A pneumatic docking ball lock device

Abstract

The present invention relates to the technical field of docking locking devices, and specifically to a pneumatic docking ball lock device, comprising a primary motion unit, a secondary motion unit, a locking unit and a sensor unit, wherein the primary motion unit comprises a primary cylinder and a primary piston, and can move forward or backward in a straight line; the secondary motion unit is connected to the primary motion unit so that the primary motion unit can drive the secondary motion unit to move forward or backward in a straight line, and the secondary motion unit comprises a secondary cylinder and a secondary piston; the active locking unit is connected to the secondary motion unit so that the secondary motion unit can drive the active locking unit and the passive locking unit to lock or unlock each other; the sensor unit is used to detect the distance between the active locking unit and the passive locking unit. Thus, by adopting a compact and fully integrated dual-cylinder secondary pneumatic propulsion design, the docking and locking of the pneumatic docking ball lock device can be controlled separately, and the docking precision is high and the control is simple. The technical effect.

Description

Technical Field

[0001] The invention relates to the technical field of docking locking devices, and in particular provides a pneumatic docking ball lock device. Background Art

[0002] With the development of aerospace technology, facing the demand for on-orbit services for large structures in space, people have proposed the concept of modular design, that is, to assemble, repair, and expand the functions of aerospace equipment in space through modular units. Therefore, new requirements are also put forward for space docking and locking mechanisms.

[0003] Docking and locking technology is one of the key technical components of space on-orbit services. The mutual connection and controllable separation of modular spacecraft and large space structures during on-orbit assembly, as well as the stable connection and functional expansion of adjacent modules during movement are closely related to the design of docking and locking devices between modules. The docking and locking device is the prerequisite for ensuring the functional realization of each space module, and the connection reliability between space module units is conducive to completing space on-orbit missions with high efficiency and accuracy.

[0004] The Chinese patent announcement number is CN220168324U, and the announcement date is December 12, 2023. The patent name is a utility model patent application called "A quick-docking locking lock body and locking device". It discloses that the quick-docking locking lock body includes a connecting panel and a lock body cavity. The rotating assembly inside the cavity drives the rotating shaft to drive the wedge-shaped lock head to rotate, which can be locked in the docking assembly, or unlocked from the docking assembly, thereby achieving locking and opening.

[0005] At present, the design of this docking and locking device uses rechargeable batteries and motors for driving, which requires regular charging or battery replacement, and is affected by battery life. The advantage of the magnetic docking mechanism is that the connection is flexible and fast, but it only relies on electromagnetic attraction to connect components, which has the disadvantages of low connection strength and poor stability. The drive and transmission mechanism used between the wedge-shaped lock head and the locking panel is costly, large in size and weight, and has a complex structure. In addition, the docking and locking may fail due to the wedge-shaped lock head not being in place during docking and locking. Although the docking interface can achieve docking and locking between modular units, the output force and speed are inconvenient to adjust during the docking and locking process, which greatly reduces the accuracy and stability of the docking and locking, resulting in large errors, making it difficult to achieve fast and accurate docking, and unable to meet the requirements of connection stability, simplicity and lightweight. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a pneumatic docking ball lock device, which adopts a compact, fully integrated dual-cylinder two-stage pneumatic propulsion design to control the docking and locking of the pneumatic docking ball lock device respectively, and has the technical effects of high docking accuracy and simple regulation.

[0007] A pneumatic docking ball lock device provided by the present invention specifically includes a primary motion unit, a secondary motion unit, a locking unit and a sensor unit, wherein the primary motion unit includes a primary cylinder and a primary piston, the primary piston is telescopically arranged inside the primary cylinder, and the primary motion unit can move forward or backward in a straight line; the secondary motion unit is connected to the primary motion unit so that the primary motion unit can drive the secondary motion unit to move forward or backward in a straight line, the secondary motion unit includes a secondary cylinder and a secondary piston, the secondary piston is telescopically arranged inside the secondary cylinder; the locking unit includes an active locking unit and a passive locking unit, the active locking unit is connected to the secondary motion unit so that the secondary motion unit can drive the active locking unit and the passive locking unit to lock or unlock each other; the sensor unit is arranged on the active locking unit, and the sensor unit is used to detect the distance between the active locking unit and the passive locking unit.

[0008] Preferably, the first-stage motion unit also includes a first-stage shell, which is a cylindrical structure, and a first-stage base is connected to the bottom of the first-stage shell, and a plurality of first mounting holes are provided on the first-stage base; wherein, the first-stage cylinder is located inside the first-stage shell and connected to the first-stage base, and the first-stage piston divides the first-stage cylinder into a first chamber at the bottom and a second chamber at the top, and a first-stage forward air vent and a first-stage backward air vent are provided on the first-stage cylinder, and the first-stage forward air vent is connected to the first chamber and the outside world, and the first-stage backward air vent is connected to the second chamber and the outside world.

[0009] Preferably, the secondary motion unit also includes a secondary shell, which is telescopically arranged inside the primary shell, and the bottom of the secondary shell is connected to a secondary base; wherein, the secondary cylinder is located inside the secondary shell and connected to the secondary base, and the secondary piston divides the secondary cylinder into a third chamber located at the bottom and a fourth chamber located at the top, and a secondary forward air vent and a secondary backward air vent are provided on the secondary cylinder, the secondary forward air vent is connected to the third chamber and the outside world, and the secondary backward air vent is connected to the fourth chamber and the outside world.

[0010] Preferably, the secondary motion unit further includes a first guide pin, a first guide groove is axially opened on the primary housing, the first guide pin is arranged on the secondary housing, and the first guide pin can be slidably clamped in the first guide groove.

[0011] Preferably, the active locking unit includes an intermediate shell, a locking push shaft and a blocking ball. The intermediate shell is arranged inside the secondary outer shell, a first through hole is opened on the top of the intermediate shell, a plurality of second through holes are opened on the side of the intermediate shell, and a first limit piece is also arranged below the second through hole; the locking push shaft is located inside the intermediate shell and is connected to the secondary piston, and a wedge-shaped groove is opened on the top of the locking push shaft; a plurality of blocking balls are evenly arranged inside the intermediate shell, and the blocking balls are clamped between the second through holes and the wedge-shaped grooves.

[0012] Preferably, the passive locking unit includes a passive locking piece, which is an annular structure, a second limiting piece is arranged on the inner side of the passive locking piece, and a plurality of second mounting holes are opened on the passive locking piece; wherein, when the active locking unit is in a locked state, the top of the locking push shaft extends through the first through hole, and the blocking ball extends partially through the second through hole, so that the blocking ball is suitable for being clamped between the wedge-shaped groove, the second through hole and the second limiting piece.

[0013] Preferably, the primary motion unit further includes a primary pusher connected to the bottom of the secondary housing, and the primary pusher is also sleeved on the primary piston so that the primary piston can drive the secondary housing to move linearly.

[0014] Preferably, the secondary motion unit further includes a secondary pusher, which is connected to the bottom of the locking push shaft, and the secondary pusher is also sleeved on the secondary piston, so that the secondary piston can drive the locking push shaft to move linearly.

[0015] Preferably, the locking unit includes a second guide pin, a second guide groove is formed on the passive locking member, the second guide pin is arranged on the intermediate shell, and the second guide pin can be slidably clamped in the second guide groove.

[0016] Preferably, the sensor unit comprises a support base and a position proximity sensor, wherein the support base is arranged on the intermediate shell; and the position proximity sensor is connected to the support base.

[0017] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0018] The pneumatic docking ball lock device provided by the present invention adopts a compact, fully integrated dual-cylinder two-stage pneumatic propulsion design, which can control the docking and locking of the pneumatic docking ball lock device respectively, and has the technical effects of high docking accuracy and simple regulation.

[0019] Among them, the primary motion unit, the secondary motion unit and the locking unit of the present invention are arranged in a ring-in-ring manner, which has a compact structure and occupies a small space, thereby ensuring the convenience of assembly among the primary motion unit, the secondary motion unit and the locking unit.

[0020] Among them, the active locking unit of the present invention has multiple blocking balls evenly arranged along the circumference inside the middle shell. Through the cooperation between the blocking balls and the wedge-shaped groove gap, a high-load mechanical connection between the active locking unit and the passive locking unit is achieved, which has the advantages of high connection stability and flexible docking.

[0021] Among them, the present invention is respectively provided with a guide pin and a guide groove between the primary motion unit and the secondary motion unit, and between the active locking unit and the passive locking unit, so as to guide the active locking unit and improve the accuracy and speed of the active locking unit along the straight line motion.

[0022] The present invention is provided with a sensor unit for detecting the distance between the active locking unit and the passive locking unit, thereby achieving high-precision and accurate docking between the active locking unit and the passive locking unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of a pneumatic docking ball lock device from a first viewing angle according to an embodiment of the present invention;

[0024] Figure 2 is based on Figure 1 A schematic structural diagram of the pneumatic docking ball lock device of the illustrated embodiment from a second viewing angle;

[0025] Figure 3 is based on Figure 1 A schematic structural diagram of the pneumatic docking ball lock device of the illustrated embodiment from a third viewing angle;

[0026] Figure 4 is based on Figure 3 A schematic diagram of the AA cross-sectional structure of the pneumatic docking ball lock device of the illustrated embodiment;

[0027] Figure 5 is based on Figure 1 A schematic diagram of the exploded structure of the pneumatic docking ball lock device of the illustrated embodiment;

[0028] Figure 6 is based on Figure 5 The BB cross-sectional structure diagram of the pneumatic docking ball lock device of the illustrated embodiment.

[0029] Reference numerals include:

[0030] 100 first-level motion unit, 101 first-level housing, 102 first-level base, 103 first mounting hole, 104 first-level cylinder, 105 first-level piston, 106 first-level forward vent hole, 107 first-level backward vent hole, 108 first guide groove, 109 first-level pusher, 200 second-level motion unit, 201 second-level housing, 202 second-level base, 203 second-level cylinder, 204 second-level piston, 205 second-level forward vent hole, 206 second-level backward vent hole, 207 first Guide pin, 208 secondary push member, 300 active locking unit, 301 intermediate shell, 302 first through hole, 303 second through hole, 304 first limiting member, 305 locking push shaft, 306 wedge groove, 307 blocking ball, 308 second guide pin, 400 passive locking unit, 401 passive locking member, 402 second limiting member, 403 second mounting hole, 404 second guide groove, 500 sensor unit, 501 support seat, 502 position proximity sensor. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0033] Refer to the following Figures 1 to 6 A pneumatic docking ball lock device is described according to some embodiments of the present invention. Figures 1 to 6 The direction indicated by the middle arrow is the linear motion direction of the primary motion unit 100, the secondary motion unit 200 and the active locking unit 300. The bottom refers to the side where the primary motion unit 100 is connected to the modular aerospace equipment, and the top refers to the side where the active locking unit 300 and the passive locking unit 400 are locked or unlocked with each other.

[0034] like Figures 1 to 3 As shown, a pneumatic docking ball lock device provided according to an embodiment of the present invention includes a primary motion unit 100, a secondary motion unit 200, a locking unit and a sensor unit 500. The primary motion unit 100 includes a primary cylinder 104 and a primary piston 105. The primary piston 105 is telescopically arranged inside the primary cylinder 104. The primary motion unit 100 can move forward or backward in a straight line. The secondary motion unit 200 is connected to the primary motion unit 100 so that the primary motion unit 100 can drive the secondary motion unit 200 to move forward or backward in a straight line. The secondary motion unit 200 includes a secondary cylinder 203 and a secondary piston 204. The secondary piston 204 is telescopically arranged inside the secondary cylinder 203. Through the cooperation of the primary motion unit 100 and the secondary motion unit 200, the motion unit is set to a secondary pneumatic push, which can improve the accuracy of adjusting the linear motion of the locking unit. The locking unit includes an active locking unit 300 and a passive locking unit 400. The active locking unit 300 is connected to the secondary motion unit 200 so that the secondary motion unit 200 can drive the active locking unit 300 and the passive locking unit 400 to lock or unlock each other, thereby realizing the locking or unlocking function of the pneumatic docking ball lock device. The sensor unit 500 is arranged on the active locking unit 300, and the sensor unit 500 is used to detect the distance between the active locking unit 300 and the passive locking unit 400, thereby further improving the connection accuracy between the active locking unit 300 and the passive locking unit 400.

[0035] Therefore, the pneumatic docking ball lock device provided by the present invention adopts a compact, fully integrated dual-cylinder two-stage pneumatic propulsion design, which can separately control the docking and locking of the pneumatic docking ball lock device, and has the technical effects of high docking accuracy and simple regulation.

[0036] Specifically, during the locking process, the primary motion unit 100 is first started, and the primary cylinder 104 pushes the secondary motion unit 200 and the active locking unit 300 to move forward in a straight line; when the sensor unit 500 detects that the active locking unit 300 has reached the specified position, the primary motion unit 100 stops, the secondary motion unit 200 is started, and the active locking unit 300 and the passive locking unit 400 are driven to lock each other through the secondary cylinder 203. During the unlocking process, the secondary motion unit 200 is first started, and the secondary cylinder 203 drives the active locking unit 300 and the passive locking unit 400 to unlock each other, and then the primary motion unit 100 is started, and the primary cylinder 104 pulls the secondary motion unit 200 and the active locking unit 300 to move backward in a straight line; when the sensor unit 500 detects that the active locking unit 300 has reached the specified position, the primary motion unit 100 stops.

[0037] It can be understood that the primary motion unit 100, the secondary motion unit 200 and the locking unit adopt a modular design to reduce the complexity of the structure of each unit, wherein each component is highly interchangeable and has good scalability to meet the needs of different working environments.

[0038] like Figures 4 to 6 As shown, the first-stage motion unit 100 also includes a first-stage housing 101, which is a cylindrical structure. The bottom of the first-stage housing 101 is connected to a first-stage base 102, and the first-stage base 102 is provided with a plurality of first mounting holes 103. The modular aerospace equipment can be connected to the first-stage base 102, that is, connected to the pneumatic docking ball lock device through the first mounting holes 103. Among them, the first-stage cylinder 104 is located inside the first-stage housing 101, connected to the first-stage base 102, and is used as a power source for the first-stage motion unit 100. The first-stage piston 105 divides the first-stage cylinder 104 into a first chamber at the bottom and a second chamber at the top. A first-stage forward air vent 106 and a first-stage backward air vent 107 are provided on the first-stage cylinder 104. The first-stage forward air vent 106 is connected to the first chamber and the outside, and the first-stage backward air vent 107 is connected to the second chamber and the outside, so that the telescopic linear motion of the first-stage piston 105 can be achieved by adjusting the inflation and deflation of the first-stage forward air vent 106 and the first-stage backward air vent 107.

[0039] Specifically, when the primary motion unit 100 moves forward, the primary forward vent 106 is activated, and gas is introduced into the first chamber of the primary cylinder 104, pushing the primary piston 105 to move forward in a straight line, thereby pushing the secondary motion unit 200 to move forward as a whole. When the primary motion unit 100 moves backward, the primary backward vent 107 is activated, and gas is introduced into the second chamber of the primary cylinder 104, pushing the primary piston 105 to move backward in a straight line, thereby pulling the secondary motion unit 200 to move backward as a whole.

[0040] Among them, a first vent is opened on the first-stage housing 101, so that the first-stage forward vent 106 and the first-stage backward vent 107 can be connected to the first-stage cylinder 104 and the outside through the first vent.

[0041] like Figures 4 to 6 As shown, the secondary motion unit 200 further includes a secondary housing 201, which is telescopically arranged inside the primary housing 101, so that the primary cylinder 104 and the primary piston 105 can drive the secondary housing 201 to move linearly inside the primary housing 101. The bottom of the secondary housing 201 is connected to a secondary base 202; wherein, the secondary cylinder 203 is located inside the secondary housing 201 and connected to the secondary base 202, and is used as a power source for the primary motion unit 100. The secondary piston 204 divides the secondary cylinder 203 into a third chamber located at the bottom and a fourth chamber located at the top, and the secondary cylinder 203 is provided with a secondary forward vent 205 and a secondary backward vent 206, the secondary forward vent 205 is connected to the third chamber and the outside world, and the secondary backward vent 206 is connected to the fourth chamber and the outside world, so that by adjusting the inflation and deflation of the primary forward vent 106 and the primary backward vent 107, the telescopic linear motion of the primary piston 105 can be achieved.

[0042] Specifically, when the secondary motion unit 200 moves forward, the secondary forward vent 205 is activated, and gas is introduced into the third chamber of the secondary cylinder 203, pushing the secondary piston 204 to move forward in a straight line, thereby driving the active locking unit 300 to lock. When the secondary motion unit 200 moves backward, the secondary backward vent 206 is activated, and gas is introduced into the fourth chamber of the secondary cylinder 203, pushing the secondary piston 204 to move backward in a straight line, thereby driving the active locking unit 300 to unlock.

[0043] Among them, the first-stage shell 101 and the second-stage shell 201 are respectively provided with corresponding second vents and third vents, so that the second-stage forward vent 205 and the second-stage backward vent 206 can connect the second-stage cylinder 203 with the outside through the second vent and the third vent.

[0044] Among them, the secondary shell 201 can be a cylindrical structure, and the secondary base 202 is connected to the bottom of the secondary shell 201; or the secondary shell 201 can be a cylindrical structure with a closed bottom, and the secondary base 202 is arranged inside the secondary shell 201 and connected to the bottom of the secondary shell 201.

[0045] It can be understood that the primary motion unit 100 and the secondary motion unit 200 use compact, fully integrated dual-cylinder two-stage pneumatic propulsion as the motion drive, which can push the active locking unit 300 to achieve docking, locking and unlocking with the passive locking unit 400, and has the advantages of high motion accuracy and easy adjustment and control; the primary motion unit 100, the secondary motion unit 200, and the locking unit are arranged in a ring-in-ring manner, with a compact structure, small space occupation, and can ensure the convenience of assembly.

[0046] like Figures 1 to 3 As shown, the secondary motion unit 200 also includes a first guide pin 207. A first guide groove 108 is axially opened on the primary housing 101. The first guide pin 207 is arranged on the secondary housing 201. The first guide pin 207 can be slidably clamped in the first guide groove 108, thereby guiding the sliding of the secondary motion unit 200 inside the primary housing 101, thereby improving the accuracy and speed of the secondary motion unit 200 along the linear motion.

[0047] like Figures 4 to 6 As shown, the active locking unit 300 includes an intermediate shell 301, a locking push shaft 305 and a blocking ball 307. The intermediate shell 301 is arranged inside the secondary shell 201 and is used to install the locking push shaft 305 and the blocking ball 307. A first through hole 302 is provided at the top of the intermediate shell 301, so that the top of the locking push shaft 305 can extend through the first through hole 302. A plurality of second through holes 303 are provided at the side of the intermediate shell 301, so that the blocking ball 307 can partially extend through the second through holes 303. A first stopper 304 is also provided below the second through hole 303, which is used to limit the sliding of the intermediate shell 301 to prevent the primary cylinder 104 or the secondary cylinder 203 from being damaged due to pressing during the locking process. The locking push shaft 305 is located inside the middle shell 301 and is connected to the secondary piston 204, so that the secondary piston 204 can drive the locking push shaft 305 to move in a straight line; a wedge-shaped groove 306 is provided on the top of the locking push shaft 305, and a plurality of blocking balls 307 are evenly arranged along the circumference inside the middle shell 301, and the blocking balls 307 are clamped between the second through hole 303 and the wedge-shaped groove 306, thereby realizing a high-load mechanical connection between the active locking unit 300 and the passive locking unit 400, which has the advantages of high connection stability and flexible docking.

[0048] Specifically, during the locking process, the secondary piston 204 moves forward to push the locking push shaft 305, so that the top of the locking push shaft 305 extends out of the first through hole 302; at this time, the wedge groove 306 squeezes the blocking ball 307, so that the blocking ball 307 extends out of the second through hole 303 and is in a compressed state, so that the blocking ball 307 can be stuck in the passive locking unit 400, and the active locking unit 300 and the passive locking unit 400 are locked with each other. During the unlocking process, the secondary piston 204 moves backward to pull the locking push shaft 305, so that the top of the locking push shaft 305 retracts from the first through hole 302; at this time, the distance between the wedge groove 306 and the second through hole 303 increases, and the blocking ball 307 is in an active state and can return to the inside of the intermediate shell 301, so that the active locking unit 300 and the passive locking unit 400 are unlocked with each other.

[0049] Among them, multiple blocking balls 307 are evenly distributed along the circumference inside the middle shell 301. Through the cooperation between the blocking balls 307 and the gaps in the wedge-shaped grooves 306, the active locking unit 300 and the passive locking unit 400 are locked and unlocked with each other, which has the advantages of high locking strength and high connection stability.

[0050] Among them, a fourth vent corresponding to the second vent and the third vent is opened on the middle shell 301, so that the secondary forward vent 205 and the secondary backward vent 206 can connect the secondary cylinder 203 with the outside through the second vent, the third vent and the fourth vent.

[0051] like Figure 1 , Figures 4 to 6 As shown, the passive locking unit 400 includes a passive locking member 401, which is an annular structure. A second limiter 402 is provided inside the passive locking member 401 to cooperate with the active locking unit 300 to achieve locking and unlocking. A plurality of second mounting holes 403 are provided on the passive locking member 401, and the passive locking member 401 can be connected to the spacecraft or space station body through the second mounting holes 403, that is, through the locking and unlocking of the active locking unit 300 and the passive locking unit 400, the modular aerospace equipment can be detachably connected to the spacecraft or space station body. Among them, the passive locking member 401 has a simple structure and can be adjusted according to actual needs.

[0052] Specifically, when the active locking unit 300 is in a locked state, the top of the locking push shaft 305 extends through the first through hole 302, and the blocking ball 307 partially extends through the second through hole 303, so that the blocking ball 307 is suitable for being clamped between the wedge groove 306, the second through hole 303 and the second limit member 402, thereby realizing mutual locking of the active locking unit 300 and the passive locking unit 400.

[0053] like Figure 4As shown, the primary motion unit 100 further includes a primary pusher 109, which is connected to the bottom of the secondary housing 201. The primary pusher 109 is also sleeved on the primary piston 105, so that the primary piston 105 can drive the secondary housing 201 to move linearly.

[0054] Specifically, the primary pusher 109 and the secondary housing 201 can be connected in such a way that a first connection hole is provided at the bottom of the secondary housing 201, a second connection hole corresponding to the first connection hole is provided on the secondary base 202, and the primary pusher 109 is embedded in the first connection hole, so that when the primary pusher 109 is sleeved on the primary piston 105, the top of the primary piston 105 can be inserted into the second connection hole. Preferably, the primary pusher 109 is a push nut, which is screwed on the primary piston 105.

[0055] like Figure 4 As shown, the secondary motion unit 200 also includes a secondary pusher 208, which is connected to the bottom of the locking push shaft 305. The secondary pusher 208 is also sleeved on the secondary piston 204 so that the secondary piston 204 can drive the locking push shaft 305 to move linearly.

[0056] Specifically, the secondary pusher 208 and the locking push shaft 305 can be connected in such a way that a third connection hole is opened at the bottom of the locking push shaft 305, and the secondary pusher 208 is arranged above the third connection hole, so that when the secondary pusher 208 is sleeved on the secondary piston 204, the top of the secondary piston 204 can be inserted into the third connection hole. Preferably, the secondary pusher 208 is a push nut, which is screwed on the secondary piston 204.

[0057] like Figure 1 , Figure 2 and Figure 4 As shown, the locking unit includes a second guide pin 308, a second guide groove 404 is opened on the passive locking member 401, the second guide pin 308 is arranged on the intermediate shell 301, and the second guide pin 308 can be slidably clamped in the second guide groove 404, thereby guiding the sliding of the active locking unit 300 inside the intermediate shell 301, thereby improving the accuracy and speed of the active locking unit 300 along the linear motion.

[0058] like Figure 1 and Figure 3 As shown, the sensor unit 500 includes a support base 501 and a position proximity sensor 502. The support base 501 is arranged on the intermediate shell 301, and the position proximity sensor 502 is connected to the support base 501, and is used to detect the distance between the active locking unit 300 and the passive locking unit 400, thereby realizing high-precision and accurate docking between the active locking unit 300 and the passive locking unit 400.

[0059] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0060] The above specific implementations of the present invention do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pneumatic docking ball lock device, characterized in that: include: A primary motion unit (100), the primary motion unit (100) comprising a primary cylinder (104) and a primary piston (105), the primary piston (105) being telescopically arranged inside the primary cylinder (104), and the primary motion unit (100) being capable of moving forward or backward along a straight line; A secondary motion unit (200), the secondary motion unit (200) being connected to the primary motion unit (100) so that the primary motion unit (100) can drive the secondary motion unit (200) to move forward or backward along a straight line, the secondary motion unit (200) comprising a secondary cylinder (203) and a secondary piston (204), the secondary piston (204) being telescopically arranged inside the secondary cylinder (203); A locking unit, the locking unit comprising an active locking unit (300) and a passive locking unit (400), the active locking unit (300) being connected to the secondary motion unit (200) so that the secondary motion unit (200) can drive the active locking unit (300) and the passive locking unit (400) to lock or unlock each other; a sensor unit (500), the sensor unit (500) being arranged on the active locking unit (300), and the sensor unit (500) being used to detect the distance between the active locking unit (300) and the passive locking unit (400); During the locking process, the primary motion unit (100) is started, and the primary cylinder (104) pushes the secondary motion unit (200) and the active locking unit (300) to move forward in a straight line; when the sensor unit (500) detects that the active locking unit (300) has reached a specified position, the primary motion unit (100) stops, and the secondary motion unit (200) is started, and the active locking unit (300) and the passive locking unit (400) are driven to lock with each other through the secondary cylinder (203); The primary motion unit (100) further comprises: A primary housing (101), the primary housing (101) being a cylindrical structure, the bottom of the primary housing (101) being connected to a primary base (102), the primary base (102) being provided with a plurality of first mounting holes (103); The first-stage cylinder (104) is located inside the first-stage housing (101) and connected to the first-stage base (102); the first-stage piston (105) divides the first-stage cylinder (104) into a first chamber located at the bottom and a second chamber located at the top; the first-stage cylinder (104) is provided with a first-stage forward vent hole (106) and a first-stage backward vent hole (107); the first-stage forward vent hole (106) is connected to the first chamber and the outside world; and the first-stage backward vent hole (107) is connected to the second chamber and the outside world; The secondary motion unit (200) further comprises: A secondary housing (201), the secondary housing (201) being telescopically arranged inside the primary housing (101), and the bottom of the secondary housing (201) being connected to a secondary base (202); The secondary cylinder (203) is located inside the secondary housing (201) and connected to the secondary base (202); the secondary piston (204) divides the secondary cylinder (203) into a third chamber located at the bottom and a fourth chamber located at the top; a secondary forward vent (205) and a secondary backward vent (206) are provided on the secondary cylinder (203); the secondary forward vent (205) is connected to the third chamber and the outside world; and the secondary backward vent (206) is connected to the fourth chamber and the outside world.

2. The pneumatic docking ball lock device according to claim 1, characterized in that: The secondary motion unit (200) further comprises: A first guide pin (207), a first guide groove (108) is axially opened on the first-stage housing (101), the first guide pin (207) is arranged on the second-stage housing (201), and the first guide pin (207) can be slidably clamped in the first guide groove (108).

3. The pneumatic docking ball lock device according to claim 1, characterized in that: The active locking unit (300) comprises: An intermediate shell (301), the intermediate shell (301) being arranged inside the secondary shell (201), the intermediate shell (301) being provided with a first through hole (302) at the top, a plurality of second through holes (303) being provided at the side of the intermediate shell (301), and a first stopper (304) being further arranged below the second through hole (303); A locking push shaft (305), the locking push shaft (305) is located inside the intermediate shell (301), connected to the secondary piston (204), and a wedge-shaped groove (306) is formed on the top of the locking push shaft (305); Blocking balls (307), a plurality of the blocking balls (307) are evenly arranged inside the middle shell (301), and the blocking balls (307) are clamped between the second through hole (303) and the wedge-shaped groove (306).

4. The pneumatic docking ball lock device according to claim 3, characterized in that: The passive locking unit (400) comprises: A passive locking member (401), wherein the passive locking member (401) is an annular structure, a second limiting member (402) is arranged inside the passive locking member (401), and a plurality of second mounting holes (403) are opened on the passive locking member (401); When the active locking unit (300) is in a locked state, the top of the locking push shaft (305) extends out through the first through hole (302), and the blocking ball (307) partially extends out through the second through hole (303), so that the blocking ball (307) is suitable for being clamped between the wedge-shaped groove (306), the second through hole (303) and the second limiting member (402).

5. The pneumatic docking ball lock device according to claim 1, characterized in that: The primary motion unit (100) further comprises: A primary pusher (109), the primary pusher (109) is connected to the bottom of the secondary housing (201), and the primary pusher (109) is also sleeved on the primary piston (105), so that the primary piston (105) can drive the secondary housing (201) to move linearly.

6. The pneumatic docking ball lock device according to claim 3, characterized in that: The secondary motion unit (200) further comprises: A secondary pusher (208), the secondary pusher (208) is connected to the bottom of the locking push shaft (305), and the secondary pusher (208) is also sleeved on the secondary piston (204) so ​​that the secondary piston (204) can drive the locking push shaft (305) to move linearly.

7. The pneumatic docking ball lock device according to claim 4, characterized in that: The locking unit comprises: A second guide pin (308), a second guide groove (404) is provided on the passive locking member (401), the second guide pin (308) is arranged on the intermediate shell (301), and the second guide pin (308) can be slidably clamped in the second guide groove (404).

8. The pneumatic docking ball lock device according to claim 3, characterized in that: The sensor unit (500) comprises: a support base (501), the support base (501) being arranged on the intermediate shell (301); and a position proximity sensor (502), the position proximity sensor (502) being connected to the support base (501).

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