Butt joint robot system suitable for long and heavy cylindrical parts

Abstract

The invention discloses a butt joint robot system suitable for long and heavy cylindrical parts. The butt joint robot system is used for butt joint of at least two long and heavy cylindrical parts. Comprising adjusting mechanisms in one-to-one correspondence with the long heavy cylindrical parts and an auxiliary alignment mechanism. The adjusting mechanisms are arranged on the corresponding long and heavy cylindrical parts and are used for adjusting the directions of the long and heavy cylindrical parts; the auxiliary alignment mechanism is arranged between two adjacent sections of long heavy cylindrical parts, the two ends of the auxiliary alignment mechanism are fixedly connected with the two adjacent sections of long heavy cylindrical parts respectively, and the auxiliary alignment mechanism guides the corresponding adjusting mechanisms to adjust the directions of the two adjacent sections of long heavy cylindrical parts so that the axes of the two adjacent sections of long heavy cylindrical parts can be aligned. The telegraph pole docking device is simple in structure, adapts to different docking environments, adopts a modular design, is convenient to improve, maintain and repair, can carry out docking tasks on a plurality of telegraph poles with different lengths and widths at the same time, and improves the docking efficiency.

Description

Technical Field

[0001] This invention relates to the field of docking robots, and in particular to a docking robot system suitable for long and heavy cylindrical components. Background Technology

[0002] Currently, during the construction of agricultural power distribution networks, it has been found that the connection of cement poles is a challenging task. Due to the length and weight of the cement poles, the connection work is labor-intensive, inefficient, and unsafe for workers. Therefore, there is an urgent need to develop a modular, high-load-bearing, lightweight, flexible, and easily transportable and installable multi-degree-of-freedom robotic system for connecting long and heavy cement poles, addressing the problems of long and heavy cement poles, heavy load-bearing capacity, and high labor intensity associated with pole installation and connection. Summary of the Invention

[0003] Therefore, the technical problem to be solved by this invention is: low work efficiency and high intensity.

[0004] The above-mentioned technical problems are solved by the following technical solution: This invention proposes a docking robot system suitable for long and heavy cylindrical parts, used for docking at least two long and heavy cylindrical parts; including, An adjustment mechanism corresponding to each of the long, heavy cylindrical parts described above, and an auxiliary alignment mechanism; The adjustment mechanism is installed on the corresponding long heavy-duty cylindrical component and is used to adjust the orientation of the long heavy-duty cylindrical component. The auxiliary alignment mechanism is located between two adjacent long heavy cylindrical sections, with both ends fixedly connected to the two adjacent long heavy cylindrical sections respectively. It is used to measure the directional deviation and positional deviation of the two adjacent long heavy cylindrical sections, and guide the corresponding adjustment mechanism to adjust the orientation of the two adjacent long heavy cylindrical sections according to the directional deviation and positional deviation, so that their axes are aligned.

[0005] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the adjustment mechanism includes a distal adjustment component and a proximal adjustment component; The proximal adjustment component is clamped at the docking end of the corresponding long heavy-duty cylindrical component, and the distal adjustment component is clamped at the end of the corresponding long heavy-duty cylindrical component away from the docking end. The distal adjustment component and the proximal adjustment component can adjust the position of the corresponding long heavy-duty cylindrical component.

[0006] In a preferred embodiment of the docking robot system for long and heavy cylindrical components described in this invention: when the long and heavy cylindrical component is in two segments, they are respectively referred to as segment A long and heavy cylindrical component and segment B long and heavy cylindrical component, and the corresponding adjustment mechanisms are respectively referred to as segment A adjustment mechanism and segment B adjustment mechanism. The proximal adjustment component of the A-segment adjustment mechanism clamps the docking end of the long heavy cylindrical component of the A-segment, while the distal adjustment component clamps the end of the long heavy cylindrical component of the A-segment away from the docking end. The proximal adjustment component of the B-segment adjustment mechanism clamps the docking end of the B-segment long heavy cylindrical component, while the distal adjustment component clamps the end of the B-segment long heavy cylindrical component away from the docking end.

[0007] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the distal adjustment component and the proximal adjustment component have the same structure, both including a position adjustment component and a compliant clamping mechanism disposed on the position adjustment component; The position adjustment component has the ability to move along the X, Y, and Z directions, and is used to drive the corresponding long heavy cylindrical component to move along the X, Y, and Z directions; the compliant clamping mechanism is used to clamp the corresponding long heavy cylindrical component and has the ability to passively rotate around the Z axis.

[0008] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the position adjustment assembly includes a frame, a front and rear moving frame, a vertical moving frame, a horizontal moving frame, a steering drive assembly, and a walking assembly; The front and rear movable frames are installed on both sides of the vehicle frame, cooperate with the vehicle frame through slide rails, and achieve forward and backward movement through lead screw drive; The vertical moving frame is installed on the front and rear moving frame, and cooperates with the front and rear moving frames through a slide rail, and is driven by a lead screw to achieve vertical movement; The left and right movable frame is installed on the upper and lower movable frame and moves left and right through the cooperation of the slide rail with the upper and lower movable frame. The steering drive assembly is mounted on the vehicle frame and connected to the running gear assembly. It is used to drive the running gear assembly to steer, thereby causing the position adjustment assembly to move as a whole.

[0009] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the front and rear moving frames include a first front and rear moving frame and a second front and rear moving frame, which are symmetrically installed on both sides of the vehicle frame; The vertical moving frame is covered and installed on the first front-rear moving frame and the second front-rear moving frame. Its side slide rails are respectively adapted to the slide rails of the first front-rear moving frame and the second front-rear moving frame to achieve stable vertical movement.

[0010] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the steering drive assembly includes a steering motor and a front wheel bogie, and the walking assembly includes at least two steering wheels and a front wheel steering shaft corresponding to each steering wheel; The steering motor is mounted on the middle beam of the vehicle frame, and its output end is connected to the front wheel bogie. The upper end of the front wheel steering shaft is fixedly connected to the front wheel bogie, and the lower end is fixedly connected to the corresponding steering wheel. When the steering motor drives the front wheel bogie to rotate, it drives the front wheel steering shaft and the steering wheel to turn synchronously, thereby controlling the movement direction of the position adjustment component.

[0011] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the compliant gripping mechanism includes a gripper frame, a gripper assembly, rolling wheels, a transmission assembly, and a drive component; The clamp frame and the left and right movable frame of the position adjustment component are detachably connected; The gripper assembly is connected to the drive component via a transmission component. The drive component drives the transmission component to open or close the gripper assembly, thereby clamping or releasing the corresponding long and heavy cylindrical component. The rolling wheel is installed at the clamping end of the gripper assembly and can rotate actively to drive the long, heavy cylindrical part being clamped to rotate around its own axis.

[0012] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the gripper assembly includes a left gripper and a right gripper, the transmission assembly includes a moving plate, a first sliding plate and a second sliding plate, and the driving component is a lead screw; The left and right grippers are rotatably mounted on the fixture frame via a fixed shaft, and their upper ends are slidably connected to the moving plate via a first sliding plate and a second sliding plate, respectively. The lead screw is mounted vertically on the fixture frame, and the moving end of the lead screw is fixedly connected to the moving plate. When the lead screw rotates, it drives the moving plate to move up and down. The moving plate drives the left and right grippers to rotate around the fixed axis through the first sliding plate and the second sliding plate, thereby opening or closing the gripper assembly.

[0013] In a preferred embodiment of the docking robot system for long and heavy cylindrical parts described in this invention: the auxiliary alignment mechanism includes two alignment units with identical structures, and the two alignment units are coaxially connected by a connecting ring; Each alignment unit includes a fixed sleeve assembly, a guide rail ring, at least one fixed rod, a universal ring, and a slider ring; The fixed sleeve assembly includes at least two fixed sleeves that are fixedly connected to each other. The guide ring is rotatably connected to the fixed sleeves via a slide rail. The fixed rod is slidably engaged with the rectangular groove of the fixed sleeve, and the end of the fixed rod is adapted to the slide groove of the guide ring. When the guide ring rotates, it drives the fixing rod to move towards the axis along the rectangular groove of the fixing sleeve through the sliding groove, so as to achieve coaxial fixation of the alignment unit and the long heavy cylindrical part. The universal joint is used to detect the axial angle deviation between two adjacent long heavy cylindrical parts, and the slider ring is used to detect the axial position deviation between two adjacent long heavy cylindrical parts.

[0014] The beneficial effects of this invention are as follows: by setting up adjustment mechanisms, each adjustment mechanism can move freely to adapt to different docking environments. The modular design facilitates its improvement, maintenance and repair. This solution can simultaneously dock multiple utility poles of different lengths and widths, improving docking efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 A schematic diagram of the structure of a docking robot system suitable for long and heavy cylindrical parts provided by the present invention; Figure 2 This is a schematic diagram of the distal adjustment component and the proximal adjustment component provided by the present invention; Figure 3 This is a schematic diagram of the position adjustment component provided by the present invention; Figure 4 This is a schematic diagram of the compliant clamping mechanism provided by the present invention; Figure 5 This is a simplified kinematic diagram of the compliant clamping mechanism provided by the present invention; Figure 6 This is a schematic diagram of the auxiliary alignment mechanism provided by the present invention; Figure 7 This is a schematic diagram of the alignment mechanism provided by the present invention. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0018] Reference Figures 1 to 7This embodiment provides a docking robot system suitable for long and heavy cylindrical parts, used to dock at least two long and heavy cylindrical parts 3. The device includes an adjustment mechanism 1 that corresponds one-to-one with each long and heavy cylindrical part 3, and an auxiliary alignment mechanism 2. The adjustment mechanism 1 is installed on the corresponding long heavy-duty cylindrical component 3 and is used to adjust the orientation of the long heavy-duty cylindrical component 3. The auxiliary alignment mechanism 2 is set between two adjacent long heavy cylindrical parts 3, with both ends fixedly connected to the two adjacent long heavy cylindrical parts 3 respectively. It is used to measure the directional deviation and positional deviation of the two adjacent long heavy cylindrical parts 3, and guide the corresponding adjustment mechanism 1 to adjust the orientation of the two adjacent long heavy cylindrical parts 3 according to the directional deviation and positional deviation, so that the axes of the two are aligned. According to the actual docking needs, one or more long heavy cylindrical parts adjustment mechanisms can be added so as to perform docking tasks of multiple cylindrical parts at the same time.

[0019] The adjustment mechanism 1 includes a remote adjustment component 101 and a proximal adjustment component 102; the proximal adjustment component 102 is clamped at the docking end of the corresponding long heavy cylindrical member 3, and the remote adjustment component 101 is clamped at the end of the corresponding long heavy cylindrical member 3 away from the docking end. The remote adjustment component 101 and the proximal adjustment component 102 can adjust the position of the corresponding long heavy cylindrical member 3.

[0020] When the long heavy cylindrical component 3 is divided into two sections, they are respectively referred to as section A long heavy cylindrical component 31 and section B long heavy cylindrical component 32, and the corresponding adjustment mechanism 1 is respectively referred to as section A adjustment mechanism 1 and section B adjustment mechanism 1. The proximal adjustment component 102 of the A-section adjustment mechanism 1 clamps the docking end of the A-section long heavy cylindrical component 31, and the distal adjustment component 101 clamps the end of the A-section long heavy cylindrical component 31 away from the docking end. The proximal adjustment component 102 of the B-segment adjustment mechanism 1 clamps the docking end of the B-segment long heavy cylindrical component 32, while the distal adjustment component 101 clamps the end of the B-segment long heavy cylindrical component 32 away from the docking end.

[0021] The distal adjustment assembly 101 and the proximal adjustment assembly 102 have the same structure, both including a position adjustment assembly 4 and a compliant clamping mechanism 5 disposed on the position adjustment assembly 4; The position adjustment component 4 has the ability to move along the X, Y, and Z directions, and is used to drive the corresponding long heavy cylindrical part 3 to move along the X, Y, and Z directions; the compliant clamping mechanism 5 is used to clamp the corresponding long heavy cylindrical part 3 and has the ability to passively rotate around the Z axis.

[0022] The position adjustment assembly 4 includes a frame 41, a front and rear moving frame 42, a vertical moving frame 43, a horizontal moving frame 44, a steering drive assembly 45, and a travel assembly 46; The front and rear movable frame 42 is installed on both sides of the frame 41, cooperates with the frame 41 through slide rails, and is driven by a lead screw to move forward and backward. The vertical moving frame 43 is mounted on the front and rear moving frame 42, and cooperates with the front and rear moving frame 42 through a slide rail, and is driven by a lead screw to achieve vertical movement; The left-right movable frame 44 is installed on the up-down movable frame 43, and moves left and right through the cooperation of the slide rail and the up-down movable frame 43. The steering drive assembly 45 is mounted on the frame 41 and connected to the running gear 46. It is used to drive the running gear 46 to steer, thereby moving the position adjustment assembly 4 as a whole.

[0023] The front and rear movable frame 42 includes a first front and rear movable frame 421 and a second front and rear movable frame 422, which are symmetrically installed on both sides of the frame 41. The vertical moving frame 43 is covered and installed on the first front-rear moving frame 421 and the second front-rear moving frame 422. Its two side slide rails are respectively adapted to the slide rails of the first front-rear moving frame 421 and the second front-rear moving frame 422 to achieve stable vertical movement.

[0024] Steering drive assembly 45 includes steering motor 451 and front wheel bogie 452, and running assembly 46 includes at least two steering wheels 461 and front wheel steering shafts 462 corresponding to each steering wheel 461. The steering motor 451 is mounted on the middle beam of the frame 41, and its output end is connected to the front wheel bogie 452; The upper end of the front wheel steering axle 462 is fixedly connected to the front wheel bogie 452, and the lower end is fixedly connected to the corresponding steering wheel 461. When the steering motor 451 drives the front wheel bogie 452 to rotate, it drives the front wheel steering shaft 462 and the steering wheel 461 to rotate synchronously, thereby controlling the movement direction of the position adjustment component 4.

[0025] The compliant clamping mechanism 5 includes a clamp frame 51, a gripper assembly 52, a roller 53, a transmission assembly 54, and a drive component 55; The clamp frame 51 is detachably connected to the left and right moving frame 44 of the position adjustment assembly 4; The gripper assembly 52 is connected to the drive component 55 via the transmission assembly 54. The drive component 55 drives the transmission assembly 54 to open or close the gripper assembly 52, thereby achieving the gripping or release of the corresponding long and heavy cylindrical component 3. The roller 53 is installed at the clamping end of the gripper assembly 52 and can rotate actively to drive the long, heavy cylindrical part 3 being clamped to rotate around its own axis.

[0026] The gripper assembly 52 includes a left gripper 521 and a right gripper 522, the transmission assembly 54 includes a moving plate 541, a first sliding plate 542 and a second sliding plate 543, and the driving component 55 is a lead screw; Left gripper 521 and right gripper 522 are rotatably mounted on fixture frame 51 via fixed shaft 56, and their upper ends are slidably connected to moving plate 541 via first sliding plate 542 and second sliding plate 543, respectively. The lead screw is mounted vertically on the fixture frame 51, and the moving end of the lead screw is fixedly connected to the moving plate 541. When the lead screw rotates, it drives the moving plate 541 to move up and down. The moving plate 541 drives the left gripper 521 and the right gripper 522 to rotate around the fixed shaft 56 through the first sliding plate 542 and the second sliding plate 543, thereby realizing the opening or closing of the gripper assembly 52.

[0027] The auxiliary alignment mechanism 2 includes two alignment units with identical structures, which are coaxially connected by a connecting ring 201. Each alignment unit includes a fixed sleeve assembly, a guide rail ring, at least one fixed rod, a universal joint ring, and a slider ring; The fixed sleeve assembly includes at least two fixed sleeves that are fixedly connected to each other. The guide ring is rotatably connected to the fixed sleeves via a slide rail. The fixed rod is slidably engaged with the rectangular groove of the fixed sleeve, and the end of the fixed rod is adapted to the slide groove of the guide ring. When the guide ring rotates, it drives the fixing rod to move towards the axis along the rectangular groove of the fixing sleeve through the sliding groove, so as to achieve coaxial fixation of the alignment unit and the long heavy cylindrical part 3. The universal joint is used to detect the axial angle deviation between two adjacent long heavy cylindrical parts 3, and the slider ring is used to detect the axial position deviation between two adjacent long heavy cylindrical parts 3.

[0028] Specifically, the auxiliary alignment mechanism 2 includes an A-segment alignment unit and a B-segment alignment unit, and the A-segment alignment unit and the B-segment alignment unit have the same structure, both including a connecting ring 201, a universal ring I 202, a slider ring I 203, a fixing rod I 204, a fixing sleeve I 205, a guide rail ring I 206, a fixing rod II 207, a guide rail ring II 208, a fixing sleeve II 209, a slider ring II 210, a universal ring II 211, and a fixing rod III 212; the auxiliary alignment mechanism 2 is composed of the A-segment alignment unit and the B-segment alignment unit, and the two alignment mechanisms are connected by a connecting ring 201 in the middle; One end of the fixed sleeve I 205 is connected to one end of the fixed sleeve II 209; the guide ring I 206 is connected to one end of the fixed sleeve I 205 via a slide rail, and can rotate around the fixed sleeve I 205 at a certain angle. It has a sliding groove that mates with the end of the fixed rod I 204; the fixed sleeve I 205 has a rectangular groove that mates with the fixed rod I 204, allowing the fixed rod I 204 to move towards the axis along the rectangular groove of the fixed sleeve I 205 under the rotation of the guide ring I 206; the other end of the fixed sleeve I 205 is connected to one end of the slider ring I 203, and the other end of the slider ring I 203 is connected to one end of the universal ring I 202. The universal ring I 202... The other end is connected to the connecting ring 201; the guide ring II 208 is connected to one end of the fixed sleeve II 209 via a slide rail, and can rotate around the fixed sleeve II 209 at a certain angle. It has a sliding groove that mates with the ends of the fixed rod II 207 and the fixed rod III 212; the fixed sleeve II 209 has two rectangular grooves that mate with the fixed rod II 207 and the fixed rod III 212. The fixed rod II 207 and the fixed rod III 212 can move towards the axis along the rectangular grooves of the fixed sleeve II 209 under the rotation of the guide ring II 208; the other end of the fixed sleeve II 209 is connected to one end of the slider ring II 210, and the other end of the slider ring II 210 is connected to one end of the universal ring II 211. The alignment units A and B can open at a certain angle around the axis of the connection between the fixed sleeves I 205 and II 209, allowing them to be installed onto the near ends of the long heavy-duty cylindrical component 31 (section A) and the long heavy-duty cylindrical component 32 (section B), respectively. After installation, rotating guide rings I 206 and II 208 can move the fixed rods I 204, II 207, and III 212 toward the axis, thereby fixing the alignment units A and B to the long heavy-duty cylindrical component 31 and the long heavy-duty cylindrical component 32, respectively. The angle difference between the axes of the long heavy-duty cylindrical component 31 and the long heavy-duty cylindrical component 32 can be measured through two universal rings, and the position difference between the axes of the long heavy-duty cylindrical component 31 and the long heavy-duty cylindrical component 32 can be measured through two slider rings. The axes are then aligned using the position adjustment component 4.

[0029] The methods and apparatus described in detail are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the invention.

Claims

1. A docking robot system suitable for long and heavy cylindrical parts, characterized in that: Used for docking at least two long heavy cylindrical parts (3); include, Adjustment mechanism (1) corresponding to each of the long heavy cylindrical parts (3) and auxiliary alignment mechanism (2); The adjustment mechanism (1) is set on the corresponding long heavy cylindrical component (3) and is used to adjust the orientation of the long heavy cylindrical component (3); The auxiliary alignment mechanism (2) is set between two adjacent long heavy cylindrical parts (3), and its two ends are fixedly connected to the two adjacent long heavy cylindrical parts (3) respectively. It is used to measure the directional deviation and positional deviation of the two adjacent long heavy cylindrical parts (3), and guide the corresponding adjustment mechanism (1) to adjust the orientation of the two adjacent long heavy cylindrical parts (3) according to the directional deviation and positional deviation, so that the axes of the two are aligned.

2. The docking robot system for long, heavy cylindrical parts according to claim 1, characterized in that: The adjustment mechanism (1) includes a distal adjustment component (101) and a proximal adjustment component (102); The proximal adjustment component (102) is clamped at the docking end of the corresponding long heavy cylindrical component (3), and the distal adjustment component (101) is clamped at the end of the corresponding long heavy cylindrical component (3) away from the docking end. The distal adjustment component (101) and the proximal adjustment component (102) can adjust the position of the corresponding long heavy cylindrical component (3).

3. The docking robot system for long, heavy cylindrical parts according to claim 2, characterized in that: When the long heavy cylindrical component (3) is divided into two sections, they are respectively referred to as section A long heavy cylindrical component (31) and section B long heavy cylindrical component (32), and the corresponding adjustment mechanisms (1) are respectively referred to as section A adjustment mechanism (1) and section B adjustment mechanism (1). The proximal adjustment component (102) of the A-segment adjustment mechanism (1) clamps the docking end of the A-segment long heavy cylindrical component (31), and the distal adjustment component (101) clamps the end of the A-segment long heavy cylindrical component (31) away from the docking end. The proximal adjustment component (102) of the B-segment adjustment mechanism (1) clamps the docking end of the B-segment long heavy cylindrical component (32), and the distal adjustment component (101) clamps the end of the B-segment long heavy cylindrical component (32) away from the docking end.

4. The docking robot system for long, heavy cylindrical parts according to claim 2, characterized in that: The distal adjustment assembly (101) and the proximal adjustment assembly (102) have the same structure, both including a position adjustment assembly (4) and a compliant clamping mechanism (5) disposed on the position adjustment assembly (4). The position adjustment component (4) has the ability to move along the X, Y and Z directions, and is used to drive the corresponding long heavy cylindrical part (3) to move along the X, Y and Z directions; the compliant clamping mechanism (5) is used to clamp the corresponding long heavy cylindrical part (3) and has the ability to passively rotate around the Z axis.

5. The docking robot system for long, heavy cylindrical parts according to claim 4, characterized in that: The position adjustment component (4) includes a frame (41), a front and rear moving frame (42), an up and down moving frame (43), a left and right moving frame (44), a steering drive component (45), and a walking component (46). The front and rear movable frames (42) are installed on both sides of the frame (41), cooperate with the frame (41) through slide rails, and move back and forth through a lead screw. The vertical moving frame (43) is installed on the front and rear moving frame (42), and is connected to the front and rear moving frame (42) by a slide rail, and is driven by a screw to move up and down; The left and right movable frame (44) is installed on the upper and lower movable frame (43) and moves left and right through the cooperation of the slide rail with the upper and lower movable frame (43); The steering drive assembly (45) is mounted on the frame (41) and connected to the walking assembly (46) to drive the walking assembly (46) to turn, thereby causing the position adjustment assembly (4) to move as a whole.

6. The docking robot system for long, heavy cylindrical parts according to claim 5, characterized in that: The front and rear movable frames (42) include a first front and rear movable frame (421) and a second front and rear movable frame (422), which are symmetrically installed on both sides of the frame (41); The vertical moving frame (43) is covered and installed on the first front and rear moving frame (421) and the second front and rear moving frame (422). Its two side slide rails are adapted to the slide rails of the first front and rear moving frame (421) and the second front and rear moving frame (422) respectively, so as to achieve stable vertical movement.

7. The docking robot system for long, heavy cylindrical parts according to claim 5, characterized in that: The steering drive assembly (45) includes a steering motor (451) and a front wheel bogie (452), and the running assembly (46) includes at least two steering wheels (461) and a front wheel steering axle (462) corresponding to each steering wheel (461). The steering motor (451) is mounted on the middle beam of the frame (41), and its output end is connected to the front wheel bogie (452); The upper end of the front wheel steering axle (462) is fixedly connected to the front wheel bogie (452), and the lower end is fixedly connected to the corresponding steering wheel (461); When the steering motor (451) drives the front wheel bogie (452) to rotate, it drives the front wheel steering shaft (462) and the steering wheel (461) to rotate synchronously, thereby controlling the movement direction of the position adjustment component (4).

8. The docking robot system for long, heavy cylindrical parts according to claim 4, characterized in that: The compliant clamping mechanism (5) includes a clamp frame (51), a gripper assembly (52), a roller (53), a transmission assembly (54), and a drive component (55). The clamp frame (51) and the left and right moving frame (44) of the position adjustment assembly (4) are detachably connected; The gripper assembly (52) is connected to the drive member (55) via the transmission assembly (54). The drive member (55) drives the transmission assembly (54) to open or close, thereby achieving the gripping or release of the corresponding long heavy cylindrical part (3). The rolling wheel (53) is installed at the clamping end of the gripper assembly (52) and can rotate actively to drive the long heavy cylindrical part (3) being clamped to rotate around its own axis.

9. The docking robot system for long, heavy cylindrical parts according to claim 4, characterized in that: The gripper assembly (52) includes a left gripper (521) and a right gripper (522), the transmission assembly (54) includes a moving plate (541), a first sliding plate (542) and a second sliding plate (543), and the driving component (55) is a lead screw; The left gripper (521) and the right gripper (522) are rotatably mounted on the fixture frame (51) via a fixed shaft (56), and their upper ends are slidably connected to the moving plate (541) via a first sliding plate (542) and a second sliding plate (543), respectively. The lead screw is mounted vertically on the fixture frame (51), and the moving end of the lead screw is fixedly connected to the moving plate (541). When the lead screw rotates, it drives the moving plate (541) to move up and down. The moving plate (541) drives the left gripper (521) and the right gripper (522) to rotate around the fixed axis (56) through the first sliding plate (542) and the second sliding plate (543), so as to open or close the gripper assembly (52).

10. The docking robot system for long, heavy cylindrical parts according to claim 8, characterized in that: The auxiliary alignment mechanism (2) includes two alignment units with the same structure, and the two alignment units are coaxially connected by a connecting ring (201); Each alignment unit includes a fixed sleeve assembly, a guide rail ring, at least one fixed rod, a universal ring, and a slider ring; The fixed sleeve assembly includes at least two fixed sleeves that are fixedly connected to each other. The guide ring is rotatably connected to the fixed sleeves via a slide rail. The fixed rod is slidably engaged with the rectangular groove of the fixed sleeve, and the end of the fixed rod is adapted to the slide groove of the guide ring. When the guide ring rotates, it drives the fixing rod to move along the rectangular groove of the fixing sleeve toward the axis through the sliding groove, so as to achieve coaxial fixing of the alignment unit and the long heavy cylindrical part (3); The universal joint is used to detect the axial angle deviation of two adjacent long heavy cylindrical parts (3), and the slider ring is used to detect the axial position deviation of two adjacent long heavy cylindrical parts (3).

Images