Center-connected replaceable module autonomous locking and separation device and working method

Abstract

The present invention provides a centrally connected replaceable module autonomous locking and separation device and a working method, comprising: an active driving end, a passive passive end, a first microswitch, an electrical connector male head, an electrical connector female port, a second microswitch, a driving assembly and a connecting rod assembly; the active driving end is installed with the first microswitch, the electrical connector male head, the second microswitch, the driving assembly and the connecting rod assembly; the passive passive end is installed with the electrical connector female port; the connecting rod assembly is installed on the driving assembly, and the second microswitch is installed on the connecting rod assembly; the first microswitch and the second microswitch are electrically connected to the driving assembly; the device is fully autonomous, and the automatic opening and closing of the motor are triggered by the microswitch, avoiding the influence of external operation instruction delays, etc.

Description

Technical Field

[0001] The present invention relates to the sub-field of on-orbit service and maintenance technology in the field of aerospace technology, and in particular to an autonomous locking and separation device and a working method for a centrally connected replaceable module. Background Art

[0002] Frequent on-orbit failures of high-value spacecraft cause significant economic losses to satellite operators. Furthermore, as the cycle of space technology upgrades shortens, the performance of long-life spacecraft in the middle and later stages of their lifespans will struggle to meet application requirements. To improve the on-orbit repairability of major spacecraft failures and enhance the cost-effectiveness of high-value spacecraft on-orbit, there is an urgent need to develop on-orbit serviceable spacecraft. Replaceable modules and their universal interfaces are core components of serviceable spacecraft.

[0003] The interface between the replaceable module and the acceptable service platform is an important component of the replaceable module universal interface product system. Functionally, its mechanical connection part needs to meet the requirements of autonomous connection locking and autonomous separation. The mechanical interface needs to have a certain redundant capture capability during the connection process, and at the same time be able to provide force to offset the plugging and unplugging of the electrical connector.

[0004] Patent document CN103121516B discloses a replaceable module docking device comprising a receiving cone, a docking adapter, and a universal gripper. The receiving cone is connected to an on-orbit vehicle via mechanical fasteners. The docking adapter's main structure features a guide cone structure at its upper end that mates with the mounting guide cone, a mounting flange structure in the middle that mates with the replaceable module, external threads at its lower mid-section that mate with the internal threads of the universal gripper, and a guide cone structure at its lower end that mates with the gripper guide cone on the universal gripper.

[0005] Patent document CN103662105A discloses a replaceable module connection and unlocking device, comprising: a replaceable module and a replaceable module mounting port, wherein the replaceable module is detachably connected to the replaceable module mounting port; the replaceable module comprises: a plurality of guide pin holes, which are arranged on both sides of the lower end of the replaceable module; a tightening nut, which is arranged at the center of the lower end of the replaceable module, for providing power for movement during the connection and unlocking process; a plurality of electrical connectors, which are arranged on both sides of the lower end of the replaceable module; the replaceable module mounting port comprises: a plurality of guide pins, which are arranged on both sides of the inner bottom surface of the replaceable module mounting port, matching with the plurality of guide pin holes; a plurality of sensors, which are arranged on both sides of the inner bottom surface of the replaceable module mounting port; a plurality of bus connectors, which are arranged on both sides of the inner bottom surface of the replaceable module mounting port, matching with the plurality of electrical connectors; a self-spinning nut mechanism, which is arranged at the center of the inner bottom surface of the replaceable module mounting port, matching with the tightening nut.

[0006] The above interfaces do not mention the autonomous functions of the interfaces, and do not consider the problem of single-machine installation inside the module, which needs further improvement. Summary of the Invention

[0007] In view of the defects in the prior art, the purpose of the present invention is to provide a central connection type replaceable module autonomous locking and separation device and working method.

[0008] According to the present invention, a central connection type replaceable module autonomous locking and separation device is provided, comprising: an active driving end, a passive passive end, a first micro switch, a male electrical connector, a female electrical connector, a second micro switch, a driving assembly, and a connecting rod assembly;

[0009] The active driving end is equipped with the first micro switch, the male connector of the electrical connector, the second micro switch, the driving assembly and the connecting rod assembly;

[0010] The passive end is mounted with the female port of the electrical connector;

[0011] The connecting rod assembly is mounted on the driving assembly, and the second micro switch is mounted on the connecting rod assembly;

[0012] The first micro switch and the second micro switch are electrically connected to the drive assembly;

[0013] When the passive end is connected to the connecting rod assembly, the second micro switch is triggered by the passive end and the connecting rod assembly is driven by the driving assembly to pull the passive end, and the female port of the electrical connector is connected to the male port of the electrical connector;

[0014] When the passive end triggers the first micro switch, the driving component stops working;

[0015] When the driving component drives in the reverse direction, the passive end pushes away from the active driving end.

[0016] Preferably, the connecting rod assembly comprises: a first four-link, a second four-link and a tension spring;

[0017] The top end of the first four-bar linkage is connected to the top end of the second four-bar linkage, and the first four-bar linkage and the second four-bar linkage are symmetrical about a symmetry axis;

[0018] A capture channel is provided between the first four-bar linkage and the second four-bar linkage;

[0019] The first four-bar link end and the second four-bar link end are connected via the tension spring.

[0020] Preferably, the first four-bar linkage comprises a first link, a second link, a third link and a fourth link;

[0021] The third connecting rod is rotatably connected to one end of the first connecting rod and one end of the fourth connecting rod, and the first connecting rod and the fourth connecting rod are rotatably connected to the second connecting rod;

[0022] The second four-link arrangement includes a fifth link, a sixth link, a seventh link, and an eighth link;

[0023] The seventh connecting rod is rotatably connected to one end of the fifth connecting rod and one end of the eighth connecting rod, and the fifth connecting rod and the eighth connecting rod are rotatably connected to the sixth connecting rod;

[0024] The top end of the third connecting rod is rotatably connected to the top end of the seventh connecting rod, one end of the tension spring is hingedly connected to the fourth connecting rod, and the other end of the tension spring is hingedly connected to the eighth connecting rod.

[0025] Preferably, the driving assembly comprises: a motor, a lead screw, a positive nut and a negative nut;

[0026] The lead screw is connected to the motor, and the lead screw is threadedly connected to the positive nut and the negative nut;

[0027] The end of the third connecting rod is hingedly connected to the positive nut, and the end of the seventh connecting rod is hingedly connected to the negative nut, and the positive nut and the negative nut are symmetrical about the symmetry axis;

[0028] When the motor drives the lead screw to rotate forward, the forward nut and the reverse nut move in opposite directions along the lead screw. When the motor drives the lead screw to rotate reversely, the forward nut and the reverse nut move in opposite directions along the lead screw.

[0029] Preferably, the drive assembly is installed in a module housing, one side of the module housing is provided as a docking surface, and a structural groove is provided in the middle of the docking surface;

[0030] The connecting rod assembly is driven by the driving assembly to extend or retract along the structural groove portion;

[0031] The symmetry axis is set as the central axis of the docking surface.

[0032] Preferably, a support seat, the male head of the electrical connector and the first micro switch are installed on the outer side of the docking surface;

[0033] The first micro switch and the support base have the same height;

[0034] A floating pressure head is installed on the inner side of the top of the support seat and is allowed to move along the inner side, and a compression spring is installed between the floating pressure head and the support seat;

[0035] The floating pressure head extends out of the support seat through the compression spring portion;

[0036] The floating pressure head, the supporting seat and the electrical connector male head are provided in plurality and are symmetrical about the symmetry axis.

[0037] Preferably, the passive end further comprises: a captured rod and a passive mounting plate;

[0038] The captured rod is installed in the middle of the passive mounting plate;

[0039] The female ports of the electrical connector are mounted on the side of the passive mounting plate where the captured rod is mounted. The number of the female ports of the electrical connector is the same as the number of the male ports of the electrical connector and are symmetrical about the captured rod.

[0040] The capture channel allows entry of the captured rod.

[0041] Preferably, the second micro switch is installed at the connection between the third connecting rod and the seventh connecting rod and close to the module housing;

[0042] When the captured rod enters the capture channel, the captured rod triggers the second microswitch, the motor drives the lead screw to rotate forward, the forward nut and the reverse nut move in opposite directions along the lead screw, the tension spring gradually enters the maximum tension state from the pre-tensioned state, the connecting rod assembly retracts into the module housing along the structural groove, the passive end is pulled toward the active drive end, and the male connector of the electrical connector is connected to the female connector;

[0043] When the passive mounting plate presses and triggers the first micro switch, the motor stops working;

[0044] When the motor drives the lead screw to reverse, the positive nut and the reverse nut move toward opposite directions along the lead screw, the tension spring gradually enters a pre-tensioned state from a maximum tension state, the connecting rod assembly extends out of the module housing along the structural groove, the captured rod leaves the capture channel, the second micro switch is reset, and the motor stops working.

[0045] Preferably, when the connecting rod assembly is retracted into the module housing along the structural groove, the first connecting rod and the fifth connecting rod are closed to form a closed channel;

[0046] The cross-sectional shape of the captured rod matches the shape of the closed channel.

[0047] The present invention further provides a method for operating the central connection type replaceable module autonomous locking and separating device, comprising the following steps:

[0048] Step S1, when in an initial state, the tension spring is in a pre-tensioned state, the first connecting rod and the fifth connecting rod are in an open state and form the capture channel, and the relative postures of the active driving end and the passive passive end have a certain deviation;

[0049] Step S2: When the active driving end gradually approaches the passive passive end, the captured rod enters the capture channel and triggers the second microswitch, the motor drives the lead screw to rotate forward, the positive nut and the counter nut move in opposite directions along the lead screw, the tension spring is stretched, the connecting rod assembly gradually retracts into the module housing along the structural groove, the first connecting rod and the fifth connecting rod gradually clamp the captured rod, and the relative posture of the active driving end and the passive passive end is adjusted;

[0050] Step S3, the lead screw continues to rotate forward, the passive mounting plate contacts the floating pressure head, and the relative posture between the active driving end and the passive passive end is finally adjusted;

[0051] Step S4: the male connector of the electrical connector is gradually connected to the female connector of the electrical connector, the passive mounting plate triggers the first micro switch, the motor stops working, the lead screw and the nut form a self-locking state, and the docking process ends;

[0052] In step S5, the motor drives the lead screw to reverse, the positive nut and the counter nut move in opposite directions along the lead screw, the tension spring contracts, the connecting rod assembly extends out of the module housing along the structural groove, the captured rod leaves the capture channel, the second micro switch is reset, the motor stops working, and the active driving end is separated from the passive passive end.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. The interface of this device is small in size and the space utilization rate inside the module is high;

[0055] 2. This device is fully autonomous and triggers the automatic opening and closing of the motor through the micro switch, avoiding the influence of external operation command delay;

[0056] 3. The center connection structure has good symmetry and is suitable for small and medium-sized modules. The force is evenly distributed in the locked state. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0058] Figure 1 This is a schematic diagram of the structure of the replaceable module autonomous locking and separation device;

[0059] Figure 2 Schematic diagram of the connecting rod assembly structure;

[0060] Figure 3 This is a structural diagram of the replaceable module autonomous locking and separation device in the docking start state;

[0061] Figure 4 This is a structural diagram of the replaceable module's autonomous locking and separation device docking completion status;

[0062] Figure 5 Schematic diagram of the module housing structure;

[0063] Figure 6 This is a diagram demonstrating the principle of the captured pole's posture adjustment process;

[0064] As shown in the figure:

[0065] DETAILED DESCRIPTION

[0066] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0067] Example 1

[0068] like Figure 1 and Figure 5 As shown, a central connection type replaceable module autonomous locking and separation device includes: an active driving end 1, a passive passive end 2, a first micro switch 5, an electrical connector male head 10, an electrical connector female port 18, a second micro switch 28, a driving assembly and a connecting rod assembly; the active driving end 1 is installed with the first micro switch 5, the electrical connector male head 10, the second micro switch 28, the driving assembly and the connecting rod assembly, and the passive passive end 2 is installed with the electrical connector female port 18; the connecting rod assembly is installed on the driving assembly, and the second micro switch 28 is installed on the connecting rod assembly, and the first micro switch 5 and the second micro switch 28 are electrically connected to the driving assembly; when the passive passive end 2 is connected to the connecting rod assembly, the second micro switch 28 is triggered by the passive passive end 2 and drives the connecting rod assembly through the driving assembly to pull the passive passive end 2, and the electrical connector female port 18 is connected to the electrical connector male head 10; when the passive passive end 2 triggers the first micro switch 5, the driving assembly stops working, and when the driving assembly is driven in reverse, the passive passive end 2 pushes away from the active driving end 1.

[0069] The drive assembly includes: a motor 3, a lead screw 4, a positive nut 13, and a negative nut 14; the lead screw 4 is connected to the motor 3, the lead screw 4 is threadedly connected to the positive nut 13 and the negative nut 14, the end of the third connecting rod 22 is hingedly connected to the positive nut 13, and the end of the seventh connecting rod 26 is hingedly connected to the negative nut 14. The positive nut 13 and the negative nut 14 are symmetrical about the symmetry axis 12. When the motor 3 drives the lead screw 4 to rotate forward, the positive nut 13 and the negative nut 14 move in opposite directions along the lead screw 4. When the motor 3 drives the lead screw 4 to rotate reversely, the positive nut 13 and the negative nut 14 move in opposite directions along the lead screw 4. The drive assembly is installed in the module housing 11. One side of the module housing 11 is set as a docking surface, and a structural groove 30 is set in the middle of the docking surface. The connecting rod assembly is driven by the drive assembly to partially extend or retract along the structural groove 30. The symmetry axis 12 is set as the center axis of the docking surface. A support seat 9, an electrical connector male head 10 and a first micro switch 5 are installed on the outside of the docking surface; the first micro switch 5 and the support seat 9 are of the same height; a floating pressure head 8 is installed on the inside of the top of the support seat 9 and allows the floating pressure head 8 to move along the inside; a compression spring 29 is installed between the floating pressure head 8 and the support seat 9, and the floating pressure head 8 partially extends out of the support seat 9 through the compression spring 29; there are multiple floating pressure heads 8, support seats 9 and electrical connector male heads 10 and they are symmetrical about the symmetry axis 12. The passive end 2 also includes: a captured rod 17 and a passive mounting plate 19; the captured rod 17 is installed in the middle of the passive mounting plate 19, the electrical connector female port 18 is installed on the side of the passive mounting plate 19 where the captured rod 17 is installed, the number of the electrical connector female ports 18 is the same as the number of the electrical connector male heads 10 and they are symmetrical about the captured rod 17, and the capture channel 6 allows the captured rod 17 to enter.

[0070] like Figure 2 As shown, the connecting rod assembly includes: a first four-bar connecting rod 15, a second four-bar connecting rod 16 and a tension spring 7; the top end of the first four-bar connecting rod 15 is connected to the top end of the second four-bar connecting rod 16, the first four-bar connecting rod 15 and the second four-bar connecting rod 16 are symmetrical about the symmetry axis 12, a capture channel 6 is set between the first four-bar connecting rod 15 and the second four-bar connecting rod 16, and the end of the first four-bar connecting rod 15 and the end of the second four-bar connecting rod 16 are connected by a tension spring 7. The first four-link 15 is provided with a first link 20, a second link 21, a third link 22 and a fourth link 23. The third link 22 is rotatably connected to one end of the first link 20 and one end of the fourth link 23. The second link 21 is rotatably connected between the first link 20 and the fourth link 23. The second four-link 16 is provided with a fifth link 24, a sixth link 25, a seventh link 26 and an eighth link 27. The seventh link 26 is rotatably connected to one end of the fifth link 24 and one end of the eighth link 27. The sixth link 25 is rotatably connected between the fifth link 24 and the eighth link 27. The top end of the third link 22 is rotatably connected to the top end of the seventh link 26. One end of the tension spring 7 is hingedly connected to the fourth link 23, and the other end of the tension spring 7 is hingedly connected to the eighth link 27.

[0071] like Figure 3 and Figure 4 As shown, a second microswitch 28 is installed at the connection between the third connecting rod 22 and the seventh connecting rod 26 and near one side of the module housing 11; when the captured rod 17 enters the capture channel 6, the captured rod 17 triggers the second microswitch 28, the motor 3 drives the screw 4 to rotate forward, the positive nut 13 and the reverse nut 14 move in opposite directions along the screw 4, the tension spring 7 gradually enters the maximum tension state from the pre-tensioned state, the connecting rod assembly retracts into the module housing 11 along the structural groove 30, the passive end 2 is pulled toward the active drive end 1, and the electrical connector male head 10 is connected to the electrical connector female port 18; when the passive mounting plate 19 presses and triggers the first microswitch 5, the motor 3 stops working; when the motor 3 drives the screw 4 to reverse, the positive nut 13 and the reverse nut 14 move in opposite directions along the screw 4, the tension spring 7 gradually enters the pre-tensioned state from the maximum tension state, the connecting rod assembly extends out of the module housing 11 along the structural groove 30, the captured rod 17 leaves the capture channel 6, the second microswitch 28 is reset, and the motor 3 stops working.

[0072] like Figure 6 As shown, when the connecting rod assembly is retracted into the module housing 11 along the structural groove 30 , the first connecting rod 20 and the fifth connecting rod 24 are closed to form a closed channel, and the cross-sectional shape of the captured rod matches the shape of the closed channel.

[0073] The present invention also provides a method for operating a central connection type replaceable module autonomous locking and separating device, comprising the following steps:

[0074] Step S1: When in the initial state, the tension spring 7 is in a pre-tensioned state, the first connecting rod 20 and the fifth connecting rod 24 are in an open state and form a capture channel 6, and the relative postures of the active driving end 1 and the passive passive end 2 have a certain deviation;

[0075] Step S2: When the active driving end 1 gradually approaches the passive passive end 2, the captured rod 17 enters the capture channel 6 and triggers the second microswitch 28. The motor 3 drives the lead screw 4 to rotate forward, and the positive nut 13 and the counter nut 14 move in opposite directions along the lead screw 4. The tension spring 7 is stretched, and the connecting rod assembly gradually retracts along the structural groove 30 into the module housing 11. The first connecting rod 20 and the fifth connecting rod 24 gradually clamp the captured rod 17, and the relative posture of the active driving end 1 and the passive passive end 2 is adjusted.

[0076] Step S3: the lead screw 4 continues to rotate forward, the passive mounting plate 19 contacts the floating pressure head 8, and the relative posture of the active driving end 1 and the passive passive end 2 is finally adjusted;

[0077] Step S4: The male connector 10 of the electrical connector is gradually connected to the female connector 18 of the electrical connector. The passive mounting plate 19 triggers the first microswitch 5, the motor 3 stops working, and the lead screw 4 and the first microswitch 5 are self-locked. The docking process is completed.

[0078] In step S5, the motor 3 drives the screw 4 to reverse, the positive nut 13 and the counter nut 14 move in opposite directions along the screw 4, the tension spring 7 contracts, the connecting rod assembly extends out of the module housing 11 along the structural groove 30, the captured rod 17 leaves the capture channel 6, the second microswitch 28 is reset, the motor 3 stops working, and the active driving end 1 is separated from the passive passive end 2.

[0079] Example 2

[0080] Example 2 is a preferred example of Example 1.

[0081] like Figure 1 As shown, the present invention provides a centrally connected, replaceable module autonomous locking and separation device comprising an active drive end 1 and a passive passive end 2. The active drive end 1 has an overall symmetrical structure, comprising a motor 3, a lead screw 4, a first microswitch 5, a connecting rod assembly, a tension spring 7, a support seat 9, a floating pressure head 8, an electrical connector male connector 10, and a module housing 11. The axis of symmetry 12 is the central axis of the module housing 11's mating surface. The motor 3 is connected to the lead screw 4 and mounted within the module housing 11, driving the lead screw 4 in rotation. A positive nut 13 and a negative nut 14 cooperate with the lead screw 4 and are symmetrically mounted about the axis of symmetry 12. Forward or reverse rotation of the lead screw 4 causes the positive nut 13 and the negative nut 14 to move away from or toward each other. A first four-link linkage 15 and a second four-link linkage 16 are symmetrically arranged about the axis of symmetry 12, mating with the positive nut 13 and the negative nut 14, respectively. Two support seats 9, two floating pressure heads 8, and two electrical connector male connectors 10 are each symmetrically mounted about the axis of symmetry 12 on the exterior mating surface of the module housing 11. The passive end 2 includes a captured rod 17, an electrical connector female port 18, and a passive mounting plate 19. The captured rod 17 is located at the center of the passive mounting plate 19, and there are two electrical connector female ports 18, which are symmetrically mounted on the passive mounting plate 19 about the center.

[0082] like Figure 2 As shown, the connecting rod assembly includes: a first connecting rod 20, a second connecting rod 21, a third connecting rod 22, a fourth connecting rod 23, a fifth connecting rod 24, a sixth connecting rod 25, a seventh connecting rod 26, and an eighth connecting rod 27. The first connecting rod 20, the second connecting rod 21, the third connecting rod 22, and the fourth connecting rod 23 are hinged in sequence to form a first four-bar connecting rod 15. The fifth connecting rod 24, the sixth connecting rod 25, the seventh connecting rod 26, and the eighth connecting rod 27 are hinged in sequence to form a second four-bar connecting rod 16. The fifth connecting rod 24, the sixth connecting rod 25, the seventh connecting rod 26, and the eighth connecting rod 27 are identical to the first connecting rod 20, the second connecting rod 21, the third connecting rod 22, and the fourth connecting rod 23, respectively. The third connecting rod 22 and the seventh connecting rod 26 are hinged at one end to the positive nut 13 and the negative nut 14, respectively, and are hinged at the other end to each other. The ends of the tension spring 7 are hinged to the same ends of the fourth connecting rod 23 and the eighth connecting rod 27, respectively.

[0083] A second microswitch 28 is provided at the hinged joint between the third connecting rod 22 and the seventh connecting rod 26, near the module housing 11. When the captured rod 17 enters the active drive end 1, the second microswitch 28 is triggered, and the motor 3 begins to operate. When the captured rod 17 leaves the active drive end 1, the second microswitch 28 is reset, and the motor 3 stops operating. The floating pressure head 8 can move up and down within the support seat 9, with a compression spring 29 disposed therebetween. In its free state, the floating pressure head 8 extends out of the support seat 9 to a height greater than the height of the male connector 10. When the active drive end 1 is completely separated from the passive passive end 2, the tension spring 7 is in a pre-tensioned state. When the active drive end 1 and the passive passive end 2 are completely locked, the tension spring 7 is in a maximum tensioned state.

[0084] like Figure 5 As shown, the module housing 11 is provided with a structural groove 30 and a first microswitch 5 on its mating surface. The connecting rod assembly can be extended or retracted into the module housing 11 through the structural groove 30. When the active driving end 1 and the passive passive end 2 are fully locked, the connecting rod assembly is completely retracted within the module housing 11; otherwise, it will be partially exposed outside the module housing 11. The first microswitch 5 is at the same height as the support base 9, and when triggered, the motor 3 stops operating.

[0085] like Figure 6 As shown, the cross section of the captured rod 17 is fully matched with the geometric shape of the closed channel formed by the first connecting rod 20 and the fifth connecting rod 24, realizing the automatic correction capability of the relative posture error between the active driving end 1 and the passive passive end 2.

[0086] The working method of the central connection type replaceable module self-locking and separating device includes the following steps:

[0087] S1: In the initial state, the tension spring 7 is in a free state, the first connecting rod 20 and the fifth connecting rod 24 are in an open state and form a capture channel 6, and the relative postures of the active driving end 1 and the passive passive end 2 have a certain deviation.

[0088] S2: The active driving end 1 gradually approaches the passive passive end 2, so that the captured rod 17 enters the capture channel 6, triggering the second micro switch 28, and the motor 3 starts to work.

[0089] S3: The motor 3 drives the lead screw 4 to rotate, the positive nut 13 and the counter nut 14 move in opposite directions, the tension spring 7 is stretched, the fourth connecting rod 23 and the eighth connecting rod 27 rotate clockwise and counterclockwise respectively, and the first connecting rod 20 and the fifth connecting rod 24 move toward each other synchronously through the connecting rod assembly. The first connecting rod 20 and the fifth connecting rod 24 will gradually clamp the capture rod 17 and gradually adjust the relative posture of the active driving end 1 and the passive passive end 2.

[0090] S4: Screw 4 continues to rotate, gradually reducing the height of the connecting rod assembly, pulling active drive end 1 closer to passive drive end 2. Floating ram 8 contacts passive mounting plate 19, and the posture deviation between active drive end 1 and passive drive end 2 is finally adjusted, and the relative posture no longer changes.

[0091] S5: The lead screw 4 continues to rotate, the male connector 10 of the electrical connector contacts the female connector 18 and gradually plugs in until the first micro switch 5 is triggered, the motor 3 stops working, the docking process ends, and a self-locking is formed between the lead screw 4 and the first micro switch 5.

[0092] S6: The motor 3 reverses and completes the autonomous separation of the active driving end 1 from the passive passive end 2.

[0093] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0094] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A central connection type replaceable module self-locking and separating device, characterized in that: include: An active driving end (1), a passive passive end (2), a first micro switch (5), an electrical connector male end (10), an electrical connector female end (18), a second micro switch (28), a driving assembly, and a connecting rod assembly; The active drive end (1) is equipped with the first micro switch (5), the electrical connector male head (10), the second micro switch (28), the drive assembly and the connecting rod assembly; The passive end (2) is mounted with the female port (18) of the electrical connector; The connecting rod assembly is mounted on the driving assembly, and the second micro switch (28) is mounted on the connecting rod assembly; The first micro switch (5) and the second micro switch (28) are electrically connected to the drive assembly; When the passive end (2) is connected to the connecting rod assembly, the second micro switch (28) is triggered by the passive end (2) and the connecting rod assembly is driven by the driving assembly to pull the passive end (2), and the female port (18) of the electrical connector is connected to the male port (10) of the electrical connector; When the passive terminal (2) triggers the first micro switch (5), the driving component stops working; When the driving component drives in reverse, the passive end (2) pushes away from the active driving end (1); The connecting rod assembly comprises: a first four-link rod (15), a second four-link rod (16) and a tension spring (7); The top end of the first four-link (15) is connected to the top end of the second four-link (16), and the first four-link (15) and the second four-link (16) are symmetrical about the symmetry axis (12); A capture channel (6) is provided between the first four-link (15) and the second four-link (16); The end of the first four-link (15) and the end of the second four-link (16) are connected via the tension spring (7); The first four-link system (15) is provided with a first link (20), a second link (21), a third link (22) and a fourth link (23); The third connecting rod (22) is rotatably connected to one end of the first connecting rod (20) and one end of the fourth connecting rod (23), and the first connecting rod (20) and the fourth connecting rod (23) are rotatably connected to the second connecting rod (21); The second four-link (16) is provided with a fifth link (24), a sixth link (25), a seventh link (26) and an eighth link (27); The seventh connecting rod (26) is rotatably connected to one end of the fifth connecting rod (24) and one end of the eighth connecting rod (27), and the fifth connecting rod (24) and the eighth connecting rod (27) are rotatably connected to the sixth connecting rod (25); The top end of the third connecting rod (22) is rotatably connected to the top end of the seventh connecting rod (26), one end of the tension spring (7) is hingedly connected to the fourth connecting rod (23), and the other end of the tension spring (7) is hingedly connected to the eighth connecting rod (27).

2. The central connection type replaceable module autonomous locking and separation device according to claim 1, characterized in that: The driving assembly comprises: a motor (3), a lead screw (4), a positive nut (13) and a negative nut (14); The lead screw (4) is connected to the motor (3), and the lead screw (4) is threadedly connected to the positive nut (13) and the negative nut (14); The end of the third connecting rod (22) is hingedly connected to the positive nut (13), and the end of the seventh connecting rod (26) is hingedly connected to the negative nut (14), and the positive nut (13) and the negative nut (14) are symmetrical about the symmetry axis (12); When the motor (3) drives the lead screw (4) to rotate forward, the positive nut (13) and the negative nut (14) move in opposite directions along the lead screw (4); when the motor (3) drives the lead screw (4) to rotate reversely, the positive nut (13) and the negative nut (14) move in opposite directions along the lead screw (4).

3. The central connection type replaceable module autonomous locking and separation device according to claim 2, characterized in that: The drive assembly is installed in a module housing (11), one side of the module housing (11) is provided as a docking surface, and a structural groove (30) is provided in the middle of the docking surface; The connecting rod assembly is driven by the driving assembly to partially extend or retract along the structural groove (30); The symmetry axis (12) is set as the central axis of the docking surface.

4. The centrally connected replaceable module autonomous locking and separation device according to claim 3, characterized in that: A support seat (9), the electrical connector male head (10) and the first micro switch (5) are installed on the outer side of the docking surface; The first micro switch (5) and the support base (9) have the same height; A floating pressure head (8) is installed on the inner side of the top of the support seat (9) and allows the floating pressure head (8) to move along the inner side, and a compression spring (29) is installed between the floating pressure head (8) and the support seat (9); The floating pressure head (8) partially extends out of the support seat (9) via the compression spring (29); The floating pressure head (8), the supporting seat (9) and the electrical connector male head (10) are provided in plurality and are symmetrical about the symmetry axis (12).

5. The central connection type replaceable module autonomous locking and separation device according to claim 4, characterized in that: The passive end (2) further comprises: a captured rod (17) and a passive mounting plate (19); The captured rod (17) is installed in the middle of the passive mounting plate (19); The electrical connector female port (18) is mounted on the side of the passive mounting plate (19) where the captured rod (17) is mounted. The number of the electrical connector female ports (18) is the same as the number of the electrical connector male ports (10) and is symmetrical about the captured rod (17). The capture channel (6) allows the captured rod (17) to enter.

6. The central connection type replaceable module autonomous locking and separation device according to claim 5, characterized in that: The second micro switch (28) is installed at the connection between the third connecting rod (22) and the seventh connecting rod (26) and close to the module housing (11); When the captured rod (17) enters the capture channel (6), the captured rod (17) triggers the second micro switch (28), the motor (3) drives the lead screw (4) to rotate forward, the positive nut (13) and the reverse nut (14) move in opposite directions along the lead screw (4), the tension spring (7) gradually enters the maximum tension state from the pre-tensioned state, the connecting rod assembly retracts the module housing (11) along the structural groove (30), the passive end (2) is pulled toward the active drive end (1), and the electrical connector male end (10) is connected to the electrical connector female end (18); When the passive mounting plate (19) presses and triggers the first micro switch (5), the motor (3) stops working; When the motor (3) drives the lead screw (4) to reverse, the positive nut (13) and the negative nut (14) move in opposite directions along the lead screw (4), the tension spring (7) gradually enters a pre-tensioned state from a maximum tension state, the connecting rod assembly extends out of the module housing (11) along the structural groove (30), the captured rod (17) leaves the capture channel (6), the second micro switch (28) is reset, and the motor (3) stops working.

7. The central connection type replaceable module autonomous locking and separation device according to claim 6, characterized in that: When the connecting rod assembly is retracted into the module housing (11) along the structural groove (30), the first connecting rod (20) and the fifth connecting rod (24) are closed to form a closed channel; The cross-sectional shape of the captured rod matches the shape of the closed channel.

8. A method for operating the central connection type replaceable module autonomous locking and separation device according to claim 7, characterized in that: The following steps are involved: Step S1, when in an initial state, the tension spring (7) is in a pre-tensioned state, the first connecting rod (20) and the fifth connecting rod (24) are in an open state and form the capture channel (6), and the relative posture of the active driving end (1) and the passive passive end (2) has a certain deviation; Step S2, when the active driving end (1) gradually approaches the passive passive end (2), the captured rod (17) enters the capture channel (6) and triggers the second micro switch (28), the motor (3) drives the lead screw (4) to rotate forward, the positive nut (13) and the reverse nut (14) move in opposite directions along the lead screw (4), the tension spring (7) is stretched, the connecting rod assembly gradually retracts into the module housing (11) along the structural groove (30), the first connecting rod (20) and the fifth connecting rod (24) gradually clamp the captured rod (17), and the relative posture of the active driving end (1) and the passive passive end (2) is adjusted; Step S3, the lead screw (3) continues to rotate forward, the passive mounting plate (19) contacts the floating pressure head (8), and the relative posture of the active driving end (1) and the passive passive end (2) is finally adjusted; Step S4, the electrical connector male connector (10) is gradually connected to the electrical connector female connector (18), the passive mounting plate (19) triggers the first micro switch (5), the motor (3) stops working, the lead screw (4) and the nut (5) form a self-locking state, and the docking process ends; In step S5, the motor (3) drives the lead screw (4) to reverse, the positive nut (13) and the negative nut (14) move in opposite directions along the lead screw (4), the tension spring (7) contracts, the connecting rod assembly extends out of the module housing (11) along the structural groove (30), the captured rod (17) leaves the capture channel (6), the second micro switch (28) is reset, the motor (3) stops working, and the active driving end (1) is separated from the passive passive end (2).

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