Automatic docking and replenishment method and control device

Abstract

The present application provides an automatic docking and replenishment method and control device, which is applied to the control system of the automatic replenishment device. When it is determined that the designated position has been reached, a start instruction is sent to the drive system, so that the drive system drives the connection device to move, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the connection with the automatic docking connector is successfully docked, the locking mechanism just locks the box frame; when it is determined that the designated position has not been reached, an alarm signal is sent to the system control device, so that the control device controls the lifting mechanism to readjust, so that the automatic docking box reaches the designated position by its own gravity under the guidance of the guide positioning component and the guide support frame after being released by the lifting mechanism. It can be seen that the technical solution provided by the embodiment of the present application can automatically realize the docking of the automatic connector with the connection device by controlling the drive system and realize the automatic replenishment of the material to be replenished through the transportation of the box frame.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to an automatic docking and replenishment method and control device. Background Art

[0002] With the development of science and technology, the need for material replenishment in production and life practices is becoming more and more common. For example, the intensity and strength of weapons and equipment in modern warfare are getting higher and higher, which means that weapons and equipment need to consume a large amount of ammunition, oil and other materials after a battle. Based on this, they are faced with the problem of replenishing ammunition, oil and other materials as soon as possible to quickly form combat effectiveness; in addition, disinfection (disinfection and sterilization) equipment working in biochemical pollution scenes also urgently needs to replenish materials quickly after performing a disinfection task, but because its outer surface is exposed to the polluted environment, a large amount of harmful substances are attached to its surface, which also requires the rapid completion of the replenishment of the above-mentioned work materials so that it has the ability to work continuously. In summary, whether it is replenishing ammunition, oil and other materials for weapons and equipment on the battlefield, or replenishing disinfection equipment with disinfectants and other materials, it is best to complete it under the condition of no on-site intervention.

[0003] However, current weapons and equipment require on-site control to replace ammunition and fuel. It is extremely unsafe for people to replace ammunition or replenish fuel outside the equipment cabin during combat, and the control operation is complicated, requiring a lot of training to be competent. Correspondingly, the replenishment of disinfectant for disinfection equipment also requires people to return to the base to replenish the disinfection equipment with disinfectant before it can continue to be used for disinfection. Therefore, this makes the combat effectiveness and continuous disinfection ability of the disinfection device low. In summary, there is an urgent need to design a method that can automatically complete the material replenishment of weapons and equipment or disinfection equipment in harsh scenarios such as battlefields and biochemical pollution without human intervention. Summary of the invention

[0004] In view of this, the present application provides an automatic docking and replenishing method and a control device to achieve automatic replenishment of materials.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides an automatic docking and replenishing method, which is applied to a control system of an automatic replenishing device, wherein the automatic replenishing device comprises: a mounting seat for being installed on a specified pitch axis in a vehicle and performing pitch movement along with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carry the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move to a specified position in the guide support frame, and a driving docking device; wherein the automatic docking box comprises an automatic docking connector and a box frame for carrying materials to be replenished, the automatic docking connector is installed in the box frame, and the guide support frame and the guide positioning assembly are both installed on the mounting seat; the driving docking device comprises a driving system, a connecting device and a locking mechanism, the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, the connecting device is also connected to the locking mechanism, and the control system is electrically connected to the driving system. The method comprises:

[0007] When it is determined that the automatic docking box has reached the specified position, a start instruction is sent to the drive system, so that the drive system drives the connection device to move in the first direction according to the start instruction, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the automatic docking connector is successfully docked, the locking mechanism just locks the box frame;

[0008] When it is determined that the automatic docking box has not reached the specified position, an alarm signal indicating that the automatic docking box has not reached the specified position is sent to an externally connected system control device, so that the system control device controls the lifting mechanism used to lift the automatic docking box to be readjusted according to the alarm signal, so that the automatic docking box can reach the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.

[0009] In a second aspect, an embodiment of the present application provides an automatic docking and replenishing control device, which is applied to a control system of an automatic replenishing device, wherein the automatic replenishing device comprises: a mounting seat for being installed on a specified pitch axis in a vehicle and performing pitch movement along with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carry the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move to a specified position in the guide support frame, and a driving docking device; wherein the automatic docking box comprises an automatic docking connector and a box frame for carrying materials to be replenished, the automatic docking connector is installed in the box frame, and the guide support frame and the guide positioning assembly are both installed on the mounting seat; the driving docking device comprises a driving system, a connecting device and a locking mechanism, the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, the connecting device is also connected to the locking mechanism, and the control system is electrically connected to the driving system, and the automatic docking and replenishing control device comprises:

[0010] A designated position determination unit, used to trigger the docking unit when it is determined that the automatic docking box has reached the designated position, and to trigger the adjustment unit when it is determined that the automatic docking box has not reached the designated position;

[0011] The docking unit is used to send a start instruction to the driving system, so that the driving system drives the connection device to move in a first direction according to the start instruction, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the connection with the automatic docking connector is successfully docked, the locking mechanism just locks the box frame;

[0012] The adjustment unit is used to send an alarm signal to an externally connected system control device to indicate that the automatic docking box has not reached the specified position, so that the system control device controls the lifting mechanism used to lift the automatic docking box to readjust according to the alarm signal, so that the automatic docking box can reach the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.

[0013] It can be seen that the embodiment of the present application provides a method for an automatic docking replenishment device, which is applied to the control system of the automatic replenishment device. The automatic docking box of the automatic replenishment device includes an automatic docking connector and a box frame for carrying the material to be replenished. The automatic docking connector is installed in the box frame, and its guide support frame and guide positioning assembly are both installed on the mounting seat; the driving system of the docking device is connected to its connecting device, and the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, and the connecting device is also connected to the locking mechanism; the method includes: when it is determined that the automatic docking box has reached the specified position, a start instruction is sent to the driving system , so that the drive system drives the connection device to move in the first direction after receiving the start command, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the automatic docking connector is successfully docked and connected, the locking mechanism just locks the box frame; when it is determined that the automatic docking box has not reached the specified position, an alarm signal indicating that the automatic docking box has not reached the specified position is sent to the externally connected system control device, so that the control device controls the lifting mechanism used to lift the automatic docking box to readjust, so that the automatic docking box reaches the specified position under the guidance of the guide positioning component and the guide support frame by its own gravity after being released by the lifting mechanism. It can be seen that the method provided by the embodiment of the present application does not require human participation in automatic replenishment, but can automatically achieve the docking of the connector and the connector by controlling the drive system and the automatic replenishment of the material to be replenished by conveying the box frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of an automatic docking and replenishment method shown in an embodiment of the present application;

[0015] Figure 2It is a schematic diagram of a part of the structure of an automatic docking and replenishing device in an undocking state shown in an embodiment of the present application;

[0016] Figure 3 This is a schematic diagram of a partial structure of an automatic docking and replenishing device that has completed automatic docking, shown in an embodiment of the present application;

[0017] Figure 4 This is a schematic diagram of the rear side structure of an automatic docking and replenishing device after completing automatic docking, shown in an embodiment of the present application;

[0018] Figure 5 This is a schematic diagram of the bottom structure of an automatic docking connector in an automatic docking and replenishing device shown in an embodiment of the present application;

[0019] FIG6( a ) is a schematic structural diagram of an automatic docking connector shown in an embodiment of the present application;

[0020] FIG6( b ) is a schematic diagram of the structure of a partial automatic docking connector shown in an embodiment of the present application;

[0021] FIG6( c ) is a schematic structural diagram of a horizontal floater shown in an exemplary embodiment of the present application;

[0022] Figure 7 It is a partial structural schematic diagram of a connection device in an automatic docking and replenishing device shown in an exemplary embodiment of the present application;

[0023] Figure 8 is a flow chart of another automatic docking and replenishment method shown in an embodiment of the present application;

[0024] Fig. 9 It is a partial structural schematic diagram of a locking mechanism provided by the present application;

[0025] Fig.10 This is a structural schematic diagram of an automatic docking and replenishment control device provided by the present application. DETAILED DESCRIPTION

[0026] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0027] See also Figure 1 , Figure 1 An automatic docking and replenishing method is provided in an embodiment of the present application. The method is applied to a control system of an automatic replenishing device. The automatic replenishing device is as follows: Figures 2 to 5 , Figure 2 This is a schematic diagram of a portion of the structure of an automatic docking and replenishing device in an undocking state provided by an embodiment of the present application. Figure 3 This is a schematic diagram of a portion of the structure of the automatic docking and replenishing device provided in an embodiment of the present application after automatic docking has been completed. Figure 4 This is a schematic diagram of the rear side structure of the automatic docking and replenishing device provided in the embodiment of the present application after the automatic docking has been completed. Figure 5 A schematic diagram of the bottom structure of the automatic docking connector in the automatic docking and replenishing device provided in an embodiment of the present application; the device includes: a mounting seat 1, an automatic docking box 2, a guide support frame 3, a guide positioning assembly 4 and a driving docking device 5.

[0028] Among them, Figure 2 As shown, the mounting base 1 is used to be mounted on a specified pitch axis in the vehicle and to perform pitch motion along with the pitch axis 6; Figures 3-4 As shown, the automatic docking box 2 also includes an automatic docking connector 21 and a box frame 22 for carrying the material to be supplemented, and the automatic docking connector 21 is installed in the box frame 22; the guide support frame 3 is installed on the mounting seat 1, and is used to guide the automatic docking box 2 to move and carry the automatic docking box 2; the guide positioning component 4 is used to guide the automatic docking box 2 to move to a specified position in the guide support frame 3, and is installed on the mounting seat 1; Figure 1 As shown, the driving docking device 5 includes a driving system, a connecting device 52 and a locking mechanism 53. The driving system is connected to the connecting device 52, and the connecting device 52 is also connected to the locking mechanism 53. When it is determined that the automatic docking box 2 has reached the specified position, the driving system is started to drive the connecting device 52 to move, so that the connecting device 52 drives the locking mechanism 53 to move during the movement, and when the docking connection with the automatic docking connector 21 is successfully achieved, the locking mechanism 53 just locks the box frame 22. The driving system, the connecting device and the locking mechanism are all installed on the guide support frame, and the control system is electrically connected to the driving system.

[0029] In this embodiment, the mounting seat 1 is used to install the guide support frame 3 and the guide positioning assembly 4, and of course, it can also limit the automatic docking box 2 to move in the direction of the mounting seat 1. The mounting seat 1 can be set as a plate-like structure. In order to reduce the weight of the mounting seat 1, a plurality of weight-reducing holes of different or same shapes can be set through the plate surface of the mounting seat 1. This embodiment does not limit the shape, and it can be circular, triangular, or polygonal.

[0030] The automatic docking connector 21 is installed in the box frame 22. In one embodiment, the automatic docking connector 21 is installed at the bottom of the box frame 22. The docking portion of the automatic docking connector 21 used for docking with the connector is in an exposed state. In other embodiments, the docking portion can also be arranged in a protective end cover provided with a switch. When the connector is detected to be in a preset docking range, the protective end cover is in an open state; when the connector is detected not to be in the preset docking range, the protective end cover is in a closed state. This embodiment does not limit this.

[0031] The driving system of this embodiment may be a motor, a hydraulic mechanism, or a pneumatic mechanism, which is not limited in this embodiment.

[0032] In one embodiment, the box frame 22 is as shown in FIG. Figures 3-4 As shown, the box frame 22 includes a load-bearing frame for carrying the material to be supplemented and a docking frame for carrying the automatic docking connector 21, the docking frame is connected to the end of the load-bearing frame, and the volume of the docking frame is smaller than the load-bearing frame. The automatic docking connector 21 is installed in the docking frame, and the automatic docking connector 21 can be used to provide communication, power supply or control signals when connected to the docking head.

[0033] In this embodiment, the mounting seat 1 and the guide support frame 3 constitute a material replenishment area for supporting the automatic docking box 2. In one embodiment, when the automatic docking box 2 is about to enter the material replenishment area, the guide positioning assembly 4 installed on the mounting seat 1 can guide the automatic docking box 2 to move to the specified position in the guide support frame 3. In this way, the automatic docking box 2 can rely on its own gravity and be accurately placed in the area under the guidance of the automatic docking box 2. The specified position of this embodiment is a longitudinal position determined according to the structure of the automatic docking box 2 and the guide support frame 3, so that the automatic docking box 2 enters the space to which the material replenishment area belongs.

[0034] like Figure 1 As shown, the method includes the following steps 101 to 103:

[0035] Step 101, when it is determined that the automatic docking box has reached the designated position, step 102 is executed, and when it is determined that the automatic docking box has not reached the designated position, step 103 is executed.

[0036] In this embodiment, when it is determined that the automatic docking box has reached the specified position, this means that the automatic docking box has successfully reached the specified position used to indicate that it can be successfully docked with the connection device. Correspondingly, when it is determined that the automatic docking box has not reached the specified position, this means that the automatic docking box cannot be successfully docked with the connection device at this time and needs to be readjusted.

[0037] Step 102, sending a start command to the drive system, so that the drive system drives the connection device to move in a first direction according to the start command, so that the connection device synchronously drives the locking mechanism to move during the movement, and when the connection with the automatic docking connector is successfully docked, the locking mechanism just locks the box frame.

[0038] In this embodiment, the first direction is named only for the convenience of distinguishing it from the directions in the following text, and is not used to limit a certain direction;

[0039] The start-up instruction of this embodiment is used to control the indication signal for starting the drive system. In other embodiments, the drive system can be electrically connected to an external system control device so that the system control device controls the drive system to drive the connection device 52 to move.

[0040] In this embodiment, the connection device 52 will drive the locking mechanism 53 to move during its movement. When the docking end of the connection device 52 is successfully docked with the automatic docking connector 21, the locking mechanism 53 just locks the box frame 22. In this way, the driving system drives both the connection device 52 and the locking mechanism 53, so that when the connection device 52 is successfully connected with the automatic docking connector 21, the locking mechanism 53 just locks the box frame 22.

[0041] As an embodiment, a locking sensor for sending an indication that the locking mechanism is locked may be provided at the locking mechanism. The locking sensor is electrically connected to the control system. When the locking sensor detects a locking signal that the locking mechanism is in a locked state with the guide support frame, the locking signal is sent to the control system, so that when the control system obtains the locking signal, it sends a status signal to the external system control device that the automatic docking box is in a locked state.

[0042] Step 103, sending an alarm signal to an externally connected system control device to indicate that the automatic docking box has not reached the specified position, so that the system control device controls the lifting mechanism used to lift the automatic docking box to readjust according to the alarm signal, so that the automatic docking box reaches the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.

[0043] In this embodiment, when the system control device receives the alarm signal, it knows that the automatic docking box has not been guided to the specified position, which means that the position of the automatic docking box when placed by the lifting mechanism is unqualified. Based on this, it is necessary to readjust the lowering posture of the automatic docking box when it is released. After adjusting the lowering posture of the automatic docking box, the automatic docking box will reach the specified position under the guidance of the guide support frame and the guide positioning assembly. If it still has not arrived, re-execute step 103 until it reaches the specified position, and execute the steps described in step 102.

[0044] Finish Figure 1 The process described.

[0045] It can be seen that the method provided in the embodiment of the present application is applied to the control system of an automatic replenishing device, wherein the automatic docking box of the automatic replenishing device includes an automatic docking connector and a box frame for carrying the material to be replenished, the automatic docking connector is installed in the box frame, and its guide support frame and guide positioning assembly are both installed on the mounting seat; the driving system driving the docking device is connected to its connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, and the connecting device is also connected to the locking mechanism; the method includes: when it is determined that the automatic docking box has reached the specified position, sending a start instruction to the driving system so that the driving system After receiving the start command, the connection device is driven to move in the first direction, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the automatic docking connector is successfully docked and connected, the locking mechanism just locks the box frame; when it is determined that the automatic docking box has not reached the specified position, an alarm signal indicating that the automatic docking box has not reached the specified position is sent to the externally connected system control device, so that the control device controls the lifting mechanism used to lift the automatic docking box to readjust, so that the automatic docking box reaches the specified position under the guidance of the guide positioning component and the guide support frame by its own gravity after being released by the lifting mechanism. It can be seen that the method provided by the embodiment of the present application does not require human participation in automatic replenishment, but can automatically realize the docking of the connector and the connector by controlling the drive system and realize the automatic replenishment of the material to be replenished by conveying the box frame.

[0046] In completion Figure 1 Afterwards, in some embodiments, a first position mark is provided at a first designated position of the box frame, a second position mark is provided at a second designated position of the box frame, the driving docking device further comprises a first position sensor for detecting the first position mark and a second position sensor for detecting the second position mark, the mounting seat is provided with a first position sensor for detecting the first position mark, and the guide support frame is provided with a sensor for detecting the second position; the first position sensor and the second position sensor are both electrically connected to the control system, and a specific implementation method for determining that the automatic docking box reaches the designated position in step 102 comprises step A:

[0047] Step A, obtaining a first signal sent when the distance between the first position sensor and the first position mark is within a first set range to indicate that the box frame is in place; and obtaining a second signal sent when the distance between the second position sensor and the second position mark is within a second set range to indicate that the box frame is in place.

[0048] In this embodiment, the first designated position and the second designated position do not specifically refer to two fixed designated positions, but may refer to any two designated positions on the box frame 22, and the embodiment of the present invention will not be repeated later. The first position mark and the second position mark do not specifically refer to two fixed position marks, but may refer to any two position marks, and the embodiment of the present invention will not be repeated later. The first position sensor and the second position sensor do not specifically refer to two fixed position sensors, but may refer to any two position sensors on the drive docking device 5, and the embodiment of the present invention will not be repeated later. The first setting range and the second setting range do not specifically refer to two fixed setting ranges, but may refer to any two setting ranges, and the embodiment of the present invention will not be repeated later. In addition, the first setting range and the second setting range may be the same or different, and this embodiment does not limit this. The first signal and the second signal do not specifically refer to two fixed signals, but may refer to any two signals, and the embodiment of the present invention will not be repeated later.

[0049] The first designated position is a position pre-set according to the structure of the mounting seat 1, the guide support frame 3 and the box frame 22. The first designated position is also marked with a first position mark. The first position mark is for the convenience of sensing by the first position sensor set at the designated position of the mounting seat 1. When the first position sensor senses the first position mark, it means that the first designated position of the box frame 22 has reached the first set range where the first position sensor is located. Correspondingly, the second designated position is also a position pre-set according to the structure of the mounting seat 1, the guide support frame 3 and the box frame 22. The second position mark set at the second designated position is for sensing by the second position sensor set at the guide support frame 3. When the second position sensor senses the second position mark, it means that the second designated position of the box frame 22 has reached the second set range where the second position sensor is located. In this embodiment, as soon as the first position sensor senses the first position mark, it will send a first signal to the external motor control system to indicate that the box frame 22 is in place; accordingly, as soon as the second position sensor senses the second position mark, it will send a second signal to the external motor control system to indicate that the box frame 22 is in place.

[0050] Based on the above step A, a specific implementation method for determining in step 102 that the automatic docking box has not reached the specified position includes step B:

[0051] Step B, obtaining a first signal sent by the first position sensor when the distance from the first position mark is within a first set range, used to indicate that the box frame is in place; if a second signal sent by the second position sensor when the distance from the second position mark is within a second set range, used to indicate that the box frame is in place, is not obtained within a set time, it is determined that the automatic docking box has not reached the specified position.

[0052] In this embodiment, if only the first signal is received but the second signal is not received, it is considered that the automatic docking box has not reached the designated position.

[0053] In some embodiments, the specific implementation method of determining in step 102 that the automatic docking box has not reached the specified position includes step C:

[0054] Step C, obtaining a second signal sent by the second position sensor when the distance from the second position mark is within a second set range, used to indicate that the box frame is in place; if the first signal sent by the first position sensor when the distance from the first position mark is within the first set range, used to indicate that the box frame is in place, is not obtained within the set time, it is determined that the automatic docking box has not reached the specified position.

[0055] In this embodiment, if only the second signal is received but the first signal is not received, it is considered that the automatic docking box has not reached the specified position. In some embodiments, the specific implementation method of determining that the automatic docking box has not reached the specified position in step 102 includes step D:

[0056] Step D, if the first position sensor does not send a first signal for indicating that the box frame is in place when the distance from the first position mark is within a first set range, and the second position sensor does not send a second signal for indicating that the box frame is in place when the distance from the second position mark is within a second set range, it is determined that the automatic docking box has not reached the specified position.

[0057] In this embodiment, if both the first signal and the second signal are not received, it is considered that the automatic docking box has not reached the specified position. In one embodiment, if the first signal is not received within a first time interval, it is considered that the first signal is not received, and if the second signal is not received within a second time interval, it is considered that the second signal is not received. The first time interval and the second time interval of this embodiment can be the same or different, and this embodiment is not limited to this.

[0058] In some embodiments, after executing step 102, the method further includes: when receiving a release signal indicating that the automatic docking box needs to be released, starting the drive system to drive the connection device to move in a second direction opposite to the first direction, so that the connection device drives the locking mechanism to move during the movement, and when the locking mechanism unlocks the box frame, the automatic docking connector is just separated from the connection device. In this embodiment, the first direction is opposite to the second direction, the first direction is the direction toward the automatic docking connector, and the second direction is the direction away from the automatic docking connector. Here, the second direction does not specifically refer to a fixed direction, but is used to refer to the direction of the connection device 52 opposite to the first direction when it moves. In some embodiments, when the driving system is a motor, when it is determined that the automatic docking box has reached the specified position, the motor is started to drive the connection device 52 to move in the first direction in the first direction in the first direction, so that the connection device 52 drives the locking mechanism 53 to move during the movement, and when the automatic docking connector 21 is successfully docked and connected, the locking mechanism 53 just locks the box frame 22; when it is determined that the automatic docking box 2 needs to be released, the motor is started to drive the connection device 52 to move in the second direction opposite to the first direction in the second direction opposite to the first direction, so that the connection device 52 drives the locking mechanism 53 to move during the movement, and when the locking mechanism unlocks the box frame, the automatic docking connector 21 just completes the separation from the connection device 52. In this embodiment, the first direction and the second direction are opposite, when the first direction is forward, the second direction is reverse, when the first direction is reverse, the second direction is forward, the first direction and the second direction do not specifically refer to two fixed directions, but can refer to any two directions in the driving system, and the embodiments of the present invention will not be repeated later.

[0059] In some embodiments, Figure 2As shown, the mounting seat 1 may include a mounting seat body 11, two support blocks 12 and a longitudinal guide positioning plate mounting seat 13, and the guide positioning assembly 4 includes a longitudinal positioning member 41 and a transverse positioning member 42; the two support blocks 12 and the longitudinal guide positioning plate mounting seat 13 are all mounted on the end surface of the mounting seat body 11, and the two support blocks 12 are respectively attached to the two sides of the longitudinal guide positioning plate mounting seat 13, and the two support blocks 12 and the longitudinal guide positioning plate mounting seat 13 are respectively located in the same plane as the plate surfaces of the opposite pitch axes 6 in the mounting seat body 11; the longitudinal positioning member 41 is installed on the outer end surface of the longitudinal guide positioning plate mounting seat 13, and is used to guide the box frame 22 to move along the longitudinal direction of the guide support frame 3, and the distance between the longitudinal positioning member 41 and the guide support frame 3 is greater than the distance between the mounting seat body 11 and the guide support frame 3; as an embodiment, the two support blocks 12 can be fixed to the mounting seat body 11 with screws to ensure that the horizontal working surfaces of the two support blocks 12 are higher than the horizontal working surfaces of the longitudinal positioning member 41, which can be ensured by machining. The transverse positioning member 42 is installed at a designated position in the plate surface of the mounting seat body 11, and the working surface for contacting the box frame 22 protrudes relative to the plate surface of the mounting seat body 11; the distance between the transverse positioning member 42 and the guide support frame 3 is just enough to place the box frame 22. As an embodiment, the transverse positioning member 42 can be fixed to the designated position in the plate surface of the mounting seat body 11 by screws, and the outer working surface of the transverse positioning member 42 serves as the inner reference surface of the mounting seat. The space between the outer working surface of the transverse positioning member 42 and the working surface of the guide support frame 3 needs to be ensured to just support the automatic docking box 2.

[0060] In this embodiment, in order to increase the space between the mounting seat 1 and the guide support frame 3, and to reduce the weight and volume of the mounting seat 1, the mounting seat body 11 can adopt a plate-like structure, and a plurality of weight-reducing holes for weight reduction can be provided on the plate surface of the mounting seat body 11, and mounting holes for mounting parts are also provided on the plate surface of the mounting seat body 11. The structures of the two support blocks 12 can be the same or different, and this embodiment does not limit this. The two support blocks 12 can adopt a plate-like structure, and the longitudinal guide positioning plate mounting seat 13 can also adopt a plate-like structure. The two mounting blocks and the longitudinal guide positioning plate mounting seat 13 all adopt a plate-like structure with the same thickness.

[0061] As an example, Figure 2As shown, the case mounting seat body is reserved with two positioning holes, and the guide positioning assembly 4 also includes a positioning pin 43 and a chamfered positioning pin 44, which pass through the two positioning holes reserved by the support block 12 and the mounting seat body 11 and are fixedly connected to the mounting seat body 11. In some embodiments, the positioning pin 43 and the chamfered positioning pin 44 pass through the two positioning holes reserved by the support block 12 and the mounting seat body 11 and are fixedly connected to the mounting seat body 11 in one implementation method: the positioning pin 43 and the chamfered positioning pin 44 pass through the two positioning holes reserved by the support block 12 and the mounting seat body 11, respectively, wherein the upper end surfaces of the two support blocks 12 can be used as the upper positioning stop of the positioning pin 43 and the chamfered positioning pin 44, respectively, and the positioning pin 43 and the chamfered positioning pin 44 are fixedly connected to the docking system mounting seat body 11 through screws, flat washers and elastic washers. As an embodiment, the spacing between the positioning pin 43 and the chamfered positioning pin 44 must be consistent with the hole spacing set on the automatic docking box 2. The purpose of using the chamfered positioning pin 44 in this embodiment is to ensure that the lateral positioning of the automatic docking box 2 is absolutely accurate. For the automatic docking box 2, the requirements for the mechanical processing accuracy in the longitudinal direction can be appropriately relaxed, which is beneficial to improving the processability and adaptability of the overall processing and manufacturing of the automatic docking and replenishing device.

[0062] The distance between the longitudinal positioning member 41 and the guide support frame 3 of this embodiment is greater than the distance between the mounting seat body 11 and the guide support frame 3, and the automatic docking box 2 can be preliminarily guided to enter the material replenishment area formed by the mounting seat 1 and the guide support frame 3. At this time, the distance between the longitudinal positioning member 41 and the guide support frame 3 is greater than the width of the automatic docking box 2. When the automatic docking box 2 is located in the material replenishment area, the width is perpendicular to the plate surface of the mounting seat body 11. In some embodiments, the longitudinal positioning member 41 is a plate-like structure connected by an inclined surface and a flat surface, and the portion of the longitudinal positioning member 41 provided with a flat surface is close to and installed on the longitudinal guide positioning plate mounting seat 13, so that the box frame 22 can slide down along the inclined surface to the material replenishment area. In this embodiment, the longitudinal positioning member 41 includes an inclined body with an inclined surface and a planar body with a planar surface. The surface with the inclined surface in the inclined body and the surface with the planar surface in the planar body are transitionally connected, so that the automatic docking box 2 first enters along the inclined body when entering the material replenishment area, which can play a rough and buffering role in guiding the automatic docking box 2. When the automatic docking box 2 is released, it can slowly fall into the material replenishment area along the inclined body by its own gravity. In order to more accurately fall into the designated position in the material replenishment area, in this embodiment, the transverse positioning member 42 is installed at a designated position in the plate surface of the mounting seat body 11, and the outer surface of the transverse positioning member 42 is higher than the plate surface of the mounting seat body, that is, the working surface for contacting the box frame 22 is protruding relative to the plate surface of the mounting seat body 11; the difference between the distance from the transverse positioning member 42 to the guide support frame 3 and the width of the box frame 22 is within a preset range, and the preset range is greater than or equal to 0 and less than or equal to a set value, and the set value can be an empirical value, which can be ensured by mechanical processing, so that the automatic docking box 2 is exactly positioned at the transverse positioning member 42 under the weight of the drop. In other embodiments, the transverse positioning member 42 can be a plate-like structure with an inclined surface, so that the box frame 22 can slide down the inclined surface into the material replenishment area, wherein the minimum distance between the inclined surface of the transverse positioning member 42 and the guide support frame 3 is the width of the box frame 22. The transverse positioning member 42 provided by this embodiment can more accurately position the automatic docking box 2 at the designated position.

[0063] In order to more accurately guide the automatic docking box 2 to be placed in the transverse positioning member 42, as shown in FIG. Figure 2As shown, the guide support frame 3 includes a support frame 31 and a transverse guide member 32; the support frame 31 is installed on the mounting seat body 11, and is used to carry the automatic docking box 2; the transverse guide member 32 is installed at the end of the support frame 31 to guide the automatic docking box 2 to fall into the material replenishment area between the mounting seat body 11 and the support frame 31. The transverse guide member 32 of this embodiment will first approach the automatic docking box 2 relative to the support frame 31 to prevent the automatic docking box 2 from laterally deviating from the material replenishment area and falling into other areas uncontrollably, and play a role in guiding and limiting the automatic docking box 2 to deviate from the material replenishment area in the lateral direction, and guide the automatic docking box 2 to fall into the material replenishment area. As an embodiment, the transverse guide member 32 can be welded on the support frame 31 to ensure that the size between the positioning surfaces used for positioning in the transverse guide member 32 is consistent with the size between the surfaces of the automatic docking box 2 close to the transverse guide member 32. When the automatic docking box 2 enters the working range of the transverse guide member 32 through the guidance of the longitudinal positioning member 41 and the transverse guide positioning assembly, namely the positioning pin 43 and the chamfered positioning pin 44, the automatic docking box 2 can be accurately guided. When the transverse guide member 32 works, the automatic docking box 2 also enters the working range of the positioning pin 43 and the chamfered positioning pin 44, meeting the technical requirements of accurate guidance and positioning. Accurate positioning is achieved, and the position consistency of multiple module replacements can be ensured. In actual applications, the guide positioning assembly 4 of this embodiment uses a variety of guide positioning measures to relay the rough guide positioning and fine guide positioning of the automatic docking box 2, so that in actual applications, the guide positioning accuracy is increased from 50mm to 10mm, and then to 1mm, and the accuracy is no more than 0.1mm after the installation docking is in place and locked.

[0064] In some embodiments, Figures 2 to 5 As shown, the transverse guide member 32 includes at least two plate-like structures, each of which is installed at the end of the support frame 31 in a manner that the distance between the plate-like structure and the mounting seat body 11 is from large to small along the direction of the support frame 31. In this embodiment, the purpose of setting at least two plate-like structures is to evenly limit the automatic docking box 2 to deviate from the mounting seat body 11 in the longitudinal direction, so as to avoid the automatic docking box 2 from tipping over due to uneven support force of the transverse guide member 32 on the automatic docking box 2. As an embodiment, the at least two plate-like structures can be welded to the outside of the mounting seat body 11, and the space between the mounting seat body 11 is ensured to be consistent with the working width of the automatic docking box 2, so as to roughly guide the transverse position of the automatic docking box 2; in actual application, when the automatic docking box 2 freely falls into the material replenishment area, it will first roughly enter the area where the plate-like structure with a large distance from the mounting seat body 11 is located, so as to accurately fall into the material replenishment area under the guidance of the plate-like structure.

[0065] In some embodiments, the automatic docking connector 21 can be detachably mounted in the bottom end of the box frame 22, and can be a component of a mechanical and electrical docking device on a vehicle or other equipment. As an embodiment, the automatic docking connector 21 can be detachably mounted in the middle of the bottom end of the box frame 22, but is not limited to being placed in the middle. As an embodiment, Figure 6(a) to 6(b)As shown, the automatic docking connector 21 includes a socket mounting seat 211, a docking socket system 212, a socket mounting plate 213, an electrical connector socket 214 and a horizontal floater 215. The docking socket system 212 is disposed in the box frame 22 and mounted at the bottom of the box frame 22, and is mounted on the docking system mounting seat through the socket mounting plate 213. The horizontal floaters 215 are arranged in pairs and are evenly arranged circumferentially at the set installation position of the docking socket system 212, and are in contact with the socket mounting seat 211, so that the docking socket system 212 can float horizontally relative to the socket mounting seat 211 under the fine adjustment of the horizontal floaters 215. As an embodiment, the horizontal floater 215 can be fine-tuned in the range of -4 mm to +4 mm. As another embodiment, four horizontal floaters 215 can be used, and each horizontal floater 215 is evenly arranged at the set installation position of the docking socket system 212; a positioning guide hole for positioning the connector is provided in the electrical connector socket 214. If the position of the electrical connector socket 214 and the connector is smaller than the set plug-in range, the plug-in range can be set to the error of the radius of the positioning guide hole, then the electrical connector socket 214 and the socket mounting plate 213 can be forced to float horizontally within the floating range allowed by the socket mounting seat 211 when the connector moves upward. The allowable floating range is a floating range pre-set according to actual working conditions. In other embodiments, as shown in FIG. 6( c ), the horizontal floater 215 includes: a horizontal floating head 2151, a floater body 2152, a floater rear adjustment screw 2153 and a fixing nut 2154; the socket mounting seat 211 includes a connector mounting frame 2112 for mounting an automatic docking connector and a connector mounting plate floating frame 2111; the floater body 2152 is a compressible device provided with an elastic body; the fixing nut 2154 is placed on the connector mounting plate floating frame 2111 and is installed In the floater body 2152, one end of the floater body 2152 is connected to the horizontal floating head 2151, and the other end is connected to the rear adjustment screw 2153 of the floater, so that when the docking socket system 212 needs to be adjusted, the floater body 2152 can be fine-tuned by the rear adjustment screw 2153 of the floater to achieve horizontal floating of the docking socket system 212. In this embodiment, the end of the horizontal floating head 2151 used to abut against the socket mounting seat 211 is a roller to avoid damage to the socket mounting seat 211. As an embodiment, the elastic body is a floating spring 21521, and the floater body 2152 also includes a first cavity segment structure 21522 with an internal thread segment and a second cavity segment structure 21523 with an internal protrusion at the end. The outer side surface of the second cavity segment structure 21523 is provided with an external thread for connecting with the fixing nut 2154, and the first cavity segment structure 21522 and the second cavity segment structure 21523 are connected.Among them, the first cavity section structure 21522 is threadedly connected to the rear adjusting screw 2153 of the floater, and the floating spring 21521 is arranged in the second cavity section structure 21523, one end of which is connected to the end of the first cavity section structure 21522, and the other end is connected to the end of the horizontal floating head 2151, and the horizontal floating head 2151 is clamped on the inner protrusion of the second cavity section structure 21523.

[0066] In this embodiment, the driving system mainly drives the connection device 52 to push the connector up to complete electrical docking or down to complete electrical release. Figure 7 As shown, the connection device 52 includes a torque limiter 521, a drive screw 522, a drive motor system 523, a mounting bracket 524, a connection head 525 and a nut seat 526; the drive system includes a motor;

[0067] The driving screw 522 is installed at the output end of the motor, and passes through the torque limiter 521 and is connected to the nut seat 526. The torque limiter 521 is connected to the driving motor system 523, and the driving motor system 523 is connected to the motor. A connector 525 is installed at the end of the driving screw 522. The torque limiter 521 and the driving motor system 523 are both installed on the mounting frame 524, and the mounting frame 524 is installed on the motor.

[0068] As shown in FIGS. 6 and 7 , the locking mechanism 53 includes a first link mechanism 532 , a second link mechanism 533 , a first locking member 534 , a second locking member 535 , a first support 536 and a second support 537 ;

[0069] The first link mechanism 532 and the second link mechanism 533 are relatively connected at both ends of the nut seat 526. The first link mechanism is arranged on the first support 536 and can make horizontal linear motion on the first support 536. The second link mechanism is arranged on the second support 537 and can make horizontal linear motion on the second support 537. The first support 536 and the second support 537 are respectively installed on the guide support frame 3. The first link mechanism and the second link mechanism 533 work together to limit the rotation of the nut seat 526, and can only move along the length direction of the driving screw 522. The control system is electrically connected to the torque limiter. After sending a start command to the drive system, as shown in FIG. Figure 8 As shown, the method further includes steps 103 to 105:

[0070] Step 103, obtaining the torque value sent by the torque limiter for driving the screw rod; if the torque value is less than the set torque value, executing step 104, if the torque value is greater than or equal to the set torque value, executing step 105.

[0071] Step 104, control the torque limiter to be in a driving state, so that the drive motor system drives the motor to drive the drive screw to rotate, so that the drive screw drives the nut seat to move along the length direction of the drive screw, and also drives the first connecting rod mechanism and the second connecting rod mechanism to move through the nut seat, so that when the connecting head is successfully docked with the automatic docking connector, the first connecting rod mechanism and the second connecting rod mechanism also respectively drive the corresponding first locking member and the second locking member to cooperate and lock with the box frame.

[0072] The input end of the torque limiter 521 of this embodiment and the output shaft of the driving motor system 523 for driving the motor can be connected by a flat key, and the output end of the torque limiter 521 and the driving screw 522 can also be connected by a flat key for transmitting torque. In this step, when it is determined that the torque to be transmitted by the torque limiter 521 for the driving screw 522 is less than the set torque value, the driving motor system 523 drives the motor to drive the driving screw 522 to rotate, and the driving screw 522 drives the nut seat 526 to move along the length direction of the driving screw 522, and also drives the first connecting rod mechanism 532 and the second connecting rod mechanism 533 to move through the nut seat 526, so that when the connecting head 525 is successfully docked with the automatic docking connector 21, the first connecting rod mechanism 532 and the second connecting rod mechanism 533 also respectively drive the corresponding first locking member 534 and the second locking member 535 to cooperate and lock with the box frame 22.

[0073] Step 105 , controlling the torque limiter to be in a slipping state so that the drive motor system does not drive the drive screw to rotate.

[0074] In this step, when it is determined that the torque to be transmitted by the torque limiter 521 to the drive screw 522 is greater than or equal to the set torque value, the torque limiter 521 begins to slip, and the drive motor system 523 will not drive the drive screw 522 to rotate.

[0075] It can be seen that in the technical solution provided in the embodiment of the present application, by acquiring the torque value transmitted by the torque limiter 521 in real time, it is possible to determine whether it is necessary to continue to provide power to the driving screw.

[0076] The nut seat 526 of this embodiment is cooperated and sleeved on the driving screw 522, and is fixed in direction by the first connecting rod mechanism 532, the second connecting rod mechanism 533, the first support 536 and the second support 537 to keep it parallel to the mounting frame 524. In one embodiment, the connecting device 52 also includes two pull-out guide pins 528 and a limit sensor 529, and the two pull-out guide pins 528 and the limit sensor 529 are both installed on the nut seat 526, wherein the limit sensor 529 can be installed on the nut seat 526 through a sensor mounting seat, and the limit sensor 529 can move up and down with the nut seat 526. The limit sensor is electrically connected to the control system. After step 102, the method also includes: when receiving a signal that the limit sensor reaches the set upper limit or lower limit, sending a stop command to the drive motor system, so that the drive motor system controls the motor to stop rotating according to the stop command. In this embodiment, when the set upper limit or lower limit is reached, a stop instruction is sent to the motor control system for controlling the drive motor system 523, so that the motor stops rotating by controlling the drive motor system 523 through the motor control system. In other embodiments, the drive motor system 523 also includes a motor control system, and when the set upper limit or lower limit is reached, a stop instruction for indicating that the motor stops rotating is sent to the motor control system of the drive motor system 523, so that the motor stops rotating by controlling the control system.

[0077] As an embodiment, the connection device 52 further includes a motor mounting seat, a motor mounting seat fixing plate, a limiting rod 530 and a limiting block 531 .

[0078] The motor mounting seat is fixed on the motor mounting seat fixing plate, and the motor mounting seat fixing plate is installed on the guide support frame 3. In some embodiments, the drive motor system 523 includes a motor driver and a reducer. As an embodiment, the motor drive system also includes a motor system protection cover, and the motor, the driver and the motor system protection cover are installed on the motor mounting seat. The limit rod 530 is fixedly installed on the motor mounting seat, and a position-adjustable limit block 531 is installed on the limit rod 530 to serve as a position mark detected by the limit sensor 529 for controlling the operation of the motor. In this embodiment, the positioning accuracy can be ensured by adjusting the limit block 531 on the limit rod 530 up and down. In this embodiment, the docking of the connector 525 and the automatic docking connector 21 is realized by the limit sensor 529 sending a running signal and a stop signal to the drive motor system 523 to realize the upward movement (docking and plugging in) or the downward movement (disconnection and power off), and the precise position can be ensured by adjusting the limit block 531 on the limit rod 530 up and down.

[0079] In some embodiments, the mounting frame 524 includes a connector 525 box upper plate, a connector 525 box lower plate, a preset number of copper guide sleeves A, a preset number of floating guide pillars, and a preset number of connector 525 box columns, and the connecting device 52 also includes a compensation spring 527 and a pull-out guide pillar 528;

[0080] A preset number of copper guide sleeves A are installed on the lower plate of the connector 525 box, and each floating guide column is correspondingly installed in the copper guide sleeve A. The set number can be 4. The lower plate of the connector 525 box can only move up and down along the length direction of the drive screw 522 under the restriction of each floating guide column. Among them, the start and end of the up and down movement are controlled by the limit sensor 529. When it is determined that the set upper limit position is reached, the limit sensor 529 triggers an upper limit signal indicating that the lower plate of the connector 525 box has reached the upper limit position. The upper limit signal can be sent to the motor control system through the CAN bus, and the motor controller system controls the drive motor system 523 to stop driving the motor, and the motor stops running at this time. When it is determined that the connector 525 is unplugged from the automatic docking connector 21, the motor controller system controls the drive motor system 523 to drive the motor to rotate, and the connector 525 will move downward as the drive motor system 523 rotates the nut seat 526.

[0081] The compensation spring 527 is sleeved on the driving screw 522, one end of the compensation spring 527 is connected to the lower plate of the connector 525 box, and the other end is connected to the nut seat 526. When the driving motor system 523 drives the motor to rotate, the nut seat 526 rises along the driving screw 522 and compresses the compensation spring 527. When the spring force of the compensation spring 527 is greater than the friction between the floating guide column and the copper guide sleeve A, the lower plate of the connector 525 box begins to rise. When the connector 525 installed on the lower plate of the connector 525 box is plugged in but the limit sensor 529 has not reached the upper limit, the driving motor system 523 drives the motor to continue to rotate. At this time, the lower plate of the connector 525 box will continue to compress the compensation spring 527 to prevent damage to the automatic docking connector 21. The compensation spring 527 begins to stretch until the upper end of the pull-out guide pin 528 starts to work, and then the pull-out process officially begins. When the limit sensor 529 reaches the lower limit position, the limit sensor 529 triggers a signal indicating that the lower plate of the head box has reached the lower limit. The limit sensor 529 can send the lower limit signal to the motor control system via the CAN bus, and the motor control system controls the drive motor system 523 to stop the rotation of the motor according to the lower limit signal.

[0082] The upper plate of the connector 525 box is connected to the lower plate of the connector 525 box through each connector 525 box column. In some embodiments, the connection device 52 also includes a connector 525 box protective cover and a cable fixing card for clamping the cable. The connector 525 box protective cover is detachably mounted on the upper plate of the connector 525 box for repairing and protecting the cable inside the connector 525 box. In practical applications, the cable can be led out from the pitch axis 6, conveyed to the lower plate of the connector 525 box through the cable protective cover, and connected to the automatic docking connector 21 on the lower plate of the connector 525 box, and the cable can be fixed and protected by the cable protective cover throughout the process, which is rainproof, fireproof and dustproof. After entering the lower plate of the connector 525 box, the cable passes through the cable fixing card. Rotating the cable fixing card can fix the cable to prevent the cable from being pulled off from the terminal at the bottom of the automatic docking connector 21 due to the cable movement when the lower plate of the connector 525 box moves up and down, thereby improving the environmental adaptability and reliability of the system.

[0083] In this embodiment, the first link mechanism 532 and the second link mechanism 533 do not specifically refer to two fixed link mechanisms, but can refer to any two link mechanisms on the locking mechanism 53, and the embodiments of the present invention will not be repeated later. It should be noted that the structures of the first link mechanism 532 and the second link mechanism 533 can be the same or different, and this embodiment does not limit this.

[0084] Here, the first locking member 534 and the second locking member 535 do not specifically refer to two fixed locking members, but can refer to any two locking members on the locking mechanism 53, and the embodiments of the present invention will not be repeated later. It should be noted that the structures of the first locking member 534 and the second locking member 535 can be the same or different, and this embodiment does not limit this.

[0085] The first support 536 and the second support 537 do not specifically refer to two fixed supports, but can refer to any two supports on the locking mechanism 53, and the embodiments of the present invention will not be repeated later. It should be noted that the structures of the first support 536 and the second support 537 can be the same or different, and this embodiment does not limit this.

[0086] The driving screw 522 in this embodiment is provided with a thread, and the thread section passes through the nut seat 526 and is connected with the nut seat 526. When the motor drives the driving screw 522 to rotate, the nut seat 526 can move along the length direction of the thread section. The first connecting rod mechanism 532 and the second connecting rod mechanism 533 are installed at both ends of the nut seat 526. In this way, when the nut seat 526 moves along the thread section, it will simultaneously drive the first connecting rod mechanism 532 and the second connecting rod mechanism 533 to move. The first connecting rod mechanism and the second connecting rod mechanism 533 work together to limit the rotation of the nut seat 526, and can only move along the length direction of the driving screw 522. At the same time, the first connecting rod mechanism 532 and the second connecting rod mechanism 533 are respectively arranged on the first support 536 and the second support 537. In this way, when the nut seat 526 drives the first connecting rod mechanism 532 and the second connecting rod mechanism 533 to move simultaneously, the first connecting rod mechanism 532 and the second connecting rod mechanism 533 will also simultaneously make horizontal linear motions on the first support 536 and the second support 537 respectively.

[0087] In this embodiment, the connector 525 connected to the driving screw 522 rises to the designated position of the automatic docking connector 21 under the rotation of the motor, and plugs into the automatic docking connector 21. When the connector 525 is successfully plugged into the automatic docking connector 21, the first link mechanism 532 and the second link mechanism 533 also drive the corresponding first locking member 534 and the second locking member 535 to lock with the box frame 22. In some embodiments, a connector position sensor for measuring the position of the connector 525 is provided on the automatic docking connector 21. When it is detected that the connector 525 has entered the set range, a position signal indicating that the connector 525 has entered the set range is sent to a remote system control device or the control system of the automatic replenishing device. After receiving the position signal, the system control device or the control system will control the motor to stop rotating.

[0088] In some embodiments, Fig. 9 As shown, the first link mechanism 532 includes a first link 5321, a first push rod 5322, a second push rod 5323, a first adjusting nut 5324, a second adjusting nut 5325, a first left and right thick nut 5326 and a first stud 5327; the second link mechanism 533 includes a second link 5331, a third push rod 5332, a fourth push rod 5333, a third adjusting nut 5334, a fourth adjusting nut 5335, a second left and right thick nut 5336 and a second stud 5337;

[0089] One end of the first connecting rod 5321 is connected to one end of the nut seat 526 through the first stud 5327, and the other end of the first connecting rod 5321 is connected to one end of the first push rod 5322. The first push rod 5322 can make horizontal linear motion on the first support 536 under the push of the first connecting rod 5321. The other end of the first push rod 5322 is connected to the first adjusting nut 5324 through one end of the first left and right thick nut 5326, and one end of the second push rod 5323 is connected to the second adjusting nut 5325 through the other end of the first left and right thick nut 5326, so as to adjust the working lengths of the first push rod 5322 and the second push rod 5323 respectively through the first adjusting nut 5324 and the second adjusting nut 5325; the other end of the second push rod 5323 is connected to the first locking member 534;

[0090] One end of the second connecting rod 5331 is connected to one end of the nut seat 526 through the second stud 5337, and the other end of the second connecting rod 5331 is connected to one end of the third push rod 5332. The third push rod 5332 can make horizontal linear motion on the second support 537 under the push of the second connecting rod 5331, and the other end of the third push rod 5332 is connected to the third adjusting nut through one end of the second left-right thick nut 5336, and one end of the fourth push rod 5333 is connected to the fourth adjusting nut through the other end of the second left-right thick nut 5336, so as to adjust the working lengths of the third push rod 5332 and the fourth push rod 5333 respectively through the third adjusting nut and the fourth adjusting nut; the other end of the fourth push rod 5333 is fixedly connected to the second locking member 535; under the action of the first push rod 5322 and the third push rod 5332, the nut seat 526 can only move along the length direction of the driving screw 522 under the rotation of the driving screw 522;

[0091] While the driving screw 522 drives the nut seat 526 to move along the length direction of the driving screw 522, the nut seat 526 drives the first connecting rod 5321 and the second connecting rod 5331. When the connecting head 525 is successfully docked with the automatic docking connector 21, the first connecting rod 5321 drives the first push rod 5322 and the second push rod 5323 to push the first locking piece 534 to cooperate with the box frame 22 and lock it. At the same time, the second connecting rod 5331 drives the third push rod 5332 and the fourth push rod 5333 to push the second locking piece 535 to cooperate with the box frame 22 and lock it.

[0092] In this embodiment, the first connecting rod 5321 is named only for the convenience of distinguishing from the connecting rods described later, and is not used to limit a certain connecting rod. The first push rod 5322 and the second push rod 5323 do not specifically refer to two fixed push rods, but can refer to any two push rods on the first connecting rod mechanism 532, and the embodiments of the present invention will not be repeated later. The first adjustment nut 5324 and the second adjustment nut 5325 do not specifically refer to two fixed adjustment nuts, but can refer to any two adjustment nuts on the first connecting rod mechanism 532, and the embodiments of the present invention will not be repeated later.

[0093] The first left-handed thick nut 5326 is named only for the convenience of distinguishing from the left-handed thick nut in the following text, and is not used to limit a certain left-handed thick nut. Correspondingly, the first stud 5327 is also named only for the convenience of distinguishing from the stud in the following text, and is not used to limit a certain stud.

[0094] Here, the second connecting rod 5331 is named for the convenience of description and is not used to limit a certain connecting rod. Accordingly, the third push rod 5332 or the fourth push rod 5333 is also named for the convenience of description and is not used to limit a certain push rod; the third adjustment nut 5334 or the fourth adjustment nut 5335 is also named for the convenience of description and is not used to limit a certain adjustment nut; the second left and right thick nut 5336 is also named for the convenience of description and is not used to limit a certain left and right thick nut; and the second stud 5337 is also named for the convenience of description and is not used to limit a certain stud.

[0095] In this embodiment, one end of the first connecting rod 5321 is connected to one end of the nut seat 526 through the first stud 5327. It can be seen that the first stud 5327 is provided with a single screw head or a double screw head. If the first bolt is provided with a single screw head, one end of the first stud 5327 provided with the single screw head is threadedly connected to the nut seat 526, and the other end is connected to one end of the first connecting rod 5321. The connection can be welding or bonding, which is not limited in this embodiment. Correspondingly, one end of the first stud 5327 provided with the single screw head is threadedly connected to one end of the first connecting rod 5321, and the other end is connected to one end of the nut seat 526. The connection can be welding or bonding, which is not limited in this embodiment. If the first bolt is provided with a double screw head, one thread of the first stud 5327 is threadedly connected to the nut seat 526, and the other thread head is threadedly connected to one end of the first connecting rod 5321.

[0096] The other end of the first connecting rod 5321 is connected to one end of the first push rod 5322. The first push rod 5322 can make horizontal linear motion on the first support 536 under the push of the first connecting rod 5321. The other end of the first push rod 5322 is connected to the first adjusting nut 5324 through one end of the first left-right thick nut 5326. One end of the second push rod 5323 is connected to the second adjusting nut 5325 through the other end of the first left-right thick nut 5326, so that the working lengths of the first push rod 5322 and the second push rod 5323 can be adjusted respectively through the first adjusting nut 5324 and the second adjusting nut 5325. The other end of the second push rod 5323 is connected to the first locking member 534.

[0097] The first link mechanism 532 and the second link mechanism 533 have the same movement principle, and only the first link mechanism 532 is described in detail here, and the second link mechanism 533 is not described in detail.

[0098] In some embodiments, the first connecting rod mechanism 532 also includes a first screw and a first butterfly spring; the first connecting rod mechanism 532 also includes a second screw and a second butterfly spring; the first locking member 534 includes a first locking block and a first locking rod with a stepped platform, and the second locking member 535 includes a second locking block and a second locking rod with a stepped platform; the first butterfly spring is sleeved on the first locking rod, one end of which is against the surface of the stepped platform of the first locking rod, and the other end is against the second push rod 5323, and the second push rod 5323 is connected to the first locking block through the first screw and the first butterfly spring; the second butterfly spring is sleeved on the second locking rod, one end of which is against the surface of the stepped platform of the second locking rod, and the other end is against the third push rod 5332, and the third push rod 5332 is connected to the second locking block through the first screw and the second butterfly spring.

[0099] In this embodiment, the first screw is named only for the convenience of distinguishing it from the screws mentioned later, and is not used to limit a certain screw; the first butterfly spring is named only for the convenience of distinguishing it from the butterfly spring mentioned later, and is not used to limit a certain butterfly spring; the first locking piece 534 is named only for the convenience of distinguishing it from the locking piece mentioned later, and is not used to limit a certain locking piece; the first locking block is named only for the convenience of distinguishing it from the locking block mentioned later, and is not used to limit a certain locking block; the first locking rod is named only for the convenience of distinguishing it from the locking rod mentioned later, and is not used to limit a certain locking rod.

[0100] Here, the second screw is also named for the convenience of description, and is not used to limit a certain screw. Accordingly, the second butterfly spring is also named for the convenience of description, and is not used to limit a certain butterfly spring. The second locking block is also named for the convenience of description, and is not used to limit a certain locking block. The second locking rod is also named for the convenience of description, and is not used to limit a certain locking rod. The embodiments of the present invention will not be repeated later.

[0101] The purpose of providing the first butterfly spring and the second butterfly spring in this embodiment is to adapt the working length of the first push rod 5322 and the second push rod 5323 to the distance difference between the working surfaces of the locking members in different material supply support frames 31.

[0102] In this embodiment, the first locking rod will squeeze the first butterfly spring to deform during the movement, and the first butterfly spring will generate elastic force to generate thrust on the second push rod 5323. The second push rod 5323 pushes the first locking block to generate pressure. Accordingly, the working principles of the second locking rod, the second butterfly spring, the second push rod 5323 and the second locking block are the same, and will not be repeated here in this embodiment.

[0103] The electrical docking system protection cover is installed on the inner side of the two rear supports, namely the first support 536 and the second support 537. It is used to protect some components used for docking the connector 525 in the connection device 52 and ensure that it can move up and down therein.

[0104] Cable protection covers are used to fix and constrain cables, isolate and protect cables, and prevent them from contacting the external environment.

[0105] The connector 525 box protection cover is used to protect the cable and plug in the connection box connected to the connector 525 from rain, dust and fire. These protection covers can be installed detachably to facilitate debugging and maintenance.

[0106] In some embodiments, the automatic docking box 2 also includes a locking wedge, a docking position mark, a first positioning hole, a longitudinal guide groove, a sling lifting interface and a second positioning hole. The first positioning hole, the longitudinal guide groove, the sling lifting interface and the second positioning hole are all located at the top of the box frame 22, and the first positioning hole, the longitudinal guide groove, the sling lifting interface and the second positioning hole are all symmetrically arranged on the box frame 22, and are not divided into left and right during installation, but only front and back. The locking wedge, the automatic docking connector 21 and the docking position mark are located at the bottom of the box frame 22. Among them, the automatic docking connector 21 can float to the left in the horizontal plane or the bottom plane of the box frame 22, and the floating amplitude is controlled and determined by the adjustment system of the docking connector mounting seat used to install the automatic docking connector 21.

[0107] See also Fig.10 , Fig.10The present invention provides a structural schematic diagram of an automatic docking and replenishing control device 100, which is applied to the control system of an automatic replenishing device. The automatic replenishing device includes: a mounting seat for mounting on a specified pitch axis in a vehicle and performing pitch motion along with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carry the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move to a specified position in the guide support frame, and a driving docking device; wherein the automatic docking box includes an automatic docking connector and a box frame for carrying materials to be replenished, the automatic docking connector is installed in the box frame, and the guide support frame and the guide positioning assembly are both installed on the mounting seat; the driving docking device includes a driving system, a connecting device and a locking mechanism, the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, the connecting device is also connected to the locking mechanism, and the control system is electrically connected to the driving system. The automatic docking and replenishing control device includes:

[0108] The designated position determination unit 1001 is used to trigger the docking unit 1002 when it is determined that the automatic docking box has reached the designated position, and to trigger the adjustment unit 1003 when it is determined that the automatic docking box has not reached the designated position;

[0109] The docking unit 1002 is used to send a start instruction to the drive system, so that the drive system drives the connection device to move according to the start instruction, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the connection with the automatic docking connector is successfully docked, the locking mechanism just locks the box frame;

[0110] The adjustment unit 1003 is used to send an alarm signal to an externally connected system control device to indicate that the automatic docking box has not reached the specified position, so that the system control device controls the lifting mechanism used to lift the automatic docking box to readjust according to the alarm signal, so that the automatic docking box reaches the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.

[0111] In some embodiments, a first position mark is provided at a first designated position of the box frame, a second position mark is provided at a second designated position of the box frame, the driving docking device further comprises a first position sensor for detecting the first position mark and a second position sensor for detecting the second position mark, the mounting seat is provided with a first position sensor for detecting the first position mark, and the guide support frame is provided with a sensor for detecting the second position; the first position sensor and the second position sensor are both electrically connected to the control system, and determining that the automatic docking box reaches the designated position comprises:

[0112] A first signal for indicating that the box frame is in place is sent when the distance between the first position sensor and the first position mark is within a first set range; and a second signal for indicating that the box frame is in place is sent when the distance between the second position sensor and the second position mark is within a second set range;

[0113] Determine that the automatic docking box has not reached the specified position, including:

[0114] A first signal sent by the first position sensor when the distance from the first position mark is within a first set range and used to indicate that the box frame is in place is obtained; if a second signal sent by the second position sensor when the distance from the second position mark is within a second set range and used to indicate that the box frame is in place is not obtained within a set time, it is determined that the automatic docking box has not reached the specified position; or

[0115] A second signal indicating that the box frame is in place is sent by the second position sensor when the distance from the second position mark is within a second set range; if a first signal indicating that the box frame is in place is sent by the first position sensor when the distance from the first position mark is within the first set range within a set time, it is determined that the automatic docking box has not reached the specified position; or

[0116] If the first position sensor does not send a first signal for indicating that the box frame is in place when the distance from the first position mark is within a first set range, and the second position sensor does not send a second signal for indicating that the box frame is in place when the distance from the second position mark is within a second set range, it is determined that the automatic docking box has not reached the specified position.

[0117] In some embodiments, the connection device includes a torque limiter, a drive screw, a drive motor system, a mounting frame, a connector and a nut seat; the drive system includes a motor; the drive screw is installed at the output end of the motor and passes through the torque limiter and is connected to the nut seat, the torque limiter is connected to the drive motor system, the drive motor system is connected to the motor, the connector, the torque limiter and the drive motor system are all installed on the mounting frame, and the mounting frame is installed on the motor; the locking mechanism includes a first connecting rod mechanism, a second connecting rod mechanism, a first locking member, a second locking member, a first support and a second support; the first connecting rod mechanism and the second connecting rod mechanism are relatively connected at both ends of the nut seat, the first connecting rod mechanism is arranged on the first support, and can make horizontal linear motion on the first support, the second connecting rod mechanism is arranged on the second support, and can make horizontal linear motion on the second support, the first support and the second support are respectively installed on the guide support frame, the first connecting rod mechanism and the second connecting rod mechanism work together to limit the rotation of the nut seat, and can only move along the length direction of the drive screw; the control system is electrically connected to the torque limiter, and after sending a start command to the drive system, the method also includes:

[0118] Obtaining the torque value sent by the torque limiter for transmitting the driving screw;

[0119] If the torque value is less than the set torque value, the torque limiter is controlled to be in a driving state, so that the driving motor system drives the driving motor to drive the driving screw to rotate, so that the driving screw drives the nut seat to move along the length direction of the driving screw, and also drives the first connecting rod mechanism and the second connecting rod mechanism to move through the nut seat, so that when the connector is successfully docked with the automatic docking connector, the first connecting rod mechanism and the second connecting rod mechanism also drive the corresponding first locking member and the second locking member to lock with the box frame respectively;

[0120] If the torque value is greater than or equal to the set torque value, the torque limiter is controlled to be in a slipping state so that the drive motor system will not drive the drive screw to rotate.

[0121] In some embodiments, the first link mechanism includes a first link, a first push rod, a second push rod, a first adjustment nut, a second adjustment nut, a first left-right thick nut and a first stud; the second link mechanism includes a second link, a third push rod, a fourth push rod, a fifth adjustment nut, a sixth adjustment nut, a second left-right thick nut and a second stud;

[0122] One end of the first connecting rod is connected to one end of the nut seat through the first stud, and the other end of the first connecting rod is connected to one end of the first push rod. The first push rod can make horizontal linear motion on the first support under the push of the first connecting rod. The other end of the first push rod is connected to the first adjusting nut through one end of the first left-right thick nut, and one end of the second push rod is connected to the second adjusting nut through the other end of the first left-right thick nut, so that the working lengths of the first push rod and the second push rod can be adjusted respectively through the first adjusting nut and the second adjusting nut; the other end of the second push rod is connected to the first locking member;

[0123] One end of the second connecting rod is connected to one end of the nut seat through the second stud, and the other end of the second connecting rod is connected to one end of the third push rod. The third push rod can make horizontal linear motion on the second support under the push of the second connecting rod, and the other end of the third push rod is connected to the third adjusting nut through one end of the second left-right rotating thick nut, and one end of the fourth push rod is connected to the fourth adjusting nut through the other end of the second left-right rotating thick nut, so as to adjust the working lengths of the third push rod and the fourth push rod respectively through the third adjusting nut and the fourth adjusting nut; the other end of the fourth push rod is fixedly connected to the second locking piece; under the action of the first push rod and the third push rod, the nut seat can only move along the length direction of the driving screw under the rotation of the driving screw;

[0124] While the driving screw drives the nut seat to move along the length direction of the driving screw, the nut seat drives the first connecting rod and the second connecting rod. When the connecting head is successfully docked with the automatic docking connector, the first connecting rod drives the first push rod and the second push rod to push the first locking piece to cooperate with the box frame and lock it. At the same time, the second connecting rod drives the third push rod and the fourth push rod to push the second locking piece to cooperate with the box frame and lock it.

[0125] In some embodiments, the first linkage mechanism further includes a first screw and a first butterfly spring; the first linkage mechanism further includes a second screw and a second butterfly spring; the first locking member includes a first locking block and a first locking rod with a stepped platform, and the second locking member includes a second locking block and a second locking rod with a stepped platform;

[0126] The first butterfly spring is sleeved on the first locking rod, one end of which is against the stepped platform of the first locking rod, and the other end is against the second push rod, and the second push rod is connected with the first locking block through the first screw and the first butterfly spring;

[0127] The second butterfly spring is sleeved on the second locking rod, one end of which abuts against the table surface of the stepped platform of the second locking rod, and the other end abuts against the third push rod. The third push rod is connected with the second locking block through the first screw and the second butterfly spring.

[0128] In some embodiments, the connection device further includes two pull-out guide pins, a limit sensor and a sensor mounting seat, wherein the pull-out guide pins and the sensor mounting seat are both mounted on the nut seat, and the limit sensor is mounted on the sensor mounting seat, and can move up and down with the nut seat through the sensor mounting seat, and the limit sensor is electrically connected to the control system, and after sending a start instruction to the drive system so that the drive system drives the connection device to move according to the start instruction, the method further includes:

[0129] When receiving a signal from the limit sensor that the limit has reached the set upper limit or lower limit, a stop command is sent to the drive motor system, so that the drive motor system controls the motor to stop rotating according to the stop command.

[0130] In some embodiments, the mounting seat includes a mounting seat body, two support blocks and a longitudinal guide positioning plate mounting seat, and the guide positioning assembly includes a longitudinal positioning member and a transverse positioning member; the two support blocks and the longitudinal guide positioning plate mounting seat are both mounted on the end surface of the mounting seat body, and the two support blocks are respectively attached to the two sides of the longitudinal guide positioning plate mounting seat, and the two support blocks and the longitudinal guide positioning plate mounting seat are respectively located in the same plane as the plate surface of the mounting seat body opposite to the pitch axis;

[0131] The longitudinal positioning member is installed on the outer end surface of the longitudinal guide positioning plate mounting seat, and is used to guide the box frame to move along the longitudinal direction of the guide support frame, and the distance between the longitudinal positioning member and the guide support frame is greater than the distance between the mounting seat body and the guide support frame;

[0132] The transverse positioning piece is installed at a specified position on the plate surface of the mounting seat body, and the working surface for contacting the box frame protrudes relative to the plate surface of the mounting seat body; the difference between the distance from the transverse positioning piece to the guide support frame and the width of the box frame is within a preset range.

[0133] In some embodiments, the guide support frame includes a support frame and a transverse guide member;

[0134] The support frame is installed on the mounting seat body and is used to carry the automatic docking box; the transverse guide piece is installed at the end of the support frame to guide the automatic docking box to fall into the material replenishment area between the mounting seat body and the support frame.

[0135] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An automatic docking and replenishment method, characterized in that: The method is applied to the control system of an automatic replenishing device, which also includes: a mounting seat for being installed on a specified pitch axis in a vehicle and performing pitch movement along with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carry the automatic docking box, a guide positioning component and a driving docking device for guiding the automatic docking box to move to a specified position in the guide support frame; wherein the automatic docking box includes an automatic docking connector and a box frame for carrying materials to be replenished, the automatic docking connector is installed in the box frame, and the guide support frame and the guide positioning component are both installed on the mounting seat; the driving docking device includes a driving system, a connecting device and a locking mechanism, the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guiding support frame, the connecting device is also connected to the locking mechanism, and the control system is electrically connected to the driving system. The method includes: When it is determined that the automatic docking box has reached the specified position, a start instruction is sent to the drive system, so that the drive system drives the connection device to move in a first direction according to the start instruction, so that the connection device synchronously drives the locking mechanism to move during the movement, and when the automatic docking connector is successfully docked, the locking mechanism just locks the box frame; When it is determined that the automatic docking box has not reached the specified position, an alarm signal indicating that the automatic docking box has not reached the specified position is sent to an externally connected system control device, so that the system control device controls the lifting mechanism used to lift the automatic docking box to be readjusted according to the alarm signal, so that the automatic docking box reaches the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.

2. The automatic docking and replenishing method according to claim 1, characterized in that: A first position mark is provided at a first designated position of the box frame, a second position mark is provided at a second designated position of the box frame, the driving docking device further comprises a first position sensor for detecting the first position mark and a second position sensor for detecting the second position mark, the mounting seat is provided with a first position sensor for detecting the first position mark, and the guide support frame is provided with a sensor for detecting the second position; the first position sensor and the second position sensor are both electrically connected to the control system, and the determination that the automatic docking box reaches the designated position comprises: A first signal is sent when the distance between the first position sensor and the first position mark is within a first set range to indicate that the box frame is in place; and a second signal is sent when the distance between the second position sensor and the second position mark is within a second set range to indicate that the box frame is in place; The determining that the automatic docking box has not reached the specified position includes: Acquire a first signal sent by the first position sensor when the distance from the first position mark is within a first set range, indicating that the box frame is in place; if a second signal sent by the second position sensor when the distance from the second position mark is within a second set range, indicating that the box frame is in place, is not acquired within a set time, it is determined that the automatic docking box has not reached the specified position; or A second signal indicating that the box frame is in place is sent by the second position sensor when the distance from the second position mark is within a second set range; if a first signal indicating that the box frame is in place is sent by the first position sensor when the distance from the first position mark is within a first set range within a set time, it is determined that the automatic docking box has not reached the specified position; or If the first position sensor does not send a first signal indicating that the box frame is in place when the distance from the first position mark is within a first set range, and if the second position sensor does not send a second signal indicating that the box frame is in place when the distance from the second position mark is within a second set range, it is determined that the automatic docking box has not reached the specified position.

3. The automatic docking and replenishing method according to claim 1, characterized in that: The connecting device comprises a torque limiter, a driving screw, a driving motor system, a mounting frame, a connecting head and a nut seat; the driving system comprises a motor; the driving screw is mounted at the output end of the motor and passes through the torque limiter to be connected with the nut seat, the torque limiter is connected with the driving motor system, the driving motor system is connected with the motor, the connecting head, the torque limiter and the driving motor system are all mounted on the mounting frame, and the mounting frame is mounted on the motor; the locking mechanism comprises a first connecting rod mechanism, a second connecting rod mechanism, a first locking member, a second locking member, a first support and a second support; the first connecting rod mechanism and the second connecting rod mechanism are relatively connected to the two ends of the nut seat, the first connecting rod mechanism is arranged on the first support, and can make horizontal linear motion on the first support, the second connecting rod mechanism is arranged on the second support, and can make horizontal linear motion on the second support, the first support and the second support are respectively mounted on the guide support frame, the first connecting rod mechanism and the second connecting rod mechanism work together to limit the rotation of the nut seat, and can only move along the length direction of the driving screw; The control system is electrically connected to the torque limiter. After sending a start instruction to the drive system, the method further includes: Obtaining a torque value sent by the torque limiter for the drive screw to transmit; If the torque value is less than the set torque value, the torque limiter is controlled to be in a driving state, so that the drive motor system drives the motor to drive the drive screw to rotate, so that the drive screw drives the nut seat to move along the length direction of the drive screw, and also drives the first connecting rod mechanism and the second connecting rod mechanism to move through the nut seat, so that when the connector is successfully docked with the automatic docking connector, the first connecting rod mechanism and the second connecting rod mechanism also respectively drive the corresponding first locking member and the second locking member to cooperate and lock with the box frame; If the torque value is greater than or equal to the set torque value, the torque limiter is controlled to be in a slipping state so that the drive motor system will not drive the drive screw to rotate.

4. The automatic docking and replenishing method according to claim 1, characterized in that: When the automatic docking connector is successfully docked and connected, after the locking mechanism just locks the box frame, the method further includes: When a release signal indicating the need to release the automatic docking box is received, the drive system is started to drive the connecting device to move in a second direction opposite to the first direction, so that the connecting device drives the locking mechanism to move during the movement, and the automatic docking connector is disengaged from the connecting device at the same time as the locking mechanism unlocks the box frame.

5. The automatic docking and replenishing method according to claim 3, characterized in that: The first connecting rod mechanism includes a first connecting rod, a first push rod, a second push rod, a first adjusting nut, a second adjusting nut, a first left-right thick nut and a first stud; the second connecting rod mechanism includes a second connecting rod, a third push rod, a fourth push rod, a third adjusting nut, a fourth adjusting nut, a second left-right thick nut and a second stud; One end of the first connecting rod is connected to one end of the nut seat through the first stud, and the other end of the first connecting rod is connected to one end of the first push rod. The first push rod can make horizontal linear motion on the first support under the push of the first connecting rod. The other end of the first push rod is connected to the first adjusting nut through one end of the first left-right thick nut, and one end of the second push rod is connected to the second adjusting nut through the other end of the first left-right thick nut, so that the working lengths of the first push rod and the second push rod can be adjusted respectively by the first adjusting nut and the second adjusting nut; the other end of the second push rod is connected to the first locking member; One end of the second connecting rod is connected to one end of the nut seat through the second stud, and the other end of the second connecting rod is connected to one end of the third push rod, and the third push rod can make horizontal linear motion on the second support under the push of the second connecting rod, and the other end of the third push rod is connected to the third adjusting nut through one end of the second left-right thick nut, and one end of the fourth push rod is connected to the fourth adjusting nut through the other end of the second left-right thick nut, so as to adjust the working lengths of the third push rod and the fourth push rod respectively through the third adjusting nut and the fourth adjusting nut; the other end of the fourth push rod is fixedly connected to the second locking piece; under the action of the first push rod and the third push rod, the nut seat can only move along the length direction of the driving screw under the rotation of the driving screw; While the driving screw drives the nut seat to move along the length direction of the driving screw, the nut seat drives the first connecting rod and the second connecting rod. When the connecting head is successfully docked with the automatic docking connector, the first connecting rod drives the first push rod and the second push rod to push the first locking piece to cooperate with the box frame and lock it. At the same time, the second connecting rod drives the third push rod and the fourth push rod to push the second locking piece to cooperate with the box frame and lock it.

6. The automatic docking and replenishing method according to claim 5, characterized in that: The first connecting rod mechanism further comprises a first screw and a first butterfly spring; the first connecting rod mechanism further comprises a second screw and a second butterfly spring; the first locking member comprises a first locking block and a first locking rod provided with a stepped platform, and the second locking member comprises a second locking block and a second locking rod provided with a stepped platform; The first butterfly spring is sleeved on the first locking rod, one end of which abuts against the table surface of the step platform of the first locking rod, and the other end abuts against the second push rod, and the second push rod is connected with the first locking block through the first screw and the first butterfly spring; The second butterfly spring is sleeved on the second locking rod, with one end against the table surface of the stepped platform of the second locking rod and the other end against the third push rod. The third push rod is connected to the second locking block through the first screw and the second butterfly spring.

7. The automatic docking and replenishing method according to claim 3, characterized in that: The connection device further comprises two pull-out guide pins, a limit sensor and a sensor mounting seat, wherein the pull-out guide pins and the sensor mounting seat are both mounted on the nut seat, and the limit sensor is mounted on the sensor mounting seat and can move up and down with the nut seat through the sensor mounting seat, the limit sensor is electrically connected to the control system, and after sending a start instruction to the drive system so that the drive system drives the connection device to move according to the start instruction, the method further comprises: When receiving a signal that the limit sensor has reached the set upper limit or lower limit, a stop instruction is sent to the drive motor system, so that the drive motor system controls the motor to stop rotating according to the stop instruction.

8. The automatic docking and replenishing method according to claim 1, characterized in that: The mounting seat comprises a mounting seat body, two support blocks and a longitudinal guide positioning plate mounting seat, and the guide positioning assembly comprises a longitudinal positioning member and a transverse positioning member; the two support blocks and the longitudinal guide positioning plate mounting seat are both mounted on the end surface of the mounting seat body, and the two support blocks are respectively attached to the two sides of the longitudinal guide positioning plate mounting seat, and the two support blocks and the longitudinal guide positioning plate mounting seat are respectively located in the same plane as the plate surface of the mounting seat body opposite to the pitch axis; The longitudinal positioning member is installed on the outer end surface of the longitudinal guide positioning plate mounting seat, and is used to guide the box frame to move along the longitudinal direction of the guide support frame, and the distance between the longitudinal positioning member and the guide support frame is greater than the distance between the mounting seat body and the guide support frame; The transverse positioning member is installed at a specified position in the plate surface of the mounting seat body, and the working surface for contacting the box frame protrudes relative to the plate surface of the mounting seat body; the difference between the distance from the transverse positioning member to the guide support frame and the width of the box frame is within a preset range.

9. The automatic docking and replenishing method according to claim 8, characterized in that: The guide support frame comprises a support frame and a transverse guide member; The support frame is installed on the mounting seat body to carry the automatic docking box; the transverse guide is installed at the end of the support frame to guide the automatic docking box to fall into the material replenishment area between the mounting seat body and the support frame.

10. An automatic docking and replenishment control device, characterized in that: The automatic docking supply control device is applied to the control system of the automatic supply device, which includes: a mounting seat for mounting on a specified pitch axis in a vehicle and performing pitch movement with the pitch axis, an automatic docking box, a guide support frame for guiding the automatic docking box to move and carry the automatic docking box, a guide positioning assembly for guiding the automatic docking box to move to a specified position in the guide support frame, and a driving docking device; wherein the automatic docking box includes an automatic docking connector and a box frame for carrying materials to be replenished, the automatic docking connector is installed in the box frame, and the guide support frame and the guide positioning assembly are both installed on the mounting seat; the driving docking device includes a driving system, a connecting device and a locking mechanism, the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guiding support frame, the connecting device is also connected to the locking mechanism, and the control system is electrically connected to the driving system. The automatic docking supply control device includes: A designated position determining unit, configured to trigger the docking unit when it is determined that the automatic docking box has reached the designated position, and to trigger the adjustment unit when it is determined that the automatic docking box has not reached the designated position; The docking unit is used to send a start instruction to the drive system, so that the drive system drives the connection device to move in a first direction according to the start instruction, so that the connection device drives the locking mechanism to move synchronously during the movement, and when the connection device is successfully docked with the automatic docking connector, the locking mechanism just locks the box frame; The adjustment unit is used to send an alarm signal to an externally connected system control device to indicate that the automatic docking box has not reached the specified position, so that the system control device controls the lifting mechanism used to lift the automatic docking box to readjust according to the alarm signal, so that the automatic docking box reaches the specified position under the guidance of the guide positioning assembly and the guide support frame by its own gravity after being released by the lifting mechanism.

Images