A novel cooperative control UAV docking mechanism

Abstract

The present invention discloses a novel cooperative control unmanned aerial vehicle docking mechanism, which includes a first docking component and a second docking component; by arranging a guiding module, a rotating module and a linear driving module in the first docking component, and arranging a guiding seat, a locking track and a locking tongue in the second docking component, the first docking component and the second docking component can be docked and locked or released, and after the locking is completed, the rotating module can make the two docking components rotate relative to the locking axis. The present invention effectively solves the interference problem caused by the immobility of the guiding device during the docking process of multiple unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the field of UAV docking mechanisms, and particularly to a novel cooperative control UAV docking mechanism. Background Art

[0002] With the development of science and technology, the application of UAVs has been extended to multiple fields. However, with the continuous increase of application requirements, the work of a single UAV can no longer meet complex and changeable application scenarios. Therefore, research has been carried out in the related technical fields of cooperative work among UAVs.

[0003] Currently, the reference objects for the research of cooperative UAVs are various social organisms in nature, such as ant colonies, bee colonies, and bird flocks. The cooperative behaviors in nature are often multi-dimensional, including information sharing, behavior influence, physical contact and other levels of cooperation. However, in the current mainstream cooperative control of UAVs, there is only information data intercommunication, realizing cooperative work at the data level, and they are still scattered and independent at the physical level. This makes the UAV swarm can only carry out decentralized work at present, and it is difficult to achieve more-dimensional cooperation from information exchange to group effort like the ant colony in nature according to a unified task goal. For cooperative UAVs, if an air docking, docking locking between UAVs and rotation around the locking axis of the docking mechanism are realized through a specific docking mechanism, then the UAVs will achieve cooperative behaviors similar to those of social organisms in nature.

[0004] The existing docking mechanisms currently include electromagnetic and mechanical types. The electromagnetic type realizes docking locking through the mutual attraction between electromagnets, but its working process consumes electric energy and has a small load-bearing capacity, which has a greater impact on the endurance and cooperative transportation ability of UAVs. The mechanical type is mainly applied to large equipment such as space stations and trains, which have a high positioning system and specific track guidance, and are not suitable for small UAVs with low positioning accuracy, no track guidance, and large environmental disturbances. Therefore, it is necessary to redesign the docking mechanism applied to the cooperative work of UAVs. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a novel cooperative control UAV docking mechanism to address the deficiencies involved in the background art. Through the cooperation between the shoulder slot on the guide rod and the locking tongue, the docking locking and separation of the docking mechanism are realized; after locking, the tilting of the locking mechanism is realized through the linear servo drive of the rotation drive mechanism.

[0006] The present invention adopts the following technical solutions to solve the above technical problems:

[0007] A novel cooperative control UAV docking mechanism includes a first docking component and a second docking component;

[0008] The first docking component includes a first housing, a second housing, a first rolling bearing, a second rolling bearing, a guiding module, a rotating module, and a linear driving module;

[0009] The guiding module includes a guiding rod, a guiding bracket, a linear bearing, and a linear bearing bracket;

[0010] The guiding rod includes a rod body, a guiding head, and a limiting post; the rod body is a cylinder, and its outer wall is provided with guiding grooves parallel to its axis; the guiding head is a regular square pyramid, and chamfers are made on its four edges, and the tip is rounded; the limiting post is a regular square prism, one end is perpendicularly and fixedly connected to the center of the bottom surface of the guiding head, and the other end is perpendicularly and fixedly connected to the center of one end face of the rod body; the four side faces of the limiting post are parallel to the four sides of the bottom surface of the guiding head one by one, the length of the side of the end face of the limiting post is less than the length of the side of the bottom surface of the guiding head, and the diagonal length of the end face of the limiting post is less than the diameter of the cross-section of the rod body;

[0011] The guiding bracket includes a guiding cylinder, a guiding plate, and a fixing ring; the guiding cylinder is cylindrical, and a through hole for the rod body to pass through is provided along its axis; the fixing ring is circular; the guiding plate is arranged between the guiding cylinder and the fixing ring, one end is perpendicularly and fixedly connected to one end face of the guiding cylinder, and the other end is perpendicularly and fixedly connected to the fixing ring, so that the guiding cylinder and the fixing ring are coaxially fixedly connected; the guiding plate is provided with a slide rail parallel to the axis of the guiding cylinder;

[0012] One end of the linear bearing is coaxially fixedly connected to the fixing ring, and the other end is coaxially fixedly connected to the inner ring of the second rolling bearing through the linear bearing bracket;

[0013] The end of the rod body of the guiding rod away from the guiding head penetrates into the through hole at the end of the guiding cylinder away from the fixing ring, passes through the fixing ring and extends into the linear bearing. The guiding grooves on the outer wall of the rod body cooperate with the slide rail on the guiding plate, and the outer wall of the rod body extending into the linear bearing cooperates with the linear bearing, so that the rod body can freely slide relative to the guiding bracket and the linear bearing;

[0014] The first housing is provided with a first mounting hole for mounting the first rolling bearing, and the second housing is provided with a second mounting hole for mounting the second rolling bearing;

[0015] The inner ring of the first rolling bearing is coaxially fixedly connected to the outer wall of the guiding cylinder, and the outer ring is coaxially fixedly connected to the first mounting hole on the first housing; the outer ring of the second rolling bearing is coaxially fixedly connected to the second mounting hole on the second housing;

[0016] The rotating module includes a first motor, a first motor bracket, a first gear, and a second gear;

[0017] The first gear is a hollow gear, sleeved on the outer wall of the guiding cylinder, coaxially and fixedly connected to the outer wall of the guiding cylinder, and located between the first rolling bearing and the fixing ring;

[0018] The first motor is fixed on the first housing through the first motor bracket, and its output shaft is coaxially and fixedly connected to the rotating shaft of the second gear;

[0019] The second gear meshes with the first gear;

[0020] The first motor is used to drive the first gear to rotate, thereby driving the guiding module to rotate relative to the first housing;

[0021] The linear driving module includes a second motor, third to fifth gears, first to second friction wheels, first to second rotating shafts, and third to fourth rolling bearings;

[0022] The first rotating shaft and the second rotating shaft are arranged in parallel on the guiding plate, both perpendicular to the guiding plate and located on both sides of the rod body respectively;

[0023] The fourth gear and the fifth gear have the same structure, and both are hollow gears;

[0024] The first friction wheel and the second friction wheel have the same structure. The first friction wheel is provided with a through hole for the first rotating shaft to pass through along its axis, and the second friction wheel is provided with a through hole for the second rotating shaft to pass through along its axis. Moreover, the first friction wheel is coaxially and fixedly connected to the fourth gear, and the second friction wheel is coaxially and fixedly connected to the fifth gear;

[0025] The fourth gear is sleeved on the third rolling bearing and coaxially and fixedly connected to the outer ring of the third rolling bearing. The inner ring of the third rolling bearing is coaxially and fixedly connected to the first rotating shaft; the fifth gear is sleeved on the fourth rolling bearing and coaxially and fixedly connected to the outer ring of the fourth rolling bearing. The inner ring of the fourth rolling bearing is coaxially and fixedly connected to the second rotating shaft;

[0026] The fourth gear and the fifth gear mesh with each other. The first friction wheel and the second friction wheel are symmetrically arranged on both sides of the rod body and are both in contact with the rod body;

[0027] The second motor is fixed on the linear bearing bracket, and its output shaft is coaxially and fixedly connected to the rotating shaft of the third gear; the third gear meshes with the fourth gear; the second motor is used to drive the first friction wheel and the second friction wheel to rotate, thereby driving the rod body to move linearly;

[0028] The second docking assembly includes a guiding seat, a locking track, a locking tongue, a rack, a third motor, a third motor bracket, and a sixth gear;

[0029] The guiding base is provided with a guiding hole for cooperating with the guiding rod; one end of the guiding hole is circular, and the other end is square for cooperating with the guiding head. Its cross-sectional area gradually decreases from the circular end to the square end, presenting a conical shape like a truncated cone.

[0030] The locking track is provided with a square hole having the same shape as the square end of the guiding hole; the locking track is fixedly connected to the guiding base, such that the square hole on the locking track corresponds to the square end of the guiding hole.

[0031] The locking tongue is in the shape of a plate and is arranged in the locking track, and can slide freely along the locking track.

[0032] The locking tongue is provided with a locking hole, which includes a releasing portion, a transition portion, and a locking portion. Among them, the releasing portion is a square hole having the same shape as the square end of the guiding hole; the locking portion is a square hole for cooperating with the limiting post, and its side length is smaller than that of the releasing portion; the transition portion is used to connect the releasing portion and the locking portion, and its width gradually narrows from the releasing portion to the locking portion.

[0033] The rack is fixed on the locking tongue and is arranged along the length direction of the locking track.

[0034] The third motor is fixed on the locking track through the third motor bracket, and its output shaft is coaxially and fixedly connected to the rotating shaft of the sixth gear; the sixth gear meshes with the rack.

[0035] The third motor is used to drive the locking tongue to slide on the locking track, and further lock or release the guiding rod.

[0036] Compared with the prior art, the present invention adopts the above technical solutions and has the following technical effects:

[0037] 1. The guiding rod in the first docking assembly can be telescopic, and the guiding rod can be completely retracted into the first docking assembly, effectively solving the interference problem caused by the inability of the guiding device to move during the docking process of multiple unmanned aerial vehicles.

[0038] 2. The first docking assembly and the second docking assembly can be docked and locked or released, and after the locking is completed, the rotating module can rotate the two docking assemblies relative to the locking axis. Description of the Drawings

[0039] Figure 1 is a schematic structural diagram of the present invention;

[0040] Figure 2 is a schematic structural diagram of the first docking assembly in the present invention;

[0041] Figure 3 is an exploded schematic diagram of the first docking assembly in the present invention;

[0042] Figure 4 This is a schematic structural diagram of the cooperation between the guiding module and the linear driving module in the first docking component of the present invention;

[0043] Figure 5 This is a schematic structural diagram of the second docking component in the present invention;

[0044] Figure 6 This is an exploded schematic diagram of the first docking component in the present invention.

[0045] In the figure, 1 - the first docking component, 2 - the second docking component, 3 - the first housing, 4 - the guiding rod, 5 - the guiding cylinder, 6 - the guiding plate, 7 - the fixing ring, 8 - the linear bearing, 9 - the linear bearing bracket, 10 - the first rolling bearing, 11 - the second rolling bearing, 12 - the first gear, 13 - the second gear, 14 - the first motor, 15 - the first motor bracket, 16 - the fourth gear, 17 - the first friction wheel, 18 - the fifth gear, 19 - the second friction wheel, 20 - the second rotating shaft, 21 - the first rotating shaft, 22 - the second motor, 23 - the third gear, 24 - the second housing, 25 - the guiding seat, 26 - the guiding hole, 27 - the locking track, 28 - the locking tongue, 29 - the rack, 30 - the third motor, 31 - the sixth gear, 32 - the third motor bracket. Embodiment

[0046] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0047] The present invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. On the contrary, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0048] It should be understood that although the terms first, second, third, etc. may be used herein to describe various elements, components, and / or parts, these elements, components, and / or parts are not limited by these terms. These terms are only used to distinguish one element, component, and / or part from another. Thus, the first element, component, and / or part discussed below may become the second element, component, or part without departing from the teachings of the present invention.

[0049] As Figure 1 shown, the present invention discloses a novel cooperative control unmanned aerial vehicle docking mechanism, comprising a first docking component and a second docking component;

[0050] As Figure 2 、 Figure 3As shown, the first docking component includes a first housing, a second housing, a first rolling bearing, a second rolling bearing, a guiding module, a rotating module, and a linear driving module;

[0051] The guiding module includes a guiding rod, a guiding bracket, a linear bearing, and a linear bearing bracket;

[0052] The guiding rod includes a rod body, a guiding head, and a limiting post; the rod body is a cylinder, and its outer wall is provided with guiding grooves parallel to its axis; the guiding head is a regular square pyramid, and its four edges are chamfered, and the tip of the pyramid is rounded; the limiting post is a regular square prism, one end is perpendicularly and fixedly connected to the center of the bottom surface of the guiding head, and the other end is perpendicularly and fixedly connected to the center of one end face of the rod body; the four side faces of the limiting post are parallel to the four sides of the bottom surface of the guiding head one by one, the length of the side of the end face of the limiting post is less than the length of the side of the bottom surface of the guiding head, and the diagonal length of the end face of the limiting post is less than the diameter of the cross section of the rod body;

[0053] The guiding bracket includes a guiding cylinder, a guiding plate, and a fixing ring; the guiding cylinder is cylindrical, and a through hole for the rod body to pass through is provided along its axis; the fixing ring is circular; the guiding plate is arranged between the guiding cylinder and the fixing ring, one end is perpendicularly and fixedly connected to one end face of the guiding cylinder, and the other end is perpendicularly and fixedly connected to the fixing ring, so that the guiding cylinder and the fixing ring are coaxially fixedly connected; the guiding plate is provided with a slide rail parallel to the axis of the guiding cylinder;

[0054] One end of the linear bearing is coaxially fixedly connected to the fixing ring, and the other end is coaxially fixedly connected to the inner ring of the second rolling bearing through the linear bearing bracket;

[0055] The end of the rod body of the guiding rod away from the guiding head penetrates into the through hole at the end of the guiding cylinder away from the fixing ring, passes through the fixing ring and extends into the linear bearing. The guiding grooves on the outer wall of the rod body cooperate with the slide rail on the guiding plate, and the outer wall of the rod body extending into the linear bearing cooperates with the linear bearing, so that the rod body can slide freely relative to the guiding bracket and the linear bearing;

[0056] The first housing is provided with a first mounting hole for mounting the first rolling bearing, and the second housing is provided with a second mounting hole for mounting the second rolling bearing;

[0057] The inner ring of the first rolling bearing is coaxially fixedly connected to the outer wall of the guiding cylinder, and the outer ring is coaxially fixedly connected to the first mounting hole on the first housing; the outer ring of the second rolling bearing is coaxially fixedly connected to the second mounting hole on the second housing;

[0058] The rotating module includes a first motor, a first motor bracket, a first gear, and a second gear;

[0059] The first gear is a hollow gear, sleeved on the outer wall of the guiding cylinder, coaxially and fixedly connected to the outer wall of the guiding cylinder, and located between the first rolling bearing and the fixed ring;

[0060] The first motor is fixed on the first housing through the first motor bracket, and its output shaft is coaxially and fixedly connected to the rotating shaft of the second gear;

[0061] The second gear meshes with the first gear;

[0062] The first motor is used to drive the first gear to rotate, thereby driving the guiding module to rotate relative to the first housing;

[0063] The linear driving module includes a second motor, third to fifth gears, first to second friction wheels, first to second rotating shafts, and third to fourth rolling bearings;

[0064] The first rotating shaft and the second rotating shaft are arranged in parallel on the guiding plate, perpendicular to the guiding plate and located on both sides of the rod body respectively;

[0065] The fourth gear and the fifth gear have the same structure and are both hollow gears;

[0066] The first friction wheel and the second friction wheel have the same structure. The first friction wheel is provided with a through hole for the first rotating shaft to pass through along its axis, and the second friction wheel is provided with a through hole for the second rotating shaft to pass through along its axis. The first friction wheel is coaxially and fixedly connected to the fourth gear, and the second friction wheel is coaxially and fixedly connected to the fifth gear;

[0067] The fourth gear is sleeved on the third rolling bearing and coaxially and fixedly connected to the outer ring of the third rolling bearing. The inner ring of the third rolling bearing is coaxially and fixedly connected to the first rotating shaft; the fifth gear is sleeved on the fourth rolling bearing and coaxially and fixedly connected to the outer ring of the fourth rolling bearing. The inner ring of the fourth rolling bearing is coaxially and fixedly connected to the second rotating shaft;

[0068] The fourth gear and the fifth gear mesh with each other. The first friction wheel and the second friction wheel are symmetrically arranged on both sides of the rod body and are both in contact with the rod body;

[0069] The second motor is fixed on the linear bearing bracket, and its output shaft is coaxially and fixedly connected to the rotating shaft of the third gear; the third gear meshes with the fourth gear; the second motor is used to drive the first friction wheel and the second friction wheel to rotate, thereby driving the rod body to move linearly, as Figure 4 shown;

[0070] As Figure 5 、 Figure 6 shown, the second docking assembly includes a guiding seat, a locking track, a locking tongue, a rack, a third motor, a third motor bracket, and a sixth gear;

[0071] The guiding seat is provided with a guiding hole for cooperating with the guiding rod; one end of the guiding hole is circular, and the other end is square for cooperating with the guiding head. Its cross-sectional area gradually decreases from the circular end to the square end, presenting a conical tube shape.

[0072] The locking track is provided with a square hole having the same shape as the square end of the guiding hole; the locking track is fixedly connected to the guiding seat, such that the square hole on the locking track corresponds to the square end of the guiding hole.

[0073] The locking tongue is plate-shaped and is arranged in the locking track and can slide freely along the locking track.

[0074] The locking tongue is provided with a locking hole, which includes a releasing portion, a transition portion, and a locking portion. Among them, the releasing portion is a square hole having the same shape as the square end of the guiding hole; the locking portion is a square hole for cooperating with the limiting post, and its side length is smaller than that of the releasing portion; the transition portion is used to connect the releasing portion and the locking portion, and its width gradually narrows from the releasing portion to the locking portion.

[0075] The rack is fixed on the locking tongue and is arranged along the length direction of the locking track.

[0076] The third motor is fixed on the locking track through the third motor bracket, and its output shaft is coaxially fixedly connected to the rotating shaft of the sixth gear; the sixth gear meshes with the rack.

[0077] The third motor is used to drive the locking tongue to slide on the locking track, thereby locking or releasing the guiding rod.

[0078] During the docking process, the first docking component and the second docking component approach each other. The second motor drives the first and second friction wheels to rotate together and controls the guiding rod to extend outward by friction. At the same time, the third motor drives the locking tongue to slide on the locking track, such that the releasing portion of the locking hole on the locking tongue is aligned with the square hole on the locking guide rail, ensuring that the guiding head of the guiding rod passes through the locking hole on the locking tongue. When the guiding rod extends outward to a preset length threshold, the third motor drives the locking tongue to slide on the locking track, such that the locking portion of the locking hole on the locking tongue cooperates with the limiting post of the guiding rod to complete the locking.

[0079] When the first docking component and the second docking component rotate around the locking shaft, the first motor drives the first gear to rotate, thereby driving the guiding module to rotate relative to the first housing. Since the limiting post of the guiding rod in the first docking component cooperates with the locking portion of the locking hole on the locking tongue of the second docking component, the rotation of the second docking component is ultimately realized.

[0080] The separation action of the two docking components is the reverse process of the docking action. The third driving part drives the locking tongue to slide in the opposite direction, and the limiting column of the guide rod is disengaged from the locking part of the locking hole of the locking tongue of the second docking component. The second motor operates to control the contraction of the guide rod to complete the separation.

[0081] Those skilled in the art of the present technology can understand that, unless otherwise defined, all terms used herein (including technical terms and scientific terms) have the same meaning as the general understanding of those of ordinary skill in the field to which the present invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless defined as such here.

[0082] The specific embodiments described above have further elaborated on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A novel cooperative control UAV docking mechanism, comprising a first docking component and a second docking component; The first docking component includes a first housing, a second housing, a first rolling bearing, a second rolling bearing, a guiding module, a rotating module, and a linear driving module; The guiding module includes a guiding rod, a guiding bracket, a linear bearing, and a linear bearing bracket; The guiding rod includes a rod body, a guiding head, and a limiting post; the rod body is a cylinder, and its outer wall is provided with guiding grooves parallel to its axis; the guiding head is a regular quadrangular pyramid, and its four edges are chamfered, and the tip of the pyramid is rounded; the limiting post is a regular quadrangular prism, one end is perpendicularly and fixedly connected to the center of the bottom surface of the guiding head, and the other end is perpendicularly and fixedly connected to the center of one end face of the rod body; the four side faces of the limiting post are parallel to the four sides of the bottom surface of the guiding head one by one, the length of the side of the end face of the limiting post is less than the length of the side of the bottom surface of the guiding head, and the diagonal length of the end face of the limiting post is less than the diameter of the cross section of the rod body; The guiding bracket includes a guiding cylinder, a guiding plate, and a fixing ring; the guiding cylinder is cylindrical, and a through hole for the rod body to pass through is provided along its axis; the fixing ring is circular; the guiding plate is arranged between the guiding cylinder and the fixing ring, one end is perpendicularly and fixedly connected to one end face of the guiding cylinder, and the other end is perpendicularly and fixedly connected to the fixing ring, so that the guiding cylinder and the fixing ring are coaxially fixedly connected; the guiding plate is provided with a slide rail parallel to the axis of the guiding cylinder; One end of the linear bearing is coaxially fixedly connected to the fixing ring, and the other end is coaxially fixedly connected to the inner ring of the second rolling bearing through the linear bearing bracket; One end of the rod body of the guiding rod away from the guiding head penetrates into the through hole at one end of the guiding cylinder away from the fixing ring, passes through the fixing ring and extends into the linear bearing. The guiding grooves on the outer wall of the rod body cooperate with the slide rail on the guiding plate, and the outer wall of the rod body extending into the linear bearing cooperates with the linear bearing, so that the rod body can slide freely relative to the guiding bracket and the linear bearing; The first housing is provided with a first mounting hole for mounting the first rolling bearing, and the second housing is provided with a second mounting hole for mounting the second rolling bearing; The inner ring of the first rolling bearing is coaxially fixedly connected to the outer wall of the guiding cylinder, and the outer ring is coaxially fixedly connected to the first mounting hole on the first housing; the outer ring of the second rolling bearing is coaxially fixedly connected to the second mounting hole on the second housing; The rotating module includes a first motor, a first motor bracket, a first gear, and a second gear; The first gear is a hollow gear, sleeved on the outer wall of the guiding cylinder, coaxially fixedly connected to the outer wall of the guiding cylinder, and located between the first rolling bearing and the fixing ring; The first motor is fixed on the first housing through the first motor bracket, and its output shaft is coaxially fixedly connected to the rotating shaft of the second gear; The second gear meshes with the first gear; The first motor is used to drive the first gear to rotate, thereby driving the guiding module to rotate relative to the first housing; The linear driving module includes a second motor, third to fifth gears, first to second friction wheels, first to second rotating shafts, and third to fourth rolling bearings; The first rotating shaft and the second rotating shaft are arranged in parallel on the guide plate, perpendicular to the guide plate and located on both sides of the rod body respectively; The fourth gear and the fifth gear have the same structure and are both hollow gears; The first friction wheel and the second friction wheel have the same structure. The first friction wheel is provided with a through hole for the first rotating shaft to pass through along its axis, and the second friction wheel is provided with a through hole for the second rotating shaft to pass through along its axis. The first friction wheel is coaxially fixed to the fourth gear, and the second friction wheel is coaxially fixed to the fifth gear; The fourth gear is sleeved on the third rolling bearing and is coaxially fixed to the outer ring of the third rolling bearing. The inner ring of the third rolling bearing is coaxially fixed to the first rotating shaft; the fifth gear is sleeved on the fourth rolling bearing and is coaxially fixed to the outer ring of the fourth rolling bearing. The inner ring of the fourth rolling bearing is coaxially fixed to the second rotating shaft; The fourth gear and the fifth gear mesh with each other. The first friction wheel and the second friction wheel are symmetrically arranged on both sides of the rod body and are both in contact with the rod body; The second motor is fixed on the linear bearing bracket, and its output shaft is coaxially fixed to the rotating shaft of the third gear; the third gear meshes with the fourth gear; the second motor is used to drive the first friction wheel and the second friction wheel to rotate, thereby driving the rod body to move linearly; The second docking assembly includes a guide seat, a locking track, a locking tongue, a rack, a third motor, a third motor bracket and a sixth gear; The guide seat is provided with a guide hole for cooperating with the guide rod; one end of the guide hole is circular, and the other end is square for cooperating with the guide head. Its cross-sectional area gradually decreases from the circular end to the square end, showing a conical shape; The locking track is provided with a square hole having the same shape as the square end of the guide hole; the locking track is fixed to the guide seat, so that the square hole on the locking track corresponds to the square end of the guide hole; The locking tongue is in the shape of a plate and is arranged in the locking track and can slide freely along the locking track; The locking tongue is provided with a locking hole, and the locking hole includes a release portion, a transition portion, and a locking portion, wherein, The releasing part is a square hole having the same shape as the square end of the guide hole; the locking part is a square hole for cooperating with the limiting column, and its side length is smaller than the side length of the releasing part; the transition part is used to connect the releasing part and the locking part, and its width gradually narrows from the releasing part to the locking part; The rack is fixed to the locking tongue and is arranged along the length direction of the locking track; The third motor is fixed on the locking track through the third motor bracket, and its output shaft is coaxially fixed to the rotating shaft of the sixth gear; the sixth gear meshes with the rack; The third motor is used to drive the locking tongue to slide on the locking track, thereby locking or releasing the guide rod.

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