Bionic docking locking device for cooperative target

Abstract

The invention discloses a bionic butt joint locking device for a cooperative target. The bionic butt joint locking device is mainly composed of a clamping device, a locking device and a driving device. Wherein the clamping devices are designed by simulating the appearance structure and the closing principle of crab claws, are uniformly distributed on the top surface of the main body in the circumferential direction, and are used for clamping and fixing a butt-joint frame mounted on butt-joint equipment. The clamping part of the clamping device is divided into an upper jaw part and a lower jaw part which are connected through a sliding rod. The locking device comprises a connecting rod and a triangular turntable; the triangular turntable is connected with a sliding rod through a connecting rod; during locking or unlocking, the steering engine drives the triangular turntable to rotate to drive the connecting rod to rotate, so that the sliding rod is stressed to pull and push the upper jaw to be closed; the steering engine continues to rotate, and the connecting rod crosses the singular position to complete unlocking. The device is suitable for cooperative operation of the autonomous mobile robot, and stable locking and rapid unlocking are repeatedly achieved; the method can be flexibly applied to complex terrains, and an efficient and reliable solution is provided for rapid combination and separation of air-ground robots with cooperation relations.

Description

Technical Field

[0001] The invention relates to a bionic docking locking device for cooperation purposes, which imitates the appearance structure and closing principle of crab claws and is suitable for cooperative operations of autonomously moving air-ground robots and can repeatedly achieve stable locking and rapid unlocking. Background Art

[0002] In recent years, the application of mobile robots in various fields has gradually become the focus of research and industry attention. However, when facing actual task scenarios, the movement ability of a single mobile robot is limited, and mobile robots often face docking problems during collaborative operations and task transfer. In this process, the docked robot is a cooperative target. In complex terrain, dangerous environments, or tasks that require close collaboration, the error and efficiency of the docking mechanism are very critical technical indicators.

[0003] At present, the design of traditional docking mechanisms is often limited by fixed structures and is difficult to cope with complex and changeable scenarios. The docking process requires extremely high posture accuracy. Any slight error may cause capture failure, increasing the difficulty of system control. Rigid materials are mostly used in processing and manufacturing, which are prone to produce large impacts during contact and collision, and can easily cause damage to the target and capture mechanism. It is difficult to achieve damage-free docking. Summary of the invention

[0004] In order to overcome the existing technical defects, the present invention proposes a bionic docking locking device oriented to cooperation goals, which can significantly improve the tolerance capability of the docking mechanism, reduce the docking time, and improve the load capacity and mission reliability of the capture mechanism.

[0005] The bionic docking locking device for cooperation purposes of the present invention comprises a main body base, a clamping device installed on the main body base, a locking device, a driving device, and a docking frame clamped in cooperation with the clamping device.

[0006] The clamping devices are evenly distributed axially and installed on the top surface of the main body base; a single set of clamping devices includes an upper jaw, a lower jaw, a sliding rod, a shock-absorbing spring, a positioning piece and a supporting bolt.

[0007] The lower jaw includes two parts, the upper part is the lower jaw part of the arc plate structure, and the lower part is the connecting seat; the lower jaw part is arranged perpendicular to the upper surface of the main body upper plate, and the inner arc surface faces upward. The middle part of the outer arc surface of the lower jaw part is connected to the middle part of the top surface of the connecting seat, and is installed on the top surface of the main body base through the connecting seat; a sliding rod is installed on the top surface of the connecting seat in a sliding fit. The axis of the sliding rod is parallel to the lower jaw part; a joint is designed at the end of the sliding rod for connecting to the upper jaw.

[0008] The upper jaw is an arc-shaped plate-like structure, which is arranged perpendicularly to the upper plate of the main body, and the inner arc surface faces downward; an extension section is designed at the end of the upper jaw, and a slideway is designed along the upper extension section; a lower jaw connecting hole is designed at the end of the upper jaw. The upper jaw cooperates with the through hole at the end of the lower jaw through the lower jaw connecting hole, and is connected by a rotating shaft to form a rotating pair, and the open ends of the two face the central axis of the upper plate of the main body. At the same time, the slideway on the extension section of the upper jaw is sleeved with the joint on the end of the slide rod to form a moving pair; a torsion spring is installed on the above-mentioned rotating shaft, and when the torsion spring is in a free state, the upper jaw and the lower jaw are in an unlocked and open state; and the connecting head at the end of the slide rod is located on the side of the slideway on the extension section close to the end of the upper jaw.

[0009] The locking device includes a connecting rod and a triangular turntable; wherein the triangular turntable is an isosceles triangular turntable, which is arranged parallel to the upper plate of the main body. There are three connecting rods, one end of which is connected to the triangular part of the triangular turntable through a rotating shaft to form a rotating pair, and the other end is connected to the front end connecting holes of the sliding rods in the three sets of clamping devices arranged circumferentially through a rotating shaft to form a rotating pair. The triangular turntable in the locking device is driven to rotate by a driving device, and the one-way rotation of the triangular turntable realizes the unlocking and locking process between the upper jaw and the lower jaw, specifically:

[0010] The servo drives the triangular turntable to rotate, driving the connecting rods in three directions evenly distributed around the circumference to rotate. At this time, the sliding rods in the three clamping devices are moved away from the center of the upper plate of the main body by the thrust force, and the upper jaw overcomes the elastic force of the torsion spring and rotates around the rotating shaft toward the lower jaw, finally realizing the synchronous closing and locking of the three clamping devices; at this time, the connecting rods and sliding rods in the three directions are kept parallel and located in a singular position. When the servo continues to drive the triangular turntable to rotate in the current direction, the unlocking action is performed, and the triangular turntable drives the connecting rods in three directions evenly distributed around the circumference to rotate. During the process, the sliding rod is subjected to tension and passes the singular position. The upper jaw is opened by the torsion force of the torsion spring, completing the synchronous unlocking of the three clamping devices. If locking and unlocking are performed again, the triangular turntable is driven to perform the above process in reverse by reversing the servo.

[0011] The docking frame is a rounded triangle frame structure, which serves as a locking frame between the upper jaw and the lower jaw when the three sets of clamping devices are docked; the three circumferential corners of the docking frame are connected to the clamped docking equipment through connecting columns.

[0012] The advantages of the present invention are:

[0013] 1. The bionic docking locking device for cooperation purposes of the present invention utilizes a servo to drive the triangular turntable to perform unidirectional rotational motion, thereby driving the slide bars evenly distributed in three directions of the circumference to slide in the slide groove to achieve stable locking and rapid unlocking. This driving method greatly simplifies the control; in the locked state, the driver does not need to apply external force by utilizing the characteristics of the singular position, which effectively reduces energy consumption and does not cause additional impact on the normal operation of the mobile robot carried;

[0014] 2. The bionic docking locking device for cooperation purposes of the present invention allows certain circumferential and radial errors between the docking frame and the bionic hook claw, providing a large tolerance range for the docking posture. The lower jaw surface of the clamping device has raised silicone and foam, and the support bolts and shock-absorbing springs serve as energy-absorbing devices to absorb the impact force of the docking frame during docking, which makes the clamping device sufficiently flexible. Even if a different docking frame is used, or there is an impact during the docking process, the flexible material can undergo passive deformation to achieve damage-free docking and reduce the impact of instantaneous impact during the docking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the bionic docking and locking device for cooperation purposes of the present invention;

[0016] Figure 2 It is a structural schematic diagram of the clamping device in the bionic docking locking device for cooperation purposes of the present invention in a locked state;

[0017] Figure 3 It is a schematic structural diagram of the clamping device in the bionic docking locking device for cooperation purposes of the present invention in an unlocked state.

[0018] In the figure:

[0019] 1-Main base 2-Clamping device 3-Locking device

[0020] 4-driving device 5-rounded triangle docking frame 101-main body lower plate

[0021] 102-main body upper plate 103-connecting column 201-upper jaw

[0022] 202- lower jaw 203- slide bar 204- shock absorbing spring

[0023] 205-locking piece 206-support bolt 201a-extension section

[0024] 201b-upper slide 201c-lower jaw connection hole 202a-lower jaw

[0025] 202b-connecting seat 203a-circular connector 203b-bending part

[0026] 202c- clamping plate 205a- connection surface 205b- middle surface

[0027] 205c- card surface 401- servo drive board 402- servo DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings.

[0029] like Figure 1 As shown, the bionic docking locking device for cooperation purposes of the present invention comprises a main base 1, a clamping device 2, a locking device 3, a driving device 4 and a rounded triangle docking frame 5, as shown in FIG. Figure 1 shown.

[0030] The main body base 1 includes a main body lower plate 101, a main body upper plate 102 and a connecting column 103. The main body lower plate 101 and the main body upper plate 102 are both rectangular plates, arranged parallel to each other, and connected and fixed at the four circumferential corners by two connecting columns 103. The main body lower plate 101 has an outwardly extending portion at the four circumferential corners for mounting the feet of the mobile robot; at the same time, the axial design of the four circumferential corners of the main body upper plate 102 is a recess toward the center of the main body upper plate, providing a larger space for foot installation.

[0031] The clamping device 2 is composed of three sets, which are installed on the upper surface of the main body upper plate 102 at equal angles in the circumferential direction. The structure of a single set of clamping devices 2 imitates the shape of a crab claw, including an upper jaw 201, a lower jaw 202, a slide bar 203, a shock absorbing spring 204, a positioning member 205 and a support bolt 206. Figure 2 shown.

[0032] The lower jaw 202 includes two parts, the upper part is the lower jaw jaw part 202a of the arc plate structure, and the lower part is the connecting seat 202b; the lower jaw jaw part 202a is arranged perpendicular to the upper surface of the main body upper plate 102, and the inner arc surface faces upward. The middle part of the outer arc surface of the lower jaw jaw part 202a is connected to the middle part of the top surface of the connecting seat 202b; a shock absorbing spring 204 is arranged between the bottom surface of the left and right parts of the connecting seat 202b and the upper surface of the main body upper plate 102; further, the support bolt 206 passes through the through holes opened at both ends of the connecting seat 202b, the shock absorbing spring 204 and the through holes opened on the main body upper plate 102 in sequence, and is connected with the nut thread; the shock absorbing spring 204 is used to achieve shock absorption during the docking clamping process.

[0033] A locking member 205 is installed on one side of the top surface of the connection seat 202b. The locking member 205 has a connection surface 205a, a middle surface 205b and a locking surface 205c. Figure 1 As shown. The middle surface 205b is vertically arranged with the connecting surface 205a, and the bottom edge is connected with the front edge of the connecting surface 205a; the locking surface 205c is parallel to the connecting surface 205a, and the rear edge is connected with the top edge of the middle surface 205b. The hole on the connecting surface 205a of the locking member 205 of the above mechanism is sleeved on the supporting bolt 206, and is located between the nut of the supporting bolt 206 and the top surface of the connecting seat 202b, and the axial positioning is achieved by the nut of the supporting bolt 206 and the elasticity of the shock absorbing spring 204.

[0034] After the above-mentioned positioning member 205 is installed, a slide groove is formed between the positioning surface 205c, the middle surface 205b and the top surface of the connecting seat 202b on one side of the lower jaw 202a. A slide rod 203 is arranged in the slide groove. The slide rod is arranged parallel to the lower jaw 202a and can slide along the slide groove. The slide rod 203 is limited by the lower jaw 202a to ensure that the slide rod 203 will not fall out of the side of the slide groove. A circular joint 203a is designed at the front end of the slide rod 203. A connecting hole with an axis perpendicular to the main body upper plate 102 is opened on the circular joint for connecting the locking device 3. An upward bending part 203b is designed at the end of the slide rod 203. A joint is designed on the side of the bending part 203b facing the lower jaw 202a for connecting the upper jaw 201.

[0035] The upper jaw 201 is an arc-shaped plate structure, which is arranged perpendicular to the main body upper plate 102, and the inner arc surface faces downward. The upper jaw 201 has a straight extension section 201a at the end, and a slideway 201b is designed along the extension section 201a, passing through the left and right walls of the extension section 201a. At the same time, a lower jaw connection hole 201c is designed at the starting position of the extension section 201a (the upper jaw end).

[0036] The upper jaw 201 of the above structure is matched with the through hole at the end of the lower jaw 202 through the lower jaw connection hole 203c, and is connected by a rotating shaft to form a rotating pair, forming a crab claw shape, with the open end facing the center of the main upper plate 102; a torsion spring is installed on the rotating shaft, and the two ends of the torsion spring are respectively fixed to the upper jaw 201 and the lower jaw 202. At the same time, the slideway 201b on the extension section 201a of the upper jaw 201 and the joint on the bent part 203b at the end of the slide rod 203 are matched and sleeved to form a moving pair. The torsion spring is in a free state, the upper jaw 201 and the lower jaw 202 are in an open state, and the connector on the bent portion 203b is located on the side of the slideway 201b on the extension section 201a close to the end of the upper jaw 201; by sliding the slide bar 203 backward, the upper jaw 201 can be driven to overcome the torsion force of the torsion spring and rotate around the rotation axis toward the lower jaw 202, thereby realizing the closure of the upper jaw 201 and the lower jaw 202; at this time, the connector on the bent portion 203b is located on the side of the slideway 201b on the extension section 201a away from the end of the upper jaw 201.

[0037] The locking device 3 includes a connecting rod 301 and a triangular rotating disk 302. Figure 1 As shown. The triangular turntable 302 is an isosceles triangular turntable, which is arranged parallel to the main body upper plate 102, and has a columnar joint at the circumferential triangular position, and a connecting hole with an axis perpendicular to the upper surface of the main body upper plate 102 is opened on the joint. There are three connecting rods, one end of which is connected to the connecting holes at the triangular position of the triangular turntable 302 through a rotating shaft to form a rotating pair, and the other end is connected to the front end connecting holes of the sliding rod 203 in the three sets of clamping devices 2 arranged circumferentially through a rotating shaft to form a rotating pair.

[0038] The triangular rotating disk 302 in the locking device 3 is driven to rotate by the driving device 4. The driving device 4 includes a steering gear driving plate 401 and a steering gear 402. Figure 1 As shown. Among them, the steering gear drive plate 401 is fixedly installed on the main body lower plate 101, connected to the steering gear 402, and receives external commands to drive the steering gear 402 to move. The steering gear 402 is set on the main body lower plate 101 and supported by the main body lower plate 101; the steering gear 402 passes through the opening on the main body upper plate 101, and is connected and fixed to the main body upper plate 401 through the connecting flange designed circumferentially on the upper part of the steering gear 402 by screws; at the same time, the output shaft of the steering gear 402 is coaxially fixedly connected to the triangular turntable 302.

[0039] Therefore, when the driving device 4 is in action, the servo 402 drives the triangular turntable 302 to rotate unidirectionally to complete a locking and unlocking process. Specifically, the servo 402 drives the triangular turntable 302 to rotate, driving the connecting rods 301 in three directions evenly distributed circumferentially to rotate. At this time, the sliding rods 203 in the three sets of clamping devices 2 are pushed by the thrust to move away from the center of the main upper plate 102, and the upper jaw 201 overcomes the elastic force of the torsion spring and rotates around the rotating shaft toward the lower jaw 202, finally realizing the synchronous closing and locking of the three sets of clamping devices 2. Figure 3 As shown; at this time, the connecting rods 301 and the sliding rods 203 in the three directions are kept parallel and located at the singular position. When the servo 402 continues to drive the triangular turntable 302 to rotate in the current direction, the unlocking action is performed, and the triangular turntable 302 drives the connecting rods 301 in the three directions evenly distributed in the circumference to rotate. During the process, the sliding rod 203 is subjected to tension and passes the singular position. The upper jaw 201 is opened by the torsion force of the torsion spring, and the synchronous unlocking of the three sets of clamping devices 2 is completed. If locking and unlocking are performed again, the servo 402 can be used to reverse the direction of the triangular turntable 302 to perform the above process in reverse.

[0040] The docking frame 5 is a rounded triangle frame structure, which serves as the frame to be grasped when the three sets of clamping devices 2 are docked. The three corner positions of the docking frame 5 are connected to the bottom plate of the robot / aircraft to be docked by columnar connectors, and docking space is reserved. During the docking process, the docking device first approaches the bionic docking locking device of the present invention until the inner ends of the three lower jaws 202a in the three sets of clamping devices 2 all pass through the inner ring of the docking frame 5, and then controls the upper jaw 201 to rotate through the upper part of the docking frame 5 and pass through the inner ring of the docking frame 5, and cooperates with the lower jaw 202a to clamp the docking frame, so as to complete the locking and fixing of the docking device. During the locking process of the docking device, the docking frame 5 cooperates with the upper jaw 201 and the inner arc surface of the lower jaw 202a, so that the horizontal position of the docking frame 5 is automatically adjusted relatively. Finally, after the docking frame 5 is locked, the contact points between the upper jaw 201 and the lower jaw 202a and the docking frame 5 are an equilateral triangle; at the same time, an arc-shaped clamping plate 202c is installed on the side wall of the lower jaw 202a, and the inner arc surface of the clamping plate 202c is flush with the inner arc surface of the lower jaw 202a, and is opposite to the inner arc surface of the upper jaw 201 up and down; at the same time, silicone or foam material protrusions are evenly designed on the inner arc surface of the clamping plate 202c and the inner arc surface of the upper jaw 201, which increases the friction force of the docking frame 5 and prevents the docking frame 5 from slipping off after locking.

[0041] The bionic docking locking device for cooperation purposes of the present invention utilizes a servo 402 to drive the triangular turntable 301 to perform unidirectional rotational motion, thereby driving the slide bars 203 evenly distributed in three directions of the circumference to slide in the slide groove to achieve stable locking and rapid unlocking. This driving method greatly simplifies the control; in the locked state, utilizing the characteristics of the singular position, the drive device 4 does not need to apply external force, effectively reducing energy consumption, and will not cause additional impact on the normal operation of the mobile robot carried; in actual application, the locking and unlocking actions can be completed by powering on the servo 402, and a large tolerance range is provided for the docking posture. The surface of the lower jaw 202a of the clamping device 2 has raised silicone and foam, and the support bolts 206 and the damping springs 204 are used as energy absorbing devices to absorb the impact force of the docking frame 5 during docking, which makes the clamping device 2 have sufficient flexibility. Even if a different docking frame 5 is used, or there is an impact during the docking process, the flexible material can undergo passive deformation to achieve damage-free docking and reduce the impact of instantaneous impact during the docking process.

Claims

1. A bionic docking and locking device for cooperation purposes, characterized in that: It includes a main body base, a clamping device installed on the main body base, a locking device, a driving device, and a docking frame that cooperates with the clamping device for clamping; The clamping devices are evenly distributed in the axial direction and installed on the top surface of the main body base; a single set of clamping devices includes an upper jaw, a lower jaw, a sliding rod, a shock absorbing spring, a positioning member and a supporting bolt; The lower jaw includes two parts, the upper part is the lower jaw part of the arc plate structure, and the lower part is the connecting seat; the lower jaw part is arranged perpendicular to the upper surface of the main body upper plate, and the inner arc surface faces upward; the middle part of the outer arc surface of the lower jaw part is connected with the middle part of the top surface of the connecting seat, and is installed on the top surface of the main body base through the connecting seat; a sliding rod is installed on the top surface of the connecting seat in a sliding fit; the axis of the sliding rod is parallel to the lower jaw part; a joint is designed at the end of the sliding rod for connecting the upper jaw; The upper jaw is an arc-shaped plate structure, which is arranged perpendicular to the upper plate of the main body, and the inner arc surface faces downward; an extension section is designed at the terminal end of the upper jaw, and a slideway is designed along the upper edge of the extension section; a lower jaw connecting hole is designed at the terminal end of the upper jaw; the upper jaw cooperates with the through hole at the terminal end of the lower jaw through the lower jaw connecting hole, and is connected through a rotating shaft to form a rotating pair, and the open ends of the two face the central axis of the upper plate of the main body; at the same time, the slideway on the extension section of the upper jaw and the joint on the end of the slide rod are sleeved to form a moving pair; a torsion spring is installed on the above-mentioned rotating shaft, and when the torsion spring is in a free state, the upper jaw and the lower jaw are in an unlocked and open state; and the connecting head at the end of the slide rod is located on the side of the slideway on the extension section close to the end of the upper jaw; by sliding the slide rod backward, the upper jaw is driven to overcome the torsion of the torsion spring and rotate around the rotating shaft toward the lower jaw, thereby realizing the closed locking between the upper jaw and the lower jaw; at this time, the connecting head at the end of the slide rod is located on the side of the slideway on the extension section away from the end of the upper jaw; The locking device comprises a connecting rod and a triangular rotating disk; wherein the triangular rotating disk is an isosceles triangular rotating disk, which is arranged parallel to the upper plate of the main body; there are three connecting rods, one end of which is connected to the triangular part of the triangular rotating disk through a rotating shaft to form a rotating pair, and the other end is connected to the front end connecting holes of the sliding rods in the three sets of clamping devices arranged circumferentially through a rotating shaft to form a rotating pair; the triangular rotating disk in the locking device is driven to rotate by a driving device, and the one-way rotation of the triangular rotating disk realizes the unlocking and locking process between the upper jaw and the lower jaw; The docking frame is a rounded triangle frame structure, which serves as a locking frame between the upper jaw and the lower jaw when the three sets of clamping devices are docked; the three circumferential corners of the docking frame are connected to the clamped docking equipment through connecting columns.

2. A bionic docking and locking device for cooperation purposes as claimed in claim 1, characterized in that: The main body base includes a main body lower plate and a main body upper plate of a rectangular structure, which are arranged in parallel and connected and fixed by connecting columns at the four circumferential corners; the main body lower plate has outward extending parts at the four circumferential corners for installing the feet of the mobile robot; at the same time, axial recesses are designed at the four circumferential corners of the main body upper plate toward the center of the main body upper plate to increase the space for foot installation.

3. A bionic docking and locking device for cooperation purposes as claimed in claim 1, characterized in that: A shock-absorbing spring is arranged between the connecting seat and the upper surface of the main body upper plate; further, the supporting bolts pass through the through holes opened at both ends of the connecting seat, the shock-absorbing spring and the through holes opened on the main body upper plate in sequence, and are connected with the nut threads.

4. A bionic docking and locking device for cooperation purposes as claimed in claim 1, characterized in that: The slide bar realizes sliding cooperation with the connecting seat through a locking piece; the locking piece has a connecting surface, an intermediate surface and a locking surface; wherein the intermediate surface is vertically arranged to the connecting surface, and the bottom edge is connected to the front edge of the connecting surface; the locking surface is parallelly arranged to the connecting surface, and the rear edge is connected to the top edge of the intermediate surface; in the locking piece of the above structure, the connecting surface is fixed to the top surface of the connecting seat, and the locking surface, the intermediate surface and the top surface of the connecting seat form a sliding groove, and the slide bar is arranged in the sliding groove.

5. A bionic docking and locking device for cooperation purposes as claimed in claim 1, characterized in that: After the docking frame is locked, the contact points between the upper and lower jaws and the docking frame form an equilateral triangle.

6. A bionic docking and locking device for cooperation purposes as claimed in claim 1, characterized in that: An arc-shaped clamping plate is installed on the side wall of the lower jaw, and the inner arc surface of the clamping plate is flush with the inner arc surface of the lower jaw, and is opposite to the inner arc surface of the upper jaw in upper and lower directions; at the same time, silicone or foam material protrusions are evenly designed on the inner arc surface of the clamping plate and the inner arc surface of the upper jaw, so that the inner arc surfaces of the two form an occlusal surface, which increases the friction force of the docking frame and makes the docking frame not easy to slip after locking.

7. A bionic docking and locking device for cooperation purposes as claimed in claim 1, characterized in that: The servo drives the triangular turntable to rotate unidirectionally to complete a locking and unlocking process. Specifically, the servo drives the triangular turntable to rotate, driving the connecting rods in three directions evenly distributed circumferentially to rotate. At this time, the sliding rods in the three sets of clamping devices are moved away from the center of the upper plate of the main body by the thrust, and the upper jaw overcomes the elastic force of the torsion spring and rotates around the rotating shaft toward the lower jaw, finally realizing the synchronous closure and locking of the three sets of clamping devices; at this time, the connecting rods and the sliding rods in the three directions are kept parallel and located in a singular position; when the servo continues to drive the triangular turntable to rotate in the current direction, the unlocking action is performed, and the triangular turntable drives the connecting rods in three directions evenly distributed circumferentially to rotate. During the process, the sliding rod is subjected to tension and passes the singular position. The upper jaw is opened by the torsion force of the torsion spring, and the synchronous unlocking of the three sets of clamping devices is completed; if locking and unlocking are performed again, the triangular turntable is driven to perform the above process in reverse by reversing the servo.

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