A weak-rigid cylindrical product-oriented no-calibration rapid docking system

Abstract

This invention is a zero-adjustment rapid docking system for weakly rigid cylindrical products. Based on the theory of weakly rigid assembly docking, a zero-adjustment docking system is designed, specifically including a docking platform (2), on which a linear guide rail (5) is installed. The system is characterized by having two sets of linear guide rail sliders (3) installed on the linear guide rail (5), and a modular skid system (1) installed on each set of linear guide rail sliders (3). The modular skid system (1) includes a frame (8), an upper clamping ring base plate (6), and a lower clamping ring base plate (7). The lower clamping ring base plate (7) is connected to the frame (8), and the upper clamping ring base plate (6) is connected to the lower clamping ring base plate (7). When the upper clamping ring base plate (6) and the lower clamping ring base plate (7) are closed, they form a complete clamping ring. This invention enables zero-adjustment docking operations for weakly rigid cylindrical products when the assembly gap is exceeded.

Description

Technical Field

[0001] This invention relates to the field of assembly and is a rapid docking system for low-rigidity cylindrical products without attitude adjustment. Background Technology

[0002] In my country's aerospace industry, there are numerous tasks involving the docking and assembly of cylindrical products. Traditional docking methods are based on rigid docking theory, which assumes that the parts involved in the assembly have sufficient rigidity to resist external forces applied during assembly without significant deformation. Therefore, strict limits on product manufacturing tolerances and assembly clearances are required, placing high demands on the relative posture control of the products. Previous solutions have primarily employed multi-degree-of-freedom adjustment and posture detection devices or entirely manual assembly. Unlike rigid products, weakly rigid products, such as thin-walled parts or flexible structures, will deform under radial forces during docking. This deformation can, to some extent, compensate for manufacturing errors and assembly posture deviations, improving assembly adaptability and tolerance. Summary of the Invention

[0003] The purpose of this invention is to design a rapid docking system and method for weakly rigid cylindrical products without attitude adjustment, which is presented as a docking system without attitude adjustment and can achieve all docking tasks by a single person.

[0004] A non-adjustment rapid docking system for weakly rigid cylindrical products is designed based on the theory of weakly rigid assembly docking. Specifically, it includes a docking platform 2, on which linear guide rails 5 are installed. The system is characterized by two sets of linear guide rail sliders 3 installed on the linear guide rails 5, with a modular skid system 1 installed on each set of linear guide rail sliders 3. The modular skid system 1 includes a frame 8, an upper clamping ring base plate 6, and a lower clamping ring base plate 7. The lower clamping ring base plate 7 is connected to the frame 8, and the upper clamping ring base plate 6 is connected to the lower clamping ring base plate 7. When the upper clamping ring base plate 6 and the lower clamping ring base plate 7 are closed, they form a complete clamping ring.

[0005] The lower base plate 7 includes a lower base plate 71, a guide rail mounting groove 17, an arc guide rail 16, and support components 27. The guide rail mounting groove 17 is fixedly installed on the side of the circular wall of the lower base plate 71, the arc guide rail 16 is fixedly installed on the guide rail mounting groove 17, and the two support components 27 are installed on the functional component mounting holes 20 on the opposite side of the arc guide rail 16 to provide support for the product 4.

[0006] The upper base plate 6 includes an upper base plate 61, a guide rail mounting groove 17, an arc guide rail 16, and a support assembly 61. The guide rail mounting groove 17 is also fixedly installed on the side of the circular wall of the upper base plate 61. The arc guide rail 16 is also fixedly installed on the guide rail mounting groove 17. The clamping assembly 26 is installed on the opposite side of the arc guide rail 16 through the functional component mounting hole 20 to fix the product 4.

[0007] The inner wall of the frame 8 is fixedly connected to one side of the arc guide slider 10. The arc guide slider 10 is installed on the positioning surface of the frame 8 by wedge block 11 and set bolt. The other side of the arc guide slider 10 is provided with a slide rail, and the arc guide 16 is embedded in the slide rail of the arc guide slider 10. The lower surface of the frame 8 is installed on the frame base 9 by bolts. The frame base 9 is installed on the linear guide slider 3 by bolts 14 and is positioned by positioning pin 15 and set screw 28.

[0008] During operation, two cylindrical products 4 to be docked are placed one-to-one into a modular skid system 1 support component 27. The upper and lower clamping base plates 67 are closed, and the clamping component 26 and support component 27 are used to fix the products 4. Then, the two modular skid systems 1 are brought closer together to bring the two cylindrical products 4 to be docked closer. Then, by rotating one modular skid system 1, one cylindrical product 4 is aligned with the position where it is connected to the other cylindrical product 4. Then, the cylindrical products 4 to be docked are brought closer together until they are completely docked.

[0009] The support component 27 is also provided with a clamping component 26, and the clamping component 26 is also provided with a locking knob 31.

[0010] A handle 24 and a lifting ring 25 are also provided on the side of the arc guide rail 16 away from the arc guide rail slider 10. The handle 24 is used to rotate the arc guide rail 16.

[0011] A self-locking rivet 18 is provided at the connection between the upper base plate 61 and the lower base plate 71; a combined connector 21 is provided at the end of the connection between the upper base plate 61 and a combined connector groove 22 is provided at the end of the connection between the lower base plate 71, and the combined connector 21 and the combined connector groove 22 cooperate with each other; a buffer block 29 is also provided at the end of the upper base plate 61 on the side of the combined connector 21, and an oil-free bushing 23 is also provided at the end of the lower base plate 71 on the side of the combined connector groove 22.

[0012] The stop pin 12 and the speed limiting friction block 13 are arranged radially on the same side of the frame 8. The friction block adjusting bolt 30 fixes the speed limiting friction block 13 to the frame 8. The stop pin 12 plays the role of limiting the rolling angle of the ring.

[0013] This invention targets weakly rigid cylindrical products. Based on the theory of weakly rigid assembly and docking, it designs and manufactures a non-adjustment docking system to achieve non-adjustment docking operations for weakly rigid cylindrical products when the assembly gap is exceeded. Attached Figure Description

[0014] Figure 1 A schematic diagram of the working structure of the present invention;

[0015] Figure 2 1 is a schematic diagram of the modular skid system 1 of the present invention;

[0016] Figure 3 , is a schematic diagram of the frame 8 of the present invention;

[0017] Figure 4 1. A schematic diagram of the upper retaining ring base plate 6 and the lower retaining ring base plate 7 of the present invention;

[0018] (a) Front structural diagram of the upper ring base plate 6 and the lower ring base plate 7 of the present invention

[0019] (b) is a schematic diagram of the back structure of (a).

[0020] Explanation of markings in the attached diagram:

[0021] 1 is a modular skid system; 2 is a worktable; 3 is a linear guide slider; 4 is a product; 5 is a linear guide; 6 is an upper clamping ring base plate; 7 is a lower clamping ring base plate; 8 is a frame; 9 is a frame base; 10 is an arc-shaped guide slider; 11 is a wedge block; 12 is a stop pin; 13 is a friction block; 14 is a mounting bolt; 15 is a positioning pin; 16 is an arc-shaped guide; 17 is an arc-shaped guide mounting groove; 18 is a self-locking pull stud; 19 is a limit hole; 20 is a functional component mounting hole; 21 is a combination connector; 22 is a combination connection groove; 23 is an oil-free bushing; 24 is a handle; 25 is a lifting ring; 26 is a clamping component; 27 is a support component; 28 is a set screw; 29 is a buffer block; 30 is a friction block adjusting bolt; 31 is a locking knob; 6 is an upper clamping ring base plate; 7 is a lower clamping ring base plate. Detailed Implementation

[0022] The purpose of this invention is to provide a rapid docking method for weakly rigid cylindrical products without attitude adjustment. The main structure can be divided into a docking platform and a modular skid system.

[0023] The docking platform consists of a worktable and a linear guide rail module. Further, the linear guide rail is mounted on the worktable plane and installed and adjusted using lateral positioning grooves and wedge blocks on the worktable to ensure the guide rail's straightness meets requirements. Additionally, fastening bolts are used to fix the guide rail to the platform base surface to ensure the guide rail's flatness. A skid system is mounted on the linear guide rail slider, thereby providing the product with high-precision and stable X-axis movement capability.

[0024] The modular skid system (referred to as the skid ring) consists of a frame, a base plate, arc-shaped guide rails, and various functional components. Further explanation:

[0025] The frame comprises a bottom positioning pin hole, a radial stop pin, a speed-limiting friction block, an arc-shaped guide rail-slider mounting hole, and an arc-shaped guide rail slider. The frame ensures the Y-axis and yaw accuracy of the clamping ring; therefore, conical holes are arranged at the corresponding positions connecting to the linear guide rail slider, serving as positioning pin holes to complete the basic positioning function of the clamping ring structure. In the skid system designed in this invention, a standard product—an arc-shaped guide rail—provides 360° angular automation for the cylindrical product. The arc-shaped guide rail acts as the mover, and the arc-shaped guide rail-slider acts as the stationary, connected to the frame through the arc-shaped guide rail-slider mounting hole. During installation, the outer curved surface of the slider and the left side plane serve as positioning surfaces to provide initial positioning for the slider. A wedge block is installed on the right side of the slider and tightened radially inside with a set screw for clamping. In addition, stop pins and speed-limiting friction blocks are radially arranged on the same side of the frame, all connected to the frame via threads, serving to limit the angular movement and speed of the clamping ring during rolling.

[0026] The base plate consists of an upper clamping ring base plate and a lower clamping ring base plate, both in a semi-circular arc shape. Their outer diameter serves as a limiting and speed-limiting surface, their inner diameter as a positioning surface for the various functional components, and their sides provide a positioning reference for the arc-shaped guide rail installation. The two are connected by an oil-free bushing to ensure a tight connection and smooth movement. The upper clamping ring base plate comprises a main structure, an arc-shaped guide rail mounting groove, threaded connection holes, limiting pin holes, self-locking rivet mounting holes, self-locking rivets, positioning pin holes, a combined connector, and a buffer block. The main structure is made of aluminum alloy to minimize weight. An arc-shaped guide rail mounting groove is opened on one side of the main structure. The outer diameter and bottom surface of the groove serve as the positioning surface for the arc-shaped guide rail installation. The inner diameter of the groove connects to the inner diameter of the main structure, and threaded holes are set at 30° intervals for radial clamping of the arc-shaped guide rail. On the same side of the mounting groove, threaded holes are also set at 30° intervals on the side wall of the main structure for axial clamping of the arc-shaped guide rail. On the opposite side of the mounting groove, threaded holes of the same specifications are arranged at a staggered arrangement with the guide rail mounting holes for the installation of various functional components. The main structure features locating pin holes spaced at 60° intervals along its outer diameter, which mate with the radial locating pins of the frame for angular positioning of the gripper ring. One end of the main structure has a machined connector that mates with the connecting groove on the lower gripper ring base plate. An oil-free bushing and clamps provide a tight radial connection and smooth rotation. Rubber buffer blocks are also installed on the outer edge of the connector to prevent hard contact between the two structures when the upper and lower gripper rings open and close. The other end of the main structure has self-locking rivet mounting holes and is fitted with self-locking rivets to provide a self-locking function for the gripper ring when closed. Elliptical pin holes are machined on both ends of the main structure to mate with the cylindrical pins on the lower gripper ring base plate, providing axial positioning accuracy for the connection between the upper and lower gripper rings.

[0027] The lower retaining ring base plate consists of a main structure, an arc-shaped guide rail mounting groove, threaded connection holes, limit pin holes, self-locking rivet connection holes, positioning pin mounting holes, cylindrical positioning pins, and a combined connecting groove. Positioning pin mounting holes are opened at both ends of the main structure, and cylindrical positioning pins are installed there. A combined connecting groove is machined at one end of the main structure, corresponding to the connector. The main structure, threaded holes, limit pin holes, mounting groove positions, and installation positioning methods are the same as those of the upper retaining ring base plate, and their main functions have already been described above and will not be repeated here.

[0028] The circular arc guide rail, composed of a circular arc guide rail and a circular arc guide rail-slider, provides high-precision and smooth rolling motion for the clamping ring. This invention employs two sets of circular arc guide rail-sliders, both fixedly mounted on the frame, serving as the stators in the circular arc guide rail moving components. On the other hand, this invention uses two 180° circular arc guide rails, respectively mounted on the upper and lower clamping ring base plates, and cooperating with the circular arc guide rail-sliders, serving as the movers in the moving components. In use, the movers-circular arc guide rails drive the clamping ring base plate, various functional components, and the cylindrical product compartment held by the clamping ring to rotate along the axis.

[0029] The functional components, including clamping components, support components, and self-locking components, are all installed on the upper and lower clamping ring base plates via threaded holes in the base plate. The functional components involved in this invention include clamping components and support components. Simultaneously, the outer contour of the functional component serves as a positioning reference, mating with the positioning surface of the base plate, requiring control of the outer circle roundness and dimensional tolerances. The rapid positioning function of the functional components allows the product's posture to reach a preset accuracy without repeated calibration, possessing good interchangeability. By equipping functional components of different sizes and types, clamping and docking tasks for multiple models and varieties of weakly rigid cylindrical products can be achieved.

[0030] The objective of this invention is achieved as follows: a rapid, attitude-adjustment-free docking method for low-rigidity cylindrical products, comprising a docking platform and a modular skid system. Further, the docking platform includes a worktable and a linear module, creating a working plane and providing high-precision, stable X-axis movement capability for product docking. The modular skid system includes a frame, a base plate, arc-shaped guide rails, and functional components. Further, the base plate is the central structure of the skid system; the arc-shaped guide rails and functional components are mounted on the base plate and achieve basic positioning using a positioning reference surface. Through integrated design and manufacturing processes, the Z and Y adjustment accuracy of the skid system can be maintained within 0.05mm, and the roll runout within 0.08mm. Multiple skid systems working together can achieve Z, Y, pitch, and yaw attitude control of the cylindrical product, and, utilizing low-rigidity assembly theory, achieve smooth product docking with an installation accuracy greater than the assembly gap (0.025mm). The arc guide rail is installed on the base plate as a moving part of the circular motion, and its slider is installed on the frame as a stationary part of the circular motion. The arc guide rail-slider module provides high-precision rolling motion capability for the clamping ring and the product.

[0031] In practical use, the weakly rigid cylindrical product is placed on the support component of the skid system using a assisted handling device. Then, the upper clamping ring is closed, and the clamping component provides clamping force to generate sufficient friction to prevent axial movement of the product. After multiple sets of cylindrical products are clamped, the workstation can complete all docking tasks.

[0032] The implementation method will now be described with reference to the accompanying drawings:

[0033] Figure 1 This is an application diagram of the present invention, which includes a modular skid system 1, installed on a linear guide slider 3 on a docking platform 2. Multiple skid systems can be used to support and clamp cylindrical product cabins of various shapes and sizes.

[0034] Figure 2 This is a schematic diagram of the structure of the present invention, showing the frame 8, the upper clamping ring base plate 6, and the upper clamping ring base plate 7. The portion above the quick-connect fitting is referred to as the clamping ring fixture (or simply clamping ring). In use, the present invention utilizes the support assembly 27 and the arc-shaped guide rail 16 mounted on the upper clamping ring base plate 6 and the lower clamping ring base plate 7 to provide high-precision Y, Z-axis, yaw, and pitch attitude positioning, as well as circumferential roll motion, for the clamped cylindrical product compartment, enabling attitude-free docking of cylindrical product sections.

[0035] Figure 3 This is a structural diagram of the frame of the present invention. In addition to the main mechanical structure, it also includes radial stop pins 12 and friction blocks 13. During frame 8 installation, cylindrical pins and diamond pins are used to control the Y-axis and yaw attitude of the frame and the linear guide slider 3. The arc guide slider 10 is installed on the frame positioning surface via wedge blocks 11 and set bolts. The frame base 9 and the linear guide slider 3 are basically positioned by positioning pins 15, and adjusted and tightened by mounting bolts 14 and lateral set screws 28 to limit the Y-axis center distance of multiple sets of gripping rings. The radial arrangement of stop pins 12 and speed-limiting friction blocks 13 on the same side of the frame serves to limit the angular movement of the gripping rings. The speed-limiting friction blocks 13 are connected to the frame by bolts, and the contact force between the friction blocks and the outer surfaces of the upper gripping ring base plate 6 and the lower gripping ring base plate 7 is adjusted by friction block adjusting bolts 30, thereby adjusting the rolling speed of the gripping rings.

[0036] Figure 4 This is a structural diagram of the retaining ring. In this invention, the arc-shaped guide rail-slider serves as the stationary component of the retaining ring's moving parts. During installation, the outer contour and upper surface of the slider serve as radial and axial positioning references, and the wedge block 11 provides radial clamping of the slider. Figure 3As shown. Two sets of 180° circular arc guide rails 16 serve as moving parts for the clamping ring, respectively mounted on the upper clamping ring base plate 6 and the lower clamping ring base plate 7. They cooperate with the guide rail-slider, using these components to drive the cylindrical product housing in a high-precision rolling motion. During installation, the outer diameter of the circular arc guide rails 16 and the guide rail mounting grooves 17 on the upper and lower clamping ring base plates 6 and 7 serve as positioning references. Several clamping bolts are drilled in the inner diameter for radial clamping of the guide rails, and the guide rails are axially clamped through the threaded holes on the end faces. The holes of the self-locking pull studs 18 and the tapered studs are installed at the open ends of the upper and lower clamping ring base plates 6 and 7, respectively, working together to achieve self-locking when the clamping ring is closed. The upper and lower clamping ring base plates 6 and 7 have threaded holes arranged at 30° intervals for mounting clamping components 26, support components 27, and other functional components. The combined connector 21 of the upper clamping ring base plate 6 and the combined connecting groove 22 of the lower clamping ring base plate are connected by an oil-free bushing 23, minimizing the assembly gap between the upper and lower clamping rings while providing rotational functionality, thus improving the Y-axis accuracy of the clamping rings. Furthermore, during the installation of the clamping assembly 26 and the support assembly 27, the inner diameter of the base plate is also used as the positioning reference surface. The contact surfaces of the clamping assembly 26 and the support assembly 27, which are in direct contact with the product surface, have the same curvature or surface characteristics as the outer diameter of the product. With the help of positioning methods and machining precision, good interchangeability is provided, allowing for the replacement of contact parts to be used with different models of weakly rigid cylindrical products. The product Z-axis accuracy that this invention focuses on refers to the relative accuracy of the axes of each skid system, which is guaranteed by machining precision.

[0037] Before using this invention, the frame mounting plate is first installed on the linear guide slider 3 using the positioning pin 15 and mounting bolt 14, and the Y-axis and yaw attitude of the entire clamping ring is adjusted using a set of lateral set screws 28. After the clamping ring is installed, the center elevation of the clamping ring and the relative Y-axis positions of multiple clamping rings are calibrated using a coordinate measuring machine, and the positional accuracy of all skid systems is adjusted to within the tolerance range based on the external reference.

[0038] In use of this invention, once the logistics have arrived at the workstation, the operator manually presses the self-locking rivet 18, unlocking the upper clamping ring base plate 6 and the lower clamping ring base plate 7. Simultaneously, the operator uses handle 24 to open the upper clamping ring, allowing the product to be loaded. The product is placed on the two sets of clamping ring support assemblies 27 via hoisting or manual handling. Then, the operator manually pulls handle 24 to close the upper clamping ring. During this process, the clamping assembly 26 is in a flexible state, with a pre-tension force provided by a disc spring, ensuring complete contact between the pressing contact block and the product surface. After the upper and lower clamping rings are closed, the rivet 18 automatically locks. Next, the operator rotates the locking knob 31 to bring the clamping assembly 26 to a rigid state, completely clamping and fixing the product. When docking the product, the operator pulls up the stop pin 12 and rotates it 90° to the neutral position, at which point the clamping ring's rolling direction is in an active state. The operator then easily rotates the clamping ring and the product using handle 24. After the product's angular adjustment is complete, the operator lowers the stop pin 12 to the working position, or tightens the friction block adjusting bolt 30 to stabilize the rolling direction of the retaining ring. Then, the operator pushes the skid system axially along the linear guide rail 5 until the two products are docked. After docking, the operator releases the locking knob 31, the product is removed from its fully positioned state, and the operator rotates the retaining ring and uses the markings to return it to its initial position. Immediately afterwards, the operator presses the self-locking rivet 18 to open the retaining ring and hoist the docked product out of the current workstation.

[0039] In summary, a non-adjustment-adjustment rapid docking system and method for weakly rigid cylindrical products is presented, applied to the docking and assembly of weakly rigid cylindrical products on a production line. This method relies on a non-adjustment-adjustment docking system, specifically including a docking platform and a modular skid system. The docking platform includes a worktable and a linear guide module; the modular skid system includes a frame, a base plate, an arc guide rail, and functional components, mounted on the linear guide rail slider via the frame. After integrated design, processing, and initial calibration and debugging, this non-adjustment-adjustment docking system provides the product with high-precision X-axis and roll motion capabilities, as well as reliable Y-axis, pitch, and yaw positioning accuracy, achieving non-adjustment-adjustment rapid docking of weakly rigid cylindrical products. Furthermore, the modular skid system design, while meeting docking accuracy requirements, possesses good functionality and ease of use. The quick-release attributes and good interchangeability of the functional components allow this invention to provide a unified solution for similar constructions of different product models and with different task requirements by updating different functional components.

Claims

1. A non-adjustment-adjustment rapid docking system for weakly rigid cylindrical products, the non-adjustment-adjustment docking system is designed based on the weakly rigid assembly docking theory, specifically including a docking platform (2), on which a linear guide rail (5) is installed, characterized in that, Two sets of linear guide sliders (3) are installed on the linear guide (5), and a modular skid system (1) is installed on each set of linear guide sliders (3); the modular skid system (1) includes a frame (8), an upper clamping ring base plate (6) and a lower clamping ring base plate (7). The lower clamping ring base plate (7) is connected to the frame (8), and the upper clamping ring base plate (6) is connected to the lower clamping ring base plate (7). When the upper clamping ring base plate (6) and the lower clamping ring base plate (7) are closed, they form a complete clamping ring; The lower base plate (7) includes a lower base plate (71), a guide rail mounting groove (17), an arc guide rail (16), and a support assembly (27). The guide rail mounting groove (17) is fixedly installed on the side of the circular wall of the lower base plate (71), the arc guide rail (16) is fixedly installed on the guide rail mounting groove (17), and two support assemblies (27) are installed on the functional component mounting holes (20) on the opposite side of the arc guide rail (16) to provide support for the product (4). The upper base plate (6) includes an upper base plate (61), a guide rail mounting groove (17), an arc guide rail (16), and a support assembly (27). The guide rail mounting groove (17) is also fixedly installed on the side of the circular wall of the upper base plate (61), and the arc guide rail (16) is also fixedly installed on the guide rail mounting groove (17). The clamping assembly (26) is installed on the opposite side of the arc guide rail (16) through the functional component mounting hole (20) to fix the product (4). A self-locking rivet (18) is provided at the connection between the upper base plate (61) and the lower base plate (71); a combined connector (21) is provided at the end of the connection between the upper base plate (61) and a combined connecting groove (22) is provided at the end of the connection between the lower base plate (71), and the combined connector (21) and the combined connecting groove (22) cooperate with each other; a buffer block (29) is also provided at the end of the upper base plate (61) on the side of the combined connector (21), and an oil-free bushing (23) is also provided at the end of the lower base plate (71) on the side of the combined connecting groove (22); The inner wall of the frame (8) is fixedly connected to one side of the arc guide slider (10). The arc guide slider (10) is installed on the positioning surface of the frame (8) by wedge block (11) and set bolt. The other side of the arc guide slider (10) is provided with a slide rail, and the arc guide rail (16) is embedded in the slide rail of the arc guide slider (10). The lower surface of the frame (8) is installed on the frame base (9) by bolts. The frame base (9) is installed on the linear guide slider (3) by bolts (14) and is positioned by positioning pin (15) and set screw (28). During operation, two cylindrical products (4) to be docked are placed one-to-one into a modular skid system (1) support assembly (27), the upper clamping base plate (6) and the lower clamping base plate (7) are closed, the clamping assembly (26) and the support assembly (27) are used to fix the products (4), and then the two modular skid systems (1) are brought closer together to bring the two cylindrical products (4) to be docked closer together. Then, by rotating a modular skid system (1), one cylindrical product (4) is aligned with the position where the other cylindrical product (4) is connected. Then, the cylindrical products (4) to be docked are brought closer together until they are fully docked.

2. The attitude-free rapid docking system for weakly rigid cylindrical products according to claim 1, characterized in that, The support component (27) is also provided with a clamping component (26), and the clamping component (26) is also provided with a locking knob (31).

3. A rapid docking system for weakly rigid cylindrical products without attitude adjustment, as described in claim 1 or 2, is characterized in that... A handle (24) and a lifting ring (25) are also provided on the side of the arc guide rail (16) away from the arc guide rail slider (10). The handle (24) is used to rotate the arc guide rail (16).

4. The attitude-free rapid docking system for weakly rigid cylindrical products according to claim 3, characterized in that, The stop pin (12) and the speed limiting friction block 13 are arranged radially on the same side of the frame (8). The friction block adjusting bolt (30) fixes the speed limiting friction block (13) to the frame (8). The stop pin (12) plays the role of limiting the rolling angle of the ring.

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