Automatic butt-joint locking device

Abstract

The invention provides an automatic butt-joint locking device which is used for solving the technical problems that an existing automatic butt-joint device is large in structural size, locking is achieved by mostly adopting a complex active mechanism, reliability is low, and the requirements for miniaturization and high reliability in space butt-joint application are not met. The automatic butt-joint locking device comprises the driving end mechanism and the driven end mechanism, and after a plurality of driving end fixing openings of the driving end mechanism and a plurality of driven end fixing openings of the driven end mechanism are oppositely inserted, a plurality of locking bolts are inserted into the corresponding driving end fixing openings and the corresponding driven end fixing openings to achieve butt joint. Locking is achieved through the reverse self-locking characteristic between the worm and the driving end rotating plate; and the active end signal or power supply interface is electrically connected with the passive end signal or power supply interface, so that automatic butt joint and locking of the active end equipment to be butted and the passive end equipment to be butted are finally realized, the butt joint precision is effectively ensured, and the miniaturization and reliability level of the butt joint locking device is improved.

Description

Technical Field

[0001] The present invention relates to an automatic docking device, and in particular to an automatic docking and locking device. Background Art

[0002] In space applications, when connecting two devices in orbit to achieve mechanical connection of the main body, and at the same time, to achieve functions such as power, heat, and fluid resource transmission, an automatic docking device is required. At present, the publicly disclosed automatic docking devices mainly include allogeneic isomorphic peripherals, cone rods, etc. For example, Chinese Patent No. CN114933030A discloses a satellite docking capture mechanism and a space separation, release and docking locking mechanism, in which a guiding capture ring is arranged on a circular main base through a guide rail, a support rod, a guiding slider and a spring to achieve the function of space docking and locking. Chinese Patent No. CN116252972A discloses an electromagnetic docking device for on-orbit combination of micro-nano satellites, and the device can be used to achieve the function of repeated rapid docking and separation in orbit. Chinese Patent No. CN116374219A discloses a docking mechanism and method for repeatable unlocking of micro-nano satellites. The docking mechanism uses the electromagnetic lock cores and electromagnetic lock valves on the active docking mechanism and the passive docking mechanism to cooperate to guide the precise docking of two spacecrafts and achieve repeated locking and unlocking. Chinese Patent No. CN117087878A discloses a modular satellite docking interface device, which can achieve large-tolerance compliant docking and can also achieve active locking and unlocking at the same time. The automatic docking devices disclosed in the above patents can all achieve the docking and locking functions, but their structural sizes are all relatively large, and most of them use relatively complex active mechanisms to achieve locking, with low reliability, which is not conducive to the requirements of miniaturization and high reliability in space docking applications. Summary of the Invention

[0003] The purpose of the present invention is to solve the technical problems that the existing automatic docking devices have relatively large structural sizes, and most of them use relatively complex active mechanisms to achieve locking, with low reliability, which is not conducive to the requirements of miniaturization and high reliability in space docking applications, and to propose an automatic docking and locking device.

[0004] In order to achieve the above purpose, the technical solution provided by the present invention is as follows:

[0005] An automatic docking and locking device, characterized in that it includes an active end mechanism arranged on the device to be docked at the active end and a passive end mechanism arranged on the device to be docked at the passive end;

[0006] The active end mechanism includes an active end base, an active end fixing seat, an active end rotating plate, M locking pins, a plurality of steel balls and a plurality of adjusting set screws, M≥3;

[0007] The active end base includes a circular mounting boss and a mounting ring that is circumferentially arranged on the outer side wall of the circular mounting boss and is lower than the circular mounting boss; on the upper surface of the circular mounting boss, M active end fixing ports are circumferentially and evenly distributed, and a plurality of active end signal or power supply interfaces are arranged at positions corresponding to the inner sides of the M active end fixing ports; a driving mechanism based on a worm is installed on the circumferential outer side of the mounting ring;

[0008] Both the active end fixing seat and the active end rotating plate are annular structures. The active end fixing seat is sleeved inside the active end rotating plate with a gap, enabling the active end rotating plate to rotate relative to the active end fixing seat; the active end fixing seat is fixed to the upper end of the mounting ring, and a plurality of radial steel ball mounting through holes are circumferentially and evenly distributed on its inner side wall; a groove adapted to the size of the steel balls is circumferentially formed on the inner side wall of the active end rotating plate; a plurality of steel balls are installed in the corresponding steel ball mounting through holes, and the inner ends of a plurality of adjusting set screws respectively extend into the corresponding steel ball mounting through holes from the inside of the active end fixing seat to adjust the corresponding steel balls to abut against the grooves respectively;

[0009] On the upper surface of the active end rotating plate, M locking pin mounting seats are circumferentially and evenly distributed, and the M locking pin mounting seats extend inward above the circular mounting boss; arc-shaped locking pins are respectively installed at the inner ends of each locking pin mounting seat; a driven gear is arranged on the outer side wall of the active end rotating plate for meshing with the worm;

[0010] The passive end mechanism includes a passive end base; on the lower surface of the passive end base, passive end fixing ports are respectively arranged at positions corresponding to the M active end fixing ports; the active end fixing port is a hollow structure, and a top through hole is opened at its top. The outer diameter of the passive end fixing port is adapted to the inner diameter of the top through hole for guiding and docking the M passive end fixing ports into the M active end fixing ports;

[0011] On the side walls on both sides of the active end fixing port, first side through holes are respectively opened at positions corresponding to the locking pins, and on the side walls on both sides of the passive end fixing port, second side through holes are respectively opened at positions corresponding to the first side through holes. The first side through holes and the second side through holes are used for the locking pins to rotate and insert;

[0012] On the upper surface of the passive end base, passive end signal or power supply interfaces electrically connected to the corresponding ones are respectively arranged at positions corresponding to the plurality of active end signal or power supply interfaces.

[0013] Further, a plurality of axial active end mounting holes are circumferentially and evenly distributed on the mounting ring for connecting with the active end device to be docked;

[0014] A plurality of axial passive end mounting holes are circumferentially and evenly distributed on the passive end base for connecting with the passive end device to be docked;

[0015] A plurality of axial first fixing seat mounting holes that are circumferentially evenly distributed on the installation ring and are staggered with the active end mounting holes; corresponding to the positions of the plurality of first fixing seat mounting holes on the active end fixing seat, axial second fixing seat mounting holes are respectively provided, and the second fixing seat mounting holes are staggered with the plurality of steel ball mounting through holes;

[0016] The first fixing seat mounting hole is a threaded hole, and the second fixing seat mounting hole is a through hole. The two are connected by screws to realize the connection between the active end fixing seat and the installation ring.

[0017] Further, the driving mechanism includes a driving motor, a fixed bearing, and a worm;

[0018] A driving mechanism fixing seat is provided on the outer circumference of the installation ring;

[0019] The driving motor and the fixed bearing are respectively installed on both sides of the driving mechanism fixing seat, and the worm is connected between the driving motor and the fixed bearing;

[0020] An active tooth adapted to the driven tooth of the active end rotating plate is provided on the outer side wall of the worm, so as to drive the active end rotating plate to rotate when the driving motor drives the worm to rotate.

[0021] Further, an internal thread is provided on the inner side wall of the steel ball mounting through hole;

[0022] The inner end of the adjusting set screw is provided with a steel ball groove adapted to the size of the steel ball, and its outer side wall is provided with a set screw external thread; the inner end of the adjusting set screw extends into the steel ball mounting through hole and is screwed into the internal thread of the steel ball mounting through hole through the set screw external thread on its outer side wall. The inner end of the adjusting set screw is used to adjust the corresponding steel ball to abut against the groove of the active end rotating plate.

[0023] Further, the front end of the locking pin is a spherical surface, and the rear end is a disc-shaped structure; the diameter of the disc-shaped structure is larger than the aperture of the first side through hole.

[0024] Further, four locking pin mounting seats are circumferentially evenly distributed on the upper surface of the active end rotating plate;

[0025] The locking pin mounting seat includes a vertical plate and two extension columns vertically connected to the inner side wall of the vertical plate; the extension columns extend above the circular mounting boss, and a fixing groove adapted to the side wall of the locking pin is provided at the inner end thereof, and a threaded fixing hole corresponding to the fixing groove is provided on the upper surface thereof;

[0026] Four locking pins are respectively installed in the fixing grooves of the corresponding extension columns, and a plurality of screws pass through the corresponding threaded fixing holes and are threadedly connected to the locking pins.

[0027] Further, the top through-hole of the active end fixing port and the bottom of the passive end fixing port are both provided with a rounded guiding structure.

[0028] Further, both the first side through-hole and the second side through-hole are provided with a rounded guiding structure.

[0029] The beneficial effects of the present invention compared with the prior art are as follows:

[0030] 1. An automatic docking and locking device provided by the present invention includes an active end mechanism and a passive end mechanism. After multiple active end fixing ports of the active end mechanism and multiple passive end fixing ports of the passive end mechanism are inserted into each other, multiple locking pins are horizontally inserted into the corresponding active end fixing ports and passive end fixing ports to achieve docking, and a driving mechanism based on a worm is used to realize the locking function after docking through the reverse self-locking characteristic between the worm and the active end rotating plate; at the same time, electrical connection is achieved through the active end signal or power supply interface and the passive end signal or power supply interface, and finally, automatic docking and locking of the active end device to be docked and the passive end device to be docked are realized; the present invention effectively ensures the docking accuracy, can achieve self-locking, has a simple structure, and improves the miniaturization and reliability levels of the docking and locking device.

[0031] 2. For the automatic docking and locking device provided by the present invention, the active end rotating plate rotates relative to the active end fixing seat, and at the same time, the position of the steel ball is adjusted by using the adjusting screw, which can effectively adjust and reduce the rotational friction between the active end rotating plate and the active end fixing seat, ensure the stability when the active end rotating plate rotates relative to the active end fixing seat, and enable the locking pin to be inserted into the corresponding active end fixing port and passive end fixing port more stably and quickly. Description of the Drawings

[0032] Figure 1 is a schematic structural diagram of the automatic docking and locking device according to an embodiment of the present invention before docking;

[0033] Figure 2 is a schematic structural diagram of the active end base in the embodiment of the present invention;

[0034] Figure 3 is a schematic structural diagram of the active end fixing seat in the embodiment of the present invention;

[0035] Figure 4 is a schematic structural diagram of the adjusting screw in the embodiment of the present invention;

[0036] Figure 5 is a sectional view of the cooperation state of the adjusting screw and the steel ball in the embodiment of the present invention;

[0037] Figure 6 is a schematic structural diagram of the active end rotating mechanism in the embodiment of the present invention;

[0038] Figure 7Schematic diagram of the structure of the active end rotating plate and the locking pin in the embodiment of the present invention;

[0039] Figure 8 Schematic diagram of the structure of the passive end base in the embodiment of the present invention.

[0040] The descriptions of the reference numerals are as follows:

[0041] 1 - Passive end fixed seat; 2 - Passive end mounting hole; 3 - Passive end signal or power supply interface; 4 - Passive end fixing port; 6 - Active end rotating plate; 7 - Active end fixed seat; 8 - Active end fixing port; 9 - Active end base; 10 - Locking pin; 11 - Locking pin mounting seat; 12 - Driving mechanism fixed seat; 13 - Fixed bearing; 14 - Worm; 15 - Driving motor; 16 - Active end signal or power supply interface; 17 - Second side through hole; 19 - Top through hole; 20 - First side through hole; 21 - Active end mounting hole; 22 - First fixed seat mounting hole; 23 - Second fixed seat mounting hole; 24 - Threaded fixing hole; 25 - Groove; 26 - Steel ball mounting through hole; 27 - Steel ball; 28 - Adjusting set screw; 29 - External thread of the set screw; 30 - Steel ball groove. Detailed implementation manners

[0042] To make the advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0043] As Figure 1 shown, an automatic docking and locking device includes an active end mechanism and a passive end mechanism. Among them, the active end mechanism is used for mechanical connection and electrical connection with the active end device to be docked, and the passive end mechanism is used for mechanical connection and electrical connection with the passive end device to be docked, so as to realize the automatic docking and locking of the active end device to be docked and the passive end device to be docked.

[0044] The active end mechanism includes an active end base 9, an active end rotating mechanism, a plurality of steel balls 27, a plurality of adjusting set screws 28, and a driving mechanism. As Figure 2 shown, the active end base 9 includes a circular mounting boss and a mounting ring circumferentially arranged on the outer side wall of the circular mounting boss and lower than the circular mounting boss. Four active end fixing ports 8 are circumferentially and evenly distributed on the upper surface of the circular mounting boss, and four active end signal or power supply interfaces 16 are arranged at positions corresponding to the inner sides of the four active end fixing ports 8. A plurality of axially staggered active end mounting holes 21 and first fixed seat mounting holes 22 are circumferentially and evenly distributed on the mounting ring, and the active end mounting holes 21 are designed in the form of counterbores for realizing mechanical connection with the active end device to be docked.

[0045] The driving end rotating mechanism includes a driving end fixed seat 7, a driving end rotating plate 6, and four locking pins 10. Both the driving end fixed seat 7 and the driving end rotating plate 6 are annular structures. The driving end fixed seat 7 is sleeved inside the driving end rotating plate 6 with a gap, enabling the driving end rotating plate 6 to rotate relative to the driving end fixed seat 7. The driving end fixed seat 7 is fixed to the upper end of the mounting ring. As Figure 3 shown, axial second fixed seat mounting holes 23 are respectively formed at positions corresponding to a plurality of first fixed seat mounting holes 22 on the driving end fixed seat 7. The second fixed seat mounting holes 23 are through holes, and the first fixed seat mounting holes 22 are in the form of internal threads. They are connected by screws to realize the connection between the driving end fixed seat 7 and the driving end base 9. A plurality of radially arranged steel ball mounting through holes 26 with internal threads are circumferentially and evenly distributed on the inner side wall of the driving end fixed seat 7. The steel ball mounting through holes 26 and the second fixed seat mounting holes 23 are alternately and evenly distributed. A circle of grooves 25 adapted to the size of the steel balls 27 is formed along the circumferential direction on the inner side wall of the driving end rotating plate 6. As Figure 4 shown, a steel ball groove 30 adapted to the size of the steel ball 27 is provided at the inner end of the adjusting set screw 28, and an external thread 29 of the set screw is provided on its outer side wall. As Figure 5 shown, the inner end of the adjusting set screw 28 extends into the steel ball mounting through hole 26 from the inner side of the driving end fixed seat 7, and is screwed into the internal thread of the steel ball mounting through hole 26 through the external thread 29 of its outer side wall. By adjusting the depth of the adjusting set screw 28 in the steel ball mounting through hole 26, the relative position (embedding depth) of the steel ball 27 is adjusted, and further the relative positional relationship between the driving end rotating plate 6 and the driving end fixed seat 7 is adjusted. The inner end of the adjusting set screw 28 is used to adjust the corresponding steel ball 27 to abut against the groove 25 of the driving end rotating plate 6, that is, to adjust the corresponding steel ball 27 between the steel ball groove 30 and the groove 25 to ensure the stability when the driving end rotating plate 6 rotates relative to the driving end fixed seat 7.

[0046] As Figure 6 、 Figure 7As shown in the figure, four locking pin mounting seats 11 are evenly distributed on the circumferential surface of the upper surface of the active end rotating plate 6. The four locking pin mounting seats 11 extend inward to the upper part of the circular mounting boss for mounting the locking pins 10. In the present invention, the locking pin 10 is of an arc-shaped structure. The locking pin mounting seat 11 includes a vertical plate and two extension columns vertically connected to the inner side wall of the vertical plate. The extension columns extend to the upper part of the circular mounting boss, and a fixing groove adapted to the side wall of the locking pin 10 is provided at the inner end thereof, and a threaded fixing hole 24 is provided at the position corresponding to the fixing groove on the upper surface thereof. The four locking pins 10 are respectively mounted in the fixing grooves of the corresponding extension columns, and a plurality of screws pass through the corresponding threaded fixing holes 24 and are threadedly connected to the top surface of the locking pin 10. Preferably, the front end of the locking pin 10 is a spherical surface, which is convenient for smoothly passing through the corresponding active end fixing port 8 and the passive end fixing port 4; the rear end of the locking pin 10 is a disc-shaped structure, and the diameter of the disc-shaped structure is larger than the aperture of the first side through hole 20, so as to prevent the locking pin 10 from being reversely inserted into the adjacent active end fixing port 8.

[0047] A driving mechanism fixing seat 12 is provided on the circumferential outer side of the mounting ring; the driving mechanism includes a driving motor 15, a fixed bearing 13 and a worm 14. The driving motor 15 and the fixed bearing 13 are respectively mounted on both sides of the driving mechanism fixing seat 12, and the worm 14 is connected between the driving motor 15 and the fixed bearing 13. At the same time, a driving tooth is provided on the outer side wall of the worm 14, and a driven tooth adapted to the driving tooth of the worm 14 is provided on the outer side wall of the active end rotating plate 6. When the driving motor 15 drives the worm 14 to rotate, the active end rotating plate 6 is driven to rotate relative to the active end fixing seat 7 through the engagement of the driving tooth and the driven tooth.

[0048] As Figure 8 shown in the figure, the passive end mechanism includes a passive end base 1. Passive end fixing ports 4 are respectively provided on the lower surface of the passive end base 1 at positions corresponding to the four active end fixing ports 8. The active end fixing port 8 is of a hollow structure, and a top through hole 19 is provided at the top thereof. The outer diameter of the passive end fixing port 4 is adapted to the inner diameter of the top through hole 19, so as to guide and dock the four passive end fixing ports 4 into the four active end fixing ports 8.

[0049] First side through holes 20 are respectively provided on the side walls of both sides of the active end fixing port 8 at positions corresponding to the locking pins 10, and second side through holes 17 are respectively provided on the side walls of both sides of the passive end fixing port 4 at positions corresponding to the first side through holes 20. The first side through holes 20 and the second side through holes 17 are used for the locking pins 10 to be rotated and inserted.

[0050] Preferably, the top through-hole 19 of the active end fixing port 8 is set as a rounded structure, and the top of the passive end fixing port 4 is also set as a rounded structure, which facilitates the smooth entry of the passive end fixing port 4 into the active end fixing port 8. The first side through-hole 20 and the second side through-hole 17 are also both set as rounded structures, which facilitates the smooth screwing of the locking pin 10 into the active end fixing port 8 and the passive end fixing port 4.

[0051] On the passive end base 1, a plurality of axial passive end mounting holes 2 are circumferentially and evenly distributed for realizing mechanical connection with the device to be docked at the passive end. At the same time, corresponding to the positions of the plurality of active end signal or power supply interfaces 16 on the upper surface of the passive end base 1, passive end signal or power supply interfaces 3 are respectively provided. The four passive end signal or power supply interfaces 3 are electrically connected to the four active end signal or power supply interfaces 16 correspondingly, and the four passive end signal or power supply interfaces 3 are used to realize electrical connection with the device to be docked at the passive end, and the four active end signal or power supply interfaces 16 are used to realize electrical connection with the device to be docked at the active end. In the present invention, the number and specific positions of the passive end signal or power supply interfaces 3 and the active end signal or power supply interfaces 16 are arranged according to the actual requirements of the devices to be docked at the passive end and the active end.

[0052] The working principle of the automatic docking and locking device of the present invention is as follows: After the active end mechanism and the passive end mechanism are docked through the four active end fixing ports 8 and the four passive end fixing ports 4, the driving motor 15 drives the worm 14 to rotate, and then drives the active end rotating plate 6 to rotate relative to the active end fixing seat 7, so that the locking pins 10 located on the active end rotating plate 6 respectively pass through the first side through-hole 20 of the active end fixing port 8 and the second side through-hole 17 of the passive end fixing port 4. After the locking pins 10 are inserted into the corresponding active end fixing port 8 and passive end fixing port 4 in place, locking is achieved through the reverse self-locking characteristic between the worm 14 and the active end rotating plate 6, making it unable to escape, realizing the automatic docking of the device to be docked at the active end and the device to be docked at the passive end. At the same time, the passive end signal or power supply interfaces 3 are electrically connected to the active end signal or power supply interfaces 16, realizing the communication of signals and power supply between the device to be docked at the active end and the device to be docked at the passive end.

[0053] The above is only used to illustrate the technical solution of the present invention, rather than to limit it. For those of ordinary professional skills in the art, the specific technical solution recorded in the above embodiments can be modified, or some of the technical features can be equivalently replaced, and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution protected by the present invention.

Claims

1. An automatic docking and locking device, characterized in that: It includes an active end mechanism arranged on the device to be docked at the active end and a passive end mechanism arranged on the device to be docked at the passive end; The active end mechanism includes an active end base (9), an active end fixing seat (7), an active end rotating plate (6), M locking pins (10), a plurality of steel balls (27), and a plurality of adjusting cap screws (28), where M≥3; The active end base (9) includes a circular mounting boss and a mounting ring circumferentially arranged on the outer side wall of the circular mounting boss and lower than the circular mounting boss; on the upper surface of the circular mounting boss, M active end fixing ports (8) are circumferentially and evenly distributed, and at positions corresponding to the inner sides of the M active end fixing ports (8), a plurality of active end signal or power supply interfaces (16) are arranged; on the circumferential outer side of the mounting ring, a driving mechanism based on a worm (14) is installed; Both the active end fixing seat (7) and the active end rotating plate (6) are annular structures. The active end fixing seat (7) is sleeved inside the active end rotating plate (6) with a gap, enabling the active end rotating plate (6) to rotate relative to the active end fixing seat (7); the active end fixing seat (7) is fixed to the upper end of the mounting ring, and a plurality of radial steel ball mounting through holes (26) are circumferentially and evenly distributed on its inner side wall; on the inner side wall of the active end rotating plate (6), a groove (25) adapted to the size of the steel balls (27) is circumferentially provided; a plurality of steel balls (27) are installed in the corresponding steel ball mounting through holes (26), and the inner ends of a plurality of adjusting cap screws (28) respectively extend into the corresponding steel ball mounting through holes (26) from the inside of the active end fixing seat (7) to adjust the corresponding steel balls (27) to be respectively in contact with the groove (25); On the upper surface of the active end rotating plate (6), M locking pin mounting seats (11) are circumferentially and evenly distributed, and the M locking pin mounting seats (11) extend inward above the circular mounting boss; at the inner end parts of each locking pin mounting seat (11), arc-shaped locking pins (10) are respectively installed; on the outer side wall of the active end rotating plate (6), a driven gear is provided for meshing with the worm (14); The passive end mechanism includes a passive end base (1); on the lower surface of the passive end base (1), passive end fixing ports (4) are respectively arranged at positions corresponding to the M active end fixing ports (8); the active end fixing port (8) is a hollow structure, and a top through hole (19) is opened at its top. The outer diameter of the passive end fixing port (4) is adapted to the inner diameter of the top through hole (19) for guiding the M passive end fixing ports (4) to be docked into the M active end fixing ports (8); On the two side walls of the active end fixing port (8) at positions corresponding to the locking pins (10), first side through holes (20) are respectively opened, and on the two side walls of the passive end fixing port (4) at positions corresponding to the first side through holes (20), second side through holes (17) are respectively opened. The first side through holes (20) and the second side through holes (17) are used for the locking pins (10) to rotate and insert; On the upper surface of the passive end base (1), passive end signal or power supply interfaces (3) electrically connected to the corresponding ones are respectively arranged at positions corresponding to the plurality of active end signal or power supply interfaces (16).

2. The automatic docking and locking device according to claim 1, wherein: A plurality of axial active end mounting holes (21) are circumferentially and uniformly distributed on the mounting ring for connecting with the device to be docked at the active end. A plurality of axial passive end mounting holes (2) are circumferentially and uniformly distributed on the passive end base (1) for connecting with the device to be docked at the passive end. A plurality of axial first fixed seat mounting holes (22) which are circumferentially and uniformly distributed on the mounting ring and are staggered with the respective active end mounting holes (21); axial second fixed seat mounting holes (23) are respectively formed at positions corresponding to the plurality of first fixed seat mounting holes (22) on the active end fixed seat (7), and the second fixed seat mounting holes (23) are staggered with a plurality of steel ball mounting through holes (26). The first fixed seat mounting hole (22) is a threaded hole, and the second fixed seat mounting hole (23) is a through hole. The two are connected by screws to realize the connection between the active end fixed seat (7) and the mounting ring.

3. The automatic docking and locking device according to claim 2, wherein: The driving mechanism includes a driving motor (15), a fixed bearing (13), and a worm (14). A driving mechanism fixed seat (12) is arranged on the circumferential outer side of the mounting ring. The driving motor (15) and the fixed bearing (13) are respectively installed on both sides of the driving mechanism fixed seat (12), and the worm (14) is connected between the driving motor (15) and the fixed bearing (13). An active tooth adapted to the driven tooth of the active end rotating plate (6) is arranged on the outer side wall of the worm (14) for driving the active end rotating plate (6) to rotate when the driving motor (15) drives the worm (14) to rotate.

4. The automatic docking and locking device according to claim 3, wherein: Internal threads are provided on the inner side wall of the steel ball mounting through hole (26). A steel ball groove (30) adapted to the size of the steel ball (27) is provided at the inner end of the adjusting set screw (28), and an external thread of the set screw (29) is provided on its outer side wall; the inner end of the adjusting set screw (28) extends into the steel ball mounting through hole (26) and is screwed into the internal thread of the steel ball mounting through hole (26) through the external thread of the set screw (29) on its outer side wall. The inner end of the adjusting set screw (28) is used to adjust the corresponding steel ball (27) to abut against the groove (25) of the active end rotating plate (6).

5. The automatic docking and locking device according to claim 4, wherein: The front end of the locking bolt (10) is a spherical surface, and the rear end is a disc-shaped structure; the diameter of the disc-shaped structure is larger than the aperture of the first side through hole (20).

6. The automatic docking and locking device according to claim 5, wherein: Four locking bolt mounting seats (11) are circumferentially and uniformly distributed on the upper surface of the active end rotating plate (6). The locking plug mounting seat (11) includes a vertical plate and two extension columns vertically connected to the inner side wall of the vertical plate; the extension columns extend above the circular mounting boss, and fixing grooves adapted to the side walls of the locking plugs (10) are provided at their inner ends, and threaded fixing holes (24) are provided at positions corresponding to the fixing grooves on their upper surfaces; Four locking plugs (10) are respectively installed in the fixing grooves of the corresponding extension columns, and a plurality of screws pass through the corresponding threaded fixing holes (24) and are threadedly connected to the locking plugs (10).

7. The automatic docking and locking device according to claim 1, wherein: The top through-hole (19) of the active end fixing port (8) and the bottom of the passive end fixing port (4) are both provided with a rounded guide structure.

8. The automatic docking and locking device according to claim 7, wherein: Both the first side through-hole (20) and the second side through-hole (17) are provided with a rounded guide structure.

Images