Flexible docking method for automatic grasping flexible docking device of large mass cylinder

Abstract

The present invention is a flexible docking method for a large-mass cylindrical automatic grasping flexible docking device, in which an industrial robot and its terminal are used as core actuators, and combined with a visual camera, the device can automatically obtain the spatial position and posture information of large-mass cylindrical fragile products on a bracket, automatically complete the grasping of large-mass cylindrical fragile products and the high-precision pin hole docking between the cylindrical fragile products and their outer cylinders, and at the same time introduce a force control system to ensure that the contact force is smooth and soft during the grasping and docking process to avoid product damage. The device can automatically complete the entire docking process, including posture recognition, grasping, lifting, automatic placement and pin hole flexible docking, improve the docking success rate, reduce the number of operators, reduce labor intensity, and has a high degree of flexibility. It can adapt to the docking of different types of products by replacing tooling.

Description

Technical Field

[0001] The invention relates to the technical field of automatic assembly equipment, in particular to a flexible docking method for automatically grabbing a flexible docking device for a large-mass cylinder. Background Art

[0002] With the development of intelligent manufacturing technology, automated assembly and docking technology has made rapid progress. Robot-based automated assembly technology can effectively improve the execution efficiency and quality of key processes in the assembly process, while significantly reducing labor costs and improving the workshop working environment. However, in the docking and assembly of large-mass cylindrical fragile products, there are few examples of automated equipment that introduce visual recognition and force control assembly technology. The main production method for large-mass fragile products is still manual. For the docking of large-mass cylindrical fragile products with multiple varieties, small batches, and strong rhythms, the labor intensity is high, the operator's experience and cooperation proficiency are high, the risk is high, and the efficiency is low. Summary of the invention

[0003] In response to the above problems, the present invention proposes an automated flexible docking device based on an industrial robot, a vision system and a force control system to realize automatic posture recognition, automatic grasping, automatic posture adjustment, automatic docking and force-compliant assembly of large-mass cylindrical fragile products. The device can meet the needs of automated flexible docking of cylindrical fragile products of different sizes and specifications, with high efficiency and good flexibility.

[0004] On one hand, the present application provides a large-mass cylinder automatic grasping flexible docking device, the device includes a production preparation and off-line area, a cylindrical product docking parking area, an outer cylinder docking parking area, a cylindrical fragile product assembly, an outer cylinder assembly, a grasping docking robot, and a visual camera, wherein:

[0005] The production preparation and offline area is used to provide an area for unpacking, hoisting, tooling installation, offline fastener installation, connector plugging and cable binding operations for the cylindrical vulnerable product assembly and the outer tube assembly after docking;

[0006] The cylindrical product docking parking area is used to park the cylindrical fragile product assembly to be docked;

[0007] The outer cylinder docking parking area is used to park the outer cylinder assembly to be docked;

[0008] The cylindrical fragile product assembly is a cylindrical product in a state ready for docking;

[0009] The outer cylinder assembly is in a state ready for docking with the outer cylinder;

[0010] The grabbing and docking robot is used to perform grabbing, lifting, docking and posture adjustment, and docking and feeding operations on cylindrical fragile product assemblies;

[0011] The visual camera is used to identify the visual feature marking points on the cylindrical fragile product assembly, the outer tube assembly and the grasping and docking robot, and based on this, calculate the product posture state and the docking action execution path of the grasping and docking robot.

[0012] Furthermore, the cylindrical fragile product assembly comprises a large-mass cylindrical fragile product, a cylindrical fragile product positioning and grabbing tool, and a cylindrical fragile product positioning bracket;

[0013] The cylindrical fragile product positioning bracket is used for supporting and positioning large-mass cylindrical fragile products. A positioning pin is provided on the upper surface of the cylindrical fragile product positioning bracket, which cooperates with the corresponding hole of the cylindrical fragile product. The pin hole connecting part is provided with a visual feature marking point for calibrating the spatial position of the pin hole and the position and posture information of the pin hole of the large-mass cylindrical fragile product.

[0014] Furthermore, the cylindrical fragile product positioning and grasping tooling is fixedly connected to the large-mass cylindrical fragile product through a lifting eye screw. A visual feature marking point is provided on the upper part of the lifting eye screw for calibrating the execution coordinates of the grasping action. At the same time, by manufacturing a series of chemical tools, it can be compatible with different models of automatic docking.

[0015] Furthermore, the cylindrical fragile product positioning bracket is provided with liftable universal casters.

[0016] Furthermore, the outer cylinder assembly comprises an outer cylinder, an outer cylinder positioning tool, and an outer cylinder bracket;

[0017] The outer cylinder positioning tool is provided with positioning pins and visual feature marking points, and the outer cylinder positioning tool is connected to the outer cylinder through the pin hole, and the visual feature marking points are used to calibrate the outer cylinder docking pin, docking risk point and the overall posture information of the outer cylinder;

[0018] The outer cylinder bracket is used for supporting the outer cylinder, and a universal caster which can be raised and lowered is arranged at the bottom.

[0019] Furthermore, the grabbing and docking robot comprises an industrial robot and a force feedback grabbing end;

[0020] The industrial robot is used to perform docking and posture adjustment actions;

[0021] The force feedback grasping end is used to realize grasping action and contact force perception feedback, and visual feature marking points are set on the end surface to track and identify the spatial position and posture of the force feedback grasping end.

[0022] Furthermore, the force feedback grasping end includes a connecting seat, a multi-dimensional force sensor, a driving motor, a worm gear reducer, and an outward-type three-jaw self-centering grasping mechanism; wherein the connecting seat is the mounting base of the force feedback grasping end, and is fixedly connected to the end flange of the industrial robot; the multi-dimensional force sensor is used to sense the contact force during the assembly process, and its upper surface is fixedly connected to the connecting seat, and its lower surface is fixedly connected to the outer shell of the outward-type three-jaw self-centering grasping mechanism; the driving motor is used to drive the outward-type three-jaw self-centering grasping mechanism, and the worm gear reducer is used to transmit the driving force of the driving motor to the outward-type three-jaw self-centering grasping mechanism, and the outward-type three-jaw self-centering grasping mechanism and the cylindrical fragile product positioning and grasping tooling have a matching surface for realizing self-centering grasping of large-mass cylindrical fragile products.

[0023] The present application also provides a flexible docking method for the above-mentioned large-mass cylindrical automatic grasping flexible docking device, wherein the flexible docking method comprises the following steps:

[0024] S1, the operator unpacks the heavy-weight cylindrical fragile product in the production preparation and offline area, lifts it, aligns it with the pin hole and places it in the cylindrical fragile product positioning bracket;

[0025] S2, unpack the outer cylinder and hoist it into the outer cylinder bracket;

[0026] S3, installing the cylindrical fragile product positioning and grabbing tooling into the connecting hole on the upper surface of the cylindrical fragile product to form a cylindrical fragile product assembly;

[0027] S4, aligning the outer cylinder positioning tool with the corresponding pin hole of the outer cylinder and installing it to the upper end surface of the outer cylinder to form an outer cylinder assembly;

[0028] S5, pushing the cylindrical vulnerable product assembly and the outer tube assembly into the cylindrical product docking parking area and the outer tube docking parking area respectively;

[0029] S6, start the automatic docking process;

[0030] S7, the visual camera takes pictures and identifies the cylindrical vulnerable product assembly, the outer tube assembly and the grabbing and docking robot in the docking area, and calculates the relative position relationship;

[0031] S8, the control system performs trajectory calculation according to the relative position relationship;

[0032] S9, the grabbing and docking robot moves the force feedback grabbing end to the top of the cylindrical fragile product assembly and completes the grabbing through the cylindrical fragile product positioning grabbing tooling, and binds the posture information and position information of the cylindrical fragile product to the visual feature mark point on the force feedback grabbing end through relative coordinate solution;

[0033] S10, the grabbing and docking robot separates the large-mass cylindrical fragile product from the cylindrical fragile product bracket by lifting;

[0034] S11, the grabbing and docking robot aligns the cylindrical vulnerable product with the axis of the outer cylinder and the position of the pin hole;

[0035] S12, start docking feeding, and continuously take pictures and track the docking status through the visual camera;

[0036] S13, before the positioning pin on the outer cylinder enters the corresponding pin hole on the cylindrical vulnerable product, the force control system intervenes in the docking posture control, and the control system fine-tunes the motion trajectory of the grabbing and docking robot according to the contact force feedback data of the multi-dimensional force sensor;

[0037] S14, after the docking is in place, the grabbing and docking robot releases the cylindrical vulnerable product positioning and grabbing tooling, withdraws from the docking position, and the automatic docking process ends;

[0038] S15, the operator moves the cylindrical vulnerable product positioning bracket and the docked large-mass cylindrical vulnerable product and its outer cylinder assembly out of the docking area through the universal wheel, removes the cylindrical vulnerable product positioning and grasping tooling and the outer cylinder positioning tooling in the production preparation and offline area, and performs fastener installation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the docking device of the present invention;

[0040] Figure 2 It is a schematic diagram of the structure of a cylindrical vulnerable product assembly in the docking device of the present invention;

[0041] Figure 3 It is a schematic diagram of the structure of the outer cylinder assembly in the docking device of the present invention;

[0042] Figure 4 It is a structural schematic diagram of a grabbing and docking robot in the docking device of the present invention;

[0043] Figure 5 It is a schematic diagram of the structure of the force feedback grabbing terminal in the docking device of the present invention;

[0044] In the figure: 1-production preparation and off-line area, 2-cylindrical product docking and parking area, 3-external cylinder docking and parking area, 4-cylindrical fragile product assembly, 5-external cylinder assembly, 6-grasping and docking robot, 7-visual camera, 8-cylindrical fragile product positioning and grasping tooling, 9-cylindrical fragile product positioning bracket, 10-external cylinder positioning tooling, 11-external cylinder bracket, 12-industrial robot, 13-force feedback grasping end, 14-connecting seat, 15-multi-dimensional force sensor, 16-driving motor, 17-worm gear reducer, 18-outer-type three-claw self-centering grasping mechanism. DETAILED DESCRIPTION

[0045] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0046] Embodiment 1:

[0047] This embodiment is a large-mass cylinder automatic grasping flexible docking device, combined with Figure 1 This example provides an automated flexible docking device based on an industrial robot and a visual system force control system to realize automatic posture recognition, automatic grasping, automatic posture adjustment, automatic docking and force-compliant assembly of large-mass cylindrical fragile products, including a production preparation and off-line area 1, a cylindrical product docking parking area 2, an outer cylinder docking parking area 3, a cylindrical fragile product assembly 4, an outer cylinder assembly 5, a grasping and docking robot 6 and a visual camera 7;

[0048] The production preparation and offline area 1 is mainly used for unpacking, hoisting, tooling installation of large-mass cylindrical vulnerable products and their outer cylinders, as well as offline fastener installation, connector insertion and cable binding after docking.

[0049] The cylindrical product docking parking area 2 is used to park the cylindrical product assembly to be docked.

[0050] The outer cylinder docking parking area 3 is used to park the outer cylinder assembly to be docked.

[0051] The cylindrical fragile product assembly 4 is a cylindrical product in a state ready for docking.

[0052] The outer cylinder assembly 5 is in a state of being ready for docking with the outer cylinder.

[0053] The grabbing and docking robot 6 is mainly used for grabbing, lifting, docking and posture adjustment, and docking and feeding of large-mass cylindrical fragile products.

[0054] The visual camera 7 is used to identify the visual feature marking points on the cylindrical fragile product assembly 4, the outer tube assembly 5 and the grasping and docking robot 6, and use this as a basis to calculate the product posture state and the docking action execution path of the grasping and docking robot 6.

[0055] Combination Figure 2, the cylindrical fragile product assembly 4 mainly includes cylindrical fragile product positioning and grasping tooling 8 and cylindrical fragile product positioning bracket 9 in addition to the product. The cylindrical fragile product positioning and grasping tooling 8 is fixedly connected to the large-mass cylindrical fragile product through a customized lifting eye screw, and a visual feature mark point is provided on its upper part for calibrating the execution coordinates of the grasping action. At the same time, by making a series of chemical equipment, it can be compatible with different models of automatic docking. The cylindrical fragile product positioning bracket 9 is mainly used for supporting and positioning the cylindrical fragile product. A positioning pin is provided on its upper surface, which cooperates with the response hole of the cylindrical fragile product to ensure accurate positioning. At the same time, the grasping and docking robot can be used to lift and remove the product from it. The pin hole connection part is provided with a visual feature mark point for calibrating the pin hole spatial position and the pin hole position and posture information of the large-mass cylindrical fragile product. The cylindrical fragile product positioning bracket 9 has a liftable universal caster.

[0056] Combination Figure 3 The outer cylinder assembly 5 mainly includes an outer cylinder positioning tool 10 and an outer cylinder bracket 11. The outer cylinder positioning tool 10 is provided with positioning pins and visual feature marks. The outer cylinder positioning tool 10 is connected to the outer cylinder through a pin hole. The visual feature marks are used to calibrate the outer cylinder docking pin, docking risk point and the overall posture information of the outer cylinder. The outer cylinder bracket 11 is used to support the outer cylinder and has a universal caster that can be raised and lowered.

[0057] Combination Figure 4 The grabbing and docking robot 6 includes an industrial robot 12 and a force feedback grabbing terminal 13. The industrial robot 12 is used to perform the docking posture adjustment action. The force feedback grabbing terminal 13 is used to realize the grabbing action and contact force perception feedback, and the visual feature mark points are set on the terminal surface to track and identify the spatial position and posture of the force feedback grabbing terminal.

[0058] Combination Figure 5 The force feedback grasping terminal 13 includes a connecting seat 14, a multi-dimensional force sensor 15, a driving motor 16, a worm gear reducer 17, and an outward-type three-claw self-centering grasping mechanism 18. The connecting seat 14 is the mounting base of the terminal, which is fixedly connected to the flange of the industrial robot terminal. The multi-dimensional force sensor 15 is used to sense the contact force during the assembly process. Its upper surface is fixedly connected to the connecting seat 14, and its lower surface is fixedly connected to the outer shell of the outward-type three-claw self-centering grasping mechanism 18. The driving motor 16 is used to drive the outward-type three-claw self-centering grasping mechanism 18. The worm gear reducer 17 is used to transmit the driving force of the driving motor 16 to the outward-type three-claw self-centering grasping mechanism 18, and has a return self-locking function. The outward-type three-claw self-centering grasping mechanism 18 and the cylindrical fragile product positioning grasping tooling 8 have a matching profile for realizing the self-centering grasping of large-mass cylindrical fragile products.

[0059] The automated flexible docking device for large-mass cylindrical fragile products consists of a mechanical system, a control system, a visual system and a force control system. The control system receives the spatial posture information acquired by the visual system, and performs trajectory planning and closed-loop control of the automatic docking action in combination with the feedback adjustment of the force control system.

[0060] Embodiment 2:

[0061] Based on the large-mass cylinder automatic grasping flexible docking device provided in Example 1, this embodiment further illustrates the flexible docking method of the above-mentioned flexible docking device, and the specific operation steps of the flexible docking method include:

[0062] According to the docking process, the operator unpacks the heavy-weight cylindrical fragile product in the production preparation and offline area 1, lifts it, aligns it with the pin hole and places it in the cylindrical fragile product positioning bracket 9.

[0063] According to the docking process, the outer cylinder is unpacked and hoisted into the outer cylinder bracket 11.

[0064] According to the docking process, the cylindrical fragile product positioning and grabbing tool 8 is installed in the connecting hole on the upper surface of the cylindrical fragile product to form a cylindrical fragile product assembly 4.

[0065] According to the docking process, the outer cylinder positioning tool 15 is aligned with the corresponding pin holes of the outer cylinder and installed on the upper end surface of the outer cylinder to form the outer cylinder assembly 5.

[0066] According to the docking process, the cylindrical vulnerable product assembly 4 and the outer tube assembly 5 are pushed and placed in the cylindrical product docking parking area 2 and the outer tube docking parking area 3 respectively, and the universal casters are locked.

[0067] According to the docking process, the operator evacuates the docking area and starts the automatic docking process.

[0068] According to the control system instructions, the visual camera 7 takes pictures and identifies the cylindrical fragile product assembly 4, the outer tube assembly 5 and the grabbing and docking robot 6 in the docking area, and calculates the relative position relationship.

[0069] Based on the relative position relationship, the control system calculates the trajectory.

[0070] According to the control system instructions, the grasping and docking robot 6 moves the force feedback grasping end 13 to the top of the cylindrical fragile product assembly 4 and completes the grasping through the cylindrical fragile product positioning grasping tooling 8, and binds the posture information and position information of the cylindrical fragile product to the visual feature mark point on the force feedback grasping end through relative coordinate solution.

[0071] According to the control system instruction, the grabbing and docking robot 6 separates the large-mass cylindrical fragile product from the cylindrical fragile product bracket 9 by lifting.

[0072] According to the control system instruction, the grabbing and docking robot 6 aligns the cylindrical fragile product with the axis and the pin hole position of the outer cylinder.

[0073] According to the control system instructions, the docking feeding starts. During the process, the control system continuously takes pictures through the visual camera to track the docking status.

[0074] According to the control system instructions, the force control system intervenes in the docking posture control before the positioning pin on the outer tube enters the corresponding pin hole on the cylindrical fragile product. The control system fine-tunes the motion trajectory of the grasping and docking robot based on the contact force feedback data of the multi-dimensional force sensor 15 to ensure smooth docking.

[0075] According to the control system command, after the docking is in place, the grabbing and docking robot 6 releases the cylindrical vulnerable product positioning and grabbing tooling 8 and withdraws from the docking position, and the automatic docking process ends.

[0076] According to the docking process, the operator moves the cylindrical fragile product positioning bracket 9 and the docked large-mass cylindrical fragile product and its outer cylinder assembly out of the docking area through the universal wheel, removes the cylindrical fragile product positioning and grasping tooling 8 and the outer cylinder positioning tooling 10 in the production preparation and off-line area 1, and performs fastener installation operations.

[0077] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A flexible docking method for automatically grabbing a flexible docking device for a large-mass cylinder, characterized in that: The flexible docking method comprises the following steps: S1, the operator unpacks the heavy-weight cylindrical fragile product in the production preparation and offline area, lifts it, aligns it with the pin hole and places it in the cylindrical fragile product positioning bracket; S2, unpack the outer cylinder and hoist it into the outer cylinder bracket; S3, installing the cylindrical fragile product positioning and grabbing tooling into the connecting hole on the upper surface of the cylindrical fragile product to form a cylindrical fragile product assembly; S4, aligning the outer cylinder positioning tool with the corresponding pin hole of the outer cylinder and installing it to the upper end surface of the outer cylinder to form an outer cylinder assembly; S5, pushing the cylindrical vulnerable product assembly and the outer tube assembly into the cylindrical product docking parking area and the outer tube docking parking area respectively; S6, start the automatic docking process; S7, the visual camera takes pictures and identifies the cylindrical vulnerable product assembly, the outer tube assembly and the grabbing and docking robot in the docking area, and calculates the relative position relationship; S8, the control system performs trajectory calculation according to the relative position relationship; S9, the grabbing and docking robot moves the force feedback grabbing end to the top of the cylindrical fragile product assembly and completes the grabbing through the cylindrical fragile product positioning grabbing tooling, and binds the posture information and position information of the cylindrical fragile product to the visual feature mark point on the force feedback grabbing end through relative coordinate solution; S10, the grabbing and docking robot separates the large-mass cylindrical fragile product from the cylindrical fragile product bracket by lifting; S11, the grabbing and docking robot aligns the cylindrical vulnerable product with the axis of the outer cylinder and the position of the pin hole; S12, start docking feeding, and continuously take pictures and track the docking status through the visual camera; S13, before the positioning pin on the outer cylinder enters the corresponding pin hole on the cylindrical vulnerable product, the force control system intervenes in the docking posture control, and the control system fine-tunes the motion trajectory of the grabbing and docking robot according to the contact force feedback data of the multi-dimensional force sensor; S14, after the docking is in place, the grabbing and docking robot releases the cylindrical vulnerable product positioning and grabbing tooling, withdraws from the docking position, and the automatic docking process ends; S15, the operator moves the cylindrical vulnerable product positioning bracket and the docked large-mass cylindrical vulnerable product and its outer cylinder assembly out of the docking area through the universal wheel, removes the cylindrical vulnerable product positioning and grabbing tooling and the outer cylinder positioning tooling in the production preparation and offline area, and performs fastener installation operations; The grabbing and docking robot comprises an industrial robot and a force feedback grabbing terminal; The industrial robot is used to perform docking and posture adjustment actions; The force feedback grasping end is used to realize grasping action and contact force perception feedback, and visual feature markers are set on the end surface to track and identify the spatial position and posture of the force feedback grasping end; The force feedback grasping end includes a multi-dimensional force sensor and an outward-stretched three-jaw self-centering grasping mechanism; the multi-dimensional force sensor is used to sense the contact force during the assembly process, and its upper surface is fixedly connected to the connecting seat, and its lower surface is fixedly connected to the outer shell of the outward-stretched three-jaw self-centering grasping mechanism; the outward-stretched three-jaw self-centering grasping mechanism and the cylindrical fragile product positioning and grasping tooling have a matching surface for realizing self-centering grasping of large-mass cylindrical fragile products.

2. The flexible docking method of the large-mass cylindrical automatic grasping flexible docking device according to claim 1 is characterized in that: The device includes a production preparation and off-line area, a cylindrical product docking and parking area, an outer cylinder docking and parking area, a cylindrical vulnerable product assembly, an outer cylinder assembly, a grabbing and docking robot, and a visual camera, wherein: The production preparation and offline area is used to provide an area for unpacking, hoisting, tooling installation, offline fastener installation, connector plugging and cable binding operations for the cylindrical vulnerable product assembly and the outer tube assembly after docking; The cylindrical product docking parking area is used to park the cylindrical fragile product assembly to be docked; The outer cylinder docking parking area is used to park the outer cylinder assembly to be docked; The cylindrical fragile product assembly is a cylindrical product in a state ready for docking; The outer cylinder assembly is in a state ready for docking with the outer cylinder; The grabbing and docking robot is used to perform grabbing, lifting, docking and posture adjustment, and docking and feeding operations on cylindrical fragile product assemblies; The visual camera is used to identify the visual feature marking points on the cylindrical fragile product assembly, the outer tube assembly and the grasping and docking robot, and based on this, calculate the product posture state and the docking action execution path of the grasping and docking robot.

3. The flexible docking method of the large-mass cylindrical automatic grasping flexible docking device according to claim 2 is characterized in that: The cylindrical fragile product assembly comprises a large-mass cylindrical fragile product, a cylindrical fragile product positioning and grabbing tool, and a cylindrical fragile product positioning bracket; The cylindrical fragile product positioning bracket is used for supporting and positioning large-mass cylindrical fragile products. A positioning pin is provided on the upper surface of the cylindrical fragile product positioning bracket, which cooperates with the corresponding hole of the cylindrical fragile product. The pin hole connecting part is provided with a visual feature marking point for calibrating the spatial position of the pin hole and the position and posture information of the pin hole of the large-mass cylindrical fragile product.

4. The flexible docking method of the large-mass cylindrical automatic grasping flexible docking device according to claim 3 is characterized in that: The cylindrical fragile product positioning and grasping tooling is fixedly connected to the large-mass cylindrical fragile product through a lifting eye screw. A visual feature mark point is provided on the upper part of the lifting eye screw for calibrating the execution coordinates of the grasping action. At the same time, it is compatible with automatic docking of different models through matching tooling.

5. The flexible docking method of the large-mass cylinder automatic grasping flexible docking device according to claim 4 is characterized in that: The cylindrical vulnerable product positioning bracket is provided with a liftable universal caster.

6. The flexible docking method of the large-mass cylindrical automatic grasping flexible docking device according to claim 2 is characterized in that: The outer cylinder assembly comprises an outer cylinder, an outer cylinder positioning tool, and an outer cylinder bracket; The outer cylinder positioning tool is provided with positioning pins and visual feature marking points, and the outer cylinder positioning tool is connected to the outer cylinder through the pin hole, and the visual feature marking points are used to calibrate the outer cylinder docking pin, docking risk point and the overall posture information of the outer cylinder; The outer cylinder bracket is used for supporting the outer cylinder, and a universal caster which can be raised and lowered is arranged at the bottom.

7. The flexible docking method of the large-mass cylindrical automatic grasping flexible docking device according to claim 1, characterized in that: The force feedback grasping end includes a connecting seat, a driving motor, and a worm gear reducer; wherein the connecting seat is the mounting base of the force feedback grasping end, and is fixedly connected to the end flange of the industrial robot; the driving motor is used to drive an outward-type three-jaw self-centering grasping mechanism, and the worm gear reducer is used to transmit the driving force of the driving motor to the outward-type three-jaw self-centering grasping mechanism.

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