A large wind tunnel heavy load model multi-degree-of-freedom precision docking device

Abstract

The present application belongs to the technical field of large wind tunnel test, and discloses a large wind tunnel heavy load model multi-freedom precise docking device. The main body of the docking device is an omnidirectional AGV mobile device, an auxiliary support mechanism is arranged on the front section of the upper surface of the omnidirectional AGV mobile device, a six-freedom parallel adjusting mechanism is arranged on the rear section, a lifting unit and a support rod clamping mechanism are sequentially arranged on the six-freedom parallel adjusting mechanism; the rear section of the heavy load model is connected with a tail support rod, the heavy load model is supported by the auxiliary support mechanism, and the tail support rod is clamped on the support rod clamping mechanism. The docking method realizes omnidirectional transfer of the heavy load model inside the large wind tunnel body, efficient and precise docking installation of the heavy load model in the preparation stage and the test stage is realized through joint debugging of various components in the omnidirectional AGV mobile device, the assembly problem of the heavy load model is solved, the assembly efficiency of the heavy load model and the test efficiency of the heavy load model are improved, and the docking method has engineering practical value.

Description

Technical Field

[0001] This invention belongs to the field of large-scale wind tunnel testing technology, specifically relating to a precision docking device for a large-scale wind tunnel heavy-load model with multiple degrees of freedom. Background Technology

[0002] The assembly of heavy-load models in large wind tunnels is mainly done manually, using traditional methods such as overhead cranes for hoisting and transport. During assembly, pry bars and hammers are used for gradual adjustments until the model's support rods are properly aligned with the joints of the central support structure of the wind tunnel. This method is inefficient, inconvenient, and poses safety hazards. Therefore, there is an urgent need to develop a precision docking device for multi-degree-of-freedom heavy-load models in large wind tunnels. Summary of the Invention

[0003] One technical problem to be solved by the present invention is to provide a precision docking device for a large wind tunnel heavy-load model with multiple degrees of freedom. Another technical problem to be solved by the present invention is to provide a precision docking method for a large wind tunnel heavy-load model with multiple degrees of freedom, so as to overcome the defects of the prior art.

[0004] The main body of the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention is an omnidirectional AGV moving device. An auxiliary support mechanism is set at the front section of the upper surface of the omnidirectional AGV moving device, and a six-degree-of-freedom parallel adjustment mechanism is set at the rear section. A lifting unit and a support rod clamping mechanism are set sequentially on the six-degree-of-freedom parallel adjustment mechanism. The rear section of the heavy-load model is connected to the tail support rod. The heavy-load model is supported by the auxiliary support mechanism, and the tail support rod is clamped on the support rod clamping mechanism. Among them, the omnidirectional AGV mobile device can move arbitrarily on the ground of the large wind tunnel; the six-degree-of-freedom parallel adjustment mechanism has six degrees of freedom in the X, Y, Z, pitch, yaw and roll directions; the support rod clamping mechanism has a degree of freedom in the X direction; the lifting unit has a degree of freedom in the Y direction; and the auxiliary support mechanism has both X and Y degrees of freedom.

[0005] Furthermore, the main body of the omnidirectional AGV mobile device is a surface-closed vehicle frame; the upper surface of the vehicle frame is a vehicle panel, the front side of the vehicle frame is equipped with a host computer panel, the four corners of the vehicle frame are equipped with area scanners, and the inner cavity of the vehicle frame is equipped with an AGV control system and a power supply system; heavy-duty universal wheels are respectively installed at the four corners of the bottom surface of the vehicle frame, and a corresponding omnidirectional moving steering wheel is installed on the inner side of each heavy-duty universal wheel. The power supply system provides power to the omnidirectional moving steering wheel. The operator inputs the motion trajectory and control commands to the AGV control system through the host computer panel. The omnidirectional moving steering wheel drives the vehicle frame to move according to the preset motion trajectory. The heavy-duty universal wheels assist the omnidirectional moving steering wheel in moving. The area scanner feeds back signals to the AGV control system to adjust the motion trajectory and achieve obstacle avoidance.

[0006] Furthermore, the omnidirectional steering wheels are arranged in a counterclockwise direction as omnidirectional steering wheel I, omnidirectional steering wheel II, omnidirectional steering wheel III and omnidirectional steering wheel IV, and the corresponding heavy-duty omnidirectional wheels are heavy-duty omnidirectional wheels I, heavy-duty omnidirectional wheels II, heavy-duty omnidirectional wheels III and heavy-duty omnidirectional wheels IV.

[0007] Furthermore, the six-degree-of-freedom parallel adjustment mechanism includes a lower platform fixed to the upper surface of the vehicle body panel of the omnidirectional AGV moving device, and an upper platform corresponding to the lower platform; between the upper and lower platforms, three groups of two electric cylinders each, totaling six, are arranged in an equilateral triangle distribution. Each electric cylinder is fixed to the lower surface of the upper platform via an upper hinge assembly and to the upper surface of the lower platform via a lower hinge assembly; each electric cylinder has a corresponding reducer I, a motor, and a limit switch; The control system is fixed at the center of the upper surface of the lower platform. The control system controls the coordinated movement of 6 electric cylinders to realize the X, Y, Z, pitch, yaw and roll movements of the upper platform.

[0008] Furthermore, the mounting base plate of the support rod clamping mechanism is fixed on the upper surface of the upper platform of the six-degree-of-freedom parallel adjustment mechanism. The upper surface of the mounting base plate is fixed with the base, the lifting unit and the V-shaped clamping plate from bottom to top. The V-shaped cavity of the V-shaped clamping plate is inserted into the support rod, and the support rod is pressed and fixed by the pressure block. An X-axis drive mechanism is also fixed on the mounting base plate. An X-axis guide rail is installed on the base, and a protective cover is installed on the base; the X-axis drive mechanism drives the base to move along the X-axis to adjust the X-axis position of the support rod. Two sets of symmetrical lifting rings are fixed to the upper surface of the pressure block, and the docking device is hoisted through the lifting rings.

[0009] Furthermore, the lifting unit includes four symmetrically arranged spiral lifting machines I fixed within the frame structure; it also includes a reducer support fixed to the frame structure, a reducer II fixed on the reducer support, and a servo motor connected to the reducer II. The servo motor controls the lifting and lowering of the screw jack I via the reducer II, adjusting the height of the support rod.

[0010] Furthermore, the auxiliary support mechanism includes a base mounting plate fixed to the upper surface of the omnidirectional AGV moving device, and the upper surface of the base mounting plate is fixed from bottom to top to the X-direction linear sliding mechanism, the main support structure frame, the screw lift II and the L-shaped support frame. The L-shaped support frame includes an arc support and an L-shaped support plate fixed on the arc support. The L-shaped support plate is used to support the heavy-duty model. When the support rod rotates, the L-shaped support plate drives the heavy-duty model to rotate along the arc support via follower rollers. The arc support and the L-shaped support plate are positioned by pins. The auger lift II is raised and lowered by manually lifting the handle, which in turn controls the L-shaped support frame; the auxiliary support mechanism is moved along the X-direction by the X-direction linear sliding mechanism, which in turn controls the heavy-duty model to move along the X-direction.

[0011] The present invention provides a method for precise docking of a large wind tunnel heavy-load model with multiple degrees of freedom, comprising the following steps: S10. Mount the heavy-duty model and support rod onto the docking device, and adjust the attitude of the auxiliary support mechanism to achieve fixed support for the heavy-duty model and support rod, ensuring that the heavy-duty model is stable and reliable during transportation. S20. Calculate the coordinate relationship between the current position and the target position of the docking device, solve the motion trajectory of the omnidirectional AGV mobile device, and control the omnidirectional AGV mobile device to move omnidirectionally according to the motion trajectory through the AGV control system. Repeated iterative control is performed during the movement until the omnidirectional AGV mobile device reaches the target position. S30. Adjust the six-degree-of-freedom parallel adjustment mechanism, the support rod clamping mechanism, the lifting unit and the auxiliary support mechanism to perform rough docking between the support rod and the joint of the support rod and the middle support of the large wind tunnel; S40. Determine the axial relationship between the support rod and the joint, and fine-tune the six-degree-of-freedom parallel adjustment mechanism until the axes of the support rod and the joint coincide; S50. Adjust the six-degree-of-freedom parallel adjustment mechanism, the support rod clamping mechanism, and the auxiliary support mechanism to move the heavy-duty model and the support rod horizontally backward along the axis until the support rod and the joint are fully assembled.

[0012] The large-scale wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention realizes the omnidirectional transfer of the heavy-load model inside the large wind tunnel. Through the joint debugging of various components in the omnidirectional AGV moving device, the efficient and precise docking and installation of the heavy-load model in the preparation and testing stages is realized, which solves the assembly problem of the heavy-load model, improves the assembly efficiency and testing efficiency of the heavy-load model, and has practical engineering value. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention; Figure 2 This is a schematic diagram of the omnidirectional AGV moving device in the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention; Figure 3 This is a schematic diagram of the layout of the omnidirectional AGV moving device in the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention. Figure 4 This is a schematic diagram of the six-degree-of-freedom parallel mechanism in the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention; Figure 5aThis is a structural schematic diagram (upper perspective view) of the support rod clamping mechanism in the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention. Figure 5b This is a schematic diagram (top side view) of the support rod clamping mechanism in the large wind tunnel heavy load model multi-degree-of-freedom precision docking device of the present invention. Figure 5c This is a schematic diagram (lower perspective view) of the support rod clamping mechanism in the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device of the present invention. Figure 6 This is a schematic diagram of the lifting mechanism in the multi-degree-of-freedom precision docking device for a large wind tunnel heavy-load model of the present invention; Figure 7 This is a schematic diagram of the auxiliary support mechanism in the multi-degree-of-freedom precision docking device for a large wind tunnel heavy-load model of the present invention; Figure 8 This is a flowchart illustrating the multi-degree-of-freedom precision docking method for a large wind tunnel heavy-load model according to the present invention.

[0014] In the diagram: 1. Omnidirectional AGV moving device; 2. Heavy-duty model; 3. Six-degree-of-freedom parallel adjustment mechanism; 4. Support rod clamping mechanism; 5. Lifting unit; 6. Auxiliary support mechanism; 101. Vehicle frame; 102. Omnidirectional steering wheel; 103. Heavy-duty caster wheel; 104. Area scanner; 105. AGV control system; 106. Power supply system; 107. Host computer panel; 108. Vehicle body panel; 102-1. Omnidirectional steering wheel I; 102-2. Omnidirectional steering wheel II; 102-3. Omnidirectional steering wheel III; 102-4. Omnidirectional steering wheel IV; 103-1. Heavy-duty omnidirectional wheel I; 103-2. Heavy-duty omnidirectional wheel II; 103-3. Heavy-duty omnidirectional wheel III; 103-4. Heavy-duty omnidirectional wheel IV; 301. Electric cylinder; 302. Reducer I; 303. Motor; 304. Limit switch; 305. Upper hinge assembly; 306. Upper platform; 307. Lower platform; 308. Lower hinge assembly; 309. Control system; 401. Lifting ring; 402. Pressure block; 403. V-shaped clamp; 404. Base; 405. Protective cover; 406. X-axis drive mechanism; 407. X-axis guide rail; 408. Mounting base plate; 501. Servo motor; 502. Reducer II; 503. Frame structure; 504. Reducer support base; 505. Screw jack I; 601. Base mounting plate; 602. X-axis linear sliding mechanism; 603. Main support structure frame; 604. Manual lifting handle; 605. Screw jack II; 606. Follow-up roller; 607. L-shaped support frame. Detailed Implementation

[0015] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0016] Example: Figure 1 As shown, the main body of the large wind tunnel heavy-load model multi-degree-of-freedom precision docking device in this embodiment is an omnidirectional AGV moving device 1. An auxiliary support mechanism 6 is set at the front section of the upper surface of the omnidirectional AGV moving device 1, and a six-degree-of-freedom parallel adjustment mechanism 3 is set at the rear section. A lifting unit 5 and a support rod clamping mechanism 4 are set sequentially on the six-degree-of-freedom parallel adjustment mechanism 3. The rear section of the heavy-load model 2 is connected to the tail support rod. The heavy-load model 2 is supported by the auxiliary support mechanism 6, and the tail support rod is clamped on the support rod clamping mechanism 4. Among them, the omnidirectional AGV mobile device 1 can move arbitrarily on the ground of the large wind tunnel; the six-degree-of-freedom parallel adjustment mechanism 3 has six degrees of freedom: X-axis, Y-axis, Z-axis, pitch, yaw, and roll; the support rod clamping mechanism 4 has X-axis degree of freedom; the lifting unit 5 has Y-axis degree of freedom; and the auxiliary support mechanism 6 has X-axis and Y-axis degrees of freedom.

[0017] Furthermore, such as Figure 2 As shown, the main body of the omnidirectional AGV mobile device 1 is a surface-closed vehicle frame 101; the upper surface of the vehicle frame 101 is a vehicle panel 108, the front side of the vehicle frame 101 is provided with a host computer panel 107, the four corners of the vehicle frame 101 are provided with area scanners 104, the inner cavity of the vehicle frame 101 is provided with an AGV control system 105 and a power supply system 106; the four corners of the bottom surface of the vehicle frame 101 are respectively provided with heavy-duty universal wheels 103, and the inner side of each heavy-duty universal wheel 103 is provided with a corresponding omnidirectional moving steering wheel 102. The power supply system 106 supplies power to the omnidirectional moving steering wheel 102. The operator inputs the motion trajectory and control commands to the AGV control system 105 through the host computer panel 107. The omnidirectional moving steering wheel 102 drives the vehicle frame 101 to move according to the preset motion trajectory. The heavy-duty universal wheels 103 assist the omnidirectional moving steering wheel 102 in moving. The area scanner 104 feeds back signals to the AGV control system 105 to adjust the motion trajectory and achieve obstacle avoidance.

[0018] Furthermore, such as Figure 3 As shown, the omnidirectional steering wheels 102 are arranged in a counterclockwise direction as follows: omnidirectional steering wheel I 102-1, omnidirectional steering wheel II 102-2, omnidirectional steering wheel III 102-3, and omnidirectional steering wheel IV 102-4. The corresponding heavy-duty casters 103 are arranged in a counterclockwise direction as follows: heavy-duty caster I 103-1, heavy-duty caster II 103-2, heavy-duty caster III 103-3, and heavy-duty caster IV 103-4.

[0019] Furthermore, such as Figure 4 As shown, the six-degree-of-freedom parallel adjustment mechanism 3 includes a lower platform 307 fixed to the upper surface of the vehicle body panel 108 of the omnidirectional AGV moving device 1, and an upper platform 306 corresponding to the lower platform 307; between the upper platform 306 and the lower platform 307, three groups of two electric cylinders 301 with a total of six inclined supports are arranged in an equilateral triangle. Each electric cylinder 301 is fixed to the lower surface of the upper platform 306 by an upper hinge assembly 305 and to the upper surface of the lower platform 307 by a lower hinge assembly 308; each electric cylinder 301 has a corresponding reducer I 302, a motor 303 and a limit switch 304. The control system 309 is fixed at the center of the upper surface of the lower platform 307. The control system 309 controls the coordinated movement of 6 electric cylinders 301 to realize the X, Y, Z, pitch, yaw and roll movements of the upper platform 306.

[0020] Furthermore, such as Figures 5a-5c As shown, the mounting base plate 408 of the support rod clamping mechanism 4 is fixed on the upper surface of the upper platform 306 of the six-degree-of-freedom parallel adjustment mechanism 3. From bottom to top, the upper surface of the mounting base plate 408 is fixed with the base 404, the lifting unit 5 and the V-shaped clamping plate 403. The V-shaped cavity of the V-shaped clamping plate 403 is used to insert the support rod, and the support rod is pressed and fixed by the pressure block 402. An X-axis drive mechanism 406 is also fixed on the mounting base plate 408. An X-axis guide rail 407 is provided on the base 404, and a protective cover 405 is provided on the base 404; an X-axis drive mechanism 406 drives the base 404 to move along the X-axis and adjusts the X-axis position of the support rod. Two sets of symmetrical lifting rings 401 are fixed on the upper surface of the pressure block 402, and the docking device is hoisted through the lifting rings 401.

[0021] Furthermore, such as Figure 6 As shown, the lifting unit 5 includes four symmetrical spiral lifting machines I 505 fixed in the frame structure 503; it also includes a reducer support 504 fixed on the frame structure 503, a reducer II 502 fixed on the reducer support 504, and the reducer II 502 is connected to the servo motor 501. Servo motor 501 controls the lifting and lowering of screw jack I 505 via reducer II 502 to adjust the height of the support rod.

[0022] Furthermore, such as Figure 7 As shown, the auxiliary support mechanism 6 includes a base mounting plate 601 fixed on the upper surface of the omnidirectional AGV moving device 1. The upper surface of the base mounting plate 601 is fixed from bottom to top with an X-direction linear sliding mechanism 602, a main support structure frame 603, a screw jack II 605, and an L-shaped support frame 607. The L-shaped support frame 607 includes an arc support and an L-shaped support plate fixed on the arc support. The L-shaped support plate is used to support the heavy-duty model 2. When the support rod rotates, the L-shaped support plate drives the heavy-duty model 2 to rotate along the arc support via the follower roller 606. The arc support and the L-shaped support plate are positioned by pins. The screw jack II 605 is raised and lowered by the manual lifting handle 604, which in turn controls the L-shaped support frame 607; the auxiliary support mechanism 6 is moved along the X direction by the X-direction linear sliding mechanism 602, which in turn controls the heavy-duty model 2 to move along the X direction.

[0023] like Figure 8 As shown in this embodiment, the method for precise docking of a large wind tunnel heavy-load model with multiple degrees of freedom includes the following steps: S10. Mount the heavy-duty model 2 and the support rod onto the docking device, and adjust the posture of the auxiliary support mechanism 6 to achieve fixed support for the heavy-duty model 2 and the support rod, ensuring that the heavy-duty model 2 is stable and reliable during transportation. S20. Calculate the coordinate relationship between the current position and the target position of the docking device, solve the motion trajectory of the omnidirectional AGV mobile device 1, and control the omnidirectional AGV mobile device 1 to move omnidirectionally according to the motion trajectory through the AGV control system 105. Repeated iterative control is performed during the movement until the omnidirectional AGV mobile device 1 reaches the target position. S30. Adjust the six-degree-of-freedom parallel adjustment mechanism 3, the support rod clamping mechanism 4, the lifting unit 5 and the auxiliary support mechanism 6 to perform rough docking between the support rod and the joint of the support in the middle of the large wind tunnel; S40. Determine the axial relationship between the support rod and the joint, and fine-tune the six-degree-of-freedom parallel adjustment mechanism 3 until the axis of the support rod and the joint coincides; S50. Adjust the six-degree-of-freedom parallel adjustment mechanism 3, the support rod clamping mechanism 4, and the auxiliary support mechanism 6 to move the heavy-load model 2 and the support rod horizontally backward along the axis until the support rod and the joint are fully assembled.

[0024] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. For those skilled in the art, all features disclosed in the present invention, or all steps in all methods or processes disclosed, except for mutually exclusive features and / or steps, can be combined in any way without departing from the principles of the present invention. The present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A precision docking device for a large-scale wind tunnel heavy-load model with multiple degrees of freedom, characterized in that, The main body of the docking device is an omnidirectional AGV moving device (1). An auxiliary support mechanism (6) is set at the front end of the upper surface of the omnidirectional AGV moving device (1), and a six-degree-of-freedom parallel adjustment mechanism (3) is set at the rear end. A lifting unit (5) and a support rod clamping mechanism (4) are set on the six-degree-of-freedom parallel adjustment mechanism (3) in sequence. The rear end of the heavy-duty model (2) is connected to the tail support rod. The heavy-duty model (2) is supported by the auxiliary support mechanism (6), and the tail support rod is clamped on the support rod clamping mechanism (4). Among them, the omnidirectional AGV mobile device (1) can move arbitrarily on the ground of the large wind tunnel; the six-degree-of-freedom parallel adjustment mechanism (3) has six degrees of freedom: X-axis, Y-axis, Z-axis, pitch, yaw, and roll; the support rod clamping mechanism (4) has X-axis degree of freedom; the lifting unit (5) has Y-axis degree of freedom; and the auxiliary support mechanism (6) has X-axis and Y-axis degrees of freedom. The main body of the omnidirectional AGV mobile device (1) is a closed vehicle frame (101); the upper surface of the vehicle frame (101) is a vehicle panel (108), the front side of the vehicle frame (101) is provided with a host computer panel (107), the four corners of the vehicle frame (101) are provided with area scanners (104), and the inner cavity of the vehicle frame (101) is provided with an AGV control system (105) and a power supply system (106); heavy-duty universal wheels (103) are respectively provided at the four corners of the bottom surface of the vehicle frame (101), and a corresponding omnidirectional moving steering wheel (102) is provided on the inner side of each heavy-duty universal wheel (103). The power supply system (106) supplies power to the omnidirectional moving steering wheel (102). The staff inputs the motion trajectory and control commands to the AGV control system (105) through the upper computer panel (107). The omnidirectional moving steering wheel (102) drives the vehicle frame (101) to move according to the preset motion trajectory. The heavy-duty universal wheels (103) assist the omnidirectional moving steering wheel (102) in moving. The area scanner (104) feeds back signals to the AGV control system (105) to adjust the motion trajectory and achieve obstacle avoidance. The omnidirectional steering wheels (102) are, in counterclockwise order, omnidirectional steering wheel I (102-1), omnidirectional steering wheel II (102-2), omnidirectional steering wheel III (102-3) and omnidirectional steering wheel IV (102-4), and the corresponding heavy-duty casters (103) are, in order, heavy-duty casters I (103-1), heavy-duty casters II (103-2), heavy-duty casters III (103-3) and heavy-duty casters IV (103-4). The six-degree-of-freedom parallel adjustment mechanism (3) includes a lower platform (307) fixed on the upper surface of the vehicle body panel (108) of the omnidirectional AGV mobile device (1), and an upper platform (306) corresponding to the lower platform (307); between the upper platform (306) and the lower platform (307), three groups of electric cylinders (301) with two cylinders in each group and a total of six inclined supports are arranged in an equilateral triangle. Each electric cylinder (301) is fixed to the lower surface of the upper platform (306) by the upper hinge assembly (305) and fixed to the upper surface of the lower platform (307) by the lower hinge assembly (308); each electric cylinder (301) has a corresponding reducer I (302), motor (303) and limit switch (304). The control system (309) is fixed at the center of the upper surface of the lower platform (307). The control system (309) controls the coordinated movement of 6 electric cylinders (301) to realize the X-axis, Y-axis, Z-axis, pitch, yaw and roll movements of the upper platform (306). The mounting base plate (408) of the support rod clamping mechanism (4) is fixed on the upper surface of the upper platform (306) of the six-degree-of-freedom parallel adjustment mechanism (3). The upper surface of the mounting base plate (408) is fixed with the base (404), the lifting unit (5) and the V-shaped clamp (403) from bottom to top. The V-shaped cavity of the V-shaped clamp (403) is inserted into the support rod, and the support rod is pressed and fixed by the pressure block (402). An X-axis drive mechanism (406) is also fixed on the mounting base plate (408). An X-axis guide rail (407) is provided on the base (404), and a protective cover (405) is provided on the base (404); an X-axis drive mechanism (406) drives the base (404) to move along the X-axis and adjusts the X-axis position of the support rod; Two sets of symmetrical lifting rings (401) are fixed on the upper surface of the pressure block (402), and the docking device is hoisted through the lifting rings (401).

2. The large-scale wind tunnel heavy-load model multi-degree-of-freedom precision docking device according to claim 1, characterized in that, The lifting unit (5) includes four symmetrical spiral lifting machines I (505) fixed in the frame structure (503); it also includes a reducer support base (504) fixed on the frame structure (503), a reducer II (502) fixed on the reducer support base (504), and a servo motor (501) connected to the reducer II (502). The servo motor (501) controls the lifting of the screw jack I (505) through the reducer II (502) to adjust the height of the support rod.

3. The large-scale wind tunnel heavy-load model multi-degree-of-freedom precision docking device according to claim 2, characterized in that, The auxiliary support mechanism (6) includes a base mounting plate (601) fixed on the upper surface of the omnidirectional AGV moving device (1). The upper surface of the base mounting plate (601) is fixed from bottom to top with an X-direction linear sliding mechanism (602), a main support structure frame (603), a screw lift II (605), and an L-shaped support frame (607). The L-shaped support frame (607) includes an arc support and an L-shaped support plate fixed on the arc support. The L-shaped support plate is fitted with a heavy-duty model (2). The support rod rotates, causing the L-shaped support plate to drive the heavy-duty model (2) to rotate along the arc support via a follower roller (606). The arc support and the L-shaped support plate are positioned by pins. The screw jack II (605) is raised and lowered by the manual lifting handle (604), which in turn controls the L-shaped support frame (607) to rise and fall; the auxiliary support mechanism (6) is moved along the X direction by the X-direction linear sliding mechanism (602), which in turn controls the heavy-duty model (2) to move along the X direction.

4. A method for precise docking of a large wind tunnel heavy-load model with multiple degrees of freedom, used in any one of the large wind tunnel heavy-load model multi-degree-of-freedom precision docking devices described in claims 1 to 3, characterized in that, Includes the following steps: S10. Mount the heavy-load model (2) and the support rod on the docking device, and adjust the posture of the auxiliary support mechanism (6) to achieve fixed support of the heavy-load model (2) and the support rod, so as to ensure that the heavy-load model (2) is stable and reliable during transportation. S20. Calculate the coordinate relationship between the existing position and the target position of the docking device, solve the motion trajectory of the omnidirectional AGV moving device (1), and control the omnidirectional AGV moving device (1) to move omnidirectionally according to the motion trajectory through the AGV control system (105). Repeated iterative control is performed during the movement until the omnidirectional AGV moving device (1) reaches the target position. S30. Adjust the six-degree-of-freedom parallel adjustment mechanism (3), the support rod clamping mechanism (4), the lifting unit (5) and the auxiliary support mechanism (6) to rough connect the support rod with the joint of the support rod in the middle of the large wind tunnel; S40. Determine the axial relationship between the support rod and the joint, and fine-tune the six-degree-of-freedom parallel adjustment mechanism (3) until the support rod and the joint axis coincide; S50. Adjust the six-degree-of-freedom parallel adjustment mechanism (3), the support rod clamping mechanism (4) and the auxiliary support mechanism (6) to move the heavy-load model (2) and the support rod horizontally backward along the axis until the support rod and the joint are assembled.

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