Cabin butt joint series-parallel posture adjusting robot

Abstract

The utility model belongs to the field of assembly and butt joint of large cabin sections, and particularly relates to a cabin section butt joint series-parallel posture adjusting robot which comprises a movable lifting supporting device, a telescopic butt joint vehicle body and a holding ring overall posture adjusting mechanism. The movable lifting supporting devices are arranged at the four corners of the robot, one ends of the movable lifting supporting devices are connected with the telescopic butt-joint vehicle body, one end of the telescopic butt-joint vehicle body is connected with the movable lifting supporting devices, and the lower end of the telescopic butt-joint vehicle body can be installed on a ground workbench. The telescopic butt joint vehicle body is used for driving the movable lifting supporting device to linearly move in the X-axis direction. The embracing ring overall posture adjusting mechanism is arranged at the upper end of the telescopic butt joint vehicle body and used for achieving linear motion of the cabin section along the Z axis, linear motion of the cabin section along the Y axis, rotation around the X axis and rotation around the Y axis. The five-degree-of-freedom automatic posture adjusting device can achieve five-degree-of-freedom automatic posture adjusting in the cabin section assembling and butt-joint process, the assembling and butt-joint posture adjusting work of a large cabin section is met, the assembling and butt-joint work of cabin section type components can be better met, and the assembling efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of cabin section assembly and docking, and in particular relates to a cabin section docking hybrid posture adjustment robot. Background Art

[0002] In key fields such as aerospace and national defense, cabin assembly and docking are critical production processes. These fields place extremely high demands on product quality, precision, and assembly efficiency. With the continuous advancement of science and technology, the assembly and docking technology of large cabin products has also posed greater challenges. Currently, domestic large-scale cabin docking and assembly are generally completed through workers' observation and manual adjustment of the cabin's position and posture. The entire posture adjustment process requires a high level of technical skills from the workers, and the equipment used for assembly is mostly auxiliary tooling, which cannot achieve automated posture adjustment and assembly of the cabin. This poses significant safety risks, and also leads to long assembly times, low assembly efficiency, and a low level of automation, which is not conducive to mass production. Furthermore, the low degree of automation in the docking process leads to a series of urgent problems, such as poor product consistency and unstable product quality.

[0003] Therefore, it is necessary to provide a cabin docking hybrid attitude adjustment equipment to achieve high-precision and automation in the docking of large cabin-type products, improve the quality and efficiency of cabin assembly docking, and meet the production needs of aerospace, national defense and other fields. Utility Model Content

[0004] In view of the above situation, the utility model provides a cabin docking hybrid attitude adjustment robot, which overcomes the shortcomings of the existing technology. Through the design of a movable lifting support device, a retractable docking body and a ring-holding overall attitude adjustment mechanism, the attitude adjustment robot can achieve 5-degree-of-freedom attitude adjustment. The flexible steel cable structure can make the end actuator of the entire attitude adjustment robot flexible, which can automatically offset the yaw angle of the docking cabin relative to the fixed cabin during the docking of large cabins, realize flexible assembly of the cabin, and have the adjustment function in the vertical direction of the ground. It can realize adaptive adjustment for uneven ground, so that the cabin maintains an unchanged attitude during transportation. At the same time, the control module can telescopically adjust the length of the robot body to adapt to the site requirements of different equipment workpieces.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following specific technical solutions: a cabin docking hybrid posture adjustment robot, comprising a movable lifting support device, a retractable docking vehicle body, and a holding ring overall posture adjustment mechanism connected in sequence from left to right;

[0006] The movable lifting support device is arranged at the four corners of the bottom of the posture adjustment robot, and one end of the movable lifting support device is retractably connected to the docking vehicle body. The movable lifting support device is the lifting actuator of the entire posture adjustment robot, which is used to realize the adaptive adjustment of the posture adjustment robot and ensure that the initial posture of the docking compartment remains unchanged; at the same time, the movable lifting support device can lift the entire posture adjustment robot and realize the transportation of the entire device by the AGV transfer vehicle;

[0007] The four corners of the retractable docking vehicle are connected to a movable lifting support device, and a ring-shaped overall posture adjustment mechanism is installed on the upper end of the retractable docking vehicle; the retractable docking vehicle is used to realize the linear movement of the cabin section along the X-axis;

[0008] The overall posture adjustment mechanism of the holding ring is arranged at the upper end of the retractable docking vehicle body, and is used to realize the linear motion of the cabin along the Z axis, the linear motion along the Y axis, the rotation around the X axis and the rotation around the Y axis;

[0009] Preferably, the movable lifting support device includes an auxiliary support wheel frame, guide rollers, double-wheel casters, a vehicle body limiting seat and a linear transmission structure;

[0010] The auxiliary support wheel frame is connected to the guide roller to constrain the rotation of the guide roller. The double-wheel caster is connected to the guide roller. The vehicle body limit seat is connected to the auxiliary support wheel frame to fix the posture adjustment robot after the transportation is completed.

[0011] Preferably, the linear transmission structure includes a drive motor, a lifting connecting plate, a linear guide rail, a planetary reducer, a drag chain, a lifting screw, and a screw seat;

[0012] The driving motor is connected to the planetary reducer, and the planetary reducer is installed on the lifting connecting plate; the lifting screw is installed inside the lifting connecting plate, and the linear guide rails are installed and fixed on both sides of the lifting connecting plate; the screw seat is installed on the linear guide rails, and the posture adjustment robot can perform lifting movement under the action of the lifting screw.

[0013] Preferably, the retractable docking vehicle body includes a drive motor, a linear guide rail, a guide rail slider, a slide rail brake, a mobile end transverse fixing frame, a mobile end vehicle body, a T-shaped lead screw, a mobile end rectangular pipe frame, a fixed end support leg connecting plate, a fixed end vehicle body, a profile connecting plate, a combined bearing, a mobile end support leg connecting plate, a fixed end motor mounting plate, a mobile end vehicle body nut mounting plate, a fixed end ground support frame, a drag chain, a mobile end vehicle body lower guard plate, a lead screw bearing seat, a lead screw seat, and a lead screw bearing seat;

[0014] The linear guide rail is fixed to the moving end vehicle body, and the guide rail slider and the slide rail brake are installed on the linear guide rail. The guide rail slider is fixedly connected to the overall posture adjustment mechanism of the holding ring, and the slide rail brake can constrain the linear motion of the guide rail slider;

[0015] The two ends of the mobile terminal transverse fixing frame are fixedly connected to the mobile terminal body to fix the mobile terminal body;

[0016] One side of the lower guard plate of the mobile end vehicle body is fixedly connected to a pair of mobile end vehicle bodies, and is used to support and fix the mobile end vehicle bodies. Both ends of the mobile end vehicle body nut mounting plate are fixedly installed on the pair of mobile end vehicle bodies, and the upper surface is connected to the nut seat. One end of the mobile end leg connecting plate is connected to the mobile end rectangular pipe frame. The drag chain is connected to the pair of mobile end vehicle bodies for pulling and protecting the built-in cables.

[0017] The two ends of the fixed end motor mounting plate are mounted on the fixed end vehicle body for mounting the drive motor; the drive motor, T-shaped lead screw, lead screw bearing seat and lead screw bearing seat are installed to form a linear drive module for driving the mobile end vehicle body to perform telescopic movement; the fixed end ground support frame is mounted on the fixed end vehicle body for connecting and fixing the fixed end vehicle body;

[0018] The two outer grooves of the telescopic body part are connected and matched with the inner side of the fixed end body, and the combined bearing is connected and fixed with the movable end body to carry the linear motion of the movable end body relative to the fixed end body.

[0019] Preferably, the overall posture adjustment mechanism of the holding ring includes an annular gear ring, a limit block, a piston expansion device, a holding ring support structure connector, a drive motor, a linear guide rod, a drive motor, a posture adjustment mechanism base plate, a radial support rod, a holding ring, a steel cable clamping mechanism, an axial limit mechanism, a rolling support mechanism, an annular clamping mechanism, a gear rack module, a guide rail, a guide slider, a flexible steel cable, and a base plate support ear;

[0020] The annular gear ring is mounted and fixed on the holding ring. The holding ring is hinged together by two ring-shaped structures. The drive motor is mounted and fixed on the connecting member of the holding ring support structure. One end of the drive motor is connected to a pinion gear meshing with the annular gear ring. The pinion gear transmits power to drive the holding ring to rotate by meshing with the annular gear ring.

[0021] One end of the radial support rod is fixed to the holding ring, and the other end is connected to the annular clamping mechanism for clamping the cabin section. The axial limiting mechanism is fixedly mounted on the holding ring support structure connector for limiting the holding ring. The rolling support mechanism is mounted and fixed on the holding ring support structure connector for limiting and supporting the holding ring.

[0022] The limit block is mounted and fixed on the piston telescopic device, one end of the linear guide rod is connected to the lower end of the limit block, and is installed and guided with the piston telescopic device at the same time. The bottom plate of the posture adjustment mechanism is fixedly connected to the piston telescopic device, and the two sets of piston telescopic devices cooperate and link to support the relevant posture adjustment movement; the gear rack module is mounted and fixed inside the limit block, and one end of the drive motor is connected to the pinion of the gear rack module, driving the gear to rotate and thereby drive the rack to move in a straight line, thereby driving the linear movement of the entire holding ring;

[0023] The guide rail is fixed on the gear rack module, and the guide slider is fixed on the limit block and matched with the guide rail to carry the linear motion of the rack and the holding ring;

[0024] One end of the steel cable clamping mechanism is installed on the gear rack module, one end of the flexible steel cable is installed on the steel cable clamping mechanism, one end of the base plate support ear is connected and fixed to the holding ring support structure connector, and the other end is connected to the flexible steel cable. This combined mechanism lifts the holding ring and the docking cabin segment, and during the docking process, the yaw angle deviation is automatically offset as the docking surfaces fit together, so that the cabin docking hybrid attitude adjustment robot has flexibility and automatic adjustment capabilities.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The utility model adopts a movable lifting support device, a retractable docking body and an overall posture adjustment mechanism of the holding ring to cooperate with each other, which can realize automatic posture adjustment with five degrees of freedom during the cabin assembly and docking process, meet the assembly and docking posture adjustment work of large cabins, and can better meet the assembly and docking work of cabin components. While improving the assembly efficiency, it replaces traditional manual assembly. The equipment is stable and reliable, and the cabin assembly and docking efficiency is greatly improved.

[0027] This utility model, through its design and analysis of a hybrid cabin docking and attitude adjustment robot, addresses a series of issues in cabin component assembly, such as excessive manual labor and poor precision. It also provides technical support for the subsequent development of aerospace and weapons assembly production lines. This is of great significance for enhancing the technical content of final assembly docking, improving the precision and quality of docking assembly and attitude adjustment, and increasing assembly efficiency.

[0028] The retractable docking vehicle of this utility model can quickly achieve nearly double the length of the vehicle body in the X direction, and can adapt to different lengths of cabins and different work sites. The flexible steel cable in the overall posture adjustment mechanism of the holding ring automatically and flexibly offsets the yaw angle of the docking cabin and the fixed cabin during the docking process, making the entire robot flexible and able to better adapt to the multi-station assembly production line mode, solving the problem that existing equipment cannot be smoothly transferred between different stations due to poor flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the cabin docking hybrid posture adjustment robot disclosed in the present utility model;

[0030] Figure 2 It is a three-dimensional schematic diagram of the movable lifting support device disclosed in the utility model;

[0031] Figure 3 This is a schematic diagram of the three-dimensional structure of the retractable docking vehicle body disclosed in the present utility model;

[0032] Figure 4 This is a schematic diagram of the two-dimensional structure of the telescopic docking vehicle body disclosed in the present utility model from a top view;

[0033] Figure 5 This is a three-dimensional structural diagram of the overall posture adjustment mechanism of the holding ring disclosed in the present utility model;

[0034] Figure 6 This is a two-dimensional top view schematic diagram of the overall posture adjustment mechanism of the holding ring disclosed in the present utility model.

[0035] In the picture:

[0036] 1. Movable lifting support device; 101. First drive motor; 102. Lifting connecting plate; 103. First linear guide rail; 104. Auxiliary support wheel frame; 105. Guide roller; 106. Planetary reducer; 107. First drag chain; 108. Lifting screw; 109. Screw seat; 110. Double-wheel caster; 111. Vehicle body limit seat.

[0037] 2. Retractable docking vehicle body; 201. Second drive motor; 202. Second linear guide rail; 203. Guide rail slider; 204. Slide rail brake; 205. Mobile end horizontal fixing frame; 206. Mobile end vehicle body; 207. T-type lead screw; 208. Mobile end rectangular pipe frame; 209. Fixed end support leg connecting plate; 210. Fixed end vehicle body; 211. Profile connecting plate; 212. Combined bearing; 213. Mobile end support leg connecting plate; 214. Fixed end motor mounting plate; 215. Mobile end vehicle body nut mounting plate; 216. Fixed end ground support frame; 217. Second drag chain; 218. Mobile end vehicle body lower guard plate; 219. First lead screw bearing seat; 220. Nut seat; 221. Second lead screw bearing seat.

[0038] 3. Overall posture adjustment mechanism of the holding ring; 301. Annular gear ring; 302. Limit block; 303. Piston telescopic device; 304. Holding ring support structure connector; 305. Third drive motor; 306. Linear guide rod; 307. Fourth drive motor; 308. Bottom plate of the posture adjustment mechanism; 309. Radial support rod; 310. Holding ring; 311. Steel cable clamping mechanism; 312. Axial limiting mechanism; 313. Rolling support mechanism; 314. Annular clamping mechanism; 315. Gear rack module; 316. Guide rail; 317. Guide rail slider; 318. Flexible steel cable; 319. Support ear of the mechanism bottom plate. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0040] As attached Figure 1 To the attached Figure 6 As shown: A cabin docking hybrid attitude adjustment robot includes a movable lifting support device 1, a retractable docking vehicle body 2, and a ring overall attitude adjustment mechanism 3 connected in sequence from left to right;

[0041] The movable lifting support device 1 is set at the four corners of the posture adjustment robot, and one end of it is connected to the retractable docking vehicle body 2. The movable lifting support device 1 is an auxiliary actuator of the entire posture adjustment device, which can lift the posture adjustment device to a certain height to enable the posture adjustment robot to move to the designated position under the action of the AGV transfer vehicle, preparing for the cabin posture adjustment and assembly docking work;

[0042] The four corners of the retractable docking vehicle body 2 are connected to the movable lifting support device 1, and the upper end thereof is equipped with a holding ring overall posture adjustment mechanism 3. The retractable docking vehicle body 2 is used to realize the linear movement of the cabin along the X-axis;

[0043] The overall posture adjustment mechanism 3 of the holding ring is arranged at the upper end of the retractable docking vehicle 2, and is used to realize the linear motion of the cabin along the Z axis, the linear motion along the Y axis, the rotation around the X axis, and the rotation around the Y axis. The flexible steel cable 318 lifts the cabin to be adjusted and the holding ring. The entire overall posture adjustment mechanism 3 of the holding ring is flexible. After the five-degree-of-freedom posture adjustment work is completed, the contact of the docking end faces during the cabin assembly and docking process can automatically offset the yaw angle error.

[0044] The movable lifting support device 1 includes an auxiliary support wheel frame 104, a guide roller 105, a double-wheel caster 110, a vehicle body limiting seat 111 and a linear transmission structure;

[0045] The guide roller 105 is mounted on the auxiliary support wheel frame 104 and is fixedly connected to the upper end of the double-wheel caster 110 to achieve linear fixation and support of the double-wheel caster 110;

[0046] One end of the vehicle body limiting seat 111 is connected to the auxiliary support wheel frame 104, which is used for limiting and supporting the posture adjustment vehicle body;

[0047] One end of the linear transmission structure is connected to the auxiliary support wheel frame 104 , and driven by the first drive motor 101 , the entire posture-adjusting vehicle body can be raised and lowered.

[0048] The linear transmission structure includes a first drive motor 101, a lifting connecting plate 102, a first linear guide rail 103, a planetary reducer 106, a first drag chain 107, a lifting screw 108, and a screw seat 109;

[0049] The first drive motor 101 is connected to the planetary reducer 106, and the two together drive the lifting screw 108 to rotate. The lifting connecting plate 102 is connected to one end of the lifting screw 108;

[0050] The two ends of the screw seat 109 are respectively connected to the first linear guide rail 103 and can move linearly along the first linear guide rail 103. The two ends of the first drag chain 107 are respectively connected to the lifting connecting plate 102 and the screw seat 109 for pulling and protecting the built-in cable.

[0051] During operation, the auxiliary support wheel frame 104, guide roller 105 and double-wheel caster 110 in the four groups of movable lifting support devices 1 act as a whole to support the entire movable lifting support device 1, wherein the double-wheel caster 110 is a universal wheel, which can move freely and can also be manually locked along the X direction; the four groups of linear transmission structures can be linked during operation and can be linearly extended and retracted along the Z direction. When the cabin is transferred, the four groups of movable lifting support devices are lifted at the same time, which facilitates the AGV transfer vehicle to enter the appropriate position at the bottom of the entire five-degree-of-freedom hybrid attitude adjustment robot, and transfer the cabin to the designated workstation to prepare for subsequent cabin attitude adjustment and assembly docking.

[0052] The retractable docking vehicle body 2 includes a second drive motor 201, a second linear guide rail 202, a guide rail slider 203, a slide rail brake 204, a mobile end transverse fixing frame 205, a mobile end vehicle body 206, a T-shaped lead screw 207, a mobile end rectangular pipe frame 208, a fixed end support leg connecting plate 209, a fixed end vehicle body 210, a profile connecting plate 211, a combined bearing 212, a mobile end support leg connecting plate 213, a fixed end motor mounting plate 214, a mobile end vehicle body nut mounting plate 215, a fixed end ground support frame 216, a second drag chain 217, a mobile end vehicle body lower guard plate 218, a first lead screw bearing seat 219, a lead screw seat 220, and a second lead screw bearing seat 221;

[0053] The pair of second linear guide rails 202 are fixed to the mobile end vehicle body 206, and the two second linear guide rails 202 are symmetrically placed in parallel. At the same time, the multiple sets of guide rail sliders 203 and the slide rail brakes 204 are installed on the corresponding second linear guide rails 202. Several guide rail sliders 203 are fixedly connected to the overall posture adjustment mechanism 3 of the holding ring. The slide rail brakes 204 can constrain the linear motion of the guide rail sliders 203. The guide rail sliders 203 and the slide rail brakes 204 can move linearly along the second linear guide rails 202, wherein the slide rail brakes 204 can be clamped on the second linear guide rails 202 to constrain the position of the guide rail sliders 203;

[0054] The two ends of the mobile end transverse fixing frame 205 are fixedly connected to the mobile end car body 206, one end of the mobile end support leg connecting plate 213 is connected to the mobile end rectangular pipe frame 208 for fixing the mobile end car body 206, one side of the mobile end car body lower guard plate 218 is fixedly connected to the pair of mobile end car bodies 206 for supporting and fixing the mobile end car body 206, the two ends of the mobile end car body nut mounting plate 215 are fixedly installed on a pair of mobile end car bodies 206, and the upper surface is connected to the nut seat 220, and the second drag chain 217 is connected to the pair of mobile end car bodies 206 for pulling and protecting the built-in cable; the above eight parts together constitute the telescopic car body part of the telescopic docking car body 2;

[0055] During operation, the guide rail slider 203 is fixedly connected to the holding ring overall posture adjustment mechanism 3. When the holding ring overall posture adjustment mechanism 3 is located at a specified position, the slide rail brake 204 is close to one end of the guide rail slider 203 and clamped on the second linear guide rail 202. At this time, the holding ring overall posture adjustment mechanism 3 is fixed to the telescopic body part of the telescopic docking body 2.

[0056] Both ends of the fixed-end motor mounting plate 214 are installed on the fixed-end vehicle body 210 for supporting the first screw bearing seat 219. The second drive motor 201, the T-shaped screw 207, the first screw bearing seat 219 and the second screw bearing seat 221 are installed together to form a linear drive module. The fixed-end ground support frame 216 is installed on the fixed-end vehicle body 210 for connecting and fixing the fixed-end vehicle body 210.

[0057] The outer grooves on both sides of the telescopic body part are connected and matched with the inner side of the fixed end body 210, and the combined bearing 212 is connected and fixed to the mobile end body 206. Several combined bearings 212 are symmetrically arranged and embedded on both sides of the mobile end body 206. The linear drive module drives the telescopic body part to move linearly along the X direction under the support of the combined bearing 212.

[0058] During operation, the fixed-end vehicle body 210 is lowered to the working ground along the Z direction by four sets of movable lifting support devices 1 to support the entire five-degree-of-freedom hybrid attitude adjustment robot and the docking cabin section. The telescopic vehicle body part of the telescopic docking vehicle body 2 moves telescopically along the X direction relative to the fixed-end vehicle body 210 under the action of the combined bearing 212. It should be noted that the five-degree-of-freedom hybrid attitude adjustment robot can achieve the entire attitude adjustment robot length being extended by nearly one-fold during the telescopic vehicle body part telescopic movement relative to the fixed-end vehicle body 210 along the X direction, and can adapt to the attitude adjustment work of large cabin sections.

[0059] The overall posture adjustment mechanism of the holding ring includes an annular gear ring 301, a limit block 302, a piston expansion device 303, a holding ring support structure connector 304, a third drive motor 305, a linear guide rod 306, a fourth drive motor 307, a posture adjustment mechanism base plate 308, a radial support rod 309, a holding ring 310, a steel cable clamping mechanism 311, an axial limit mechanism 312, a rolling support mechanism 313, an annular clamping mechanism 314, a gear rack module 315, a guide rail 316, a guide slider 317, a flexible steel cable 318, and a base plate support ear 319;

[0060] The annular gear ring 301 is mounted and fixed on the holding ring 310, and is used to drive the holding ring 310 to rotate along the X-axis. The holding ring 310 is hinged together by two partial annular structures. One end of the radial support rod 309 is fixed on the holding ring 310, and the other end is connected to the annular clamping mechanism 314. The annular clamping mechanism 314 is used to clamp the docking compartment segment. The axial limiting mechanism 312 is fixedly mounted on the holding ring support structure connector 304, and is used to limit the holding ring 310. The rolling support mechanism 313 is mounted and fixed on the holding ring support structure connector 304, and is used to limit and support the holding ring 310. The fourth drive motor 307 is mounted and fixed on the holding ring support structure connector 304, and one end is connected to the pinion meshing with the annular gear ring 301;

[0061] During operation, the fourth drive motor 307 mounted on the connecting member 304 of the holding ring support structure drives the pinion gear meshing with the ring gear 301, thereby driving the holding ring 310 to rotate, thereby realizing the rotation of the docking compartment along the X-axis;

[0062] The limit block 302 is installed and fixed on the piston telescopic device 303, one end of the linear guide rod 306 is connected to the lower end of the limit block 302, and is installed and cooperated with the piston telescopic device 303 for guidance, the posture adjustment mechanism base plate 308 is fixedly connected to the piston telescopic device 303, and the above components constitute a linear drive module, four groups of linear drive modules are symmetrically placed, and each pair of linear drive modules are placed in parallel at both ends of a ring overall posture adjustment mechanism 3, and the same gear rack module 315 is installed and fixed inside the limit block 302, one end of the third drive motor 305 is connected to the pinion of the gear rack module 315, the guide rail 316 is installed and fixed on the gear rack module 315, and the guide slider 317 is installed and fixed on the limit block 302 and is installed and cooperated with the guide rail 316;

[0063] During operation, a pair of gear rack modules 315 can drive the pinion to rotate under the action of the third drive motor 305, thereby driving the meshing rack to move in a straight line, thereby realizing the linear motion of the holding ring 310 along the Y axis; four groups of linear drive modules constitute a linkage posture adjustment component, wherein a pair of linear drive modules are symmetrically installed at both ends of the holding ring overall posture adjustment mechanism 3, and a pair of linear drive modules located in the same holding ring overall posture adjustment mechanism 3 move synchronously, and two synchronous linear drive modules on the holding ring overall posture adjustment mechanism 3 installed in parallel on the telescopic docking vehicle body 2 perform telescopic motion respectively, realizing the rotation of the holding ring 310 along the Y axis, and the four groups of linear drive modules perform synchronous telescopic motion, realizing the linear motion of the holding ring 310 along the Z axis;

[0064] One end of the steel cable clamping mechanism 311 is mounted on the gear rack module 315, and one end of the flexible steel cable 318 is mounted on the steel cable clamping mechanism 311. One end of the bottom plate support ear 319 is fixedly connected to the holding ring support structure connector 304, and one end is connected to the flexible steel cable 318. A pair of flexible steel cables 318 are symmetrically mounted at both ends of the holding ring overall posture adjustment mechanism 3. Four sets of flexible steel cables 318 lift the entire holding ring and its accompanying components and cabin sections.

[0065] During operation, after the docking cabin completes the other five degrees of freedom except rotation along the Z axis on the five-degree-of-freedom hybrid attitude adjustment mechanism, during the docking process between different cabins, a pair of flexible steel cables 318 symmetrically installed at both ends of the ring-shaped overall attitude adjustment mechanism 3 can automatically offset the yaw angle, realize cabin assembly and docking, and make the entire five-degree-of-freedom hybrid attitude adjustment robot flexible.

[0066] The working principle and usage steps are as follows:

[0067] First, the robot is placed in its initial position. The first drive motor 101 of the movable lift support 1 is activated, and all four units are simultaneously raised, raising the entire robot to a height sufficient for the AGV to access the robot's base. The AGV then transports the cabin to a suitable position above the robot. At this point, the dual-wheel casters 110 of the movable lift support 1 can be locked in the X direction as needed to ensure the robot's stable position.

[0068] Then, the retractable docking vehicle body 2 starts the second drive motor 201 according to the length and position requirements of the cabin section, so that the mobile end vehicle body 206 can be retracted along the X direction relative to the fixed end vehicle body 210 to adjust the position of the cabin section in the X-axis direction.

[0069] The overall attitude adjustment mechanism 3 of the holding ring starts to work. First, the fourth drive motor 307 drives the small gear on the ring gear to rotate, so that the holding ring rotates along the X-axis and adjusts the angle of the docking compartment around the X-axis.

[0070] Then, the pinion is driven to rotate by the third drive motor 305 of the gear rack module 315, which drives the rack to move, thereby realizing the linear motion of the ring along the Y axis and adjusting the position of the cabin in the Y axis direction.

[0071] Then, the four sets of linear drive modules move synchronously to realize the linear movement of the ring along the Z axis and adjust the position of the cabin in the Z axis direction.

[0072] After the cabin has adjusted its five degrees of freedom, the docking process begins. When the docking cabin approaches the fixed cabin, the flexible cable 318 automatically and flexibly offsets the yaw angle of the docking cabin around the Z axis during the docking process, ensuring that the cabins can dock accurately.

[0073] After the docking is completed, the compartment can be further fixed and connected as needed.

[0074] Through the above working principle, a cabin docking hybrid attitude adjustment robot can realize the automated and precise assembly docking and attitude adjustment of cabins, greatly improving the assembly efficiency and reliability and reducing the need for manual operation.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 present invention. 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0076] 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. Those skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0077] The above specific embodiments of the present invention do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A cabin docking hybrid attitude adjustment robot, characterized in that: It comprises a movable lifting support device (1), a telescopic docking vehicle body (2), and an overall posture adjustment mechanism of the holding ring (3); The movable lifting support device (1) is arranged at the four corners of the robot, and one end thereof is connected to the retractable docking vehicle body (2). The movable lifting support device is an auxiliary actuator of the entire assembly docking robot, and is used to realize the movement, support and positioning of the robot; One end of the telescopic docking vehicle body (2) is connected to the movable lifting support device (1), and the lower end thereof can be mounted on a ground workbench; the telescopic docking vehicle body (2) is used to drive the movable lifting support device (1) to perform linear motion along the X-axis direction; The overall posture adjustment mechanism (3) of the holding ring is arranged at the upper end of the telescopic docking vehicle body (2) and is used to realize the linear motion of the cabin along the Z axis, the linear motion along the Y axis, the rotation around the X axis, and the rotation around the Y axis.

2. A cabin docking hybrid posture adjustment robot according to claim 1, characterized in that: The movable lifting support device (1) comprises an auxiliary support wheel frame (104), a guide roller (105), a double-wheel caster (110), a vehicle body limiting seat (111) and a linear transmission structure; The guide roller (105) is mounted on the auxiliary support wheel frame (104), and the guide roller (105) is fixedly connected to the upper end of the double-wheel caster (110) to achieve linear fixation and support of the double-wheel caster (110); One end of the vehicle body limiting seat (111) is connected to the auxiliary support wheel frame (104) and is used for limiting and supporting the posture-adjusting vehicle body; One end of the linear transmission structure is connected to the auxiliary support wheel frame (104), and under the drive of the first drive motor (101), the lifting and lowering of the entire telescopic docking vehicle body (2) can be achieved.

3. A cabin docking hybrid posture adjustment robot according to claim 2, characterized in that: The linear transmission structure comprises a first drive motor (101), a lifting connecting plate (102), a first linear guide rail (103), a planetary reducer (106), a first drag chain (107), a lifting screw (108) and a screw seat (109); The first drive motor (101) is connected to the planetary reducer (106), and the two together drive the lifting screw (108) to rotate, and the lifting connecting plate (102) is connected to one end of the lifting screw (108); The two ends of the screw seat (109) are respectively connected to the first linear guide rail (103) and can perform linear motion along the linear guide rail (103). The two ends of the first drag chain (107) are respectively connected to the lifting connecting plate (102) and the screw seat (109).

4. The cabin docking hybrid posture adjustment robot according to claim 1, characterized in that: The telescopic docking vehicle body (2) comprises a second driving motor (201), a second linear guide rail (202), a guide rail slider (203), a slide rail brake (204), a mobile end transverse fixing frame (205), a mobile end vehicle body (206), a T-shaped lead screw (207), a mobile end rectangular pipe frame (208), a fixed end leg connecting plate (209), a fixed end vehicle body (210), a profile connecting plate (211), a combined bearing (212), a mobile end leg connecting plate (213), a fixed end motor mounting plate (214), a mobile end vehicle body nut mounting plate (215), a fixed end ground support frame (216), a second drag chain (217), a mobile end vehicle body lower guard plate (218), a first lead screw bearing seat (219), a lead screw seat (220) and a second lead screw bearing seat (221); The second linear guide rail (202) is fixed to the mobile end vehicle body (206), and the guide rail slider (203) and the slide rail brake (204) are installed on the second linear guide rail (202). The guide rail slider (203) is fixedly connected to the holding ring overall posture adjustment mechanism (3), and the slide rail brake (204) constrains the linear motion of the guide rail slider (203); The two ends of the mobile end transverse fixing frame (205) are fixedly connected to the mobile end vehicle body (206), one side of the mobile end vehicle body lower guard plate (218) is fixedly connected to the pair of mobile end vehicle bodies (206) for supporting and fixing the mobile end vehicle bodies (206), the two ends of the mobile end vehicle body nut mounting plate (215) are fixedly installed on the pair of mobile end vehicle bodies (206), and the upper surface is connected to the nut seat (220), one end of the mobile end support leg connecting plate (213) is connected to the mobile end rectangular pipe frame (208), and the second drag chain (217) is connected to the pair of mobile end vehicle bodies (206) for traction and protection of the built-in cable; Both ends of the fixed end motor mounting plate (214) are mounted on the fixed end vehicle body (210); the second drive motor (201), the T-shaped lead screw (207), the first lead screw bearing seat (219) and the second lead screw bearing seat (221) are mounted to form a linear drive module; the fixed end ground support frame (216) is mounted on the fixed end vehicle body (210) and is used for connecting and fixing the fixed end vehicle body (210).

5. The cabin docking hybrid posture adjustment robot according to claim 4, characterized in that: The inner side of the fixed end vehicle body (210) is connected and matched with the outer grooves on both sides of the telescopic vehicle body part, the combined bearing (212) is connected and fixed with the movable end vehicle body (206), and the linear drive module drives the telescopic vehicle body part to move under the support of the combined bearing (212).

6. The cabin docking hybrid posture adjustment robot according to claim 1, characterized in that: The overall posture adjustment mechanism of the holding ring comprises an annular gear ring (301), a limit block (302), a piston telescopic device (303), a holding ring support structure connector (304), a third drive motor (305), a linear guide rod (306), a fourth drive motor (307), a posture adjustment mechanism base plate (308), a radial support rod (309), a holding ring (310), a steel cable clamping mechanism (311), an axial limit mechanism (312), a rolling support mechanism (313), an annular clamping mechanism (314), a gear rack module (315), a guide rail (316), a guide slider (317), a flexible steel cable (318) and a base plate support ear (319); The annular gear ring (301) is mounted and fixed on the holding ring (310), and the holding ring (310) is hinged together by two partial annular structures. One end of the radial support rod (309) is fixed on the holding ring (310), and the other end is connected to the annular clamping mechanism (314). The axial limiting mechanism (312) is fixed on the holding ring support structure connecting member (304) and is used for limiting the holding ring (310). The rolling support mechanism (313) is mounted and fixed on the holding ring support structure connecting member (304) and is used for limiting and supporting the holding ring (310). The fourth drive motor (307) is mounted and fixed on the holding ring support structure connecting member (304), and one end is connected to a pinion meshing with the annular gear ring (301). The limit block (302) is fixed on the piston telescopic device (303); one end of the linear guide rod (306) is connected to the lower end of the limit block (302) and is installed and matched with the piston telescopic device (303) for guidance; the posture adjustment mechanism base plate (308) is fixedly connected to the piston telescopic device (303); the gear rack module (315) is fixed inside the limit block (302); one end of the third drive motor (305) is connected to the pinion of the gear rack module (315); the guide rail (316) is fixed on the gear rack module (315); the guide slider (317) is fixed on the limit block (302) and is installed and matched with the guide rail (316); One end of the steel cable clamping mechanism (311) is mounted on the gear rack module (315), one end of the flexible steel cable (318) is mounted on the steel cable clamping mechanism (311), one end of the bottom plate support ear (319) is connected and fixed to the ring support structure connector (304), and the other end is connected to the flexible steel cable (318).

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