Mooring robot

Abstract

The invention discloses a mooring robot, which belongs to the technical field of ship mooring driving, and comprises a bottom plate, a supporting table, a first slewing bearing, a rotating table, two variable amplitude swing linear drivers, a telescopic arm and an adsorption device, the bottom plate is fixedly installed on a wharf, the supporting table is connected with the bottom plate, the first pivotal bearing is installed on the upper table face of the supporting table, the rotating table is rotationally connected with the supporting table through the first pivotal bearing, the upper end of the rotating table is rotationally connected with the tail end of the telescopic arm, and the tail ends of the two variable-amplitude swing linear drivers are connected with the upper table face of the supporting table. The head end of the hydraulic assembly is connected with the middle of the telescopic arm, the head end of the telescopic arm is connected with the adsorption device, and the hydraulic assembly is internally installed in the supporting table. The mooring robot can replace a manual mooring rope fender, multi-dimensional swing of a ship is stabilized, automatic mooring operation in the whole process of berthing, stopping and leaving of the ship can be achieved, and the mooring robot has the advantages of being compact in structure, high in integration degree, convenient to operate and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of ship mooring drive, and in particular relates to a mooring robot. Background Art

[0002] Mooring robots are robotic systems designed specifically for automated ship docking and securing. These robots replace the traditional manual cable mooring method and use advanced control systems and mechanical devices to achieve the entire process of berthing, mooring and unberthing of the ship. Mooring robots are usually installed on the docks of ports, and they can improve the safety, efficiency and precision of the mooring process.

[0003] Most of the existing mooring robots are in the form of serial robotic arms, including a slewing base, pitch support and telescopic arms, all of which are independently controlled by separate drives and have a simple configuration. However, for strongly disturbed wave environments and large inertia ship loads, the serial robots have high drive power, low structural stiffness, high design costs and low adaptability to sea conditions.

[0004] Therefore, it is necessary to design a mooring robot with high driving efficiency and high bearing strength. Summary of the invention

[0005] In view of the above problems, the present invention provides a mooring robot, which adopts a series-parallel hybrid mechanical structure and is driven and controlled in parallel by two variable amplitude swing linear drives. This can not only reduce the driving power of the driving branch, but also improve the structural stiffness and carrying capacity of the equipment, and can greatly reduce the impact of wind and wave surges on ships, and can be applied to ship berthing operations.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] A mooring robot comprises a base plate, a support platform, a first slewing bearing, a rotating platform, two variable amplitude swing linear actuators, a telescopic arm, and an adsorption device; the base plate is fixedly installed on the dock, the support platform is connected to the base plate, the first slewing bearing is installed on the support platform, the rotating platform is rotatably connected to the support platform through the first slewing bearing, the upper end of the rotating platform is rotatably connected to the tail end of the telescopic arm, the tail ends of the two variable amplitude swing linear actuators are connected to the upper table surface of the support platform, the head ends are connected to the front section of the telescopic arm, the head end of the telescopic arm is connected to the adsorption device, and the hydraulic assembly is installed inside the support platform; the tail end of the telescopic arm is connected to the upper end of the rotating platform through a second rotating pair Rotational connection, the second rotational sub-axis is perpendicular to the first rotational sub-axis and parallel to the plane of the rotating table, the adsorption device is connected to the front end of the telescopic arm through the first ball pair; two variable amplitude swing linear drives are symmetrically arranged on both sides of the telescopic arm, the first ends of the variable amplitude swing linear drives are rotationally connected to the upper table surface of the support table through the first and second universal joints, and the second ends are rotationally connected to both sides of the front section of the telescopic arm through the second and third ball pairs; the telescopic arm is a multi-stage telescopic arm driven by the telescopic drive, the telescopic arm is a hollow telescopic arm, the telescopic drive is arranged inside the telescopic arm, the side of the telescopic arm close to the adsorption device is the front section, and the side close to the rotating table is the rear section.

[0008] Furthermore, the support platform includes a first base, a second slewing bearing, a first housing and a slewing drive. The first base is installed on the bottom plate. The first base and the first housing are connected through a third rotating pair of the second slewing bearing. The first slewing bearing is located above the first housing of the support platform and is fixedly connected to the first housing. The slewing drive is arranged on the first base, and the slewing drive drives the second turntable bearing to rotate relative to the first base. A plurality of pin holes are provided at positions corresponding to the first housing around the first base, so as to realize locking of the first housing and the first base.

[0009] Furthermore, the support platform includes a second box, a guide rail, a first platform and a first linear drive. The guide rails are installed on both sides above the base. The guide rail installation direction is consistent with the direction of the telescopic arm and is symmetrically arranged. The guide rails and the first platform together constitute a first moving pair. The axis of the first moving pair is perpendicular to the axis of the first rotating pair. The first slewing bearing is located above the first platform of the support platform and is fixedly connected to the first platform. The first linear drive is arranged in front of the second box, and the first linear drive drives the first platform to move relative to the second box. A plurality of pin holes are provided at corresponding positions on both sides of the first platform and on both sides above the second box to achieve locking of the second box and the first platform.

[0010] Furthermore, the support platform includes a second base, a first connecting frame, a second connecting frame, a second platform and a second linear drive, the first connecting frame is arranged at the front end of the second base, the lower end of the first connecting frame is rotatably connected to the second base through a fourth rotating pair and a fifth rotating pair, the upper end of the first connecting frame is rotatably connected to the front end of the second platform through a sixth rotating pair and a seventh rotating pair, the second connecting frame is arranged in the middle of the second base, the lower end of the second connecting frame is rotatably connected to the second base through an eighth rotating pair and a ninth rotating pair, the upper end of the second connecting frame is rotatably connected to the rear end of the second platform through a tenth rotating pair and an eleventh rotating pair, and the second The platform is always level with the ground; the second base, the first connecting frame, the second connecting frame, the second platform, the fourth rotating pair, the fifth rotating pair, the sixth rotating pair, the seventh rotating pair, the eighth rotating pair, the ninth rotating pair, the tenth rotating pair and the eleventh rotating pair together constitute a parallel four-bar mechanism; the first slewing bearing is located above the second platform of the support table and is fixedly connected to the second platform; the second linear actuator can be an oil cylinder, an electric cylinder, an electric push rod, etc.; the first end is connected to the rear side of the second base through the third universal joint; the second end of the second linear actuator is connected to the middle part of the first connecting frame through the fourth ball joint.

[0011] Furthermore, the second linear drive includes a servo motor, a T-shaped reducer, a first long axis, and a second long axis. The T-shaped reducer is arranged at the front end of the second base. One end of the first long axis and the second long axis are respectively connected to the left and right ends of the T-shaped reducer, and the other end is connected to the lower end of the first connecting frame. The servo motor is connected to the front end of the T-shaped reducer, and the servo motor drives the T-shaped reducer to drive the first connecting frame to rotate.

[0012] Furthermore, the telescopic arm includes a primary telescopic arm, a secondary telescopic arm, a guide ring and a telescopic driver. The head end of the primary telescopic arm and the tail end of the secondary telescopic arm are provided with guide rings. The primary telescopic arm, the secondary telescopic arm and the guide ring together constitute a second moving pair. The axis of the second moving pair is perpendicular to the axis of the second rotating pair. The tail end of the telescopic driver is connected to the tail end of the primary telescopic arm through a fourth universal joint, the head end of the telescopic driver is connected to the head end of the second telescopic arm through a fifth ball joint, and the telescopic driver drives the secondary telescopic arm to move relative to the primary telescopic arm.

[0013] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0014] 1. The moored robot provided by the present invention is conducive to realizing the variable amplitude and swing motion (i.e. pitch and rotation motion) of the telescopic arm through two variable amplitude swing linear actuators arranged on both sides of the support platform. The use of a series-parallel hybrid mechanical structure can greatly increase the robot's load-bearing stiffness, and has the advantages of compact structure, high integration, and a large anti-sway range.

[0015] 2. A mooring robot provided by the present invention arranges a support platform in the form of a first base, a slewing bearing, a first box and a slewing drive, so that the first box of the support platform can rotate 360 ​​degrees around its first base, thereby facilitating the retraction and maintenance of the telescopic arm and improving the reliability and safety of the mooring operation.

[0016] 3. A mooring robot provided by the present invention increases the initial stroke of the telescopic arm and greatly improves the working range of the mooring robot by arranging the support platform in the form of a second box, a guide rail, a first platform and a linear drive.

[0017] 4. A moored robot provided by the present invention can increase the initial stroke of the telescopic arm and reduce the initial height of the support platform by arranging the support platform in a parallel four-bar form of a second base, a first connecting frame, a second connecting frame, a second platform and a linear drive, thereby improving the operating space of the moored robot.

[0018] 5. The mooring robot provided by the present invention is beneficial to reducing the friction force during the extension and retraction of the telescopic arm and increasing the smoothness of the extension and retraction process by means of a guide ring arranged in the telescopic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a schematic diagram of the overall structure of a mooring robot in an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of an overall kinematic pair of a moored robot in an embodiment of the present invention;

[0022] Figure 3 2 is a schematic diagram of the support platform rotation structure in an embodiment of the present invention;

[0023] Figure 4 Schematic diagram of the guide rail structure of the support platform in an embodiment of the present invention;

[0024] Figure 5 2 is a schematic diagram of the structure of a parallel four-bar mechanism of a support platform in an embodiment of the present invention;

[0025] Figure 6 Schematic diagram of the kinematic pair of the parallel four-bar mechanism of the support platform in an embodiment of the present invention;

[0026] Figure 7is a schematic structural diagram of a second linear actuator in an embodiment of the present invention;

[0027] Figure 8 is a schematic diagram of the telescopic arm structure in an embodiment of the present invention;

[0028] In the figure, 1, bottom plate; 2, support platform; 201, first base; 202, second slewing bearing; 203, first housing; 204, slewing drive; 205, second housing; 206, guide rail; 207, first platform; 208, first linear drive; 209, second base; 210, first connecting frame; 211, second connecting frame; 212, second platform; 213, second linear drive; 21301, servo motor; 21302, T-shaped reducer; 21303, first long axis; 21304, second long axis; 3, first slewing bearing; 4, Rotating table; 5. Two variable amplitude swing linear actuators; 6. Telescopic arm; 601. Primary telescopic arm; 602. Secondary telescopic arm; 603. Guide ring; 604. Telescopic actuator; 7. Adsorption device; R1. First rotation pair; R2. Second rotation pair; R3. Third rotation pair; R4. Fourth rotation pair; R5. Fifth rotation pair; R6. Sixth rotation pair; R7. Seventh rotation pair; R8. Eighth rotation pair; R9. Ninth rotation pair; R10. Tenth rotation pair; R11. Eleventh rotation pair; S1. First ball pair; S2. Second ball pair; S3. Third ball pair;

[0029] S4, fourth ball joint; S5, fifth ball joint; U1, first universal joint; U2, second universal joint; U3, third universal joint; U4, fourth universal joint; P1, first movable joint; P2, second movable joint. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should be the common meanings understood by technicians in the field to which the present invention belongs. For example, the front, back, left and right used in the present invention are only exemplary and are used to describe the terms for convenience.

[0031] like Figure 1As shown, a mooring robot in an embodiment of the present invention comprises a base plate 1, a support platform 2, a first slewing bearing 3, a rotating platform 4, two variable amplitude swing linear actuators 5, a telescopic arm 6 and an adsorption device 7. Among them, the base plate 1 is fixedly installed on the dock, the support platform 2 is connected to the base plate 1, the first slewing bearing 3 is installed on the upper surface of the support platform 2, the rotating platform 4 is rotatably connected to the support platform 2 through the first slewing bearing 3, the upper end of the rotating platform 4 is rotatably connected to the tail end of the telescopic arm 6, the tail ends of the two variable amplitude swing linear actuators 5 are connected to the upper surface of the support platform 2, the head end is connected to the front section of the telescopic arm 6, the head end of the telescopic arm 6 is connected to the adsorption device 7, and the hydraulic assembly is installed inside the support platform 2.

[0032] In specific implementation, Figure 1 , Figure 2 As shown, the bottom plate 1 is fixedly installed on the working dock, and anchor bolts can be used to fix the entire mooring robot to the dock.

[0033] The rotating platform 4 is connected to the supporting platform 2 through the first slewing bearing 3 (first rotating pair R1), and the moored robot can realize the swinging motion through the first rotating pair R1. The tail end of the telescopic arm 6 is rotatably connected to the upper end of the rotating platform 4 through the second rotating pair R2. The axis of the second rotating pair R2 is perpendicular to the axis of the first rotating pair R1 and parallel to the plane of the rotating platform 4. The moored robot can realize the amplitude change motion through the second rotating pair R2.

[0034] Two variable-length swing linear actuators 5 are symmetrically arranged on both sides of the telescopic arm 6. The first ends of the variable-length swing linear actuators 5 are rotationally connected to the upper surface of the support platform 2 through the first and second universal joints U1 and U2, respectively, and the second ends are rotationally connected to both sides of the front section of the telescopic arm 6 through the second and third ball joints S2 and S3, respectively. When the two variable-length swing linear actuators 5 act synchronously, the telescopic arm 6 of the moored robot can move in variable length around the second rotation joint R2. When the two variable-length swing linear actuators 5 act asynchronously, the mechanical arm 6 and the rotating platform 4 of the moored robot can swing around the first rotation joint R1.

[0035] The adsorption device 7 is connected S1 to the front end of the telescopic arm 6 through a first ball joint. The adsorption device 7 is one or more suction cups arranged on the mounting plate. The suction cups may be vacuum suction cups or electromagnetic suction cups.

[0036] In the above embodiment, two variable amplitude swing linear actuators are connected in parallel and then in series with the rotating platform and the telescopic arm to form a series-parallel hybrid structure, replacing the traditional pitch rotation structure formed by a pitch support arm connected in series with the rotating platform. Under this series-parallel hybrid structure, the two variable amplitude swing linear actuators are driven in parallel branches respectively, which can not only reduce the driving power of the driving branches, but also improve the structural rigidity and bearing capacity of the equipment, which can greatly reduce the impact of wind and wave surges on ships, and can be applied to ship berthing operations.

[0037] On the basis of the above-mentioned embodiment, the present invention further improves the support platform 2. The improved support platform 2 has three specific implementation modes, namely a rotary structure, a guide rail structure and a parallel four-bar mechanism.

[0038] Implementation method 1: Rotation structure:

[0039] like Figure 3 As shown, the support platform 2 may include a first base 201, a second slewing bearing 202, a first box 203 and a slewing driver 204. The first base 201 is installed on the bottom plate 1. The first base 201 and the first box 203 are connected through a third rotation pair R3 formed by the second slewing bearing 202. The first slewing bearing is located above the first box 203 of the support platform 2 and is fixedly connected to the first box 203. The slewing driver 204 is arranged on the first base 201, and the slewing driver 204 drives the second turntable bearing 202 to rotate relative to the first base 201, so that the first box 203 of the support platform 2 can achieve 360-degree rotation around its first base 201, which is convenient for the retraction and maintenance of the telescopic arm 6 and improves the reliability and safety of the mooring operation. At the same time, a plurality of pin holes are provided at the corresponding positions of the first base 201 and the first box 203, which can realize the locking of the first box 203 and the first base 201.

[0040] In the first embodiment of the support platform, by arranging the support platform in the form of a first base, a first box on a slewing bearing and a slewing drive, the first box of the support platform can rotate 360 ​​degrees around its first base, which facilitates the retraction and maintenance of the telescopic arm and improves the reliability and safety of mooring operations.

[0041] Implementation method 2: guide rail structure:

[0042] like Figure 4As shown, the support platform 2 may further include a second box 205, a guide rail 206, a first platform 207 and a first linear drive 208. The guide rails 206 are installed on both sides above the second box 205. The installation direction of the guide rails 206 is consistent with the direction of the telescopic arm 6 and they are symmetrically arranged. The guide rails 206 and the first platform 207 together constitute a first movement P1. The axis of the first movement pair P1 is perpendicular to the axis of the first rotation pair R1. The first slewing bearing 3 is located above the first platform 207 of the support platform 2 and is fixedly connected to the first platform 207. The linear drive 208 is arranged on the second box 205. In front, the linear drive 208 drives the first platform 207 to move relative to the second box body 205. When the mooring robot is working, the first platform 207 can be moved to the front end of the second box body 205, which increases the initial stroke of the telescopic arm 6 and greatly improves the working range of the mooring robot. When the mooring robot is on standby, the first platform 207 can be moved to the rear end of the second box body 205 to ensure the safety of the mooring robot. At the same time, a plurality of pin holes are provided at corresponding positions on both sides of the first platform 207 and on both sides above the second box body 205, which can realize the locking of the first platform 207 and the second box body 205.

[0043] In the second implementation of the support platform, by arranging the support platform in the form of a second box, a guide rail, a first platform and a linear drive, the initial stroke of the telescopic arm is increased, thereby greatly improving the working range of the mooring robot.

[0044] Implementation method three: parallel four-bar mechanism:

[0045] like Figure 5 , Figure 6As shown, the support platform 2 can also include a second base 209, a first connecting frame 210, a second connecting frame 211, a second platform 212 and a second linear drive 213. The first connecting frame 210 is arranged at the front end of the second base 209, and the lower end of the first connecting frame 210 is rotatably connected to the second base 209 through the fourth rotating pair R4 and the fifth rotating pair R5. The upper end of the first connecting frame 210 is rotatably connected to the front end of the second platform 212 through the sixth rotating pair R6 and the seventh rotating pair R7. The second connecting frame 211 is arranged in the middle of the second base 209, and the lower end of the second connecting frame 211 is rotatably connected to the second base 209 through the eighth rotating pair R8 and the ninth rotating pair R9. The upper end of the second connecting frame 211 is rotatably connected to the rear end of the second platform 212 through the tenth rotating pair R10 and the eleventh rotating pair R11. The second platform 212 is always horizontal with the ground. The second base 209, the first connecting frame 210, the second connecting frame 211, the second platform 212, the fourth rotating pair R4, The fifth rotational pair R5, the sixth rotational pair R6, the seventh rotational pair R7, the eighth rotational pair R8, the ninth rotational pair R9, the tenth rotational pair R10 and the eleventh rotational pair R11 together constitute a parallelogram mechanism. The first slewing bearing 3 is located above the second platform 212 of the support table 2 and is fixedly connected to the second platform 212. The second linear actuator 213 can be an oil cylinder, an electric cylinder, an electric push rod, etc. The first end is connected to the rear side of the second base 209 through the third universal joint U3, and the second end of the linear actuator 213 is connected to the middle part of the first connecting frame 210 through the fourth ball joint S4. When the mooring robot is working, the linear actuator 213 extends to push the entire parallelogram mechanism forward and upward, thereby increasing the initial stroke and initial height of the telescopic arm 6 and greatly improving the working space of the mooring robot. When the mooring robot is on standby, the linear actuator 213 retracts to drive the entire parallelogram mechanism to move backward and descend, thereby ensuring the standby safety and maintenance of the mooring robot.

[0046] In the third embodiment of the support platform, by arranging the support platform in a parallel four-bar form of a second base, a first connecting frame, a second connecting frame, a second platform and a linear drive, the initial stroke of the telescopic arm can be increased, the initial height of the support platform can be reduced, and the operating space of the moored robot can be improved.

[0047] Furthermore, in the third embodiment of the support platform 2, the second linear drive 213 can also be Figure 7The driving form shown includes a servo motor 21301, a T-shaped reducer 21302, a first long axis 21303, and a second long axis 21304. The T-shaped reducer 21302 is arranged at the front end of the second base 209. One end of the first long axis 21303 and the second long axis 21304 are respectively connected to the left and right ends of the T-shaped reducer 21302, and the other end is connected to the lower end of the first connecting frame 210. The servo motor 21301 is connected to the front end of the T-shaped reducer 21302. The servo motor 21301 drives the T-shaped reducer 21302 to drive the first connecting frame 210 to rotate. In this driving mode, the driving components occupy a small space, which can further reduce the height of the parallel four-bar mechanism when in standby mode, saving space.

[0048] In another embodiment, the telescopic arm 6 may be a multi-stage telescopic arm, such as Figure 8 As shown, the telescopic arm 6 is a hollow telescopic arm, including a primary telescopic arm 601, a secondary telescopic arm 602, a guide ring 603 and a telescopic driver 604. The guide ring 603 is provided at the head end of the primary telescopic arm 601 and the tail end of the secondary telescopic arm 602. The primary telescopic arm 601, the secondary telescopic arm 602 and the guide ring 603 together constitute a second mobile pair P2. The axis of the second mobile pair P2 is perpendicular to the axis of the second rotation pair R2. The telescopic driver 604 is arranged inside the telescopic arm 6. The tail end of the telescopic driver 604 is connected to the tail end of the primary telescopic arm 601 through a fourth universal joint U4, and the head end of the telescopic driver 604 is connected to the head end of the second telescopic arm 602 through a fifth ball joint S5. The telescopic driver 604 drives the secondary telescopic arm 602 to move relative to the primary telescopic arm 601. The mooring robot can realize the telescopic action through the second mobile pair P2.

[0049] In the above embodiment, the guide ring provided in the telescopic arm is helpful to reduce the friction during the telescopic arm extension and retraction process and increase the smoothness during the telescopic arm extension and retraction process.

[0050] The working process of the mooring robot in the above embodiment is as follows:

[0051] When the ship is docked, the mooring robot support platform is moved from the standby position to the initial position through the drive. After the support platform reaches the initial position, the mooring robot starts to actively dock with the ship; the telescopic drive 604 drives the telescopic arm 6 to actively extend, and after the adsorption device 7 is in contact with the surface of the hull, adsorption begins, and the docking process ends; after the active docking is completed, the mooring robot will move with the ship, and at the same time, the telescopic arm 6 and the two variable amplitude swing linear drives 5 will apply a certain damping force to reduce the movement of the ship and stabilize the movement of the ship within the safety specifications of ship operations; when the ship needs to leave the port, the adsorption device 7 disconnects the adsorption from the ship, and at the same time, the telescopic arm 6 returns to the initial position, and the support platform 2 also moves from the initial position to the standby position, waiting for the next ship mooring. The mooring robot can complete the entire process of ship docking, mooring, and leaving the berthing.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mooring robot, characterized in that: include: A base plate (1), a support platform (2), a first slewing bearing (3), a rotating platform (4), two variable amplitude swing linear drives (5), a telescopic arm (6) and an adsorption device (7); The base plate (1) is fixedly mounted on the working dock, the support platform (2) is connected to the base plate (1), the first slewing bearing (3) is mounted on the support platform (2), and the rotating platform (4) is connected to the support platform (2) via the first slewing bearing (3); the axis of the first rotating pair (R1) formed by the first slewing bearing (3) is perpendicular to the upper plane of the support platform (2); The rear end of the telescopic arm (6) is rotatably connected to the upper end of the rotating platform (4) via a second rotating pair (R2); the axis of the second rotating pair (R2) is perpendicular to the axis of the first rotating pair (R1) formed by the first slewing bearing (3) and parallel to the plane of the support platform (2); the front end of the telescopic arm (6) is rotatably connected to the adsorption device (7) via a first ball pair (S1); The two variable amplitude swing linear actuators (5) are symmetrically arranged on both sides of the telescopic arm (6); the first ends of the variable amplitude swing linear actuators are rotationally connected to the upper surface of the support platform (2) through a first universal joint (U1) and a second universal joint (U2), respectively; and the second ends are rotationally connected to both sides of the front section of the outer layer of the telescopic arm (6) through a second ball joint (S2) and a third ball joint (S3), respectively.

2. The mooring robot according to claim 1, characterized in that: The support platform (2) comprises a first base (201), a second slewing bearing (202), a first housing (203) and a slewing driver (204); the first base (201) is mounted on the bottom plate (1); the first housing (203) is connected to the first base (201) via the second slewing bearing (202); the axis of a third rotation pair (R3) formed by the second slewing bearing (202) is parallel to the axis of a first rotation pair (R1) formed by the first slewing bearing (3); the first slewing bearing (3) is located above the first housing (203) of the support platform (2) and is fixedly connected to the first housing (203); the slewing driver (204) is arranged on the first base (201), and the slewing driver (204) drives the second slewing bearing (202) to rotate relative to the first base (201).

3. The mooring robot according to claim 1, characterized in that: The support platform (2) comprises a second box (205), a guide rail (206), a first platform (207) and a first linear drive (208); the second box (205) is mounted on the base plate (1); the guide rail (206) is mounted on both sides above the second box (205); the installation direction of the guide rail (206) is consistent with the direction of the telescopic arm (6), and the guide rail (206) is symmetrically arranged; the guide rail (206) and the first platform (207) together constitute a first movable pair (P1); the axis of the first movable pair (P1) is perpendicular to the axis of the first rotating pair (R1); the first slewing bearing (3) is located above the first platform (207) of the support platform (2) and is fixedly connected to the first platform (207); the first linear drive (208) drives the first platform (207) to move relative to the second box (205).

4. The mooring robot according to claim 1, characterized in that: The support platform (2) comprises a second base (209), a first connecting frame (210), a second connecting frame (211), a second platform (212) and a second linear drive (213); the second base (209) is mounted on the bottom plate (1); the first connecting frame (210) is arranged at the front end of the second base (209); the lower end of the first connecting frame (210) is rotatably connected to the second base (209) through a fourth rotating pair (R4) and a fifth rotating pair (R5); the upper end of the first connecting frame (210) is rotatably connected to the front end of the second platform (212) through a sixth rotating pair (R6) and a seventh rotating pair (R7); the second connecting frame (211) is arranged in the middle of the second base (209); the lower end of the second connecting frame (211) is rotatably connected to the second base (209) through an eighth rotating pair (R8) and a ninth rotating pair (R9); the upper end of the second connecting frame (211) is rotatably connected to the second base (209) through a tenth rotating pair (R10) and an eleventh rotating pair (R11). The rotation pair (R11) is rotationally connected to the rear end of the second platform (212), and the second platform (212) is always horizontal with the ground. The second base (209), the first connecting frame (210), the second connecting frame (211), the second platform (212), the fourth rotation pair (R4), the fifth rotation pair (R5), the sixth rotation pair (R6), the seventh rotation pair (R7), the eighth rotation pair (R8), the ninth rotation pair (R9), the tenth rotation pair (R10) and the eleventh rotation pair (R11) together constitute a parallel four-bar mechanism. The first slewing bearing (3) is located above the second platform (212) of the support platform (2) and is fixedly connected to the second platform (212). The first end of the second linear drive (213) is connected to the rear side of the second base (209) through the third universal joint (U3), and the second end of the second linear drive (213) is connected to the middle of the first connecting frame (210) through the fourth ball joint (S4).

5. The mooring robot according to claim 4, characterized in that: The second linear drive (213) comprises: a servo motor (21301), a T-shaped reducer (21302), a first long axis (21303) and a second long axis (21304); the T-shaped reducer (21302) is arranged at the front end of the second base (209); one end of the first long axis (21303) and the second long axis (21304) are respectively connected to the left and right ends of the T-shaped reducer (21302), and the other end is connected to the lower end of the first connecting frame (210); the servo motor (21301) is connected to the front end of the T-shaped reducer (21302); the servo motor (21301) drives the T-shaped reducer (21302) to drive the first connecting frame (210) to rotate.

6. The mooring robot according to any one of claims 1 to 5, characterized in that: The telescopic arm (6) comprises a primary telescopic arm (601), a secondary telescopic arm (602), a guide ring (603) and a telescopic driver (604); the guide ring (603) is provided at the head end of the primary telescopic arm (601) and the tail end of the secondary telescopic arm (602); the primary telescopic arm (601), the secondary telescopic arm (602) and the guide ring (603) together constitute a second mobile pair (P2); the axis of the second mobile pair (P2) is perpendicular to the axis of the second rotation pair (R2); the tail end of the arm telescopic driver (604) is connected to the tail end of the primary telescopic arm (601) via a fourth universal joint (U4); the head end of the telescopic driver (604) is connected to the head end of the second telescopic arm (602) via a fifth ball joint (S5); and the telescopic driver (604) drives the secondary telescopic arm (602) to move relative to the primary telescopic arm (601).

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