Three-degree-of-freedom connection device and transfer AGV

Abstract

The utility model provides a three-degree-of-freedom connection device and a transfer AGV (automatic guided vehicle), relates to the technical field of transfer equipment, and aims to solve the problem that the navigation positioning precision of the conventional AGV cannot meet the connection requirement of an aero-engine. Comprising a displacement adjusting platform, an angle adjusting platform, a connection tool and a tool ring, and the tool ring is used for being arranged on a tail nozzle of the aero-engine in a sleeving mode; the angle adjusting platform is installed on the displacement adjusting platform, and the displacement adjusting platform is configured to drive the angle adjusting platform to move in the first horizontal direction and the second horizontal direction; the connection tool is installed on the angle adjusting platform, and the angle adjusting platform is configured to drive the connection tool to rotate around the vertical axis. The connection tool comprises a first supporting assembly and a second supporting assembly which are arranged at intervals in the axial direction of the aero-engine, the first supporting assembly is used for being matched with a force bearing ring of the aero-engine in a supporting mode, and the second supporting assembly is used for being matched with a tool ring in a supporting mode. The connecting device meets the connecting requirement of the aero-engine.

Description

Technical Field

[0001] This utility model relates to the field of transfer equipment technology, specifically to a three-degree-of-freedom connecting device and a transfer AGV. Background Technology

[0002] The assembly process of aero-engines is generally divided into two stages: transfer assembly and final assembly. Transfer assembly generally refers to the main assembly of the aero-engine, while final assembly is the assembly of various pipelines and accessories. With the acceleration of intelligent manufacturing of aero-engines, the "pulse assembly" production mode is being used more and more widely. That is, fixed assembly content is completed at each "station", and the aero-engine is transferred in an orderly manner between all assembly "stations" to complete the entire assembly process.

[0003] Typically, the assembly of aero engines is completed on a multi-degree-of-freedom assembly platform, after which they are transported to the final assembly line via AGVs (Automated Guided Vehicles). The transfer of the aero engine from the multi-degree-of-freedom platform to the AGV is the connection process. Currently, the navigation and positioning accuracy of AGVs cannot meet the connection requirements of aero engines. Utility Model Content

[0004] The first objective of this invention is to provide a three-degree-of-freedom docking device to solve the technical problem that the navigation and positioning accuracy of existing AGVs cannot meet the docking requirements of aircraft engines.

[0005] The three-degree-of-freedom docking device provided by this utility model includes a displacement adjustment platform, an angle adjustment platform, a docking fixture, and a fixture ring. The fixture ring is used to fit onto the exhaust nozzle of an aero-engine. The angle adjustment platform is mounted on the displacement adjustment platform and configured to drive the angle adjustment platform to move along a first horizontal direction and a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction. The docking fixture is mounted on the angle adjustment platform and configured to drive the docking fixture to rotate about a vertical axis. The docking fixture includes a first support component and a second support component arranged at intervals along the axial direction of the aero-engine. The first support component is used to support and cooperate with the load-bearing ring of the aero-engine, and the second support component is used to support and cooperate with the fixture ring.

[0006] Furthermore, the angle adjustment platform includes a rotating support, a rotating drive mechanism, and a support plate, wherein the rotating support is fixedly disposed at the output end of the displacement adjustment platform; the support plate is rotatably mounted on the rotating support about a vertical axis; the rotating drive mechanism is configured to drive the support plate to rotate; and the connecting fixture is mounted on the support plate.

[0007] Furthermore, the rotary drive mechanism includes a drive gear and an external gear ring. The drive gear is rotatably mounted on the support plate, and the external gear ring is formed on the outer peripheral surface of the rotary support. The external gear ring meshes with the drive gear for transmission.

[0008] Furthermore, the connecting fixture also includes a support frame, which is fixedly installed on the support plate; the first support component is slidably installed on the support frame, and the sliding direction of the first support component is along the axial direction of the aero-engine; the second support component is vertically and flexibly installed on the support frame.

[0009] Furthermore, the first support assembly includes a sliding plate, an arc-shaped support base, and a first force sensor, wherein the sliding plate is slidably connected to the support frame; the arc-shaped support base is located above the sliding plate; and the first force sensor is located between the arc-shaped support base and the sliding plate, for detecting the support reaction force received by the arc-shaped support base.

[0010] Furthermore, the second support assembly includes a support groove, a lifting drive mechanism, and a second force sensor, wherein the support groove, the lifting drive mechanism, and the second force sensor are installed sequentially from top to bottom on the support frame, the support groove is used to accommodate and support the tooling ring; the lifting drive mechanism is configured to drive the support groove to lift; and the second force sensor is used to detect the support reaction force received by the support groove.

[0011] Furthermore, the second support assembly further includes a telescopic guide mechanism connected between the support groove and the support frame for guiding the support groove to move up and down; and / or, the second support assembly further includes a clamping mechanism comprising a first handwheel, a first clamping block, a second handwheel, and a second clamping block. The support groove includes a first groove wall and a second groove wall that are opposite to and spaced apart along the axial direction of the aero-engine. The first clamping block and the second clamping block are both located inside the support groove and are respectively disposed on both sides of the tooling ring. The first handwheel passes through the first groove wall and is operatively connected to the first clamping block. The first handwheel is used to drive the first clamping block closer to or away from the tooling ring. The second handwheel passes through the second groove wall and is operatively connected to the second clamping block. The second handwheel is used to drive the second clamping block closer to or away from the tooling ring.

[0012] Furthermore, the displacement adjustment platform includes a base, a first movable seat, a first drive assembly, a second movable seat, and a second drive assembly, wherein the base is used to connect to the AGV body; the first movable seat is movably disposed on the base along a first horizontal direction, and the first drive assembly is configured to drive the first movable seat to move; the second movable seat is movably disposed on the first movable seat along a second horizontal direction, and the second drive assembly is configured to drive the second movable seat to move; the angle adjustment platform is mounted on the second movable seat.

[0013] Furthermore, the displacement adjustment platform also includes a first proximity switch and a second proximity switch. The base has a quadrilateral frame structure, and the first proximity switch is installed on a set of opposite sides of the base. The two first proximity switches are respectively located on both sides of the first movable seat along the first horizontal direction. The first movable seat has a quadrilateral frame structure, and the second proximity switch is installed on a set of opposite sides of the first movable seat. The two second proximity switches are respectively located on both sides of the second movable seat along the second horizontal direction.

[0014] The beneficial effects of this three-degree-of-freedom docking device are:

[0015] This paper illustrates the use of a three-degree-of-freedom (DOF) docking device, primarily composed of a displacement adjustment platform, an angle adjustment platform, docking fixtures, and a fixture ring, in a transfer AGV. When transferring an aero-engine from a multi-DOF platform to the transfer AGV, the AGV's navigation function is first utilized to move it to the aero-engine's location. Then, the displacement adjustment platform adjusts the horizontal position of the angle adjustment platform. During this process, the docking fixture moves synchronously with the angle adjustment platform. Simultaneously, the angle adjustment platform adjusts the angle of the docking fixture to ensure accurate alignment between the docking fixture and the aero-engine.

[0016] It is evident that the aforementioned three-degree-of-freedom docking device can not only adjust the horizontal position of the docking fixture, but also adjust the rotation angle of the docking fixture around the vertical axis, thereby improving the docking accuracy of the aero-engine, meeting the docking requirements of the aero-engine, and effectively solving the technical problems existing in the prior art.

[0017] In addition, by setting a first support component and a second support component arranged at intervals along the horizontal direction in the docking fixture, the load-bearing ring of the aero-engine can be supported by the first support component during docking, while the fixture ring fitted onto the tail nozzle of the aero-engine can be supported by the second support component. This achieves the distribution of the weight of the aero-engine, resulting in better stress on the docking device. At the same time, it also increases the docking fault tolerance rate and improves the docking efficiency.

[0018] The second objective of this invention is to provide a transfer AGV to solve the technical problem that the navigation and positioning accuracy of existing AGVs cannot meet the requirements for connecting aircraft engines.

[0019] The transfer AGV provided by this utility model includes an AGV body and the aforementioned three-degree-of-freedom docking device, wherein the displacement adjustment platform is installed on the AGV body.

[0020] The beneficial effects of this utility model of transfer AGV are:

[0021] By setting the aforementioned three-degree-of-freedom connecting device in the transfer AGV, the transfer AGV accordingly possesses all the advantages of the aforementioned three-degree-of-freedom connecting device, which will not be elaborated here. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 A schematic diagram of the structure of the three-degree-of-freedom docking device provided in this embodiment of the utility model after completing the docking with the aero-engine;

[0024] Figure 2 A schematic diagram of the structure of the three-degree-of-freedom docking device provided in the embodiment of this utility model;

[0025] Figure 3 One of the schematic diagrams showing the installation of the angle adjustment platform of the three-degree-of-freedom docking device provided in the embodiment of this utility model on the displacement adjustment platform;

[0026] Figure 4 The second schematic diagram of the installation of the angle adjustment platform of the three-degree-of-freedom docking device provided in the embodiment of this utility model on the displacement adjustment platform;

[0027] Figure 5 One of the enlarged partial structural views of the three-degree-of-freedom docking device provided in the embodiment of this utility model;

[0028] Figure 6 A second enlarged view of a partial structure of the three-degree-of-freedom docking device provided in an embodiment of this utility model;

[0029] Figure 7 A schematic diagram of the structure of the second handwheel of the three-degree-of-freedom connecting device provided in this embodiment of the utility model.

[0030] Explanation of reference numerals in the attached figures:

[0031] 010 - Aircraft engine; 011 - Load-bearing ring;

[0032] 100 - Displacement adjustment platform; 200 - Angle adjustment platform; 300 - Connecting fixture; 400 - Fixture ring;

[0033] 110 - Base; 111 - First sidewall; 112 - Second sidewall; 113 - Second strip hole; 114 - First guide rail; 120 - First movable seat; 121 - First slider; 122 - Second guide rail; 130 - First drive assembly; 131 - First lead screw; 132 - First nut; 133 - First translation handwheel; 140 - Second movable seat; 141 - First strip hole; 142 - Second slider; 150 - Second drive assembly; 151 - Second lead screw; 152 - Second nut; 153 - Right angle reducer; 154 - Second translation handwheel; 160 - First proximity switch; 170 - Second proximity switch;

[0034] 210-Rotating support; 211-Matching part; 220-Rotating drive mechanism; 230-Support plate; 240-Rotating proximity switch;

[0035] 221 - Drive gear; 222 - External gear ring;

[0036] 310 - First support component; 320 - Second support component; 330 - Support frame;

[0037] 311-Sliding plate; 312-Arc-shaped support base; 313-First force sensor;

[0038] 321-Support groove; 322-Lifting drive mechanism; 3221-Lifting handwheel; 3222-First lifting sleeve; 3223-Second lifting sleeve; 323-Second force sensor; 324-Telescopic guide mechanism; 325-Clamping mechanism; 3251-First handwheel; 3253-Second handwheel; 32531-Rotating wheel; 32532-Transmission screw; 32533-Annular groove; 3254-Second clamping block; 3255-Fixing nut; 3256-Limit bolt. Detailed Implementation

[0039] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0040] Figure 1 This is a schematic diagram of the structure of the three-degree-of-freedom docking device provided in this embodiment after it has completed docking with the 010 aero-engine. Figure 2This is a schematic diagram of the three-degree-of-freedom docking device provided in this embodiment. Figure 1 and Figure 2 As shown, this embodiment provides a three-degree-of-freedom docking device, including a displacement adjustment platform 100, an angle adjustment platform 200, a docking fixture 300, and a fixture ring 400. Specifically, the fixture ring 400 is used to fit onto the tail nozzle of the aero-engine 010; the angle adjustment platform 200 is installed on the displacement adjustment platform 100, and the displacement adjustment platform 100 is configured to drive the angle adjustment platform 200 to move along a first horizontal direction and along a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction; the docking fixture 300 is installed on the angle adjustment platform 200, and the angle adjustment platform 200 is configured to drive the docking fixture 300 to rotate around a vertical axis; the docking fixture 300 includes a first support component 310 and a second support component 320 arranged at intervals along the axial direction of the aero-engine 010, wherein the first support component 310 is used to support and cooperate with the load-bearing ring 011 of the aero-engine 010, and the second support component 320 is used to support and cooperate with the fixture ring 400.

[0041] The following explanation uses a three-degree-of-freedom (DOF) docking device, mainly composed of a displacement adjustment platform 100, an angle adjustment platform 200, a docking fixture 300, and a fixture ring 400, as an example of its use in a transfer AGV. When transferring the aircraft engine 010 from a multi-DOF platform to the transfer AGV, the AGV's navigation function is first used to move it to the location of the aircraft engine 010. Then, the displacement adjustment platform 100 adjusts the horizontal position of the angle adjustment platform 200. During this process, the docking fixture 300 moves synchronously with the angle adjustment platform 200. Simultaneously, the angle adjustment platform 200 adjusts the angle of the docking fixture 300 to ensure accurate alignment between the docking fixture 300 and the aircraft engine 010.

[0042] It can be seen that the above-mentioned three-degree-of-freedom docking device can not only adjust the horizontal position of the docking fixture 300, but also adjust the rotation angle of the docking fixture 300 around the vertical axis, thereby improving the docking accuracy of the aero-engine 010, meeting the docking requirements of the aero-engine 010, and effectively solving the technical problems existing in the prior art.

[0043] In addition, by setting a first support component 310 and a second support component 320 arranged at intervals in the horizontal direction in the connecting tooling 300, the load-bearing ring 011 of the aero-engine 010 can be supported on the first support component 310 during the connecting process, while the tooling ring 400 fitted onto the tail nozzle of the aero-engine 010 can be supported on the second support component 320. This achieves the distribution of the weight of the aero-engine 010, making the connecting device more stress-bearing, and at the same time, it also makes the connecting fault tolerance rate higher and the connecting efficiency improved.

[0044] Figure 3 This is one of the installation diagrams of the angle adjustment platform 200 of the three-degree-of-freedom docking device provided in this embodiment on the displacement adjustment platform 100; Figure 4 This is the second schematic diagram showing the installation of the angle adjustment platform 200 of the three-degree-of-freedom docking device provided in this embodiment on the displacement adjustment platform 100. (See diagram below.) Figure 3 and Figure 4 As shown, in this embodiment, specifically, the angle adjustment platform 200 includes a rotating support 210, a rotating drive mechanism 220, and a support plate 230. The rotating support 210 is fixedly disposed at the output end of the displacement adjustment platform 100; the support plate 230 is rotatably mounted on the rotating support 210 about a vertical axis; the rotating drive mechanism 220 is configured to drive the support plate 230 to rotate; and the connecting fixture 300 is mounted on the support plate 230.

[0045] When it is necessary to adjust the angle of the docking fixture 300, the rotary drive mechanism 220 can be used to drive the support plate 230 to rotate. During the rotation of the support plate 230, the docking fixture 300 installed on the support plate 230 moves synchronously to achieve the rotation of the docking fixture 300 around the vertical axis, thereby achieving the purpose of adjusting the angle of the docking fixture 300.

[0046] Please continue to refer to Figure 3 and Figure 4 In this embodiment, the rotary drive mechanism 220 may include a drive gear 221 and an external gear ring 222. The drive gear 221 is rotatably mounted on the support plate 230, and the external gear ring 222 is formed on the outer peripheral surface of the rotary support 210. The external gear ring 222 meshes with the drive gear 221 for transmission.

[0047] When it is necessary to drive the support plate 230 to rotate, the drive gear 221 can be rotated. During the rotation of the drive gear 221, under its meshing action with the external gear ring 222, since the rotating support 210 is fixed to the output end of the displacement adjustment platform 100, the rotating support 210 remains stationary, while the support plate 230 rotates relative to the rotating support 210.

[0048] This method of using the meshing transmission between the drive gear 221 and the external gear ring 222 to drive the rotation of the support plate 230 is not only simple in structure, but also has high precision, which can improve the connection accuracy of the aircraft engine 010.

[0049] Please continue to refer to Figure 3 In this embodiment, a pair of spaced-apart rotary proximity switches 240 are fixedly mounted on the support plate 230, and the rotary support 210 is provided with a mating part 211 that extends between the two rotary proximity switches 240. This arrangement allows for the limitation of the rotation range of the support plate 230 by utilizing the mating parts 211 at both ends to engage with the two rotary proximity switches 240 respectively.

[0050] Please continue to refer to Figure 3 and Figure 4 In this embodiment, the rotary drive mechanism 220 may further include a rotary handwheel and a transmission rod. The rotary handwheel drives the transmission rod to rotate, thereby driving the drive gear 221. Specifically, the rotary handwheel can be configured to be connected to the transmission rod via a bevel gear, and the transmission rod can be further configured to be coaxially fixed to the drive gear 221, thereby realizing the power transmission from the rotary handwheel to the drive gear 221.

[0051] Please continue to refer to Figure 2 In this embodiment, the connecting tool 300 may further include a support frame 330. Specifically, the support frame 330 is fixedly installed on the support plate 230; the first support component 310 is slidably installed on the support frame 330, and the sliding direction of the first support component 310 is along the axial direction of the aero-engine 010; the second support component 320 is vertically and elliptically installed on the support frame 330.

[0052] By configuring the first support component 310 to slide with the support frame 330, the distance between the first support component 310 and the second support component 320 can be adjusted to meet the docking requirements of different specifications of aero-engine 010; by configuring the second support component 320 to be height-adjustable relative to the support frame 330, the height of the second support component 320 can be adjusted according to the size of the tooling ring 400 to ensure smooth docking of the aero-engine 010.

[0053] Figure 5 This is one of the enlarged partial structural views of the three-degree-of-freedom docking device provided in this embodiment. (See attached image.) Figure 5As shown, in this embodiment, specifically, the first support component 310 may include a sliding plate 311, an arc-shaped support base 312, and a first force sensor 313, wherein the sliding plate 311 is slidably connected to the support frame 330; the arc-shaped support base 312 is located above the sliding plate 311; and the first force sensor 313 is located between the arc-shaped support base 312 and the sliding plate 311, for detecting the support reaction force received by the arc-shaped support base 312.

[0054] When it is necessary to adjust the distance between the first support assembly 310 and the second support assembly 320, the sliding plate 311 can slide on the support frame 330 to change the position of the first support assembly 310. During the sliding of the sliding plate 311, the arc-shaped support base 312 disposed on the sliding plate 311 moves synchronously with the first force sensor 313, thereby meeting the connection requirements at this distance. During connection with the aero-engine 010, the first force sensor 313 detects the support reaction force on the arc-shaped support base 312 in real time.

[0055] Figure 6 This is the second enlarged view of a partial structure of the three-degree-of-freedom docking device provided in this embodiment. (See attached image.) Figure 6 As shown, in this embodiment, the second support component 320 may include a support groove 321, a lifting drive mechanism 322, and a second force sensor 323. The support groove 321, the lifting drive mechanism 322, and the second force sensor 323 are installed sequentially from top to bottom on the support frame 330. The support groove 321 is used to accommodate and support the tooling ring 400. The lifting drive mechanism 322 is configured to drive the support groove 321 to rise and fall. The second force sensor 323 is used to detect the support reaction force received by the support groove 321.

[0056] When connecting the aircraft engine 010, the height of the support groove 321 can be adjusted using the lifting drive mechanism 322 so that the tooling ring 400 fitted onto the tail nozzle of the aircraft engine 010 can be supported in the support groove 321. During this process, the second force sensor 323 detects the supporting reaction force on the support groove 321 in real time.

[0057] In this embodiment, the sum of the gravity measured by the first force sensor 313 and the second force sensor 323 is the weight of the aircraft engine 010. Using the first force sensor 313 and the second force sensor 323, it can be determined whether the weight of the aircraft engine 010 is fully supported by the first support assembly 310 and the second support assembly 320, thereby determining whether the aircraft engine 010 has been completely transferred to the connecting fixture 300. After the aircraft engine 010 has been completely transferred to the connecting fixture 300, the AGV body of the transfer AGV receives a transfer command to transfer the aforementioned aircraft engine 010.

[0058] Please continue to refer to Figure 6 In this embodiment, the second support component 320 may further include a telescopic guide mechanism 324. Specifically, the telescopic guide mechanism 324 is connected between the support groove 321 and the support frame 330 and is used to guide the support groove 321 to rise and fall.

[0059] The aforementioned telescopic guide mechanism 324 can guide the support groove 321 during its lifting and lowering process, thereby ensuring the smooth lifting and lowering of the support groove 321.

[0060] Please continue to refer to Figure 6 In this embodiment, the lifting drive mechanism 322 may include a lifting screw (not shown in the figure), a lifting handwheel 3221, a first lifting sleeve 3222, and a second lifting sleeve 3223. The lifting screw has two threads with opposite directions of rotation. One thread is helically connected to the first lifting sleeve 3222, and the other thread is helically connected to the second lifting sleeve 3223. The lifting handwheel 3221 is fixedly fitted to the lifting screw and is used to drive the lifting screw to rotate. The upper end of the first lifting sleeve 3222 is fixedly connected to the support groove 321, and the lower end of the second lifting sleeve 3223 is fixedly connected to the second force sensor 323.

[0061] When it is necessary to adjust the height of the support groove 321, the lifting handwheel 3221 can be rotated to drive the lifting screw to rotate. During the rotation of the lifting screw, under the guidance of the telescopic guide mechanism 324, the helical transmission between the first lifting sleeve 3222 and the second lifting sleeve 3223 and the lifting screw will be converted into the lifting motion of the support groove 321 relative to the support frame 330, thereby realizing the adjustment of the height of the support groove 321.

[0062] Please continue to refer to Figure 6 In this embodiment, the second support assembly 320 may further include a clamping mechanism 325. Specifically, the clamping mechanism 325 includes a first handwheel 3251, a first clamping block (covered in the figure), a second handwheel 3253, and a second clamping block 3254. The support groove 321 includes a first groove wall and a second groove wall that are opposite to and spaced apart along the axial direction of the aero-engine 010. The first clamping block and the second clamping block 3254 are both located inside the support groove 321 and are respectively disposed on both sides of the tooling ring 400. The first handwheel 3251 passes through the first groove wall and is driven to the first clamping block. The first handwheel 3251 is used to drive the first clamping block closer to or away from the tooling ring 400. The second handwheel 3253 passes through the second groove wall and is driven to the second clamping block 3254. The second handwheel 3253 is used to drive the second clamping block 3254 closer to or away from the tooling ring 400.

[0063] When the tooling ring 400, fitted onto the exhaust nozzle of the aero-engine 010, is supported between the first clamping block and the second clamping block 3254, the first handwheel 3251 can be used to drive the first clamping block closer to the tooling ring 400, and the second handwheel 3253 can be used to drive the second clamping block 3254 closer to the tooling ring 400, thereby clamping the tooling ring 400 by the first clamping block and the second clamping block 3254. This arrangement can fix the tooling ring 400 along the axial direction of the aero-engine 010, preventing the tooling ring 400 from moving along the axial direction of the aero-engine 010.

[0064] Figure 7 This is a schematic diagram of the second handwheel 3253 of the three-degree-of-freedom connecting device provided in this embodiment. Please continue to refer to... Figure 6 and combined Figure 7 The following description uses the driving of the second handwheel 3253 on the second clamping block 3254 as an example. In this embodiment, the second handwheel 3253 may include a rotating wheel 32531 and a transmission screw 32532 fixedly connected to the rotating wheel 32531. The transmission screw 32532 has an annular groove 32533. A fixing nut 3255 is fixedly provided on the second groove wall of the support groove 321, and the second groove wall also has a clearance hole opposite to the fixing nut 3255. The transmission screw 32532 of the second handwheel 3253 is spirally connected to the fixing nut 3255 and is connected to the second groove wall. The clearance hole extends into the support groove 321; the clamping mechanism 325 also includes two limiting bolts 3256. Specifically, the second clamping block 3254 is loosely fitted onto the transmission screw 32532, and the second clamping block 3254 has two limiting holes extending in the vertical direction. The two limiting bolts 3256 are respectively inserted into the two limiting holes. At this time, the two limiting bolts 3256 are respectively located on both sides of the transmission screw 32532 and are engaged in the annular groove 32533 of the transmission screw 32532.

[0065] When the second handwheel 3253 is rotated, the transmission screw 32532 moves closer to or further away from the interior of the support groove 321 due to the helical engagement between the transmission screw 32532 and the fixing nut 3255. During this process, the rotational motion of the transmission screw 32532 is converted into the movement of the second clamping block 3254 under the mutual engagement of the limiting bolt 3256 and the annular groove 32533, thereby enabling the second clamping block 3254 to move closer to or further away from the tooling ring 400. The movement of the second clamping block 3254 closer to or further away from the tooling ring 400 is achieved by rotating the transmission screw 32532 in two directions.

[0066] It should be noted that in this embodiment, the structure and principle of using the first handwheel 3251 to drive the first clamping block to move are the same as the structure and principle of using the second handwheel 3253 to drive the second clamping block 3254 to move described above, so they will not be described in detail here.

[0067] Please continue to refer to Figure 3 In this embodiment, the displacement adjustment platform 100 may include a base 110, a first movable seat 120, a first drive assembly 130, a second movable seat 140, and a second drive assembly 150. The base 110 is used to connect with the AGV body. The first movable seat 120 is movably disposed on the base 110 along a first horizontal direction, and the first drive assembly 130 is configured to drive the first movable seat 120 to move. The second movable seat 140 is movably disposed on the first movable seat 120 along a second horizontal direction, and the second drive assembly 150 is configured to drive the second movable seat 140 to move. The angle adjustment platform 200 is mounted on the second movable seat 140.

[0068] When the horizontal position of the docking fixture 300 needs to be adjusted, the first drive assembly 130 can be used to drive the first movable seat 120 to move. During this process, the second movable seat 140 moves along the first horizontal direction along with the first movable seat 120. At the same time, the second drive assembly 150 can be used to drive the second movable seat 140 to move, so that the second movable seat 140 generates displacement along the second horizontal direction. Thus, the angle adjustment platform 200 set on the second movable seat 140 can simultaneously have displacement adjustment along the first horizontal direction and the second horizontal direction, thereby achieving the purpose of adjusting the horizontal position of the docking fixture 300 to ensure its docking accuracy with the aero-engine 010.

[0069] This configuration of the displacement adjustment platform 100 allows for precise adjustment of the horizontal position of the docking fixture 300 by having the second moving seat 140 output displacement along the first and second horizontal directions, with simple control logic.

[0070] In this embodiment, the "first horizontal direction" can be determined by... Figure 3 The arrow X in the diagram represents the "second horizontal direction," which can be represented by... Figure 3 The arrow Y in the diagram represents this.

[0071] Please continue to refer to Figure 3 In this embodiment, the base 110 has a frame structure and a first receiving groove with a top opening. The first movable seat 120 is fitted into the first receiving groove. The base 110 has a first sidewall 111 and a second sidewall 112 connected at right angles. The first drive assembly 130 includes a first lead screw 131 and a first nut 132. The first lead screw 131 is rotatably disposed on the first sidewall 111 and extends along a first horizontal direction. The first nut 132 is fixedly connected to the first movable seat 120 and is screwed onto the first lead screw 131. The first movable seat 120 is slidably mounted on the base 110 along the first horizontal direction.

[0072] This configuration not only enables the first movable seat 120 and the second movable seat 140 mounted thereon to be driven along the first horizontal direction, but also enables the nested installation of the first movable seat 120 and the base 110, which helps to reduce the space occupied in the vertical direction.

[0073] Please continue to refer to Figure 3 In this embodiment, the base 110 is fixedly provided with a first guide rail 114 extending along the first horizontal direction, and the first movable seat 120 is provided with a first slider 121 that slides with the first guide rail 114. By utilizing the sliding engagement between the first slider 121 and the first guide rail 114, the sliding connection between the first movable seat 120 and the base 110 along the first horizontal direction can be realized.

[0074] Please continue to refer to Figure 3 In this embodiment, the first movable seat 120 also has a frame structure and a second receiving groove with a top opening. The second movable seat 140 is fitted into the second receiving groove. The second drive assembly 150 includes a second lead screw 151 and a second nut 152. The second lead screw 151 is rotatably disposed on the first movable seat 120 and extends along the second horizontal direction. The second nut 152 is fixedly connected to the second movable seat 140 and is screwed onto the second lead screw 151. The second movable seat 140 is slidably mounted on the first movable seat 120 along the second horizontal direction.

[0075] This configuration not only enables the second movable seat 140 and its angle adjustment platform 200 to be driven along the second horizontal direction, but also enables the nested installation of the second movable seat 140 and the first movable seat 120, which helps to reduce the space occupied in the vertical direction.

[0076] Please continue to refer to Figure 4 In this embodiment, the first movable seat 120 is fixedly provided with a second guide rail 122 extending along the second horizontal direction, and the second movable seat 140 is provided with a second slider 142 that slides with the second guide rail 122. By utilizing the sliding engagement between the second slider 142 and the second guide rail 122, the second movable seat 140 and the first movable seat 120 can be slidably connected along the second horizontal direction.

[0077] Please continue to refer to Figure 3 In this embodiment, the second movable seat 140 has a first strip hole 141 through which the first lead screw 131 passes; the first drive assembly 130 may also include a first translation handwheel 133, which is coaxially fixed to the first lead screw 131.

[0078] Please continue to refer to Figure 3In this embodiment, the second sidewall 112 is provided with a second strip hole 113 through which the second lead screw 151 passes, and the second strip hole 113 extends along the first horizontal direction; the second drive assembly 150 may also include a right angle reducer 153 and a second translation handwheel 154, wherein the second translation handwheel 154 is connected to the input end of the right angle reducer 153, and the second lead screw 151 is connected to the output end of the right angle reducer 153.

[0079] Please continue to refer to Figure 3 In this embodiment, the displacement adjustment platform 100 may further include a first proximity switch 160 and a second proximity switch 170. The first proximity switch 160 is installed on a set of opposite sides of the base 110, and the two first proximity switches 160 are respectively located on both sides of the first moving seat 120 along the first horizontal direction. The second proximity switch 170 is installed on a set of opposite sides of the first moving seat 120, and the two second proximity switches 170 are respectively located on both sides of the second moving seat 140 along the second horizontal direction.

[0080] The aforementioned first proximity switch 160 can limit the movement of the first movable seat 120 along the first horizontal direction, preventing the first movable seat 120 from moving excessively along the first horizontal direction; the aforementioned second proximity switch 170 can limit the movement of the second movable seat 140 along the second horizontal direction, preventing the second movable seat 140 from moving excessively along the second horizontal direction.

[0081] In addition, this embodiment also provides a transfer AGV, including an AGV body and the above-mentioned three-degree-of-freedom docking device, wherein the displacement adjustment platform 100 is installed on the AGV body.

[0082] By setting the aforementioned three-degree-of-freedom connecting device in the transfer AGV, the transfer AGV accordingly possesses all the advantages of the aforementioned three-degree-of-freedom connecting device, which will not be elaborated here.

[0083] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0084] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] In the above embodiments, descriptions of directions such as "up", "down", and "side" are based on the accompanying drawings.

[0086] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-degree-of-freedom connecting device, characterized in that, The system includes a displacement adjustment platform (100), an angle adjustment platform (200), a connecting fixture (300), and a fixture ring (400), wherein the fixture ring (400) is used to fit onto the exhaust nozzle of an aero-engine (010); the angle adjustment platform (200) is mounted on the displacement adjustment platform (100), and the displacement adjustment platform (100) is configured to drive the angle adjustment platform (200) to move along a first horizontal direction and along a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction; the connecting fixture (300)... 0) Installed on the angle adjustment platform (200), the angle adjustment platform (200) is configured to drive the docking fixture (300) to rotate about a vertical axis; the docking fixture (300) includes a first support component (310) and a second support component (320) arranged at intervals along the axial direction of the aero-engine (010), the first support component (310) is used to support and cooperate with the load-bearing ring (011) of the aero-engine (010), and the second support component (320) is used to support and cooperate with the fixture ring (400).

2. The three-degree-of-freedom connection device according to claim 1, characterized in that, The angle adjustment platform (200) includes a rotating support (210), a rotating drive mechanism (220), and a support plate (230). The rotating support (210) is fixedly disposed at the output end of the displacement adjustment platform (100). The support plate (230) is rotatably mounted on the rotating support (210) about a vertical axis. The rotating drive mechanism (220) is configured to drive the support plate (230) to rotate. The connecting fixture (300) is mounted on the support plate (230).

3. The three-degree-of-freedom connection device according to claim 2, characterized in that, The rotary drive mechanism (220) includes a drive gear (221) and an external gear ring (222). The drive gear (221) is rotatably mounted on the support plate (230), and the external gear ring (222) is formed on the outer peripheral surface of the rotary support (210). The external gear ring (222) meshes with the drive gear (221) for transmission.

4. The three-degree-of-freedom connecting device according to claim 3, characterized in that, The connecting fixture (300) further includes a support frame (330), which is fixedly installed on the support plate (230); the first support component (310) is slidably installed on the support frame (330), and the sliding direction of the first support component (310) is along the axial direction of the aero-engine (010); the second support component (320) is vertically and elliptically installed on the support frame (330).

5. The three-degree-of-freedom connecting device according to claim 4, characterized in that, The first support assembly (310) includes a sliding plate (311), an arc-shaped support base (312), and a first force sensor (313), wherein the sliding plate (311) is slidably connected to the support frame (330); the arc-shaped support base (312) is located above the sliding plate (311); and the first force sensor (313) is located between the arc-shaped support base (312) and the sliding plate (311) for detecting the support reaction force on the arc-shaped support base (312).

6. The three-degree-of-freedom connecting device according to claim 4, characterized in that, The second support assembly (320) includes a support groove (321), a lifting drive mechanism (322), and a second force sensor (323). The support groove (321), the lifting drive mechanism (322), and the second force sensor (323) are installed sequentially from top to bottom on the support frame (330). The support groove (321) is used to accommodate and support the tooling ring (400). The lifting drive mechanism (322) is configured to drive the support groove (321) to lift. The second force sensor (323) is used to detect the support reaction force on the support groove (321).

7. The three-degree-of-freedom connecting device according to claim 6, characterized in that, The second support assembly (320) further includes a telescopic guide mechanism (324), which is connected between the support groove (321) and the support frame (330) for guiding the support groove (321) to rise and fall; and / or, the second support assembly (320) further includes a clamping mechanism (325), which includes a first handwheel (3251), a first clamping block, a second handwheel (3253), and a second clamping block (3254), and the support groove (321) includes a first groove wall and a second groove wall that are opposite to and spaced apart along the axial direction of the aero-engine (010). The first clamping block and the second clamping block (3254) are both located inside the support groove (321) and are respectively disposed on both sides of the tooling ring (400). The first handwheel (3251) passes through the first groove wall and is connected to the first clamping block in a driving connection. The first handwheel (3251) is used to drive the first clamping block closer to or away from the tooling ring (400). The second handwheel (3253) passes through the second groove wall and is connected to the second clamping block (3254) in a driving connection. The second handwheel (3253) is used to drive the second clamping block (3254) closer to or away from the tooling ring (400).

8. The three-degree-of-freedom connection device according to claim 1, characterized in that, The displacement adjustment platform (100) includes a base (110), a first movable seat (120), a first drive assembly (130), a second movable seat (140), and a second drive assembly (150). The base (110) is used to connect to the AGV body. The first movable seat (120) is movably disposed on the base (110) along a first horizontal direction, and the first drive assembly (130) is configured to drive the first movable seat (120) to move. The second movable seat (140) is movably disposed on the first movable seat (120) along a second horizontal direction, and the second drive assembly (150) is configured to drive the second movable seat (140) to move. The angle adjustment platform (200) is mounted on the second movable seat (140).

9. The three-degree-of-freedom connecting device according to claim 8, characterized in that, The displacement adjustment platform (100) further includes a first proximity switch (160) and a second proximity switch (170). The base (110) has a quadrilateral frame structure. The first proximity switch (160) is installed on a set of opposite sides of the base (110). The two first proximity switches (160) are respectively located on both sides of the first moving seat (120) along the first horizontal direction. The first moving seat (120) has a quadrilateral frame structure. The second proximity switch (170) is installed on a set of opposite sides of the first moving seat (120). The two second proximity switches (170) are respectively located on both sides of the second moving seat (140) along the second horizontal direction.

10. A transfer AGV, characterized in that, It includes an AGV body and a three-degree-of-freedom docking device as described in any one of claims 1-9, wherein the displacement adjustment platform (100) is mounted on the AGV body.

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