An omnidirectional mobile multi-degree-of-freedom docking platform

Abstract

This utility model discloses an omnidirectional, multi-degree-of-freedom docking platform, including an omnidirectionally movable chassis (1). The chassis (1) is equipped with a two-stage lifting mechanism, which includes a scissor arm assembly (2). The scissor arm assembly (2) is the first-stage lifting mechanism, on which an attitude adjustment platform (3) is mounted. The attitude adjustment platform (3) is equipped with a lateral movement assembly, a longitudinal movement assembly, a rotation assembly, and a second-stage lifting mechanism. Through the two-stage lifting mechanism, the lateral movement assembly, the longitudinal movement assembly, and the rotation assembly, the docking platform achieves multi-degree-of-freedom adjustment. This utility model possesses omnidirectional movement and 6-degree-of-freedom adjustment capabilities, making it suitable for docking objects in various situations and greatly improving the docking efficiency of wings and fuselages.

Description

Technical Field

[0001] This utility model relates to the field of aircraft assembly technology, and in particular to an omnidirectional, multi-degree-of-freedom docking platform. Background Technology

[0002] The design of the connection between the wing and the fuselage is one of the most important aspects of aircraft structural design. This is due to the importance of these connections themselves, and also because the connecting components in the wing-fuselage connection area may also connect to other components, resulting in complex load and force transmission conditions that are difficult to analyze. Furthermore, the components and connecting elements such as lugs and bolts at the connection points are usually sensitive to fatigue.

[0003] However, most aircraft still use traditional trapezoidal screw supports for wing and fuselage docking. The wings on the wing brackets need to be manually or by tractor to be transferred to the docking position with the aircraft. Manual transfer is slow and inefficient, and the safety of tractor transfer cannot be guaranteed due to the length of the wings. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a docking platform with omnidirectional movement and 6 degrees of freedom adjustment, which is applicable to docking of objects in various situations.

[0005] This utility model is achieved using the following technical solution: an omnidirectional, multi-degree-of-freedom docking platform, comprising an omnidirectionally movable vehicle chassis, wherein a two-stage lifting mechanism is provided on the vehicle chassis, the two-stage lifting mechanism comprising a scissor arm assembly, the scissor arm assembly being the first-stage lifting mechanism, wherein an attitude adjustment platform is provided on the attitude adjustment platform, wherein a lateral movement assembly, a longitudinal movement assembly, a rotation assembly and a second-stage lifting mechanism are provided on the attitude adjustment platform, thereby achieving multi-degree-of-freedom adjustment of the docking platform through the two-stage lifting mechanism, the lateral movement assembly, the longitudinal movement assembly and the rotation assembly.

[0006] Furthermore, the vehicle chassis is equipped with multiple sets of Mecanum wheels, each with a motor. By controlling the Mecanum wheels with the motors, omnidirectional movement of the vehicle chassis can be achieved. In addition, the vehicle chassis is also equipped with an energy storage device and a hydraulic station. The energy storage device provides electrical energy to the entire multi-degree-of-freedom docking platform, and the hydraulic station is connected to the scissor arm assembly and provides power for the lifting and lowering of the scissor arm assembly. The lifting and lowering adjustment of the multi-degree-of-freedom docking platform is achieved by driving the scissor arm assembly to move through the hydraulic station.

[0007] Furthermore, the scissor arm assembly is a scissor fork structure. One side of the lower part of the scissor arm assembly is hinged to the vehicle chassis, and the other side is set on the scissor arm guide rail of the vehicle chassis. The hydraulic station can drive one side of the scissor arm assembly to slide longitudinally along the scissor arm guide rail, thereby driving the lifting and lowering of the multi-degree-of-freedom docking platform. In addition, the upper part of the scissor arm assembly is connected to the attitude adjustment platform.

[0008] Furthermore, the attitude adjustment platform includes a three-frame structure, wherein the first frame is a longitudinal traverse frame, the second frame is a pitch and roll frame, and the third frame is a replaceable slewing frame. Specifically, the bottom of the longitudinal traverse frame is connected to the scissor arm assembly, the pitch and roll frame is set on the longitudinal traverse frame, and the slewing frame is set on the pitch and roll frame.

[0009] Furthermore, a longitudinal movement assembly is provided on the longitudinal movement frame. The longitudinal movement assembly includes a longitudinal movement electric cylinder, which is connected to the ear seat. Specifically, the longitudinal movement electric cylinder is fixed on the longitudinal movement frame, and its lead screw is connected to the ear seat. The longitudinal movement of the longitudinal movement frame can be realized through the longitudinal movement electric cylinder. In addition, one end of the ear seat is connected to the longitudinal movement frame through the ear seat guide rail slider, and the other end is connected to the scissor arm assembly.

[0010] Furthermore, a second-stage lifting mechanism is provided on the longitudinal frame. The second-stage lifting mechanism includes multiple screw lifts, each of which is connected to the pitch and roll frame. The screw lifts form multiple fulcrum platforms, and each screw lift can be individually adjusted up and down, thereby enabling the adjustment of different angles of the pitch and roll frame.

[0011] Furthermore, the pitch and roll frame is provided with a lateral movement assembly, which includes a lateral movement plate and a lateral movement electric cylinder. The lead screw of the lateral movement electric cylinder is connected to the lateral movement plate. The lateral movement plate is located on the upper part of the pitch and roll frame and is connected to the pitch and roll frame through a lateral movement guide slider. The lateral movement electric cylinder can drive the lateral movement plate to perform lateral movement operations.

[0012] Furthermore, a rotary assembly is provided on the transverse plate, the rotary assembly including a rotary frame, the rotary frame being disposed on the arc-shaped guide rail of the transverse plate; in addition, the rotary assembly also includes a rotary electric cylinder, one end of the rotary electric cylinder being hinged to the transverse plate and the other end being hinged to the rotary frame, the rotary electric cylinder enabling the rotary frame to be rotated.

[0013] The beneficial effects of this utility model are as follows: This utility model can realize the adjustment of the docking platform through a two-stage lifting mechanism, a transverse component, a longitudinal component, and a rotary component. It has the functions of omnidirectional movement and 6 degrees of freedom adjustment, and can be used for docking objects in various occasions, greatly improving the docking efficiency of wings and fuselage. Furthermore, through the telescopic function of the scissor arm component, the docking platform can be folded, which facilitates the transportation of equipment and improves the safety of equipment transportation. Attached Figure Description

[0014] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the attitude adjustment platform structure;

[0017] In the diagram, 1-vehicle chassis, 2-scissor arm assembly, 3-adjustment platform, 301-scissor arm double-ear seat, 302-first spiral jack, 303-longitudinal electric cylinder, 304-longitudinal frame, 305-scissor arm single-ear seat, 306-second spiral jack, 307-pitch and roll frame, 308-lateral plate, 309-slewing frame, 310-lateral electric cylinder, 311-slewing electric cylinder. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] See Figure 1 , Figure 2 A multi-degree-of-freedom docking platform capable of omnidirectional movement includes an omnidirectionally movable vehicle chassis 1. The vehicle chassis 1 is equipped with a two-stage lifting mechanism, which includes a scissor arm assembly 2. The scissor arm assembly 2 is the first-stage lifting mechanism, on which an attitude adjustment platform 3 is mounted. The attitude adjustment platform 3 is equipped with a lateral movement assembly, a longitudinal movement assembly, a rotation assembly, and a second-stage lifting mechanism. Through the two-stage lifting mechanism, the lateral movement assembly, the longitudinal movement assembly, and the rotation assembly, the docking platform can achieve multi-degree-of-freedom adjustment.

[0022] In this embodiment, the vehicle chassis 1 includes a main body and a moving part. The main body primarily includes a frame, which is assembled from welded profiles. The moving part is mounted on the frame and is driven by four sets of Mecanum wheels. Omnidirectional movement of the docking platform can be achieved by controlling the motors of each Mecanum wheel. Furthermore, a hydraulic station is installed on the frame to provide power for the lifting and lowering of the scissor arm assembly; a battery pack is also installed to provide electrical energy for the entire platform.

[0023] It is conceivable that in some embodiments, an electronic control system can also be installed on the vehicle chassis 1, through which the adjustment of the multi-degree-of-freedom docking platform can be realized.

[0024] In this embodiment, the scissor arm assembly 2 is a scissor fork structure. One side of the lower part of the scissor arm assembly 2 is hinged to the vehicle chassis 1, and the other side is mounted on the scissor arm guide rail of the vehicle chassis 1. Power is provided by a hydraulic station, allowing the scissor arm assembly 2 to slide longitudinally along the scissor arm guide rail, thereby achieving the lifting and lowering of the docking platform. The upper part of the scissor arm assembly 2 is hinged to the attitude adjustment platform 3, specifically to the lug in the attitude adjustment platform 3.

[0025] The attitude adjustment platform 3 includes a three-frame structure, wherein the first frame is a longitudinal traverse frame 304, the second frame is a pitch and roll frame 307, and the third frame is a replaceable slewing frame 309. Specifically, the longitudinal traverse frame 304 is mounted on the scissor arm assembly 2, the pitch and roll frame 307 is mounted on the longitudinal traverse frame 304, and the slewing frame 309 is mounted on the pitch and roll frame 307.

[0026] The longitudinal frame 304 is equipped with a scissor arm double-ear seat 301 and a scissor arm single-ear seat 305. The scissor arm assembly 2 is hinged to the scissor arm double-ear seat 301 and the scissor arm single-ear seat 305 on the longitudinal frame 304, and the scissor arm double-ear seat 301 and the scissor arm single-ear seat 305 are respectively connected to the longitudinal frame 304 through ear seat guide rail sliders. Specifically, the longitudinal frame 304 is also equipped with a longitudinal movement assembly, which includes a longitudinal movement electric cylinder 303. The cylinder body of the longitudinal movement electric cylinder 303 is fixed to the longitudinal frame 304, and its lead screw end is hinged to the middle of the scissor arm double-ear seat 301. The longitudinal movement electric cylinder 303 can drive the longitudinal frame 304 to move longitudinally.

[0027] In this embodiment, the longitudinal frame 304 is further equipped with a second-stage lifting mechanism, which includes a first screw jack 302 and a second screw jack 306. There are three sets of first screw jacks 302 and one set of second screw jacks 306, forming a four-point adjustment platform. Furthermore, each set of first screw jacks 302 has a ball bearing installed at the end of its screw, with a set of Hooke's hinges installed on the upper part of the ball bearing. The second screw jack 306 has only one set of Hooke's hinges installed at the end of its screw, with the upper part of the Hooke's hinge connected to the pitch and roll frame 307. Since both the first screw jacks 302 and the second screw jack 306 can be lifted independently, multi-angle adjustment of the pitch and roll frame 307 can be achieved.

[0028] Furthermore, a lateral movement assembly is provided on the pitch and roll frame 307. The lateral movement assembly includes a lateral movement plate 308 and a lateral movement electric cylinder 310. The upper part of the pitch and roll frame 307 is connected to the lateral movement plate 308 through a lateral movement guide slider. A lateral movement electric cylinder 310 is installed between the pitch and roll frame 307 and the lateral movement plate 308. The cylinder body of the lateral movement electric cylinder 310 is hinged to the pitch and roll frame 307, and its lead screw is hinged to the lateral movement plate 308. The lateral movement electric cylinder 310 can drive the lateral movement plate 308 to perform lateral movement operations.

[0029] A rotary assembly is provided on the transverse plate 308. The rotary assembly includes a rotary frame 309, which is located on the upper part of the transverse plate 308. An arc-shaped guide rail is installed between the transverse plate 308 and the rotary frame 309, near the outer side of the transverse plate 308. To ensure stable rotation of the goods, a rotary bearing is installed in the middle of the transverse plate 308. The lower end of the rotary bearing is connected to the transverse plate 308, and the upper end is connected to the rotary frame 309. Furthermore, the rotary assembly also includes a rotary electric cylinder 311. One end of the rotary electric cylinder 311 is hinged to the transverse plate 308, and the other end is hinged to the rotary frame 309. The rotary frame 309 can be replaced according to different load types, and the load is installed on the rotary frame 309.

[0030] The working principle of this utility model is as follows:

[0031] The docking platform is powered on, and the omnidirectional movement adjustment of the vehicle chassis 1 is achieved through 4 sets of Mecanum wheels.

[0032] When load attitude adjustment is required, the following adjustments should be made:

[0033] The scissor arm assembly 2 extends and retracts, driving the upper attitude adjustment platform 3 to rise and fall; when the longitudinal electric cylinder 303 extends and retracts, the longitudinal frame 304 and the upper structure can move longitudinally; when the four sets of screw jacks (including the first screw jack 302 and the second screw jack 306) rise and fall synchronously, the load can be raised and lowered synchronously within a small range; when the four sets of screw jacks move differentially, the pitch and roll frame 307 and the upper structure can be adjusted for pitch and roll; when the transverse electric cylinder 310 extends and retracts, the transverse plate 308 and the upper structure can move laterally; when the slewing electric cylinder 311 extends and retracts, the slewing frame 309 can be slewing.

[0034] It should be noted that the terms "connection" and "setting" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "connection" or "setting" may explicitly or implicitly include one or more of that feature. Furthermore, the terms "connection" and "setting," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in a sequence other than those illustrated or described herein. Moreover, for the foregoing embodiments, for the sake of simplicity, they are all described as a series of actions; however, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Secondly, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to this application.

[0035] The above embodiments describe the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Modifications and variations made by those skilled in the art without departing from the spirit and scope of this utility model should be protected within the scope of the appended claims.

Claims

1. A multi-degree-of-freedom docking platform for omnidirectional movement, characterized in that, The system includes an omnidirectional movable vehicle chassis (1), on which a two-stage lifting mechanism is provided. The two-stage lifting mechanism includes a scissor arm assembly (2), which is the first-stage lifting mechanism. An attitude adjustment platform (3) is provided on the scissor arm assembly (2), which is equipped with a lateral movement assembly, a longitudinal movement assembly, a rotation assembly, and a second-stage lifting mechanism. Through the two-stage lifting mechanism, the lateral movement assembly, the longitudinal movement assembly, and the rotation assembly, the docking platform can be adjusted to multiple degrees of freedom.

2. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 1, characterized in that, The vehicle chassis (1) is equipped with multiple sets of Mecanum wheels, each equipped with a motor. By controlling the Mecanum wheels with the motors, the vehicle chassis (1) can move in all directions.

3. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 2, characterized in that, The vehicle chassis (1) is also equipped with an energy storage device and a hydraulic station. The energy storage device provides electrical energy for the entire multi-degree-of-freedom docking platform. The hydraulic station is connected to the scissor arm assembly (2) and provides power for the lifting and lowering of the scissor arm assembly (2).

4. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 1, characterized in that, The scissor arm assembly (2) is a scissor fork structure. One side of the lower part of the scissor arm assembly (2) is hinged to the vehicle chassis (1), and the other side is set on the scissor arm guide rail of the vehicle chassis (1). The upper part of the scissor arm assembly (2) is connected to the posture adjustment platform (3).

5. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 1, characterized in that, The attitude adjustment platform (3) includes a three-frame structure, wherein the first frame is a longitudinal translation frame (304), the second frame is a pitch and roll frame (307), and the third frame is a replaceable slewing frame (309).

6. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 5, characterized in that, The longitudinal frame (304) is provided with a longitudinal component, which includes a longitudinal electric cylinder (303). The longitudinal electric cylinder (303) is connected to the ear seat. One end of the ear seat is connected to the longitudinal frame (304) through the ear seat guide rail slider, and the other end is connected to the scissor arm assembly (2).

7. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 5, characterized in that, The longitudinal frame (304) is provided with a second-stage lifting mechanism, which includes multiple spiral lifts, all of which are connected to the pitch and roll frame (307).

8. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 5, characterized in that, The pitch and roll frame (307) is provided with a lateral movement component, which includes a lateral movement plate (308) and a lateral movement electric cylinder (310). The lead screw of the lateral movement electric cylinder (310) is connected to the lateral movement plate (308). The lateral movement plate (308) is located on the upper part of the pitch and roll frame (307) and is connected to the pitch and roll frame (307) through a lateral movement guide slider.

9. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 8, characterized in that, A rotary assembly is provided on the transverse plate (308), the rotary assembly including a rotary frame (309), the rotary frame (309) being disposed on the arc-shaped guide rail of the transverse plate (308).

10. The omnidirectional, multi-degree-of-freedom docking platform as described in claim 9, characterized in that, The rotary assembly also includes a rotary electric cylinder (311), one end of which is hinged to the transverse plate (308) and the other end is hinged to the rotary frame (309).

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