Multi-degree-of-freedom floating docking mechanism, battery module assembly line and docking control method

Abstract

The application discloses a multi-degree-of-freedom floating docking mechanism, a battery module assembly line and a docking control method. The multi-degree-of-freedom floating docking mechanism comprises a docking assembly, a first floating mechanism and a second floating mechanism. The docking assembly is used for docking with a docking object. A first end of the first floating mechanism is connected with the docking assembly, and a second end of the first floating mechanism is connected with the second floating mechanism. When the docking assembly docks with the docking object, the docking assembly can drive the first floating mechanism to linearly float in a first direction and / or a second direction, and can drive the second floating mechanism to swing and float around a first axis and / or a second axis. The technical scheme provided by the application constructs a two-stage multi-degree-of-freedom floating docking architecture of 'linear floating + swing floating', and effectively solves the problem that a floating mechanism only having X and Y radial translation degrees of freedom cannot adapt to end face inclination and angle deviation.

Description

Technical Field

[0001] This application relates to the field of floating docking mechanism technology, and in particular to a multi-degree-of-freedom floating docking mechanism, a battery module assembly line, and a docking control method. Background Technology

[0002] The docking mechanism is used to connect two mechanisms or components. Taking the airtight docking structure as an example, the airtight docking mechanism connects the docking objects and then inspects them. During the airtightness inspection process, to avoid damage to the workpiece caused by the rigid impact between the inspection mechanism and the battery casing, a floating mechanism can be designed to prevent this, making the docking process between the airtightness inspection head and the battery smoother. The docking joint can be designed to have X and Y radial translational degrees of freedom, but this design also has some problems. When the docking interface of the objects has axial positional tolerances, end face tilting, circumferential misalignment, or vibration offset caused by production line operation, the docking joint cannot adaptively fit the end face of the inspection port in all directions, resulting in uneven circumferential force on the sealing ring and easy occurrence of one-sided sealing gaps. Taking airtightness inspection as an example, this situation can easily lead to false leaks and misjudgments, reducing the accuracy and reliability of the inspection results. Utility Model Content

[0003] The purpose of this application is to provide a multi-degree-of-freedom floating docking mechanism, a battery module assembly line, and a docking control method to solve at least one of the above-mentioned technical problems.

[0004] To solve the above-mentioned technical problems, this application provides a multi-degree-of-freedom floating docking mechanism, a battery module assembly line, and a docking control method. In a first aspect, this application provides a multi-degree-of-freedom floating docking mechanism, including a docking component, a first floating mechanism, and a second floating mechanism. The docking component is used to dock with the docking object; The first end of the first floating mechanism is connected to the docking component, and the second end of the first floating mechanism is connected to the second floating mechanism; When the docking component docks with the docking object, the docking component can drive the first floating mechanism to float linearly in a first direction and / or a second direction, and can drive the second floating mechanism to swing and float around a first axis and / or a second axis.

[0005] In some embodiments, the docking assembly includes abutment positioning posts; the abutment positioning posts are disposed on the first floating mechanism and at least two are provided; the docking object has a first docking end face; the docking assembly has a second docking end face; the docking object and the docking assembly complete docking through contact between the first docking end face and the second docking end face. When the docking component approaches the docking object, the abutment positioning post is adapted to abut against the side wall of the docking object to drive the second floating mechanism to make the docking component swing and float around the first axis and / or the second axis, so that the first docking end face is parallel to the second docking end face.

[0006] In some implementations, an alignment component is provided on the first floating mechanism; The docking object has a first pair of connectors, the first pair of connectors having a first docking end face; the docking assembly has a second pair of connectors, the second pair of connectors having a second docking end face; The centering assembly includes a first abutment and a second abutment, which are arranged radially opposite to each other along the first mating joint. Wherein, at least one of the first abutting member and the second abutting member is connected to the first driving member; The first driving member is used to drive the first abutting member and the second abutting member to move relative to each other in the radial direction of the first mating joint, so that the second mating joint drives the second floating unit to float linearly in the first direction and / or the second direction, thereby completing the relative positioning between the second mating joint and the first mating joint.

[0007] In some embodiments, the first floating mechanism includes a first mounting plate, a first floating unit, and a second floating unit; The second connector and the abutment positioning post are located on the side of the first mounting plate near the docking object. The first mounting plate is floatingly connected to the first floating unit in the first direction, and the first floating unit is floatingly connected to the second floating unit in the second direction, so that the first mounting plate can float in the first and second directions.

[0008] In some embodiments, the first floating unit includes a first slide and a first limiting member, the first limiting member being disposed on the first slide, and the second floating unit includes a second slide and a second limiting member, the second limiting member being disposed on the second slide; The first mounting plate is slidably connected to the first slide table so that the first mounting plate can slide in a first direction; the first slide table is slidably connected to the second slide table so that the first slide table can slide in a second direction; and the second slide table is connected to the second floating mechanism. The first limiting member is adapted to abut against the first mounting plate to limit the floating range of the first mounting plate in the first direction, and the second limiting member is adapted to abut against the first slide to limit the floating range of the first slide in the second direction.

[0009] In some embodiments, the second floating mechanism includes a first mounting frame and a second mounting frame, the first mounting frame and the second mounting frame being rotatably connected, and the axis of rotation being the first axis; the first floating mechanism is disposed on the first mounting frame.

[0010] In some embodiments, the second floating mechanism further includes a third mounting bracket; the second mounting bracket is rotatably connected to the third mounting bracket, and the axis of rotation is a second axis.

[0011] In some embodiments, a first rotating connector is provided on the first mounting bracket; the first rotating connector passes through and connects to the second mounting bracket, so that the first mounting bracket and the second mounting bracket rotate around the first axis. A second rotating connector is provided on the second mounting bracket; the second rotating connector passes through and connects to the third mounting bracket, so that the second mounting bracket and the third mounting bracket rotate around the second axis.

[0012] In some embodiments, a second driving member is provided on the first mounting bracket, and the first floating mechanism is located at the driving end of the second driving member. The second driving member is adapted to drive the first floating mechanism to move in a third direction so that the abutment positioning post abuts against the docking object.

[0013] Secondly, this application provides a battery module assembly line, which includes a battery assembly mechanism and a module testing mechanism; The battery assembly mechanism is used to assemble battery cells into a battery module; The module testing mechanism includes a floating docking mechanism as described in the first aspect of this application, wherein the module testing mechanism docks with the battery module through the floating docking mechanism to perform module testing.

[0014] Thirdly, this application provides a docking control method, which is applied to the floating docking mechanism described in the first aspect of this application. The docking control method includes the following steps: Obtain the docking image information of the docking object; Based on the docking image information, docking positioning analysis is performed to obtain drive control information; According to the drive control information, the docking component (10) is controlled to dock with the docking object. When the docking component (10) docks with the docking object, the docking component (10) can drive the first floating mechanism (20) to float linearly in the first direction (C1) and / or the second direction (C2), and can drive the second floating mechanism (30) to swing and float around the first axis (L1) and / or the second axis (L2).

[0015] Compared with existing technologies, the advantages of this application are as follows: This solution provides linear floating capability in the first and second directions through a first floating mechanism, which can effectively compensate for radial position deviations, production line vibration offsets, and positional tolerances caused by workpiece processing between the docking object and the docking component, achieving adaptive matching of radial position without relying on high-precision positioning drive; the second floating mechanism provides dual-axis swing floating capability around the first and second axes, which can actively adapt to the pitch, yaw, and tilt of the docking end face, eliminating the unilateral fitting gap caused by workpiece end face tilt and axial positional tolerance. The two-stage floating mechanisms work together to achieve all-round adaptive adjustment of position and angle during docking, enabling the docking end face to fit fully and evenly; this solution constructs a two-stage multi-degree-of-freedom floating docking architecture of "linear floating + swing floating", effectively solving the problem that floating mechanisms with only X and Y radial translational degrees of freedom cannot adapt to end face tilt and angle deviations. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the floating docking mechanism provided in the embodiments of this application; Figure 2 This is a schematic diagram of the first floating mechanism according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the first floating mechanism according to an embodiment of this application; Figure 4 This is a partial structural schematic diagram of the floating docking mechanism according to an embodiment of this application; Figure 5 This is a partial structural schematic diagram of the floating docking mechanism according to an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the floating docking mechanism according to an embodiment of this application; Figure 7 yes Figure 6 Enlarged structural diagram of section A; Figure 8 yes Figure 6 Enlarged structural diagram of section B; Figure 9 This is a partial cross-sectional structural schematic diagram of the floating docking mechanism according to an embodiment of this application; Figure 10 yes Figure 2 Enlarged structural diagram of section C; Figure 11 This is a schematic diagram of the structure of the airtightness testing device according to an embodiment of this application; Figure 12 This is a schematic diagram of the structure of the airtightness testing device according to an embodiment of this application; Figure 13 This is a schematic diagram of the structure of the airtightness testing device according to an embodiment of this application; Figure 14 yes Figure 13 Enlarged structural diagram of section D; Wherein: 10. Docking assembly; 11. Second docking joint; 20. First floating mechanism; 21. First mounting plate; 22. First floating unit; 221. First limiting member; 2211. First elastic limiting member; 2212. First rigid limiting member; 222. First slide table; 23. Second floating unit; 231. Second limiting member; 2311. Second rigid limiting member; 2312. Second elastic limiting member; 232. Second slide table; 30. Second floating mechanism; 31. First mounting bracket; 311. First rotating connector; 32. Second mounting bracket; 321. Third... Limiting component; 3211, Third elastic limiting component; 3212, Third rigid limiting component; 33, Third mounting bracket; 331, Fourth limiting component; 3311, Fourth rigid limiting component; 3312, Fourth elastic limiting component; 34, Second rotating connecting component; 40, Abutment positioning post; 41, Second driving component; 42, First mating joint; 50, Centering component; 51, First abutment component; 52, Second abutment component; 53, First driving component; 60, Visual recognition mechanism; 70, Multi-dimensional driving mechanism; 71, Lifting driving component; 72, Fourth mounting bracket; 73, Lateral driving component; C1, First Direction; C2, Second Direction; C3, Third Direction; L1, first axis; L2, second axis; S1, first mating face; S2, second mating face. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] In the description of this application, it should be understood that the terms "upper", "lower", "side", "front", "rear", etc., indicate the orientation or positional relationship based on the installation orientation or positional relationship, and are only for the convenience of describing this application and simplifying the description, and do not 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 application.

[0022] In the description of this application, it should be noted that the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0023] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0024] To further understand the utility model content, features, and effects of this application, the following embodiments are provided, and detailed descriptions are given below in conjunction with the accompanying drawings: Example The docking mechanism is used to connect two mechanisms or components. Taking an airtight docking structure as an example, the airtight docking mechanism connects the docking objects and then inspects them. During airtightness testing, to avoid damage to the workpiece caused by rigid impact between the testing mechanism and the battery casing, a floating mechanism can be designed to prevent this, making the docking process between the airtightness testing head and the battery smoother. The docking joint can be designed to have X and Y radial translational degrees of freedom, but this design also has some problems. When the docking interface of the objects has axial positional tolerances, end face tilting, circumferential misalignment, or vibration offset caused by production line operation, the docking joint cannot adaptively fit the end face of the testing port in all directions, resulting in uneven circumferential force on the sealing ring and easy occurrence of one-sided sealing gaps. Taking airtightness testing as an example, this situation can easily lead to false leaks and misjudgments, reducing the accuracy and reliability of the test results. To solve this technical problem, this embodiment provides the following technical solution: For details, please see Figure 1-14 This embodiment provides a multi-degree-of-freedom floating docking mechanism, which includes a docking component 10, a first floating mechanism 20 and a second floating mechanism 30; Specifically, the docking component 10 is used to dock with the docking object; The docking object can be any organization that requires docking mechanism to achieve docking. For example, in some air tightness testing, the battery module can be used as the docking object, and the docking component 10 can be an air tightness testing component, which can detect the air tightness of the battery after docking with the battery module.

[0025] For details, please see Figure 1 The first end of the first floating mechanism 20 is connected to the docking component 10, and the second end of the first floating mechanism 20 is connected to the second floating mechanism 30; Furthermore, when the docking component 10 docks with the docking object, the docking component 10 can drive the first floating mechanism 20 to float linearly in the first direction and / or the second direction, and can drive the second floating mechanism 30 to swing and float around the first axis and / or the second axis.

[0026] In this embodiment, the solution provides linear floating capability in the first and second directions through the first floating mechanism 20, which can effectively compensate for radial position deviation, production line vibration offset, and positional tolerance caused by workpiece processing between the docking object and the docking component 10, achieving adaptive matching of radial position without relying on high-precision positioning drive. The second floating mechanism 30 provides dual-axis oscillating floating capability around the first and second axes, actively adapting to the pitch and yaw tilt of the docking end face, eliminating unilateral fitting gaps caused by workpiece end face tilt and axial positional tolerances. The two-stage floating mechanisms work together to achieve omnidirectional adaptive adjustment of position and angle during docking, ensuring comprehensive and uniform fitting of the docking end faces. In battery airtightness testing scenarios, this solution ensures consistent circumferential force on the seal, avoiding false leaks caused by unilateral sealing gaps, and improving the accuracy and reliability of airtightness test results. Meanwhile, the multi-degree-of-freedom floating structure can absorb rigid impacts during the docking process, preventing rigid collisions between the docking component 10 and the workpiece under test (such as a power battery casing), protecting the workpiece's appearance and structural accuracy, extending the service life of vulnerable parts such as connectors and seals, and reducing equipment maintenance costs. Furthermore, this architecture reduces the requirements for front-end positioning accuracy on the production line, adapting to workpieces and working conditions with larger tolerance ranges, improving equipment scenario compatibility and production line adaptability, and reducing the workload and time cost of production line debugging. This solution constructs a two-level multi-degree-of-freedom floating docking architecture of "linear floating + oscillating floating," effectively solving the problem that floating mechanisms with only X and Y radial translational degrees of freedom cannot adapt to end face tilt and angular deviations.

[0027] In one embodiment, the first direction is perpendicular to the second direction, and the first axis is perpendicular to the second axis.

[0028] In practical applications, due to factors such as processing errors, the sidewalls of the mating objects may be uneven, which will affect the smooth docking of the mating objects and the mating components. To solve this technical problem, this embodiment provides the following technical solution: For details, please see Figure 2-3 The docking component 10 includes an abutment positioning post 40; the abutment positioning post 40 is disposed on the first floating mechanism 20 and at least two of them are provided; The docking object has a first docking end face, and the docking component 10 has a second docking end face. The docking object and the docking component 10 complete the docking through contact between the first docking end face and the second docking end face. Furthermore, when the docking component 10 approaches the docking object, the abutment positioning post 40 is adapted to abut against the side wall of the docking object, so as to drive the second floating mechanism 30 to drive the docking component 10 to swing and float around the first axis and / or the second axis, so that the first docking end face is parallel to the second docking end face. In this embodiment, when the docking component 10 approaches the docking object, the abutment positioning post 40 contacts the side wall of the docking object before the docking end face. Utilizing the contact reaction force during the feeding process, it directly drives the second floating mechanism 30 to swing around the first and second axes, automatically correcting the angle of the docking component 10, ultimately achieving a completely parallel state between the first and second docking end faces. This design employs a purely mechanical passive leveling method, eliminating the need for additional angle sensors, active swing drives, and complex angle closed-loop control systems. This significantly simplifies the equipment structure and control logic, reducing hardware costs and debugging difficulty. At least two abutment positioning posts 40 form multi-point contact constraints, allowing simultaneous angle correction in two orthogonal swing directions. This avoids insufficient skew correction caused by single-point contact, ensuring comprehensive and accurate end-face leveling. In addition, the contact positioning post 40 contacts the workpiece before the mating end face, which can also play a role in pre-buffering and pre-positioning, avoiding rigid impact between the seal and the mating end face, protecting the elasticity of the seal and the machining accuracy of the end face, and extending the service life of the seal; at the same time, the leveling action and the feeding action are completed simultaneously, eliminating the need for additional leveling procedures and effectively improving the overall efficiency of the mating operation.

[0029] In one embodiment, the number of abutment positioning posts 40 can be 2, 3, 4, etc., for example... Figure 2 As shown, in this embodiment, there are four abutment positioning posts 40, which are evenly distributed around the second connector 11 at equal angles.

[0030] Furthermore, the sidewall of the docking object described in this embodiment can be understood as the wall surface near the docking position of the docking object; taking a battery pack as an example, in some embodiments, the airtightness detection port of the battery pack is protruding, and the abutment positioning post 40 abuts against the sidewall near the airtightness detection port.

[0031] In one embodiment, please refer to Figure 2 , Figure 3 and Figure 10 A centering component 50 is provided on the first floating mechanism 20; The docking object has a first mating joint 42, which has a first docking end face; the docking assembly 10 has a second mating joint 11, which has a second docking end face. Specifically, the centering component 50 includes a first abutting member 51 and a second abutting member 52, which are arranged radially opposite to each other along the first mating joint 42. Wherein, at least one of the first abutting member 51 and the second abutting member 52 is connected to the first driving member 53; Understandably, in some embodiments, one of the first abutting member 51 and the second abutting member 52 is connected to the first driving member 53, that is, only one of the first abutting member 51 and the second abutting member 52 is movable, while the other remains fixed; in another embodiment, both the first abutting member 51 and the second abutting member 52 are connected to a first driving member 53, that is, both the first abutting member 51 and the second abutting member 52 are movable.

[0032] Furthermore, the first driving member 53 is used to drive the first abutting member 51 and the second abutting member 52 to move relative to each other along the radial direction of the first mating joint 42, and to abut and center with the first mating joint 42. During the centering movement, the second mating joint 11 drives the second floating unit 23 to float linearly in the first direction and / or the second direction, thereby completing the relative positioning between the second mating joint 11 and the first mating joint 42. In this embodiment, the first driving member 53 can drive the first abutting member 51 and / or the second abutting member 52 to move radially relative to each other along the mating joint. Through active force application in a clamping manner, it drives the first floating mechanism 20 to generate linear floating in the first and second directions, ultimately enabling the second mating joint 11 and the first mating joint 42 to achieve precise coaxial positioning. The radially opposite double abutting members apply force in a symmetrical clamping manner, which can ensure that the mating joint is subjected to uniform force during the alignment process, and will not cause the mating joint to be skewed due to force applied on one side, thus ensuring the accuracy of coaxiality adjustment. This active alignment and the linear floating of the first floating mechanism 20 cooperate with each other, which not only retains the buffering and fault-tolerant capability of the floating structure, but also ensures positioning accuracy through active driving.

[0033] For further details, please see Figure 2 In some embodiments, the first abutting member 51 and the second abutting member 52 are arc-shaped; it is understood that the arc-shaped first abutting member and the second abutting member 52 can better abut against the columnar first mating joint 42, thereby achieving better centering adjustment.

[0034] In one embodiment, the first driving member 53 may be a driving cylinder or other driving mechanism capable of linear drive. This embodiment is not limited thereto.

[0035] For details, please see Figure 3 The first floating mechanism 20 includes a first mounting plate 21, a first floating unit 22, and a second floating unit 23; Specifically, the second mating joint 11 and the abutment positioning post 40 are located on the side of the first mounting plate 21 close to the mating object. The first mounting plate 21 is floatingly connected to the first floating unit 22 in the first direction, and the first floating unit 22 is floatingly connected to the second floating unit 23 in the second direction, so that the first mounting plate 21 can float in the first and second directions. In this embodiment, the first floating mechanism 20 is designed with layered decoupling. Through a three-layered connection structure consisting of a first mounting plate 21, a first floating unit 22, and a second floating unit 23, independent linear floating motion in two directions is achieved. The first mounting plate 21 serves as the direct mounting carrier for the docking assembly 10, cooperating with the first floating unit 22 to achieve floating in the first direction. The first floating unit 22 then cooperates with the second floating unit 23 to achieve floating in the second direction. The floating motions in the two directions are independent and do not interfere with each other, structurally avoiding the coupling and jamming problem of floating in two directions, and improving the smoothness and response speed of the floating motion. The layered structural design is clear and easy to assemble and maintain. Floating stroke, sliding resistance, and load-bearing capacity can be designed separately for each direction. When the centering assembly 50 applies a centering force, the first mounting plate 21 can drive the docking joint to smoothly adjust its position, ensuring precise and controllable centering action, further guaranteeing the accuracy and smoothness of radial centering.

[0036] For details, please see Figure 2-3 The first floating unit 22 includes a first slide 222 and a first limiting member 221, the first limiting member 221 being disposed on the first slide 222; the second floating unit 23 includes a second slide 232 and a second limiting member 231, the second limiting member 231 being disposed on the second slide 232. Furthermore, the first mounting plate 21 is slidably connected to the first slide 222 so that the first mounting plate 21 can slide in the first direction, the first slide 222 is slidably connected to the second slide 232 so that the first slide 222 can slide in the second direction, and the second slide 232 is connected to the second floating mechanism 30. The first limiting member 221 is adapted to abut against the first mounting plate 21 to limit the floating range of the first mounting plate 21 in the first direction, and the second limiting member 231 is adapted to abut against the first slide 222 to limit the floating range of the first slide 222 in the second direction.

[0037] Understandably, the first mounting plate 21 is slidably connected to the first slide 222, thus allowing the first mounting plate 21 to slide in a first direction on the first slide 222; in one embodiment, two first limiting members 221 are provided and are disposed opposite to each other on both sides of the first mounting plate 21 in the first direction, as shown in [reference]. Figure 3As shown, taking the first direction as the vertical direction as an example, the first mounting plate 21 is limited between two first limiting members 221. When the first mounting plate 21 moves upward, it will abut against the first limiting member 221 at the upper end, which can prevent the first limiting plate from moving upward excessively. Similarly, when the first mounting plate 21 moves downward, it will abut against the first limiting member 221 at the lower end, which can prevent the first mounting plate 21 from moving downward excessively. Finally, with the cooperation of the first limiting members 221 at both the upper and lower ends, the first mounting plate 21 is restricted to a certain range in the vertical direction.

[0038] In one embodiment, the first connector 42 can be understood as having a first pair of central axes, and the second connector 11 has a second pair of central axes. When the first pair of central axes and the second pair of central axes are collinear, it can be understood that the first connector 42 and the second connector 11 are aligned. The alignment component 50 in this embodiment can be understood as being used to make the first pair of central axes collinear with the second pair of central axes. Specifically, the alignment component 50 in this solution includes a first abutting member 51 and abutting member 52. In some embodiments, the first abutting member 51 and the second abutting member 52 have arc-shaped surfaces adapted to the sidewall of the first connector 42. It can be understood that the first abutting member 51 and the second abutting member 52 together constitute an alignment region. This alignment region has a third pair of central axes, and the third pair of central axes and the second pair of central axes are collinear. When the third pair of central axes and the first pair of central axes are collinear, the second pair of central axes and the first pair of central axes are collinear, thereby completing the alignment of the second connector 11 and the first connector 42.

[0039] Specifically, the first abutting member 51 and the second abutting member 52 move relative to each other radially along the first mating joint 42. When they act on the side wall of the first mating joint 42, they will drive the first mounting plate 21 to slide along the second direction on the first sliding table 222. Since the first sliding table 222 and the second sliding table 232 have a sliding connection relationship, the force will simultaneously drive the first sliding table 222 to slide along the first direction on the second sliding table 232, so as to make the third pair of central axes collinear with the first pair of central axes, and realize the alignment of the centering component 50 and the first mating joint 42. Since the third pair of central axes and the second pair of central axes are collinear, the alignment of the second mating joint 11 and the first mating joint 42 is completed simultaneously when the centering component 50 and the first mating joint 42 are aligned.

[0040] Furthermore, the first slide 222 and the second slide 232 are slidably connected; in one embodiment, it can be understood that one side of the first slide 222 is slidably connected to the first mounting plate 21, while the other side opposite to that side is slidably connected to the second slide 232; the sliding engagement between the first slide 222 and the second slide 232 allows the first slide 222 to slide in a second direction on the second slide 232; taking the second direction as a horizontal direction as an example; in one embodiment, two second limiting members 231 are provided and respectively provided on two opposite sides of the second slide 232, that is, the first slide 222 is provided on two second limiting members. Between 231, one of the second limiting members 231 is located to the left of the first slide 222, and the other is located to its right. When the first slide 222 moves along the left side, it will abut against the second limiting member 231 located on the left side, at which time the second limiting member 231 located on the left side will prevent the first slide 222 from moving too far to the left. Similarly, when the first slide 222 moves along the right side, it will abut against the second limiting member 231 located on the right side, at which time the second limiting member 231 located on the right side will prevent the first slide 222 from moving too far to the right. Finally, with the cooperation of the second limiting members 231 on both the left and right sides, the first slide 222 is restricted to a certain range in the horizontal direction.

[0041] In this embodiment, the first mounting plate 21 and the first slide 222 are slidably connected, and the first slide 222 and the second slide 232 are also slidably connected. It is understood that by setting the cooperation between the mechanisms to a sliding fit, this solution reduces motion resistance, ensuring smooth and stable floating motion of the first mounting plate 21 and the first slide 222, enabling rapid position correction, and improving the response speed and execution efficiency of the centering action. The corresponding first limiting member 221 and second limiting member 231 can precisely limit the floating stroke in two directions, preventing excessive floating from causing interference between the docking component 10 and surrounding components, and preventing the floating structure from derailing and failing.

[0042] In some embodiments, the sliding engagement between the first mounting plate 21 and the first slide 222 can be achieved by a slide rail. That is, a slide rail is provided on the first slide 222, and a corresponding slider is provided on the first mounting plate 21. The sliding engagement between the two is achieved by the cooperation between the slider and the slide rail. Similarly, the sliding engagement between the first slide 222 and the second slide 232 can refer to the above method.

[0043] In some embodiments, the first limiting member 221 includes a first elastic limiting member 2211 and a first rigid limiting member 2212; the first elastic limiting member 2211 and the first rigid limiting member 2212 are disposed adjacent to each other and are disposed on the first slide table 222; one end of the first elastic limiting member 2211 is disposed on the first slide table 222, and the other end abuts against the side wall of the first mounting plate.

[0044] Understandably, the first rigid limiting member 2212 and the first elastic limiting member 2211 constitute a set of first limiting members 221. In one embodiment, two sets of first limiting members 221 may be provided and arranged opposite to each other to limit the sides of the first mounting plate. Further, it is understood that the first rigid limiting member 2212 controls the maximum floating limit range, that is, the floating range of the first elastic limiting member 2211 will not exceed the limiting range of the first rigid limiting member 2212. By cooperating with the first elastic limiting member 2211 and the first rigid limiting member 2212, the floating range of the first mounting plate can be flexibly controlled within a certain range.

[0045] For details, please see Figure 3 Taking the vertical direction as an example, two first elastic limiting members 2211 are respectively provided on the upper and lower sides of the first mounting plate 21. The first elastic member itself is elastic, and it deforms after being subjected to force to provide displacement distance, and at the same time stores elastic potential energy. After the force is lost or the clamping force is reduced, the elastic potential energy is released to cause the first mounting plate 21 to reset in the vertical direction. The ends of the two first elastic limiting members 2211 on the upper and lower sides respectively abut against the upper and lower opposite side walls of the first mounting plate 21, so that the first mounting plate 21 has the floating displacement and reset conditions of sliding downward or upward.

[0046] It is further understood that elastic limits are more flexible than rigid limits, but at the same time their controllability is also lower than that of rigid limits. Therefore, this application combines elastic limits with rigid limits. As in this embodiment, the first rigid limiting member 2212, specifically, in one implementation, two first rigid limiting members 2212 are disposed on the first slide 222 and respectively located on the upper and lower sides of the first mounting plate 21. The first rigid limiting member 2212 can be understood as having a structure similar to an adjusting screw, which is disposed through the first slide 222 along a first direction. The end of the first rigid limiting member 2212 near the floating range of the first mounting plate 21 is the limiting end. The end face of the first rigid limiting member 2212 on the upper side near the floating range of the first mounting plate 21 is the first limiting end face, and the end face of the first rigid limiting member 2212 on the lower side near the floating range of the first mounting plate 21 is the second limiting end face. It can be understood that the distance between the first limiting end face and the second limiting end face constitutes the absolute limiting range for the first mounting plate 21. In this embodiment, the first rigid limiting member 2212 is understood as having a structure similar to an adjusting screw, with threads on its outer peripheral wall and connecting with the first slide 222. 2. Threaded engagement: When the first rigid limiting member 2212 is rotated, it can move closer to or further away from the first mounting plate 21 along its axial direction (or in the first direction). This means that the extension distance of its limiting end can be adjusted by rotating the first rigid limiting member 2212. Thus, the operator can adjust the floating space range of the first mounting plate 21 by adjusting the first rigid limiting member 2212. When the first mounting plate 21 moves upward too much, while compressing the first elastic limiting member 2211, its sidewall will simultaneously abut against the first rigid limiting member 2212, or more precisely, against the first limiting end face. The first rigid limiting member 2212 will prevent the first mounting plate 21 from moving upward further, thus achieving an absolute limiting effect. Similarly, when the first mounting plate 21 moves downward too much, the first rigid limiting member 2212 located on the lower side will also prevent the first mounting plate 21 from moving downward further, thus achieving an absolute limiting effect. In summary, the two first rigid limiting members 2212 define an absolute limiting range for the first mounting plate 21 in the first direction, while the two first elastic limiting members 2211 allow the first mounting plate 21 to float flexibly within this absolute limiting range. That is, the first rigid limiting members 2212 play the main limiting role for the first mounting plate 21, while the first elastic limiting members 2211 play the role of displacement and reset, and at the same time play an auxiliary limiting role.

[0047] In some embodiments, the first elastic limiting member 2211 may be a spring, a damper, a polyurethane elastic member, or other elastic mechanism capable of achieving elastic reset.

[0048] Specifically, in one embodiment, the second limiting member 231 includes a second elastic limiting member 2312 and a second rigid limiting member 2311; one end of the second elastic limiting member 2312 is disposed on the second slide table 232, and the other end abuts against the first slide table 222; the second rigid limiting member 2311 is disposed on the second slide table 232, and its end is adapted to abut against the first slide table 222. In one embodiment, the second elastic limiting member 2312 and the second rigid limiting member 2311 are also arranged adjacent to each other.

[0049] Furthermore, the function of the second elastic limiting member 2312 can be referred to that of the first elastic limiting member 2211. It can realize the elastic reset of the first slide table 222 and provide an elastic limiting range for the first slide table 222. The second rigid limiting member 2311 provides an absolute limiting range, which limits the maximum floating range of the first slide table 222. The functions of the first limiting member 221 and the second limiting member 231 are similar, only the objects they act on are different. Therefore, the second elastic limiting member 2312 can be referred to as the first elastic limiting member 2211, and the second rigid limiting member 2311 can be referred to as the first rigid limiting member 2212. This embodiment will not be described in detail here.

[0050] For details, please see Figure 4-5 In one embodiment, the second floating mechanism 30 includes a first mounting frame 31 and a second mounting frame 32, the first mounting frame 31 and the second mounting frame 32 are rotatably connected, and the axis of rotation is the first axis; the first floating mechanism 20 is disposed on the first mounting frame 31.

[0051] Specifically, the second floating mechanism 30 also includes a third mounting bracket 33; the second mounting bracket 32 ​​and the third mounting bracket 33 are rotatably connected, and the axis of rotation is the second axis.

[0052] Please see Figure 3 , Figure 6 and Figure 9 A first rotating connector 311 is provided on the first mounting frame 31; the first rotating connector 311 passes through and connects to the second mounting frame 32, so that the first mounting frame 31 and the second mounting frame 32 rotate around the first axis. Furthermore, a second rotating connector 34 is provided on the second mounting bracket 32; the second rotating connector 34 passes through and connects to the third mounting bracket 33, so that the second mounting bracket 32 ​​and the third mounting bracket 33 rotate around the second axis.

[0053] In one embodiment, both the first rotating connector 311 and the second rotating connector 34 include a rotating shaft and a rotating bearing; such as Figure 4As shown, in some embodiments, a through hole is formed on the second mounting bracket 32, and a rotating bearing is provided in the through hole. The rotating shaft is fixedly connected to the first mounting bracket 31 and rotates in cooperation with the rotating bearing, thereby realizing the rotational cooperation between the first mounting bracket 31 and the second mounting bracket 32. It is understood that rotating shafts are provided on both opposite sides of the first mounting bracket 31, and corresponding through holes are provided on both sides of the second mounting bracket 32.

[0054] For further details, please see Figure 4 and Figure 14 Taking an example where the first axis is parallel to the horizontal direction and the second axis is parallel to the vertical direction; it can be understood that the third mounting bracket 33 is fixed, with a through hole on the third mounting bracket 33, and a bearing inside the through hole. The second mounting bracket 32 ​​has a rotating shaft that rotatably engages with the bearing. It can be understood that the central axis of the rotating shaft and the bearing coincides with the second axis, thus allowing the second mounting bracket 32 ​​to rotate around the second axis. In this example, the second axis is parallel to the vertical direction, meaning the second mounting bracket 32 ​​can sway left and right on the third mounting bracket 33. When the abutment positioning post 40 abuts against the side wall of the mating object, if the abutment positioning post 40 closer to the left abuts against the side wall first, it means that there is a gap on the right side in the left-right dimension. The abutment positioning post 40 closer to the left is subjected to force, causing the second mounting bracket 32 ​​to rotate around the second axis (counterclockwise as an example) to compensate for this gap. Similarly, if the abutment positioning post 40 closer to the right abuts against the side wall first, it means that there is a gap on the left side. In this case, the second mounting bracket 32 ​​rotates clockwise around the second axis to compensate.

[0055] Furthermore, a through hole is formed on the second mounting bracket 32 ​​along the first axis, and a rotating bearing is provided in the through hole. A rotating shaft that rotates with the rotating bearing is provided on the first mounting bracket 31. The central axis of the rotating bearing and the rotating shaft here coincides with the first axis, thereby realizing the rotation of the first mounting bracket 31 around the first axis on the second mounting bracket 32. In this example, the first axis is parallel to the horizontal direction, that is, the first mounting bracket 31 can realize pitch and rotation adjustment. When the abutting positioning post 40 closer to the upper side abuts against the side wall first, it indicates that there is a gap in the position closer to the lower side. The abutting positioning post 40 closer to the upper side is subjected to force, so that the first mounting bracket 31 can be tilted up around the first axis to achieve pitch angle compensation. Similarly, if the abutting positioning post 40 closer to the lower side abuts against the side wall first, it indicates that there is a gap in the position closer to the upper side. At this time, the abutting positioning post 40 closer to the lower side is subjected to force, so that the first mounting bracket 31 can be tilted down around the first axis to achieve pitch angle compensation. With the compensation of rotation angles in two dimensions, the abutment positioning post 40 can achieve leveling on the side wall of the mating object, thereby achieving parallelism between the mating end faces of the first mating joint 42 and the second mating joint 11.

[0056] In one embodiment, please refer to Figure 6-8 A third limiting member 321 is provided on the second mounting frame 32, which is adapted to abut against the first mounting frame 31 to limit the floating range of the second mounting frame 32; a fourth limiting member 331 is provided on the third mounting frame 33, which is adapted to abut against the second mounting frame 32 to limit the floating range of the second mounting frame 32. Furthermore, in some embodiments, the third limiting member 321 includes a third elastic limiting member 3211 and a third rigid limiting member 3212; the fourth limiting member 331 includes a fourth elastic limiting member 3312 and a fourth rigid limiting member 3311. Please see Figure 8 The third elastic limiting member 3211 is disposed on the second mounting bracket 32, and one end of it abuts against the first mounting bracket 31; similarly, the third rigid limiting member 3212 is disposed on the second mounting bracket 32, and one end of it abuts against the first mounting bracket 31; further, please refer to Figure 7 The fourth elastic limiting member 3312 is provided on the third mounting bracket 33, with one end abutting against the first mounting bracket 31. The same applies to the fourth rigid limiting member 3311.

[0057] Furthermore, the third elastic limiting member 3211 and the fourth elastic limiting member 3312 can adopt the same elastic reset mechanism as the first elastic limiting member 2211 and the second elastic limiting member 2312, which will not be described in detail here. Similarly, the third rigid limiting member 3212 and the fourth rigid limiting member 3311 can adopt the same limiting structure as the first rigid limiting member 2212 and the second rigid limiting member 2311, and achieve similar functions, only the objects of action are different.

[0058] For details, please see Figure 4-5 In one embodiment, a second driving member 41 is provided on the first mounting bracket 31, and a first floating mechanism 20 is provided at the driving end of the second driving member 41. The second driving member 41 is adapted to drive the first floating mechanism 20 to move along a third direction so that the abutment positioning post 40 abuts against the docking object.

[0059] Furthermore, the second driving component 41 can be a linear drive cylinder, a drive motor, or other mechanism capable of linear drive, and this application does not impose any restrictions on this.

[0060] Please see Figure 11-13 This embodiment also provides an airtightness testing device, which includes a multi-dimensional drive mechanism 70, a visual recognition mechanism 60, a control mechanism, and a multi-degree-of-freedom floating docking mechanism provided by the above solution; it is understood that in the airtightness testing device provided in this embodiment, the docking component 10 is an airtightness testing component; Furthermore, the visual recognition mechanism in this embodiment can be used to identify the position of the first connector 42 of the docking object, which can be understood as the position of the airtightness detection head of the battery module; then the control mechanism obtains the position information, analyzes the position information and drives the multi-dimensional drive mechanism 70 to move, the multi-dimensional drive mechanism 70 drives the airtightness detection component to the designated position, and cooperates with multi-dimensional floating to achieve precise docking, so as to improve the accuracy and reliability of the airtightness detection result.

[0061] Furthermore, in one embodiment, the multi-dimensional drive mechanism 70 may include a lifting drive member 71, a lateral drive member 73, and a fourth mounting bracket 72; the lifting drive member 71 is disposed on the fourth mounting bracket 72, and its drive end is connected to a floating docking mechanism, which can be further understood as being connected to a third mounting bracket 33; further still, the fourth mounting bracket 72 is disposed on the drive end of the lateral drive member 73.

[0062] This embodiment also provides a battery module assembly line, which includes a battery assembly mechanism and a module testing mechanism; Among them, the battery assembly mechanism is used to assemble the battery cells into battery modules; Specifically, the module testing mechanism includes the aforementioned floating docking mechanism, which docks with the battery module to perform module testing.

[0063] Furthermore, in some embodiments, the module testing mechanism can perform airtightness testing of the battery module, referring to the airtightness testing equipment described above in this application. In this case, the docking component in the floating docking mechanism can be understood as an airtightness testing component, which can dock with the airtightness testing port of the battery module to achieve airtightness testing of the battery module. In other embodiments, the module testing mechanism can perform electrical performance testing of the battery module. In this case, the docking component in the floating docking mechanism can be understood as an electrical connection component, used to abut or plug into the electrical interface of the battery module to achieve electrical performance testing.

[0064] This embodiment also provides a docking control method, which is applied to the above-described floating docking mechanism. The docking control method includes the following steps: Obtain the docking image information of the docking object; Based on the docking image information, docking positioning analysis is performed to obtain drive control information; Based on the drive control information, the docking component 10 is controlled to dock with the docking object. When the docking component 10 docks with the docking object, the docking component 10 can drive the first floating mechanism 20 to float linearly in the first direction and / or the second direction, and can drive the second floating mechanism 30 to swing and float around the first axis and / or the second axis.

[0065] It is understandable that when acquiring docking image information of the docking object, it can be acquired through a visual recognition mechanism. After positioning analysis by the control mechanism, drive control information is obtained. It should be noted that the technical means of obtaining drive control information (which can also be understood as position coordinate information) by acquiring images and then analyzing and converting them is a relatively mature technology in the prior art. Although this application does not describe the analysis process in detail, it does not affect the overall understanding of the solution by those skilled in the art.

[0066] Furthermore, after obtaining the drive control information, the multi-dimensional drive mechanism 70 can make corresponding displacements according to the drive control information, causing the docking component 10 to move to the corresponding position and dock with the docking object. Then, through the floating cooperation of the first floating mechanism 20 and the second floating mechanism 30, the docking component 10 and the docking object are accurately docked.

[0067] The following describes the implementation process of one embodiment of this application: The visual recognition mechanism identifies the docking image information of the first pair of connectors 42 of the docking object and feeds it back to the control mechanism. The control mechanism performs docking positioning analysis to obtain drive control information. The multi-dimensional drive mechanism 70 drives the floating docking mechanism to move, that is, it works in conjunction with the lifting drive component 71 and the lateral drive component 73 to achieve movement. After the floating docking mechanism moves into place, the second drive component 41 drives the docking assembly 10 to move along a third direction and approach the docking object. During this process, the abutment positioning post 40 will first abut against the side wall of the docking object to trigger the second floating mechanism 30 to advance. The floating adjustment is performed, and the specific floating adjustment can be found in the above description; then the multi-dimensional drive mechanism drives the floating docking mechanism to move laterally, so that the first abutment 51 abuts against the side wall of the first docking joint 42 (this can be understood as only the second abutment 52 is connected to the first drive member 53). Then, the second abutment 52 moves closer to the side wall of the first docking joint 42 under the drive of the first drive member 53, and finally cooperates with the first abutment 51 to achieve relative clamping to trigger the floating adjustment of the first floating mechanism 20, thus achieving precise docking between the first docking joint 42 and the second docking joint 11.

[0068] It is understood that the above is only an example of the implementation process under one implementation of this application, and adjustments may be made in actual applications depending on the organizational structure.

[0069] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0070] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application shall fall within the scope of the technical solution of this application.

Claims

1. A multi-degree-of-freedom floating docking mechanism, characterized in that: It includes a docking component (10), a first floating mechanism (20), and a second floating mechanism (30); The docking component (10) is used to dock with the docking object; The first end of the first floating mechanism (20) is connected to the docking assembly (10), and the second end of the first floating mechanism (20) is connected to the second floating mechanism (30); When the docking component (10) docks with the docking object, the docking component (10) can drive the first floating mechanism (20) to float linearly in the first direction (C1) and / or the second direction (C2), and can drive the second floating mechanism (30) to swing and float around the first axis (L1) and / or the second axis (L2).

2. The floating docking mechanism according to claim 1, characterized in that: The docking assembly (10) includes an abutment positioning post (40); the abutment positioning post (40) is disposed on the first floating mechanism (20) and there are at least two of them; the docking object has a first docking end face (S1); the docking assembly (10) has a second docking end face (S2); the docking object and the docking assembly (10) are docked by contacting the first docking end face (S1) and the second docking end face (S2); When the docking component (10) approaches the docking object, the abutment positioning post (40) is adapted to abut against the side wall of the docking object, so as to drive the second floating mechanism (30) to drive the docking component (10) to swing and float around the first axis (L1) and / or the second axis (L2), so that the first docking end face (S1) is parallel to the second docking end face (S2).

3. The floating docking mechanism according to claim 2, characterized in that: A centering component (50) is provided on the first floating mechanism; The docking object has a first mating joint (42), the first mating joint (42) has a first docking end face (S1); the docking assembly (10) has a second mating joint (11), the second mating joint (11) has a second docking end face (S2); The centering assembly (50) includes a first abutment (51) and a second abutment (52), the first abutment (51) and the second abutment (52) being arranged radially opposite to each other along the first mating joint (42); Wherein, at least one of the first abutting member (51) and the second abutting member (52) is connected to the first driving member (53); The first driving member (53) is used to drive the first abutting member (51) and the second abutting member (52) to move relative to each other in the radial direction of the first mating head (42), so that the second mating head (11) drives the second floating unit (23) to float linearly in the first direction (C1) and / or the second direction (C2), thereby completing the relative positioning between the second mating head (11) and the first mating head (42).

4. The floating docking mechanism according to claim 3, characterized in that: The first floating mechanism (20) includes a first mounting plate (21), a first floating unit (22), and a second floating unit (23); The second connector (11) and the abutment positioning post (40) are located on the side of the first mounting plate (21) close to the docking object. The first mounting plate (21) is floatingly connected to the first floating unit (22) in the first direction (C1), and the first floating unit (22) is floatingly connected to the second floating unit (23) in the second direction (C2), so that the first mounting plate (21) can float in the first direction (C1) and the second direction (C2).

5. The floating docking mechanism according to claim 4, characterized in that: The first floating unit (22) includes a first slide (222) and a first limiting member (221), the first limiting member (221) being disposed on the first slide (222); the second floating unit (23) includes a second slide (232) and a second limiting member (231), the second limiting member (231) being disposed on the second slide (232); The first mounting plate (21) is slidably connected to the first slide (222) so that the first mounting plate (21) can slide in a first direction (C1), the first slide (222) is slidably connected to the second slide (232) so that the first slide (222) can slide in a second direction (C2), and the second slide (232) is connected to the second floating mechanism (30). The first limiting member (221) is adapted to abut against the first mounting plate (21) to limit the floating range of the first mounting plate (21) in the first direction (C1), and the second limiting member (231) is adapted to abut against the first slide (222) to limit the floating range of the first slide (222) in the second direction (C2).

6. The floating docking mechanism according to any one of claims 1-5, characterized in that: The second floating mechanism (30) includes a first mounting frame (31) and a second mounting frame (32). The first mounting frame (31) and the second mounting frame (32) are rotatably connected, and the axis of rotation is the first axis (L1). The first floating mechanism (20) is mounted on the first mounting frame (31).

7. The floating docking mechanism according to claim 6, characterized in that: The second floating mechanism (30) further includes a third mounting bracket (33); the second mounting bracket (32) and the third mounting bracket (33) are rotatably connected, and the axis of rotation is the second axis (L2).

8. The floating docking mechanism according to claim 7, characterized in that: A first rotating connector (311) is provided on the first mounting bracket (31); the first rotating connector (311) passes through and connects to the second mounting bracket (32) so that the first mounting bracket (31) and the second mounting bracket (32) rotate around the first axis (L1); A second rotating connector (34) is provided on the second mounting bracket (32); the second rotating connector (34) passes through and connects to the third mounting bracket (33) so that the second mounting bracket (32) and the third mounting bracket (33) rotate around the second axis (L2).

9. The floating docking mechanism according to claim 7, characterized in that: A second driving member (41) is provided on the first mounting bracket (31), and the first floating mechanism (20) is provided at the driving end of the second driving member (41). The second driving member (41) is adapted to drive the first floating mechanism (20) to move along a third direction (C3) so that the abutting positioning post (40) abuts against the docking object.

10. A battery module assembly line, characterized in that: This includes battery assembly facilities and module testing facilities; The battery assembly mechanism is used to assemble battery cells into a battery module; The module testing mechanism includes a floating docking mechanism as described in any one of claims 1-9, wherein the module testing mechanism docks with the battery module through the floating docking mechanism to perform module testing.

11. A docking control method, characterized in that: The docking control method is applied to the floating docking mechanism according to any one of claims 1-9, and the docking control method includes the following steps: Obtain the docking image information of the docking object; Based on the docking image information, docking positioning analysis is performed to obtain drive control information; According to the drive control information, the docking component (10) is controlled to dock with the docking object. When the docking component (10) docks with the docking object, the docking component (10) can drive the first floating mechanism (20) to float linearly in the first direction (C1) and / or the second direction (C2), and can drive the second floating mechanism (30) to swing and float around the first axis (L1) and / or the second axis (L2).

Images