A petal-like docking interface driving device for space on-orbit assembly

Abstract

The present application belongs to the technical field of space docking, and particularly relates to a petal-shaped docking interface driving device for space on-orbit assembly. The docking interface driving device comprises a driving module, a fixing module, a locking module, an active interface and a passive interface. The locking module is in contact connection with the driving module, and the driving module and the active interface are connected with the fixing module through bolts to jointly constitute an active docking module. When two modules are docked, the isomorphic petal-shaped active and passive docking interfaces are engaged with each other, and the locking push rod in the locking module is driven by a motor to push the locking sleeve and the locking pin to reach and leave the locking groove to realize active locking and unlocking. The docking interface driving device has the advantages of simple and compact structure, motor power-off self-locking, small overall size, light weight, high reliability, and is suitable for quick docking and separation between space modular robots and mechanical arms.

Description

Technical Field

[0001] This invention belongs to the field of space robot docking technology, specifically relating to a petal-shaped docking interface driving device for on-orbit assembly in space. Background Technology

[0002] In recent years, with the rapid development of self-reconfigurable modular robots and the diversification of space missions, numerous mission scenarios requiring rapid docking and separation have emerged, such as the reconfiguration of modular robots, the assembly of modular satellites, and the use of climbing robotic arms for on-orbit assembly. Among these, docking devices that can achieve rapid docking, locking, and separation with high reliability and high tolerance have become one of the key technologies in these mission scenarios.

[0003] Currently, the main design schemes for docking devices include conical hole type, hook type, and magnetic attraction type. Conical hole type docking devices have the advantages of high reliability and high tolerance, but disadvantages include complex structure and drive mechanism, poor space utilization, and the need for separate design of active and passive modules. Hook type docking devices have the advantage of using a heterogeneous isomorphic structure, enabling interchangeability between active and passive docking mechanisms; however, they have disadvantages including complex design and smaller tolerance. Magnetic attraction type docking devices have the advantages of simple structure and fast, flexible operation, but disadvantages include poor stability and low reliability. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a petal-shaped docking interface drive device for on-orbit assembly in space. This docking interface drive device has the advantages of simple and compact structure, small overall size, light weight, easy assembly, high locking reliability, low energy consumption, versatility and high reliability. It can be widely used in the active and rapid docking, locking and separation release of modular robots and robotic arms.

[0005] To achieve the above objectives, the present invention adopts the following specific technical solution:

[0006] A petal-shaped docking interface driving device for on-orbit assembly in space, comprising a driving module, a fixing module, a locking module, an active interface, and a passive interface; the active interface and the passive interface are arranged opposite to each other and each is provided with a petal-shaped structure of different body isomorphic structure; the active interface is fixedly connected to the fixing module;

[0007] The drive module is connected within the fixed module and is used to drive the locking module to move linearly along the arrangement direction of the active interface and the passive interface;

[0008] When two modular robots dock, the petal-shaped structures of the active interface and the passive interface engage with each other, and the drive module drives the locking module to generate linear displacement, thereby pushing the locking pin of the locking module to move into the locking groove formed by the active interface and the passive interface to achieve active locking.

[0009] When the two modular robots unlock, the drive module drives the locking module to move in the opposite direction, pushing the locking pin away from the lock slot to achieve active unlocking.

[0010] Furthermore, the drive module includes a disc motor, a cylindrical cam, and a pulley;

[0011] The disc motor is fixedly connected to the fixing module by bolts;

[0012] The cylindrical cam is coaxially connected to the rotor of the disc motor, and two helical slides are arranged on its outer surface, with stops at both ends of the slides.

[0013] The pulley is fixedly connected to the locking module, and through its cooperation with the slide rail, it converts the rotational motion of the disc motor into the linear motion of the locking module.

[0014] Furthermore, the fixing module includes an active cover, a support sleeve, studs, and a main fixing frame;

[0015] The active cover is a stepped cylindrical structure with a first cylindrical surface and a second cylindrical surface; the first cylindrical surface is used to enclose and connect the drive module; the second cylindrical surface is used to enclose the locking module.

[0016] The drive module is installed inside the active cover;

[0017] The main fixing frame is provided with four circumferentially arrayed lifting lugs;

[0018] One end of the support sleeve is fixedly connected to the active cover, and the other end is fixedly connected to the lifting lug through the stud;

[0019] The active interface is fixedly connected to the lug.

[0020] Furthermore, the locking module includes a locking push rod, a locking end cap, a locking sleeve, and a locking pin;

[0021] The locking sleeve has two annular grooves, namely an inner first annular groove and an outer second annular groove; the first annular groove has a middle platform; the second annular groove is used to place the locking push rod and the locking pin.

[0022] The locking push rod has four circumferentially distributed push rods and two inner ring cylindrical protrusions located on the inner ring. The inner ring cylindrical protrusions are fitted with pulleys via snap rings, and the pulleys are supported on the slide rails, allowing the locking push rods to move along the slide rails of the cylindrical cam. The end face of each push rod is inclined, and the end of each push rod has a stepped surface that connects to the inclined surface. Before the two modular robots dock, the end of each push rod abuts against the locking pin. The inclined surface ensures space for the locking pin within the locking sleeve, and the stepped surface abuts against the locking pin during locking. The lower surface of the locking push rod has a first cylindrical boss for limiting its displacement after locking.

[0023] The locking push rod is located between the locking end cap and the locking sleeve;

[0024] The locking end cap is annular and is fixedly connected to the locking sleeve by self-tapping screws; the lower surface of the locking end cap is provided with a second cylindrical boss, which is used to push the locking end cap, thereby driving the locking sleeve and the locking pin away from the lock groove to achieve unlocking when unlocking is performed by the locking push rod;

[0025] The locking pin is a pin with symmetrical frustums at both ends and a cylinder in the middle.

[0026] Furthermore, the outer ring of the locking push rod is provided with outer ring cylindrical protrusions that correspond one-to-one with the inner ring cylindrical protrusions;

[0027] The active cover is provided with a limiting block for limiting and guiding the locking push rod;

[0028] The outer cylindrical protrusion cooperates with the limiting block to restrict the circumferential movement of the locking push rod and ensure that the locking push rod moves in a straight line.

[0029] The locking push rod is provided with a symmetrical annular groove to prevent interference between the limiting block and the locking push rod.

[0030] Furthermore, the active interface has four petal-shaped first guide bodies arranged in a circumferential array at one end facing the passive interface, and a first countersunk hole is provided on the tapered surface formed between adjacent first guide bodies; the active interface is fixedly connected to the lifting lug by bolts installed in the first countersunk holes;

[0031] The active interface has a fourth cylindrical boss on its upper surface at the end opposite to the passive interface; the fourth cylindrical boss is used to limit the locking push rod.

[0032] The active interface has multiple first locking slots on its cylindrical outer circumferential surface.

[0033] Furthermore, the passive interface is provided with a second guide that mates with the first guide, and a second countersunk hole is provided on the tapered surface formed between adjacent second guides, the second countersunk hole being used to install bolts;

[0034] The passive interface has a second locking groove on its cylindrical outer circumferential surface that corresponds one-to-one with the first locking groove.

[0035] When the active interface is connected to the passive interface, the first locking slot and the second locking slot are connected to form a locking slot, and the locking pin is engaged in the locking slot to realize the connection between the active interface and the passive interface.

[0036] Furthermore, the cylindrical cam is provided with a first central through hole for connecting the disc motor, three equal-angled circumferential array through holes for connecting with the disc motor, and three circumferential array first weight reduction grooves.

[0037] Furthermore, both the active and passive interfaces are equipped with a thermal interface and an electrical interface at their centers.

[0038] Furthermore, the modular robot is a climbing robotic arm.

[0039] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0040] The docking interface drive device of the present invention is used for on-orbit assembly in space. It adopts a drive module of disc motor and cylindrical cam, which ensures high driving torque while being compact in structure and simple to assemble. It greatly reduces the axial dimension of the docking device, which effectively reduces the space occupied by the docking device in the robot or robotic arm and improves the application space and scenarios of the docking device. The cylindrical cam used is designed with a spiral slide on its surface by calculation, which can precisely control the movement distance of the locking push rod, ensuring the accuracy and reliability of locking.

[0041] The docking interface driving device of the present invention adopts a petal-shaped heterogeneous isomorphic guide interface, which has a simple structure and avoids the design of male and female heads. During the docking process, even if the robotic arm or robot has a certain positioning error, it can slide into the passive interface through the petal-shaped guide interface, realizing highly reliable docking, reducing the accuracy requirements of the docking position, and having a high docking tolerance.

[0042] The locking module used in the docking interface drive device of the present invention ensures that the locking push rod is only subjected to radial reaction force from the locking pin and not axial reaction force, thus guaranteeing that the locking module can still achieve reliable mechanical self-locking of the docking device after the motor is powered off, thereby reducing power consumption.

[0043] The docking interface driving device of the present invention has a simple and compact overall structure, small size, light weight, and high reliability. It can achieve rapid active locking and unlocking, and has quick assembly and data interfaces. It is highly versatile and suitable for many task scenarios that require rapid docking and separation, such as modular robots and climbing robotic arms. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of the petal-shaped docking interface driving device in an embodiment of the present invention;

[0045] Figure 2 This is an exploded view of the petal-shaped docking interface driving device in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the cylindrical cam in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the locking push rod in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the locking end cap structure in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the locking sleeve in an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of the active shield structure in an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of the main fixing frame in an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of the active interface in an embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the structure of the docking interface driving device before locking in an embodiment of the present invention;

[0054] Figure 11 This is a schematic diagram of the structure of the docking interface driving device after locking in an embodiment of the present invention;

[0055] Figure 12 This is a schematic diagram of the docking of the modular robot in an embodiment of the present invention.

[0056] Reference numerals: 1-Drive module, 2-Fixing module, 3-Locking module, 4-Active interface, 5-Passive interface, 11-Disc motor, 12-Cylindrical cam, 13-Pulley, 21-Active cover, 22-Support sleeve, 23-Stud, 24-Main fixing frame, 31-Locking push rod, 32-Locking end cap, 33-Locking sleeve, 34-Locking pin, 41-First guide body, 42-First countersunk hole, 43-Fourth cylindrical boss, 44-First locking groove, 45-Heat interface, 46-Data interface, 121-Equal angle circumferential array through hole, 122-First weight reduction groove, 123-First central through hole, 124-Slide rail, 125-Stop block, 211-First cylindrical surface, 212-Second central through hole, 213 - Array through holes, 214 - Rectangular notch, 215 - Second cylindrical surface, 216 - First fixed through hole, 217 - Arc-shaped groove, 218 - Second fixed through hole, 241 - Lifting lug, 242 - First through hole, 243 - Second through hole, 244 - Third through hole, 245 - Fourth through hole, 311 - Inner ring cylindrical protrusion, 312 - Outer ring cylindrical protrusion, 313 - First cylindrical boss, 314 - Through hole, 315 - Push rod, 316 - Symmetrical ring groove, 317 - Second weight reduction groove, 321 - Fixed through hole, 322 - Second cylindrical boss, 331 - Third cylindrical boss, 332 - Through hole, 333 - Blind hole, 334 - Third weight reduction groove, 335 - Fourth weight reduction groove, 336 - Locking cavity, 337 - Circular shaft. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] like Figure 1 and Figure 2 As shown in the structure, this embodiment of the invention provides a petal-shaped docking interface driving device for on-orbit assembly in space. The docking interface driving device includes a driving module 1, a fixing module 2, a locking module 3, an active interface 4, and a passive interface 5. The active interface 4 is fixedly connected to the fixing module 2. The driving module 1, fixing module 2, locking module 3, and active interface 4 together form an active docking module. The passive interface 5 can be combined with any mechanical structure that can be assembled with it to form a passive docking module. Wherein:

[0059] Drive module 1 includes a disc motor 11, a cylindrical cam 12, and a pulley 13; the disc motor 11 is fixedly connected to the active cover 21 of the fixed module 2, and the cylindrical cam 12 is coaxially connected to the rotor of the disc motor 11 by bolts, driving the cylindrical cam 12 to rotate; the pulley 13 is fixedly connected to the locking module 3, and is restricted on the slide rail 124 of the cylindrical cam 12 by the locking push rod 31 of the locking module 3; Figure 3 As shown, the outer circumferential surface of the cylindrical cam 12 is provided with two helical slides 124.

[0060] The fixed module 2 includes an active cover 21, a support sleeve 22, a stud 23, and a main fixing frame 24; four support sleeves 22 are evenly distributed around the circumference of the active cover 21, and the support sleeves 22 are supported between the active cover 21 and the main fixing frame 24. One end of the support sleeve 22 is fixedly connected to the active cover 21 by bolts, and the other end is fixedly connected to the main fixing frame 24 by studs 23, forming a relatively fixed integrated structure.

[0061] The locking module 3 includes a locking push rod 31, a locking end cap 32, a locking sleeve 33, and a locking pin 34. The locking end cap 32 is fixedly connected to the locking sleeve 33 by bolts. The locking push rod 31 is located between the locking end cap 32 and the locking sleeve 33, and the four push rods of the locking push rod 31 are located in the second annular groove of the locking sleeve 33. The locking pin 34 is placed in the locking cavity provided in the second annular groove of the locking sleeve 33. The locking pin 34 is a pin shaft, including a central cylinder and symmetrical frustums provided at both ends of the cylinder.

[0062] The disc motor 11 of the drive module 1 is bolted into the active cover 21 of the fixed module 2; the locking push rod 31 in the locking module 3 is connected to the drive mechanism - cylindrical cam 12 in the drive module 1 via pulley 13. Driven by the disc motor 11, the cylindrical cam 12 pushes the pulley 13, thereby driving the locking push rod 31 to move linearly, further causing the locking module 3 to generate a relative displacement with respect to the fixed module 2; the active interface 4 is fixedly connected to the main fixing frame 23 in the fixed module 2 via bolts; the drive module 1, the fixed module 2, the locking module 3 and the active interface 4 together form an active docking module; the passive interface 5 can be assembled with any mechanical structure to form a passive docking module.

[0063] See appendix Figure 3The cylindrical cam 12 has three equal-angled circumferential array through holes 121 for connecting with the disc motor 11, three circumferential array first weight-reducing grooves 122, and a first central through hole 123. The first weight-reducing grooves 122 are used to reduce the weight of the cylindrical cam 12. The first central through hole 123 is a radial positioning hole for connecting the disc motor 11. The outer circumferential surface of the cylindrical cam 12 is also provided with two helical slides 124, and a stop block 125 is provided at both ends of the slides 124. A pulley 13 is supported on each slide 124, and the position of the pulley 13 is controlled by the rotation of the cylindrical cam 12. The cylindrical cam 12 enables the locking push rod 31, which contacts the slide 124 through the pulley 13, to convert the rotational motion of the disc motor 11 into linear motion of the locking push rod 31 along the axial direction under the action of the limiting block of the active cover 21. The mechanical limiting of the stop block 125 ensures that the locking push rod 31 can move according to the desired distance.

[0064] See appendix Figure 4 The inner ring surface of the locking push rod 31 is provided with two symmetrical inner ring cylindrical protrusions 311. The inner ring cylindrical protrusions 311 are used to assemble the pulley 13, and the pulley 13 is axially positioned by the snap ring installed in the snap ring groove of the inner ring cylindrical protrusion 311. The outer ring cylindrical protrusion 312 is provided on the outer side of the positioning ring of the locking push rod 31. The outer ring cylindrical protrusion 312 cooperates with the limiting block in the inner cavity of the active cover 21, so that the locking push rod 31 can only produce linear displacement. The first cylindrical protrusion 313 serves as a mechanical limit. After the locking pin 34 reaches the locking groove and achieves locking, it cooperates with the third cylindrical protrusion 331 provided on the locking sleeve 33. The movement of the locking push rod 31 is restricted. The through hole 314 is used to pass through the support sleeve 22 and restrict its position. The four circumferentially arrayed push rods 315 are the components that directly push the locking pin 34. The end face that contacts the locking pin 34 is a bevel, and a stepped surface that connects to the bevel is provided on the inner side. The bevel is used to ensure the space of the locking pin 34 in the locking sleeve 33. The plane forming the stepped surface is used to abut the locking pin 34 when locking. The cut symmetrical annular groove 316 is used to ensure that the limiting block in the active cover 21 does not interfere with the locking push rod 31. The second weight-reducing groove 317 cut on the locking push rod 31 is used to reduce the weight of the locking push rod 31.

[0065] See appendix Figure 5 The locking end cover 32 has an overall annular structure with six circumferentially arrayed fixing through holes 321, allowing the locking end cover 32 to be connected to the locking sleeve 33 via self-tapping screws. In addition, the locking end cover 32 is provided with a second cylindrical boss 322. When the two modules are unlocked, the disc motor 11 in the drive module 1 drives the cylindrical cam 12 to rotate in the opposite direction, thereby driving the locking push rod 31 in the locking module 3 to move, further pushing the second cylindrical boss 322 in the locking end cover 32 to drive the locking sleeve 33 and the locking pin 34 to leave the lock groove to achieve active unlocking.

[0066] See appendix Figure 6 The locking sleeve 33 has a hollow cylindrical shape and is provided with an inner first annular groove and an outer second annular groove. The surface of the first annular groove is arrayed with third cylindrical bosses 331, which serve as mechanical limits and cooperate with the first cylindrical bosses 313 of the locking push rod 31 to achieve precise displacement of the locking module 3. The first annular groove also contains a through hole 332, a third weight-reducing groove 334, and a fourth weight-reducing groove 335. The through hole 332 is used to pass through the support sleeve 22 and limit its position. The third weight-reducing groove 334 is an arc-shaped groove used to reduce weight and ensure that it does not interfere with the active... The limiting block and the support sleeve 22 in the cover 21 cause positional interference; two fourth weight-reducing grooves 335 are symmetrically arranged for weight reduction; the second annular groove is the receiving cavity for the push rod 315 of the locking push rod 31, and the inner circumference of the second annular groove has locking cavities 336 for accommodating four locking pins 34; the annular shaft 337 is used to form a clearance fit with the central through hole of the locking push rod 31, so that the locking push rod 31 and the locking sleeve 33 are located on the same axis; a blind hole 333 is opened on the outer annular surface of the locking sleeve 33 to cooperate with and connect with the fixing through hole 321 of the locking end cover 32.

[0067] See appendix Figure 7 The active cover 21 is a stepped cylindrical structure, including a first cylinder with a smaller diameter and a second cylinder with a larger diameter. The first cylindrical surface 211 of the first cylinder has a second central through hole 212 and an array through hole 213 for positioning. The three circumferentially arrayed second fixing through holes 218 are used to connect the disc motor 11 of the drive module 1 to the active cover 21 by bolts. The cut rectangular notch 214 is the electrical wiring harness interface of the disc motor 11. The second cylindrical surface 215 has a first fixing through hole 216 for connecting with the support sleeve 22. The arc-shaped slots 217 distributed along the circumferential array are used for weight reduction.

[0068] See appendix Figure 8The main fixing frame 24 is provided with a circular ring and four circumferentially arranged lifting lugs 241. The lifting lugs 241 have a double-layer structure, with two through holes on the upper and lower planes respectively. The lower plane has a first through hole 242 and a second through hole 243. The first through hole 242 is used to fix the stud 23, and the second through hole 243 is fixed to the active interface 4 by bolts. The upper plane has a third through hole 244 and a fourth through hole 245. The third through hole 244 is designed for easy installation during assembly. The bolt pre-drilled hole, the fourth through hole 245 is used for the bolt to pass through; the size of the fourth through hole 245 is smaller than the size of the first through hole 242, and is used for axial positioning of the stud 23; the main fixing frame 24 is connected to the active interface 4 by bolts through the second through hole 243, and the active cover 21 is connected to the main fixing frame 24 by bolts through the support sleeve 22, the first through hole 242 and the stud 23 positioned by the fourth through hole 245, so that the fixing module 2 and the active interface 4 form a whole that is fixed to the locking module 3.

[0069] See appendix Figure 9 The active interface 4 has four petal-shaped first guide bodies 41 arranged in a circumferential array at the end facing the passive interface 5. A conical surface is formed between adjacent first guide bodies 41 along the circumference of the active interface 4. The conical surface is provided with a first countersunk hole 42 that penetrates the thickness. It is connected to the main fixing frame 23 in the fixing module 2 by bolts installed in the first countersunk hole 42. At the end of the active interface 4 away from the passive interface 5, that is, on the upper surface of the active interface 4, a fourth cylindrical boss 43 is provided for precise mechanical positioning of the locking push rod 31. A first locking groove is opened on the cylindrical outer circumferential surface of the active interface 4. Electrical interfaces such as a hot interface 45 and a data interface 46 are provided at the center of both the active interface 4 and the passive interface 5.

[0070] Passive interface 5 is positioned opposite active interface 4 and both feature isomorphic petal-shaped structures. Compared to active interface 4, passive interface 5 lacks only the fourth cylindrical boss 43 for mechanical positioning. In practice, depending on the specific usage and installation scenario, the same fourth cylindrical boss 43 as active interface 4 can be provided on the surface of passive interface 5 for mechanical positioning or any other structural convenience. During docking, docking is achieved through the interlocking of the guides of passive interface 5 and active interface 4. The first locking groove 44 of active interface 4 and the second locking groove of passive interface 5 connect to form a locking groove, and the docking connection between passive interface 5 and active interface 4 is achieved through the locking pin 34 embedded in the locking groove.

[0071] See appendix Figure 10 and attached Figure 11When the two modules are docked, the heterogeneous but isomorphic active interface 4 and passive interface 5 engage with each other. Before locking, the locking push rod 31 and the locking pin 34 are both located in the second annular groove of the locking sleeve 33, and the push rod 315 of the locking push rod 31 is tangent to the locking pin 34. When active locking is required, the cylindrical cam 12 is driven to rotate by the disc motor 11 in the drive module 1, which in turn drives the locking push rod 31 in the locking module 3 to produce a linear displacement, thereby pushing the locking sleeve 33 and the locking pin 34 to move into the locking groove 44 formed by the active interface 4 and the passive interface 5 to achieve active locking.

[0072] After locking, the locking module 3 achieves locking. Since the top of the push rod 315 of the locking push rod 31 is provided with a stepped surface, when the docking device is locked, the locking pin 34 and the vertical surface of the push rod 315 are tangent, so that the locking pin 34 is only subjected to the radial force from the locking push rod 31. That is, the locking push rod 31 is only subjected to the radial reaction force of the locking pin 34. Therefore, the locking module 3 can achieve reliable self-locking of the docking device after the motor is powered off.

[0073] When both modules need to be unlocked, the disc motor 11 in the drive module 1 drives the cylindrical cam 12 to rotate in the opposite direction, which in turn drives the locking push rod 31 in the locking module 3 to move, further pushing the cylindrical boss 322 in the locking end cover 32 to drive the locking sleeve 33 and the locking pin 34 to leave the lock groove 44 to achieve active unlocking.

[0074] See appendix Figure 12 This is a schematic diagram of the docking of a modular robot equipped with a docking interface drive device.

[0075] It should be noted that the docking interface driving device of the present invention is not limited to the attached... Figure 12 Its applications can also be used in many scenarios that require rapid docking and disassembly, such as modular robots and climbing robotic arms.

[0076] To improve control accuracy, the interface drive unit may also include a power supply, a controller, and a sensor.

[0077] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A petaloid docking interface drive for space on-orbit assembly, characterized by, The utility model relates to a modularization robot connection structure, including drive module, fixed module, locking module, active interface and passive interface, active interface and passive interface are opposite and are provided with isomorphic petal formula structure, and four petal formula first guide body are arranged in circumferential array, passive interface is equipped with the second guide body with the concave-convex cooperation of first guide body, the tapered surface between adjacent guide body is equipped with countersunk hole, active interface and passive interface form continuous lock groove when butt joint, active interface with fixed module fixed connection, The fixed module includes a stepped cylindrical active cover and a main fixed frame with lifting lugs, the active cover is fixedly connected with the main fixed frame through a supporting sleeve, and the active cover has a first cylindrical surface and a second cylindrical surface; the first cylindrical surface is used for enveloping and connecting the drive module; and the second cylindrical surface is used for enveloping the locking module; The drive module is internally connected in the active cover of the fixed module, and includes a disc motor, a cylindrical cam and a pulley; the disc motor is fixedly connected with the active cover through bolts; the cylindrical cam is coaxially and directly connected with a rotor of the disc motor, and two spiral slide channels are arranged on the outer surface of the cylindrical cam; the slide channels are provided with stoppers at both ends; the pulley is fixedly connected with the locking module, and converts the rotary motion into the linear motion of the locking module through cooperation with the slide channels; The locking module includes a locking push rod, a locking sleeve and a lock pin; the locking push rod is provided with four push rods which are distributed in the circumferential direction; the end surface of the push rod is a stepped surface which is connected with a stepped surface; the lock pin is a pin shaft which is symmetrically provided with a circular truncated cone at both ends and a circular cylinder in the middle; the locking push rod is supported on the slide channels of the cylindrical cam through the pulley; When two modular robots are butt jointed, the petal formula structures of the active interface and the passive interface are automatically adapted and positioned to be engaged with each other through concave-convex guidance; the drive module drives the locking module to generate linear displacement, so as to drive the lock pin of the locking module to move into the lock groove formed by the active interface and the passive interface, thereby achieving active locking; the stepped surface of the push rod abuts against the lock pin and drives the lock pin to move into the lock groove, thereby achieving active locking; after locking, the lock pin only generates a radial reaction force on the locking push rod, thereby achieving pure mechanical self-locking after the motor is powered off.

2. The petal-style docking interface driver of claim 1, wherein, The fixed module further includes a supporting sleeve and a stud; The drive module is installed in the active cover; The main fixed frame is provided with four lifting lugs which are arranged in the circumferential direction; One end of the supporting sleeve is fixedly connected with the active cover, and the other end is fixedly connected with the lifting lugs through the stud; The active interface is fixedly connected with the lifting lugs.

3. The petal-style docking interface driver of claim 2, wherein, The locking module further includes a locking end cover; The locking sleeve is provided with two ring grooves, i.e., a first ring groove on the inner side and a second ring groove on the outer side; the first ring groove is provided with an intermediate platform; the second ring groove is used for placing the locking push rod and the lock pin; The locking push rod is further provided with two inner ring cylindrical protrusions which are located in the inner ring; the pulley is installed on the inner ring cylindrical protrusions through a snap spring; and the pulley is supported on the slide channels, so that the locking push rod moves along the slide channels of the cylindrical cam. Before two modular robots are docked, the end of the push rod is abutted with the lock pin, the inclined surface is used to ensure the space of the lock pin in the locking sleeve, and the stepped surface is used to abut against the lock pin when locking; the lower surface of the locking push rod is provided with a first cylindrical boss for limiting the displacement after locking; The locking push rod is located between the locking end cover and the locking sleeve; The locking end cover is circular and is fixedly connected with the locking sleeve through a self-tapping screw; the lower surface of the locking end cover is provided with a second cylindrical boss for pushing the locking end cover to drive the locking sleeve and the lock pin to leave the locking groove to realize unlocking through the locking push rod when unlocking.

4. The petal-style docking interface driver of claim 3, wherein, The outer ring of the locking push rod is provided with an outer ring cylindrical protrusion corresponding to the inner ring cylindrical protrusion; The inside of the active cover is provided with a limiting block for limiting and guiding the locking push rod; The outer ring cylindrical protrusion cooperates with the limiting block to limit the circumferential movement of the locking push rod and ensure the linear movement of the locking push rod; The locking push rod is provided with a symmetrical ring groove for preventing interference between the limiting block and the locking push rod.

5. The petal-style docking interface driver of claim 4, wherein, The active interface is provided with four petal-shaped first guide bodies arranged in a circumferential array at one end facing the passive interface, and is provided with a first countersunk hole on a tapered surface formed between adjacent first guide bodies; the active interface is fixedly connected with the lifting lug through a bolt installed in the first countersunk hole; The upper surface of the end of the active interface away from the passive interface is provided with a fourth cylindrical boss; the fourth cylindrical boss is used for limiting the locking push rod; The cylindrical outer circumferential surface of the active interface is provided with a plurality of first locking grooves.

6. The petal-style dock interface driver of claim 5, wherein, The second guide body is provided with a second countersunk hole on a tapered surface formed between adjacent second guide bodies, and the second countersunk hole is used for installing a bolt; The cylindrical outer circumferential surface of the passive interface is provided with a second locking groove corresponding to the first locking groove; When the active interface is docked with the passive interface, the first locking groove and the second locking groove are in communication to form a locking groove, and the lock pin is connected in the formed locking groove to realize the connection between the active interface and the passive interface.

7. The petal-style dock interface driver of claim 1, wherein, The cylindrical cam is provided with a first center through hole for connecting the disc motor, three equiangular circumferential array through holes for connecting the disc motor, and three circumferential array first weight reduction grooves.

8. The petal-style dock interface driver of claim 1, wherein, The centers of the active interface and the passive interface are provided with a thermal interface and an electrical interface.

9. The petal-style docking interface drive of any of claims 1-8, wherein, The modular robot is a climbing mechanical arm.

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