Self-adaptive composite hose auxiliary mounting device and method thereof

Abstract

The invention discloses a self-adaptive composite hose auxiliary mounting device and method, and belongs to the technical field of modern industry. The multi-degree-of-freedom posture adjusting platform is mounted at the front end of the movable chassis; the self-adaptive reducing clamping assembly is fixed on the multi-degree-of-freedom posture adjusting platform; wherein the self-adaptive reducing clamping assembly comprises an annular base and at least three multi-joint flexible clamping arms which are uniformly distributed on the annular base, tail end flexible contact blocks are arranged at the tail ends of the multi-joint flexible clamping arms, and array type film pressure sensors are embedded in the tail end flexible contact blocks; the crawler-type flexible propelling assembly is installed on the movable chassis and located behind the multi-degree-of-freedom posture adjusting platform; according to the invention, the equipment purchase and management cost of the user is greatly reduced, and the economic benefit is improved.

Description

Technical Field

[0001] The present invention relates to the field of modern industry, and in particular to an adaptive composite hose auxiliary installation device and a method thereof. Background Art

[0002] Large-diameter composite hoses are widely used in modern industries such as petrochemicals, marine engineering, and shipbuilding due to their excellent flexibility and corrosion resistance. However, the inherent flexibility, diverse materials, and complex physical properties of these hoses make their installation in confined spaces such as pipe corridors, equipment rooms, or in tortuous paths a major challenge.

[0003] The current installation of hoses mainly relies on manual operation or the use of some simple rigid clamping and pulling tools. These methods have significant drawbacks: The efficiency is low and the quality is unstable, the labor intensity is high, the installation speed is slow, and the docking accuracy is difficult to guarantee, which is heavily dependent on the workers' experience and physical strength.

[0004] The risk of hose damage is high. When traditional rigid clamps clamp hoses, due to the small contact area and uneven pressure, local stress concentration is easily generated, causing the outer layer of the hose to be crushed, the internal structure to be delaminated or even damaged, shortening its service life.

[0005] There are great safety hazards. During the pushing or dragging process, if the hose suddenly slips out of the clamp or bounces due to uneven force, it may pose a serious safety threat to on-site operators.

[0006] Poor adaptability: Existing tools are usually designed for specific specifications and are not compatible with hoses of different diameters, hardness, and materials, resulting in poor versatility and economy.

[0007] Therefore, the industry urgently needs an intelligent auxiliary installation device that can adapt to different hose characteristics and achieve both rigid and flexible control to solve the fundamental contradiction between efficiency, quality, safety and hose protection in the existing technology.

[0008] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0009] The object of the present invention is to provide an adaptive composite hose auxiliary installation device and method thereof to solve the problems raised in the above background technology.

[0010] The technical solution of the present invention is to include: Mobile chassis; A multi-degree-of-freedom posture adjustment platform is installed at the front end of the mobile chassis; An adaptive variable diameter clamping assembly is fixed to the multi-degree-of-freedom posture adjustment platform; wherein the adaptive variable diameter clamping assembly includes an annular base and at least three multi-joint flexible clamping arms uniformly distributed on the annular base, wherein the ends of the multi-joint flexible clamping arms are provided with end flexible contact blocks, and the end flexible contact blocks are embedded with array-type thin film pressure sensors; a crawler-type flexible propulsion assembly, mounted on the mobile chassis and located behind the multi-degree-of-freedom attitude adjustment platform; A central control system electrically connected to the multi-degree-of-freedom posture adjustment platform, the adaptive variable diameter clamping assembly, and the crawler-type flexible propulsion assembly; The crawler-type flexible propulsion assembly includes at least two sets of symmetrically arranged crawler drive units and an electrically controlled precision pressure regulating mechanism; wherein each set of the crawler drive units is mounted on a sliding base that can slide laterally; the electrically controlled precision pressure regulating mechanism is used to drive the sliding bases of the two sets of crawler drive units to move relative to each other to change the spacing between the two sets of the crawler drive units.

[0011] Preferably, a clamping assembly servo motor controlled by the central control system is provided on the annular base, and the clamping assembly servo motor is used to drive the at least three multi-joint flexible clamping arms to move radially synchronously.

[0012] Preferably, the electrically controlled precision pressure regulating mechanism includes a propulsion assembly servo motor connected to the central control system, a high-precision ball screw driven by the propulsion assembly servo motor, and a nut fixed to the sliding base of one set of the track drive units.

[0013] Preferably, the track surface of the track-type flexible propulsion assembly is made of flexible polyurethane material with a high friction coefficient.

[0014] A control method for an adaptive composite hose auxiliary installation device, comprising: S1, controlling the multi-joint flexible clamping arm of the adaptive variable diameter clamping assembly to move centripetally, and acquiring pressure data of the array-type thin film pressure sensor in real time; S2. When the pressure data reaches a preset contact threshold, the outer diameter of the hose is calculated based on the position of the multi-joint flexible clamping arm; S3. Calculate and control the adaptive variable diameter clamping assembly to apply a preset clamping force based on the outer diameter, and control the crawler-type flexible propulsion assembly to start to provide an axial propulsion force.

[0015] Preferably, between S2 and S3, the following is further included: Controlling the multi-joint flexible clamping arm to continue advancing a preset micro displacement; The relative hardness of the hose is evaluated based on the preset micro-displacement and the pressure increment during the displacement, and the preset clamping force is corrected according to the hardness.

[0016] Preferably, the step S3 includes: Continuously monitoring the pressure data of the array-type thin film pressure sensor, and when detecting abnormal pressure data caused by a curve or obstacle, controlling the crawler-type flexible propulsion assembly to reduce the propulsion speed; According to the pressure data, the multi-degree-of-freedom posture adjustment platform is controlled to perform posture deflection to guide the front end of the hose.

[0017] Preferably, when the front end of the hose approaches the target interface, the method further comprises: Switching the adaptive variable diameter clamping assembly and the multi-degree-of-freedom posture adjustment platform to active units, and switching the crawler-type flexible propulsion assembly to a driven unit; The axial displacement of the active unit is acquired in real time, and the passive unit is instructed to perform synchronous axial displacement of equal amount and equal speed.

[0018] The present invention provides an adaptive composite hose auxiliary installation device and method through improvements, which have the following improvements and advantages compared with the prior art: 1. This effectively solves the problem of existing tools being incompatible with hoses of varying specifications. The device's adaptive variable-diameter clamping assembly, through precise control of the servo motor by a central control system, drives at least three multi-jointed flexible clamping arms for synchronized radial movement. This design allows the effective working diameter of a single device to be continuously adjusted over a wide range, adapting to a wide range of hose specifications encountered in different projects without replacing any components. This ability to meet diverse needs with a universal design significantly reduces equipment procurement and management costs for users, improving economic benefits. 2. This solution combines rigid support with flexible contact, achieving non-destructive clamping. The multi-jointed flexible clamping arm provides a stable rigid frame, providing the necessary support for hose installation. Furthermore, the flexible contact block at the end of the arm and its embedded array of thin-film pressure sensors form an adaptive contact interface. The control method assesses the relative hardness of the hose based on the pressure increment during the initial clamping process by continuing to apply a preset small displacement after the initial clamping, and then adjusts the preset clamping force accordingly. This closed-loop control based on real-time force feedback ensures that the clamping pressure is evenly distributed and always below the hose's damage threshold, avoiding the localized stress concentration and structural damage to the hose caused by traditional rigid clamps. 3. This solution effectively resolves the inherent contradiction between installation efficiency and process safety through a functional decoupling design. The device functionally separates the high-precision sensing adaptive variable diameter clamping assembly from the high-power propulsion crawler-type flexible propulsion assembly. On a straight path, the crawler-type flexible propulsion assembly can output full power. Its crawler surface, made of flexible polyurethane material with a high friction coefficient, provides a strong and stable axial propulsion force without damaging the hose surface, significantly improving installation efficiency. When the array-type thin film pressure sensor continuously monitors abnormal pressure data caused by bends or obstacles, the central control system will immediately control the crawler-type flexible propulsion assembly to reduce the propulsion speed and jointly control the multi-degree-of-freedom attitude adjustment platform to deflect the attitude, actively guiding the front end of the hose to bypass. This collaborative working mode, combining fast and slow, and separating dynamic and static, ensures the highest propulsion efficiency while also ensuring the absolute safety of the hose under complex working conditions. 4. The master-slave synchronous control mechanism introduced in this solution brings a decisive improvement in precision. When the front end of the hose approaches the target interface, the system switches the control mode, defining the adaptive variable diameter clamping assembly and multi-degree-of-freedom posture adjustment platform as the active unit, and switching the tracked flexible propulsion assembly to the slave unit. The central control system obtains the axial displacement of the active unit in real time and instructs the slave unit to perform synchronous axial displacement of the same amount and speed. This mechanism perfectly offsets the drag or pushing interference caused by the hose's own weight and friction at the rear end, allowing the operator to perform millimeter-level fine-tuning without resistance and easily complete high-precision docking, which is difficult to achieve with traditional manual operation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further explained below in conjunction with the accompanying drawings and Examples: Figure 1 It is a schematic diagram of the overall structure of the device; Figure 2 It is a structural diagram of a crawler-type flexible propulsion assembly; Figure 3 It is a structural diagram of a multi-degree-of-freedom attitude adjustment platform; Figure 4 It is a structural diagram of the adaptive variable diameter clamping assembly; Figure 5 It is a schematic flow chart of the method of the present invention; In the figure: 100, mobile chassis, 200, multi-degree-of-freedom posture adjustment platform, 300, adaptive variable diameter clamping assembly, 310, annular base, 311, clamping assembly servo motor, 320, flexible clamping arm, 330, flexible contact block, 340, thin film pressure sensor, 400, crawler-type flexible propulsion assembly, 410, crawler drive unit, 420, electronically controlled precision pressure regulating mechanism, 421, propulsion assembly servo motor, 422, ball screw, 423, nut, 430, sliding base, 5, central control system. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0021] Example 1 See also Figure 1-4 The present invention provides an adaptive composite hose auxiliary installation device, comprising: Mobile chassis 100; The multi-degree-of-freedom posture adjustment platform 200 is installed at the front end of the mobile chassis 100; The adaptive variable diameter clamping assembly 300 is fixed to the multi-degree-of-freedom posture adjustment platform 200. The adaptive variable diameter clamping assembly 300 includes an annular base 310 and at least three multi-jointed flexible clamping arms 320 evenly distributed on the annular base 310. The multi-jointed flexible clamping arms 320 are provided at their ends with end flexible contact blocks 330, which are embedded with array-type thin film pressure sensors 340. The crawler-type flexible propulsion assembly 400 is mounted on the mobile chassis 100 and is located behind the multi-degree-of-freedom posture adjustment platform 200; The central control system 5 is electrically connected to the multi-degree-of-freedom posture adjustment platform 200, the adaptive variable diameter clamping assembly 300 and the crawler-type flexible propulsion assembly 400; In order to solve the technical problems in the prior art that the installation of composite hoses relies on manual labor, which has low efficiency, easy damage to hoses, high safety risks and poor versatility, the present embodiment provides an adaptive composite hose auxiliary installation device; the device is constructed as a whole on a mobile chassis 100 to achieve its convenient movement in the workplace; at the front end of the mobile chassis 100, a multi-degree-of-freedom posture adjustment platform 200, such as a six-degree-of-freedom platform, is installed; on the multi-degree-of-freedom posture adjustment platform 200, a set of adaptive variable diameter clamping assemblies 300 is fixedly installed as a component that directly contacts and guides the hose; behind the multi-degree-of-freedom posture adjustment platform 200, along the axial direction of the hose transportation, a set of crawler-type flexible propulsion assemblies 400 are independently installed on the mobile chassis 100, which is responsible for providing the main axial transportation power for the hose. The adaptive variable diameter clamping assembly 300 is composed of an annular base 310 and at least three multi-joint flexible clamping arms 320 uniformly distributed along the circumference of the annular base 310. The end of each clamping arm is provided with an end flexible contact block 330, and the contact block is embedded with an array-type thin film pressure sensor 340 for sensing the pressure distribution in contact with the hose. A central control system 5 is electrically connected to the above-mentioned multi-degree-of-freedom posture adjustment platform 200, the adaptive variable diameter clamping assembly 300 and the crawler-type flexible propulsion assembly 400 through cables to coordinate the actions of various parts of the control device. By separating the clamping assembly responsible for precise posture guidance from the propulsion assembly responsible for efficient power propulsion in terms of function and physical structure, and coordinating the central control system 5 to coordinate the scheduling, the device can achieve safe and non-destructive clamping and efficient and accurate installation of hoses of different specifications. Attachment Figure 3 The multi-degree-of-freedom posture adjustment platform 200 shown in the figure is a schematic structure. It should be understood by those skilled in the art that any structure capable of achieving multi-degree-of-freedom posture adjustment may be adopted, such as but not limited to a parallel six-degree-of-freedom platform or other series-parallel combination mechanism; The annular base 310 is provided with a clamping assembly servo motor 311 controlled by the central control system 5 . The clamping assembly servo motor 311 is used to drive at least three multi-joint flexible clamping arms 320 to move radially synchronously. In this embodiment, in order to realize the adaptive function of the adaptive variable diameter clamping assembly 300 to hoses of different diameters, a servo motor controlled by the central control system 5 is provided on the annular base 310; the servo motor is connected to the base of at least three multi-joint flexible clamping arms 320 through a set of transmission mechanisms, such as a gear transmission mechanism; when the central control system 5 issues an instruction, the servo motor is actuated to drive all the clamping arms to synchronously and smoothly contract radially or expand outward; the radial movement design enables the effective working diameter of the clamping assembly to be continuously adjusted within a larger range, for example, it can cover a variety of commonly used specifications in the industry from DN150 to DN500, so that it can be compatible with composite hoses of various specifications without replacing any structural components, solving the problem of strong specialization and poor versatility of traditional tools.

[0022] The crawler-type flexible propulsion assembly 400 includes at least two symmetrically arranged crawler drive units 410 and an electrically controlled precision pressure regulating mechanism 420. Each crawler drive unit 410 is mounted on a laterally slidable sliding base 430. The electrically controlled precision pressure regulating mechanism 420 is used to drive the sliding bases 430 of the two crawler drive units 410 to move relative to each other, thereby changing the spacing between the two crawler drive units 410. In this embodiment, the specific structure of the tracked flexible propulsion assembly 400 is defined; the assembly includes at least two sets of track drive units 410 with the same structure, and the two sets of units are symmetrically arranged with the axis of the hose as the center; each set of track drive units 410 is completely mounted on a sliding base 430 that can slide laterally on the guide rail; in addition, the assembly also includes an electrically controlled precision pressure regulating mechanism 420; the function of the pressure regulating mechanism is to accurately drive the sliding bases 430 of the two sets of track drive units 410 to move closer to or away from each other, thereby actively changing the net distance between the two sets of track drive units 410; through this adjustment method, the track surfaces of the two sets of track drive units 410 can be pressed against hoses of different outer diameters with a controlled pressure, ensuring that while providing sufficient friction, no excessive radial extrusion is caused to the hoses, providing a prerequisite for efficient and lossless axial propulsion.

[0023] The electronically controlled precision pressure regulating mechanism 420 includes a propulsion assembly servo motor 421 connected to the central control system 5, a high-precision ball screw 422 driven by the propulsion assembly servo motor 421, and a nut 423 fixedly connected to the sliding base 430 of one set of track drive units 410; In this embodiment, a specific structural solution that can achieve high-precision control is provided for the electronically controlled precision pressure regulating mechanism 420; the mechanism consists of a propulsion assembly servo motor 421 electrically connected to the central control system 5, a high-precision ball screw 422 driven by the propulsion assembly servo motor 421 through a coupling, and a nut 423 fixed to the sliding base 430 of one set of track drive units 410; its working principle is: the central control system 5 sends a control instruction to the propulsion assembly servo motor 421 based on the diameter information of the hose. 21. The propulsion assembly servo motor 421 precisely rotates the specified angle, thereby driving the high-precision ball screw 422 to rotate; since the nut 423 is fixedly connected to the sliding base 430 and cannot rotate, the rotational motion of the screw is converted into the linear motion of the nut 423, thereby driving the entire sliding base 430 and the crawler drive unit 410 installed thereon to move laterally on the guide rail; by controlling the forward and reverse rotation and the number of rotations of the propulsion assembly servo motor 421, the micron-level precise adjustment and stable locking of the distance between the two sets of crawler drive units 410 can be achieved.

[0024] The crawler surface of the crawler-type flexible propulsion assembly 400 is made of flexible polyurethane material with a high friction coefficient; In this embodiment, in order to solve the technical problem of protecting the surface of the hose while providing strong propulsion force, the surface material of the track of the tracked flexible propulsion assembly 400 is specifically limited; the surface layer of the track that contacts the hose is made of flexible polyurethane material with a high friction coefficient; the technical effect of selecting this material is: on the one hand, its higher friction coefficient ensures that when the track contacts the surface of the hose, it can generate sufficiently large static friction under a smaller radial pressure, thereby efficiently converting the torque of the drive motor into an axial propulsion force on the hose, preventing slipping when propelling a heavy-loaded hose, and improving the propulsion efficiency; on the other hand, the inherent flexibility and elasticity of the polyurethane material enable it to adaptively fit the curved surface of the hose under pressure, thereby increasing the contact area, dispersing the pressure, and avoiding indentations or damage to the outer sheath of the hose caused by stress concentration.

[0025] Example 2 See also Figure 5 , a control method for an adaptive composite hose auxiliary installation device, comprising: S1, controlling the multi-joint flexible clamping arm 320 of the adaptive variable diameter clamping assembly 300 to move centripetally, and acquiring pressure data from the array-type thin film pressure sensor 340 in real time; S2. When the pressure data reaches a preset contact threshold, the outer diameter of the hose is calculated based on the position of the multi-joint flexible clamping arm 320; S3. Calculate and control the adaptive variable diameter clamping assembly 300 to apply a preset clamping force based on the outer diameter, and control the crawler-type flexible propulsion assembly 400 to start to provide axial propulsion force; This embodiment describes the basic control process of the device for automatic hose identification and initial clamping and advancement; In step S1, the operator places the front end of the hose into the open adaptive variable diameter clamping assembly 300 and starts the automatic process. The central control system 5 instructs the servo motors on the multi-jointed flexible clamping arms 320 to start, driving the clamping arms to move synchronously toward the centripetal axis. During this process, the central control system 5 collects and monitors pressure data from the arrayed thin film pressure sensors 340 within the flexible contact blocks 330 at the ends of each arm at a high frequency and in real time. In step S2, when the pressure data from any sensor reaches a minimal preset contact threshold, such as 0.1 N, for the first time, indicating that contact has just occurred, the central control system 5 immediately stops the movement of the clamping arms. At this point, the system reads and records the readings of the position encoders on the drive mechanisms of each clamping arm. Based on this position data and the geometric structure model of the device, the system can accurately calculate the actual outer diameter of the current hose. In step S3, the central control system 5 queries from the built-in database or calculates through a preset algorithm a preset clamping force that can ensure firm clamping while being within a safe range based on the outer diameter measured in step S2; the system instructs the clamping assembly to apply the force; after the clamping is completed, the system immediately instructs the tracked flexible propulsion assembly 400 to start, and its tracks press the hose and start to rotate at the set initial speed, providing a stable axial propulsion force for the hose.

[0026] Between S2 and S3, it also includes: Control the multi-joint flexible clamping arm 320 to continue advancing the preset micro displacement; Evaluate the relative hardness of the hose based on the preset small displacement and the pressure increase during it, and modify the preset clamping force based on the hardness; In order to make the clamping force better adapt to hoses of different materials and hardness, this embodiment adds a step of hose hardness assessment and clamping force correction on the basis of the above method; this step is performed between step S2, completing the outer diameter measurement, and step S3, applying the final clamping force; specifically: after the outer diameter measurement is completed, the central control system 5 does not stop immediately, but instructs the multi-joint flexible clamping arm 320 to continue to advance centripetally by a preset small displacement, such as 0.5mm; during the advancement of this small displacement, the system will sample and record the pressure increment measured by the array-type thin film pressure sensor 340 at high frequency; after the advancement is completed, the system quantitatively evaluates the relative hardness of the hose by calculating the ratio of pressure increment / preset small displacement; the larger the ratio, the harder the hose; finally, the system corrects the preset clamping force originally planned to be applied in S3 based on the assessed hardness value; for hoses with higher hardness, the clamping force is appropriately increased to ensure friction; for hoses with lower hardness, the clamping force is appropriately reduced to prevent excessive squeezing.

[0027] S3 and later include: Continuously monitor the pressure data of the array-type thin film pressure sensor 340, and when abnormal pressure data caused by a curve or obstacle is detected, control the crawler-type flexible propulsion assembly 400 to reduce the propulsion speed; According to the pressure data, the multi-degree-of-freedom posture adjustment platform 200 is controlled to perform posture deflection to guide the front end of the hose; This embodiment describes the adaptive control strategy of the device in response to bends or obstacles during the continuous propulsion of the hose; after the propulsion is started in step S3, the central control system 5 enters a continuous monitoring state, continuously analyzing the real-time pressure distribution data from the array film pressure sensor 340; when the front end of the hose encounters a bend or touches an obstacle, its bending or obstruction will cause the pressure sensor value at a specific position in the clamping assembly to rise sharply, forming an abnormal pressure data; once the system detects this abnormality, it will immediately execute the linkage control strategy: on the one hand, the system will immediately issue a command to the crawler flexible propulsion assembly 400 to reduce its propulsion speed to a lower safety value , for example, from 0.1m / s to 0.03m / s to reduce the impact force on the hose; the solution is based on a preset mapping relationship. For example, when it is detected that the pressure value in the upper area of ​​the clamping assembly increases abnormally, the system determines that the upward deviation of the front end of the hose is blocked, and then instructs the attitude adjustment platform to perform pitch adjustment to guide the hose downward; similarly, the direction of yaw adjustment is determined according to the distribution characteristics of the pressure anomaly on the left and right sides; on the other hand, the system will solve the attitude adjustment direction that needs to be performed according to the distribution characteristics of the pressure anomaly, and instruct the multi-degree-of-freedom attitude adjustment platform 200 to perform corresponding attitude deflections such as pitch or yaw, so as to actively guide the front end of the hose to pass through the obstacle area smoothly.

[0028] When the front end of the hose approaches the target interface, it also includes: Switch the adaptive variable diameter clamping assembly 300 and the multi-degree-of-freedom posture adjustment platform 200 to be active units, and switch the crawler-type flexible propulsion assembly 400 to be the driven unit; Acquire the axial displacement of the active unit in real time and instruct the passive unit to perform synchronous axial displacement of equal amount and speed; This embodiment describes the master-slave synchronous control method used at the end of the installation operation to achieve high-precision docking; when the front end of the hose is transported to a predetermined position close to the target interface, such as a flange, the central control system 5 automatically or manually switched to the precision alignment mode by the operator; in this mode, the control logic of the system changes: the adaptive variable diameter clamping assembly 300 and the multi-degree-of-freedom attitude adjustment platform 200 responsible for clamping and guiding are defined as active units, and their movements are controlled by the operator with millimeter-level precision through the remote control handle; at the same time, the crawler-type flexible propulsion assembly 400 responsible for providing the main power is switched to the slave unit. The working mode is changed to: the central control system 5 monitors and obtains the displacement of the active unit, that is, the clamping assembly, in the axial direction of the hose in real time; then, the system uses this displacement as an instruction to require the propulsion assembly, which is the driven unit, to perform a completely equal and synchronous axial displacement; for example, when the operator remotely controls the clamping assembly to move back 5 mm, the propulsion assembly will immediately drive the crawler track to reverse, causing the rear pipeline to also move back 5 mm synchronously; this master-slave synchronization mechanism can effectively offset the interference of the long-distance hose's own weight and friction along the way on the front-end docking operation, allowing the operator to easily and accurately complete the final alignment operation.

[0029] Compared with the existing installation methods that rely on manual labor or simple rigid tools, this technical solution has achieved the following beneficial effects through the systematic design of structure and control method: A significant advancement of this technical solution lies in its high versatility, effectively resolving the incompatibility issue of existing tools with hoses of varying specifications. The adaptive variable diameter clamping assembly 300 in the device, through precise control of the servo motor by the central control system 5, is capable of driving at least three multi-jointed flexible clamping arms 320 for synchronous radial movement. This design allows the effective working diameter of a single device to be continuously adjusted over a wide range, adapting to a wide range of hose specifications encountered in different projects without the need to replace any components. This ability to meet diverse needs with a universal design significantly reduces equipment procurement and management costs for users, thereby improving economic benefits. To address the core challenge of hose protection, this solution combines rigid support with flexible contact, achieving non-destructive clamping. The multi-jointed flexible clamping arm 320 provides a stable rigid framework, providing the necessary support for hose installation. Simultaneously, the flexible contact block 330 at the end of the arm and its embedded array of thin-film pressure sensors 340 form an adaptive contact interface. The control method assesses the relative hardness of the hose by continuing to advance a preset micro-displacement after the initial clamping, based on the pressure increment during this process. The preset clamping force can then be modified accordingly. This closed-loop control based on real-time force feedback ensures that the clamping pressure is evenly distributed and always below the hose's damage threshold, avoiding local stress concentration and hose structural damage caused by traditional rigid clamps. This solution effectively resolves the inherent contradiction between installation efficiency and process safety through a functional decoupling design. The device functionally separates the high-precision sensing adaptive variable diameter clamping assembly 300 from the high-power propulsion crawler-type flexible propulsion assembly 400. On a straight path, the crawler-type flexible propulsion assembly 400 can output full power. Its crawler surface, made of flexible polyurethane material with a high friction coefficient, provides a strong and stable axial propulsion force without damaging the hose surface, significantly improving installation efficiency. When the array-type thin film pressure sensor 340 continuously monitors abnormal pressure data caused by bends or obstacles, the central control system 5 will immediately control the crawler-type flexible propulsion assembly 400 to reduce the propulsion speed and jointly control the multi-degree-of-freedom attitude adjustment platform 200 to deflect the attitude, actively guiding the front end of the hose to bypass. This collaborative working mode that combines fast and slow, and separates dynamic and static, ensures the highest propulsion efficiency while also ensuring the absolute safety of the hose under complex working conditions. For the precise docking at the end of installation, the master-slave synchronous control mechanism introduced in this solution brings a decisive improvement in precision; when the front end of the hose approaches the target interface, the system switches the control mode, defines the adaptive variable diameter clamping assembly 300 and the multi-degree-of-freedom posture adjustment platform 200 as active units, and switches the tracked flexible propulsion assembly 400 to the slave unit; the central control system 5 obtains the axial displacement of the active unit in real time, and instructs the slave unit to perform synchronous axial displacement of equal amount and speed; this mechanism perfectly offsets the drag or pushing interference caused by the weight of the hose and the friction of the rear section, allowing the operator to perform millimeter-level fine-tuning without feeling resistance and easily complete high-precision docking, which is difficult to achieve with traditional manual operation methods.

[0030] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An adaptive composite hose auxiliary installation device, characterized in that: include: Mobile chassis (100); A multi-degree-of-freedom posture adjustment platform (200) is installed at the front end of the mobile chassis (100); An adaptive variable diameter clamping assembly (300) is fixed on the multi-degree-of-freedom posture adjustment platform (200); wherein the adaptive variable diameter clamping assembly (300) comprises an annular base (310) and at least three multi-joint flexible clamping arms (320) uniformly distributed on the annular base (310), and an end flexible contact block (330) is provided at the end of each multi-joint flexible clamping arm (320), and an array-type thin film pressure sensor (340) is embedded in the end flexible contact block (330); A crawler-type flexible propulsion assembly (400) is mounted on the mobile chassis (100) and is located behind the multi-degree-of-freedom posture adjustment platform (200); A central control system (5) electrically connected to the multi-degree-of-freedom posture adjustment platform (200), the adaptive variable diameter clamping assembly (300), and the crawler-type flexible propulsion assembly (400); The crawler-type flexible propulsion assembly (400) comprises at least two sets of symmetrically arranged crawler drive units (410) and an electrically controlled precision pressure regulating mechanism (420); wherein each set of the crawler drive units (410) is mounted on a sliding base (430) that can slide laterally; and the electrically controlled precision pressure regulating mechanism (420) is used to drive the sliding bases (430) of the two sets of crawler drive units (410) to move relative to each other, so as to change the spacing between the two sets of the crawler drive units (410).

2. The adaptive composite hose auxiliary installation device according to claim 1, characterized in that: A clamping assembly servo motor (311) controlled by the central control system (5) is provided on the annular base (310), and the clamping assembly servo motor (311) is used to drive the at least three multi-joint flexible clamping arms (320) to move radially synchronously.

3. The adaptive composite hose auxiliary installation device according to claim 2, characterized in that: The electronically controlled precision pressure regulating mechanism (420) includes a propulsion assembly servo motor (421) connected to the central control system (5), a high-precision ball screw (422) driven by the propulsion assembly servo motor (421), and a nut (423) fixedly connected to the sliding base (430) of one set of the crawler drive units (410).

4. The adaptive composite hose auxiliary installation device according to claim 1, characterized in that: The crawler surface of the crawler-type flexible propulsion assembly (400) is made of flexible polyurethane material with a high friction coefficient.

5. A control method for an adaptive composite hose auxiliary installation device, applied to an adaptive composite hose auxiliary installation device according to any one of claims 1 to 4, characterized in that: include: S1, controlling the multi-joint flexible clamping arm (320) of the adaptive variable diameter clamping assembly (300) to move centripetally, and acquiring pressure data of the array-type thin film pressure sensor (340) in real time; S2, when the pressure data reaches a preset contact threshold, calculating the outer diameter of the hose according to the position of the multi-joint flexible clamping arm (320); S3. Calculate and control the adaptive variable diameter clamping assembly (300) to apply a preset clamping force based on the outer diameter, and control the crawler-type flexible propulsion assembly (400) to start to provide an axial propulsion force.

6. The control method of the adaptive composite hose auxiliary installation device according to claim 5, characterized in that: Between S2 and S3, it also includes: Controlling the multi-joint flexible clamping arm (320) to continue advancing a preset micro displacement; The relative hardness of the hose is evaluated based on the preset micro-displacement and the pressure increment during the displacement, and the preset clamping force is corrected according to the hardness.

7. The control method of the adaptive composite hose auxiliary installation device according to claim 5, characterized in that: The S3 then includes: Continuously monitoring the pressure data of the array-type thin film pressure sensor (340), and when detecting abnormal pressure data caused by a curve or an obstacle, controlling the crawler-type flexible propulsion assembly (400) to reduce the propulsion speed; According to the pressure data, the multi-degree-of-freedom posture adjustment platform (200) is controlled to perform posture deflection to guide the front end of the hose.

8. The control method of the adaptive composite hose auxiliary installation device according to claim 5, characterized in that: When the front end of the hose approaches the target interface, the method further comprises: Switching the adaptive variable diameter clamping assembly (300) and the multi-degree-of-freedom posture adjustment platform (200) to be active units, and switching the crawler-type flexible propulsion assembly (400) to be a driven unit; The axial displacement of the active unit is acquired in real time, and the passive unit is instructed to perform synchronous axial displacement of equal amount and equal speed.

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