Heavy rod piece segmented butt joint robot system

Abstract

The invention belongs to the technical field of agricultural distribution network construction, and particularly relates to a heavy rod piece segmented butt joint robot system. Comprising a lower-section heavy rod piece, an upper-section heavy rod piece, a lower-section heavy rod piece adjusting mechanism, an upper-section heavy rod piece adjusting mechanism, a laser emitting module and a laser receiving module. The upper-section heavy rod piece adjusting mechanism and the lower-section heavy rod piece adjusting mechanism are respectively arranged on the upper-section heavy rod piece and the lower-section heavy rod piece and can sense the position information of the rod body and adjust the position, so that the axes of the upper-section heavy rod piece and the lower-section heavy rod piece are preliminarily aligned; the laser emission module is arranged on the lower-section heavy rod piece adjusting mechanism; the laser receiving module is arranged on the upper-section heavy rod piece adjusting mechanism and used for laser and outputting laser position information, the upper-section heavy rod piece adjusting mechanism conducts fine adjustment on the upper-section heavy rod piece according to the laser position information, and butt joint of the upper-section heavy rod piece and the lower-section heavy rod piece is completed. The device is easy to be manually carried to an agricultural distribution network operation position, and has the advantages of light weight of a single module, simplicity in control, high load capacity and high butt joint precision.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural distribution network construction, and in particular relates to a heavy-duty rod segment docking robot system. Background Art

[0002] At present, in the process of connecting heavy cement poles in the construction of agricultural distribution network, the connection of cement poles is usually completed manually using tools. Especially in the complex environment of agricultural distribution network, such as muddy and uneven ground, manual connection is labor-intensive, inefficient, and the connection quality is difficult to guarantee. At present, there is a lack of a heavy cement pole connection system that can adapt to the complex environment of agricultural distribution network and has large load capacity, modularization, and good portability. Summary of the invention

[0003] In view of the above problems, the object of the present invention is to provide a heavy-duty pole segment docking robot system to solve the problem of high labor intensity and low efficiency in manual docking of heavy cement poles.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention provides a heavy-duty rod segment docking robot system, comprising a lower heavy-duty rod, an upper heavy-duty rod, a lower heavy-duty rod adjustment mechanism, an upper heavy-duty rod adjustment mechanism, a laser emitting module and a laser receiving module;

[0006] The lower heavy-duty rod adjustment mechanism is arranged on the lower heavy-duty rod and can sense the position information of the lower heavy-duty rod and adjust the position of the lower heavy-duty rod according to the position information;

[0007] The upper heavy-duty rod adjustment mechanism is arranged on the upper heavy-duty rod and can sense the position information of the upper heavy-duty rod and adjust the position of the upper heavy-duty rod according to the position information, so that the axis of the upper heavy-duty rod is initially aligned with the axis of the lower heavy-duty rod;

[0008] The laser emission module is arranged on the lower heavy-duty rod adjustment mechanism and is used for emitting laser;

[0009] The laser receiving module is arranged on the upper heavy-duty rod adjustment mechanism. The laser receiving module is used to receive the laser emitted by the laser transmitting module and output the laser position information. According to the laser position information, the upper heavy-duty rod adjustment mechanism fine-tunes the axial position of the upper heavy-duty rod to complete the docking of the upper heavy-duty rod and the lower heavy-duty rod.

[0010] The lower section heavy-duty rod adjustment mechanism comprises a lower section root adjustment component and a lower section tip adjustment component, wherein the lower section tip adjustment component is clamped at the butt end of the lower section heavy-duty rod, and the lower section root adjustment component is clamped at the other end of the lower section heavy-duty rod away from the butt end, and the lower section root adjustment component and the lower section tip adjustment component cooperate to complete the position adjustment of the lower section heavy-duty rod;

[0011] The laser emission module comprises a left laser and a right laser, and the left laser and the right laser are respectively arranged on the left and right sides of the lower section root adjustment component.

[0012] The lower section root adjustment component and the lower section tip adjustment component have the same structure, both comprising a lower section adjustment component and a lower section compliant clamping mechanism arranged on the lower section adjustment component, wherein the lower section compliant clamping mechanism is used to clamp the lower section heavy rod, the lower section adjustment component has the ability to move in the X direction, the Z direction and passively rotate around the X axis, and the lower section adjustment component can adjust the lower section heavy rod to move up and down and along the X direction;

[0013] A lower section RTK sensor is provided on the lower section adjustment assembly, and the lower section RTK sensor is used to sense the position of the lower section heavy rod.

[0014] The lower section adjustment component comprises a lower section frame, a lower section RX rotating member, a lower section Z-direction moving mechanism, a lower section RX rotating shaft, an X-direction driving motor, an X-direction moving mechanism and a lower section Z-direction driving motor, wherein the lower section RX rotating member is rotatably mounted on the top of the lower section frame through the lower section RX rotating shaft, the X-direction driving motor and the X-direction moving mechanism are both arranged on the lower section RX rotating member, the X-direction driving motor provides the X-direction moving mechanism with power for moving along the X-direction, the output end of the X-direction moving mechanism is mounted with the lower section Z-direction moving mechanism and the lower section Z-direction driving motor, the lower section Z-direction driving motor provides the lower section Z-direction moving mechanism with power for moving in the Z-direction; the output end of the lower section Z-direction moving mechanism is mounted with the lower section compliant clamping mechanism; the lower section RTK sensor is mounted on the top of the lower section RX rotating member.

[0015] The lower section flexible clamping mechanism comprises a left scissor rod, a left connecting rod, a right connecting rod, a right scissor rod, a left clamping claw and a right clamping claw, wherein the left scissor rod and the right scissor rod are cross-hinged, one end of the left connecting rod and the right connecting rod are respectively hinged to the upper end of the left scissor rod and the right scissor rod, and the other ends of the left connecting rod and the right connecting rod are hinged to each other and connected to the lower section adjustment assembly;

[0016] The left clamping jaw and the right clamping jaw are rotatably mounted on the lower ends of the left scissor rod and the right scissor rod respectively, and the axes of the left clamping jaw and the right clamping jaw are collinear.

[0017] The upper heavy-duty rod adjustment mechanism includes an upper root adjustment component and an upper tip adjustment component, wherein the upper root adjustment component is clamped at the butt end of the upper heavy-duty rod, and the upper tip adjustment component is clamped at the other end of the upper heavy-duty rod away from the butt end, and the upper root adjustment component and the upper tip adjustment component cooperate to complete the position adjustment of the upper heavy-duty rod;

[0018] The laser receiving module comprises a left laser receiving module and a right laser receiving module, and the left laser receiving module and the right laser receiving module are respectively arranged on the left side of the upper section root adjustment component and the right side of the upper section tip adjustment component.

[0019] The upper section root adjustment component and the upper section tip adjustment component have the same structure, both comprising an upper section adjustment component and an upper section compliant clamping mechanism arranged on the upper section adjustment component, wherein the upper section compliant clamping mechanism is used to clamp the upper section heavy rod, the upper section adjustment component has the ability to move in the Y direction, the Z direction and passively rotate around the X axis, and the upper section adjustment component can walk on the ground;

[0020] An upper section RTK sensor is provided on the upper section adjustment component, and the upper section RTK sensor is used to sense the position of the upper section heavy rod.

[0021] The upper adjustment assembly comprises an upper frame, a Y-direction drive motor, an upper RX rotating member, an upper RX rotating shaft, a Y-direction moving mechanism, an upper Z-direction drive motor, an upper Z-direction moving mechanism and a walking wheel assembly, wherein the walking wheel assembly is arranged at the bottom of the upper frame, the top of the upper frame is rotatably connected to the upper RX rotating member through the upper RX rotating shaft, the Y-direction drive motor and the Y-direction moving mechanism are arranged on the upper RX rotating member, the Y-direction drive motor provides power for the Y-direction movement of the Y-direction moving mechanism, the upper Z-direction drive motor and the upper Z-direction moving mechanism are installed at the output end of the Y-direction moving mechanism, the upper Z-direction drive motor provides power for the Z-direction movement of the upper Z-direction moving mechanism, and the output end of the upper Z-direction moving mechanism is connected to the upper compliant clamping mechanism;

[0022] The upper section RTK sensor is mounted on the top of the upper section RX rotating member.

[0023] The traveling wheel assembly comprises a steering wheel I, a universal wheel I, a universal wheel II and a steering wheel II, wherein the steering wheel I and the universal wheel I are mounted on the left side of the bottom of the upper frame, the universal wheel II and the steering wheel II are mounted on the right side of the bottom of the upper frame, and the steering wheel I and the steering wheel II are arranged diagonally, and the universal wheel I and the universal wheel II are arranged diagonally.

[0024] The left laser receiving module includes a left camera, a left target and a left target mounting frame, wherein the left target mounting frame is mounted on the left side of the upper section flexible clamping mechanism in the upper section root adjustment assembly, the left camera and the left target are both mounted on the left target mounting frame, and the left camera is used to collect the position information of the laser on the left target;

[0025] The right laser receiving module includes a right target, a right target mounting frame and a right camera, wherein the right target mounting frame is installed on the right side of the upper section flexible clamping mechanism in the upper section tip adjustment assembly, and the right camera is used to collect the position information of the laser on the right target.

[0026] The advantages and beneficial effects of the present invention are as follows: a heavy-duty pole segmented docking robot system provided by the present invention utilizes modular design principles and is based on a multi-robot collaborative control method, RTK positioning technology, and laser-vision fusion positioning technology to achieve segmented docking of heavy cement poles.

[0027] The present invention has the characteristics of small single module mass, large load-to-weight ratio, large load, high portability, etc., and at the same time, it has a simple and novel structure. It is suitable for the task of segmented docking of heavy cement poles in the agricultural distribution network construction environment, is easy to implement, and has a wide range of uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a heavy-duty rod segment docking robot system of the present invention;

[0029] Figure 2 It is an axonometric view of the lower section root adjustment assembly and the lower section tip adjustment assembly of the present invention;

[0030] Figure 3 It is an axonometric view of the lower section adjustment assembly of the present invention;

[0031] Figure 4 It is an axonometric view of the upper section root adjustment assembly and the upper section tip adjustment assembly of the present invention;

[0032] Figure 5 It is an axonometric view of the upper adjustment assembly of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the compliant clamping mechanism in the present invention;

[0034] Figure 7 It is a structural schematic diagram of the flexible clamping mechanism of the lower root of the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the flexible clamping mechanism of the upper root of the present invention;

[0036] Fig. 9 It is a structural schematic diagram of the flexible clamping mechanism at the tip of the upper section of the present invention.

[0037] In the figure: 1-lower section root adjustment assembly, 2-lower section heavy rod, 3-lower section tip adjustment assembly, 4-upper section root adjustment assembly, 5-upper section heavy rod, 6-upper section tip adjustment assembly, 7-left laser, 8-right laser, 9-left camera, 10-left target, 11-lower section adjustment assembly, 12-lower section flexible clamping mechanism, 13-left target mounting frame, 14-right target, 15-right target mounting frame, 16-right camera, 21-left scissor rod, 22-left connecting rod, 23-right connecting rod, 24-right scissor rod, 25-left clamp, 26-right clamp, 27-cement rod, 41-upper section adjustment assembly, 42-upper section flexible clamping mechanism, 111-lower section frame, 112-lower section RX rotating part, 113-lower section RTK sensor, 114-lower section Z-direction moving mechanism, 115-lower section RX rotating axis, 116-X-direction driving motor, 117-X-direction moving mechanism, 118-lower section Z-direction driving motor, 411-upper section frame, 412-Y-direction driving motor, 413-upper section RX rotating part, 415-upper section RX rotating axis, 416-upper section RTK sensor, 417-Y-direction moving mechanism, 418-upper section Z-direction driving motor, 419-upper section Z-direction moving mechanism, 420-steering wheel Ⅰ, 421-universal wheel Ⅰ, 422-universal wheel Ⅱ, 423-steering wheel Ⅱ. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1 to 9 As shown, the present invention provides a heavy-duty rod segment docking robot system, including a lower heavy-duty rod 2, an upper heavy-duty rod 5, a lower heavy-duty rod adjustment mechanism, an upper heavy-duty rod adjustment mechanism, a laser emitting module and a laser receiving module; the lower heavy-duty rod adjustment mechanism is arranged on the lower heavy-duty rod 2 and can sense the position information of the lower heavy-duty rod 2 and adjust the position of the lower heavy-duty rod 2 according to the position information; the upper heavy-duty rod adjustment mechanism is arranged on the upper heavy-duty rod 5 and can sense the position information of the upper heavy-duty rod 5 and adjust the position of the lower heavy-duty rod 2 according to the position information The information adjusts the position of the upper heavy-duty rod 5 so that the axis of the upper heavy-duty rod 5 is preliminarily aligned with the axis of the lower heavy-duty rod 2; the laser emitting module is arranged on the adjustment mechanism of the lower heavy-duty rod for emitting laser; the laser receiving module is arranged on the adjustment mechanism of the upper heavy-duty rod, and the laser receiving module is used to receive the laser emitted by the laser emitting module and output the laser position information. According to the laser position information, the upper heavy-duty rod adjustment mechanism fine-tunes the axis position of the upper heavy-duty rod 5 to complete the segmented precise docking of the upper heavy-duty rod 5 with the lower heavy-duty rod 2.

[0040] like Figure 1As shown, in an embodiment of the present invention, the lower section heavy rod adjustment mechanism includes a lower section root adjustment component 1 and a lower section tip adjustment component 3, wherein the lower section tip adjustment component 3 is clamped at the butt end of the lower section heavy rod 2, and the lower section root adjustment component 1 is clamped at the other end of the lower section heavy rod 2 away from the butt, and the lower section root adjustment component 1 and the lower section tip adjustment component 3 cooperate to complete the position adjustment of the lower section heavy rod 2.

[0041] In an embodiment of the present invention, the upper section heavy rod adjustment mechanism includes an upper section root adjustment component 4 and an upper section tip adjustment component 6, wherein the upper section root adjustment component 4 is clamped at the butt end of the upper section heavy rod 5, and the upper section tip adjustment component 6 is clamped at the other end of the upper section heavy rod 5 away from the butt end, and the upper section root adjustment component 4 and the upper section tip adjustment component 6 cooperate to complete the position adjustment of the upper section heavy rod 5.

[0042] like Figure 1 , Figure 2 As shown, in the embodiment of the present invention, the lower section root adjustment component 1 and the lower section tip adjustment component 3 have the same structure, both of which include a lower section adjustment component 11 and a lower section flexible clamping mechanism 12 arranged on the lower section adjustment component 11, wherein the lower section flexible clamping mechanism 12 is used to clamp the lower section heavy rod 2, and the lower section adjustment component 11 has the ability to move in the X direction, the Z direction and passively rotate around the X axis. The lower section adjustment component 11 can adjust the lower section heavy rod 2 to move up and down and along the X direction, that is, adjust the pitch angle and axial position of the lower section heavy rod 2.

[0043] Furthermore, a lower section RTK sensor 113 is provided on the lower section adjustment component 11 , and the lower section RTK sensor 113 is used to sense the position of the lower section heavy rod 2 .

[0044] like Figure 3 As shown, in the embodiment of the present invention, the lower section adjustment assembly 11 includes a lower section frame 111, a lower section RX rotating member 112, a lower section Z-direction moving mechanism 114, a lower section RX rotating shaft 115, an X-direction driving motor 116, an X-direction moving mechanism 117 and a lower section Z-direction driving motor 118, wherein the lower section RX rotating member 112 is rotatably mounted on the top of the lower section frame 111 through the lower section RX rotating shaft 115, and the X-direction driving motor 116 and the X-direction moving mechanism 117 are both arranged on the lower section RX rotating shaft 115. On the rotating part 112, the X-direction driving motor 116 provides the power for the X-direction moving mechanism 117 to move along the X-direction, the output end of the X-direction moving mechanism 117 is installed with the lower section Z-direction moving mechanism 114 and the lower section Z-direction driving motor 118, the lower section Z-direction driving motor 118 provides the Z-direction moving power for the lower section Z-direction moving mechanism 114; the output end of the lower section Z-direction moving mechanism 114 is installed with the lower section flexible clamping mechanism 12; the lower section RTK sensor 113 is installed on the top of the lower section RX rotating part 112.

[0045] Specifically, the X-axis moving mechanism 117 is composed of an X-axis slide rail slider assembly and an X-axis lead screw nut assembly, the X-axis slide rail slider assembly is installed on the RX rotating member 112, the X-axis slider is connected to the Z-axis moving mechanism 114, and the X-axis drive motor 116 drives the X-axis slider to move along the X-axis slide rail through the X-axis lead screw nut assembly; the Z-axis moving mechanism 114 includes a Z-axis guide rail slider assembly and a Z-axis lead screw nut assembly, the Z-axis lead screw nut assembly is connected to the lower section flexible clamping mechanism 12, and the Z-axis drive motor 118 drives the lower section flexible clamping mechanism 12 to rise and fall along the Z guide rail through the Z-axis lead screw nut assembly.

[0046] like Figure 4 As shown, in the embodiment of the present invention, the upper section root adjustment component 4 and the upper section tip adjustment component 6 have the same structure, both comprising an upper section adjustment component 41 and an upper section flexible clamping mechanism 42 arranged on the upper section adjustment component 41, wherein the upper section flexible clamping mechanism 42 is used to clamp the upper section heavy rod 5, the upper section adjustment component 41 has the ability to move in the Y direction, the Z direction and passively rotate around the X axis, and the upper section adjustment component 41 can walk on the ground.

[0047] Furthermore, an upper section RTK sensor 416 is provided on the upper section adjustment component 41 , and the upper section RTK sensor 416 is used to sense the position of the upper section heavy rod 5 .

[0048] like Figure 5 As shown, in the embodiment of the present invention, the upper adjustment assembly 41 includes an upper frame 411, a Y-direction drive motor 412, an upper RX rotating member 413, an upper RX rotating shaft 415, a Y-direction moving mechanism 417, an upper Z-direction drive motor 418, an upper Z-direction moving mechanism 419 and a walking wheel assembly, wherein the walking wheel assembly is arranged at the bottom of the upper frame 411, and the top of the upper frame 411 is rotatably connected to the upper RX rotating member 413 through the upper RX rotating shaft 415, and the Y-direction moving mechanism 417 is arranged at the bottom of the upper frame 411. The Y-direction drive motor 412 and the Y-direction moving mechanism 417 are arranged on the upper RX rotating member 413, the Y-direction drive motor 412 provides power for the Y-direction movement of the Y-direction moving mechanism 417, the output end of the Y-direction moving mechanism 417 is installed with the upper Z-direction drive motor 418 and the upper Z-direction moving mechanism 419, the upper Z-direction drive motor 418 provides power for the Z-direction movement of the upper Z-direction moving mechanism 419, and the output end of the upper Z-direction moving mechanism 419 is connected to the upper compliant clamping mechanism 42. The upper RTK sensor 416 is installed on the top of the upper RX rotating member 413.

[0049] Specifically, the Y-axis moving mechanism 417 includes a Y-axis slide rail slider assembly and a Y-axis lead screw nut assembly, both of which are installed on the upper RX rotating member 413, wherein the Y-axis slider is connected to the upper Z-axis moving mechanism 419, and the Y-axis drive motor 412 drives the upper Z-axis moving mechanism 419 to move along the Y-axis through the Y-axis lead screw nut assembly; the Z-axis moving mechanism 419 includes an upper Z-axis slide rail slider assembly and an upper Z-axis lead screw nut assembly, and the upper Z-axis drive motor 418 drives the upper flexible clamping mechanism 42 to rise and fall along the Z-axis through the upper Z-axis lead screw nut assembly.

[0050] In an embodiment of the present invention, the traveling wheel assembly includes a steering wheel I 420, a universal wheel I 421, a universal wheel II 422 and a steering wheel II 423, wherein the steering wheel I 420 and the universal wheel I 421 are installed on the bottom left side of the upper frame 411, the universal wheel II 422 and the steering wheel II 423 are installed on the bottom right side of the upper frame 411, and the steering wheel I 420 and the steering wheel II 423 are arranged diagonally, and the universal wheel I 421 and the universal wheel II 422 are arranged diagonally, so that the upper root adjustment assembly 4 and the upper tip adjustment assembly 6 both have the ability to translate and turn in the X and Y directions.

[0051] like Figure 6 As shown, in the embodiment of the present invention, the lower section flexible clamping mechanism 12 and the upper section flexible clamping mechanism 42 have the same structure, both of which include a left scissor rod 21, a left connecting rod 22, a right connecting rod 23, a right scissor rod 24, a left clamping claw 25 and a right clamping claw 26, wherein the left scissor rod 21 and the right scissor rod 24 are cross-hinged, one end of the left connecting rod 22 and the right connecting rod 23 are respectively hinged to the upper end of the left scissor rod 21 and the right scissor rod 24, and the other ends of the left connecting rod 22 and the right connecting rod 23 are hinged to each other and then connected to the lower section adjustment component 11 to form a four-bar linkage; the left clamping claw 25 and the right clamping claw 26 are respectively rotatably mounted on the lower ends of the left scissor rod 21 and the right scissor rod 24, and the rotation axes of the left clamping claw 25 and the right clamping claw 26 are collinear. On the basis of the four-bar linkage, different forms of left and right clamping claws are installed to form different flexible holding mechanisms.

[0052] like Figure 6 As shown, in the embodiment of the present invention, the laser emission module includes a left laser 7 and a right laser 8, and the left laser 7 and the right laser 8 are respectively arranged on the left and right sides of the lower section root adjustment component 1. Specifically, the left laser 7 is arranged on the left clamping jaw 25 of the lower section flexible clamping mechanism 12, and the right laser 8 is arranged on the right clamping jaw 26 of the lower section flexible clamping mechanism 12.

[0053] In an embodiment of the present invention, the laser receiving module includes a left laser receiving module and a right laser receiving module, and the left laser receiving module and the right laser receiving module are respectively arranged on the left side of the upper root adjustment component 4 and the right side of the upper tip adjustment component 6.

[0054] like Figure 8 As shown, in the embodiment of the present invention, the left laser receiving module includes a left camera 9, a left target 10 and a left target mounting frame 13, wherein the left target mounting frame 13 is mounted on the left side of the upper section flexible clamping mechanism 42 in the upper section root adjustment assembly 4, the left camera 9 and the left target 10 are both mounted on the left target mounting frame 13, and the left camera 9 is used to collect the position information of the laser on the left target 10. Specifically, the left target mounting frame 13 is mounted on the left clamp 25. The left laser 7 produces a laser spot on the left target 10, and the position of this laser spot relative to the target is identified and located by the left camera 9.

[0055] like Fig. 9 As shown, in the embodiment of the present invention, the right laser receiving module includes a right target 14, a right target mounting frame 15 and a right camera 16, wherein the right target mounting frame 15 is mounted on the right side of the upper section flexible clamping mechanism 42 in the upper section tip adjustment assembly 6, and the right camera 16 is used to collect the position information of the laser on the right target 14. Specifically, the right target mounting frame 15 is mounted on the right clamping claw 26. The right laser 8 produces a laser point on the right target 14, and the position of this laser point relative to the target is identified and located by the right camera 16. Preferably, the left camera 9 and the right camera 16 are both 3D cameras.

[0056] In this embodiment, the lower heavy-duty rod 2 and the upper heavy-duty rod 5 are both cement rods.

[0057] The present invention provides a heavy-duty rod segment docking robot system, the working principle of which is:

[0058] The lower section root adjustment component 1 and the lower section tip adjustment component 3 respectively clamp the two ends of the lower section heavy rod 2 through the lower section flexible clamping mechanism 12, and the upper section root adjustment component 4 and the upper section tip adjustment component 6 clamp the two ends of the upper section heavy rod 5 through the upper section flexible clamping mechanism 42.

[0059] First, the position information of the lower heavy-duty rod 2 is obtained through the lower RTK sensor 113 in the lower root adjustment component 1 and the lower tip adjustment component 3, and the position information of the upper heavy-duty rod 5 is obtained through the upper RTK sensor 416 in the upper root adjustment component 4 and the upper tip adjustment component 6. Then, the axis position of the lower heavy-duty rod 2 is adjusted through the lower adjustment component 11 in the lower root adjustment component 1 and the lower tip adjustment component 3, and then the position of the upper heavy-duty rod 5 is adjusted through the upper adjustment component 41 in the upper root adjustment component 4 and the upper tip adjustment component 6, so that the axis of the upper heavy-duty rod 5 is preliminarily aligned with the axis of the lower heavy-duty rod 2.

[0060] The left laser 7 is turned on, and the laser emitted by the left laser 7 hits the left target 10; the right laser 8 is turned on, and the laser of the right laser 8 hits the right target 14. The position of the laser point on the corresponding target is identified by the left camera 9 and the right camera 16, and the axis position of the upper heavy rod 5 is adjusted by the upper section adjustment component 41 in the section root adjustment component 4 and the upper section tip adjustment component 6, so that the laser point moves to the corresponding target target position, and the cement pole docking is completed, thereby improving the automation level of cement pole docking in the construction of agricultural distribution network, reducing the labor intensity of manual operation, and improving operation efficiency and safety.

[0061] The present invention provides a heavy-duty pole segment docking robot system, which uses modular design principles and is based on a multi-robot collaborative control method, RTK positioning technology, and laser-vision fusion positioning technology to achieve segmented docking of heavy cement poles. The heavy-duty pole segment docking robot system uses the characteristics of good portability and large load of modular mechanisms, and is easy to carry to the agricultural distribution network operation position manually. It has the advantages of small single module weight, simple control, large load-to-weight ratio, strong load capacity, and high docking accuracy.

[0062] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A heavy-duty rod segment docking robot system, characterized in that: It comprises a lower heavy-duty rod (2), an upper heavy-duty rod (5), a lower heavy-duty rod adjustment mechanism, an upper heavy-duty rod adjustment mechanism, a laser transmitting module and a laser receiving module; The lower heavy-duty rod adjustment mechanism is arranged on the lower heavy-duty rod (2) and is capable of sensing position information of the lower heavy-duty rod (2) and adjusting the position of the lower heavy-duty rod (2) according to the position information; The upper heavy-duty rod adjustment mechanism is arranged on the upper heavy-duty rod (5) and is capable of sensing position information of the upper heavy-duty rod (5) and adjusting the position of the upper heavy-duty rod (5) according to the position information, so that the axis of the upper heavy-duty rod (5) and the axis of the lower heavy-duty rod (2) are preliminarily aligned; The laser emission module is arranged on the lower heavy-duty rod adjustment mechanism and is used for emitting laser; The laser receiving module is arranged on the upper heavy-duty rod adjustment mechanism, and is used to receive the laser emitted by the laser emitting module and output laser position information. The upper heavy-duty rod adjustment mechanism finely adjusts the axis position of the upper heavy-duty rod (5) according to the laser position information, thereby completing the docking of the upper heavy-duty rod (5) with the lower heavy-duty rod (2).

2. The heavy-duty rod segment docking robot system according to claim 1, characterized in that: The lower section heavy-duty rod adjustment mechanism comprises a lower section root adjustment component (1) and a lower section tip adjustment component (3), wherein the lower section tip adjustment component (3) is clamped at the butt end of the lower section heavy-duty rod (2), and the lower section root adjustment component (1) is clamped at the other end of the lower section heavy-duty rod (2) away from the butt end, and the lower section root adjustment component (1) and the lower section tip adjustment component (3) cooperate to complete the position adjustment of the lower section heavy-duty rod (2); The laser emission module comprises a left laser (7) and a right laser (8), and the left laser (7) and the right laser (8) are respectively arranged on the left and right sides of the lower section root adjustment component (1).

3. The heavy-duty rod segment docking robot system according to claim 2, characterized in that: The lower section root adjustment component (1) and the lower section tip adjustment component (3) have the same structure, and both comprise a lower section adjustment component (11) and a lower section compliant clamping mechanism (12) arranged on the lower section adjustment component (11), wherein the lower section compliant clamping mechanism (12) is used to clamp the lower section heavy rod (2), and the lower section adjustment component (11) has the ability to move in the X direction, the Z direction and passively rotate around the X axis, and the lower section adjustment component (11) can adjust the lower section heavy rod (2) to move up and down and along the X direction; A lower section RTK sensor (113) is provided on the lower section adjustment component (11), and the lower section RTK sensor (113) is used to sense the position of the lower section heavy rod (2).

4. The heavy-duty rod segment docking robot system according to claim 3, characterized in that: The lower section adjustment assembly (11) comprises a lower section frame (111), a lower section RX rotating member (112), a lower section Z-direction moving mechanism (114), a lower section RX rotating shaft (115), an X-direction driving motor (116), an X-direction moving mechanism (117) and a lower section Z-direction driving motor (118), wherein the lower section RX rotating member (112) is rotatably mounted on the top of the lower section frame (111) via the lower section RX rotating shaft (115), and the X-direction driving motor (116) and the X-direction moving mechanism (117) are both arranged on the lower section RX rotating member (112). ), an X-direction drive motor (116) provides power for movement in the X direction for the X-direction moving mechanism (117); a lower section Z-direction moving mechanism (114) and a lower section Z-direction drive motor (118) are installed at the output end of the X-direction moving mechanism (117); the lower section Z-direction drive motor (118) provides power for Z-direction movement for the lower section Z-direction moving mechanism (114); the lower section flexible clamping mechanism (12) is installed at the output end of the lower section Z-direction moving mechanism (114); and the lower section RTK sensor (113) is installed on the top of the lower section RX rotating member (112).

5. The heavy-duty rod segment docking robot system according to claim 3, characterized in that: The lower section flexible clamping mechanism (12) comprises a left scissor rod (21), a left connecting rod (22), a right connecting rod (23), a right scissor rod (24), a left clamping claw (25) and a right clamping claw (26), wherein the left scissor rod (21) and the right scissor rod (24) are cross-hinged, one end of the left connecting rod (22) and the right connecting rod (23) are respectively hinged to the upper end of the left scissor rod (21) and the right scissor rod (24), and the other ends of the left connecting rod (22) and the right connecting rod (23) are hinged to each other and then connected to the lower section adjustment component (11); The left clamping jaw (25) and the right clamping jaw (26) are rotatably mounted on the lower ends of the left scissor rod (21) and the right scissor rod (24), respectively, and the axes of the left clamping jaw (25) and the right clamping jaw (26) are collinear.

6. The heavy-duty rod segment docking robot system according to claim 2, characterized in that: The upper heavy-duty rod adjustment mechanism comprises an upper root adjustment component (4) and an upper tip adjustment component (6), wherein the upper root adjustment component (4) is clamped at the butt end of the upper heavy-duty rod (5), and the upper tip adjustment component (6) is clamped at the other end of the upper heavy-duty rod (5) away from the butt end, and the upper root adjustment component (4) and the upper tip adjustment component (6) cooperate to complete the position adjustment of the upper heavy-duty rod (5); The laser receiving module comprises a left laser receiving module and a right laser receiving module, and the left laser receiving module and the right laser receiving module are respectively arranged on the left side of the upper section root adjustment component (4) and the right side of the upper section tip adjustment component (6).

7. The heavy-duty rod segment docking robot system according to claim 6, characterized in that: The upper section root adjustment component (4) and the upper section tip adjustment component (6) have the same structure, and both comprise an upper section adjustment component (41) and an upper section flexible clamping mechanism (42) arranged on the upper section adjustment component (41), wherein the upper section flexible clamping mechanism (42) is used to clamp the upper section heavy rod (5), and the upper section adjustment component (41) has the ability to move in the Y direction, the Z direction and passively rotate around the X axis, and the upper section adjustment component (41) can walk on the ground; An upper section RTK sensor (416) is provided on the upper section adjustment component (41), and the upper section RTK sensor (416) is used to sense the position of the upper section heavy rod (5).

8. The heavy-duty rod segment docking robot system according to claim 7, characterized in that: The upper adjustment assembly (41) comprises an upper frame (411), a Y-direction drive motor (412), an upper RX rotating member (413), an upper RX rotating shaft (415), a Y-direction moving mechanism (417), an upper Z-direction drive motor (418), an upper Z-direction moving mechanism (419) and a walking wheel assembly, wherein the walking wheel assembly is arranged at the bottom of the upper frame (411), the top of the upper frame (411) is rotatably connected to the upper RX rotating member (413) via the upper RX rotating shaft (415), and the Y-direction drive motor (418) is arranged at the bottom of the upper frame (411). The upper section RX rotating member (413) and the Y-direction moving mechanism (417) are arranged on the upper section RX rotating member (413), the Y-direction driving motor (412) provides power for the Y-direction moving mechanism (417) to move in the Y direction, the output end of the Y-direction moving mechanism (417) is installed with the upper section Z-direction driving motor (418) and the upper section Z-direction moving mechanism (419), the upper section Z-direction driving motor (418) provides power for the Z-direction moving mechanism (419), and the output end of the upper section Z-direction moving mechanism (419) is connected to the upper section flexible clamping mechanism (42); The upper RTK sensor (416) is mounted on the top of the upper RX rotating member (413).

9. The heavy-duty rod segment docking robot system according to claim 8, characterized in that: The traveling wheel assembly comprises a steering wheel I (420), a universal wheel I (421), a universal wheel II (422) and a steering wheel II (423), wherein the steering wheel I (420) and the universal wheel I (421) are installed on the left side of the bottom of the upper frame (411), the universal wheel II (422) and the steering wheel II (423) are installed on the right side of the bottom of the upper frame (411), and the steering wheel I (420) and the steering wheel II (423) are arranged diagonally, and the universal wheel I (421) and the universal wheel II (422) are arranged diagonally.

10. The heavy-duty rod segment docking robot system according to claim 7, characterized in that: The left laser receiving module comprises a left camera (9), a left target (10) and a left target mounting frame (13), wherein the left target mounting frame (13) is mounted on the left side of the upper section flexible clamping mechanism (42) in the upper section root adjustment component (4), the left camera (9) and the left target (10) are both mounted on the left target mounting frame (13), and the left camera (9) is used to collect position information of the laser on the left target (10); The right laser receiving module comprises a right target (14), a right target mounting frame (15) and a right camera (16), wherein the right target mounting frame (15) is mounted on the right side of the upper section flexible clamping mechanism (42) in the upper section tip adjustment component (6), and the right camera (16) is used to collect the position information of the laser on the right target (14).

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