Self-flexible pipeline butt joint device

Abstract

The invention discloses a self-flexible pipeline butt joint device, and relates to the field of joint connecting equipment, a pipeline assembly comprises a corrugated hose, a communicating pipe, a quick joint female head and a quick joint male head, the corrugated hose, the communicating pipe and the quick joint female head are connected together, and the quick joint male head is used for being in butt joint with the quick joint female head; the self-adaptive adjusting mechanism is arranged in the mounting frame body, and the communicating pipe is connected to the self-adaptive adjusting mechanism through the pipeline mounting seat, so that the quick connector female head can perform multi-directional angle self-adaptive deflection; and the pull ring locking mechanism is arranged outside the mounting frame body and is used for being matched with a locking sleeve on the quick connector female head and driving the locking sleeve to do linear motion so as to realize locking or unlocking of the quick connector female head and the quick connector male head. The full-process automatic functions of positioning, butt joint, resetting and the like are integrated, manual butt joint operation is not needed, the labor cost input is reduced, the delay of manual butt joint can be avoided, and the production timeliness is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of joint connecting device, in particular to a self-flexible pipe butt joint device. BACKGROUND

[0002] At present, in the tobacco enterprise's sugar flavor preparation and feeding system, the butt joint of the quick plug-in connector of the feeding, discharging, waterway and steam pipeline has long been mainly operated by manual operation. With the development of industrial automation technology, in order to reduce labor costs and improve operation efficiency and butt joint quality, most tobacco factories have gradually introduced automatic butt joint equipment, which has given rise to the urgent need for butt joint devices with flexible function.

[0003] However, the existing pipe automatic butt joint equipment generally has technical shortcomings: most devices lack flexible adjustment capability, and the supporting visual addressing system can only identify the end face position of the quick plug-in connector, and cannot accurately capture the installation angle deviation of the connector. This defect directly leads to the phenomenon that the connector is easily stuck due to mismatched posture during butt joint, which ultimately causes butt joint failure and is difficult to meet the automatic production needs of tobacco factories.

[0004] Therefore, how to develop a self-flexible pipe butt joint device, which is accurately positioned by a three-dimensional sliding table or a robot, and organically combined with a self-adaptive adjustment mechanism to build an efficient, stable and safe automatic butt joint scheme, has become a technical problem to be solved by the technical personnel in the field. SUMMARY

[0005] The purpose of the present application is to provide a self-flexible pipe butt joint device to solve the problems listed in the background art.

[0006] To solve the above technical problems, the present application adopts the following technical scheme: The self-flexible pipe butt joint device comprises a pipe assembly, a mounting frame body, a self-adaptive adjustment mechanism and a pull ring locking mechanism. The mounting frame body is used for mounting on a mobile device. The self-adaptive adjustment mechanism is arranged in the interior of the mounting frame body, and the communication pipe is connected to the self-adaptive adjustment mechanism through a pipe mounting seat, so that the quick connector female head can be adaptively deflected in multiple directions. The pull ring locking mechanism is arranged outside the mounting frame body and is used for cooperating with a locking sleeve on the quick connector female head and driving the locking sleeve to move linearly, so as to realize the locking or unlocking of the quick connector female head and the quick connector male head.

[0007] Preferably, the mounting frame is configured as a side-mounted U-shaped frame, including a front side plate, a rear side plate, and a right side plate. The front side plate and the rear side plate are arranged in parallel and connected to the right side plate by bolts. The right side plate is mounted on the mobile device by bolts.

[0008] Preferably, the adaptive adjustment mechanism includes an X-axis adjustment component and a Z-axis adjustment component. The Z-axis adjustment component is located inside the X-axis adjustment component. The pipe mounting base is connected to the X-axis adjustment component through the Z-axis adjustment component. When the quick-connect female and quick-connect male are connected, bidirectional adaptive adjustment of the Z-axis and X-axis is completed.

[0009] Preferably, the Z-axis adjustment assembly includes a Z-axis spring connecting shaft, a Z-axis compression spring, and an adaptive adapter frame. The adaptive adapter frame surrounds the outside of the pipe mounting base. The Z-axis spring connecting shaft passes through the pipe mounting base and its two ends are connected to the adaptive adapter frame. The Z-axis compression spring is fitted onto the Z-axis spring connecting shaft, and its two ends abut against the opposite surfaces of the pipe mounting base and the adaptive adapter frame. Preferably, the X-axis adjustment assembly includes an X-axis spring connecting shaft and an X-axis compression spring. The middle of the X-axis spring connecting shaft is connected to the adaptive adapter frame via an adapter. The two ends of the X-axis spring connecting shaft are connected to the opening sides of the front and rear side plates. The X-axis compression spring is fitted onto the X-axis spring connecting shaft, and the two ends of the X-axis compression spring abut against the opposite surfaces of the adapter and the front and rear side plates.

[0010] Preferably, the connecting pipe is mounted on the pipe mounting base via a spherical bearing.

[0011] Preferably, a pipe balancer is provided at one end of the connecting pipe near the corrugated hose. The pipe balancer includes a balancer connecting seat and several spring pins. The balancer connecting seat is fastened to the pipe mounting seat by bolts. The several spring pins are evenly distributed in a circle inside the balancer connecting seat, and the pin heads of the spring pins abut against the outer wall of the connecting pipe.

[0012] Preferably, the pull ring locking mechanism includes a pull ring cylinder and a female head locking ring. Two pull ring cylinders are symmetrically installed between the front side plate and the rear side plate. The female head locking ring is clamped to the locking sleeve on the female head of the quick connector. The telescopic rod of the pull ring cylinder is connected to a floating joint. The floating joint is connected to the female head locking ring through a rotary joint. The floating joint and the rotary joint are vertically distributed.

[0013] Preferably, it also includes a position acquisition component, which includes a camera. The camera is connected to the front or rear side panel via a camera mounting bracket, and the camera's imaging side faces the male side of the quick-connect connector.

[0014] Preferably, the camera mounting frame is connected with an auxiliary light source for lighting on the side facing the male end of the quick connector.

[0015] Preferably, in use, the right side plate is assembled to the working head of the robot through the bolt assembly, or is assembled to the mounting plate of the three-dimensional sliding table through the bolt assembly.

[0016] Compared with the prior art, the beneficial technical effects of the present application are: 1) Through the combination of the three-dimensional sliding table or the robot, the camera cooperates with it to complete the X-axis, Y-axis and Z-axis movement and position alignment, and then realizes the precise displacement adjustment of the docking device in the three-dimensional space, can quickly align the docking place of the connector, has high positioning accuracy, greatly shortens the docking operation time, and improves the work efficiency; at the same time, the full-automatic operation replaces the manual docking, avoids the safety hidden danger caused by manual operation and pipeline medium (such as high-temperature steam), and improves the operation safety.

[0017] 2) The design of the self-adaptive adjustment mechanism is formed through the X-axis adjustment assembly and the Z-axis adjustment assembly, in the docking process, the female end of the quick connector can be driven to adjust in X and Z directions by the compression spring, cooperates with the joint bearing on the pipeline mounting seat and the pipeline balancer, realizes the self-adaptive offset in other angles, adjusts the posture in real time according to the stress direction when the connector is docked, ensures that the male end and the female end of the quick connector always keep coaxial state, fundamentally solves the problem of docking jam caused by installation angle deviation, and guarantees the docking success rate.

[0018] 3) When the docking force disappears after the docking is completed, the self-adaptive adjustment mechanism and the pipeline balancer can automatically recover to the initial docking position under the action of the spring force, without manual intervention for resetting, ensures that the initial posture of each cycle docking is consistent, and improves the stability and reliability of continuous operation of the device.

[0019] 4) The design of the pull ring locking mechanism realizes the linear movement of the locking sleeve of the female end of the quick connector when docking, and then realizes the automatic locking or unlocking operation of the female end of the quick connector and the male end of the quick connector.

[0020] In summary, the device integrates the full-process automation functions such as positioning, docking and resetting, does not need manual participation in the docking operation, not only reduces the labor cost investment, but also avoids the delay of manual docking, guarantees the timeliness of production, and adapts to the production needs of large-scale and standardization of tobacco factories. Compared with the prior art, the device not only solves the problem that the traditional visual addressing can only position the end face and cannot compensate the angle deviation to cause jamming, but also realizes the full-process unmanned operation of the docking operation through the automatic positioning and automatic resetting functions. BRIEF DESCRIPTION OF DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 This is a front view of the self-flexible pipe docking device of the present invention (the connection between the pull ring cylinder and the female locking ring is not shown). Figure 2 This is a side view (perspective, without camera and auxiliary light source installed) of the flexible pipe docking device of the present invention. Figure 3 This is a bottom view (perspective) of the self-flexible pipe docking device of the present invention. Figure 4 This is an enlarged view of the pipe balancer of the present invention; Figure 5 This is a schematic diagram of the structure of the invention after assembly with the robot; Figure 6 This is a schematic diagram of the three-dimensional sliding table structure of the present invention.

[0023] Explanation of reference numerals in the attached drawings: 1. Mounting frame; 2. Adaptive adapter frame; 3. Camera; 4. Auxiliary light source; 5. Pull ring cylinder; 6. Floating connector; 7. Rotary joint; 8. Female locking ring; 9. X-axis adjustment assembly; 10. Joint bearing; 11. Z-axis adjustment assembly; 12. Corrugated hose; 13. Connecting pipe; 14. Quick-connect female connector; 15. Quick-connect male connector; 16. Pipe balancer; 101. Front side panel; 102. Rear side panel; 103. Right side panel; 301. Camera mounting bracket; 901. X-axis spring connecting shaft; 902. X-axis compression spring; 903. Adapter; 1101. Z-axis spring connecting shaft; 1102. Z-axis compression spring; 1301. Pipe mounting base; 1601. Balancer connector; 1602. Spring pin; 200. Robot; 201. Working head; 300. Three-dimensional slide; 310. Mounting plate. Detailed Implementation

[0024] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] like Figures 1-4 As shown, a self-adjusting flexible pipe connection device includes a pipe assembly comprising a corrugated hose 12, a connecting pipe 13, and a quick-connect female connector 14 connected together. The corrugated hose 12 is fitted onto one end of the connecting pipe 13 and secured with a clamp. The other end of the connecting pipe 13 is threaded onto the quick-connect female connector 14. A quick-connect male connector 15 is also included for mating with the quick-connect female connector 14. Mounting frame 1 is used for mounting on mobile devices; An adaptive adjustment mechanism is provided inside the mounting frame 1. The connecting pipe 13 is connected to the adaptive adjustment mechanism through the pipe mounting seat 1301 so that the quick connector female head 14 can perform multi-directional angle adaptive deflection. A pull ring locking mechanism is located outside the mounting frame 1 and is used to cooperate with the locking sleeve on the quick connector female head 14 and drive the locking sleeve to make linear movement so as to lock or unlock the quick connector female head 14 and quick connector male head 15.

[0026] like Figure 3 As shown, the mounting frame 1 is configured as a side-mounted U-shaped frame, including a front side plate 101, a rear side plate 102 and a right side plate 103. The front side plate 101 and the rear side plate 102 are arranged in parallel and connected to the right side plate 103 by bolts. The right side plate 103 is mounted on the mobile device by bolts.

[0027] Specifically, such as Figure 2 As shown, the adaptive adjustment mechanism includes an X-axis adjustment component 9 and a Z-axis adjustment component 11. The Z-axis adjustment component 11 is located inside the X-axis adjustment component 9. The pipe mounting base 1301 is connected to the X-axis adjustment component 9 through the Z-axis adjustment component 11. When the quick-connect female head 14 and the quick-connect male head 15 are connected, bidirectional adaptive adjustment of the Z-axis and X-axis is completed.

[0028] Specifically, the Z-axis adjustment assembly 11 includes a Z-axis spring connecting shaft 1101, a Z-axis compression spring 1102, and an adaptive adapter frame 2. The adaptive adapter frame 2 surrounds the outside of the pipe mounting base 1301. The Z-axis spring connecting shaft 1101 passes through the pipe mounting base 1301 and its two ends are connected to the adaptive adapter frame 2. The Z-axis compression spring 1102 is fitted on the Z-axis spring connecting shaft 1101, and its two ends abut against the opposite surfaces of the pipe mounting base 1301 and the adaptive adapter frame 2. During docking, the Z-axis spring connecting shaft 1101 can move up and down along the through hole of the pipe mounting base 1301, thereby driving the pipe mounting base 1301 and the quick-connect female head 14 installed on it to move up and down synchronously, thus completing the adjustment of the up and down position of the quick-connect female head. During this adjustment process, the adaptive adapter frame 2 remains stationary and its shape remains unchanged.

[0029] The X-axis adjustment assembly 9 includes an X-axis spring connecting shaft 901 and an X-axis compression spring 902. The middle of the X-axis spring connecting shaft 901 is connected to the adaptive adapter frame 2 via an adapter 903. Both ends of the X-axis spring connecting shaft 901 are connected to the openings of the front side plate 101 and the rear side plate 102. The X-axis compression spring 902 is fitted onto the X-axis spring connecting shaft 901, and both ends of the X-axis compression spring 902 abut against the opposing surfaces of the adapter 903 and the front side plate 101 and the rear side plate 102. Specifically, during docking, both ends of the X-axis spring connecting shaft 901 are fixed to the front side plate 101 and the rear side plate 102 with nuts, remaining stationary and serving a positioning and guiding function. The adapter 903 drives the adaptive adapter frame 2 to move back and forth along the X-axis direction, thereby causing the internal pipe mounting base 1301 and the quick-connect female head 14 mounted on it to move synchronously, thus completing the adjustment of the back-and-forth position of the quick-connect female head.

[0030] Specifically, the connecting pipe 13 is mounted on the pipe mounting base 1301 via a spherical bearing 10. A pipe balancer 16 is provided at one end of the connecting pipe 13 near the corrugated hose 12. The pipe balancer 16 includes a balancer connecting seat 1601 and several spring pins 1602. The balancer connecting seat 1601 is fastened to the pipe mounting base 1301 with bolts. The several spring pins 1602 are evenly distributed circumferentially within the balancer connecting seat 1601, with the pin heads of the spring pins 1602 abutting against the outer wall of the connecting pipe 13. Specifically, the design of the spherical bearing 10 allows the connecting pipe 13 and the threaded quick-connect female connector 14 to achieve multi-angle torsion; furthermore, through cooperation with the rear pipe balancer 16, it can maintain a horizontal position.

[0031] like Figure 3 As shown, the pull ring locking mechanism includes a pull ring cylinder 5 and a female locking ring 8. Two pull ring cylinders 5 are symmetrically installed between the front side plate 101 and the rear side plate 102. The female locking ring 8 is locked onto the locking sleeve on the quick connector female head 14. The telescopic rod of the pull ring cylinder 5 is connected to a floating joint 6, which is connected to the female locking ring 8 via a rotating joint 7. The floating joint 6 and the rotating joint 7 are vertically distributed. In use, before docking, the telescopic rod of the pull ring cylinder 5 retracts, driving the female locking ring 8 and the locking sleeve to move backward synchronously through the floating joint 6 and the rotating joint 7, thus unlocking the connection. Under the action of the robot, the quick connector female head 14 is pushed forward and inserted into the quick connector male head 15. After docking, the telescopic rod of the pull ring cylinder 5 extends forward, driving the locking sleeve to return to its initial position and locking the quick connector male head 15, thereby completing the quick-connect connection operation between the quick connector male head 15 and the quick connector female head 14.

[0032] Specifically, it also includes a position acquisition component, which includes a camera 3. The camera 3 is connected to the front side plate 101 or the rear side plate 102 via a camera mounting bracket 301, and the imaging side of the camera 3 faces the side of the quick-connect male connector 15. Specifically, the camera 3 is a CCD camera, used to take pictures of the side of the connector 15 before docking, acquire the position of the connector 15, and transmit the data to the control center. After calculation by the pre-set program, the control center issues instructions to drive the robot or three-dimensional slide to move in the X, Y, and Z directions of spatial position, so that the quick-connect female connector 14 and the quick-connect male connector 15 are aligned.

[0033] Specifically, the camera mounting bracket 301 is connected to an auxiliary light source 4 for illumination on the side facing the quick connector male 15. The design of the auxiliary light source 4 improves the brightness of the acquisition environment, making the camera take clear pictures and the position acquisition and calculation more accurate.

[0034] In addition, it includes a PLC controller or control center. The pull ring cylinder 5, camera 3, robot, and three-dimensional slide are all electrically connected to the PLC controller or control center to achieve automated operation.

[0035] like Figure 5 , 6 As shown, the usage process of this invention is as follows: Step 1, Installation and Positioning Preparation: First, install the device onto the mobile device: 1) If using a robot, assemble the right side plate 103 onto the robot's working head 201 using a bolt assembly.

[0036] 2) If a three-dimensional slide is used, the right side plate 103 is assembled onto the mounting plate 310 of the slide using bolt assemblies.

[0037] Secondly, connect the power and air supply to ensure that electrical and pneumatic components such as the pull ring cylinder 5, camera 3, and auxiliary light source 4 are working properly.

[0038] Step 2, Visual Positioning and Posture Correction: 1) Start the system and take a picture of the male quick connector 15 to be connected with the camera 3; 2) Auxiliary light source 4 provides illumination to ensure image clarity; 3) The position data collected by the camera is sent to the control center, and the system program calculates the precise position and attitude of the quick connector male 15; 4) The control center drives the robot or three-dimensional slide to move the entire device in the X, Y and Z directions, so that the quick connector female head 14 and quick connector male head 15 are initially aligned.

[0039] Step 3, Adaptive docking process: 1)Robot or 3D slide continues to push the device to the quick coupling male head 15.

[0040] 2)When the quick coupling female head 14 contacts the quick coupling male head 15, if there is a positional or angular deviation: Z-axis adjustment: up and down floating is achieved by Z-direction spring connecting shaft 1101 and Z-axis compression spring 1102; X-axis adjustment: front and rear floating is achieved by X-direction spring connecting shaft 901 and X-axis compression spring 902; Joint bearing 10 and pipeline balancer 16: cooperatively realize multi-angle adaptive deflection, ensuring that the quick coupling female head 14 and the quick coupling male head 15 are coaxial.

[0041] During the docking process, the adaptive mechanism automatically adjusts with the force direction, which can effectively avoid the occurrence of jamming problems.

[0042] Step four, locking and connection: 1)After docking in place, the extension rod of the pull ring cylinder 5 extends forward, and then the female head locking ring 8 and the locking sleeve are moved forward through the floating joint 6 and the rotary joint 7; 2)The locking sleeve resets and locks the quick coupling male head 15, completing the quick plug connection; 3)The pipeline medium (such as sugar flavor, steam, etc.) can flow through the communication pipe 13 and the corrugated hose 12, and be filled into the corresponding equipment.

[0043] Step five, unlocking and resetting: 1)After the docking task is completed, the extension rod of the pull ring cylinder 5 retreats, synchronously driving the locking sleeve to move backward and unlock the quick coupling male head 15; 2)The robot or 3D slide drives the device to retreat and disengage from the quick coupling male head 15; 3)After the docking force is eliminated, the adaptive adjustment mechanism and the pipeline balancer 16 automatically reset to the initial position under the spring force, preparing for the next docking.

[0044] Step six, cyclic operation: The system can repeatedly execute the above steps to realize continuous and automatic pipeline docking operation without manual intervention.

[0045] In summary, this invention, a flexible pipeline docking device, organically combines a precise positioning system of a three-dimensional sliding table or robot with a flexible adaptive adjustment mechanism to construct an efficient, stable, and safe automated docking solution. Compared to existing technologies, this device not only solves the problem of traditional visual addressing, which can only locate the end face and cannot compensate for angle deviations leading to jamming, but also achieves fully unmanned operation of the docking process through automated positioning and automatic reset functions. While improving docking accuracy and success rate, it also significantly improves operational efficiency, reduces labor costs and safety risks. It can perfectly adapt to the docking requirements of quick-connect fittings for multi-media pipelines in the formulation and feeding systems of tobacco factories' sugar and flavoring products, possessing outstanding practicality and promotional value.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0047] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A self-flexible pipe docking device, a pipe assembly comprising a corrugated hose (12), a communication pipe (13) and a female quick coupling head (14) connected together, and a male quick coupling head (15) for docking with the female quick coupling head (14), characterized in that, Also includes: Mounting frame (1) is used for mounting on mobile devices; An adaptive adjustment mechanism is provided inside the mounting frame (1). The connecting pipe (13) is connected to the adaptive adjustment mechanism through the pipe mounting seat (1301) so that the quick connector female head (14) can perform multi-directional angle adaptive deflection. The pull ring locking mechanism is located outside the mounting frame (1) and is used to cooperate with the locking sleeve on the quick connector female head (14) and drive the locking sleeve to make linear movement so as to lock or unlock the quick connector female head (14) and quick connector male head (15).

2. A self-flexible pipe docking apparatus according to claim 1, characterised in that: The mounting frame (1) is configured as a side-mounted U-shaped frame, including a front side plate (101), a rear side plate (102) and a right side plate (103). The front side plate (101) and the rear side plate (102) are arranged in parallel and connected to the right side plate (103) by bolts. The right side plate (103) is mounted on the mobile device by bolts.

3. A self-flexible pipe docking apparatus according to claim 2, characterised in that: The adaptive adjustment mechanism includes an X-axis adjustment component (9) and a Z-axis adjustment component (11). The Z-axis adjustment component (11) is located inside the X-axis adjustment component (9). The pipe mounting base (1301) is connected to the X-axis adjustment component (9) through the Z-axis adjustment component (11). When the quick-connect female head (14) and the quick-connect male head (15) are connected, bidirectional adaptive adjustment of the Z-axis and X-axis is completed.

4. A self-flexible pipe docking apparatus according to claim 3, characterised in that: The Z-axis adjustment assembly (11) includes a Z-axis spring connecting shaft (1101), a Z-axis compression spring (1102), and an adaptive adapter frame (2). The adaptive adapter frame (2) surrounds the outside of the pipe mounting base (1301). The Z-axis spring connecting shaft (1101) passes through the pipe mounting base (1301) and its two ends are connected to the adaptive adapter frame (2). The Z-axis compression spring (1102) is fitted on the Z-axis spring connecting shaft (1101). The two ends of the Z-axis compression spring (1102) abut against the opposite surfaces of the pipe mounting base (1301) and the adaptive adapter frame (2). The X-axis adjustment assembly (9) includes an X-axis spring connecting shaft (901) and an X-axis compression spring (902). The middle of the X-axis spring connecting shaft (901) is connected to the adaptive adapter frame (2) via an adapter (903). The two ends of the X-axis spring connecting shaft (901) are connected to the opening sides of the front side plate (101) and the rear side plate (102). The X-axis compression spring (902) is fitted on the X-axis spring connecting shaft (901). The two ends of the X-axis compression spring (902) abut against the adapter (903) and the opposite surfaces of the front side plate (101) and the rear side plate (102).

5. A self-flexible pipe docking apparatus according to claim 4, characterised in that: The connecting pipe (13) is mounted on the pipe mounting base (1301) via a spherical bearing (10).

6. The self-flexible pipe docking apparatus of claim 1, wherein: A pipe balancer (16) is provided at one end of the connecting pipe (13) near the corrugated hose (12). The pipe balancer (16) includes a balancer connector (1601) and several spring pins (1602). The balancer connector (1601) is fastened to the pipe mounting base (1301) by bolts. Several spring pins (1602) are evenly distributed in a circle inside the balancer connector (1601). The pin head of the spring pin (1602) abuts against the outer wall of the connecting pipe (13).

7. The self-flexible pipe docking apparatus of claim 2, wherein: The pull ring locking mechanism includes a pull ring cylinder (5) and a female head locking ring (8). Two pull ring cylinders (5) are symmetrically installed between the front side plate (101) and the rear side plate (102). The female head locking ring (8) is clamped to the locking sleeve on the quick connector female head (14). The telescopic rod of the pull ring cylinder (5) is connected to a floating joint (6). The floating joint (6) is connected to the female head locking ring (8) through a rotating joint (7). The floating joint (6) and the rotating joint (7) are vertically distributed.

8. The self-flexible pipe docking apparatus of claim 2, wherein: It also includes a location acquisition component, which includes a camera (3), which is connected to the front side plate (101) or the rear side plate (102) via a camera mounting bracket (301), and the camera side of the camera (3) faces the side of the quick connector male (15).

9. A self-flexible pipe docking apparatus according to claim 8, characterised in that: The camera mounting bracket (301) has an auxiliary light source (4) connected to the side facing the quick connector male (15).

10. The self-flexible pipe docking apparatus of claim 2, wherein: In use, the right side plate (103) is assembled to the working head (201) of the robot (200) by bolt assembly, or to the mounting plate (310) of the three-dimensional slide (300) by bolt assembly.

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