Accurate control multi-dimensional attitude adjustment mobile platform for cartridge receiver butt joint in aviation field

Abstract

The utility model discloses a precise-control multi-dimensional attitude adjustment mobile platform for cartridge receiver butt joint in the aviation field. The precise-control multi-dimensional attitude adjustment mobile platform comprises an attitude adjustment platform and an AGV body, wherein the attitude adjustment platform is used for bearing a cartridge receiver and adjusting the attitude of the cartridge receiver with six degrees of freedom; the AGV body is used for conveying the attitude adjustment platform and the cartridge receiver; the posture adjusting platform comprises an angle adjusting device, a lifting device, a rotating device and a horizontal adjusting device; the angle adjusting device is used for driving the lifting platform of the lifting device to swing around the X-axis direction and the Y-axis direction in the horizontal plane; the lifting device is used for driving the rotating device and the horizontal adjusting device to move in the Z-axis direction in the vertical plane. The rotating device is used for driving the horizontal adjusting device to rotate around the Z-axis direction; the horizontal adjusting device bears the casing and drives the casing to move in the X-axis direction and the Y-axis direction. The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to one another. The posture adjusting platform is arranged to bear the cartridge receiver and adjust the posture of the cartridge receiver in six degrees of freedom, and the AGV body is arranged to convey the posture adjusting platform and the cartridge receiver, so that the posture of the cartridge receiver is accurately adjusted to complete butt joint with the cartridge receiver tool.

Description

Technical Field

[0001] The utility model relates to the technical field of aerospace manufacturing equipment, in particular to a precision-controlled multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field. Background Art

[0002] After the casing is assembled, it is docked with the casing fixture using a crane or forklift before being installed into the engine housing. Once docked, the casing fixture's locating pins must be inserted into the casing's locating holes. This docking operation using a crane or forklift is difficult due to the large size of the casing, which obscures vision, and the low precision of cranes and forklifts, making precise adjustments difficult. This can make it difficult to accurately adjust the casing's docking position relative to the casing fixture. Utility Model Content

[0003] The utility model provides a precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field, so as to solve the technical problem that the docking position of the casing relative to the casing tooling cannot be accurately adjusted during the existing docking process.

[0004] In order to achieve the above purpose, the technical solution of the utility model is:

[0005] A precision-controlled multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field, comprising an AGV body and an attitude adjustment platform located on the AGV body. The attitude adjustment platform is used to carry the casing and adjust its attitude with six degrees of freedom. The AGV body is used to transport the attitude adjustment platform and the casing.

[0006] The posture adjustment platform includes: angle adjustment device, lifting device, rotation device and horizontal adjustment device;

[0007] The angle adjustment device is installed on the AGV body and is used to drive the lifting platform of the lifting device to swing around the X-axis and Y-axis in the horizontal plane;

[0008] The lifting device is connected to the angle adjustment device, which is used to drive the rotation device and the horizontal adjustment device to move along the Z-axis direction in the vertical plane;

[0009] The rotary device is installed on the lifting platform of the lifting device and is used to drive the horizontal adjustment device to rotate around the Z axis;

[0010] The horizontal adjustment device carries the casing and drives the casing to move along the X-axis and the Y-axis;

[0011] The X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0012] Preferably, the angle adjustment device includes: an angle adjustment mounting base, a swing frame, a first drive mechanism, a swing seat and a second drive mechanism; the angle adjustment mounting base is installed on the AGV body, and the swing seat is located above the angle adjustment mounting base; the first drive mechanism drives the swing frame to rotate around the first rotation axis of the swing frame relative to the angle adjustment mounting base, and the second drive mechanism drives the swing seat to rotate around the second rotation axis of the swing seat relative to the swing frame, and the first rotation axis and the second rotation axis are not perpendicular to each other and are both horizontally arranged.

[0013] Preferably, the first drive mechanism includes: a first drive motor, a first drive reducer, a first drive gear and a first drive arc rack; the first drive motor and the first drive reducer are both installed on the angle adjustment mounting seat, the first drive motor drives the first drive gear to rotate through the first drive reducer, the first drive arc rack is installed on the swing frame and the first drive arc rack takes the first rotation axis as the rotation center, and the first drive gear is engaged with the first drive arc rack.

[0014] Preferably, the swing frame is square-shaped, the first driving arc rack is fixed on one side of the swing frame, and first arc guide rails are provided on both sides of the swing frame. The first arc guide rails connect the angle adjustment mounting seat and the swing frame, and the first arc guide rails guide the swing of the swing frame.

[0015] Preferably, the second drive mechanism includes: a second drive motor, a second drive reducer, a second drive gear and a second drive arc rack; the second drive motor and the second drive reducer are both installed on the swing frame, the second drive motor drives the second drive gear to rotate through the second drive reducer, the second drive arc rack is installed on the swing seat and the second drive arc rack takes the second rotation axis as the rotation center, and the second drive gear is engaged with the second drive arc rack.

[0016] Preferably, the swing frame is square-shaped, the second driving arc rack is fixed on one side of the swing frame, and second arc guide rails are provided on both sides of the swing frame. The second arc guide rails connect the swing seat and the swing frame, and the second arc guide rails guide the swing of the swing seat.

[0017] Preferably, the lifting device includes: a lifting platform, a lifting motor fixed on the swing seat, a lifting rod and a driving member; the lifting platform is installed at the top of the lifting rod, the lifting motor drives the driving member to rotate, and the driving member drives the lifting rod to move up and down.

[0018] Preferably, the rotary device adopts a rotary drive, the inner ring of the rotary bearing of the rotary drive is installed on the lifting platform, and the outer ring of the rotary bearing of the rotary drive is connected to the horizontal adjustment device.

[0019] Preferably, the horizontal adjustment device includes: an adjustment base plate, a plurality of bull's eye bearings installed on the horizontal adjustment device, a floating bearing plate provided on the plurality of bull's eye bearings, a first horizontal adjustment drive and a second horizontal adjustment drive; the adjustment base plate is connected to the rotating device and rotates with the rotating device; the floating bearing plate is used to carry and connect the casing; the first horizontal adjustment drive is used to drive the floating bearing plate to move along the X-axis direction and to position it; the second horizontal adjustment drive is used to drive the floating bearing plate to move along the Y-axis direction and to position it.

[0020] Preferably, the first level adjustment drive and the second level adjustment drive both adopt manual adjustment mechanisms;

[0021] The manual adjustment mechanism includes a pushing component and a rebound component, which are arranged on both sides of the floating load-bearing plate. The pushing component is used to push the floating load-bearing plate. Under the action of the pushing component, the rebound component makes the floating load-bearing plate have a tendency to return to its original position.

[0022] The pushing component includes a hand-cranked lifter and a push plate. The hand-cranked lifter is fixed on the adjustment base plate. The hand-cranked lifter drives the push plate to move, and the push plate abuts against the floating bearing plate.

[0023] The rebound component includes: a rebound mounting seat, a top plate, at least two rebound guide shafts and an elastic member; the rebound mounting seat is fixed on the adjustment base plate, the top plate is located on the side of the rebound mounting seat facing the floating bearing plate, the top plate is opposite to the push plate, and the top plate abuts the floating bearing plate; one end of the rebound guide shaft is connected to the top plate and the other end passes through the rebound mounting seat, the elastic member is arranged between the rebound mounting seat and the top plate, and the top plate is close to the rebound mounting seat to compress the elastic member to generate elastic force.

[0024] Beneficial effects:

[0025] The present application discloses a precise multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field. By setting up an attitude adjustment platform to carry the casing and adjust the attitude of the casing with six degrees of freedom, and by setting up an AGV body to transport the attitude adjustment platform and the casing, the attitude of the casing can be precisely adjusted to complete the docking with the casing tooling. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0027] Figure 1 This is a structural schematic diagram of a precision-controlled multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field disclosed in the utility model;

[0028] Figure 2 This is a front view of a precision-controlled multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field disclosed in the utility model;

[0029] Figure 3 This is a structural schematic diagram of an AGV vehicle body with precise multi-dimensional posture adjustment for casing docking in the aviation field disclosed in the present utility model;

[0030] Figure 4 This is a structural diagram of an AGV mobile platform with a precise control and multi-dimensional posture adjustment for docking of casings in the aviation field disclosed in the present utility model, with the body of the platform hidden behind the protective shell;

[0031] Figure 5 This is a bottom view of the AGV body of a precise control multi-dimensional posture adjustment mobile platform for casing docking in the aviation field disclosed in the utility model;

[0032] Figure 6 This is a schematic structural diagram of a device for adjusting the angle of a mobile platform for precise multi-dimensional posture adjustment used for casing docking in the aviation field disclosed in the utility model;

[0033] Figure 7 This is a front view of a precise multi-dimensional attitude adjustment mobile platform angle adjustment device for casing docking in the aviation field disclosed in the utility model;

[0034] Figure 8 for Figure 7 Cross-sectional view of AA;

[0035] Figure 9 This is a side view of a precise multi-dimensional attitude adjustment mobile platform angle adjustment device for casing docking in the aviation field disclosed in the utility model;

[0036] Figure 10 for Figure 9 Cross-sectional view of the middle BB;

[0037] Figure 11 This is a structural schematic diagram of a combination of a lifting device, a rotating device and a horizontal adjustment device for a precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field disclosed in the utility model;

[0038] Figure 12 This is a top view of a combination of a precise control multi-dimensional attitude adjustment mobile platform lifting device, a rotating device and a horizontal adjustment device for casing docking in the aviation field disclosed in the utility model;

[0039] Figure 13 for Figure 12 Cross-sectional view of CC;

[0040] Figure 14 for Figure 13 A partial enlarged view of middle Ⅰ;

[0041] Figure 15 This is a structural schematic diagram of a pushing component of a mobile platform with precise control and multi-dimensional posture adjustment for casing docking in the aviation field disclosed in the utility model;

[0042] Figure 16 This is a structural schematic diagram of a rebound component of a mobile platform for precise multi-dimensional attitude adjustment for casing docking in the aviation field disclosed in the utility model;

[0043] Figure 17 The utility model discloses a structural schematic diagram of an Omni wheel mechanism for a precision-controlled multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field.

[0044] 1. AGV body; 111. Omni wheel; 112. Drive shaft; 113. Servo motor; 114. Reducer; 115. Omni wheel mounting plate; 116. Omni wheel connecting plate; 117. Linear guide; 118. Spring damping mechanism; 121. Laser sensor; 122. Scanner; 131. Electric cylinder; 132. Latch; 141. Support leg screw elevator; 142. Support leg; 151. Battery; 152. Charging port; 161. Touch screen; 162. Controller; 17. Body protective shell; 2. Attitude adjustment platform; 21. Angle adjustment device; 211. Angle adjustment mounting base; 212. Swing frame; 2131. First drive motor; 2132. First drive gear; 2133. First drive arc rack; 2134. First arc guide rail; 214, swing seat; 2151, second drive motor; 2152, second drive gear; 2153, second drive arc rack; 2154, second arc guide rail; 216, Z-type mounting plate; 221, lifting platform; 223, lifting rod; 225, guide rod; 231, slewing bearing; 232, slewing drive motor; 233, slewing drive gear; 241, adjustment base plate; 242, bull's eye bearing; 243, floating bearing plate; 244, pushing component; 2441, hand-cranked lifter; 2442, pushing plate; 2443, first roller; 2444, arc-shaped baffle; 245, rebound component; 2451, rebound mounting seat; 2452, top plate; 2453, rebound guide shaft; 2454, elastic member; 2455, second roller. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0046] A precise multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field, combined with Figure 1 - Figure 17 As shown, the AGV includes an AGV body 1 and a posture adjustment platform 2 located on the AGV body 1. The posture adjustment platform 2 is used to carry the casing and adjust the casing's posture with six degrees of freedom. The AGV body 1 is used to transport the posture adjustment platform 2 and the casing. The posture adjustment platform 2 includes: an angle adjustment device 21, a lifting device, a rotation device, and a horizontal adjustment device. The angle adjustment device 21 is installed on the AGV body 1 and is used to drive the lifting platform 221 of the lifting device to swing around the X-axis and Y-axis directions in the horizontal plane. The lifting device is connected to the angle adjustment device 21 and is used to drive the rotation device and the horizontal adjustment device to move along the Z-axis in the vertical plane. The rotation device is installed on the lifting platform 221 of the lifting device and is used to drive the horizontal adjustment device to rotate around the Z-axis direction. The horizontal adjustment device carries the casing and drives the casing to move along the X-axis and Y-axis directions. The X-axis, Y-axis, and Z-axis directions are perpendicular to each other. The posture adjustment platform 2 carries the casing, and the AGV body 1 transports the posture adjustment platform 2 and the casing to the docking area. The angle adjustment device 21 drives the casing to swing around the X-axis and Y-axis in the horizontal plane so that the axis of the casing is parallel to the axis of the casing tooling; the horizontal adjustment device drives the casing to move so that the axis of the casing is aligned with the axis of the casing tooling; the rotary device drives the casing to rotate so that the casing and the casing tooling are circumferentially aligned; the lifting device drives the casing to rise and fall so that the casing and the casing tooling are close to each other for docking.

[0047] Preferably, the angle adjustment device 21 includes: an angle adjustment mounting base 211, a swing frame 212, a first drive mechanism, a swing seat 214, and a second drive mechanism; the angle adjustment mounting base 211 is mounted on the AGV body 1, and the swing seat 214 is located above the angle adjustment mounting base 211; the first drive mechanism drives the swing frame 212 to rotate about a first rotation axis of the swing frame 212 relative to the angle adjustment mounting base 211, and the second drive mechanism drives the swing seat 214 to rotate about a second rotation axis of the swing seat 214 relative to the swing frame 212. The first rotation axis and the second rotation axis are skewed and both are horizontally arranged. The first rotation axis can be set parallel to the X-axis direction, and the second rotation axis can be set parallel to the Y-axis direction; or the two can be reversed.

[0048] Preferably, the first drive mechanism includes: a first drive motor 2131, a first drive reducer, a first drive gear 2132, and a first drive arc-shaped rack 2133; the first drive motor 2131 and the first drive reducer are both mounted on the angle adjustment mounting base 211, the first drive motor 2131 drives the first drive gear 2132 to rotate via the first drive reducer, the first drive arc-shaped rack 2133 is mounted on the swing frame 212 and rotates about the first rotation axis, and the first drive gear 2132 meshes with the first drive arc-shaped rack 2133. The first drive motor 2131 drives the first drive gear 2132 to rotate after passing through the first drive reducer, and the first drive gear 2132 then drives the first drive arc-shaped rack 2133 and the swing frame 212 to swing synchronously.

[0049] Preferably, the swing frame 212 is square-shaped, the first driving arc rack 2133 is fixed on one side of the swing frame 212, and the first arc guide rail 2134 is provided on both sides of the swing frame 212. The first arc guide rail 2134 connects the angle adjustment mounting seat 211 and the swing frame 212, and the first arc guide rail 2134 guides the swing of the swing frame 212.

[0050] Specifically, the first arc guide rail 2134 adopts a high-precision R-shaped arc rolling guide rail, the track of which is installed on the swing frame 212 and the slider is installed on the angle adjustment mounting seat 211.

[0051] Specifically, the angle adjustment mount 211 comprises a circular base plate and four vertical plates fixed perpendicularly to the base plate, forming a square frame. The swing frame 212 covers the four vertical plates. The first drive arcuate rack 2133 and the track of the first arcuate guide rail 2134 are mounted on the inner wall of the swing frame 212, while the slider of the first arcuate guide rail 2134 is mounted on the outer wall of the vertical plates, making the angle adjustment device 21 more compact. The upper surfaces of the two-sided mounting seat plates for installing the first arc guide rail 2134 slider are upwardly protruding arc surfaces, and the lower surfaces of the two side plates of the swing frame 212 for installing the first arc guide rail 2134 track are downwardly protruding arc surfaces. The two-sided mounting seat plates and the two side plates of the swing frame 212 cooperate with each other to facilitate the installation of the arc-shaped first driving arc rack 2133 and the track of the first arc guide rail 2134, which is beneficial to lowering the height of the angle adjustment device 21 and avoiding collision between the swing frame 212 and the mounting seat bottom plate during swinging.

[0052] Preferably, the second drive mechanism includes: a second drive motor 2151, a second drive reducer, a second drive gear 2152 and a second drive arc rack 2153; the second drive motor 2151 and the second drive reducer are both installed on the swing frame 212, the second drive motor 2151 drives the second drive gear 2152 to rotate through the second drive reducer, the second drive arc rack 2153 is installed on the swing seat 214 and the second drive arc rack 2153 rotates with the second rotation axis as the center of rotation, and the second drive gear 2152 is engaged with the second drive arc rack 2153.

[0053] Preferably, the swing frame 212 is square-shaped, the second driving arc rack 2153 is fixed on one side of the swing frame 212, and second arc guide rails 2154 are provided on both sides of the swing frame 212. The second arc guide rails 2154 connect the swing seat 214 and the swing frame 212, and the second arc guide rails 2154 guide the swing of the swing seat 214.

[0054] Specifically, the second driving arc rack 2153 also adopts a high-precision R-shaped arc rolling guide, the track of which is installed on the swing seat 214 and the slider is installed on the swing frame 212.

[0055] Specifically, the swing seat 214 includes a circular swing seat top plate and four swing seat upright plates fixed vertically to the bottom surface of the swing seat top plate. The four swing seat upright plates form a square frame; the swing frame 212 surrounds the four swing seat upright plates. The second drive arc rack 2153 and the track of the second arc guide rail 2154 are mounted on the outer wall of the swing seat upright plates, and the slider of the second arc guide rail 2154 is mounted on the inner wall of the swing frame 212, making the structure of the angle adjustment device 21 more compact. The lower surfaces of the two swing seat upright plates on which the second arc guide rail 2154 is mounted are downwardly protruding arc surfaces. The upper surfaces of the mounting seat upright plates corresponding to the two protruding swing seat upright plates are flat, and the upper surfaces of the remaining two swing seat upright plates are flat and correspond to the protruding mounting seat upright plates on the upper surfaces of the two sides. The coordination of the angle adjustment mounting seat 211, the swing frame 212, and the swing seat 214 facilitates reducing the height of the angle adjustment device 21.

[0056] Specifically, the second driving reducer is mounted on the Z-shaped mounting plate 216 , the Z-shaped mounting plate 216 is mounted on the outer wall of the swing frame 212 , and the second driving motor 2151 is connected to the second driving reducer.

[0057] Specifically, a notch corresponding to the second driving gear 2152 is opened on the mounting seat vertical plate opposite to the second driving gear 2152 , which is used for the swing frame 212 to make way when the relative angle adjustment mounting seat 211 swings.

[0058] Specifically, the first driving motor 2131 and the second driving motor 2151 are both arranged horizontally to reduce the height of the angle adjustment device 21 .

[0059] Specifically, the angle adjustment mount 211 is provided with an angle adjustment mount protective housing, which surrounds the swing frame 212 and the swing seat 214. A gap is left between the angle adjustment mount protective housing and the outer periphery of the swing seat top plate of the swing seat 214 to ensure the swing of the swing seat 214. The angle adjustment device 21 can compensate for omnidirectional deviations within ±2°, with a leveling accuracy of ≤0.05°.

[0060] Preferably, the lifting device includes: a lifting platform 221, a lifting motor fixed on the swing seat 214, a lifting rod 223 and a driving member; the lifting platform 221 is installed on the top of the lifting rod 223, the lifting motor drives the driving member to rotate, and the driving member drives the lifting rod 223 to move up and down.

[0061] Specifically, one end of the lifting rod 223 passes through the mounting base bottom plate, the swing frame 212, and the swing base top plate in order from bottom to top, and is then fixed to the lower surface of the lifting platform 221. The mounting base bottom plate is provided with a corresponding clearance hole, the diameter of which is larger than the outer diameter of the lifting rod 223 to ensure that the lifting rod 223 does not interfere with the mounting base bottom plate when it swings with the swing base 214.

[0062] Specifically, the lifting motor adopts a brake motor to play a protective role.

[0063] Specifically, the lifting motor is horizontally fixed on the lower surface of the swing seat top plate.

[0064] Specifically, the driving mechanism for the lifting rod 223 and the driver can be a rack and pinion, a worm gear, a lead screw, or a nut. In this embodiment, a screw lift is employed, with the lifting rod 223 being a trapezoidal lead screw and the driver being a nut. The lifting motor drives the nut through a worm gear reducer or a bevel gear reducer, thereby raising and lowering the lead screw.

[0065] Specifically, a guide rod 225 is also installed on the lower surface of the lifting platform 221, and the guide rod 225 passes through the top plate of the swing seat, the swing frame 212 and the bottom plate of the mounting seat from top to bottom in sequence; a guide hole is opened on the top plate of the swing seat and a guide sleeve is installed to cooperate with the guide rod 225 for guidance; a clearance hole is opened on the bottom plate of the mounting seat, and the aperture of the clearance hole is larger than the outer diameter of the guide rod 225 to ensure that the guide rod 225 does not interfere with the bottom plate of the mounting seat when it swings with the swing seat 214.

[0066] Specifically, two lifting rods 223 and two guide rods 225 are provided. The two lifting rods 223 and the two guide rods 225 are evenly distributed on the lower surface of the lifting platform 221 in a rectangular shape, and the two lifting rods 223 are located on a diagonal line of the rectangle.

[0067] The lifting mechanism's two screw jacks are independently driven by servo motors. These jacks utilize RNF020 series jacks with an effective lifting stroke of 600mm. A single jack can lift a load of 1000kg, and two linked jacks can lift at least 1600kg, with a safety margin of at least 1.5 times the load. The guide rods (225) are made of 45# steel with a diameter greater than 30mm, and the guide bushings are of guaranteed length, allowing the AGV to operate at low speeds without tipping over after lifting.

[0068] Preferably, the slewing device adopts a slewing drive, the inner ring of the slewing bearing 231 of the slewing drive is installed on the lifting platform 221, and the outer ring of the slewing bearing 231 of the slewing drive is connected to the horizontal adjustment device. The adjustment range of the slewing device is ±15°, and the adjustment accuracy is ≤0.05°.

[0069] Specifically, the slewing drive system includes a slewing bearing 231, a slewing drive motor 232, a slewing reducer, and a slewing drive gear 233. The slewing drive motor 232 is connected to the slewing reducer, which is mounted on the lower surface of the lifting platform 221. The slewing drive motor 232 passes through the top plate of the swing seat, which has a clearance hole for clearance. The output shaft of the slewing reducer passes through the lifting platform 221 and drives the slewing drive gear 233 to rotate. The slewing drive gear 233 engages with the outer ring of the slewing bearing 231, which in turn drives the horizontal adjustment device to rotate. The arrangement of the slewing drive motor 232, slewing reducer, and slewing drive gear 233 can reduce the height of the horizontal adjustment device.

[0070] Preferably, the horizontal adjustment device includes: an adjustment base plate 241, a plurality of bull's-eye bearings 242 mounted on the horizontal adjustment device, a floating support plate 243 mounted on the bull's-eye bearings 242, a first horizontal adjustment drive, and a second horizontal adjustment drive. The adjustment base plate 241 is connected to a rotary device and rotates therewith; the floating support plate 243 supports and is connected to the housing; the first horizontal adjustment drive drives the floating support plate 243 to move and position along the X-axis; and the second horizontal adjustment drive drives the floating support plate 243 to move and position along the Y-axis. The bull's-eye bearings 242 convert sliding friction into rolling friction, allowing the floating support plate 243 to easily translate on the bull's-eye bearings 242 under the action of the first and second horizontal adjustment drives.

[0071] Specifically, a circle of ribs is fixedly provided on the lower surface of the adjustment base plate 241 , and the ribs surround the slewing support 231 and the slewing driving gear 233 to play a protective role.

[0072] Specifically, the floating support plate 243 is annular, with a central hole for mounting a puller mechanism. A groove is defined on the lower surface of the floating support plate 243, into which several bull's eye bearings 242 extend. The sidewalls of the groove limit the translation of the floating support plate 243 within a certain range.

[0073] Specifically, a plurality of screw holes are provided on the upper surface of the floating bearing plate 243 , and the plurality of screw holes are used to connect the floating bearing plate 243 to the casing with screws.

[0074] Preferably, the first level adjustment drive and the second level adjustment drive both adopt manual adjustment mechanisms;

[0075] The manual adjustment mechanism includes a pushing member 244 and a rebound member 245. The pushing member 244 and the rebound member 245 are arranged on both sides of the floating bearing plate 243. The pushing member 244 is used to push the floating bearing plate 243. Under the action of the pushing member 244, the rebound member 245 makes the floating bearing plate 243 tend to return to its original position.

[0076] The pushing component 244 includes a hand-cranked lifter 2441 and a push plate 2442. The hand-cranked lifter 2441 is fixed on the adjustment base plate 241. The hand-cranked lifter 2441 drives the push plate 2442 to move, and the push plate 2442 abuts against the floating bearing plate 243.

[0077] The rebound component 245 includes: a rebound mounting seat 2451, a top plate 2452, at least two rebound guide shafts 2453 and an elastic member 2454; the rebound mounting seat 2451 is fixed on the adjustment base plate 241, and the top plate 2452 is located on the side of the rebound mounting seat 2451 facing the floating bearing plate 243, the top plate 2452 is opposite to the push plate 2442, and the top plate 2452 abuts the floating bearing plate 243; one end of the rebound guide shaft 2453 is connected to the top plate 2452 and the other end passes through the rebound mounting seat 2451, and the elastic member 2454 is arranged between the rebound mounting seat 2451 and the top plate 2452, and the top plate 2452 is close to the rebound mounting seat 2451 to compress the elastic member 2454 to generate elastic force.

[0078] Take the first horizontal adjustment drive to drive the floating carrier plate 243 to move along the X-axis direction as an example: the hand-cranked lifter 2441 moves forward to drive the push plate 2442 to push the floating carrier plate 243, and the floating carrier plate 243 drives the top plate 2452 to move, thereby compressing the elastic member 2454, thereby driving the floating carrier plate 243 to move in the positive direction along the X-axis direction; the hand-cranked lifter 2441 moves in the reverse direction to drive the push plate 2442 to retreat, and the elastic force of the elastic member 2454 causes the top plate 2452 to push the floating carrier plate 243 to move in the negative direction of the X-axis.

[0079] Specifically, the manual lifter 2441 utilizes a worm gear lifter adjusted by a handwheel. The output end of the worm gear of the manual lifter 2441 is connected to a push plate 2442. The push plate 2442 is equipped with two sets of first rollers 2443, which abut the outer circumference of the floating support plate 243. The top plate 2452 is equipped with two sets of second rollers 2455, which abut the outer circumference of the floating support plate 243. The elastic member 2454 is a spring, which is mounted on the rebound guide shaft 2453.

[0080] Specifically, the hand lifter 2441 is installed on the hand lifter mounting plate, the hand lifter mounting plate is fixed to the upper surface of the adjustment base plate 241 by a first screw group, and the rebound mounting seat 2451 is fixed to the upper surface of the adjustment base plate 241 by a second screw group.

[0081] Specifically, the upper surface of the adjustment base plate 241 is further provided with four arcuate bars 2444, which are arranged around the floating bearing plate 243 and are used to limit the position of the receiver. The pushing components 244 and rebound components 245 driven by the first horizontal adjustment drive, and the pushing components 244 and rebound components 245 driven by the second horizontal adjustment drive are respectively arranged between adjacent arcuate bars 2444.

[0082] The first horizontal adjustment drive and the second horizontal adjustment drive of the horizontal adjustment device cooperate with each other to compensate for the plane displacement of ±15mm in all directions.

[0083] Specifically, the AGV body 1 includes a body frame and four sets of Omni wheel mechanisms. The Omni wheel mechanisms can achieve translation and rotation, so that the AGV body 1 can move in all directions within a limited space.

[0084] Specifically, the Omni-wheel mechanism includes an Omni-wheel 111, a drive shaft 112, a servo motor 113, a reducer 114, an Omni-wheel mounting plate 115, an Omni-wheel connecting plate 116, a linear guide 117, and a spring damping mechanism 118. The Omni-wheel 111 is connected to the drive shaft 112, which is rotatably connected to the Omni-wheel mounting plate 115. The servo motor 113 is connected to the reducer 114, and the output end of the reducer 114 is connected to the drive shaft 112. The linear guide 117 is mounted between the Omni-wheel mounting plate 115 and the Omni-wheel connecting plate 116. The slider of the linear guide 117 is mounted on the Omni-wheel mounting plate 115, and the track of the linear guide 117 is mounted on the Omni-wheel connecting plate 116. The spring shock-absorbing mechanism 118 connects the Omni wheel mounting plate 115 and the Omni wheel connecting plate 116 , and the Omni wheel connecting plate 116 is connected to the vehicle body frame. The spring shock-absorbing mechanism 118 realizes shock absorption to adapt to uneven ground and ensure smooth and accurate operation.

[0085] Specifically, a camera is installed on the vehicle frame, using visual positioning technology to obtain preliminary position and posture information. Four sets of laser sensors 121 are installed within the vehicle frame: three for obstacle avoidance and one for positioning. Laser positioning technology is used for precise measurement and calibration to ensure accurate positioning. A scanner 122 is installed within the vehicle frame, which scans a QR code through the opening at the bottom of the vehicle frame to obtain final position information. This information is then compared with a preset reference position to achieve precise positioning.

[0086] Specifically, an electric cylinder 131 and a latch 132 are provided in the vehicle body frame. The electric cylinder 131 drives the latch 132 to extend and retract, so as to perform mechanical positioning through the latch 132 .

[0087] Specifically, the vehicle frame is equipped with four sets of lifting support legs, including support leg spiral elevators 141 and support legs 142. The support leg spiral elevators 141 drive the support legs 142 up and down. When the AGV body 1 reaches the predetermined position, the support leg spiral elevators 141 drive the support legs 142 down, and the support legs 142 support the vehicle frame, lifting the Omni wheels 111 off the ground, ensuring precise positioning and stable docking.

[0088] Specifically, a battery 151 is provided in the vehicle body frame for power supply, and a charging port 152 is provided for connecting a charger for charging.

[0089] Specifically, a touch screen 161 and a controller 162 are also provided on the vehicle body frame. The touch screen 161 is connected to the controller 162, and the controller 162 performs automatic control of the entire device.

[0090] Specifically, a vehicle body protective shell 17 is provided outside the vehicle body frame for protection.

[0091] Working principle of this application device:

[0092] 1. Manually place the casing on the floating load plate using a crane or forklift and fix it with screws;

[0093] 2. The AGV body carries the posture adjustment platform and the casing to the docking station;

[0094] 3. After arriving at the docking station, control the angle adjustment device to adjust the axis of the receiver to be parallel to the axis of the receiver tooling;

[0095] 4. The operator operates the horizontal adjustment device to align the axis of the receiver with the axis of the receiver tooling;

[0096] 5. Control the rotary device to adjust the casing to rotate so that the casing and the main support shaft head of the casing tooling are aligned in the circumferential direction;

[0097] 6. Control the lifting device to lift the casing and the casing tooling to dock; the puller mechanism is used to assemble the rotor.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A precise multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field, characterized by: It comprises an AGV body (1) and a posture adjustment platform (2) located on the AGV body (1), wherein the posture adjustment platform (2) is used to carry a casing and adjust the posture of the casing with six degrees of freedom, and the AGV body (1) is used to transport the posture adjustment platform (2) and the casing; The posture adjustment platform (2) comprises: an angle adjustment device (21), a lifting device, a rotating device and a horizontal adjustment device; The angle adjustment device (21) is installed on the AGV body (1) and is used to drive the lifting platform (221) of the lifting device to swing around the X-axis direction and the Y-axis direction in the horizontal plane; The lifting device is connected to the angle adjustment device (21) and is used to drive the rotation device and the horizontal adjustment device to move along the Z-axis direction in the vertical plane; The rotating device is installed on the lifting platform (221) of the lifting device and is used to drive the horizontal adjustment device to rotate around the Z axis; The horizontal adjustment device carries the casing and drives the casing to move along the X-axis and the Y-axis; The X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

2. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 1 is characterized in that: The angle adjustment device (21) comprises: an angle adjustment mounting seat (211), a swing frame (212), a first driving mechanism, a swing seat (214) and a second driving mechanism; the angle adjustment mounting seat (211) is mounted on the AGV vehicle body (1), and the swing seat (214) is located above the angle adjustment mounting seat (211); the first driving mechanism drives the swing frame (212) to rotate around a first rotation axis of the swing frame (212) relative to the angle adjustment mounting seat (211), and the second driving mechanism drives the swing seat (214) to rotate around a second rotation axis of the swing seat (214) relative to the swing frame (212); the first rotation axis and the second rotation axis are not perpendicular to each other and are both arranged horizontally.

3. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 2 is characterized in that: The first driving mechanism comprises: a first driving motor (2131), a first driving reducer, a first driving gear (2132) and a first driving arc-shaped rack (2133); the first driving motor (2131) and the first driving reducer are both mounted on the angle adjustment mounting seat (211); the first driving motor (2131) drives the first driving gear (2132) to rotate via the first driving reducer; the first driving arc-shaped rack (2133) is mounted on the swing frame (212) and the first driving arc-shaped rack (2133) rotates around the first rotation axis; the first driving gear (2132) is meshed with the first driving arc-shaped rack (2133).

4. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 3 is characterized in that: The swing frame (212) is in the shape of a square frame. The first driving arc-shaped rack (2133) is fixed on one side of the swing frame (212). Both sides of the swing frame (212) are provided with first arc-shaped guide rails (2134). The first arc-shaped guide rails (2134) connect the angle adjustment mounting seat (211) and the swing frame (212). The first arc-shaped guide rails (2134) guide the swinging of the swing frame (212).

5. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 2 is characterized in that: The second driving mechanism comprises: a second driving motor (2151), a second driving reducer, a second driving gear (2152) and a second driving arc-shaped rack (2153); the second driving motor (2151) and the second driving reducer are both mounted on the swing frame (212); the second driving motor (2151) drives the second driving gear (2152) to rotate via the second driving reducer; the second driving arc-shaped rack (2153) is mounted on the swing seat (214) and the second driving arc-shaped rack (2153) rotates around the second rotation axis; the second driving gear (2152) is meshed with the second driving arc-shaped rack (2153).

6. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 5 is characterized in that: The swing frame (212) is in the shape of a square frame. The second driving arc-shaped rack (2153) is fixed on one side of the swing frame (212). Second arc-shaped guide rails (2154) are provided on both sides of the swing frame (212). The second arc-shaped guide rails (2154) connect the swing seat (214) and the swing frame (212). The second arc-shaped guide rails (2154) guide the swing of the swing seat (214).

7. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 2 is characterized in that: The lifting device comprises: a lifting platform (221), a lifting motor fixed on the swing seat (214), a lifting rod (223) and a driving member; the lifting platform (221) is installed on the top of the lifting rod (223), the lifting motor drives the driving member to rotate, and the driving member drives the lifting rod (223) to move up and down.

8. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 1 is characterized in that: The rotary device adopts a rotary drive, the inner ring of the rotary support (231) of the rotary drive is installed on the lifting platform (221), and the outer ring of the rotary support (231) of the rotary drive is connected to the horizontal adjustment device.

9. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 1 is characterized in that: The horizontal adjustment device comprises: an adjustment base plate (241), a plurality of bull's eye bearings (242) mounted on the horizontal adjustment device, a floating bearing plate (243) provided on the plurality of bull's eye bearings (242), a first horizontal adjustment drive, and a second horizontal adjustment drive; the adjustment base plate (241) is connected to the rotary device and rotates with the rotary device; the floating bearing plate (243) is used to carry and connect the casing; the first horizontal adjustment drive is used to drive the floating bearing plate (243) to move along the X-axis direction and perform positioning; the second horizontal adjustment drive is used to drive the floating bearing plate (243) to move along the Y-axis direction and perform positioning.

10. The precise control multi-dimensional attitude adjustment mobile platform for casing docking in the aviation field according to claim 9, characterized in that: The first level adjustment drive and the second level adjustment drive both adopt manual adjustment mechanisms; The manual adjustment mechanism comprises a pushing component (244) and a rebound component (245), wherein the pushing component (244) and the rebound component (245) are arranged on both sides of the floating bearing plate (243) relative to each other, the pushing component (244) is used to push the floating bearing plate (243), and under the action of the pushing component (244), the rebound component (245) makes the floating bearing plate (243) have a tendency to return to its original position; The pushing component (244) includes a hand-cranked lifter (2441) and a push plate (2442), wherein the hand-cranked lifter (2441) is fixed on the adjustment base plate (241), and the hand-cranked lifter (2441) drives the push plate (2442) to move, and the push plate (2442) abuts against the floating bearing plate (243); The rebound component (245) includes: a rebound mounting seat (2451), a top plate (2452), at least two rebound guide shafts (2453) and an elastic member (2454); the rebound mounting seat (2451) is fixed on the adjustment base plate (241), the top plate (2452) is located on the side of the rebound mounting seat (2451) facing the floating bearing plate (243), and the top plate (2452) is aligned with the push plate (2442). Yes, the top plate (2452) abuts against the floating bearing plate (243); one end of the rebound guide shaft (2453) is connected to the top plate (2452) and the other end passes through the rebound mounting seat (2451); the elastic member (2454) is arranged between the rebound mounting seat (2451) and the top plate (2452); the top plate (2452) is close to the rebound mounting seat (2451) to compress the elastic member (2454) to generate elastic force.

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