Automatic docking supply platform and equipment

Abstract

The invention provides an automatic butt joint supply platform and equipment, the platform is provided with a mounting seat, an automatic butt joint connector, an automatic butt joint box body and a controller, the automatic butt joint connector is mounted in a box body frame, a guide supporting frame and a guide positioning assembly are mounted on the mounting seat, and the automatic butt joint box body is mounted on the mounting seat. A butt joint part used for realizing butt joint in the automatic butt joint connector is arranged in a protection end cover provided with a switch, a driving system for driving butt joint equipment is connected with connecting equipment, the connecting equipment is further connected with a locking mechanism, and a controller controls the butt joint equipment when determining that an automatic butt joint box body reaches a specified position. When an indication signal which is sent by an external control system and used for controlling the driving system to start is received, the driving system is started to drive the connecting equipment to move, so that the connecting equipment drives the locking mechanism to move in the moving process, and the protection end cover is controlled to be opened under the condition that the connector is detected to be within the preset butt joint range; and when the connector is successfully butted with the automatic butting connector, the locking mechanism locks the box body frame, and the protection end cover is controlled to be closed under the condition that the connector is detected to be not in the preset butting range. According to the platform, butt joint of the connector and the connector can be automatically achieved by controlling the driving system, and automatic supplementation of substances to be supplemented is achieved through conveying of the box body frame.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to an automatic docking and replenishment platform and equipment. Background Art

[0002] With the development of science and technology, the need for material replenishment in production and life practices is becoming more and more common. For example, the intensity and strength of weapons and equipment in modern warfare are getting higher and higher, which means that weapons and equipment need to consume a large amount of ammunition, oil and other materials after a battle. Based on this, they are faced with the problem of replenishing ammunition, oil and other materials as soon as possible to quickly form combat effectiveness; in addition, disinfection (disinfection and sterilization) equipment working in biochemical pollution scenes also urgently needs to replenish materials quickly after performing a disinfection task, but because its outer surface is exposed to the polluted environment, a large amount of harmful substances are attached to its surface, which also requires the rapid completion of the replenishment of the above-mentioned work materials so that it has the ability to work continuously. In summary, whether it is replenishing ammunition, oil and other materials for weapons and equipment on the battlefield, or replenishing disinfection equipment with disinfectants and other materials, it is best to complete it under the condition of no on-site intervention.

[0003] However, current weapons and equipment require on-site control to replace ammunition and fuel. It is extremely unsafe for people to replace ammunition or replenish fuel outside the equipment cabin during combat, and the control operation is complicated, requiring a lot of training to be competent. Correspondingly, the replenishment of disinfectant for disinfection equipment also requires people to return to the base to replenish the disinfection equipment with disinfectant before it can continue to be used for disinfection. Therefore, this makes the combat effectiveness and continuous disinfection ability of the disinfection device low. In summary, there is an urgent need to design a method that can automatically complete the material replenishment of weapons and equipment or disinfection equipment in harsh scenarios such as battlefields and biochemical pollution without human intervention. Summary of the invention

[0004] In view of this, the present application provides an automatic docking supply platform and equipment to achieve automatic replenishment of materials.

[0005] Specifically, the present application is implemented through the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides an automatic docking and replenishing platform, the automatic docking and replenishing platform comprising:

[0007] A mounting base, used to be mounted on a designated pitch axis in a vehicle and to perform pitch motion along with the pitch axis;

[0008] An automatic docking box, comprising a box frame for loading the material to be replenished and an automatic docking connector installed at the bottom of the box frame, wherein a docking portion of the automatic docking connector for achieving docking is arranged in a protective end cover provided with a switch;

[0009] A guide support frame, mounted on the mounting seat, for guiding the automatic docking box to move and carrying the automatic docking box;

[0010] A guide positioning assembly, used for guiding the automatic docking box to move to a designated position in the guide support frame, and installed on the mounting seat;

[0011] A driving docking device, comprising a driving system, a connecting device provided with a connecting head and a locking mechanism, wherein the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, and the connecting device is also connected to the locking mechanism;

[0012] A controller is electrically connected to the drive system, an external control system, the automatic docking connector and the locking mechanism, and is used to start the drive system to drive the connection device to move in a first direction when it is determined that the automatic docking box has reached the specified position and when an indication signal for controlling the start of the drive system is received from the control system, so that the connection device drives the locking mechanism to move during the movement, and when it is detected that the connector is in a preset docking range, control the protective end cover to open, and when the connector and the automatic docking connector are successfully docked, the locking mechanism just locks the box frame; when it is determined that the automatic docking box needs to be released, start the drive system to drive the connection device to move in a second direction opposite to the first direction, so that the connection device drives the locking mechanism to move during the movement, and when the locking mechanism unlocks the box frame, the automatic docking connector just disengages from the connector, and when it is detected that the connector is not in the preset docking range, control the protective end cover to close.

[0013] In a second aspect, an embodiment of the present application further provides an automatic docking and supply equipment, the automatic docking and supply equipment comprising the automatic docking and supply platform, control system and replacement crane system described in any of the above embodiments, the automatic docking and supply platform being electrically connected to the control system and the replacement crane system.

[0014] It can be seen that the embodiment of the present application provides an automatic docking and replenishing platform and equipment, which is provided with a mounting seat, a box frame, an automatic docking connector installed at the bottom of the box frame and provided with a docking part for docking arranged in a protective end cover provided with a switch, an automatic docking box, a guide support frame, a guide positioning assembly, a controller and a driving docking device, the guide support frame and the guide positioning assembly are both installed on the mounting seat and the driving docking device, the driving system of the driving docking device is connected to a connecting device provided with a connecting head, and the connecting device is also connected to a locking mechanism, and the controller is electrically connected to the driving system, an external control system, the automatic docking connector and the locking mechanism to determine that the automatic docking box has reached a specified position , the drive system is started to drive the connection device to move in a first direction, so that the connection device drives the locking mechanism to move during the movement, and when it is detected that the connector is in the preset docking range, the protective end cover is controlled to open, and when the connector is successfully docked with the automatic docking connector, the locking mechanism locks the box frame, and when it is determined that the automatic docking box needs to be released, the drive system is started to drive the connection device to move in a second direction opposite to the first direction, so that the connection device drives the locking mechanism to move during the movement, and when the locking mechanism unlocks the box frame, the automatic docking connector is just separated from the connection head, and when it is detected that the connection head is not in the preset docking range, the protective end cover is controlled to close. It can be seen that the device provided by the embodiment of the present application does not require human participation in automatic replenishment, but can automatically realize the docking of the connector and the connector through the controller under the control of the control system, and realize the automatic replenishment of the material to be replenished through the transportation of the box frame. At the same time, the protective end cover set by the automatic docking connector can prevent the docking part of the automatic docking connector that docks with the connector from entering dust or liquid, which can not only prevent the components in the automatic docking connector from being corroded, but also improve the life of the automatic docking connector. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of a part of the structure of an automatic docking supply platform in an undocking state shown in an exemplary embodiment of the present application;

[0016] Figure 2 This is a partial structural diagram of an automatic docking supply platform that has completed automatic docking, shown as an exemplary embodiment of the present application;

[0017] Figure 3 This is a schematic diagram of a rear side view of an automatic docking supply platform after automatic docking according to an exemplary embodiment of the present application;

[0018] Figure 4 This is a schematic diagram of the bottom structure of an automatic docking connector in an automatic docking and replenishment platform shown as an exemplary embodiment of the present application;

[0019] FIG5( a ) is a schematic structural diagram of an automatic docking connector shown in an exemplary embodiment of the present application;

[0020] FIG5( b ) is a schematic structural diagram of a partial automatic docking connector shown in an exemplary embodiment of the present application;

[0021] FIG5( c ) is a schematic structural diagram of a horizontal floater shown in an exemplary embodiment of the present application;

[0022] Figure 6 It is a partial structural schematic diagram of a connection device in an automatic docking supply platform shown in an exemplary embodiment of the present application;

[0023] Figure 7 It is a partial structural schematic diagram of a locking mechanism provided in the present application. DETAILED DESCRIPTION

[0024] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0025] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0026] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0027] First, see Figures 1 to 4 , Figure 1 This is a schematic diagram of a portion of the structure of an automatic docking replenishment platform in an undocking state provided in an embodiment of the present application. Figure 2 This is a schematic diagram of a portion of the structure of the automatic docking supply platform provided in the embodiment of the present application after the automatic docking has been completed. Figure 3 This is a schematic diagram of the rear side structure of the automatic docking supply platform provided in the embodiment of the present application after the automatic docking has been completed. Figure 4 A schematic diagram of the bottom structure of the automatic docking connector in the automatic docking and replenishing platform provided in an embodiment of the present application; the device includes: a mounting seat 1, an automatic docking box 2, a guide support frame 3, a guide positioning assembly 4, a drive docking device 5 and a controller.

[0028] Among them, Figure 1 As shown, the mounting base 1 is used to be mounted on a specified pitch axis in the vehicle and to perform pitch motion along with the pitch axis 6; Figures 2-3 As shown, the automatic docking box 2 includes an automatic docking connector 21 and a box frame 22 for carrying the material to be supplemented, the automatic docking connector 21 is installed in the box frame 22, and the docking part of the automatic docking connector 21 for achieving docking is arranged in a protective end cover provided with a switch; the guide support frame 3 is installed on the mounting seat 1, and is used to guide the automatic docking box 2 to move and carry the automatic docking box 2; the guide positioning component 4 is used to guide the automatic docking box 2 to move to a specified position in the guide support frame 3, and is installed on the mounting seat 1; as shown Figure 1 As shown, the driving docking device 5 includes a driving system 51, a connecting device 52 and a locking mechanism 53, and the driving system 51, the connecting device 52 and the locking mechanism 53 are all installed on the guide support frame, the driving system 51 is connected to the connecting device 52, and the connecting device 52 is also connected to the locking mechanism 53, and the controller is electrically connected to the driving system 51, the external control system, the automatic docking connector 2 and the locking mechanism 53, and is used to start the driving system 51 to drive the connecting device 52 to move in a first direction when it is determined that the automatic docking box 2 has reached the specified position, so that the connecting device 52 drives the locking mechanism 53 to move during the movement, and when it is detected that the connector is in the specified position, the controller starts the driving system 51 to drive the connecting device 52 to move in a first direction. In the case of a preset docking range, the protective end cover is controlled to open, and when it is determined that the docking connection with the automatic docking connector 21 is successful, the locking mechanism 53 just locks the box frame 22, and when it is determined that the automatic docking box needs to be released, the driving system 51 is started to drive the connecting device 52 to move in a second direction opposite to the first direction, so that the connecting device 52 drives the locking mechanism 53 to move during the movement, and when the locking mechanism 53 unlocks the box frame, the automatic docking connector 21 just disengages from the connecting device 52, and when it is detected that the connector is not within the preset docking range, the protective end cover is controlled to close.

[0029] In this embodiment, the mounting seat 1 is used to install the guide support frame 3 and the guide positioning assembly 4, and of course, it can also limit the automatic docking box 2 to move in the direction of the mounting seat 1. The mounting seat 1 can be set as a plate-like structure. In order to reduce the weight of the mounting seat 1, a plurality of weight-reducing holes of different or same shapes can be set through the plate surface of the mounting seat 1. This embodiment does not limit the shape, and it can be circular, triangular, or polygonal.

[0030] The automatic docking connector 21 is installed in the box frame 22. In one embodiment, the automatic docking connector 21 is installed at the bottom of the box frame 22. The docking portion of the automatic docking connector 21 used for docking with the connector is in an exposed state. In other embodiments, the docking portion can also be arranged in a protective end cover provided with a switch. When the connector is detected to be in a preset docking range, the protective end cover is in an open state; when the connector is detected not to be in the preset docking range, the protective end cover is in a closed state. This embodiment does not limit this.

[0031] In this embodiment, the controller is electrically connected to the control system, and the controller is electrically connected to the drive system 51, so that when the controller receives an instruction signal sent by the control system for controlling the start of the drive system 51, the drive system 51 is controlled to start, and this embodiment is not limited to this. In some embodiments, the drive system 51 can be electrically connected to an external control system so that the control system controls the drive system 51 to drive the connection device 52 to move.

[0032] The driving system 51 of this embodiment can be a motor, a hydraulic mechanism, or a pneumatic mechanism, which is not limited in this embodiment. When the driving system 51 is a motor, the controller is electrically connected to the motor, the external control system, the automatic docking connector 2 and the locking mechanism 53. When the controller determines that the automatic docking box has reached the specified position, the controller starts the motor to drive the connecting device 52 to move in the first direction with a first direction, so that the connecting device 52 drives the locking mechanism 53 to move during the movement, and when it is detected that the connector is in the preset docking range, the protective end cover is controlled to open, and when the docking connection with the automatic docking connector 21 is successfully completed, the locking mechanism 53 just locks the box frame 22; when it is determined that the automatic docking box 2 needs to be released, the motor is started to drive the connecting device 52 to move in the second direction opposite to the first direction with a second direction opposite to the first direction, so that the connecting device 52 drives the locking mechanism 53 to move during the movement, and when the locking mechanism unlocks the box frame, the automatic docking connector 21 just separates from the connecting device 52, and when it is detected that the connector is not in the preset docking range, the protective end cover is controlled to close. In this embodiment, the first turn and the second turn are opposite, when the first turn is forward, the second turn is reverse, when the first turn is reverse, the second turn is forward, the first turn and the second turn do not specifically refer to two fixed turns, but can refer to any two turns in the drive system 51, and the embodiments of the present invention will not be repeated later. Correspondingly, the first direction and the second direction are opposite, the first direction is the direction toward the automatic docking connector, and the second direction is the direction away from the automatic docking connector. Here, the first direction and the second direction do not specifically refer to two fixed directions, but can refer to two opposite directions of movement of the connection device 52.

[0033] In one embodiment, the box frame 22 is as shown in FIG. Figures 2-3 As shown, the box frame 22 includes a load-bearing frame for carrying the material to be supplemented and a docking frame for carrying the automatic docking connector 21, the docking frame is connected to the end of the load-bearing frame, and the volume of the docking frame is smaller than the load-bearing frame. The automatic docking connector 21 is installed in the docking frame, and the automatic docking connector 21 can be used to provide communication, power supply or control signals when connected to the docking head.

[0034] In this embodiment, the mounting seat 1 and the guide support frame 3 constitute a material replenishment area for supporting the automatic docking box 2. In one embodiment, when the automatic docking box 2 is about to enter the material replenishment area, the guide positioning assembly 4 installed on the mounting seat 1 can guide the automatic docking box 2 to move to the specified position in the guide support frame 3. In this way, the automatic docking box 2 can rely on its own gravity and be accurately placed in the area under the guidance of the automatic docking box 2. The specified position of this embodiment is a longitudinal position determined according to the structure of the automatic docking box 2 and the guide support frame 3, so that the automatic docking box 2 enters the space belonging to the material replenishment area.

[0035] In one embodiment, when it is determined that the automatic docking box 2 has reached the specified position, the drive system 51 is started to drive the connection device 52 to move, so that the connection device 52 drives the locking mechanism 53 to move during the movement, and when the connection with the automatic docking connector 21 is successfully docked, the locking mechanism 53 just locks the box frame 22. In this embodiment, the connection device 52 drives the locking mechanism 53 to move during the movement, and when the docking head of the connection device 52 is successfully docked with the automatic docking connector 21, the locking mechanism 53 just locks the box frame 22. In this way, the motor drives both the connection device 52 and the locking mechanism 53, so that when the connection device 52 is successfully connected with the automatic docking connector 21, the locking mechanism 53 just locks the box frame 22. In some embodiments, the drive system 51 can be electrically connected to an external control system so that the control system controls the drive system 51 to drive the connection device 52 to move. In other embodiments, the automatic docking supply platform may include a controller, which is electrically connected to the drive system 51, so that when the controller receives an instruction signal for controlling the start of the drive system 51, the drive system 51 is controlled to start. This embodiment is not limited to this.

[0036] In some embodiments, Figure 1As shown, the mounting seat 1 may include a mounting seat body 11, two support blocks 12 and a longitudinal guide positioning plate mounting seat 13, and the guide positioning assembly 4 includes a longitudinal positioning member 41 and a transverse positioning member 42; the two support blocks 12 and the longitudinal guide positioning plate mounting seat 13 are all mounted on the end surface of the mounting seat body 11, and the two support blocks 12 are respectively attached to the two sides of the longitudinal guide positioning plate mounting seat 13, and the two support blocks 12 and the longitudinal guide positioning plate mounting seat 13 are respectively located in the same plane as the plate surfaces of the opposite pitch axes 6 in the mounting seat body 11; the longitudinal positioning member 41 is installed on the outer end surface of the longitudinal guide positioning plate mounting seat 13, and is used to guide the box frame 22 to move along the longitudinal direction of the guide support frame 3, and the distance between the longitudinal positioning member 41 and the guide support frame 3 is greater than the distance between the mounting seat body 11 and the guide support frame 3; as an embodiment, the two support blocks 12 can be fixed to the mounting seat body 11 with screws to ensure that the horizontal working surfaces of the two support blocks 12 are higher than the horizontal working surfaces of the longitudinal positioning member 41, which can be ensured by machining. The transverse positioning member 42 is installed at a designated position in the plate surface of the mounting seat body 11, and the working surface for contacting the box frame 22 protrudes relative to the plate surface of the mounting seat body 11; the distance between the transverse positioning member 42 and the guide support frame 3 is just enough to place the box frame 22. As an embodiment, the transverse positioning member 42 can be fixed to the designated position in the plate surface of the mounting seat body 11 by screws, and the outer working surface of the transverse positioning member 42 serves as the inner reference surface of the mounting seat. The space between the outer working surface of the transverse positioning member 42 and the working surface of the guide support frame 3 needs to be ensured to just support the automatic docking box 2.

[0037] In this embodiment, in order to increase the space between the mounting seat 1 and the guide support frame 3, and to reduce the weight and volume of the mounting seat 1, the mounting seat body 11 can adopt a plate-like structure, and a plurality of weight-reducing holes for weight reduction can be provided on the plate surface of the mounting seat body 11, and mounting holes for mounting parts are also provided on the plate surface of the mounting seat body 11. The structures of the two support blocks 12 can be the same or different, and this embodiment does not limit this. The two support blocks 12 can adopt a plate-like structure, and the longitudinal guide positioning plate mounting seat 13 can also adopt a plate-like structure. The two mounting blocks and the longitudinal guide positioning plate mounting seat 13 all adopt a plate-like structure with the same thickness.

[0038] As an example, Figure 1As shown, the case mounting seat body is reserved with two positioning holes, and the guide positioning assembly 4 also includes a positioning pin 43 and a chamfered positioning pin 44, which pass through the two positioning holes reserved by the support block 12 and the mounting seat body 11 and are fixedly connected to the mounting seat body 11. In some embodiments, the positioning pin 43 and the chamfered positioning pin 44 pass through the two positioning holes reserved by the support block 12 and the mounting seat body 11 and are fixedly connected to the mounting seat body 11 in one implementation method: the positioning pin 43 and the chamfered positioning pin 44 pass through the two positioning holes reserved by the support block 12 and the mounting seat body 11, respectively, wherein the upper end surfaces of the two support blocks 12 can be used as the upper positioning stop of the positioning pin 43 and the chamfered positioning pin 44, respectively, and the positioning pin 43 and the chamfered positioning pin 44 are fixedly connected to the docking system mounting seat body 11 through screws, flat washers and elastic washers. As an embodiment, the spacing between the positioning pin 43 and the chamfered positioning pin 44 must be consistent with the hole spacing set on the automatic docking box 2. The purpose of using the chamfered positioning pin 44 in this embodiment is to ensure that the lateral positioning of the automatic docking box 2 is absolutely accurate. For the automatic docking box 2, the requirements for the mechanical processing accuracy in the longitudinal direction can be appropriately relaxed, which is conducive to improving the processability and adaptability of the overall processing and manufacturing of the automatic docking supply platform.

[0039] The distance between the longitudinal positioning member 41 of this embodiment and the guiding support frame 3 is greater than the distance between the mounting seat body 11 and the guiding support frame 3, which can initially guide the automatic docking box body 2 into the material replenishment area formed by the mounting seat 1 and the guiding support frame 3. At this time, the distance between the longitudinal positioning member 41 and the guiding support frame 3 is greater than the width of the automatic docking box body 2. When the automatic docking box body 2 is located in this material replenishment area, this width is perpendicular to the plate surface of the mounting seat body 11. In some embodiments, the longitudinal positioning member 41 is a plate-like structure formed by the transition connection of an inclined surface and a flat surface, and the part of the longitudinal positioning member 41 with a flat surface is close to and installed on the longitudinal guiding and positioning plate mounting seat 13, so that the box body frame 22 can slide down along the inclined surface into the material replenishment area. In this embodiment, the longitudinal positioning member 41 includes an inclined surface body with an inclined surface on its surface and a flat surface body with a flat surface on its surface. The surface of the inclined surface body with the inclined surface and the surface of the flat surface body with the flat surface are connected by transition, so that when the automatic docking box body 2 enters this material replenishment area, it first enters along the inclined surface body, which can roughly and buffer the guiding of the automatic docking box body 2. When the automatic docking box body 2 is released, it can slowly fall into the material replenishment area along the inclined surface body by its own gravity. In order to fall more precisely into the designated position in this material replenishment area, in this embodiment, the transverse positioning member 42 is installed at a designated position on the plate surface of the mounting seat body 11, and the outer surface of the transverse positioning member 42 is higher than the plate surface of the mounting seat body, that is, the working surface for contacting the box body frame 22 protrudes relative to the plate surface of the mounting seat body 11; the difference between the distance from the transverse positioning member 42 to the guiding support frame 3 and the width of the box body frame 22 is within a preset range. This preset range is greater than or equal to 0 and less than or equal to a set value. This set value can be an empirical value, which can be guaranteed by machining, so that the automatic docking box body 2 is exactly positioned on this transverse positioning member 42 when it falls by its own weight. In other embodiments, the transverse positioning member 42 can be a plate-like structure provided with an inclined surface, so that the box body frame 22 can slide down along the inclined surface into the material replenishment area. Among them, the minimum distance between the inclined surface of the transverse positioning member 42 and the guiding support frame 3 is the width of the box body frame 22. Applying the transverse positioning member 42 provided by this embodiment can more accurately position the automatic docking box body 2 at the designated position.

[0040] In order to more precisely guide the automatic docking box body 2 to be placed in the transverse positioning member 42, as Figure 1As shown, the guide support frame 3 includes a support frame 31 and a transverse guide member 32; the support frame 31 is installed on the mounting seat body 11, and is used to carry the automatic docking box 2; the transverse guide member 32 is installed at the end of the support frame 31 to guide the automatic docking box 2 to fall into the material replenishment area between the mounting seat body 11 and the support frame 31. The transverse guide member 32 of this embodiment will first approach the automatic docking box 2 relative to the support frame 31 to prevent the automatic docking box 2 from laterally deviating from the material replenishment area and falling into other areas uncontrollably, and play a role in guiding and limiting the automatic docking box 2 to deviate from the material replenishment area in the lateral direction, and guide the automatic docking box 2 to fall into the material replenishment area. As an embodiment, the transverse guide member 32 can be welded on the support frame 31 to ensure that the size between the positioning surfaces used for positioning in the transverse guide member 32 is consistent with the size between the surfaces of the automatic docking box 2 close to the transverse guide member 32. When the automatic docking box 2 enters the working range of the transverse guide member 32 through the guidance of the longitudinal positioning member 41 and the transverse guide positioning assembly, namely the positioning pin 43 and the chamfered positioning pin 44, the automatic docking box 2 can be accurately guided. When the transverse guide member 32 works, the automatic docking box 2 also enters the working range of the positioning pin 43 and the chamfered positioning pin 44, meeting the technical requirements of accurate guidance and positioning. Accurate positioning is achieved, and the position consistency of multiple module replacements can be ensured. In actual applications, the guide positioning assembly 4 of this embodiment uses a variety of guide positioning measures to relay the rough guide positioning and fine guide positioning of the automatic docking box 2, so that in actual applications, the guide positioning accuracy is increased from 50mm to 10mm, and then to 1mm, and the accuracy is no more than 0.1mm after the installation docking is in place and locked.

[0041] In some embodiments, Figures 1 to 4 As shown, the transverse guide member 32 includes at least two plate-like structures, each of which is installed at the end of the support frame 31 in a manner that the distance between the plate-like structure and the mounting seat body 11 is from large to small along the direction of the support frame 31. In this embodiment, the purpose of setting at least two plate-like structures is to evenly limit the automatic docking box 2 to deviate from the mounting seat body 11 in the longitudinal direction, so as to avoid the automatic docking box 2 from tipping over due to uneven support force of the transverse guide member 32 on the automatic docking box 2. As an embodiment, the at least two plate-like structures can be welded to the outside of the mounting seat body 11, and the space between the mounting seat body 11 is ensured to be consistent with the working width of the automatic docking box 2, so as to roughly guide the transverse position of the automatic docking box 2; in actual application, when the automatic docking box 2 freely falls into the material replenishment area, it will first roughly enter the area where the plate-like structure with a large distance from the mounting seat body 11 is located, so as to accurately fall into the material replenishment area under the guidance of the plate-like structure.

[0042] In some embodiments, the automatic docking connector 21 can be detachably mounted in the bottom end of the box frame 22, and can be a component of a mechanical and electrical docking device on a vehicle or other equipment. As an embodiment, the automatic docking connector 21 can be detachably mounted in the middle of the bottom end of the box frame 22, but is not limited to being placed in the middle. As an embodiment, Figure 5(a) to 5(b)As shown, the automatic docking connector 21 includes a socket mounting seat 211, a docking socket system 212, a socket mounting plate 213, an electrical connector socket 214 and a horizontal floater 215. The docking socket system 212 is disposed in the box frame 22 and mounted at the bottom of the box frame 22, and is mounted on the docking system mounting seat through the socket mounting plate 213. The horizontal floaters 215 are arranged in pairs and are evenly arranged circumferentially at the set installation position of the docking socket system 212, and are in contact with the socket mounting seat 211, so that the docking socket system 212 can float horizontally relative to the socket mounting seat 211 under the fine adjustment of the horizontal floaters 215. As an embodiment, the horizontal floater 215 can be fine-tuned in the range of -4 mm to +4 mm. As another embodiment, four horizontal floaters 215 can be used, and each horizontal floater 215 is evenly arranged at the set installation position of the docking socket system 212; a positioning guide hole for positioning the connector is provided in the electrical connector socket 214. If the position of the electrical connector socket 214 and the connector is smaller than the set plug-in range, the plug-in range can be set to the error of the radius of the positioning guide hole, then the electrical connector socket 214 and the socket mounting plate 213 can be forced to float horizontally within the floating range allowed by the socket mounting seat 211 when the connector moves upward. The allowable floating range is a floating range pre-set according to actual working conditions. In other embodiments, as shown in FIG. 5( c ), the horizontal floater 215 includes: a horizontal floating head 2151, a floater body 2152, a floater rear adjustment screw 2153 and a fixing nut 2154; the socket mounting seat 211 includes a connector mounting frame 2112 for mounting an automatic docking connector and a connector mounting plate floating frame 2111; the floater body 2152 is a compressible device provided with an elastic body; the fixing nut 2154 is placed on the connector mounting plate floating frame 2111 and is installed In the floater body 2152, one end of the floater body 2152 is connected to the horizontal floating head 2151, and the other end is connected to the rear adjustment screw 2153 of the floater, so that when the docking socket system 212 needs to be adjusted, the floater body 2152 can be fine-tuned by the rear adjustment screw 2153 of the floater to achieve horizontal floating of the docking socket system 212. In this embodiment, the end of the horizontal floating head 2151 used to abut against the socket mounting seat 211 is a roller to avoid damage to the socket mounting seat 211. As an embodiment, the elastic body is a floating spring 21521, and the floater body 2152 also includes a first cavity segment structure 21522 with an internal thread segment and a second cavity segment structure 21523 with an internal protrusion at the end. The outer side surface of the second cavity segment structure 21523 is provided with an external thread for connecting with the fixing nut 2154, and the first cavity segment structure 21522 and the second cavity segment structure 21523 are connected.Among them, the first cavity section structure 21522 is threadedly connected to the rear adjusting screw 2153 of the floater, and the floating spring 21521 is arranged in the second cavity section structure 21523, one end of which is connected to the end of the first cavity section structure 21522, and the other end is connected to the end of the horizontal floating head 2151, and the horizontal floating head 2151 is clamped on the inner protrusion of the second cavity section structure 21523.

[0043] In this embodiment, the driving system 51 drives the connection device 52 to push the connector up to complete electrical docking or down to complete electrical release. Figure 6 As shown, the connection device 52 includes a torque limiter 521, a drive screw 522, a drive motor system 523, a mounting bracket 524, a connection head 525 and a nut seat 526; the drive system 51 includes a motor;

[0044] The driving screw 522 is installed at the output end of the motor, and passes through the torque limiter 521 and is connected to the nut seat 526. The torque limiter 521 is connected to the driving motor system 523, and the driving motor system 523 is connected to the motor. A connector 525 is installed at the end of the driving screw 522. The torque limiter 521 and the driving motor system 523 are both installed on the mounting frame 524, and the mounting frame 524 is installed on the motor.

[0045] like Figures 6-7 As shown, the locking mechanism 53 includes a first connecting rod mechanism 532, a second connecting rod mechanism 533, a first locking member 534, a second locking member 535, a first support 536 and a second support 537;

[0046] The first link mechanism 532 and the second link mechanism 533 are relatively connected at both ends of the nut seat 526. The first link mechanism is arranged on the first support 536 and can make horizontal linear motion on the first support 536. The second link mechanism is arranged on the second support 537 and can make horizontal linear motion on the second support 537. The first support 536 and the second support 537 are respectively installed on the guide support frame 3. The first link mechanism and the second link mechanism 533 work together to limit the rotation of the nut seat 526, and can only move along the length direction of the driving screw 522.

[0047] When it is determined that the torque to be transmitted by the torque limiter 521 for the driving screw 522 is less than the set torque value, the driving motor system 523 drives the motor to drive the driving screw 522 to rotate. The driving screw 522 drives the nut seat 526 to move along the length direction of the driving screw 522, and also drives the first connecting rod mechanism 532 and the second connecting rod mechanism 533 to move through the nut seat 526, so that when the connecting head 525 is successfully docked with the automatic docking connector 21, the first connecting rod mechanism 532 and the second connecting rod mechanism 533 also respectively drive the corresponding first locking member 534 and the second locking member 535 to cooperate and lock with the box frame 22.

[0048] The input end of the torque limiter 521 of this embodiment and the output shaft of the driving motor system 523 for driving the motor can be connected by a flat key, and the output end of the torque limiter 521 and the driving screw 522 can also be connected by a flat key for transmitting torque. When it is determined that the transmitted torque is less than the torque value set in the torque limiter 521, the driving motor system 523 can drive the motor to drive the driving screw 522 to rotate. When the torque is greater than or equal to the torque value set in the torque limiter 521, the torque limiter 521 begins to slip, and the driving motor system 523 will not drive the driving screw 522 to rotate at this time.

[0049] The nut seat 526 of this embodiment is cooperated and sleeved on the driving screw 522, and its direction is fixed by the first connecting rod mechanism 532, the second connecting rod mechanism 533, the first support 536 and the second support 537 to keep it parallel to the mounting frame 524. In one embodiment, the connecting device 52 also includes two pull-out guide pins 528 and a limit sensor 529, and the two pull-out guide pins 528 and the limit sensor 529 are both installed on the nut seat 526, wherein the limit sensor 529 can be installed on the nut seat 526 through a sensor mounting seat, and the limit sensor 529 can move up and down with the nut seat 526, and when reaching the set upper limit or lower limit, a stop command is sent to the motor control system used to control the drive motor system 523, so as to control the drive motor system 523 through the motor control system to control the motor to stop rotating. In other embodiments, the drive motor system 523 also includes a control system, which sends a stop instruction to the control system of the drive motor system 523 to indicate that the motor should stop rotating when the set upper limit or lower limit is reached, so as to control the motor to stop rotating through the control system.

[0050] As an embodiment, the connection device 52 further includes a motor mounting seat, a motor mounting seat fixing plate, a limiting rod 530 and a limiting block 531 .

[0051] The motor mounting seat is fixed on the motor mounting seat fixing plate, and the motor mounting seat fixing plate is installed on the guide support frame 3. In some embodiments, the drive motor system 523 includes a motor driver and a reducer. As an embodiment, the drive motor system 51 also includes a motor system protection cover, and the motor, the driver and the motor system protection cover are installed on the motor mounting seat. The limit rod 530 is fixedly installed on the motor mounting seat, and a position-adjustable limit block 531 is installed on the limit rod 530 to serve as a position mark detected by the limit sensor 529 for controlling the operation of the motor. In this embodiment, the positioning accuracy can be ensured by adjusting the limit block 531 on the limit rod 530 up and down. In this embodiment, the docking of the connector 525 and the automatic docking connector 21 is realized by the limit sensor 529 sending a running signal and a stop signal to the drive motor system 523 to realize the upward movement (docking and plugging in) or the downward movement (disconnection and power off), and the precise position can be ensured by adjusting the limit block 531 on the limit rod 530 up and down.

[0052] In some embodiments, the mounting frame 524 includes a connector 525 box upper plate, a connector 525 box lower plate, a preset number of copper guide sleeves A, a preset number of floating guide pillars, and a preset number of connector 525 box columns, and the connecting device 52 also includes a compensation spring 527 and a pull-out guide pillar 528;

[0053] A preset number of copper guide sleeves A are installed on the lower plate of the connector 525 box, and each floating guide column is correspondingly installed in the copper guide sleeve A. The set number can be 4. The lower plate of the connector 525 box can only move up and down along the length direction of the drive screw 522 under the restriction of each floating guide column. Among them, the start and end of the up and down movement are controlled by the limit sensor 529. When it is determined that the set upper limit position is reached, the limit sensor 529 triggers an upper limit signal indicating that the lower plate of the connector 525 box has reached the upper limit position. The upper limit signal can be sent to the motor control system through the CAN bus, and the motor controller system controls the drive motor system 523 to stop driving the motor, and the motor stops running at this time. When it is determined that the connector 525 is unplugged from the automatic docking connector 21, the motor controller system controls the drive motor system 523 to drive the motor to rotate, and the connector 525 will move downward as the drive motor system 523 rotates the nut seat 526.

[0054] The compensation spring 527 is sleeved on the driving screw 522, one end of the compensation spring 527 is connected to the lower plate of the connector 525 box, and the other end is connected to the nut seat 526. When the driving motor system 523 drives the motor to rotate, the nut seat 526 rises along the driving screw 522 and compresses the compensation spring 527. When the spring force of the compensation spring 527 is greater than the friction between the floating guide column and the copper guide sleeve A, the lower plate of the connector 525 box begins to rise. When the connector 525 installed on the lower plate of the connector 525 box is plugged in but the limit sensor 529 has not reached the upper limit, the driving motor system 523 drives the motor to continue to rotate. At this time, the lower plate of the connector 525 box will continue to compress the compensation spring 527 to prevent damage to the automatic docking connector 21. The compensation spring 527 begins to stretch until the upper end of the pull-out guide pin 528 starts to work, and then the pull-out process officially begins. When the limit sensor 529 reaches the lower limit position, the limit sensor 529 triggers a signal indicating that the lower plate of the head box has reached the lower limit. The limit sensor 529 can send the lower limit signal to the motor control system via the CAN bus, and the motor control system controls the drive motor system 523 to stop the rotation of the motor according to the lower limit signal.

[0055] The upper plate of the connector 525 box is connected to the lower plate of the connector 525 box through each connector 525 box column. In some embodiments, the connection device 52 also includes a connector 525 box protective cover and a cable fixing card for clamping the cable. The connector 525 box protective cover is detachably mounted on the upper plate of the connector 525 box for repairing and protecting the cable inside the connector 525 box. In practical applications, the cable can be led out from the pitch axis 6, conveyed to the lower plate of the connector 525 box through the cable protective cover, and connected to the automatic docking connector 21 on the lower plate of the connector 525 box, and the cable can be fixed and protected by the cable protective cover throughout the process, which is rainproof, fireproof and dustproof. After entering the lower plate of the connector 525 box, the cable passes through the cable fixing card. Rotating the cable fixing card can fix the cable to prevent the cable from being pulled off from the terminal at the bottom of the automatic docking connector 21 due to the cable movement when the lower plate of the connector 525 box moves up and down, thereby improving the environmental adaptability and reliability of the system.

[0056] In this embodiment, the first link mechanism 532 and the second link mechanism 533 do not specifically refer to two fixed link mechanisms, but can refer to any two link mechanisms on the locking mechanism 53, and the embodiments of the present invention will not be repeated later. It should be noted that the structures of the first link mechanism 532 and the second link mechanism 533 can be the same or different, and this embodiment does not limit this.

[0057] Here, the first locking member 534 and the second locking member 535 do not specifically refer to two fixed locking members, but can refer to any two locking members on the locking mechanism 53, and the embodiments of the present invention will not be repeated later. It should be noted that the structures of the first locking member 534 and the second locking member 535 can be the same or different, and this embodiment does not limit this.

[0058] The first support 536 and the second support 537 do not specifically refer to two fixed supports, but can refer to any two supports on the locking mechanism 53, and the embodiments of the present invention will not be repeated later. It should be noted that the structures of the first support 536 and the second support 537 can be the same or different, and this embodiment does not limit this.

[0059] The driving screw 522 in this embodiment is provided with a thread, and the thread section passes through the nut seat 526 and is connected with the nut seat 526. When the motor drives the driving screw 522 to rotate, the nut seat 526 can move along the length direction of the thread section. The first connecting rod mechanism 532 and the second connecting rod mechanism 533 are installed at both ends of the nut seat 526. In this way, when the nut seat 526 moves along the thread section, it will simultaneously drive the first connecting rod mechanism 532 and the second connecting rod mechanism 533 to move. The first connecting rod mechanism and the second connecting rod mechanism 533 work together to limit the rotation of the nut seat 526, and can only move along the length direction of the driving screw 522. At the same time, the first connecting rod mechanism 532 and the second connecting rod mechanism 533 are respectively arranged on the first support 536 and the second support 537. In this way, when the nut seat 526 drives the first connecting rod mechanism 532 and the second connecting rod mechanism 533 to move simultaneously, the first connecting rod mechanism 532 and the second connecting rod mechanism 533 will also simultaneously make horizontal linear motions on the first support 536 and the second support 537 respectively.

[0060] In this embodiment, the connector 525 connected to the driving screw 522 rises to the designated position of the automatic docking connector 21 under the rotation of the motor, and plugs into the automatic docking connector 21. When the connector 525 is successfully plugged into the automatic docking connector 21, the first link mechanism 532 and the second link mechanism 533 also drive the corresponding first locking member 534 and the second locking member 535 to lock with the box frame 22. In some embodiments, a position sensor for measuring the position of the connector 525 is provided on the automatic docking connector 21. When it is detected that the connector 525 has entered the set range, a position signal indicating that the connector 525 has entered the set range is sent to a remote control system or a controller of the automatic replenishing device. After receiving the position signal, the control system or the controller will control the motor to stop rotating.

[0061] In some embodiments, Figure 7As shown, the first link mechanism 532 includes a first link 5321, a first push rod 5322, a second push rod 5323, a first adjusting nut 5324, a second adjusting nut 5325, a first left and right thick nut 5326 and a first stud 5327; the second link mechanism 533 includes a second link 5331, a third push rod 5332, a fourth push rod 5333, a third adjusting nut 5334, a fourth adjusting nut 5335, a second left and right thick nut 5336 and a second stud 5337;

[0062] One end of the first connecting rod 5321 is connected to one end of the nut seat 526 through the first stud 5327, and the other end of the first connecting rod 5321 is connected to one end of the first push rod 5322. The first push rod 5322 can make horizontal linear motion on the first support 536 under the push of the first connecting rod 5321. The other end of the first push rod 5322 is connected to the first adjusting nut 5324 through one end of the first left and right thick nut 5326, and one end of the second push rod 5323 is connected to the second adjusting nut 5325 through the other end of the first left and right thick nut 5326, so as to adjust the working lengths of the first push rod 5322 and the second push rod 5323 respectively through the first adjusting nut 5324 and the second adjusting nut 5325; the other end of the second push rod 5323 is connected to the first locking member 534;

[0063] One end of the second connecting rod 5331 is connected to one end of the nut seat 526 through the second stud 5337, and the other end of the second connecting rod 5331 is connected to one end of the third push rod 5332. The third push rod 5332 can make horizontal linear motion on the second support 537 under the push of the second connecting rod 5331, and the other end of the third push rod 5332 is connected to the third adjusting nut through one end of the second left-right thick nut 5336, and one end of the fourth push rod 5333 is connected to the fourth adjusting nut through the other end of the second left-right thick nut 5336, so as to adjust the working lengths of the third push rod 5332 and the fourth push rod 5333 respectively through the third adjusting nut and the fourth adjusting nut; the other end of the fourth push rod 5333 is fixedly connected to the second locking member 535; under the action of the first push rod 5322 and the third push rod 5332, the nut seat 526 can only move along the length direction of the driving screw 522 under the rotation of the driving screw 522;

[0064] While the driving screw 522 drives the nut seat 526 to move along the length direction of the driving screw 522, the nut seat 526 drives the first connecting rod 5321 and the second connecting rod 5331. When the connecting head 525 is successfully docked with the automatic docking connector 21, the first connecting rod 5321 drives the first push rod 5322 and the second push rod 5323 to push the first locking piece 534 to cooperate with the box frame 22 and lock it. At the same time, the second connecting rod 5331 drives the third push rod 5332 and the fourth push rod 5333 to push the second locking piece 535 to cooperate with the box frame 22 and lock it.

[0065] In this embodiment, the first connecting rod 5321 is named only for the convenience of distinguishing from the connecting rods described later, and is not used to limit a certain connecting rod. The first push rod 5322 and the second push rod 5323 do not specifically refer to two fixed push rods, but can refer to any two push rods on the first connecting rod mechanism 532, and the embodiments of the present invention will not be repeated later. The first adjustment nut 5324 and the second adjustment nut 5325 do not specifically refer to two fixed adjustment nuts, but can refer to any two adjustment nuts on the first connecting rod mechanism 532, and the embodiments of the present invention will not be repeated later.

[0066] The first left-handed thick nut 5326 is named only for the convenience of distinguishing from the left-handed thick nut in the following text, and is not used to limit a certain left-handed thick nut. Correspondingly, the first stud 5327 is also named only for the convenience of distinguishing from the stud in the following text, and is not used to limit a certain stud.

[0067] Here, the second connecting rod 5331 is named for the convenience of description and is not used to limit a certain connecting rod. Accordingly, the third push rod 5332 or the fourth push rod 5333 is also named for the convenience of description and is not used to limit a certain push rod; the third adjustment nut 5334 or the fourth adjustment nut 5335 is also named for the convenience of description and is not used to limit a certain adjustment nut; the second left and right thick nut 5336 is also named for the convenience of description and is not used to limit a certain left and right thick nut; and the second stud 5337 is also named for the convenience of description and is not used to limit a certain stud.

[0068] In this embodiment, one end of the first connecting rod 5321 is connected to one end of the nut seat 526 through the first stud 5327. It can be seen that the first stud 5327 is provided with a single screw head or a double screw head. If the first bolt is provided with a single screw head, one end of the first stud 5327 provided with the single screw head is threadedly connected to the nut seat 526, and the other end is connected to one end of the first connecting rod 5321. The connection can be welding or bonding, which is not limited in this embodiment. Correspondingly, one end of the first stud 5327 provided with the single screw head is threadedly connected to one end of the first connecting rod 5321, and the other end is connected to one end of the nut seat 526. The connection can be welding or bonding, which is not limited in this embodiment. If the first bolt is provided with a double screw head, one thread of the first stud 5327 is threadedly connected to the nut seat 526, and the other thread head is threadedly connected to one end of the first connecting rod 5321.

[0069] The other end of the first connecting rod 5321 is connected to one end of the first push rod 5322. The first push rod 5322 can make horizontal linear motion on the first support 536 under the push of the first connecting rod 5321. The other end of the first push rod 5322 is connected to the first adjusting nut 5324 through one end of the first left-right thick nut 5326. One end of the second push rod 5323 is connected to the second adjusting nut 5325 through the other end of the first left-right thick nut 5326, so that the working lengths of the first push rod 5322 and the second push rod 5323 can be adjusted respectively through the first adjusting nut 5324 and the second adjusting nut 5325. The other end of the second push rod 5323 is connected to the first locking member 534.

[0070] The first link mechanism 532 and the second link mechanism 533 have the same movement principle, and only the first link mechanism 532 is described in detail here, and the second link mechanism 533 is not described in detail.

[0071] In some embodiments, the first connecting rod mechanism 532 also includes a first screw and a first butterfly spring; the first connecting rod mechanism 532 also includes a second screw and a second butterfly spring; the first locking member 534 includes a first locking block and a first locking rod with a stepped platform, and the second locking member 535 includes a second locking block and a second locking rod with a stepped platform; the first butterfly spring is sleeved on the first locking rod, one end of which is against the surface of the stepped platform of the first locking rod, and the other end is against the second push rod 5323, and the second push rod 5323 is connected to the first locking block through the first screw and the first butterfly spring; the second butterfly spring is sleeved on the second locking rod, one end of which is against the surface of the stepped platform of the second locking rod, and the other end is against the third push rod 5332, and the third push rod 5332 is connected to the second locking block through the first screw and the second butterfly spring.

[0072] In this embodiment, the first screw is named only for the convenience of distinguishing it from the screws mentioned later, and is not used to limit a certain screw; the first butterfly spring is named only for the convenience of distinguishing it from the butterfly spring mentioned later, and is not used to limit a certain butterfly spring; the first locking piece 534 is named only for the convenience of distinguishing it from the locking piece mentioned later, and is not used to limit a certain locking piece; the first locking block is named only for the convenience of distinguishing it from the locking block mentioned later, and is not used to limit a certain locking block; the first locking rod is named only for the convenience of distinguishing it from the locking rod mentioned later, and is not used to limit a certain locking rod.

[0073] Here, the second screw is also named for the convenience of description, and is not used to limit a certain screw. Accordingly, the second butterfly spring is also named for the convenience of description, and is not used to limit a certain butterfly spring. The second locking block is also named for the convenience of description, and is not used to limit a certain locking block. The second locking rod is also named for the convenience of description, and is not used to limit a certain locking rod. The embodiments of the present invention will not be repeated later.

[0074] The purpose of providing the first butterfly spring and the second butterfly spring in this embodiment is to adapt the working length of the first push rod 5322 and the second push rod 5323 to the distance difference between the working surfaces of the locking members in different material supply support frames 31.

[0075] In this embodiment, the first locking rod will squeeze the first butterfly spring to deform during the movement, and the first butterfly spring will generate elastic force to generate thrust on the second push rod 5323. The second push rod 5323 pushes the first locking block to generate pressure. Accordingly, the working principles of the second locking rod, the second butterfly spring, the second push rod 5323 and the second locking block are the same, and will not be repeated here in this embodiment.

[0076] In other embodiments, a first position mark is provided at a first designated position of the box frame 22, and a second position mark is provided at a second designated position of the box frame 22. The driving docking device 5 also includes a first position sensor for detecting the first position mark and a second position sensor for detecting the second position mark. The first position sensor and the second position sensor are respectively arranged at designated positions of the mounting seat and the guide support frame 3; when the distance between the first position sensor and the first position mark is within a first set range, the first position sensor is used to send a first signal indicating that the box frame 22 is in place to an external motor control system, and when the distance between the second position sensor and the second position mark is within a second set range, the second position sensor is used to send a second signal indicating that the box frame 22 is in place to an external motor control system, so that the motor control system starts the motor when both the first signal and the second signal are received.

[0077] In this embodiment, the first designated position and the second designated position do not specifically refer to two fixed designated positions, but may refer to any two designated positions on the box frame 22, and the embodiment of the present invention will not be repeated later. The first position mark and the second position mark do not specifically refer to two fixed position marks, but may refer to any two position marks, and the embodiment of the present invention will not be repeated later. The first position sensor and the second position sensor do not specifically refer to two fixed position sensors, but may refer to any two position sensors on the drive docking device 5, and the embodiment of the present invention will not be repeated later. The first setting range and the second setting range do not specifically refer to two fixed setting ranges, but may refer to any two setting ranges, and the embodiment of the present invention will not be repeated later. In addition, the first setting range and the second setting range may be the same or different, and this embodiment does not limit this. The first signal and the second signal do not specifically refer to two fixed signals, but may refer to any two signals, and the embodiment of the present invention will not be repeated later.

[0078] The first designated position is a position pre-set according to the structure of the mounting seat 1, the guide support frame 3 and the box frame 22. The first designated position is also marked with a first position mark. The first position mark is for the convenience of sensing by the first position sensor set at the designated position of the mounting seat 1. When the first position sensor senses the first position mark, it means that the first designated position of the box frame 22 has reached the first set range where the first position sensor is located. Correspondingly, the second designated position is also a position pre-set according to the structure of the mounting seat 1, the guide support frame 3 and the box frame 22. The second position mark set at the second designated position is for sensing by the second position sensor set at the guide support frame 3. When the second position sensor senses the second position mark, it means that the second designated position of the box frame 22 has reached the second set range where the second position sensor is located. In this embodiment, as soon as the first position sensor senses the first position mark, it will send a first signal to the external motor control system to indicate that the box frame 22 is in place; accordingly, as soon as the second position sensor senses the second position mark, it will send a second signal to the external motor control system to indicate that the box frame 22 is in place.

[0079] The automatic docking supply platform in this embodiment also includes at least one protective cover as follows, which includes: two locking push rod protective covers. The protective cover is used to protect the mechanical docking system from rain, dust, bacteria and fire. Among them, the locking push rod protective cover covers the locking mechanism 53 and is installed on the guide support frame 3. The first position sensor and the second position sensor are respectively correspondingly arranged at the first designated position and the second designated position on the locking push rod protective cover. The first position sensor and the second position sensor are both used to detect whether the automatic docking box 2 is docked and installed in place. When the first position sensor is within the first set range from the first position mark set in the automatic docking box 2, the first position sensor triggers a first signal indicating that the automatic docking box 2 is in place at the designated first designated position. Subsequently, the first position sensor sends the in-place state indicating the in-place state of the automatic docking box 2 to the motor control system, so as to control the driving motor system 523 and the locking mechanism 53 in the connecting device 52 through the motor control system. When the second position sensor is within the second set range from the second position mark set in the automatic docking box 2, the second position sensor triggers a second signal indicating that the automatic docking box 2 is in place at the designated second designated position. Subsequently, the second position sensor will send the in-place status indicating the automatic docking box 2 to the motor control system, so as to control the operation of the drive motor system 523 and the locking mechanism 53 in the connection device 52 through the motor control system. However, when any docking position sensor is not triggered or both of them have no trigger signal, it indicates that the automatic docking box 2 has not reached the designated position for docking. At this time, a third signal indicating that the automatic docking box 2 is not installed in place is sent to the motor control system, and a third signal indicating that the automatic docking box 2 is not in place is sent to the replacement crane system, so that the motor control system and the replacement crane system are readjusted until the first position sensor and the second position sensor both trigger the first signal and the second signal indicating that the automatic docking box 2 is in place.

[0080] In some embodiments, the protective cover further includes: an electrical docking system protective cover, a motor protective cover, a cable protective cover and a plug box protective cover. The electrical docking system protective cover is installed on the inner side of the two rear supports, namely the first support 536 and the second support 537. It is used to protect some components of the connection device 52 for docking the connector 525, ensuring that it can move up and down therein.

[0081] Cable protection covers are used to fix and constrain cables, isolate and protect cables, and prevent them from contacting the external environment.

[0082] The connector 525 box protection cover is used to protect the cable and plug in the connection box connected to the connector 525 from rain, dust and fire. These protection covers can be installed detachably to facilitate debugging and maintenance.

[0083] In some embodiments, the automatic docking box 2 also includes a locking wedge, a docking position mark, a first positioning hole, a longitudinal guide groove, a sling lifting interface and a second positioning hole. The first positioning hole, the longitudinal guide groove, the sling lifting interface and the second positioning hole are all located at the top of the box frame 22, and the first positioning hole, the longitudinal guide groove, the sling lifting interface and the second positioning hole are all symmetrically arranged on the box frame 22, and are not divided into left and right during installation, but only front and back. The locking wedge, the automatic docking connector 21 and the docking position mark are located at the bottom of the box frame 22. Among them, the automatic docking connector 21 can float to the left in the horizontal plane or the bottom plane of the box frame 22, and the floating amplitude is controlled and determined by the adjustment system of the docking connector mounting seat used to install the automatic docking connector 21.

[0084] The embodiment of the present application provides an automatic docking and replenishing platform, which is provided with a mounting seat, a box frame, an automatic docking connector installed at the bottom of the box frame and provided with a docking portion for docking arranged in a protective end cover provided with a switch, an automatic docking box, a guide support frame, a guide positioning assembly, a controller and a driving docking device, the guide support frame and the guide positioning assembly are both installed on the mounting seat and the driving docking device, the driving system of the driving docking device is connected to a connecting device provided with a connecting head, and the connecting device is also connected to a locking mechanism, the controller is electrically connected to the driving system, an external control system, the automatic docking connector and the locking mechanism, so as to determine that when the automatic docking box reaches a specified position , the drive system is started to drive the connection device to move in a first direction, so that the connection device drives the locking mechanism to move during the movement, and when it is detected that the connector is in the preset docking range, the protective end cover is controlled to open, and when the connector is successfully docked with the automatic docking connector, the locking mechanism locks the box frame, and when it is determined that the automatic docking box needs to be released, the drive system is started to drive the connection device to move in a second direction opposite to the first direction, so that the connection device drives the locking mechanism to move during the movement, and when the locking mechanism unlocks the box frame, the automatic docking connector is just separated from the connection head, and when it is detected that the connection head is not in the preset docking range, the protective end cover is controlled to close. It can be seen that the device provided by the embodiment of the present application does not require human participation in automatic replenishment, but can automatically realize the docking of the connector and the connector through the controller under the control of the control system, and realize the automatic replenishment of the material to be replenished through the transportation of the box frame. At the same time, the protective end cover set by the automatic docking connector can prevent the docking part of the automatic docking connector that docks with the connector from entering dust or liquid, which can not only prevent the components in the automatic docking connector from being corroded, but also improve the life of the automatic docking connector.

[0085] In the second aspect, the embodiment of the present application also provides an automatic docking and replenishing equipment, which includes the automatic docking and replenishing platform, control system and replacement crane system of any embodiment of the first aspect, and the automatic docking and replenishing platform is electrically connected to the control system and the replacement crane system. Automatic replenishment without human participation can be achieved based on the feedback of the automatic docking box, so that the controller controls the drive system to automatically achieve the docking of the connector and the connector under the control of the control system, and the automatic replenishment of the material to be replenished through the transportation of the box frame. At the same time, the protective end cover provided by the automatic docking connector can prevent the docking part of the automatic docking connector that docks with the connector from entering dust or liquid, which can not only prevent the components in the automatic docking connector from being corroded, but also improve the life of the automatic docking connector.

[0086] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An automatic docking supply platform, It is characterized in that The automatic docking supply platform includes: A mounting base, used to be mounted on a designated pitch axis in a vehicle and to perform pitch motion along with the pitch axis; An automatic docking box, comprising a box frame for loading the material to be replenished and an automatic docking connector installed at the bottom of the box frame, wherein a docking portion of the automatic docking connector for achieving docking is arranged in a protective end cover provided with a switch; A guide support frame, mounted on the mounting seat, for guiding the automatic docking box to move and carrying the automatic docking box; A guide positioning assembly, used for guiding the automatic docking box to move to a designated position in the guide support frame, and installed on the mounting seat; A driving docking device, comprising a driving system, a connecting device provided with a connecting head and a locking mechanism, wherein the driving system is connected to the connecting device, the driving system, the connecting device and the locking mechanism are all installed on the guide support frame, and the connecting device is also connected to the locking mechanism; The controller is electrically connected to the drive system, the external control system, the automatic docking connector and the locking mechanism, and is used to start the drive system to drive the connection device to move in a first direction when it is determined that the automatic docking box has reached the specified position and when an indication signal for controlling the start of the drive system is received from the control system, so that the connection device drives the locking mechanism to move during the movement, and when it is detected that the connector is in a preset docking range, control the protective end cover to open, and when the connector and the automatic docking connector are successfully docked, the locking mechanism just locks the box frame; when it is determined that the automatic docking box needs to be released, start the drive system to drive the connection device to move in a second direction opposite to the first direction, so that the connection device drives the locking mechanism to move during the movement, and when the locking mechanism unlocks the box frame, the automatic docking connector just completes separation from the connector, and when it is detected that the connector is not in the preset docking range, control the protective end cover to close.

2. The automatic docking supply platform according to claim 1, It is characterized in that The connection device includes a torque limiter, a drive screw, a drive motor system, a mounting bracket, a connection head and a nut seat; The driving system comprises a motor; the driving screw is installed at the output end of the motor, passes through the torque limiter and is connected to the nut seat, the torque limiter is connected to the driving motor system, the driving motor system is connected to the motor, the connector, the torque limiter and the driving motor system are all installed on the mounting frame, and the mounting frame is installed on the motor; The locking mechanism comprises a first connecting rod mechanism, a second connecting rod mechanism, a first locking member, a second locking member, a first support and a second support; The first link mechanism and the second link mechanism are relatively connected at two ends of the nut seat, the first link mechanism is arranged on the first support, and makes horizontal linear motion on the first support, the second link mechanism is arranged on the second support, and makes horizontal linear motion on the second support, the first support and the second support are respectively installed on the guide support frame, the first link mechanism and the second link mechanism work together to limit the rotation of the nut seat, and can only move along the length direction of the driving screw; When it is determined that the torque to be transmitted by the drive screw by the torque limiter is less than the set torque value, the drive motor system drives the motor to drive the drive screw to rotate, and the drive screw drives the nut seat to move along the length direction of the drive screw, and also drives the first connecting rod mechanism and the second connecting rod mechanism to move through the nut seat, so that when the connecting head is successfully docked with the automatic docking connector, the first connecting rod mechanism and the second connecting rod mechanism also respectively drive the corresponding first locking member and the second locking member to cooperate and lock with the box frame; when it is determined that the torque to be transmitted by the drive screw by the torque limiter is greater than or equal to the set torque value, the torque limiter begins to slip, and the drive motor system no longer drives the drive screw to rotate.

3. The automatic docking supply platform according to claim 2, It is characterized in that The controller is provided with a motor controller system, and the motor control system is electrically connected to the drive motor system. The connecting device also includes two pull-out guide pins, a limit sensor and a limit sensor. The two pull-out guide pins and the limit sensor are all installed on the nut seat, wherein the limit sensor is installed on the nut seat through the sensor mounting seat, and the limit sensor can move up and down with the nut seat. When reaching the set upper limit or lower limit, a stop command is sent to the motor control system used to control the drive motor system, so as to control the drive motor system through the motor control system to stop the motor from rotating.

4. The automatic docking supply platform according to claim 3, It is characterized in that The mounting frame includes a connector box upper plate, a connector box lower plate, a preset number of copper guide sleeves A, a preset number of floating guide pillars and a preset number of connector box columns, the connector box upper plate is connected to the connector box lower plate through each connector box column, and the connecting device also includes a compensation spring; A preset number of copper guide sleeves A are installed on the lower plate of the connector box, and each floating guide post is correspondingly installed in the copper guide sleeve A. Under the restriction of each floating guide post, the lower plate of the connector box can only move up and down along the length direction of the driving screw; The compensation spring is sleeved on the driving screw, one end of the compensation spring is connected to the lower plate of the connector box, and the other end is connected to the nut seat. When the driving motor system drives the motor to rotate, the nut seat rises along the driving screw and compresses the compensation spring; when the spring force of the compensation spring is greater than the friction between the floating guide column and the copper guide sleeve A, the lower plate of the connector box begins to rise; when the connector installed on the lower plate of the connector box is plugged in but the limit sensor has not reached the upper limit, the driving motor system drives the motor to continue to rotate, the lower plate of the connector box will continue to compress the compensation spring, and the compensation spring begins to stretch until the upper end of the pull-out guide column begins to work; when the limit sensor reaches the lower limit position, the limit sensor triggers a lower limit signal indicating that the lower plate of the head box has reached the lower limit, and the limit sensor sends the lower limit signal to the motor control system, so that the motor control system controls the driving motor system to stop the rotation of the motor according to the lower limit signal.

5. The automatic docking supply platform according to claim 4, It is characterized in that The connecting device further comprises a motor mounting seat, a motor mounting seat fixing plate, a limit rod and a limit block; the motor mounting seat is fixed to the motor mounting seat fixing plate, the motor mounting seat fixing plate is installed on the guide support frame, the control system is provided with a motor controller system, and the motor control system is electrically connected to the drive motor system; The drive motor system comprises a motor driver and a motor system protection cover, wherein the motor driver and the motor system protection cover are mounted on the motor mounting seat; the limit rod is fixedly mounted on the motor mounting seat, and the limit rod is provided with a position-adjustable limit block for serving as a position mark detected by a limit sensor for controlling the operation of the motor; The limit sensor and the motor control system are electrically connected to the control system. When it is determined that the set upper limit position is reached, the limit sensor triggers an upper limit signal indicating that the lower plate of the connector box has reached the upper limit position, and sends the upper limit signal to the motor control system so that the motor controller system controls the drive motor system to stop driving the motor; when it is determined that the connector is unplugged from the automatic docking connector, the motor controller system controls the drive motor system to drive the motor to rotate, and the connector moves downward as the drive motor system rotates the nut seat.

6. The automatic docking supply platform according to claim 5, It is characterized in that The connection device also includes a connector box protection cover and a cable fixing card for clamping the cable. The connector box protection cover is detachably mounted on the connector box upper plate to be used for inspecting and protecting the cables in the connector box.

7. The automatic docking supply platform according to claim 6, It is characterized in that The automatic docking supply platform also includes at least one of the following protective covers, the protective cover including: two locking push rod protective covers; The locking push rod protection cover covers the locking mechanism and is installed on the guide support frame, and a first position sensor and a second position sensor are respectively correspondingly arranged at a first designated position and a second designated position on the locking push rod protection cover; The first position sensor and the second position sensor are both used to detect whether the automatic docking box is docked and installed in place. When the distance between the first position sensor and the first position mark set in the automatic docking box is within the first set range, the first position sensor triggers a first signal indicating that the automatic docking box is in place at the first specified position; the first position sensor is also used to send the in-place status indicating the in-place status of the automatic docking box to the motor control system, so as to control the action of the drive motor system and the locking mechanism in the connection device through the motor control system; when the distance between the second position sensor and the second position mark set in the automatic docking box is within the second set range, the second position sensor triggers the generation of a signal indicating that the automatic docking box is in place A second signal is sent to the motor control system to designate the second designated position, and a state signal indicating that the automatic docking box is in place is sent to the motor control system, so as to control the action of the drive motor system and the locking mechanism in the connecting device through the motor control system; when any position sensor among the first docking position sensor and the second docking position sensor has no trigger signal, a third signal indicating that the automatic docking box is not installed in place is sent to the motor control system, and at the same time, a third signal indicating that the automatic docking box is not in place is sent to the external replacement crane system, so that the motor control system and the replacement crane system are readjusted until the first position sensor and the second position sensor both trigger the first signal and the second signal indicating that the automatic docking box is in place.

8. The automatic docking supply platform according to claim 7, It is characterized in that The protective cover also includes an electrical docking system protective cover, a motor protective cover and a cable protective cover; The electrical docking system protection cover is installed on the inner side of the first support and the second support, and is used to protect some components of the connection device used for docking the connector, ensuring that it can move up and down therein; The motor protection cover is installed on the motor; The cable protection cover is used to fix and constrain the cable, isolate and protect the cable, so that the cable does not contact with the external environment.

9. The automatic docking and replenishing platform according to any one of claims 1 to 8, It is characterized in that The automatic docking box also includes a locking wedge, a docking position mark, a first positioning hole, a longitudinal guide groove, a sling lifting interface and a second positioning hole; The first positioning hole, the longitudinal guide groove, the lifting interface of the sling and the second positioning hole are all located at the top of the box frame, and the first positioning hole, the longitudinal guide groove, the lifting interface of the sling and the second positioning hole are all symmetrically arranged on the box frame; The locking wedge, the automatic docking connector and the docking position mark are located at the bottom of the box frame; wherein the automatic docking connector can float leftward in a horizontal plane or a bottom plane of the box frame, and the floating amplitude is controlled and determined by an adjustment system of a docking connector mounting seat for installing the automatic docking connector.

10. An automatic docking supply equipment, It is characterized in that The automatic docking and replenishment equipment includes the automatic docking and replenishment platform, the control system and the replacement crane system as described in any one of claims 1 to 9, and the automatic docking and replenishment platform is electrically connected to the control system and the replacement crane system.

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