A heavy pole segment butt joint robot system

Abstract

The present application belongs to the field of rural power distribution network construction technology, and particularly relates to a heavy pole piece segmented butt joint robot system. The system comprises a lower heavy pole piece, an upper heavy pole piece, a lower heavy pole piece adjusting mechanism, an upper heavy pole piece adjusting mechanism, a laser emission module and a laser receiving module. The upper and lower heavy pole piece adjusting mechanisms are respectively arranged on the upper and lower heavy pole pieces and can sense the pole body position information and position adjustment, so that the axes of the upper and lower heavy pole pieces are preliminarily aligned. The laser emission module is arranged on the lower heavy pole piece adjusting mechanism. The laser receiving module is arranged on the upper heavy pole piece adjusting mechanism and is used for laser and outputs laser position information. According to the laser position information, the upper heavy pole piece adjusting mechanism finely adjusts the upper heavy pole piece, and the butt joint of the upper and lower heavy pole pieces is completed. The present application is easy to manually carry to the rural power distribution network work position, has the advantages of small single module weight, simple control, strong load capacity and high butt joint precision.

Description

Technical Field

[0001] This invention belongs to the field of agricultural power grid construction technology, and specifically relates to a heavy-duty pole segment docking robot system. Background Technology

[0002] Currently, in the construction of rural power distribution networks, the splicing of heavy-duty cement poles is typically done manually using tools. Especially in the complex environments of rural power distribution networks, such as muddy and uneven ground, manual splicing is labor-intensive, inefficient, and the quality of the splices is difficult to guarantee. There is a lack of a heavy-duty cement pole splicing system that can adapt to the complex environment of rural power distribution networks, has a high load-bearing capacity, is modular, and is portable. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a heavy-duty pole segment docking robot system to solve the problems of high labor intensity and low efficiency in manually docking heavy cement poles.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a heavy-duty rod segment docking robot system, including 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 member adjustment mechanism is installed on the lower heavy member and can sense the position information of the lower heavy member and adjust the position of the lower heavy member according to the position information;

[0007] The upper heavy member adjustment mechanism is set on the upper heavy member and can sense the position information of the upper heavy member and adjust the position of the upper heavy member according to the position information, so that the axis of the upper heavy member is initially aligned with that of the lower heavy member.

[0008] The laser emission module is mounted on the lower heavy-duty rod adjustment mechanism and is used to emit lasers;

[0009] The laser receiving module is mounted on the upper heavy-duty member adjustment mechanism. The laser receiving module is used to receive the laser emitted by the laser emitting module and output the laser position information. Based on the laser position information, the upper heavy-duty member adjustment mechanism finely adjusts the axial position of the upper heavy-duty member to complete the docking of the upper heavy-duty member with the lower heavy-duty member.

[0010] The lower heavy-duty rod adjustment mechanism includes a lower root adjustment component and a lower tip adjustment component, wherein the lower tip adjustment component is clamped at the docking end of the lower heavy-duty rod, and the lower root adjustment component is clamped at the other end of the lower heavy-duty rod away from the docking end. The lower root adjustment component and the lower tip adjustment component work together to complete the position adjustment of the lower heavy-duty rod.

[0011] The laser emission module includes a left laser and a right laser, which are respectively located on the left and right sides of the lower root adjustment assembly.

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

[0013] The lower section adjustment assembly is equipped with a lower section RTK sensor, which is used to sense the position of the lower section heavy member.

[0014] The lower section adjustment assembly includes a lower section frame, a lower section RX rotating component, a lower section Z-axis moving mechanism, a lower section RX rotating shaft, an X-axis drive motor, an X-axis moving mechanism, and a lower section Z-axis drive motor. The lower section RX rotating component is rotatably mounted on the top of the lower section frame via the lower section RX rotating shaft. The X-axis drive motor and the X-axis moving mechanism are both mounted on the lower section RX rotating component. The X-axis drive motor provides power for the X-axis moving mechanism to move along the X-axis. The lower section Z-axis moving mechanism and the lower section Z-axis drive motor are mounted on the output end of the X-axis moving mechanism, and the lower section Z-axis drive motor provides Z-axis moving power for the lower section Z-axis moving mechanism. The lower section compliant clamping mechanism is mounted on the output end of the lower section Z-axis moving mechanism. The lower section RTK sensor is mounted on the top of the lower section RX rotating component.

[0015] The lower section compliant clamping mechanism includes a left scissor bar, a left connecting rod, a right connecting rod, a right scissor bar, a left gripper, and a right gripper. The left and right scissor bars are cross-hinged. One end of the left and right connecting rods is hinged to the upper end of the left and right scissor bars, respectively. The other ends of the left and right connecting rods are hinged to each other and connected to the lower section adjustment assembly.

[0016] The left and right grippers are rotatably mounted at the lower ends of the left and right scissor arms, respectively, and the axes of the left and right grippers are collinear.

[0017] The upper heavy-duty rod adjustment mechanism includes an upper root adjustment component and an upper tip adjustment component. The upper root adjustment component is clamped at the docking 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 docking end. The upper root adjustment component and the upper tip adjustment component work together to complete the position adjustment of the upper heavy-duty rod.

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

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

[0020] The upper section adjustment assembly is equipped with an upper section RTK sensor, which is used to sense the position of the upper section heavy rod.

[0021] The upper adjustment assembly includes an upper frame, a Y-axis drive motor, an upper RX rotating component, an upper RX rotating shaft, a Y-axis moving mechanism, an upper Z-axis drive motor, an upper Z-axis moving mechanism, and a wheel assembly. The wheel assembly is located at the bottom of the upper frame. The top of the upper frame is rotatably connected to the upper RX rotating component via the upper RX rotating shaft. The Y-axis drive motor and the Y-axis moving mechanism are located on the upper RX rotating component. The Y-axis drive motor provides power for the Y-axis movement of the Y-axis moving mechanism. The upper Z-axis drive motor and the upper Z-axis moving mechanism are installed at the output end of the Y-axis moving mechanism. The upper Z-axis drive motor provides power for the Z-axis movement of the upper Z-axis moving mechanism. The output end of the upper Z-axis moving mechanism is connected to the upper compliant clamping mechanism.

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

[0023] The traveling wheel assembly includes a steering wheel I, a swivel wheel I, a swivel wheel II, and a steering wheel II. The steering wheel I and the swivel wheel I are installed on the bottom left side of the upper frame, and the swivel wheel II and the steering wheel II are installed on the bottom right side of the upper frame. The steering wheel I and the steering wheel II are arranged diagonally.

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

[0025] The right-side laser receiving module includes a right target, a right target mounting bracket, and a right camera. The right target mounting bracket is installed on the right side of the upper section compliant 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: The present invention provides a heavy-duty pole segment docking robot system, which utilizes the modular design principle and is based on multi-robot collaborative control method, RTK positioning technology and laser-vision fusion positioning technology to realize the segment docking of heavy-duty cement poles.

[0027] This invention features small single-module mass, high load-to-weight ratio, large load capacity, and high portability. It also has a simple and novel structure, making it suitable for heavy-duty cement pole segment connection tasks in rural power grid construction environments. It is easy to implement and has a wide range of applications. Attached Figure Description

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

[0029] Figure 2 This is an isometric view of the lower root adjustment assembly and the lower tip adjustment assembly in this invention;

[0030] Figure 3 This is an isometric view of the lower section adjustment component in this invention;

[0031] Figure 4 This is an isometric view of the upper root adjustment component and the upper tip adjustment component in this invention;

[0032] Figure 5 This is an isometric view of the upper section adjustment component in this invention;

[0033] Figure 6 This is a schematic diagram of the compliant clamping mechanism in this invention;

[0034] Figure 7 This is a schematic diagram of the lower root compliant clamping mechanism in this invention;

[0035] Figure 8 This is a schematic diagram of the upper root compliant clamping mechanism in this invention;

[0036] Figure 9 This is a schematic diagram of the upper end flexible clamping mechanism in this invention.

[0037] In the diagram: 1-Lower section root adjustment assembly, 2-Lower section heavy-duty rod, 3-Lower section tip adjustment assembly, 4-Upper section root adjustment assembly, 5-Upper section heavy-duty 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 compliant clamping mechanism, 13-Left target mounting bracket, 14-Right target, 15-Right target mounting bracket, 16-Right camera, 21-Left scissor bar, 22-Left connecting rod, 23-Right connecting rod, 24-Right scissor bar, 25-Left gripper, 26-Right gripper, 27-Cement rod, 41-Upper section adjustment assembly, 42-Upper section compliant clamping mechanism 111-Lower frame, 112-Lower RX rotating component, 113-Lower RTK sensor, 114-Lower Z-axis moving mechanism, 115-Lower RX rotating shaft, 116-X-axis drive motor, 117-X-axis moving mechanism, 118-Lower Z-axis drive motor, 411-Upper frame, 412-Y-axis drive motor, 413-Upper RX rotating component, 415-Upper RX rotating shaft, 416-Upper RTK sensor, 417-Y-axis moving mechanism, 418-Upper Z-axis drive motor, 419-Upper Z-axis moving mechanism, 420-Steering wheel I, 421-Universal wheel I, 422-Universal wheel II, 423-Steering wheel II. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1 to 9 As shown, this invention provides a heavy-duty segmented docking robot system, including a lower heavy-duty link 2, an upper heavy-duty link 5, a lower heavy-duty link adjustment mechanism, an upper heavy-duty link adjustment mechanism, a laser emitting module, and a laser receiving module. The lower heavy-duty link adjustment mechanism is disposed on the lower heavy-duty link 2 and can sense the position information of the lower heavy-duty link 2 and adjust the position of the lower heavy-duty link 2 according to the position information. The upper heavy-duty link adjustment mechanism is disposed on the upper heavy-duty link 5 and can sense the position information of the upper heavy-duty link 5 and adjust the position of the upper heavy-duty link 5 according to the position information. The information adjustment mechanism adjusts the position of the upper heavy-duty member 5 to initially align the axis of the upper heavy-duty member 5 with that of the lower heavy-duty member 2. The laser emitting module is mounted on the lower heavy-duty member adjustment mechanism to emit laser light. The laser receiving module is mounted on the upper heavy-duty member adjustment mechanism to receive the laser light emitted by the laser emitting module and output laser position information. Based on this laser position information, the upper heavy-duty member adjustment mechanism finely adjusts the axis position of the upper heavy-duty member 5 to complete the segmented and precise docking of the upper heavy-duty member 5 and the lower heavy-duty member 2.

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

[0041] In an embodiment of the present invention, the upper heavy-duty rod adjustment mechanism includes an upper root adjustment component 4 and an upper tip adjustment component 6, wherein the upper root adjustment component 4 is clamped at the docking 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 docking end. The upper root adjustment component 4 and the upper tip adjustment component 6 work together to complete the position adjustment of the upper heavy-duty rod 5.

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

[0043] Furthermore, the lower section adjustment assembly 11 is equipped with a lower section RTK sensor 113, which 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-axis moving mechanism 114, a lower section RX rotating shaft 115, an X-axis drive motor 116, an X-axis moving mechanism 117, and a lower section Z-axis drive motor 118. 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. The X-axis drive motor 116 and the X-axis moving mechanism 117 are both located on the lower section RX rotating shaft 118. On the rotating part 112, the X-axis drive motor 116 provides power for the X-axis moving mechanism 117 to move along the X-axis. The output end of the X-axis moving mechanism 117 is equipped with the lower Z-axis moving mechanism 114 and the lower Z-axis drive motor 118. The lower Z-axis drive motor 118 provides Z-axis moving power for the lower Z-axis moving mechanism 114. The output end of the lower Z-axis moving mechanism 114 is equipped with the lower compliant clamping mechanism 12. The lower RTK sensor 113 is installed on the top of the lower RX rotating part 112.

[0045] Specifically, the X-axis moving mechanism 117 consists of an X-axis slide rail slider assembly and an X-axis lead screw nut assembly. The X-axis slide rail slider assembly is mounted on the RX rotating part 112, and the X-axis slider is connected to the Z-axis moving mechanism 114. 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 compliant clamping mechanism 12, and the Z-axis drive motor 118 drives the lower section compliant clamping mechanism 12 to rise and fall along the Z-axis 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 root adjustment component 4 and the upper tip adjustment component 6 have the same structure, both including an upper adjustment component 41 and an upper compliant clamping mechanism 42 disposed on the upper adjustment component 41. The upper compliant clamping mechanism 42 is used to clamp the upper heavy rod 5. The upper adjustment component 41 has the ability to move in the Y direction, move in the Z direction and passively rotate around the X axis, and the upper adjustment component 41 can walk on the ground.

[0047] Furthermore, the upper section adjustment assembly 41 is equipped with an upper section RTK sensor 416, which is used to sense the position of the upper section heavy rod 5.

[0048] like Figure 5 As shown, in an embodiment of the present invention, the upper section adjustment assembly 41 includes an upper section frame 411, a Y-axis drive motor 412, an upper section RX rotating component 413, an upper section RX rotating shaft 415, a Y-axis moving mechanism 417, an upper section Z-axis drive motor 418, an upper section Z-axis moving mechanism 419, and a wheel assembly. The wheel assembly is located at the bottom of the upper section frame 411, and the top of the upper section frame 411 is rotatably connected to the upper section RX rotating component 413 via the upper section RX rotating shaft 415. A drive motor 412 and a Y-axis moving mechanism 417 are mounted on the upper RX rotating member 413. The Y-axis drive motor 412 provides power for the Y-axis movement of the Y-axis moving mechanism 417. The output end of the Y-axis moving mechanism 417 is equipped with an upper Z-axis drive motor 418 and an upper Z-axis moving mechanism 419. The upper Z-axis drive motor 418 provides power for the Z-axis movement of the upper Z-axis moving mechanism 419. The output end of the upper Z-axis moving mechanism 419 is connected to the upper compliant clamping mechanism 42. An upper RTK sensor 416 is mounted on 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 the Y-axis slide rail slider assembly and the Y-axis lead screw nut assembly are mounted on the upper RX rotating member 413. The Y-axis slider is connected to the upper Z-axis moving mechanism 419. 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. The upper Z-axis drive motor 418 drives the upper compliant clamping mechanism 42 to move up and down 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 caster I 421, a caster II 422, and a steering wheel II 423. The steering wheel I 420 and the caster I 421 are installed on the bottom left side of the upper frame 411, and the caster II 422 and the steering wheel II 423 are installed on the bottom right side of the upper frame 411. The steering wheel I 420 and the steering wheel II 423 are arranged diagonally, and the caster I 421 and the caster II 422 are arranged diagonally, so that both the upper root adjustment assembly 4 and the upper tip adjustment assembly 6 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 compliant clamping mechanism 12 and the upper compliant clamping mechanism 42 have the same structure, both including a left scissor bar 21, a left connecting rod 22, a right connecting rod 23, a right scissor bar 24, a left gripper 25, and a right gripper 26. The left scissor bar 21 and the right scissor bar 24 are hinged together. One end of the left connecting rod 22 and the right connecting rod 23 is hinged to the upper end of the left scissor bar 21 and the right scissor bar 24, respectively. The other ends of the left connecting rod 22 and the right connecting rod 23 are hinged together and connected to the lower adjustment assembly 11, forming a four-bar linkage. The left gripper 25 and the right gripper 26 are rotatably mounted on the lower ends of the left scissor bar 21 and the right scissor bar 24, respectively, and the rotation axes of the left gripper 25 and the right gripper 26 are collinear. Based on the four-bar linkage, different forms of left and right grippers can be installed to form different compliant clamping mechanisms.

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

[0053] In embodiments of the present invention, the laser receiving module includes a left laser receiving module and a right laser receiving module, which are respectively disposed 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 bracket 13. The left target mounting bracket 13 is installed on the left side of the upper compliant clamping mechanism 42 in the upper root adjustment assembly 4. Both the left camera 9 and the left target 10 are mounted on the left target mounting bracket 13. The left camera 9 is used to collect the position information of the laser on the left target 10. Specifically, the left target mounting bracket 13 is mounted on the left gripper 25. The left laser 7 emits a laser point on the left target 10, and the left camera 9 identifies and locates the position of this laser point relative to the target.

[0055] like Figure 9 As shown, in this embodiment of the invention, the right-side laser receiving module includes a right target 14, a right target mounting bracket 15, and a right camera 16. The right target mounting bracket 15 is mounted on the right side of the upper compliant clamping mechanism 42 in the upper end 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 bracket 15 is mounted on the right gripper 26. The right laser 8 emits a laser point on the right target 14, and the right camera 16 identifies and locates the position of this laser point relative to the target. Preferably, both the left camera 9 and the right camera 16 are 3D cameras.

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

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

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

[0059] First, the position information of the lower heavy member 2 is obtained through the lower RTK sensor 113 in the lower root adjustment assembly 1 and the lower tip adjustment assembly 3. Then, the position information of the upper heavy member 5 is obtained through the upper RTK sensor 416 in the upper root adjustment assembly 4 and the upper tip adjustment assembly 6. Next, the axial position of the lower heavy member 2 is adjusted through the lower adjustment assembly 11 in the lower root adjustment assembly 1 and the lower tip adjustment assembly 3. Then, the position of the upper heavy member 5 is adjusted through the upper adjustment assembly 41 in the upper root adjustment assembly 4 and the upper tip adjustment assembly 6, so that the axis of the upper heavy member 5 is initially aligned with the axis of the lower heavy member 2.

[0060] The left laser 7 is activated, and its laser beam hits the left target 10; the right laser 8 is activated, and its laser beam hits the right target 14. The left camera 9 and right camera 16 identify the laser point positions on the corresponding targets. The axial position of the upper heavy-duty pole 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, causing the laser point to move to the corresponding target position, completing the cement pole connection. This improves the automation level of cement pole connection in rural power grid construction, reduces the labor intensity of manual operations, and enhances work efficiency and safety.

[0061] This invention provides a heavy-duty pole segment docking robot system that utilizes modular design principles and is based on multi-robot collaborative control methods, RTK positioning technology, and laser-vision fusion positioning technology to achieve segment docking of heavy-duty cement poles. This heavy-duty pole segment docking robot system leverages the portability and high load capacity of its modular mechanism, making it easy to manually transport to agricultural power grid operation locations. It boasts advantages such as low single-module weight, simple control, high load-to-weight ratio, strong load capacity, and high docking accuracy.

[0062] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A heavy-duty rod segment docking robot system, characterized in that, It includes a lower heavy-duty member (2), an upper heavy-duty member (5), a lower heavy-duty member adjustment mechanism, an upper heavy-duty member adjustment mechanism, a laser emitting module, and a laser receiving module; The lower heavy member adjustment mechanism is set on the lower heavy member (2) and can sense the position information of the lower heavy member (2) and adjust the position of the lower heavy member (2) according to the position information; The upper heavy member adjustment mechanism is set on the upper heavy member (5) and can sense the position information of the upper heavy member (5) and adjust the position of the upper heavy member (5) according to the position information, so that the axis of the upper heavy member (5) is initially aligned with the axis of the lower heavy member (2). The laser emission module is mounted on the lower heavy-duty rod adjustment mechanism and is used to emit lasers; The laser receiving module is set on the upper heavy rod adjustment mechanism. 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 rod adjustment mechanism finely adjusts the axial position of the upper heavy rod (5) to complete the docking of the upper heavy rod (5) and the lower heavy rod (2). The lower heavy-duty rod adjustment mechanism includes a lower root adjustment component (1) and a lower tip adjustment component (3), wherein the lower tip adjustment component (3) is clamped at the docking end of the lower heavy-duty rod (2), and the lower root adjustment component (1) is clamped at the other end of the lower heavy-duty rod (2) away from the docking end. The lower root adjustment component (1) and the lower tip adjustment component (3) work together to complete the position adjustment of the lower heavy-duty rod (2). The laser emitting module includes a left laser (7) and a right laser (8), which are respectively located on the left and right sides of the lower root adjustment component (1). The lower root adjustment assembly (1) and the lower tip adjustment assembly (3) have the same structure, both including a lower adjustment assembly (11) and a lower compliant clamping mechanism (12) disposed on the lower adjustment assembly (11). The lower compliant clamping mechanism (12) is used to clamp the lower heavy rod (2). The lower adjustment assembly (11) has the ability to move in the X direction, move in the Z direction and passively rotate around the X axis. The lower adjustment assembly (11) can adjust the lower heavy rod (2) to move up and down and move along the X direction. The lower section adjustment assembly (11) is equipped with a lower section RTK sensor (113), which is used to sense the position of the lower section heavy rod (2); The upper heavy-duty rod adjustment mechanism includes an upper root adjustment component (4) and an upper tip adjustment component (6). The upper root adjustment component (4) is clamped at the docking 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 docking end. The upper root adjustment component (4) and the upper tip adjustment component (6) work together to complete the position adjustment of the upper heavy-duty rod (5). The laser receiving module includes a left laser receiving module and a right laser receiving module, which are respectively located on the left side of the upper root adjustment component (4) and the right side of the upper tip adjustment component (6). The upper root adjustment assembly (4) and the upper tip adjustment assembly (6) have the same structure, both including an upper adjustment assembly (41) and an upper compliant clamping mechanism (42) disposed on the upper adjustment assembly (41). The upper compliant clamping mechanism (42) is used to clamp the upper heavy rod (5). The upper adjustment assembly (41) has the ability to move in the Y direction, move in the Z direction and passively rotate around the X axis. The upper adjustment assembly (41) can walk on the ground. The upper section adjustment assembly (41) is equipped with an upper section RTK sensor (416), which is used to sense the position of the upper section heavy rod (5).

2. The heavy-duty rod segment docking robot system according to claim 1, characterized in that, The lower section adjustment assembly (11) includes a lower section frame (111), a lower section RX rotating component (112), a lower section Z-axis moving mechanism (114), a lower section RX rotating shaft (115), an X-axis drive motor (116), an X-axis moving mechanism (117), and a lower section Z-axis drive motor (118). The lower section RX rotating component (112) is rotatably mounted on the top of the lower section frame (111) via the lower section RX rotating shaft (115). The X-axis drive motor (116) and the X-axis moving mechanism (117) are both located on the lower section RX rotating component (112). On the X-axis, the X-axis drive motor (116) provides power for the X-axis moving mechanism (117) to move along the X-axis. The output end of the X-axis moving mechanism (117) is equipped with the lower Z-axis moving mechanism (114) and the lower Z-axis drive motor (118). The lower Z-axis drive motor (118) provides Z-axis moving power for the lower Z-axis moving mechanism (114). The output end of the lower Z-axis moving mechanism (114) is equipped with the lower compliant clamping mechanism (12). The lower RTK sensor (113) is installed on the top of the lower RX rotating part (112).

3. The heavy-duty rod segment docking robot system according to claim 1, characterized in that, The lower section compliant clamping mechanism (12) includes a left scissor bar (21), a left connecting rod (22), a right connecting rod (23), a right scissor bar (24), a left gripper (25), and a right gripper (26). The left scissor bar (21) and the right scissor bar (24) are hinged together. 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 bar (21) and the right scissor bar (24). The other end of the left connecting rod (22) and the right connecting rod (23) are hinged together and connected to the lower section adjustment assembly (11). The left jaw (25) and the right jaw (26) are rotatably installed at the lower ends of the left scissor bar (21) and the right scissor bar (24), respectively, and the axes of the left jaw (25) and the right jaw (26) are collinear.

4. The heavy-duty rod segment docking robot system according to claim 1, characterized in that, The upper section adjustment assembly (41) includes an upper section frame (411), a Y-axis drive motor (412), an upper section RX rotating component (413), an upper section RX rotating shaft (415), a Y-axis moving mechanism (417), an upper section Z-axis drive motor (418), an upper section Z-axis moving mechanism (419), and a wheel assembly. The wheel assembly is located at the bottom of the upper section frame (411), and the top of the upper section frame (411) is rotatably connected to the upper section RX rotating component (413) via the upper section RX rotating shaft (415). The Y-axis drive motor (412) 412) and the Y-axis moving mechanism (417) are mounted on the upper RX rotating part (413). The Y-axis drive motor (412) provides power for the Y-axis movement of the Y-axis moving mechanism (417). The output end of the Y-axis moving mechanism (417) is equipped with the upper Z-axis drive motor (418) and the upper Z-axis moving mechanism (419). The upper Z-axis drive motor (418) provides power for the Z-axis movement of the upper Z-axis moving mechanism (419). The output end of the upper Z-axis moving mechanism (419) is connected to the upper compliant clamping mechanism (42). The upper RTK sensor (416) is mounted on top of the upper RX rotating part (413).

5. The heavy-duty rod segment docking robot system according to claim 4, characterized in that, The traveling wheel assembly includes a steering wheel I (420), a caster I (421), a caster II (422), and a steering wheel II (423). The steering wheel I (420) and the caster I (421) are installed on the bottom left side of the upper frame (411), and the caster II (422) and the steering wheel II (423) are installed on the bottom right side of the upper frame (411). The steering wheel I (420) and the steering wheel II (423) are arranged diagonally, and the caster I (421) and the caster II (422) are arranged diagonally.

6. The heavy-duty rod segment docking robot system according to claim 1, characterized in that, The left laser receiving module includes a left camera (9), a left target (10) and a left target mounting bracket (13). The left target mounting bracket (13) is installed on the left side of the upper compliant clamping mechanism (42) in the upper root adjustment assembly (4). The left camera (9) and the left target (10) are both installed on the left target mounting bracket (13). The left camera (9) is used to collect the position information of the laser on the left target (10). The right laser receiving module includes a right target (14), a right target mounting bracket (15), and a right camera (16). The right target mounting bracket (15) is installed on the right side of the upper section compliant 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).

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