Amphibious robot for fastening bolts of power transmission line equipment

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a power transmission line equipment bolt fastening amphibious robot which comprises a four-rotor unmanned aerial vehicle system with a gravity damping landing system arranged at the bottom, and a bionic double-arm robot system is installed on the four-rotor unmanned aerial vehicle system. The tail end of a first mechanical arm of the bionic double-arm robot system is provided with a gripper clamping end effector used for gripping bolts, and the tail end of a second mechanical arm of the bionic double-arm robot system is provided with an iris mechanism nut screwing end effector used for screwing nuts. And a power transmission line parking and walking device is also mounted between the first mechanical arm and the second mechanical arm on the four-rotor unmanned aerial vehicle system. The robot integrates the functions of autonomous flight, line walking and stopping and on-line bolt operation, full-automatic inspection and maintenance of the power transmission line can be achieved, and the operation efficiency and the power supply reliability are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an amphibious robot for fastening bolts of power transmission line equipment. Background Art

[0002] Overhead transmission lines are exposed to the air for a long time and are affected by meteorological conditions such as wind, rain, ice and snow all year round. The connecting bolts of hardware such as suspension clamps and tension clamps often loosen or fall off, causing the contact resistance at the loose bolts to increase rapidly, causing heating and burning accidents, and seriously affecting the normal operation of the transmission lines.

[0003] Developing power robots to replace manual labor for bolt tightening transmission line bolts can improve intelligent line maintenance. However, power robots face challenges such as high voltage, strong magnetic fields, high-altitude stability, and extreme weather conditions. The most significant challenge in overhead line operations is getting robots on and off the line. Aside from manual carrying and pulling, there is currently no simpler method, significantly limiting their application on transmission line bolt tightening routes.

[0004] Drones are highly automated flying devices. They play a vital role in power line inspections. Equipped with high-definition cameras and sensors, they enable real-time monitoring of power lines and fault detection, improving inspection efficiency and safety. However, most current drones are limited to simple flight and photography functions. To enable online robots to log on and off lines, drones could be considered. Beyond enabling these tasks, they also expand the functionality of traditional drones, potentially expanding their application.

[0005] Combining UAV technology, we study the overall plan of amphibious robots and their main control system, which integrate robots, aerial patrol and online operation technologies. This will enable the robot to have the ability to realize the entire process of amphibious line robot inspection along the line, flying on and off the line, walking on the line, and online bolting operations, which can greatly improve the power supply reliability. Summary of the Invention

[0006] The purpose of the present invention is to provide an amphibious robot for tightening bolts of transmission line equipment, which can realize fully automatic inspection and maintenance of transmission lines, significantly improving operation efficiency and power supply reliability.

[0007] The technical solution of the present invention is: an amphibious robot for tightening bolts of transmission line equipment, including a four-rotor UAV system with a gravity shock absorption landing system at the bottom, a bionic dual-arm robot system installed on the four-rotor UAV system, a gripper clamping end effector for grabbing bolts installed at the end of the first robotic arm of the bionic dual-arm robot system, an iris mechanism nut tightening end effector for tightening nuts installed at the end of the second robotic arm of the bionic dual-arm robot system, and a transmission line docking walking device is also installed on the four-rotor UAV system between the first robotic arm and the second robotic arm.

[0008] Furthermore, the four-rotor UAV system includes a UAV frame, a power system, a flight control system and a camera system.

[0009] Furthermore, the bionic dual-arm robot system includes a robotic arm base plate fixed to the drone frame, and a first robotic arm and a second robotic arm are respectively installed at both ends of the robotic arm base plate. The first robotic arm and the second robotic arm each include five joint components and have five degrees of freedom.

[0010] Furthermore, the first robotic arm and the second robotic arm both include a base portion, the base portion is provided with a rotatable waist structure, the waist structure is provided with a rotatable upper arm structure, the upper end of the upper arm structure is rotatably connected to the lower arm structure, and the other end of the lower arm structure is rotatably connected to a wrist structure for installing a gripper to clamp the end effector or an iris mechanism nut to tighten the end effector, and the waist structure, upper arm structure, lower arm structure, and wrist structure are respectively driven to rotate by servo motors.

[0011] Furthermore, the gripper clamping end actuator includes a gripper base for fixing to the end of the first robotic arm, and a pair of gripper gears that are meshed and driven by a servo motor are rotatably connected to the gripper base, and the gripper gears are respectively provided with a first connecting rod with one end extending radially outward, and one end of the first connecting rod is respectively hinged to one end of a clamping claw, and the middle part of the clamping claw is respectively hinged to one end root of a second connecting rod, and the other end of the second connecting rod is hinged to the gripper base.

[0012] Furthermore, a protruding clamping portion is provided on the inner side of the other end of the clamping claw.

[0013] Furthermore, the iris mechanism nut tightening end actuator includes an iris mechanism driven to rotate by a hydraulic motor, and the iris mechanism includes a base and a cover plate, a regular hexagonal ring guide groove is provided on the end face opposite to the cover plate in the base, a waist-shaped hole guide groove is provided on the cover plate, and six slider assemblies are provided between the base and the cover plate, and a guide boss that cooperates with the waist-shaped hole guide groove is provided on the outer side of one end face of the slider assembly, and a rectangular guide block that cooperates with one side of the regular hexagonal ring guide groove is provided on the outer side of the other end face of the slider assembly, and a nut clamp that passes through the through hole in the middle of the base is provided on the inner side of the other end face of the slider assembly, and a connecting rod adjustment mechanism is provided between the base and the cover plate.

[0014] Furthermore, the connecting rod adjustment mechanism includes a first cantilever radially fixed on the side wall of the base, the cantilever end of the first cantilever is rotatably connected to one end of the driving rod, a second cantilever is radially fixed on the cover plate, a guide groove is provided on the second cantilever, and the other end of the driving rod is provided with a connecting shaft portion movably connected to the guide groove.

[0015] Furthermore, the power transmission line docking and walking device includes a support frame, and walking rollers are rotatably installed on the front and rear sides of the upper end of the support frame. A dual-axis servo motor is installed on the upper end of the support frame, and the output shaft of the dual-axis servo motor is connected to the transmission shaft of the walking roller via an elastic coupling; a docking device for achieving docking on the line is also provided on the front and rear sides of the support frame.

[0016] Furthermore, the docking device includes a servo, and a servo is horizontally installed on both sides of the middle part of the front and rear sides of the support frame. The output shaft of the servo is fixed with a rotating block via a coupling, and the front and rear parts of the rotating block are correspondingly hinged with a long connecting rod and a short connecting rod. Mounting seats are fixed on both sides of the walking roller on the support frame, and the mounting seat is provided with an upper splint and a lower splint that are rotatably connected to the mounting seat via a transverse rotating shaft in the middle. The clamping ends of the upper splint and the lower splint face outward, and the driving ends of the upper splint and the lower splint face the inside of the support frame. The upper end of the long connecting rod is hinged to the driving end of the upper splint, and the upper end of the short connecting rod is hinged to the driving end of the lower splint.

[0017] Compared with the prior art, the present invention has the following advantages: 1. The robot integrates a drone flight system and a bionic dual-arm robot operation system, realizing the integrated operation functions of aerial flight inspection of transmission line equipment, line walking and parking, and on-line bolt tightening. It achieves fully automatic inspection and maintenance of transmission lines, significantly improving operation efficiency and power supply reliability.

[0018] 2. The bionic fish-fin clamping structure significantly improves clamping stability, adaptability, and operational reliability, effectively resolving the technical difficulties of traditional clamps that are prone to slipping and damaging equipment during transmission line operations.

[0019] 3. The innovative iris-type nut tightening actuator uses six slider linkage mechanisms and a hydraulic servo drive to achieve adaptive clamping and high-precision tightening of nuts of various specifications, solving the technical problems of traditional tools requiring frequent replacement and low operating efficiency.

[0020] 4. The transmission line docking and walking device uses dual servo motors and an adaptive clamping mechanism to achieve stable movement and precise positioning of the robot on the transmission line, solving the technical problem of traditional inspection equipment being unable to move and dock reliably on the line.

[0021] 5. The gravity-adaptive landing system, which uses new shock-absorbing materials, achieves smooth landing under vertical impact, effectively solving the technical problem of poor landing stability of UAVs on complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the overall external structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a bionic robotic arm according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a fin gripper clamping end effector according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the working principle of the fin gripper clamping end effector according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of a nut tightening end effector of an iris mechanism according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the working principle of the iris mechanism nut tightening end effector according to an embodiment of the present invention; Figure 7 This is a schematic structural diagram of a transmission line parking and traveling device according to an embodiment of the present invention; Figure 8 A side view of an upper splint and a lower splint according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the operation of a transmission line parking and traveling device according to an embodiment of the present invention; Figure 10 Schematic diagram of the working principle of the gravity shock absorption landing system according to an embodiment of the present invention.

[0023] In the figure: 1. Gripper clamping end effector; 101. Gripper base; 102. Gripper gear; 103. Clamping claw; 104. Second connecting rod; 105. Bolt; 107. First connecting rod; 106. Clamping part; 2. Iris mechanism nut tightening end effector; 21. Hydraulic motor; 22. Cover plate; 221. Waist hole guide groove; 222. Second cantilever; 223. Guide groove; 23. Slider assembly; 231. Guide boss; 232. Rectangular guide block; 233. Nut clamping plate; 24. Base; 241. Regular hexagonal ring guide groove; 242. First cantilever; 2 5. Driving rod; 251. Connecting shaft; 26. Nut; 301. Wrist structure; 302. Forearm structure; 303. Arm structure; 304. Waist structure; 305. Base; 4. Shock-absorbing landing bracket; 51. Support frame; 52. Walking roller; 53. Dual-axis servo motor; 54. Elastic coupling; 55. Docking device; 551. Servo; 552. Coupling; 553. Rotating block; 554. Long connecting rod; 555. Short connecting rod; 556. Mounting seat; 557. Horizontal rotating shaft; 558. Upper splint; 559. Lower splint; 6. Robot arm base plate. DETAILED DESCRIPTION

[0024] To make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description, but the present invention is not limited thereto.

[0025] refer to Figures 1 to 9 An amphibious robot for tightening bolts of transmission line equipment includes a four-rotor UAV system with a gravity-damping landing system at the bottom, a bionic dual-arm robot system installed on the four-rotor UAV system, and a differentiated end effector configuration scheme is adopted. The end of the first robotic arm of the bionic dual-arm robot system is equipped with a gripper clamping end effector 1 for grasping bolts, and the end of the second robotic arm of the bionic dual-arm robot system is equipped with an iris mechanism nut tightening end effector 2 for tightening nuts. A transmission line docking walking device is also installed on the four-rotor UAV system between the first robotic arm and the second robotic arm.

[0026] In this embodiment, the quad-rotor UAV system includes a UAV frame, a power system, a flight control system and a camera system.

[0027] The amphibious robot for tightening bolts on power line equipment utilizes a quadrotor drone system to complete on- and off-line operations. A servo-motor-driven transmission line docking and travel device enables stable travel and positioned docking along the transmission line. A gripper-clamped end effector (1) reliably grasps bolts, while an iris-operated nut tightening end effector (2) tightens nuts of various specifications. An onboard high-precision visual recognition system provides operational guidance, completing the complete bolt tightening process. These modules work collaboratively to automate the entire process of on- and off-line flight, travel, docking, and bolt tightening.

[0028] In this embodiment, the bionic dual-arm robot system includes a robotic arm base plate 6 fixed to the drone frame by bolts, and a first robotic arm and a second robotic arm are respectively installed at both ends of the robotic arm base plate. The first robotic arm and the second robotic arm each include five joint components and have five degrees of freedom.

[0029] In this embodiment, the first robotic arm and the second robotic arm both include a base portion 305, on which a rotatable waist structure 304 is provided, and the waist structure is provided with a large arm structure 303 rotatably connected, and the upper end of the large arm structure is rotatably connected to a small arm structure 302, and the other end of the small arm structure is rotatably connected to a wrist structure 301 for installing a gripper clamping end effector or an iris mechanism nut tightening end effector, and the waist structure, large arm structure, small arm structure, and wrist structure are respectively driven to rotate by servo motors.

[0030] The base serves as a fixed end connected to the arm's chassis, the waist structure provides rotational motion, the boom and forearm structures form the primary working arm, and the wrist structure enables end-of-line posture adjustment. Each joint utilizes a modular design. High-torque servo motors drive the base-to-boom joints, while high-precision, lightweight servo motors are used at the wrist joints. The five degrees of freedom (DOFs) work together to achieve precise positioning in any position within the workspace, meeting the demands for both motion flexibility and positioning accuracy for power line bolt tightening operations.

[0031] In this embodiment, the gripper clamping end effector includes a gripper base 101 for securing to the end of the first robotic arm. The gripper base is equipped with a motor mounting interface. The wrist structure 301 is rigidly connected to the gripper base via a high-precision, lightweight servo motor. A pair of meshing gripper gears 102, driven by the servo motor, are rotatably connected to the gripper base. One gripper gear is connected to the output shaft of the other high-precision, lightweight servo motor via the motor mounting interface. Each gripper gear is provided with a first connecting rod 107, one end of which extends radially outward. One end of each first connecting rod is hinged to one end of a clamping claw 103, which has a bionic fin-like clamping structure. The middle portion of each clamping claw is hinged to one end of a second connecting rod 104. Each clamping claw is hinged to a pair of second connecting rods. The other ends of each second connecting rod are hinged to the gripper base. The servo motor drives the rotation of the pair of gripper gears, driving the pair of clamping claws to open and close. A protruding clamping portion 106 is provided on the inner side of the other end of the clamping claw.

[0032] The clamping claw 103 is connected to the gripping gear 102 and the second connecting rod 104 arranged symmetrically on both sides, forming a mechanism linkage to complete the linear clamping action. During operation, the servo motor drives the gripping gear 102 to rotate, and the rotational motion is converted into symmetrical linear motion of the clamping claw 103 through the gripping gear 102, the first connecting rod 107 and the second connecting rod 104, forming an adaptive clamping force to achieve reliable clamping of the transmission line bolts. Figure 4 As shown, the clamping jaws used in this embodiment are capable of deformation during operation. Their fin structure adapts to the workpiece being clamped, achieving a secure grip on the bolt through a rational distribution of clamping force. This biomimetic design increases the clamping contact area compared to traditional jaws while effectively preventing surface damage to the bolt, effectively resolving the issue of traditional clamps prone to slippage and damage during power transmission line operations.

[0033] In this embodiment, the iris mechanism nut tightening end effector includes an iris mechanism driven for rotation by a hydraulic motor 21, which is connected to the iris mechanism via a transmission mechanism. The iris mechanism comprises a base 24 and a cover plate 22. A regular hexagonal ring guide groove 241 is provided on the end surface of the base opposite the cover plate, and a waist-shaped hole guide groove 221 is provided on the cover plate. Six slider assemblies 23 are disposed between the base and the cover plate. Each slider assembly has a guide boss 231 disposed on the outer side of one end surface, which engages with the waist-shaped hole guide groove. Each slider assembly has a rectangular guide block 232 disposed on the outer side of the other end surface, which engages with one side of the regular hexagonal ring guide groove. Each slider assembly has a nut clamp 233 disposed on the inner side of the other end surface, extending from a through hole in the center of the base. A connecting rod adjustment mechanism is disposed between the base and the cover plate.

[0034] In this embodiment, the connecting rod adjustment mechanism includes a first cantilever 242 radially fixed to the side wall of the base. The cantilever end of the first cantilever is rotatably connected to one end of the drive rod 25. A second cantilever 222 is radially fixed to the cover plate. The second cantilever is provided with a waist-shaped guide groove 223. The other end of the drive rod is provided with a connecting shaft 251 that is movably connected to the guide groove. The drive rod is pre-adjusted on the ground according to the specifications of the nut, so that the cavity formed by the nut clamping plate on the slider meets the specifications of the nut. The drive rod is then locked (locking the drive rod can be achieved by providing a threaded portion on the connecting shaft and screwing a lock nut).

[0035] The iris mechanism's nut tightening end effector utilizes a six-slider linkage design. The nut clamping plates 233 of the six slider assemblies 23 together form an adjustable hexagonal working chamber. This is adjusted via a drive rod 25, causing the slider assemblies to move synchronously along the regular hexagonal ring guide groove and the waist-shaped hole guide groove, thereby achieving adaptive clamping of nuts of varying specifications. A hydraulic motor 21 drives the entire iris mechanism to rotate and tighten the nut.

[0036] In this embodiment, the power transmission line docking walking device includes a support frame 51 connected to the middle part of the robot arm base plate by bolts, and walking rollers 52 are rotatably installed on the front and rear sides of the upper end of the support frame. A dual-axis servo motor 53 is installed in the installation cavity at the upper end of the support frame. The output shaft of the dual-axis servo motor is connected to the transmission shaft of the walking roller via an elastic coupling 54, so that the robot can achieve bidirectional and stable walking along the power transmission line.

[0037] In this embodiment, a docking device 55 for achieving docking on the line is also provided on the front and rear sides of the support frame. The docking device includes a servo 551, with a servo mounted horizontally on either side of the center portion of the front and rear sides of the support frame. The output shaft of the servo is secured to a rotating block 553 via a coupling 552. A long connecting rod 554 and a short connecting rod 555 are hingedly connected to the front and rear portions of the rotating block. For example, one side of the front portion of the rotating block is hingedly connected to the lower end of the long connecting rod (using a ball joint), while the other side of the rear portion of the rotating block is hingedly connected to the lower end of the short connecting rod (using a ball joint). Mounting blocks 556 are fixed to either side of the travel rollers on the support frame. The mounting blocks are provided with an upper clamping plate 558 and a lower clamping plate 559, each of which is rotatably connected to the mounting block via a transverse rotating shaft 557. The clamping ends of the upper and lower clamping plates face outward, while the driving ends of the upper and lower clamping plates face inward of the support frame. Specifically, the clamping ends of the upper and lower clamping plates on the front side face forward; the clamping ends of the upper and lower clamping plates on the rear side face rearward. The upper end of the long connecting rod is hinged (ball-jointed) to the driving end of the upper clamping plate, and the upper end of the short connecting rod is hinged (ball-jointed) to the driving end of the lower clamping plate. The steering gear drives the rotating block to rotate, which in turn drives the long and short connecting rods to drive the upper and lower clamping plates to clamp or release the wires. Figure 7 .

[0038] In this embodiment, the centerline between the upper and lower clamping plates is positioned 1-2 cm below the bottom surface of the groove of the travel roller to better clamp the conductor. The clamping end working surfaces of the upper and lower clamping plates are provided with an anti-slip layer, such as a rubber layer, to help prevent slipping during clamping.

[0039] See also Figure 8 When the robot is about to land on a conductor, the upper and lower clamping plates are extended to their maximum angle to prevent the guide wheels from hanging on the conductor. When the robot needs to stop, the control system synchronizes the four servos to enable the upper and lower clamping plates to grip the conductor for bolt tightening.

[0040] like Figure 9 As shown in the figure, the robot system can achieve precise fixed-point docking on the transmission line and complete the bolt tightening operation in conjunction with the five-degree-of-freedom robotic arm and end effector.

[0041] In this embodiment, the gravity shock absorption landing system includes two shock absorption landing brackets 4 and two landing lower brackets. The landing system of the quadcopter drone uses a buffer bracket made of elastic shock absorption material. The material has nonlinear stiffness characteristics and can produce the following under the action of landing impact load: Figure 10 The deformation shown in the right figure acts as a buffer against its own gravity, ensuring the robot's reliable landing in complex terrain conditions.

[0042] The above is only a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, it does not require creative labor to design different forms of amphibious robots for bolt tightening transmission line equipment. Without departing from the principles and spirit of the present invention, all equal changes, modifications, substitutions and variations made within the scope of the patent application of the present invention should be covered by the scope of the present invention.

Claims

1. An amphibious robot for tightening bolts on power transmission line equipment, comprising a quadrotor drone system with a gravity-damping landing system at the bottom, characterized in that: The four-rotor UAV system is equipped with a bionic dual-arm robot system, the end of the first robotic arm of the bionic dual-arm robot system is equipped with a gripper clamping end effector for grabbing bolts, the end of the second robotic arm of the bionic dual-arm robot system is equipped with an iris mechanism nut tightening end effector for tightening nuts, and the four-rotor UAV system is also equipped with a power transmission line docking walking device between the first robotic arm and the second robotic arm.

2. The amphibious robot for tightening bolts of power transmission line equipment according to claim 1, characterized in that: The four-rotor UAV system includes a UAV frame, a power system, a flight control system and a camera system.

3. The amphibious robot for tightening bolts of power transmission line equipment according to claim 2, characterized in that: The bionic dual-arm robot system includes a robotic arm base plate fixed to a drone frame, with a first robotic arm and a second robotic arm mounted on both ends of the robotic arm base plate, each of the first robotic arm and the second robotic arm including five joint components and having five degrees of freedom.

4. An amphibious robot for tightening bolts of power transmission line equipment according to claim 1, 2 or 3, characterized in that: The first robotic arm and the second robotic arm both include a base portion, the base portion is provided with a rotatable waist structure, the waist structure is provided with a large arm structure rotatably connected, the upper end of the large arm structure is rotatably connected to the small arm structure, and the other end of the small arm structure is rotatably connected to a wrist structure for installing a gripper to clamp the end effector or an iris mechanism nut to tighten the end effector, and the waist structure, large arm structure, small arm structure, and wrist structure are respectively driven to rotate by servo motors.

5. The amphibious robot for tightening bolts of power transmission line equipment according to claim 1, 2 or 3, characterized in that: The gripper clamping end actuator includes a gripper base for fixing to the end of the first robotic arm, and a pair of gripper gears that are meshed and driven by a servo motor are rotatably connected to the gripper base. The gripper gears are respectively provided with a first connecting rod with one end extending radially outward, and one end of the first connecting rod is respectively hinged to one end of a clamping claw, and the middle part of the clamping claw is respectively hinged to one end root of a second connecting rod, and the other end of the second connecting rod is hinged to the gripper base.

6. The amphibious robot for tightening bolts of power transmission line equipment according to claim 5, characterized in that: The inner sides of the other ends of the clamping claws are each provided with a protruding clamping portion.

7. The amphibious robot for tightening bolts of power transmission line equipment according to claim 1 or 5, characterized in that: The iris mechanism nut tightening end actuator includes an iris mechanism driven to rotate by a hydraulic motor, and the iris mechanism includes a base and a cover plate, a regular hexagonal ring guide groove is provided on the end face opposite to the cover plate in the base, a waist-shaped hole guide groove is provided on the cover plate, and six slider assemblies are provided between the base and the cover plate, and a guide boss that matches the waist-shaped hole guide groove is provided on the outer side of one end face of the slider assembly, and a rectangular guide block that matches one side of the regular hexagonal ring guide groove is provided on the outer side of the other end face of the slider assembly, and a nut clamp that passes through the through hole in the middle of the base is provided on the inner side of the other end face of the slider assembly, and a connecting rod adjustment mechanism is provided between the base and the cover plate.

8. The amphibious robot for tightening bolts of power transmission line equipment according to claim 7, characterized in that: The connecting rod adjustment mechanism includes a first cantilever radially fixed on the side wall of the base, the cantilever end of the first cantilever is rotatably connected to one end of the driving rod, a second cantilever is radially fixed on the cover plate, a guide groove is provided on the second cantilever, and the other end of the driving rod is provided with a connecting shaft portion movably connected to the guide groove.

9. The amphibious robot for tightening bolts of power transmission line equipment according to claim 1, characterized in that: The power transmission line docking and walking device includes a support frame, and walking rollers are rotatably installed on the front and rear sides of the upper end of the support frame. A dual-axis servo motor is installed on the upper end of the support frame, and the output shaft of the dual-axis servo motor is connected to the transmission shaft of the walking roller via an elastic coupling; docking devices for achieving docking on the line are also provided on the front and rear sides of the support frame.

10. The amphibious robot for tightening bolts of power transmission line equipment according to claim 9, characterized in that: The docking device includes a steering gear, and a steering gear is horizontally installed on both sides of the middle part of the front and rear sides of the support frame. The output shaft of the steering gear is fixed with a rotating block via a coupling, and the front and rear parts of the rotating block are correspondingly hinged with a long connecting rod and a short connecting rod. Mounting seats are fixed on both sides of the walking roller on the support frame, and the mounting seat is provided with an upper splint and a lower splint that are rotatably connected to the mounting seat via a transverse rotating shaft in the middle. The clamping ends of the upper splint and the lower splint face outward, and the driving ends of the upper splint and the lower splint face the inside of the support frame. The upper end of the long connecting rod is hinged to the driving end of the upper splint, and the upper end of the short connecting rod is hinged to the driving end of the lower splint.

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