Six-degree-of-freedom series-parallel assembly butt joint device

Abstract

The utility model belongs to the technical field of cabin assembly and butt joint, and particularly relates to a six-degree-of-freedom series-parallel assembly and butt joint device which comprises an autorotation mechanism, a Y-direction driving and rotating assembly, a parallel four-rod adjusting mechanism and an assembly and butt joint rail car which are sequentially connected from top to bottom. The autorotation mechanism is a tail end executing mechanism of the whole docking device and is used for realizing autorotation positioning of the cabin section; the Y-direction driving and rotating assembly is used for driving the autorotation mechanism to rotate around the Z axis and linearly move in the Y-axis direction; the parallel four-rod adjusting mechanism is used for realizing the linear motion of the cabin section along the Z axis and the rotation around the Y axis; the assembly butt joint rail car is used for moving the assembly butt joint device to a designated position along the preset rail. The six-degree-of-freedom automatic posture adjusting device can achieve six-degree-of-freedom automatic posture adjusting in the cabin section assembling and butt-joint process, can better meet the assembling and butt-joint work of cabin section type components, replaces traditional manual assembling while improving the assembling efficiency, is stable and reliable, and greatly improves the assembling and butt-joint efficiency.

Description

Technical Field

[0001] The utility model belongs to the technical field of cabin section assembly and docking, and specifically relates to a six-degree-of-freedom hybrid assembly and docking device. Background Art

[0002] Cabin-type assembly docking is widely used in important fields such as aerospace and national defense. At present, the relevant docking assembly in China generally fixes the target cabin on the docking platform, fixes the follower cabin on the docking trolley, and moves the docking trolley along the track to the cabin docking position. Through the observation of workers, the position and posture of the cabin are manually adjusted to complete the docking. The entire docking process requires a high level of technical skills from the workers, and there are great safety hazards. There are also problems such as long assembly time, low assembly efficiency, low automation level, and not conducive to mass production. In addition, due to the low degree of automation in the docking process, a series of problems that need to be solved urgently arise, such as poor product consistency and unstable product quality.

[0003] With the development of manufacturing industry and the progress of science, the traditional semi-mechanical and semi-automatic assembly method can no longer meet the requirements of modern industrial production and manufacturing.

[0004] In view of the above problems, it is necessary to design a six-degree-of-freedom hybrid assembly docking device to solve the problems raised by the background technology. Utility Model Content

[0005] The purpose of the utility model is to provide a six-degree-of-freedom hybrid assembly and docking device, which can realize automatic posture adjustment of six degrees of freedom during the cabin section assembly and docking process, and can better meet the assembly and docking work of cabin section components, thereby solving the technical problems in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following specific technical solutions: a six-degree-of-freedom hybrid assembly and docking device, comprising a self-rotation mechanism, a Y-axis driving and rotating assembly, a parallel four-bar adjustment mechanism and an assembly and docking rail car connected in sequence from top to bottom;

[0007] The self-rotation mechanism is arranged at the top of the docking device, and its lower end is connected to the Y-axis driving and rotating assembly. The self-rotation mechanism is the end actuator of the entire docking device, and is used to realize the self-rotation positioning of the cabin section;

[0008] The upper end of the Y-axis driving and rotating assembly is connected to the self-rotating mechanism, and the lower end thereof is mounted on the parallel four-bar adjustment mechanism; the Y-axis driving and rotating assembly is used to drive the self-rotating mechanism to perform rotational motion around the Z axis and linear motion along the Y axis;

[0009] The parallel four-bar adjustment mechanism is arranged at the lower end of the Y-axis driving and rotating assembly, and is used to realize the linear motion of the cabin along the Z axis and the rotation around the Y axis;

[0010] The assembly docking track vehicle is arranged at the lowermost end of the device and is used to move the assembly docking device to a designated position along a predetermined track.

[0011] Preferably, the self-rotation mechanism comprises a covering structure, a snap ring bracket and a self-rotation transmission structure;

[0012] The covering structure serves as a supporting structure of the self-rotating mechanism, and is arranged at the lower part of the self-rotating mechanism;

[0013] The lower part of the self-rotation transmission structure is connected to the covering structure, and the top part is connected to the snap ring bracket; the snap ring bracket is driven to rotate by the self-rotation transmission structure;

[0014] The snap ring bracket is a snap ring structure composed of two semicircular structures, and the cabin section to be assembled can be snapped into the snap ring bracket.

[0015] Preferably, the self-rotation transmission structure includes an arc track guide, a rolling resistance base plate, a drive motor, a motor fixing bracket, a rolling resistance connecting piece, a first screw nut pair, a rack, an external gear bracket support and a bracket fixing piece;

[0016] The rolling resistance bottom plate is installed at the bottom of the inner side of the covering structure, and two motor fixing frames are symmetrically fixed on the two ends of the upper surface of the rolling resistance bottom plate; a first screw nut pair is rotatably connected between the two motor fixing frames; a rolling resistance connecting piece is threadedly connected on the first screw nut pair; the lower surface of the rolling resistance connecting piece is slidably connected to the rolling resistance bottom plate; a rack is fixedly connected to the top of the rolling resistance connecting piece;

[0017] The drive motor is fixed on a motor fixing frame, and the output end of the drive motor is connected to one end of the first screw nut pair;

[0018] The arc track guide has two and is symmetrically mounted on both sides of the inner part of the covering structure; the corresponding external gear bracket support is an arc-shaped structure, and arc-shaped movable slide rails matching the arc track guide are arranged on both sides; a gear tooth structure meshing with the rack is arranged at the bottom;

[0019] The bracket fixing piece is fixed on the upper part of the external gear bracket supporting piece, and the snap ring bracket is fixed on the upper part of the bracket fixing piece.

[0020] Preferably, the Y-axis driving and rotating assembly includes a second screw nut pair, a Y-axis driving guide rail slider, a second motor fixing bracket, a second driving motor, a rotating hollow platform, a process ball head support, a Y-axis driving bottom plate, a third driving motor and a rotating connecting platform;

[0021] The two second screw-nut pairs are placed in parallel along the Y direction, and a second motor fixing bracket is provided at each end of each second screw-nut pair, and the second screw-nut pair is installed on the Y-direction driving bottom plate through the second motor fixing bracket;

[0022] There are two second drive motors, which are respectively arranged at one end of the two second screw-nut pairs; the second drive motor is installed on the second motor fixing bracket;

[0023] The Y-direction driving guide rail slider is provided with two transmission threads matched with the second screw nut pair inside, and the Y-direction driving guide rail slider is installed on the two second screw nut pairs; the second screw nut pair is driven to rotate by the second driving motor to drive the Y-direction driving guide rail slider to move along the Y direction;

[0024] The upper surface of the Y-direction driving guide rail slider is provided with a rotating hollow platform and a third driving motor; a rotating connecting platform is connected above the rotating hollow platform, and the rotating hollow platform is driven by the third driving motor and drives the rotating connecting platform to rotate; the upper part of the rotating connecting platform is fixedly connected to the rotation mechanism;

[0025] The process ball head supporting parts have four parts which are respectively installed at the four corners of the Y-direction driving bottom plate part.

[0026] Preferably, a bearing is provided at the axial center position of the rotating hollow platform, and the rotating connecting platform is rotatably supported by the bearing. A worm gear reduction transmission gear is also provided inside the rotating hollow platform. Under the drive of the third driving motor, the rotating connecting platform is driven to rotate through the worm gear reduction transmission gear.

[0027] Preferably, the parallel four-bar adjustment mechanism comprises a fixed guide column, a guide limit block, a center of mass weighing platform, a piston telescopic device, a piston drive support structure, a piston sliding block and a piston sliding guide rail;

[0028] The fixed guide column has four fixed at four corners of the upper surface of the assembly docking rail vehicle;

[0029] The guide limit block has four fixedly mounted on the four corners of the mass center weighing platform, and the guide limit block is sleeved on the fixed guide column, so that the parallel four-bar adjustment mechanism moves up and down along the fixed guide column;

[0030] The piston drive support structure is fixed on the mass center weighing platform, the piston drive support structure is provided with the piston sliding guide rail inside, and the piston sliding block is slidably connected with the piston sliding guide rail;

[0031] There are four piston sliding blocks, and correspondingly there are four piston telescopic devices that provide power respectively; the piston telescopic device is fixed on the center of mass weighing platform, the telescopic end of the piston telescopic device is connected to the lower end of the piston sliding block, and drives the piston sliding block to move up and down along the piston sliding guide rail; the upper end of the piston sliding block is connected to the Y-axis drive and rotation component.

[0032] Preferably, the assembly and docking of the railcar inner rail wheels, the transmission helical gear drive, the transmission shaft, the railcar body and the jacking mechanism;

[0033] The inner rail wheels are fixed at both ends of the transmission shaft, and the transmission shaft is rotatably mounted below the rail vehicle body;

[0034] The transmission helical gear drive is composed of a pair of mutually meshing helical gears and is driven by a motor. The output end of the transmission helical gear drive is coaxially fixed with the transmission shaft; the transmission helical gear drive is driven by the motor to drive the transmission shaft to rotate.

[0035] Preferably, the jacking mechanism comprises a jacking lower platform, a first support frame, a second support frame, a jacking upper platform and a second piston telescopic device;

[0036] The jacking lower platform is installed and fixed on the rail car body;

[0037] One end of the first support frame is hinged to the lower lifting platform, and the other end is hinged to the upper lifting platform; the upper end of the second support frame is hinged to the upper lifting platform, and the lower end of the second support frame slides in cooperation with the slide rail provided on the lower lifting platform, and the first support frame and the second support frame intersect each other and are hinged at the contact position;

[0038] The second piston telescopic device is connected to the lower end of the second support frame, and the piston head of the second piston telescopic device is connected to the first support frame; the second piston telescopic device drives the lifting mechanism to perform lifting movement.

[0039] Preferably, four weighing sensors are also provided on the railcar body; the weighing sensors are mounted and fixed at the four corners of the railcar body and are used for center of mass measurement and mass measurement during cabin docking.

[0040] Compared with the prior art, the utility model has the following beneficial effects:

[0041] The utility model adopts a self-rotation mechanism, a Y-axis drive and rotation component, a parallel four-rod adjustment mechanism and an assembly and docking rail car to cooperate with each other, and can realize automatic posture adjustment with six degrees of freedom in the process of cabin section assembly and docking, which can better meet the assembly and docking work of cabin section components, and replace traditional manual assembly while improving the assembly efficiency. The equipment is stable and reliable, and the assembly and docking efficiency is greatly improved.

[0042] Through the design and analysis of the six-degree-of-freedom hybrid assembly docking of a cabin section assembly, a series of problems such as severe manualization and poor precision in the assembly process of cabin section parts can be solved, and technical support can be provided for the construction of subsequent aerospace and weapon assembly production lines. It is of great significance to improve the technical content of final assembly docking, improve the precision and quality of docking assembly, and improve assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the six-degree-of-freedom hybrid assembly docking device disclosed in the utility model;

[0044] Figure 2 It is a two-dimensional schematic diagram of the overall structure of the six-degree-of-freedom hybrid assembly docking device disclosed in the utility model;

[0045] Figure 3 It is a three-dimensional structural schematic diagram and an exploded diagram of the self-rotation mechanism disclosed in the utility model;

[0046] Figure 4 It is a structural schematic diagram of the Y-axis drive and rotation assembly disclosed in the utility model;

[0047] Figure 5 It is a structural schematic diagram of the parallel four-bar adjustment mechanism disclosed in the utility model;

[0048] Figure 6 The utility model is a schematic diagram of the structure of the assembly and docking rail vehicle disclosed in the present invention.

[0049] In the figure:

[0050] 1. Rotation mechanism; 101. Covering structure; 102. Arc track guide; 103. Rolling resistance base plate; 104. Driving motor; 105. Motor fixing bracket; 106. Rolling resistance connecting piece; 107. First screw nut pair; 108. Rack; 109. External gear bracket support; 110. Bracket fixing piece; 111. Snap ring bracket;

[0051] 2. Y-axis driving and rotating assembly; 201. second screw nut pair; 202. Y-axis driving guide slider; 203. second motor fixing bracket; 204. second driving motor; 205. rotating hollow platform; 206. process ball head support; 207. Y-axis driving bottom plate; 208. third driving motor; 209. rotating connecting platform;

[0052] 3. Parallel four-bar adjustment mechanism; 301. Fixed guide column; 302. Guide limit block; 303. Center of mass weighing platform; 304. Piston telescopic device; 305. Piston drive support structure; 306. Piston sliding block; 307. Piston sliding guide rail;

[0053] 4. Assemble and dock the rail car; 401. Roller bearing; 402. Inner rail wheel; 403. Transmission helical gear; 404. Transmission shaft; 405. Lifting lower platform; 406. First support frame; 407. Second support frame; 408. Lifting upper platform; 409. Second piston telescopic device; 410. Weighing sensor; 411. Rail car body. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and do not constitute a limitation of the utility model.

[0055] As attached Figure 1 To Attachment Figure 6 As shown: a six-degree-of-freedom hybrid assembly docking device, comprising a self-rotation mechanism 1, a Y-axis driving and rotating assembly 2, a parallel four-bar adjustment mechanism 3 and an assembly docking rail vehicle 4, which are connected in sequence from top to bottom;

[0056] The self-rotation mechanism 1 is arranged at the top of the docking device, and its lower end is connected to the Y-axis driving and rotating assembly 2. The self-rotation mechanism is the end actuator of the entire docking device, which is used to realize the self-rotation positioning of the cabin section; and provides the cabin section with a degree of freedom α around the X-axis;

[0057] The upper end of the Y-axis driving and rotating assembly 2 is connected to the self-rotating mechanism 1, and the lower end thereof is mounted on the parallel four-bar adjustment mechanism 3; the Y-axis driving and rotating assembly 2 is used to drive the self-rotating mechanism 1 to perform rotational motion around the Z axis and linear motion along the Y axis; and provide the device with a Y-axis linear motion degree of freedom and a rotational degree of freedom γ around the Z axis;

[0058] The parallel four-bar adjustment mechanism 3 is arranged at the lower end of the Y-axis driving and rotating assembly 2, and is used to realize the degree of freedom β of the linear motion of the cabin along the Z axis and the rotational motion around the Y axis;

[0059] The assembly docking track vehicle 4 is disposed at the lowermost end of the device and is used to move the assembly docking device to a specified position along a predetermined track. In this embodiment, the assembly docking track vehicle 4 is set to move along the X-axis.

[0060] Preferably, as attached Figure 3 As shown, the self-rotation mechanism 1 includes a covering structure 101, a snap ring bracket 111 and a self-rotation transmission structure;

[0061] The covering structure 101 is a frame structure as a supporting structure of the self-rotating mechanism 1, which is arranged at the lower part of the self-rotating mechanism 1;

[0062] The lower part of the self-rotation transmission structure is connected to the covering structure 101, and the top part is connected to the snap ring bracket 111; the snap ring bracket 111 is driven to rotate by the self-rotation transmission structure;

[0063] The snap ring bracket 111 is a snap ring structure composed of two semicircular structures, which are connected together by connecting bolts; the cabin section to be assembled can be snapped into the snap ring bracket 111.

[0064] Preferably, the self-rotation transmission structure includes an arc track guide 102, a rolling resistance base plate 103, a drive motor 104, a motor fixing bracket 105, a rolling resistance connector 106, a first screw nut pair 107, a rack 108, an external gear bracket support 109 and a bracket fixing 110;

[0065] The rolling resistance bottom plate 103 is installed at the inner bottom of the covering structure 101, and two motor fixing frames 105 are symmetrically fixed at both ends of the upper surface of the rolling resistance bottom plate 103; a first screw nut pair 107 is rotatably connected between the two motor fixing frames 105; a rolling resistance connecting member 106 is threadedly connected to the first screw nut pair 107; the lower surface of the rolling resistance connecting member 106 is slidably connected to the rolling resistance bottom plate 103; a rack 108 is fixedly connected to the top of the rolling resistance connecting member 106;

[0066] The driving motor 104 is fixed on a motor fixing frame 105, and the output end of the driving motor 104 is connected to one end of a first screw nut pair 107;

[0067] The arc track guide 102 has two parts and is symmetrically mounted on both sides of the inner part of the covering structure 101; the corresponding external gear bracket support 109 is an arc-shaped structure, and arc-shaped movable slide rails matching the arc track guide 102 are arranged on both sides thereof;

[0068] The bracket fixing member 110 is fixed to the upper part of the external gear bracket supporting member 109 , and the snap ring bracket 111 is positioned and connected to the bracket fixing member 110 through a special positioning pin; the snap ring bracket 111 is fixed to the upper part of the bracket fixing member 110 .

[0069] The external gear bracket support 109, the bracket fixing part 110 and the retaining ring bracket 111 are fixed together into a whole by positioning pins. The arc-shaped outer surface of the external gear bracket support 109 is provided with an external gear that cooperates with the rack 108, which is used to drive the cabin section to rotate. The two sides of the external gear bracket support 109 are provided with protruding structures, which can cooperate with the arc-shaped movable slide rails on the arc track guide 102 to achieve relative sliding.

[0070] During operation, the driving motor 104 drives the first screw nut pair 107 to rotate, the internal thread structure of the rolling resistance connecting piece 106 cooperates with the thread of the first screw nut pair 107, the rolling resistance connecting piece 106 performs linear motion, driving the rack 108 to perform linear motion, the rack 108 is meshed with the gears on the outer surface of the external gear bracket support 109, driving the external gear bracket support 109, the bracket fixing piece 110, and the retaining ring bracket 111 fixed by the locating pin to rotate as a whole, so that the cabin section rotates, providing the cabin section with a degree of freedom α around the X-axis for rotation.

[0071] During operation, the lifting equipment installs and fixes the cabin section components in the snap ring bracket 111 of the rotation mechanism 1. The snap ring bracket 111 is provided with radial special positioning bolts, which are screwed into the snap ring bracket 111 along the radial direction to fasten the cabin section in the snap ring bracket 111.

[0072] Preferably, as attached Figure 4 As shown, the Y-axis driving and rotating assembly 2 includes a second screw nut pair 201, a Y-axis driving guide slider 202, a second motor fixing frame 203, a second driving motor 204, a rotating hollow platform 205, a process ball head support 206, a Y-axis driving bottom plate 207, a third driving motor 208 and a rotating connecting platform 209;

[0073] The two second screw-nut pairs 201 are placed in parallel along the Y direction, and a second motor fixing bracket 203 is provided at both ends of each second screw-nut pair 201. The second screw-nut pair 201 is installed on the Y-direction driving bottom plate 207 through the second motor fixing bracket 203;

[0074] There are two second drive motors 204, which are respectively arranged at one end of the two second screw-nut pairs 201; the second drive motors 204 are installed on the second motor fixing bracket 203;

[0075] The Y-direction driving guide rail slider 202 is provided with two transmission threads matched with the second screw nut pair 201, and the Y-direction driving guide rail slider 202 is installed on the two second screw nut pairs 201; the second drive motor 204 drives the second screw nut pair 201 to rotate, thereby driving the Y-direction driving guide rail slider 202 to move along the Y direction;

[0076] The upper surface of the Y-axis driving guide slider 202 is provided with a rotating hollow platform 205 and a third driving motor 208; a rotating connecting platform 209 is connected above the rotating hollow platform 205, and the rotating hollow platform 205 is driven by the third driving motor 208 and drives the rotating connecting platform 209 to rotate; the upper part of the rotating connecting platform 209 is fixedly connected to the rotation mechanism 1, so as to realize the degree of freedom γ of the rotation of the rotation mechanism 1 around the Z axis;

[0077] The process ball head support members 206 have four parts respectively installed at the four corners of the Y-axis driving bottom plate member 207 .

[0078] Specifically, the upper portion of the process ball head support member 206 is hinged to the Y-direction driving bottom plate member 207, and the lower portion thereof is rigidly connected to the piston sliding block 306 of the parallel four-bar adjustment mechanism 3 to ensure structural strength.

[0079] During operation, the four sets of process ball head supports 206 can provide stable support for the Y-axis drive and rotation assembly 2. When the docking device performs cabin docking work, under the joint drive of the four sets of piston telescopic devices 304 of the parallel four-bar adjustment mechanism 3, the four sets of process ball head supports 206 can realize the freedom of linear motion of the cabin along the Z axis and the degree of freedom β of rotational motion around the Y axis.

[0080] It should be noted that when the four groups of piston telescopic devices 304 move synchronously along the Z-axis, they drive the four groups of process ball head supports 206 to move linearly along the Z-axis; when the two piston telescopic devices 304 on one side of the Y-axis of the four groups of piston telescopic devices 304 move upward and the two piston telescopic devices 304 on the other side of the Y-axis move downward, the four groups of process ball head supports 206 will also move accordingly, driving the Y-axis drive and rotation component 2 to rotate around the Y-axis.

[0081] Preferably, a bearing is provided at the axial position of the rotating hollow platform 205, and the rotating connecting platform 209 is rotatably supported by the bearing. A worm gear reduction transmission gear is also provided inside the rotating hollow platform 205. Under the drive of the third driving motor 208, the rotating connecting platform 209 is driven to rotate through the worm gear reduction transmission gear.

[0082] Preferably, as attached Figure 5 As shown, the parallel four-bar adjustment mechanism 3 includes a fixed guide column 301, a guide limit block 302, a center of mass weighing platform 303, a piston telescopic device 304, a piston drive support structure 305, a piston sliding block 306 and a piston sliding guide rail 307;

[0083] The fixed guide column 301 has four fixed at four corners of the upper surface of the assembly docking rail vehicle 4;

[0084] The guide limit stopper 302 has four fixedly mounted on the four corners of the centroid weighing platform 303 by screws, and the guide limit stopper 302 is sleeved on the fixed guide column 301, so that the parallel four-bar adjustment mechanism 3 moves up and down along the fixed guide column 301;

[0085] The piston driving support structure 305 is fixed on the mass center weighing platform 303. The piston sliding guide rail 307 is provided inside the piston driving support structure 305. The piston sliding block 306 is slidably connected with the piston sliding guide rail 307. The piston sliding block 306 has a sliding structure matched with the piston sliding guide rail 307, and can perform linear motion under the driving action.

[0086] There are four piston sliding blocks 306, and correspondingly there are four piston telescopic devices 304 that provide power respectively; the piston telescopic device 304 is fixed on the center of mass weighing platform 303, and the telescopic end of the piston telescopic device 304 is connected to the lower end of the piston sliding block 306, and drives the piston sliding block 306 to move up and down along the piston sliding guide rail 307; it should be noted that the piston telescopic device 304 is composed of a telescopic shaft, a telescopic sleeve, a driving motor and other structures, the telescopic shaft cooperates with the telescopic sleeve, and the telescopic shaft can make a linear motion along the telescopic sleeve under the action of the driving motor.

[0087] When working, the four groups of piston telescopic devices 304 of the parallel four-bar adjustment mechanism 3 perform lifting movements respectively under the joint drive of four driving motors. The telescopic rod heads of the piston telescopic devices 304 are hinged to the lower plane of the piston sliding block 306, and the upper surfaces of the four piston sliding blocks 306 are rigidly connected to the lower surface of the process ball head support 206, so that the posture position of the Y-axis drive and rotation component 2 is adjusted by the four groups of piston telescopic devices 304.

[0088] Preferably, as attached Figure 6 As shown, the assembly docking railcar 4 comprises a pair of roller bearings 401, inner rail wheels 402, a transmission helical gear drive 403, a transmission shaft 404, a railcar body 411 and a jacking mechanism;

[0089] The inner rail wheels 402 are fixed at both ends of the transmission shaft 404, and the transmission shaft 404 is rotatably mounted below the rail vehicle body 411 by a pair of roller bearings 401;

[0090] The transmission helical gear drive 403 is composed of a pair of helical gears meshing at 90 degrees with each other and driven by a motor. The output end of the transmission helical gear drive 403 is coaxially fixed with the transmission shaft 404. Under the action of the driving motor, the helical gears meshing at 90 degrees transmit power to the transmission shaft 404, and the transmission shaft 404 transmits power to a pair of inner rail wheels 402, driving the entire six-degree-of-freedom hybrid assembly device to perform linear motion along a predetermined track.

[0091] Preferably, the lifting mechanism includes a lifting lower platform 405, a first support frame 406, a second support frame 407, a lifting upper platform 408 and a second piston telescopic device 409;

[0092] The lower lifting platform 405 is installed and fixed on the rail vehicle body 411;

[0093] One end of the first support frame 406 is hinged to the lower lifting platform 405, and the other end is hinged to the upper lifting platform 408; the upper end of the second support frame 407 is hinged to the upper lifting platform 408, and the lower end of the second support frame 407 slides in cooperation with the slide rail provided on the lower lifting platform 405, and the first support frame 406 and the second support frame 407 intersect with each other and are hinged at the contact position;

[0094] The second piston telescopic device 409 is connected to the lower end of the second support frame 407, and the piston head of the second piston telescopic device 409 is connected to the first support frame 406; the second piston telescopic device 409 drives the lifting mechanism to perform lifting movement.

[0095] Preferably, the railcar body 411 is further provided with four weighing sensors 410; the four weighing sensors 410 are mounted and fixed on the four corners of the upper surface of the railcar body 411; during measurement, they are in contact with the lower surface of the weighing platform 303 with the same centroid, and are used to measure and monitor the centroid of the entire cabin section, and measure the quality of the cabin section;

[0096] Specifically, during the docking process, the lifting mechanism is in a falling state, the parallel four-bar adjustment mechanism 3 is pressed down under the action of gravity, and the lower surface of the centroid weighing platform 303 is pressed on the four weighing sensors 410. At this time, the centroid of the entire cabin section and the mass of the cabin section can be measured;

[0097] When the mass center measurement work in the assembly process is completed, the lifting mechanism, driven by the second piston telescopic device 409, lifts the structure above the entire center of mass weighing platform 303 to the limit position of the guide limit block 302. At this time, the weighing sensor 410 is separated from the lower surface of the center of mass weighing platform 303 to protect the four groups of weighing sensors and extend their service life.

[0098] The present invention discloses a six-degree-of-freedom hybrid assembly and docking device, which is designed to achieve precise assembly and docking of cabin sections. The following is a detailed description of the working principle and usage process:

[0099] 1. Self-rotation of the self-rotation mechanism (1): the driving motor 104 is started, and the rolling resistance connecting member 106 is driven to perform linear motion along the rolling resistance base plate 103 through the first screw nut pair 107.

[0100] The linear motion of the rolling resistance connecting member 106 is transmitted to the outer gear bracket support member 109 through the rack 108, causing it to rotate along the circular arc track guide 102.

[0101] The rotation of the outer gear bracket support 109 drives the snap ring bracket 111 to rotate, thereby realizing the rotation positioning of the cabin section around the X-axis.

[0102] 2. The Y-direction driving and rotating assembly (2) drives the self-rotating mechanism (1) to move linearly in the Y direction and rotate around the Z axis: Specifically, the second driving motor 204 is started to drive the second screw nut pair 201 to rotate, so that the Y-direction driving guide slider 202 moves linearly in the Y direction. The rotating hollow platform 205 is driven by the third driving motor 208, and the rotating connecting platform 209 is rotated through the worm gear reduction transmission gear, so as to realize the rotation of the self-rotating mechanism 1 around the Z axis.

[0103] 3. Z-axis linear motion and Y-axis rotation: The piston telescopic device 304 is synchronously extended and retracted under the control of four drive motors, so that the piston sliding block 306 moves linearly along the piston sliding guide rail 307. The linear motion of the piston sliding block 306 is transmitted to the Y-axis driving and rotating component 2 through the process ball head support 206 to achieve linear motion along the Z axis. When the piston telescopic devices 304 on both sides of the piston telescopic device 304 move in opposite directions or extend and retract asynchronously, the process ball head support 206 drives the Y-axis driving and rotating component 2 to rotate around the Y axis.

[0104] 4. The docking device moves along the X-axis: The transmission spiral gear drive 403 of the docking rail vehicle 4 is driven by a motor, and the power is transmitted to the inner rail wheel 402 through the transmission shaft 404, so that the whole device can move linearly along the X-axis.

[0105] Through the above working principle, the six-degree-of-freedom hybrid assembly and docking device can realize the automated and precise assembly and docking of cabin sections, greatly improving assembly efficiency and safety and reducing the need for manual operation.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0108] The above specific implementation methods of the utility model do not constitute a limitation on the protection scope of the utility model. Any other corresponding changes and modifications made according to the technical concept of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A six-degree-of-freedom hybrid assembly docking device, characterized in that: It comprises a self-rotating mechanism (1), a Y-direction driving and rotating assembly (2), a parallel four-bar adjustment mechanism (3) and an assembly docking rail vehicle (4) which are connected in sequence from top to bottom; The self-rotation mechanism (1) is arranged at the top of the docking device, and its lower end is connected to the Y-axis driving and rotating assembly (2). The self-rotation mechanism is the end actuator of the entire docking device and is used to realize the self-rotation positioning of the cabin section; The upper end of the Y-direction driving and rotating assembly (2) is connected to the self-rotating mechanism (1), and the lower end thereof is mounted on the parallel four-bar adjustment mechanism (3); the Y-direction driving and rotating assembly (2) is used to drive the self-rotating mechanism (1) to perform rotational motion around the Z axis and linear motion along the Y axis; The parallel four-bar adjustment mechanism (3) is arranged at the lower end of the Y-axis driving and rotating assembly (2) and is used to realize the linear motion of the cabin along the Z axis and the rotation around the Y axis; The assembly docking track vehicle (4) is arranged at the lowermost end of the docking device and is used to move the assembly docking device to a designated position along a predetermined track.

2. The six-degree-of-freedom hybrid assembly docking device according to claim 1, characterized in that: The self-rotation mechanism (1) comprises a covering structure (101), a snap ring bracket (111) and a self-rotation transmission structure; The covering structure (101) serves as a supporting structure of the self-rotating mechanism (1), and is arranged at the lower part of the self-rotating mechanism (1); The lower part of the self-rotation transmission structure is connected to the covering structure (101), and the top part is connected to the snap ring bracket (111); the snap ring bracket (111) is driven to rotate by the self-rotation transmission structure; The snap ring bracket (111) is a snap ring structure composed of two semicircular structures, and the cabin section to be assembled can be snapped into the snap ring bracket (111).

3. The six-degree-of-freedom hybrid assembly docking device according to claim 2, characterized in that: The self-rotation transmission structure comprises an arc track guide (102), a rolling resistance base plate (103), a driving motor (104), a motor fixing frame (105), a rolling resistance connecting member (106), a first screw nut pair (107), a rack (108), an external gear bracket support member (109) and a bracket fixing member (110); The rolling resistance bottom plate (103) is mounted on the inner bottom of the covering structure (101); two motor fixing frames (105) are symmetrically fixed at both ends of the upper surface of the rolling resistance bottom plate (103); a first screw nut pair (107) is rotatably connected between the two motor fixing frames (105); a rolling resistance connecting piece (106) is threadedly connected to the first screw nut pair (107); the lower surface of the rolling resistance connecting piece (106) is slidably connected to the rolling resistance bottom plate (103); and a rack (108) is fixedly connected to the top of the rolling resistance connecting piece (106); The driving motor (104) is fixed on a motor fixing frame (105), and the output end of the driving motor (104) is connected to one end of a first screw nut pair (107); The circular arc track guide (102) has two and is symmetrically mounted on both sides of the inner part of the covering structure (101); the corresponding external gear bracket support (109) is an arc-shaped structure, and arc-shaped movable slide rails matching the circular arc track guide (102) are arranged on both sides; the rack (108) is meshed with the gear on the outer surface of the external gear bracket support (109) for transmission; The bracket fixing member (110) is fixed on the upper part of the external gear bracket supporting member (109), and the snap ring bracket (111) is fixed on the upper part of the bracket fixing member (110).

4. The six-degree-of-freedom hybrid assembly docking device according to claim 1, characterized in that: The Y-axis driving and rotating assembly (2) comprises a second screw nut pair (201), a Y-axis driving guide rail slider (202), a second motor fixing frame (203), a second driving motor (204), a rotating hollow platform (205), a process ball head support (206), a Y-axis driving bottom plate (207), a third driving motor (208) and a rotating connecting platform (209); The two second screw rod nut pairs (201) are placed in parallel along the Y direction, and a second motor fixing frame (203) is provided at each end of each second screw rod nut pair (201), and the second screw rod nut pair (201) is installed on the Y-direction driving bottom plate (207) through the second motor fixing frame (203); There are two second drive motors (204), which are respectively arranged at one end of the two second screw nut pairs (201); the second drive motor (204) is installed on the second motor fixing frame (203); The Y-direction driving guide rail slider (202) is provided with two transmission threads matched with the second screw nut pair (201) inside, and the Y-direction driving guide rail slider (202) is installed on the two second screw nut pairs (201); the second drive motor (204) drives the second screw nut pair (201) to rotate, thereby driving the Y-direction driving guide rail slider (202) to move along the Y direction; The upper surface of the Y-direction driving guide rail slider (202) is provided with a rotating hollow platform (205) and a third driving motor (208); a rotating connecting platform (209) is connected above the rotating hollow platform (205); the rotating hollow platform (205) is driven by the third driving motor (208) and drives the rotating connecting platform (209) to rotate; the upper part of the rotating connecting platform (209) is fixedly connected to the rotation mechanism (1); The process ball head support members (206) have four parts respectively installed at the four corners of the Y-direction driving bottom plate member (207).

5. The six-degree-of-freedom hybrid assembly docking device according to claim 4, characterized in that: A bearing is provided at the axis center of the rotating hollow platform (205), and the rotating connecting platform (209) is rotatably supported by the bearing. A worm gear reduction transmission gear is also provided inside the rotating hollow platform (205). Under the drive of the third driving motor (208), the rotating connecting platform (209) is driven to rotate by the worm gear reduction transmission gear.

6. The six-degree-of-freedom hybrid assembly docking device according to claim 1, characterized in that: The parallel four-bar adjustment mechanism (3) comprises a fixed guide column (301), a guide limit block (302), a center of mass weighing platform (303), a piston telescopic device (304), a piston drive support structure (305), a piston sliding block (306) and a piston sliding guide rail (307); The fixed guide column (301) has four corners respectively fixed on the upper surface of the assembly docking rail vehicle (4); The guide limit block (302) has four fixedly mounted on the four corners of the mass center weighing platform (303), and the guide limit block (302) is sleeved on the fixed guide column (301), so that the parallel four-bar adjustment mechanism (3) moves up and down along the fixed guide column (301); The piston driving support structure (305) is fixed on the mass center weighing platform (303), the piston sliding guide rail (307) is provided inside the piston driving support structure (305), and the piston sliding block (306) is slidably connected to the piston sliding guide rail (307); There are four piston sliding blocks (306), and correspondingly there are four piston telescopic devices (304) that provide power respectively; the piston telescopic devices (304) are fixed on the center of mass weighing platform (303), and the telescopic end of the piston telescopic device (304) is connected to the lower end of the piston sliding block (306), and drives the piston sliding block (306) to move up and down along the piston sliding guide rail (307); the upper end of the piston sliding block (306) is connected to the Y-axis driving and rotating component (2).

7. The six-degree-of-freedom hybrid assembly docking device according to claim 1, characterized in that: The assembly and docking rail vehicle (4) includes inner rail wheels (402), a transmission helical gear drive (403), a transmission shaft (404), a rail vehicle body (411) and a lifting mechanism; The inner rail wheels (402) are fixed to both ends of the transmission shaft (404), and the transmission shaft (404) is rotatably mounted below the rail vehicle body (411); The transmission helical gear drive (403) is composed of a pair of mutually meshing helical gears and is driven by a motor. The output end of the transmission helical gear drive (403) is coaxially fixed with the transmission shaft (404). The transmission helical gear drive (403) is driven by the motor to drive the transmission shaft (404) to rotate.

8. The six-degree-of-freedom hybrid assembly docking device according to claim 7, characterized in that: The lifting mechanism comprises a lifting lower platform (405), a first support frame (406), a second support frame (407), a lifting upper platform (408) and a second piston telescopic device (409); The lifting lower platform (405) is installed and fixed on the rail vehicle body (411); One end of the first support frame (406) is hinged to the lower lifting platform (405), and the other end is hinged to the upper lifting platform (408); the upper end of the second support frame (407) is hinged to the upper lifting platform (408), and the lower end of the second support frame (407) slides in cooperation with the slide rail provided on the lower lifting platform (405), and the first support frame (406) and the second support frame (407) intersect with each other and are hinged at the contact position; The second piston telescopic device (409) is connected to the lower end of the second support frame (407), and the piston head of the second piston telescopic device (409) is connected to the first support frame (406); the second piston telescopic device (409) drives the lifting mechanism to perform lifting movement.

9. The six-degree-of-freedom hybrid assembly docking device according to claim 8, characterized in that: Four weighing sensors (410) are also arranged on the railcar body (411); the weighing sensors (410) are installed and fixed at the four corners of the railcar body (411) and are used for measuring the center of mass and mass during the docking process of the cabin sections.

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