abuts against the upper end plate of the guide rail. A guide shaft is fixedly connected to the guide shaft three. The guide shaft seat and the lead screw are fixedly connected to the upper end plate of the guide rail. A secondary lifting guide rail seat plate is fixedly connected to the upper end plate of the guide rail. An upper mounting seat for the guide rail cover is fixedly connected to the secondary lifting guide rail seat plate. A lower mounting seat for the guide rail cover is fixedly connected to the lifting machine. Both the lower mounting seat for the guide rail cover and the lifting support plate have guide rail cover mounting grooves. A guide rail cover is installed in the guide rail cover mounting groove. The plum blossom coupling is drivenly connected to the lead screw. A flexible support platform is provided on the lifting support plate. The flexible support platform includes a connecting plate two. The connecting plate two is movably connected to a ball joint three. The ball joint three is installed on the lifting support plate. A locking nut five is provided on the ball joint three. The connecting plate two is fixedly connected to the flexible support platform mounting plate.

[0018] Preferably, the key module mounting base includes a frame and a key module mounting plate. The key module mounting plate is fixedly connected to the frame. Four mounting feet are fixedly connected to the frame. The mounting feet are fixedly connected to the floating plate. Three positioning pins are fixedly connected to the frame.

[0019] This invention discloses the following technical effects: In this device, the bottom of the primary lifting mechanism is suspended on the AGV. During docking, the primary lifting mechanism supports the ground and then performs subsequent attitude adjustments to complete the docking. The XY displacement drive unit drives the second-layer support plate to move in the X and Y directions, the Z-axis rotation drive unit drives the rotation of the third-layer support plate, and the secondary lifting drive unit drives the flexible support platform mounting plate to rise and fall. The flexible support platform mounting plate slides on the secondary lifting guide rail, and the secondary lifting drive unit pushes the upper support mechanism to achieve large-stroke precise lifting motion. The flexible support platform is used to install the device to be docked. Through the above-mentioned motion mechanism, the key modules carried by the device can be lifted to the required working height after docking. This device can achieve large-stroke precise docking with a specific workspace and ensure that the key modules are smoothly delivered and withdrawn during operation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the six-degree-of-freedom attitude adjustment mechanism of the present invention; Figure 3 This is a schematic diagram of the bottom of the six-degree-of-freedom attitude adjustment mechanism of the present invention; Figure 4 This is a schematic diagram of the Z-axis rotation drive unit structure of the present invention; Figure 5 This is a schematic diagram of the Z-axis rotating arc-shaped guide rail assembly of the present invention; Figure 6 This is a schematic diagram of the XY displacement driving unit structure of the present invention; Figure 7 This is a schematic diagram of the bottom of the XY displacement driving unit of the present invention; Figure 8 This is a schematic diagram of the primary lifting mechanism of the present invention; Figure 9 This is a schematic diagram of the two-stage lifting mechanism of the present invention; Figure 10 This is a schematic diagram of the two-stage lifting drive unit and the two-stage lifting guide rail structure of the present invention; Figure 11 This is a schematic diagram of the two-stage lifting guide rail base plate of the present invention; Figure 12 This is a schematic diagram of the flexible support platform structure of the present invention; Figure 13 This is a schematic diagram of the flexible support platform structure of the present invention; Figure 14 This is a schematic diagram of the limiting device structure of the present invention; Figure 15 This is a schematic diagram of the spring limiting ball assembly structure of the present invention; Figure 16 This is a schematic diagram of the positioning unit structure of the present invention; Figure 17 This is a schematic diagram of the positioning shaft structure of the present invention; Figure 18 This is a schematic diagram of the mounting base structure for a key module of the present invention; Among them, 1. a six-degree-of-freedom attitude adjustment mechanism; 2. a two-stage lifting mechanism; 3. a flexible support platform; 101. Primary lifting mechanism; 10101. Foot; 10102. Ball joint one; 10103. Locking nut two; 10104. Threaded nut cup; 10105. Guide shaft support plate; 10106. Guide shaft sleeve mounting plate; 10107. Guide shaft copper sleeve two; 10108. Guide shaft two; 10109. Motor two; 10110. Reducer two; 10111. Motor mounting base two; 10112. Plum blossom coupling two; 10113. Lead screw two; 10114. Lifting mechanism one; 102. First-layer support plate; 103. XY displacement drive unit; 10308. Four-piece plum blossom coupling; 10309. Three locking nuts; 103021, X-axis motor; 103022, Y-axis motor; 103011, X-axis displacement mounting base; 103012, Y-axis displacement mounting base; 103041, X-axis motor mounting base; 103061, X-axis guide rail; 103062, X-axis slider; 103063, Y-axis guide rail; 103064, Y-axis slider; 10305, X-axis displacement plate; 10303, Reducer III; 10310, Lead Screw III; 10305, X-direction displacement plate; 10311, Trapezoidal square nut; 105. Second-layer support plate; 106. Z-axis rotating arc-shaped guide rail assembly; 10601. Arc-shaped guide rail; 10602. Arc-shaped slider; 106. Z-axis rotating arc-shaped guide rail assembly; 107. Universal ball joint support; 108. Three-layer support plate; 109. Z-axis rotary drive unit; 10901. Electric cylinder; 10902. Electric cylinder mounting base; 10903. Sliding bearing; 10904. Sliding bearing seat; 10905. Ball joint seat; 10906. Ball joint connecting shaft; 10907. Ball joint two; 10908. Locking nut four; 201. Secondary lifting drive unit; 20101. Motor III; 20102. Reducer III; 20103. Motor mounting bracket III; 20104. Plum blossom coupling III; 202. Flexible support platform mounting plate; 203. Secondary lifting guide rail; 20301. Guide shaft three; 20302. Lead screw four; 20303. Lead screw nut four; 20304. Flexible support platform; 20305. Guide rail cover mounting groove; 20306. Linear bearing; 20307. Guide rail cover lower mounting seat; 20308. Guide shaft lower end seat; 20309. Elevator II; 20310. Elevator Support Plate; 20311. Locking Nut VI; 20312. Upper End Plate of Guide Rail; 20313. Guide Shaft Seat; 20314. Upper Mounting Seat of Guide Rail Cover; 20601, Locking Nut Five; 20602, Ball Joint Three; 20603, Connecting Plate Two; 2041. Guide rail cover; 205. Secondary lifting guide rail base plate; 301. Limiting device; 30101. Limiting baffle; 30102. Polyurethane board pressure plate; 30103. Polyurethane board; 302. Spring limiting ball assembly; 30201. Spring pressure adjusting stud; 30202. Lower flange plate of spring seat; 30203. Spring; 30204. Housing; 30205. Snap ring; 30206. Ball support; 30207. Spring fixing seat; 303. Floating plate; 30301. Relative position of bearing and groove; 30302. Positioning shaft; 30303. Bearing; 30304. Locking nut one; 304. Key module mounting bracket; 30401. Mounting feet; 30402. Key module mounting plate; 30403. Frame; 30404. Positioning pins; 305. Positioning unit; 30501. Motor 1; 30502. Reducer 1; 30504. Plum blossom coupling 1; 30503. Motor mounting base 1; 30505. Guide shaft 1; 30506. Copper sleeve 1; 30507. Positioning unit mounting base; 30508. Lead screw nut 1; 30509. Positioning head; 30510. Bearing groove; 30511. Lead screw 1. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Reference Figure 1-18 The present invention provides a compliant docking mechanism for the assembly of a cylindrical aircraft body, comprising: The six-degree-of-freedom attitude adjustment mechanism 1 includes four primary lifting mechanisms 101. A first-level support plate 102 is fixedly connected to the primary lifting mechanism 101. A second-level support plate 105 is arranged above the first-level support plate 102. An XY displacement drive unit 103 is installed on the first-level support plate 102 and is connected to the second-level support plate 105. A third-level support plate 108 is arranged above the second-level support plate 105. Two Z-axis rotation drive units 109 are installed on the second-level support plate 105 and are connected to the third-level support plate 108. The secondary lifting mechanism 2 includes four secondary lifting drive units 201 and four secondary lifting guide rails 203. The four secondary lifting guide rails 203 are fixedly connected to the three-layer support plate 108. The secondary lifting drive units 201 are installed on the secondary lifting guide rails 203. A flexible support platform mounting plate 202 is slidably connected between the four secondary lifting guide rails 203. The secondary lifting drive units 201 and the flexible support platform mounting plate 202 are connected by transmission. A flexible support platform 3 is provided on the flexible support platform mounting plate 202. The flexible support platform mounting plate 202 has a key module mounting seat 304.

[0025] In this device, the bottom of the primary lifting mechanism 101 is suspended on the AGV. During docking, the primary lifting mechanism 101 supports the ground and then adjusts its posture to complete the docking. The XY displacement drive unit 103 drives the second-layer support plate 105 to move in the X and Y directions. The Z-axis rotation drive unit 109 drives the rotation of the third-layer support plate 108. The secondary lifting drive unit 201 drives the flexible support platform mounting plate 202 to rise and fall. The flexible support platform mounting plate 202 slides on the secondary lifting guide rail 203. The secondary lifting drive unit 201 pushes the support mechanism on it to achieve a large-stroke, precise lifting motion. The flexible support platform 3 is used to install the device to be docked. Through the above-mentioned motion mechanism, the key modules carried by the device can be lifted to the required working height after docking. This mechanism can achieve a large-stroke, precise docking with a specific workspace and ensure that the key modules are smoothly inserted and removed during operation.

[0026] The scheme is further optimized. The flexible support platform 3 includes several spring-limiting ball assemblies 302, which are fixedly connected to the flexible support platform mounting plate 202. A floating plate 303 is provided on the spring-limiting ball assemblies 302. A limiting device 301 is provided between the flexible support platform mounting plate 202 and the floating plate 303. The limiting device 301 includes a limiting baffle 30101, a polyurethane plate 30103 is fixedly connected to the limiting baffle 30101, and two polyurethane plate pressure plates 30102 are fixedly connected to the polyurethane plate 30103. The limiting device 301 is fixedly connected to the flexible support platform mounting plate 202. Two positioning units 305 are installed on the flexible support platform mounting plate 202. The positioning units 305 are connected to the floating plate 303 in a transmission manner. The key module mounting seat 304 is installed on the floating plate 303.

[0027] The spring-limiting ball assembly 302 is used to support the floating plate 303. There is no rigid connection between the spring-limiting ball assembly 302 and the floating plate 303, which allows the floating plate 303 to float on the spring-limiting ball assembly 302. The limiting device 301 is used to limit the floating plate 303 to float only within a small range. The positioning unit 305 is used to position the floating plate 303. The key module mounting base 304 is used to install the device that needs to be docked.

[0028] Further optimizing the design, the spring limiting ball assembly 302 includes a lower flange plate 30202 of the spring seat, which is fixedly connected to the flexible support platform mounting plate 202. A housing 30204 and a stud tube are fixedly connected to the lower flange plate 30202. A spring pressure adjusting stud 30201 is threadedly connected to the stud tube. A retaining ring 30205 is installed on the housing 30204. A spring fixing seat 30207 is slidably arranged inside the retaining ring 30205. A spring 30203 is fixedly connected to the spring fixing seat 30207. The spring 30203 is located inside the housing 30204 and abuts against the spring pressure adjusting stud 30201. A ball support 30206 is installed on the spring 30203 fixing seat and abuts against the floating plate 303.

[0029] Spring 30203 supports spring fixing seat 30207, spring fixing seat 30207 slides in retainer 30205, spring pressure adjusting stud 30201 can rotate in stud tube, thereby adjusting the preset compression amount of spring 30203 to compensate for the gravity of the key module it carries, and can be adjusted to a preset stiffness with a high docking success rate through docking experiment. Ball support 30206 is used to support floating plate 303.

[0030] The design is further optimized. The positioning unit 305 includes a motor 30501, a reducer 30502 mounted on the output end of the motor 30501, the reducer 30502 fixedly connected to the motor mounting base 30503, a perforated coupling 30504 mounted on the output end of the reducer 30502, the motor mounting base 30503 fixedly connected to the positioning unit mounting base 30507, the positioning unit mounting base 30507 fixedly connected to the flexible support platform mounting plate 202, a copper sleeve 30506 fixedly connected to the positioning unit mounting base 30507, and a guide shaft 30505 slidably disposed within the copper sleeve 30506. A connecting plate is fixedly connected to the guide shaft 30505. A positioning head 30509 and a lead screw nut 30508 are fixedly connected to the connecting plate. A plum blossom coupling 30504 is connected to a lead screw 30511, which is threaded into the lead screw nut 30508. Two bearing grooves 30510 are provided on the positioning head 30509. Several positioning shafts 30302 are fixedly connected to the bottom surface of the floating plate 303. Several bearings 30303 are installed on the positioning shafts 30302. A locking nut 30304 is installed on the positioning shafts 30302 to lock the bearings 30303.

[0031] Motor 30501 drives reducer 30502, which drives lead screw 30511 to rotate through plum blossom coupling 30504, thereby moving lead screw nut 30508 and positioning head 30509, so that bearing groove 30510 can lock bearing 30303.

[0032] Further optimizing the design, the primary lifting mechanism 101 includes a lifting platform 10114 and a motor 10109. The lifting platform 10114 is fixedly connected to a first-layer support plate 102. A motor mounting base 10111 is fixedly connected to the lifting platform 10114. A reducer 10110 is installed at the output end of the motor 10109. The reducer 10110 is mounted on the motor mounting base 10111. A double-clutch coupling 10112 is fixedly connected to the output end of the reducer 10110. A lead screw 10113 is rotatably connected to the lifting platform 10114. The double-clutch coupling 10112 is connected to the lead screw 10113 for transmission. A guide is fixedly connected to the lifting platform 10114. A guide shaft copper sleeve 10107 is fixedly connected to the guide shaft sleeve mounting plate 10106. A guide shaft 10108 is slidably connected inside the guide shaft copper sleeve 10107. A guide shaft support plate 10105 is fixedly connected to the guide shaft 10108. A threaded nut cup 10104 is fixedly connected to the guide shaft sleeve mounting plate 10106. A threaded screw nut 10104 is fixedly connected inside the threaded screw nut cup 10104. A threaded screw nut 10113 is rotatably connected inside the threaded screw nut 10104. A ball joint 10102 is fixedly connected to the threaded screw nut cup 10104. A foot 10101 is movably connected to the ball joint 10102. A locking nut 10103 is provided on the ball joint 10102.

[0033] Motor 2 10109 drives reducer 2 10110. Reducer 2 10110 drives lead screw 2 10113 to rotate through plum blossom coupling 2 10112. The rotation of lead screw 2 10113 allows lead screw nut cup 10104, lead screw nut 2 and guide bushing mounting plate 10106 to move, thereby allowing foot 10101 to move up and down. The bottom of the first-stage lifting mechanism 101 is suspended on the AGV. When performing docking tasks, driven by lead screw 2 10113, the foot 10101 connected below it is first supported to the ground, and then the subsequent attitude adjustment is carried out to complete the docking. The connection method of ball joint 1 10102 allows the first-stage lifting mechanism (101) to achieve three degrees of freedom of rotation within a limited angle. The four first-stage lifting mechanisms 101 work together to achieve three degrees of freedom of attitude adjustment, including pitch angle, roll angle and vertical lifting.

[0034] Further optimizing the design, the XY displacement drive unit 103 includes an X-axis motor 103021 and a Y-axis motor 103022. An X-axis displacement mounting base 103011 and a Y-axis displacement mounting base 103012 are fixedly connected to a support plate 102. An X-axis motor mounting base 103041 is fixedly connected to the X-axis displacement mounting base 103011. Several X-axis guide rails 103061 are fixedly connected to the support plate 102, and X-axis sliders 103062 are slidably connected to the X-axis guide rails 103061. An X-axis displacement plate 10305 is fixedly connected to the slider 103062. A Y-axis guide rail 103063 is fixedly connected to the X-axis displacement plate 103065. A Y-axis slider 103064 is slidably connected to the Y-axis guide rail. A Y-axis displacement plate is fixedly connected to the Y-axis slider 103064. A second-layer support plate 105 is fixedly connected to the Y-axis displacement plate. An X-axis motor 103021 is connected to the X-axis displacement plate 10305 through a first transmission mechanism. A Y-axis motor is connected to the Y-axis displacement plate through a second transmission mechanism.

[0035] The drive structures for the X and Y directions are the same. In this embodiment, the X-direction drive structure is taken as an example. The X-direction motor 103021 drives the X-direction displacement plate 10305 to move through the transmission structure. The cooperation of the X-direction guide rail 103061 and the X-direction slider 103062 allows the X-direction displacement plate 10305 to move along the X direction. The cooperation of the Y-direction slider 103064 and the Y-direction guide rail 103063 allows the Y-direction displacement plate (not shown in the figure) to move along the Y direction, thereby realizing the movement of the second-layer support plate 105 in the X and Y directions.

[0036] Further optimize the scheme. Transmission mechanism one and transmission mechanism two have the same structure. Transmission mechanism one includes reducer three 10303. Reducer three 10303 is installed at the output end of X-direction motor 103021. A plum blossom coupling four 10308 is fixedly connected to the output end of reducer three 10303. A lead screw three 10310 is fixedly connected to the plum blossom coupling four 10308. A trapezoidal square nut 10311 is fixedly connected to the X-direction displacement plate 10305. The lead screw three 10310 is threadedly connected to the trapezoidal square nut 10311. A locking nut three 10309 is installed on the X-direction motor mounting base 103041.

[0037] X-axis motor 103021 drives reducer 3 10303 to rotate. Reducer 3 10303 drives plum blossom coupling 4 10308 and lead screw 3 10310 to drill holes, thereby moving trapezoidal square nut 10311 and X-axis displacement plate 10305. Trapezoidal square nut 10311 is fixedly connected to X-axis displacement plate 10305.

[0038] Further optimizing the design, the Z-axis rotary drive unit 109 includes an electric cylinder 10901. A ball joint seat is fixedly connected to the bottom surface of a three-layer support plate 108. An electric cylinder mounting seat 10902 is fixedly connected to a two-layer support plate 105. A sliding bearing seat 10903 is fixedly connected to the electric cylinder mounting seat 10902. The electric cylinder 10901 is movably connected to the sliding bearing seat 10904 via the sliding bearing 10903. Four universal ball joint supports 107 are fixedly connected to the two-layer support plate 105, and the universal ball joint supports 107 abut against the three-layer support plate 108. A second ball joint 10907 is installed at the output end of the electric cylinder 10901, and a ball joint connecting shaft 10 is installed on the second ball joint 10907. 906, A ball joint seat 10905 is fixedly connected to the ball joint connecting shaft 10906. The ball joint seat 10905 is fixedly connected to the bottom surface of the three-layer support plate 108. A Z-axis rotating arc-shaped guide rail assembly 106 is provided between the second-layer support plate 105 and the third-layer support plate 108. Two locking nuts 10908 are installed on the ball joint 10907. The Z-axis rotating arc-shaped guide rail assembly 106 includes an arc-shaped guide rail 10601 and an arc-shaped slider 10602. The arc-shaped guide rail 10601 is fixedly connected to the second-layer support plate 105. The arc-shaped slider 10602 is fixedly connected to the arc-shaped slider 10602 and slidably connected to the arc-shaped guide rail 10601.

[0039] The two electric cylinders 10901 work simultaneously, driving the ball joint 10907 and the ball joint seat 10905 to move, so that the three-layer support plate 108 can rotate. The cooperation of the arc-shaped guide rail 10601 and the arc-shaped slider 10602 makes the rotation of the three-layer support plate 108 more flexible.

[0040] The scheme is further optimized. The secondary lifting guide rail 203 includes motor 3 20101, lifting platform 2 20309, and guide shaft lower end seat 20308. Lifting platform 2 20309 and guide shaft lower end seat 20308 are both fixedly connected to the three-layer support plate 108. Motor mounting seat 3 20103 is fixedly connected to lifting platform 2 20309. Reducer 3 20102 is installed at the output end of motor 3 20101. A plum blossom coupling 3 20104 is fixedly connected to the output end of reducer 3 20102. Screw 4 2030 is installed on lifting platform 2 20309. 2. A screw nut 20303 is threaded onto screw nut 20302. A guide shaft 20301 is fixedly connected to the lower end seat 20308. A lifting support plate 20310 is fixedly connected to screw nut 20303. A linear bearing 20306 is fixedly connected to the lifting support plate 20310. Guide shaft 20301 is slidably connected within linear bearing 20306. A locking nut 20311 is installed on screw nut 20302, and the locking nut 20311 abuts against the upper end plate 20312 of the guide rail. Guide shaft 20301... A guide shaft seat 20313 is fixedly connected to the upper part of the elevator. A guide rail upper end plate 20312 is fixedly connected to the guide shaft seat 20313 and the lead screw 20302. A secondary lifting guide rail seat plate 205 is fixedly connected to the upper end plate 20312. A guide rail cover upper mounting seat 20314 is fixedly connected to the secondary lifting guide rail seat plate 205. A guide rail cover lower mounting seat 20307 is fixedly connected to the elevator 20309. Guide rail cover mounting grooves 20305 are provided on both the guide rail cover lower mounting seat 20307 and the lifting support plate 20310. Inside 20305, a guide rail cover 2041 is installed. The plum blossom coupling 3 20104 is connected to the lead screw 4 20302. A flexible support platform 20304 is provided on the lifting support plate 20310. The flexible support platform 20304 includes a connecting plate 20603, which is movably connected to the ball joint 3 20602. The ball joint 3 20602 is installed on the lifting support plate 20310. A locking nut 5 20601 is provided on the ball joint 3 20602. The connecting plate 20603 is fixedly connected to the flexible support platform mounting plate 202.

[0041] Motor 3 20101 drives reducer 3 20102, plum blossom coupling 3 20104, and lead screw 4 20302 to move, enabling lead screw nut 4 20303 and lifting support plate 20310 to move up and down. Linear bearing 20306 moves on guide shaft 3 20301, making the movement of lifting support plate 20310 more stable. All four motors 3 20101 operate simultaneously. Motor 3 20101 is also equipped with a motor cover. The ball joint 3 20602 connection method effectively solves the problem of non-parallel mounting surfaces or misaligned threaded holes caused by machining errors and assembly errors through its flexibility.

[0042] The scheme is further optimized. The key module mounting base 304 includes a frame 30403 and a key module mounting plate 30402. The key module mounting plate 30402 is fixedly connected to the frame 30403. Four mounting feet 30401 are fixedly connected to the frame 30403. The mounting feet 30401 are fixedly connected to the floating plate 303. Three positioning pins 30404 are fixedly connected to the frame 30403.

[0043] How to use this device: The six-degree-of-freedom attitude adjustment mechanism 1 is carried by the AGV, the secondary lifting mechanism 2 is installed on the six-degree-of-freedom attitude adjustment mechanism 1, and the flexible support platform 3 is then installed on the secondary lifting mechanism 2.

[0044] The six-degree-of-freedom attitude adjustment mechanism 1 consists of three layers: The first-level motion mechanism consists of four first-level lifting mechanisms 101 connected in parallel. The bottom of each first-level lifting mechanism 101 is connected to the ground foot 10101 through a ball joint 10102 to support the ground. The lifting mechanism 10114 is driven by motor 10109 in conjunction with reducer 10110. Under the guidance of guide shaft 10108 and guide shaft sleeve 10107, the screw 10113 is rotated to achieve the lifting of the mechanism above it. Through the coordinated work of the above four primary lifting mechanisms 101, if the extension and retraction strokes of each mechanism are the same, the overall lifting motion can be achieved. If the extension and retraction strokes are different, the four primary lifting mechanisms 101 rotate around ball joint 10102, so that the mechanism above it rotates around the Y-axis or X-axis in space to achieve the roll and pitch directions.

[0045] The second-layer motion mechanism is installed on the first-layer support plate 102 supported by the first-layer motion mechanism. The X-axis motor 103021 in the two XY displacement drive units 103, together with the reducer 10303, drives the lead screw 10310 to rotate, which drives the trapezoidal square nut 10311 to push the mechanism on it to move along the X or Y direction with the auxiliary support of the X guide rail 103061, X slider 103062, Y guide rail 103063 and Y slider 103064.

[0046] The three-layer motion mechanism is mounted on the second-layer support plate 105, which is supported by the second-layer motion mechanism. Two Z-axis rotation drive units 109 are connected to the upper mechanism to be driven via ball joint 10907, and are themselves fixed to the second-layer support plate 105 via sliding bearing 10903. By extending and retracting the drive cylinder 10901, the upper mechanism is driven to rotate around the Z-axis with the cooperation of ball joint 10907 and sliding bearing 10903 and with the help of the auxiliary support Z-axis rotation arc guide rail 106. Through the coordination of the above three-layer motion mechanism, the upper support mechanism can achieve small stroke pose adjustment in six degrees of freedom.

[0047] The secondary lifting mechanism 2 is mounted on the three-layer support plate 108. Four secondary lifting drive units 201, via motor 3 20101 and reducer 3 20102, drive the lifting mechanism 20309, causing the lead screw 4 20302 to rotate and drive the lead screw nut 4 20303. With the linear bearing 20306 and guided by the guide shaft 3 20301, this propels the upper support mechanism to achieve a large-stroke, precise lifting motion. Through this motion mechanism, the key modules carried can be lifted to the required working height after docking.

[0048] The bottom layer of the flexible support platform 3 consists of six spring-loaded ball assemblies 302 mounted on the flexible support platform mounting plate 202. These assemblies support the floating plate 303. The six spring-loaded ball assemblies 302 work together to achieve passive deformation in the pitch, roll, and vertical directions. Eight limiting devices 301 limit the floating range of the floating plate 303 within a certain area, allowing it to float in the yaw, X, and Y directions. During the docking process of the key module mounting seat 304, if docking jamming or rigid impact occurs due to positional errors, the six spring-loaded ball assemblies 302 at their bottom can absorb the positional errors and buffer the rigid impacts through the deformation of their internal springs 30203. This improves docking accuracy and ensures that the key module remains stable and undamaged during docking.

[0049] After successful docking, to ensure positional stability, two positioning units 305 mounted on the flexible support platform mounting plate 202 below the floating plate 303 are driven by a motor 30501 and a reducer 30502, which in turn drives a lead screw 30511. This leads to a lead screw nut 30508 pushing the positioning head 30509 out. The bearings 30303, which are mounted on the floating plate 303 below the two positioning units 305 via the positioning shaft 30302, slide into the bottom of the bearing groove 30510. The floating plate 303 is locked in place by two opposing thrusts, thus completing the positioning. When positioning is no longer needed, the positioning head 30509 can be retracted.

[0050] The aforementioned flexible mechanism can absorb positional errors and rigid impacts during docking by deforming and floating, thereby improving docking accuracy and stability.

[0051] Figure 17 The position indicated by 30301 is the relative position of the bearing and the groove.

[0052] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0053] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A compliant docking mechanism for the assembly of a cylindrical aircraft body, characterized in that, include: A six-degree-of-freedom attitude adjustment mechanism (1) includes four first-level lifting mechanisms (101). A first-level lifting mechanism (101) is fixedly connected to a support plate (102). A second-level support plate (105) is provided above the first-level support plate (102). An XY displacement drive unit (103) is installed on the first-level support plate (102). The XY displacement drive unit (103) is connected to the second-level support plate (105) in a transmission connection. A third-level support plate (108) is provided above the second-level support plate (105). Two Z-axis rotation drive units (109) are installed on the second-level support plate (105). The Z-axis rotation drive units (109) are connected to the third-level support plate (108) in a transmission connection. The secondary lifting mechanism (2) includes four secondary lifting drive units (201) and four secondary lifting guide rails (203). The four secondary lifting guide rails (203) are fixedly connected to the three-layer support plate (108). The secondary lifting drive units (201) are installed on the secondary lifting guide rails (203). A flexible support platform mounting plate (202) is slidably connected between the four secondary lifting guide rails (203). The secondary lifting drive units (201) and the flexible support platform mounting plate (202) are connected by transmission. A flexible support platform (3) is provided on the flexible support platform mounting plate (202). The flexible support platform (3) has a key module mounting seat (304).

2. The compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 1, characterized in that: The flexible support platform includes several spring-loaded ball assemblies (302), which are fixedly connected to the flexible support platform mounting plate (202). A floating plate (303) is provided on each spring-loaded ball assembly (302). A limiting device (301) is provided between the flexible support platform mounting plate (202) and the floating plate (303). The limiting device (301) includes a limiting baffle (30101), on which a fixed... A polyurethane board (30103) is connected, and two polyurethane board pressure plates (30102) are fixedly connected to the polyurethane board (30103). The limiting device (301) is fixedly connected to the flexible support platform mounting plate (202). Two positioning units (305) are installed on the flexible support platform mounting plate (202). The positioning unit (305) is connected to the floating plate (303) in a transmission manner. The key module mounting seat (304) is installed on the floating plate (303).

3. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 2, characterized in that: The spring limiting ball assembly (302) includes a lower flange plate (30202) for the spring seat, which is fixedly connected to the flexible support mounting plate (202). A housing (30204) and a stud tube are fixedly connected to the lower flange plate (30202). A spring pressure adjusting stud (30201) is internally threaded onto the stud tube. A retaining ring (30205) is installed on the housing (30204). 05) A spring fixing seat (30207) is slidably provided inside, and a spring (30203) is fixedly connected to the spring fixing seat (30207). The spring (30203) is located inside the housing (30204). The spring (30203) abuts against the spring pressure adjusting stud (30201). A ball support (30206) is installed on the spring (30203) fixing seat, and the ball support (30206) abuts against the floating plate (303).

4. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 2, characterized in that: The positioning unit (305) includes a motor (30501), a reducer (30502) is mounted on the output end of the motor (30501), the reducer (30502) is fixedly connected to a motor mounting base (30503), a perforated coupling (30504) is mounted on the output end of the reducer (30502), the motor mounting base (30503) is fixedly connected to a positioning unit mounting base (30507), the positioning unit mounting base (30507) is fixedly connected to the flexible support platform mounting plate (202), a copper sleeve (30506) is fixedly connected to the positioning unit mounting base (30507), a guide shaft (30505) is slidably arranged inside the copper sleeve (30506), the guide shaft (30505)... A connecting plate is fixedly connected to the first floating plate (30505). A positioning head (30509) and a lead screw nut (30508) are fixedly connected to the first connecting plate. A lead screw (30511) is driven by the first plum blossom coupling (30504). The first lead screw (30511) is threaded into the first lead screw nut (30508). Two bearing grooves (30510) are opened on the positioning head (30509). Several positioning shafts (30302) are fixedly connected to the bottom surface of the floating plate (303). Several bearings (30303) are installed on the positioning shafts (30302). A locking nut (30304) is installed on the positioning shafts (30302). The locking nut (30304) is used to lock the bearings (30303).

5. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 1, characterized in that: The primary lifting mechanism (101) includes a first lifting platform (10114) and a second motor (10109). The first lifting platform (10114) is fixedly connected to a first-layer support plate (102). A second motor mounting base (10111) is fixedly connected to the first lifting platform (10114). A second reducer (10110) is installed at the output end of the second motor (10109). The second reducer (10110) is installed on the second motor mounting base (10111). A second perforated coupling (10112) is fixedly connected to the output end of the second reducer (10110). A second lead screw (10113) is rotatably connected to the first lifting platform (10114). The second perforated coupling (10112) is connected to the second lead screw (10113) in a transmission connection. A guide shaft is fixedly connected to the first lifting platform (10114). A guide shaft bushing is mounted on a mounting plate (10106). A guide shaft bushing 2 (10107) is fixedly connected to the guide shaft bushing mounting plate (10106). A guide shaft 2 (10108) is slidably connected inside the guide shaft bushing 2 (10107). A guide shaft support plate (10105) is fixedly connected to the guide shaft 2 (10108). A screw nut cup (10104) is fixedly connected to the guide shaft bushing mounting plate (10106). A screw nut 2 is fixedly connected inside the screw nut cup (10104). A screw nut 2 (10113) is rotatably connected inside the screw nut 2. A ball joint 1 (10102) is fixedly connected to the screw nut cup (10104). A foot (10101) is movably connected to the ball joint 1 (10102). A locking nut 2 (10103) is provided on the ball joint 1 (10102).

6. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 1, characterized in that: The XY displacement drive unit (103) includes an X-axis motor (103021) and a Y-axis motor (103022). An X-axis displacement mounting base (103011) and a Y-axis displacement mounting base (103012) are fixedly connected to the first-layer support plate (102). An X-axis motor mounting base (103041) is fixedly connected to the X-axis displacement mounting base (103011). A plurality of X-axis guide rails (103061) are fixedly connected to the first-layer support plate (102). An X-axis slider (103062) is slidably connected to each X-axis guide rail (103061). An X-direction displacement plate (10305) is fixedly connected to the X-direction displacement plate (10305), a Y-direction guide rail (103063) is fixedly connected to the X-direction displacement plate (103063), a Y-direction slider (103064) is slidably connected to the Y-direction guide rail, a Y-direction displacement plate is fixedly connected to the Y-direction slider (103064), a second-layer support plate (105) is fixedly connected to the Y-direction displacement plate, an X-direction motor (103021) is driven to the X-direction displacement plate (10305) through a first transmission mechanism, and a Y-direction motor is driven to the Y-direction displacement plate through a second transmission mechanism.

7. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 6, characterized in that: The transmission mechanism one and the transmission mechanism two have the same structure. The transmission mechanism one includes a reducer three (10303), which is installed at the output end of the X-axis motor (103021). The output end of the reducer three (10303) is fixedly connected to a plum blossom coupling four (10308). The plum blossom coupling four (10308) is fixedly connected to a lead screw three (10310). A trapezoidal square nut (10311) is fixedly connected to the X-axis displacement plate (10305). The lead screw three (10310) is threadedly connected to the trapezoidal square nut (10311). A locking nut three (10309) is installed on the X-axis motor mounting base (103041). The trapezoidal square nut (10311) is fixedly connected to the X-axis displacement plate (10305).

8. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 1, characterized in that: The Z-axis rotation drive unit (109) includes an electric cylinder (10901). A ball joint seat is fixedly connected to the bottom surface of the three-layer support plate (108). An electric cylinder mounting seat (10902) is fixedly connected to the two-layer support plate (105). A sliding bearing seat (10904) is fixedly connected to the electric cylinder mounting seat (10902). The electric cylinder (10901) is movably connected to the sliding bearing seat (10904) via a sliding bearing (10903). Four universal ball joint supports (107) are fixedly connected to the two-layer support plate (105). The universal ball joint supports (107) abut against the three-layer support plate (108). A ball joint second (10907) is installed at the output end of the electric cylinder (10901). A ball joint connecting shaft (10906) is installed on the ball joint second (10907). A ball joint seat (10905) is fixedly connected to the ball joint connecting shaft (10906). The ball joint seat (10905) is fixedly connected to the bottom surface of the three-layer support plate (108). A Z-axis rotating arc-shaped guide rail assembly (106) is provided between the second-layer support plate (105) and the third-layer support plate (108). Two locking nuts (10908) are installed on the ball joint (10907). The Z-axis rotating arc-shaped guide rail assembly (106) includes an arc-shaped guide rail (10601) and an arc-shaped slider (10602). The arc-shaped guide rail (10601) is fixedly connected to the second-layer support plate (105). The arc-shaped slider (10602) is fixedly connected to the arc-shaped slider (10602) and the arc-shaped slider (10602) is slidably connected to the arc-shaped guide rail (10601).

9. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 1, characterized in that: The secondary lifting guide rail (203) includes a motor three (20101), a lifting platform two (20309), and a guide shaft lower end seat (20308). The lifting platform two (20309) and the guide shaft lower end seat (20308) are both fixedly connected to the three-layer support plate (108). A motor mounting seat three (20103) is fixedly connected to the lifting platform two (20309). A reducer three (20102) is installed at the output end of the motor three (20101). A plum blossom coupling three (20104) is fixedly connected to the output end of the reducer three (20102). A lead screw four (20302) is installed on the lifting platform two (20309). 20302) is threaded with a lead screw nut four (20303). The guide shaft lower end seat (20308) is fixedly connected with a guide shaft three (20301). The lead screw nut four (20303) is fixedly connected with a lifting support plate (20310). The lifting support plate (20310) is fixedly connected with a linear bearing (20306). The guide shaft three (20301) is slidably connected in the linear bearing (20306). The lead screw four (20302) is equipped with a locking nut six (20311). The locking nut six (20311) abuts against the upper end plate (20312) of the guide rail. The guide shaft three (20301) is fixedly connected with a... A guide shaft seat (20313) is fixedly connected to the upper end plate (20312) of the guide rail and the fourth lead screw (20302). A secondary lifting guide rail seat plate (205) is fixedly connected to the upper end plate (20312). A guide rail cover upper mounting seat (20314) is fixedly connected to the secondary lifting guide rail seat plate (205). A guide rail cover lower mounting seat (20307) is fixedly connected to the second elevator (20309). Guide rail cover lower mounting seat (20307) and the lifting support plate (20310) are both provided with guide rail cover mounting grooves (20305). The guide rail cover (2041) is installed inside. The plum blossom coupling three (20104) is connected to the lead screw four (20302). A flexible support platform (20304) is provided on the lifting support plate (20310). The flexible support platform (20304) includes a connecting plate two (20603). The connecting plate two (20603) is movably connected to the ball joint three (20602). The ball joint three (20602) is installed on the lifting support plate (20310). A locking nut five (20601) is provided on the ball joint three (20602). The connecting plate two (20603) is fixedly connected to the flexible support platform mounting plate (202).

10. A compliant docking mechanism for the assembly of a cylindrical aircraft body according to claim 2, characterized in that: The key module mounting base (304) includes a frame (30403) and a key module mounting plate (30402). The key module mounting plate (30402) is fixedly connected to the frame (30403). Four mounting feet (30401) are fixedly connected to the frame (30403). The mounting feet (30401) are fixedly connected to the floating plate (303). Three positioning pins (30404) are fixedly connected to the frame (30403).

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