A connection and separation mechanism, a connection and separation method, and a docking and reconstruction vehicle body

Abstract

The present invention belongs to the field of docking and reconstructing vehicle bodies, and specifically relates to a connection and separation mechanism, a connection and separation method, and a docking and reconstructing vehicle body, wherein the connection and separation mechanism includes a driving shaft and a locking member; the driving shaft includes a limit block I, a sliding rod, and a limit block II arranged in sequence; the locking member is sleeved on the sliding rod and can slide and rotate on the sliding rod, one end of the locking member is meshed with the tooth groove of the limit block I, and the other end is meshed with the tooth groove of the limit block II, wherein the tooth groove meshing drives the locking member to rotate. In the process of a reciprocating stroke of the driving shaft of the present invention, two sets of tooth grooves are meshed to realize the rotation of the locking member, thereby realizing the switching of the unlocking state and the locking state of the locking member.

Description

Technical Field

[0001] The invention belongs to the field of docking and reconstructing vehicle bodies, and in particular relates to a connection and separation mechanism, a connection and separation method, and a docking and reconstructing vehicle body. Background Art

[0002] At present, the concept of reconfigurable modularity has been widely studied in robot-related fields. Reconfigurable modular robots have the characteristics of modularity and reconfigurability, flexibility and adaptability, easy and economical maintenance, and a wide range of application scenarios. These characteristics make reconfigurable modular robots have broad application prospects and development potential in various fields.

[0003] The connection and separation mechanism between modules in a reconfigurable modular robot plays a crucial role in the flexibility of connection and separation, the stability of connection and separation, and the load-bearing capacity after connection.

[0004] The Chinese invention patent application "CN118457108A-A reconfigurable special vehicle unit connection mechanism" proposes a connection and separation mechanism, in which "the male wedge of one vehicle unit A and the female wedge of another vehicle unit A are docked to a predetermined position through a conical guide head (guide cone), and then the motor is controlled to start. The rotation of the motor drives the two transmission rods to rotate, and the external thread of the screw lock head of the transmission rod begins to engage with the internal thread of the screw hole at the tail of the female wedge, thereby applying force to pull the vehicle unit A with the female wedge installed toward the vehicle unit A with the male wedge installed until the male wedge and the female wedge are completely fitted. At this time, the motor stops rotating, and reliable, automatic and precise connection of adjacent vehicle units is achieved. " This method relies on threaded mating, and the stability of the connection depends on the engagement of the threaded mating surface. Therefore, the threaded mating surface is prone to slippage under heavy loads, which is not suitable for heavy load scenarios. Moreover, the thread engagement requires a certain engagement time, and the efficiency of connection and separation needs to be improved. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a connection and separation mechanism with high efficiency, stability and flexibility, a connection and separation method and a docking and reconstruction vehicle body.

[0006] The present invention provides a connection and separation mechanism, comprising a locking portion and a locking matching portion, wherein the locking portion comprises a driving shaft and a locking member;

[0007] The driving shaft comprises a limit block I, a sliding rod and a limit block II which are arranged in sequence; the locking member is sleeved on the sliding rod and can slide and rotate on the sliding rod, one end of the locking member is engaged with the tooth groove of the limit block I, and the other end is engaged with the tooth groove of the limit block II, and the locking member is driven to rotate during the tooth groove engagement process;

[0008] When driving the locking member to rotate for unlocking and locking operations, the driving shaft moves linearly toward the limit block II in the axial direction, and the limit block I moves to engage with the tooth groove at one end of the locking member. During the engagement process, the tooth groove drives the locking member to rotate positively around the axis by a first angle, and the driving shaft moves linearly away from the limit block II in the axial direction, and the limit block II moves to engage with the tooth groove at the other end of the locking member. During the engagement process, the tooth groove drives the locking member to rotate positively around the axis by a second angle.

[0009] Furthermore, the tooth grooves include oblique teeth and oblique grooves; the oblique teeth include guide convex surfaces and limiting convex surfaces, and the guide convex surfaces are arranged inclined; the oblique grooves include guide concave surfaces and limiting concave surfaces, and the guide concave surfaces are arranged inclined.

[0010] Furthermore, the limiting convex surface and the limiting concave surface are arranged parallel to the axial direction of the sliding rod.

[0011] Furthermore, a plurality of the oblique teeth and oblique grooves are arranged in a ring array along the axial direction.

[0012] Furthermore, when one set of tooth grooves is engaged, the limiting convex surface of the other set of tooth grooves is aligned with the inclined surface of the corresponding guiding concave surface.

[0013] Furthermore, it also includes a fixed seat; the driving shaft is linearly movable on the fixed seat, and when the locking member is engaged with the tooth groove of the limit block II, the locking member abuts against the fixed seat.

[0014] Furthermore, a spring is provided between the locking member and the limiting block I.

[0015] Furthermore, it also includes a locking matching part, which includes a fitting box, one end of which is provided with an inlet and outlet, and the other end of which is provided with an abutment plate, and the abutment plate is provided with a fitting hole for accommodating the limit block II;

[0016] The side wall of the mating box is provided with a locking position and an unlocking position. When the locking member rotates a third angle, the locking member and the locking matching portion complete locking. When the locking member rotates a third angle again, the locking member and the locking matching portion complete unlocking.

[0017] The present invention also provides a connection and separation method, using the above connection and separation mechanism, comprising the following steps:

[0018] S1, locking process: the driving shaft moves linearly toward the limit block II in the axial direction, the limit block I moves to engage with the tooth groove at one end of the locking member, and during the engagement process, the tooth groove drives the locking member to rotate positively around the axis by a first angle, the driving shaft moves linearly away from the limit block II in the axial direction, the limit block II moves to engage with the tooth groove at the other end of the locking member, and during the engagement process, the tooth groove drives the locking member to rotate positively around the axis by a second angle; the locking member rotates a third angle in total and switches to a locked state;

[0019] S2, unlocking process: repeat step S1, the locking member is rotated to a third angle and switched to an unlocked state.

[0020] The present invention also provides a butt-jointed reconstructed vehicle body, comprising a vehicle frame, on which the above-mentioned connecting and separating mechanism is arranged.

[0021] The beneficial effect of the present invention is that the connection and separation mechanism provided by the present invention, that is, the extension and retraction of the drive shaft drives the locking member to rotate in the positive direction around the axis, and the extension of the drive shaft causes the locking member to rotate in the positive direction around the axis by a first angle, and the resetting causes the locking member to rotate in the positive direction around the axis by a second angle, and finally, during one reciprocating stroke of the drive shaft, the two sets of tooth grooves are engaged to realize the rotation of the locking member to a third angle (the first angle plus the second angle), thereby realizing the switching of the locking member from the initial angle to the third angle, and realizing the switching of the locking member between the unlocked state and the locked state. In addition, when the drive shaft performs another reciprocating stroke, the locking member will rotate to the third angle again, and the unlocked state and the locked state will be switched again.

[0022] In addition, the present invention can also provide multiple angle controls for the locking member, that is, controlling the drive shaft to always be in a state where the limit block I is meshed with the locking member tooth groove, which can keep the locking member always in one angle state; controlling the drive shaft to always be in a state where the limit block II is meshed with the locking member tooth groove, which can keep the locking member always in another angle state.

[0023] In addition, the tooth-groove engagement of the present invention can not only provide a rotational driving force for the locking member, but also lock the unlocked state and the locked state of the locking member, that is, when the locking member is in the unlocked state or the locked state, one of the limit blocks I and the limit blocks II is engaged with the tooth-groove of the locking member, and after the tooth-groove engagement, the locking member can be restricted from continuing to rotate, thereby locking the state of the locking member.

[0024] In addition, the connection and separation mechanism of the present invention only requires a drive shaft and a locking member that are connected to each other. During the reciprocating movement of the drive shaft, the locking member can be controlled to rotate and switch between the unlocked state and the locked state. The entire control is flexible and convenient, making the connection and separation efficient.

[0025] When the connection and separation mechanism is used for frame connection, that is, a drive shaft and a locking member are provided on one frame, and a locking matching part is correspondingly provided on the other frame, the locking of the locking member and the locking matching part can be completed only by forming a certain impact force between the two frames. Specifically, the frame with the drive shaft and the locking member and the frame with the locking matching part are relatively close to each other. When matching, the locking member abuts against the locking matching part. At this time, the force of the two frames approaching each other will drive the drive shaft to move axially, so that the limit block I engages with the locking member tooth groove, and then the locking member rotates to a first angle. After completing this step, the two frames will move away from each other due to the impact reaction force. At this time, the axial movement of the drive shaft will move axially in the opposite direction, so that the limit block II engages with the locking member tooth groove, and the locking member rotates to a second angle to complete the locking, limit the two frames from further moving away, and complete the locking. At this time, the connection of the connection and separation mechanism does not require external drive, and only relies on the movement trend generated when the two parts to be connected approach each other, so that the connection structure is simple and the control logic is simple. At this time, the drive shaft can be connected to a linear drive mechanism or a spring can be set, that is, after the locking is completed, the linear drive mechanism or the spring can control the locking member and the limit block II to always maintain the tooth groove engagement, complete the axial and radial limitation of the locking member, and maintain the locked state. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Attached Figure 1 Schematic diagram of the docking process for two docking reconstruction vehicles;

[0027] Attached Figure 2 A schematic diagram of the docking connection of two docking reconstruction bodies;

[0028] Attached Figure 3 Structural diagram of the vehicle body reconstructed for a single docking;

[0029] Attached Figure 4 Reconstruct the main view of the car body for a single docking;

[0030] Attached Figure 5 For attachment Figure 4 A cross-sectional view of the locking portion from the middle AA;

[0031] Attached Figure 6 For attachment Figure 4 A cross-sectional view of the locking mating portion taken along the middle AA direction;

[0032] Attached Figure 7 A schematic diagram of the connection process of the connection and separation mechanism;

[0033] Attached Figure 8 It is a schematic diagram of the structure of the locking portion in the unlocked state;

[0034] Attached Fig. 9 For attachment Figure 8 Schematic diagram of the structure of the hidden fixing seat;

[0035] Attached Fig.10 is a schematic structural diagram of a locking state of the locking portion;

[0036] Attached Fig.11 It is a structural schematic diagram of the locking fitting part.

[0037] In the figure, 1-locking part; 11-driving shaft; 111-limiting block I; 112-sliding rod; 113-limiting block II; 12-locking member; 121-sliding sleeve; 122-locking block; 13-oblique teeth; 131-guide convex surface; 132-limiting convex surface; 14-oblique groove; 141-guide concave surface; 142-limiting concave surface; 15-fixed seat; 16-spring; 17-linear drive mechanism; 2-locking matching part; 21-mating box; 22-import and export; 23-abutment plate; 24-mating hole; 25-locking station; 26-unlocking station; 27-guide cavity; 3-frame. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] As attached Figure 1 -Attached Fig.11 As shown, the present invention provides a connection and separation mechanism, comprising a locking portion 1 and a locking matching portion 2, wherein the locking portion 1 comprises a driving shaft 11 and a locking member 12, wherein the locking member 12 is used to perform locking connection and unlocking and separation with the locking matching portion 2, and the driving shaft 11 is used to control the locking member 12 to be in a locked state or an unlocked state;

[0044] The driving shaft 11 includes a limit block I 111, a sliding rod 112 and a limit block II 113 which are arranged in sequence. The driving shaft 11 can be driven manually or by a linear driving mechanism 17 to perform linear reciprocating movement in the axial direction. It can also be achieved by a relative displacement driving force from the driving shaft 11 and the locking member 12. For example, when the driving shaft 11 is arranged on the vehicle body, after the vehicle frame drives the driving shaft 11 and the locking member 12 to reach the corresponding locking fitting portion 2, after the locking member 12 abuts against the locking fitting portion 2, when the driving shaft 11 has a tendency to continue to move toward the locking fitting portion 2, the driving shaft 11 can move relative to the locking member 12, thereby causing the driving shaft 11 to generate axial movement. Preferably, the driving shaft 11 is driven by a linear driving mechanism 17, and the linear driving mechanism 17 can be a linear module, a cylinder or a hydraulic cylinder.

[0045] The locking member 12 is sleeved on the sliding rod 112 and can slide and rotate on the sliding rod 112. Preferably, the locking member 12 includes a sliding sleeve 121 and a locking block 122 arranged on the outer wall of the sliding sleeve 121. The sliding sleeve 121 is sleeved on the sliding rod 112 and can slide and rotate on the sliding rod 112. The rotation of the locking block 122 realizes locking and unlocking with the locking matching part 2. One end of the locking member 12 is engaged with the tooth groove of the limit block I 111, and the other end is engaged with the tooth groove of the limit block II 113. When the locking member 12 includes the sliding sleeve 121, the sliding sleeve 121 One end is meshed with the tooth groove of the limit block I111, and the other end is meshed with the tooth groove of the limit block II113. Specifically, the sliding sleeve 121 is arranged between the limit block I111 and the limit block II113, and the length of the sliding sleeve 121 is shorter than the interval between the limit block I111 and the limit block II113, that is, the sliding sleeve 121 can only mesh with one of the limit block I111 and the limit block II113 at the same time, wherein the tooth groove will drive the tooth groove to produce a relative rotation trend during the tooth groove meshing process, that is, when the drive shaft 11 cannot rotate axially, the tooth groove meshing will drive the locking member 12 to rotate;

[0046] When driving the locking member 12 to rotate for unlocking and locking operations, the driving shaft 11 moves linearly along the axial direction toward the side of the limit block II 113, that is, the driving shaft 11 extends, and the limit block I 111 moves to engage with the tooth groove at one end of the locking member 12. During the engagement process, the tooth groove drives the locking member 12 to rotate positively around the axis by a first angle, and the driving shaft 11 moves linearly along the axial direction away from the side of the limit block II 113, that is, the driving shaft 11 is reset, and the limit block II 113 moves to engage with the tooth groove at the other end of the locking member 12. During the engagement process, the tooth groove drives the locking member 12 to rotate positively around the axis by a second angle.

[0047] The connection and separation mechanism provided by the present invention, that is, the extension and retraction of the drive shaft 11 drives the locking member 12 to rotate in the positive direction around the axis, and the extension of the drive shaft 11 causes the locking member 12 to rotate in the positive direction around the axis by a first angle, and the resetting causes the locking member 12 to rotate in the positive direction around the axis by a second angle. Finally, during a reciprocating stroke of the drive shaft 11, the two sets of tooth grooves are engaged to realize the rotation of the locking member 12 to a third angle (the first angle plus the second angle), thereby realizing the switching of the locking member 12 from the initial angle to the third angle, and realizing the switching of the locking member 12 between the unlocked state and the locked state. In addition, the drive shaft 11 performs another reciprocating stroke, and the locking member 12 will rotate to the third angle again, and the unlocked state and the locked state will be switched again.

[0048] In addition, the present invention can also provide multiple angle controls for the locking member 12, that is, controlling the drive shaft 11 to always be in a state where the limit block Ⅰ111 is meshed with the teeth of the locking member 12, so that the locking member 12 can always be kept in one of the angle states; controlling the drive shaft 11 to always be in a state where the limit block Ⅱ113 is meshed with the teeth of the locking member 12, so that the locking member 12 can always be kept in another angle state.

[0049] In addition, the tooth-groove engagement of the present invention can not only provide a rotational driving force for the locking member 12, but also lock the unlocked state and the locked state of the locking member 12, that is, when the locking member 12 is in the unlocked state or the locked state, one of the limit blocks Ⅰ111 and the limit blocks Ⅱ113 is engaged with the locking member 12 in the tooth-groove engagement, and after the tooth-groove engagement, the locking member 12 can be restricted from continuing to rotate, thereby locking the state of the locking member 12.

[0050] In addition, the connection and separation mechanism of the present invention only requires the drive shaft 11 and the locking member 12 to be connected to each other. During the reciprocating movement of the drive shaft 11, the locking member 12 can be controlled to rotate and switch between the unlocked state and the locked state. The entire control is flexible and convenient, making the connection and separation efficient.

[0051] In addition, when the connecting and separating mechanism is used for frame connection, that is, when a driving shaft 11 and a locking member 12 are provided on one of the frames, and a locking matching part 2 is correspondingly provided on the other frame, the locking of the locking member 12 and the locking matching part 2 can be completed only by forming a certain impact force between the two frames. Specifically, the frame with the driving shaft 11 and the locking member 12 and the frame with the locking matching part 2 are relatively close to each other. When matching, the locking member 12 abuts against the locking matching part 2. At this time, the approaching force of the two frames will drive the driving shaft 11 to move axially, so that the limit block Ⅰ111 engages with the tooth groove of the locking member 12, and then the locking member 12 rotates the first angle. After completing this step, the two frames will move away from each other due to the impact reaction force. At this time, the axial movement of the driving shaft 11 will move axially in the opposite direction, so that the limit block Ⅱ113 engages with the tooth groove of the locking member 12, and the locking member 12 rotates the second angle to complete the locking, thereby limiting the further distance between the two frames and completing the locking. At this time, the connection of the connection and separation mechanism does not require external drive, but only relies on the movement trend generated when the two parts to be connected are close to each other, so that the connection structure is simple and the control logic is simple. At this time, the drive shaft 11 can be connected to the linear drive mechanism 17 or a spring 16 can be set, that is, after the locking is completed, the linear drive mechanism 17 or the spring 16 can control the locking member 12 and the limit block II 113 to always keep the tooth groove meshing, complete the axial and radial limit of the locking member, and maintain the locked state. Moreover, the drive shaft 11 or the linear drive mechanism 17 is directly connected to the frame, so that the locking member 12 can move linearly relative to the frame.

[0052] In one embodiment, the tooth groove includes a beveled tooth 13 and a beveled groove 14, that is, the beveled tooth 13 is provided on the limit block Ⅰ111, and the beveled groove 14 is provided on the side of the sliding sleeve 121 close to the limit block Ⅰ111, or, the beveled groove 14 is provided on the limit block Ⅰ111, and the beveled tooth 13 is provided on the side of the sliding sleeve 121 close to the limit block Ⅰ111. Similarly, the beveled tooth 13 can be provided on the limit block Ⅱ113, and the beveled groove 14 can be provided on the side of the sliding sleeve 121 close to the limit block Ⅱ113, or, that is, the beveled groove 14 is provided on the limit block Ⅱ113, and the beveled tooth 13 is provided on the side of the sliding sleeve 121 close to the limit block Ⅱ113;

[0053] The helical teeth 13 include a guide convex surface 131 and a limiting convex surface 132, and the guide convex surface 131 is arranged obliquely;

[0054] The inclined groove 14 includes a guiding concave surface 141 and a limiting concave surface 142 , and the guiding concave surface 141 is arranged inclined.

[0055] During the meshing process, at the beginning, the outer end of the guiding convex surface 131 will abut against the outer end of the guiding concave surface 141, and the guiding convex surface 131 will continue to move toward the bottom of the guiding concave surface 141. During the relative movement of the two inclined guiding concave surfaces 141, the sliding rod 112 and the sliding sleeve 121 will be driven to rotate relative to each other. When the sliding rod 112 cannot rotate, the sliding sleeve 121 and the locking block 122 will be driven to rotate until the limiting convex surface 132 abuts against the limiting concave surface 142. At this time, the guiding convex surface 131 and the guiding concave surface 141 are in contact with each other, completing the meshing of the helical teeth 13 and the helical grooves 14.

[0056] In one embodiment, the limiting convex surface 132 and the limiting concave surface 142 are arranged parallel to the axial direction of the sliding rod 112 to improve the limiting effect when the limiting convex surface 132 and the limiting concave surface 142 are in contact with each other.

[0057] In one embodiment, the bevel teeth 13 and the bevel grooves 14 are arranged in a circular array along the axial direction. In this embodiment, there are multiple bevel teeth 13 and bevel grooves 14, and the number of bevel teeth 13 and bevel grooves 14 is related to the rotation angle of the driving locking member 12. For example, when the bevel teeth 13 and the bevel grooves 14 are arranged in a circular array and four groups are arranged, each tooth groove engagement will drive the locking member 12 to rotate 90°. When the bevel teeth 13 and the bevel grooves 14 are arranged in a circular array and eight groups are arranged, each tooth groove engagement will drive the locking member 12 to rotate 45°. In addition, in this embodiment, a bevel groove 14 is formed between two adjacent bevel teeth 13, and a bevel tooth 13 is formed between two adjacent bevel grooves 14. The tooth groove matching is a staggered matching of the bevel teeth 13 and the bevel grooves 14, which can increase the contact area and improve the matching stability.

[0058] In one embodiment, when one set of tooth grooves is engaged, the limiting convex surface 132 of the other set of tooth grooves is aligned on the inclined surface of the corresponding guide concave surface 141, that is, the number of oblique teeth 13 and oblique grooves 14 of the two sets of tooth grooves is inconsistent, or the number of oblique teeth 13 and oblique grooves 14 of the two sets of tooth grooves is consistent but arranged in a staggered manner. At this time, after one set of tooth grooves is engaged, the locking member 12 can stay at a certain angle. At this time, the locking member 12 and the other tooth groove are in a state of waiting for guided rotation alignment, that is, when the drive shaft 11 moves to engage the other set of tooth grooves, the outer end of the guide convex surface 131 of the set of tooth grooves will abut against the outer end of the guide concave surface 141. During the engagement process, the guide convex surface 131 continues to move toward the bottom of the guide concave surface 141. During the relative movement of the two inclined guide concave surfaces 141, the locking member 12 will be driven to rotate. Therefore, when any set of tooth grooves starts to mesh, the bevel teeth 13 and the bevel grooves 14 are not in a fully meshed state, but the guide convex surface 131 and the guide concave surface 141 slide relative to each other for a certain distance to reach a fully meshed state, and this relative sliding process drives the locking member 12 to rotate.

[0059] In one of the embodiments, the locking portion 1 further includes a fixing seat 15;

[0060] The driving shaft 11 is arranged on the fixed seat 15 for linear movement. Preferably, the linear driving mechanism 17 is fixed on the fixed seat 15, and the driving shaft 11 is arranged on the output shaft of the linear driving mechanism 17. When the locking member 12 is meshed with the tooth groove of the limit block Ⅱ113, that is, when the linear driving mechanism 17 is in the reset stroke, the limit block Ⅱ113 is meshed with the tooth groove of the locking member 12. At this time, the locking block 122 abuts against the fixed seat 15, so that the limit block Ⅱ113 axially limits the locking member 12 between the end face of the limit block Ⅱ113 and the fixed seat 15, and the meshing of the tooth groove of the limit block Ⅱ113 and the locking member 12 limits the axial rotation of the locking member 12, thereby realizing the axial movement and axial rotation limitation of the locking member 12 when the locking member 12 is in the locked state or the unlocked state. At this time, when the locking portion 1 is not performing locking and unlocking operations, the locking member 12 is limitedly fixed on the fixing seat 15 to prevent the locking member 12 from shaking.

[0061] Preferably, because the tooth groove engagement between the limit block II 113 and the locking member 12 can realize the axial movement and axial rotation limit of the locking member 12, the locking member 12 can be limited and fixed on the fixing seat 15 when the locking and unlocking work is not performed. When the locking and unlocking work is performed, the axial movement of the locking member 12 can be limited by abutting the abutment plate 23 of the locking matching part 2, and its axial rotation can be driven by the drive shaft 11. Therefore, the locking member 12 can be connected only to the drive shaft 11, and not directly connected to the fixing seat 15. At this time, the stability of each state of the locking member 12 can still be guaranteed. At the same time, the structure is simple and the cost is reduced. In other embodiments, the locking member 12 can also be rotatably connected to the end face of the fixing seat 15. Thereby improving the connection stability.

[0062] In one embodiment, a spring 16 is further provided between the locking member 12 and the limit block I111. The spring 16 is used to drive the locking member 12 to engage with the limit block II113 to ensure the engagement stability of the locking member 12 and the limit block II113. At this time, when the linear drive mechanism 17 drives the limit block I111 to move toward the locking member 12, the limit block I111 and the locking member 12 will compress the spring 16. At the same time, the limit block II113 will leave the locking member 12. After the limit block I111 and the locking member 12 engage with the tooth grooves and the linear drive mechanism 17 loses the extension power, the output end of the linear drive mechanism 17 can be driven to reset by the reset force of the spring 16. At this time, the limit block I111 leaves the locking member 12 and the limit block II113 engages with the tooth grooves of the locking member 12. That is, the linear drive mechanism 17 can omit the reset power, further simplify the structure, and reduce the requirements for the linear drive mechanism 17.

[0063] In one embodiment, the locking mating portion 2 includes a fitting box 21, one end of the fitting box 21 is provided with an inlet and outlet 22, the inlet and outlet 22 is used for the locking member 12 to be inserted and removed, and the other end is provided with an abutment plate 23, the abutment plate 23 is used to limit the end of the locking member 12, and the abutment plate 23 is provided with a fitting hole 24 for accommodating the limit block II113. When the locking member 12 is inserted into the fitting box 21 through the inlet and outlet 22 and the end of the locking member 12 abuts on the abutment plate 23, the axial position of the locking member 12 is fixed. At this time, the axial movement of the drive shaft 11 will not drive the axial movement of the locking member 12, and the axial movement of the drive shaft 11 will drive the limit block II113 to move, and the fitting hole 24 is used to provide a movable space for the movement of the limit block II113;

[0064] The side wall of the mating box 21 is provided with a locking position 25 and an unlocking position 26. When the locking member 12 rotates to a third angle, the locking member 12 and the locking matching portion 2 are locked. When the locking member 12 rotates to a third angle again, the locking member 12 and the locking matching portion 2 are unlocked. Preferably, the locking block 122 of the locking member 12 is a rectangular block. The interval between the two opposite side walls of the mating box 21 is greater than the length of the rectangular block. The opposite side walls are the unlocking position 26. In addition, the rectangular holes on the opposite side walls have a spacing less than the length of the rectangular block. The two rectangular holes are the locking position 25. When the locking member 12 is in the locking position 25, the length of the rectangular block is embedded in the two rectangular holes. At this time, the locking member 12 cannot axially leave the mating box 21 from the inlet and outlet 22 to complete the locking. When the locking member 12 is in the unlocking position 26, the locking member 12 can axially leave the mating box 21 from the inlet and outlet 22 to complete the unlocking.

[0065] In a preferred embodiment, the locking block 122 is a rectangular boss structure, and the bottom of the locking block 122 near the fixed seat 15 is a large end, and the other side is a small end, and the fixed seat 15 is also a rectangular boss structure, and the bottom of the fixed seat 15 near the locking block 122 is a small end, and the other side is a large end. The large end of the locking block 122 is consistent with the small end of the fixed seat 15, and thus a large rectangular boss structure is formed when the locking member 12 is in an unlocked state. A guide cavity 27 is provided on the side of the chimeric box 21 near the inlet and outlet 22, and the cavity of the guide cavity 27 is adapted to the outer wall of the fixed seat 15 to facilitate the locking block 122 of the rectangular boss structure to enter the chimeric box 21 through the large-sized guide cavity 27. After the insertion is completed, the fixed seat 15 cooperates with the guide cavity 27, and the locking block 122 cooperates with the chimeric box 21.

[0066] The present invention also provides a connection and separation method, using the above connection and separation mechanism, comprising the following steps:

[0067] S1, locking process: the drive shaft 11 moves linearly toward the limit block II 113 along the axial direction, the limit block I 111 moves to engage with the tooth groove at one end of the locking member 12, and during the engagement process, the tooth groove drives the locking member 12 to rotate positively around the axis by a first angle, the drive shaft 11 moves linearly away from the limit block II 113 along the axial direction, the limit block II 113 moves to engage with the tooth groove at the other end of the locking member 12, and during the engagement process, the tooth groove drives the locking member 12 to rotate positively around the axis by a second angle; the locking member 12 rotates a total of a third angle and switches to a locked state;

[0068] S2, unlocking process: repeat step S1, the locking member 12 is rotated to a third angle and switched to the unlocking state.

[0069] In a specific embodiment, the locking portion 1 includes a fixing seat 15, the tooth grooves of the limit block I 111 and the locking member 12 have 8 groups of oblique teeth 13 and oblique grooves 14, the tooth grooves of the limit block II 113 and the locking member 12 have 4 groups of oblique teeth 13 and oblique grooves 14 (at this time, the tooth grooves of the limit block I 111 and the locking member 12 are engaged mainly to make the oblique teeth 13 of the limit block II 113 and the locking member 12 enter a downstream oblique groove 14), and a spring 16 is provided between the locking member 12 and the limit block I 111. At this time, the connection and separation steps with the locking matching portion 2 are as follows:

[0070] Locking connection process:

[0071] Insert the locking part 1 as a whole into the locking matching part 2. At this time, the fixing seat 15 matches with the guide cavity 27, the locking block 122 matches with the fitting box 21, and the end surface of the locking block 122 abuts against the abutting plate 23.

[0072] The linear drive mechanism 17 is controlled to drive the drive shaft 11 to move linearly along the axial direction toward the limit block II 113, and the limit block I 111 moves to engage with the tooth groove at one end of the locking member 12. During the tooth groove engagement process, the locking block 122 rotates 45° in the positive direction around the axis, and the linear drive mechanism 17 is controlled to lose the moving power or the linear drive mechanism 17 is controlled to reset. The reset force of the linear drive mechanism 17 and / or the spring 16 drives the drive shaft 11 to move linearly away from the limit block II 113 along the axial direction. At this time, the limit block II 113 The locking member 12 is moved to engage with the tooth groove at the other end of the locking member 12. During the engagement process, the tooth groove drives the locking member 12 to rotate 45° in the positive direction around the axis (at this time, since the locking member 12 has been rotated 45° when the limit block Ⅰ111 is engaged with the tooth groove of the locking member 12, it will only rotate another 45° during the engagement process between the limit block Ⅱ113 and the tooth groove of the locking member 12). At this time, the locking member 12 rotates a total of 90° and switches to the locked state. The locking block 122 will be engaged on the locking station 25, thereby completing the locking of the locking part 1 and the locking matching part 2.

[0073] Unlock the separation process:

[0074] The linear drive mechanism 17 is controlled to perform another linear reciprocating stroke, and the locking member 12 is rotated 90° again to switch to the unlocked state. The locking block 122 will move to the unlocking station 26, thereby completing the unlocking of the locking portion 1 and the locking matching portion 2.

[0075] The present invention also provides a docking reconfigurable vehicle body, comprising a frame 3, on which the above-mentioned connection and separation mechanism is provided. Preferably, the above-mentioned connection and separation mechanism is provided on all four sides of the frame 3, and each side is provided with a locking portion 1 and a locking matching portion 2. Preferably, the locking portions 1 and the locking matching portions 2 on opposite sides of the frame 3 are arranged diagonally. Preferably, the frame 3 is a two-wheeled self-balancing vehicle module, and by providing a connection and separation mechanism, multiple frames 3 can be reconfigured and connected, and forward and reverse bidirectional connections in the front and rear and left and right directions can be achieved, and the combination vehicles of various configurations such as 4×4, 6×6, and 8×8 can be quickly reconfigured and connected.

[0076] The above is only an embodiment and does not limit the present invention in any way. Any person skilled in the art can use the above disclosed technical contents to make many possible changes, modifications or modifications to the technical solutions of the present invention into equivalent embodiments of equivalent changes without departing from the scope of the technical solutions of the present invention. Therefore, any simple modification, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A connection and separation mechanism, characterized in that: It comprises a locking portion (1) and a locking matching portion (2), wherein the locking portion (1) comprises a drive shaft (11) and a locking member (12); The driving shaft (11) comprises a limit block I (111), a sliding rod (112) and a limit block II (113) which are arranged in sequence; The locking member (12) is sleeved on the sliding rod (112) and can slide and rotate on the sliding rod (112); one end of the locking member (12) is meshed with the tooth groove of the limit block I (111), and the other end is meshed with the tooth groove of the limit block II (113); during the meshing process of the tooth groove, the locking member (12) is driven to rotate; When the locking member (12) is driven to rotate to perform unlocking and locking operations, the drive shaft (11) moves linearly along the axial direction toward the limit block II (113), and the limit block I (111) moves to engage with the tooth groove at one end of the locking member (12). During the engagement process, the tooth groove drives the locking member (12) to rotate positively around the axis by a first angle, and the drive shaft (11) moves linearly along the axial direction away from the limit block II (113), and the limit block II (113) moves to engage with the tooth groove at the other end of the locking member (12). During the engagement process, the tooth groove drives the locking member (12) to rotate positively around the axis by a second angle.

2. The connecting and separating mechanism according to claim 1, characterized in that: The tooth groove comprises an oblique tooth (13) and an oblique groove (14); the oblique tooth (13) comprises a guiding convex surface (131) and a limiting convex surface (132), and the guiding convex surface (131) is arranged obliquely; the oblique groove (14) comprises a guiding concave surface (141) and a limiting concave surface (142), and the guiding concave surface (141) is arranged obliquely.

3. The connection and separation mechanism according to claim 2, characterized in that: The limiting convex surface (132) and the limiting concave surface (142) are arranged parallel to the axial direction of the sliding rod (112).

4. The connecting and separating mechanism according to claim 3, characterized in that: A plurality of the oblique teeth (13) and oblique grooves (14) are arranged in a ring array along the axial direction.

5. The connection and separation mechanism according to claim 4, characterized in that When one set of tooth grooves is meshed, the limiting convex surface (132) of the other set of tooth grooves is aligned on the inclined surface of the corresponding guide concave surface (141).

6. The connecting and separating mechanism according to any one of claims 1 to 5, characterized in that: It also includes a fixed seat (15); the drive shaft (11) is arranged on the fixed seat (15) for linear movement, and when the locking member (12) is engaged with the tooth groove of the limit block II (113), the locking member (12) abuts against the fixed seat (15).

7. The connecting and separating mechanism according to claim 6, characterized in that: A spring (16) is also provided between the locking member (12) and the limiting block I (111).

8. The connecting and separating mechanism according to any one of claims 1 to 5 and 7, characterized in that: The locking mating portion (2) comprises a fitting box (21), one end of the fitting box (21) is provided with an inlet and outlet (22), the other end of the fitting box (21) is provided with an abutment plate (23), and the abutment plate (23) is provided with a fitting hole (24) for accommodating the limit block II (113); The side wall of the mating box (21) is provided with a locking station (25) and an unlocking station (26); when the locking member (12) is rotated to a third angle, the locking member (12) and the locking matching portion (2) are locked; and when the locking member (12) is rotated to a third angle again, the locking member (12) and the locking matching portion (2) are unlocked.

9. A connection and separation method, characterized in that: Using the connection and separation mechanism as described in any one of claims 1 to 8 comprises the following steps: S1, locking process: the drive shaft (11) moves linearly along the axial direction toward the limit block II (113), the limit block I (111) moves to engage with the tooth groove at one end of the locking member (12), and during the engagement process, the tooth groove drives the locking member (12) to rotate positively around the axis by a first angle, the drive shaft (11) moves linearly along the axial direction away from the limit block II (113), the limit block II (113) moves to engage with the tooth groove at the other end of the locking member (12), and during the engagement process, the tooth groove drives the locking member (12) to rotate positively around the axis by a second angle; the locking member (12) rotates a third angle in total and switches to a locked state; S2, unlocking process: repeating step S1, the locking member (12) is rotated to a third angle and switched to an unlocked state.

10. A docking and reconstructing vehicle body, characterized in that: It comprises a frame (3), on which the connecting and disconnecting mechanism according to claim 7 is arranged.

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