Load docking device

Abstract

The invention discloses a load docking device, relates to a docking device, aims to solve the problems of complex structure, long axial size, large weight, small tolerance capacity, small load capacity and small locking force of the conventional space load docking device, and aims to solve the problem that the docking device without the characteristic of a large central hole has a structure for different-body isomorphic design and mechanical and electrical time-sharing docking. A load butt joint device comprises a driven end portion and a driving end portion. The passive end part and the active end part are in butt joint and locked arrangement, the connecting end of the passive end part and the connecting end of the active end part are locked and fixed through the locking assembly of the active end part, the electric connector of the passive end part and the electric connector of the active end part are in butt joint arrangement, and the electric connector of the active end part telescopically moves in the active end part. The invention belongs to the field of structure butt joint.

Description

Technical Field

[0001] The invention relates to a docking device, in particular to a load docking device, and belongs to the field of structural docking. Background Art

[0002] The most commonly used mechanical automatic docking device on the market today is a pneumatic quick-change connector at the end of a robotic arm, which can achieve mechanical locking and electrical conduction. However, its electrical connector and interface are relatively fixed, making it impossible to achieve mechanical and electrical time-sharing docking. The active end of the interface does not adopt a heterogeneous isomorphic design, resulting in insufficient docking flexibility. The design lacks a large center hole structure, which lacks functional expansion. Some existing space payload docking devices have heterogeneous isomorphic designs and mechanical and electrical time-sharing docking designs, but there are still no docking devices with large center holes. Furthermore, existing structures have problems such as complex structure, long axial dimensions, heavy weight, small tolerance, small load capacity, and low locking force. Summary of the Invention

[0003] The purpose of the present invention is to solve

[0004] The existing space load docking device has the problems of complex structure, long axial dimension, large weight, small tolerance, small load capacity and small locking force. A docking device that does not have the characteristics of a large center hole is designed for heterogeneous bodies with the same structure and mechanical and electrical time-sharing docking structure, thereby providing a load docking device.

[0005] The technical solution of the present invention is:

[0006] A load docking device includes a passive end and an active end; the passive end and the active end are docked and locked, the connecting end of the passive end and the connecting end of the active end are locked and fixed by a locking assembly of the active end, the electric connector of the passive end and the electric connector of the active end are docked, and the electric connector of the active end is telescopically movable within the active end.

[0007] Further, the passive end portion includes a passive housing and four passive tolerance petals;

[0008] The electric connector of the passive end is mounted on the passive housing. The four passive tolerance flaps are radially arranged on the passive housing. The four passive tolerance flaps and the passive housing are integrally connected.

[0009] Further, the active end portion includes an active housing, four active outer tolerance lobes;

[0010] The four active outer tolerance petals are evenly distributed radially on the active housing, and the four active outer tolerance petals are integrally connected to the active housing. The locking assembly is installed on the active housing and the four active outer tolerance petals, and the electrical connector at the active end moves telescopically in the active housing.

[0011] Furthermore, each passive tolerance flap is arranged corresponding to an active external tolerance flap, and the four passive tolerance flaps and the four active external tolerance flaps are locked and fixed by a locking assembly.

[0012] Furthermore, the locking assembly includes a push disk, a drive frame, a plurality of cam rollers and a plurality of steel balls;

[0013] The driving frame rotation connection sleeve is arranged on the inner shell of the active shell, and a plurality of cam grooves are processed radially on the driving frame, and the cam grooves are inclined along the axial direction of the driving frame. Each cam roller is slidingly arranged in a cam groove, and a plurality of cam rollers are radially installed on the pushing disk. Each active outer tolerance petal is provided with at least one steel ball and a top working section of the pushing disk, and the top working section of the pushing disk is in contact with the steel ball. The steel ball is arranged on the inner wall of the active outer tolerance petal, and a steel ball groove is provided on the outer wall of each passive tolerance petal, and the steel ball groove is arranged corresponding to the steel ball of the active outer tolerance petal, and the steel ball is squeezed into the steel ball groove of the passive tolerance petal through the working section at the top of the pushing disk.

[0014] Furthermore, the locking assembly further comprises a semicircular annular worm gear and a worm;

[0015] A semicircular worm gear is fixedly mounted on the outer side of the driving frame, and the worm is rotationally connected and mounted on the active housing 2020, and the semicircular worm gear and the worm are arranged in coordination.

[0016] Furthermore, the locking assembly further includes a motor and a harmonic reducer;

[0017] The output end of the motor is fixedly connected to the worm through a harmonic reducer, and the housing of the motor is fixedly installed at the bottom of the active housing.

[0018] Furthermore, the pushing disk includes an inner ring, a connecting ring, an outer ring, a plurality of limiting plates and a plurality of arc-shaped pushing plates;

[0019] The inner ring and the outer ring are fixedly connected as a whole through a connecting ring. A plurality of limit plates are installed on the inner ring, and a plurality of arc-shaped pushing plates are installed on the top of the outer ring. The top of the arc-shaped pushing plate is a folded surface bent inward. The plurality of limit plates on the inner ring are slidably arranged on the active housing, and the electrical connector at the active end is fixedly installed on the top of the limit plate. The folded surface of the arc-shaped pushing plate contacts the steel ball of the active outer tolerance petal, and the steel ball is squeezed into the steel ball groove of the passive tolerance petal through the folded surface and vertical surface of the arc-shaped pushing plate.

[0020] Furthermore, the cam roller includes a connecting shaft and a roller bearing. The connecting shaft is inserted into the roller bearing, the connecting shaft is installed on the connecting ring, and the connecting shaft is slidably arranged in the cam groove.

[0021] Furthermore, the active end also includes four active content difference lobes;

[0022] The four active internal differential lobes are evenly distributed along the radial direction on the active shell. The circle where the four active internal differential lobes are located is located inside the circle where the four active external tolerance lobes are located. The circle where the four passive tolerance lobes are located coincides with the circle where the four active internal differential lobes are located. Each active external tolerance lobes is an arc-shaped shell. The width of the top of the arc-shaped shell of the active external tolerance lobes is smaller than the width of the bottom of the arc-shaped shell. The thickness of the top of the arc-shaped shell is smaller than the thickness of the bottom of the arc-shaped shell. The outer circular surface of the top of the arc-shaped shell of the active external tolerance lobes is tilted downward to the inner circular surface. The top of the arc-shaped shell of the active external tolerance lobes is tilted downward to the side. The active content differential flap is an arc-shaped shell, and the width of the top of the arc-shaped shell of the active content differential flap is smaller than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell of the active content differential flap is smaller than the thickness of the bottom of the arc-shaped shell. The passive tolerance flap is an arc-shaped shell, and the width of the top of the arc-shaped shell of the passive tolerance flap is larger than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell is larger than the thickness of the bottom of the arc-shaped shell. Each passive tolerance flap is inserted into two adjacent active content differential flaps. Four active content differential flaps and four passive tolerance flaps are staggered and inserted to form a cylindrical body, and each passive tolerance flap is corresponding to an active external tolerance flap.

[0023] A weak connection magnet is embedded in the side of each active content differential flap, and a weak connection magnet is embedded in the side of each passive tolerance flap. The weak connection magnet of each active content differential flap is arranged corresponding to the weak connection magnet of the adjacent passive tolerance flap, and the weak connection magnet of the active content differential flap is attracted to the weak connection magnet of the adjacent passive tolerance flap.

[0024] Compared with the prior art, the present invention has the following effects:

[0025] 1. Achieve greater tolerance and connection strength with smaller mass and ensure smaller axial size;

[0026] 2. The interface has a heterogeneous homogeneous design, which allows two active ends to connect to each other, increasing application scenarios;

[0027] 3. The interface has a mechanical and electrical time-sharing connection design to protect electrical equipment;

[0028] 4. The interface has a large center hole that runs through it. By installing different additional equipment in the center hole or even directly transferring materials, the interface capacity can be greatly expanded.

[0029] 5. The interface locking force is strong and the locking success rate is high.

[0030] 6. The passive end of the interface has a simple structure and a flat shape, which can minimize the impact on the load connected to the passive end. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is the main view of the overall structure of this application;

[0032] Figure 2 1 is a schematic structural diagram of the passive end 100;

[0033] Figure 3 is a schematic structural diagram of the active end 200;

[0034] Figure 4 is a cross-sectional schematic diagram of the active end portion 200;

[0035] Figure 5 It is a sectional front view of the active end portion 200;

[0036] Figure 6 is a schematic diagram of the locking assembly 2010;

[0037] Figure 7 It is a schematic diagram of the structure of the push disk 2011;

[0038] Figure 8 2012 is a schematic diagram showing the positions of the driving frame 2012 and the plurality of cam rollers 2013; Figure 9 is a schematic diagram of the active housing 2020. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0040] Specific implementation method 1: Combination Figure 1-Figure 4 The present embodiment is described as a load docking device, which includes a passive end 100 and an active end 200; the passive end 100 and the active end 200 are docked and locked, the connecting end of the passive end 100 and the connecting end of the active end 200 are locked and fixed by a locking assembly 2010 of the active end 200, the electrical connector of the passive end 100 and the electrical connector of the active end 200 are docked, and the electrical connector of the active end 200 is telescopically movable within the active end 200.

[0041] The electrical connector of the active end 200 floats and moves within the active end 200 so that the electrical connector of the active end 200 and the electrical connector of the passive end 100 are docked. During docking, the active end 200 acts to lock the active end 200 and the passive end 100 together.

[0042] like Figure 2 As shown, the passive end 100 includes a passive housing 1010 and four passive tolerance flaps 1020;

[0043] The electrical connector of the passive end portion 100 is mounted on the passive housing 1010 . The four passive tolerance flaps 1020 are radially arranged on the passive housing 1010 , and the four passive tolerance flaps 1020 and the passive housing 1010 are integrally connected.

[0044] like Figure 3-Figure 5 As shown, the active end portion 200 includes an active housing 2020 and four active outer tolerance flaps 2030;

[0045] The four active external tolerance flaps 2030 are evenly distributed radially on the active housing 2020, and the four active external tolerance flaps 2030 are integrally connected to the active housing 2020. The locking assembly 2010 is installed on the active housing 2020 and the four active external tolerance flaps 2030. The electrical connector of the active end 200 telescopically moves within the active housing 2020.

[0046] Each passive tolerance flap 1020 is correspondingly arranged with an active external tolerance flap 2030 , and the four passive tolerance flaps 1020 and the four active external tolerance flaps 2030 are locked and fixed by a locking assembly 2010 .

[0047] like Figure 1-Figure 4 As shown, the active end 200 further includes four active content difference lobes 2040;

[0048] The four active internal differential flaps 2040 are evenly distributed radially on the active shell 2020. The circle where the four active internal differential flaps 2040 are located is set inside the circle where the four active external tolerance flaps 2030 are located. The circle where the four passive tolerance flaps 1020 are located coincides with the circle where the four active internal differential flaps 2040 are located. Each active external tolerance flap 2030 is an arc-shaped shell, and the width of the top of the arc-shaped shell of the active external tolerance flap 2030 is smaller than the width of the bottom of the arc-shaped shell, the thickness of the top of the arc-shaped shell is smaller than the thickness of the bottom of the arc-shaped shell, and the outer circular surface of the top of the arc-shaped shell of the active external tolerance flap 2030 is tilted downward to the inner circular surface, and the arc-shaped shell top of the active external tolerance flap 2030 is tilted downward to the side. The active content differential flap 2040 is an arc-shaped shell, and the width of the top of the arc-shaped shell of the active content differential flap 2040 is smaller than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell of the active content differential flap 2040 is smaller than the thickness of the bottom of the arc-shaped shell. The passive tolerance flap 1020 is an arc-shaped shell, and the width of the top of the arc-shaped shell of the passive tolerance flap 1020 is greater than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell is greater than the thickness of the bottom of the arc-shaped shell. Each passive tolerance flap 1020 is inserted into two adjacent active content differential flaps 2040. Four active content differential flaps 2040 and four passive tolerance flaps 1020 are staggered and inserted to form a cylindrical body, and each passive tolerance flap 1020 is corresponding to an active external tolerance flap 2030.

[0049] A weak connection magnet is embedded in the side of each active content differential flap 2040, and a weak connection magnet is embedded in the side of each passive tolerance flap 1020. The weak connection magnet of each active content differential flap 2040 is arranged corresponding to the weak connection magnet of the adjacent passive tolerance flap 1020, and the weak connection magnet of the active content differential flap 2040 is attracted to the weak connection magnet of the adjacent passive tolerance flap 1020.

[0050] The active end 200 and the passive end 100 are both guided docking shell structures. The active outer tolerance flap 2030 of the active end 200 and the passive tolerance flap 1020 of the passive end 100 are locked by the locking assembly 2010. The sides of the passive tolerance flap 1020 and the active inner tolerance flap 2040 are respectively provided with weak connection magnets, which are attracted after docking to provide magnetic attraction force for maintaining the connection state after unlocking; the top surface of the active inner tolerance flap 2040 is installed with a magnet for cooperating with the linear Hall arranged inside the active end to measure the distance between the docking surfaces during the docking process.

[0051] The plane where the electrical connector of the passive end 100 and the electrical connector of the active end 200 are docked is defined as the docking surface. After the docking is completed, the two docking surfaces are fitted together, wherein the docking surface of the active end 200 can move up and down, and the docking surface of the passive end 100 is fixed to the guide docking shell.

[0052] A weak connection refers to a property where, after the active end 200 and the passive end 100 are unlocked by the locking assembly 2010, a weak connection still exists between them, but they can be separated after a significant impact. The weak connection is achieved by two corresponding weak connection magnets. The polarity of the magnets ensures that the active end 200 and the passive end 100 attract each other, but the active end 200 and the passive end 100 repel each other.

[0053] Active tolerance and passive tolerance are called docking tolerance. Active tolerance refers to the process of correcting the posture of the passive end during the docking process, with the active end of the interface serving as the driving source. Passive tolerance refers to the process of posture correction triggered by the active and compliant control of the robotic arm and the contact guidance of the outer shell features of the active end 200 and the passive end 100, during the docking process. During the docking process, the passive tolerance flap 1020 is first used for guidance, and then the active external tolerance flap 2030 is locked, and the active external tolerance flap 2030 realizes active locking. During the passive tolerance process, since the chamfered guiding features of the inclined surfaces of the active end 200 and the passive end 100 contact each other to generate contact force, the impedance of the robotic arm is set to be small, and it can be adjusted in accordance with the direction of the contact force, thereby reducing deviation.

[0054] The electrical connector can provide electrical connection after the active end 200 and the passive end 100 are docked. There is a wire harness component at the end of the active end 200 connector to collect all the lead wires to the same location for output.

[0055] like Figure 9 As shown, a limit pin is provided on the bottom cover of the active housing 2020, and a clamping plate is fixedly installed on the outer side of the driving frame 2012, and the limit pin of the active housing 2020 blocks the clamping plate of the driving frame 2012 for limiting.

[0056] Specific implementation method 2: Combination Figure 1-Figure 4 The present embodiment is described as a load docking device, which includes a passive end 100 and an active end 200; the passive end 100 and the active end 200 are docked and locked, the connecting end of the passive end 100 and the connecting end of the active end 200 are locked and fixed by a locking assembly 2010 of the active end 200, the electrical connector of the passive end 100 and the electrical connector of the active end 200 are docked, and the electrical connector of the active end 200 is telescopically movable within the active end 200.

[0057] The electrical connector of the active end 200 floats and moves within the active end 200 so that the electrical connector of the active end 200 and the electrical connector of the passive end 100 are docked. During docking, the active end 200 acts to lock the active end 200 and the passive end 100 together.

[0058] like Figure 2 As shown, the passive end 100 includes a passive housing 1010 and four passive tolerance flaps 1020;

[0059] The electrical connector of the passive end portion 100 is mounted on the passive housing 1010 . The four passive tolerance flaps 1020 are radially arranged on the passive housing 1010 , and the four passive tolerance flaps 1020 and the passive housing 1010 are integrally connected.

[0060] like Figure 4-Figure 6 As shown, the locking assembly 2010 includes a pushing disk 2011, a driving frame 2012, a plurality of cam rollers 2013 and a plurality of steel balls 2014;

[0061] The driving frame 2012 is rotatably connected to the inner shell of the active shell 2020. The driving frame 2012 and the active shell 2020 are rotatably connected by bearings. A plurality of cam grooves are radially processed on the driving frame 2012. The cam grooves are tilted along the axial direction of the driving frame 2012. Each cam roller 2013 is slidably set in a cam groove. The plurality of cam rollers 2013 are radially mounted on the push disk 2011. The push disk 2011 slides in the cam groove through the plurality of cam rollers 2013 to achieve rising and falling movements. Each active outer tolerance petal 2030 is provided with at least one steel ball 2014 and the top working section of the push disk 2011. The top working section of the push disk 2011 The working section contacts the steel ball 2014, and the steel ball 2014 is arranged on the inner wall of the active outer tolerance flap 2030. When the push disk 2011 rises, the steel ball 2014 is pushed along the steel ball sliding groove toward the center of the push disk 2011 through the top working section of the push disk 2011. When the push disk 2011 descends, the steel ball 2014 moves along the steel ball sliding groove away from the center of the push disk 2011 due to the gravity of the steel ball 2014. A steel ball groove is provided on the outer wall of each passive tolerance flap 1020, and the steel ball groove is arranged corresponding to the steel ball 2014 of the active outer tolerance flap 2030. The steel ball 2014 is squeezed into the steel ball groove of the passive tolerance flap 1020 through the working section at the top of the push disk 2011.

[0062] like Figure 3 、 Figure 5 、 Figure 6 and Figure 8 As shown, the pushing plate 2011 includes an inner ring, a connecting ring, an outer ring, multiple limiting plates and multiple arc-shaped pushing plates;

[0063] The inner ring and the outer ring are fixedly connected as a whole through a connecting ring. A plurality of limit plates are installed on the inner ring, and a plurality of arc-shaped push plates are installed on the top of the outer ring. The top of the arc-shaped push plate is a folded surface bent inward. The plurality of limit plates on the inner ring are slidably set on the active shell 2020, and the electrical connector of the active end 200 is fixedly installed on the top of the limit plate. The folded surface of the arc-shaped push plate contacts the steel ball of the active outer tolerance flap 2030, and the steel ball 2014 is squeezed into the steel ball groove of the passive tolerance flap 1020 through the folded surface and vertical surface of the arc-shaped push plate.

[0064] The push disk 2011 is restricted from rotating in the circumferential direction of the active housing 2020 by multiple limit plates on the inner ring, so that the limit plates of the push disk 2011 can slide along the slide groove on the active housing 2020, thereby realizing the rise and fall of the push disk 2011. The rise and fall of the push disk 2011 realizes the locking, fixing and unlocking of the active outer tolerance flap 2030 of the active end 200 to the passive tolerance flap 1020 of the passive end 100.

[0065] like Figure 2As shown, the passive end 100 includes a passive housing 1010 and four passive tolerance flaps 1020;

[0066] The electrical connector of the passive end portion 100 is mounted on the passive housing 1010 . The four passive tolerance flaps 1020 are radially arranged on the passive housing 1010 , and the four passive tolerance flaps 1020 and the passive housing 1010 are integrally connected.

[0067] The active end 200 includes an active housing 2020 and four active outer tolerance lobes 2030;

[0068] The four active external tolerance flaps 2030 are evenly distributed radially on the active housing 2020, and the four active external tolerance flaps 2030 are integrally connected to the active housing 2020. The locking assembly 2010 is installed on the active housing 2020 and the four active external tolerance flaps 2030. The electrical connector of the active end 200 telescopically moves within the active housing 2020.

[0069] Each passive tolerance flap 1020 is correspondingly arranged with an active external tolerance flap 2030 , and the four passive tolerance flaps 1020 and the four active external tolerance flaps 2030 are locked and fixed by a locking assembly 2010 .

[0070] like Figure 3 and Figure 4 As shown, the active end 200 further includes four active inner tolerance flaps 2040; the active outer tolerance flap 2030, the active inner tolerance flap 2040 of the active end 200 and the passive tolerance flap 1020 of the passive end 100 all have positive chamfers and lateral chamfers.

[0071] The four active internal differential flaps 2040 are evenly distributed radially on the active shell 2020. The circle where the four active internal differential flaps 2040 are located is set inside the circle where the four active external tolerance flaps 2030 are located. The circle where the four passive tolerance flaps 1020 are located coincides with the circle where the four active internal differential flaps 2040 are located. Each active external tolerance flap 2030 is an arc-shaped shell, and the width of the top of the arc-shaped shell of the active external tolerance flap 2030 is smaller than the width of the bottom of the arc-shaped shell, the thickness of the top of the arc-shaped shell is smaller than the thickness of the bottom of the arc-shaped shell, and the outer circular surface of the top of the arc-shaped shell of the active external tolerance flap 2030 is tilted downward to the inner circular surface, and the arc-shaped shell top of the active external tolerance flap 2030 is tilted downward to the side. The active content differential flap 2040 is an arc-shaped shell, and the width of the top of the arc-shaped shell of the active content differential flap 2040 is smaller than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell of the active content differential flap 2040 is smaller than the thickness of the bottom of the arc-shaped shell. The passive tolerance flap 1020 is an arc-shaped shell, and the width of the top of the arc-shaped shell of the passive tolerance flap 1020 is greater than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell is greater than the thickness of the bottom of the arc-shaped shell. Each passive tolerance flap 1020 is inserted into two adjacent active content differential flaps 2040. Four active content differential flaps 2040 and four passive tolerance flaps 1020 are staggered and inserted to form a cylindrical body, and each passive tolerance flap 1020 is corresponding to an active external tolerance flap 2030.

[0072] A weak connection magnet is embedded in the side of each active content differential flap 2040, and a weak connection magnet is embedded in the side of each passive tolerance flap 1020. The weak connection magnet of each active content differential flap 2040 is arranged corresponding to the weak connection magnet of the adjacent passive tolerance flap 1020, and the weak connection magnet of the active content differential flap 2040 is attracted to the weak connection magnet of the adjacent passive tolerance flap 1020.

[0073] Both the active end 200 and the passive end 100 are guided docking housing structures. The active outer tolerance flap 2030 of the active end 200 and the passive tolerance flap 1020 of the passive end 100 are locked together by a locking assembly 2010. Weakly connected magnets are installed on the sides of the passive tolerance flap 1020 and the active inner tolerance flap 2040, respectively. These magnets engage after docking, providing magnetic attraction to maintain the connection after unlocking. A magnet is mounted on the top surface of the active inner tolerance flap 2040 to cooperate with a linear Hall effect sensor installed inside the active end to measure the distance between the docking surfaces during docking. The plane where the electrical connectors of the passive end 100 and the active end 200 mate is defined as the docking surface. After docking, the two docking surfaces are in contact. The docking surface of the active end 200 can move up and down, while the docking surface of the passive end 100 is fixed to the guided docking housing.

[0074] A weak connection refers to a property where, after the active end 200 and the passive end 100 are unlocked by the locking assembly 2010, a weak connection still exists between them, but they can be separated after a significant impact. The weak connection is achieved by two corresponding weak connection magnets. The polarity of the magnets ensures that the active end 200 and the passive end 100 attract each other, but the active end 200 and the passive end 100 repel each other.

[0075] Active tolerance and passive tolerance are called docking tolerance. Active tolerance refers to the process of correcting the posture of the passive end during the docking process, with the active end of the interface serving as the driving source. Passive tolerance refers to the process of posture correction triggered by the active and compliant control of the robotic arm and the contact guidance of the outer shell features of the active end 200 and the passive end 100, during the docking process. During the docking process, the passive tolerance flap 1020 is first used for guidance, and then the active external tolerance flap 2030 is locked, and the active external tolerance flap 2030 realizes active locking. During the passive tolerance process, since the chamfered guiding features of the inclined surfaces of the active end 200 and the passive end 100 contact each other to generate contact force, the impedance of the robotic arm is set to be small, and it can be adjusted in accordance with the direction of the contact force, thereby reducing deviation.

[0076] The electrical connector can provide electrical connection after the active end 200 and the passive end 100 are docked. There is a wire harness component at the end of the active end 200 connector to collect all the lead wires to the same location for output.

[0077] like Figure 4 As shown, the locking assembly 2010 further includes a semicircular annular worm gear 2015 and a worm 2016;

[0078] A semi-circular worm gear 2015 is fixedly mounted on the outside of the drive frame 2012, and a worm 2016 is rotatably connected to the active housing 2020. The semi-circular worm gear 2015 and the worm 2016 are arranged in a coordinated manner. The worm 2016 drives the semi-circular worm gear 2015 to rotate, and the semi-circular worm gear 2015 drives the drive frame 2012 to rotate. The rotation of the drive frame 2012 and the circumferential limitation of the push disk 2011 by the active housing 2020 realize the raising and lowering of the push disk 2011.

[0079] The locking assembly 2010 also includes a motor and a harmonic reducer;

[0080] The output end of the motor is fixedly connected to the worm 2016 through a harmonic reducer, and the motor housing is fixedly installed at the bottom of the active housing 2020.

[0081] The motor and the harmonic reducer are used to control and drive the worm 2016 to rotate, thereby realizing the motor-controlled load docking device to work.

[0082] like Figure 8 As shown, the cam roller 2013 includes a connecting shaft and a roller bearing. The connecting shaft is inserted into the roller bearing, which is then mounted on the connecting ring. The connecting shaft slides within the cam groove. The roller bearing on the cam roller 2013 reduces friction between the connecting ring and the drive frame 2012, reduces component wear, and ensures component life.

[0083] like Figure 9 As shown, in this embodiment, a potentiometer plate is installed on the bottom cover of the active housing 2020. A corresponding brush is fixed to the worm gear to detect the angle of worm gear rotation. A magnet is installed in the brush assembly, and a corresponding switch Hall effect sensor is designed on the potentiometer plate to achieve electronic position limiting of the worm gear rotation. In this embodiment, a limit pin is installed on the bottom cover of the active housing 2020, and a clamping plate is fixedly installed on the outside of the drive frame 2012. The limit pin of the active housing 2020 blocks the clamping plate of the drive frame 2012 to limit the position. This achieves dual position limiting.

[0084] In the active locking process of the present application, the gap between the active and passive end butt joint surfaces can be eliminated, and ultimately the active and passive end butt joint surfaces are completely fitted together, and the two are locked.

[0085] Steel ball 214 moves freely within the ball path of active outer tolerance flap 2030. When push disk 2011 moves upward, the inclined features on push disk 2011 compress steel ball 214, causing it to contact the lower portion of the steel ball groove in passive tolerance flap 1020. This downward pressure exerted by steel ball 214 on the steel ball groove in passive tolerance flap 1020 drives passive end 100 downward. When the mating surfaces of the electrical connectors of passive end 100 and active end 200 come into contact, the curved push plate at the top of the outer ring of push disk 2011 tilts to a vertical position. Push disk 2011 no longer pushes steel ball 214, but instead maintains it in its current position, thereby maintaining a locked connection.

[0086] After the active end 200 and the passive end 100 are docked, the weak connection magnet of each active tolerance flap 2040 and the weak connection magnet of the adjacent passive tolerance flap 1020 attract each other, generating suction force and realizing weak connection.

[0087] The active content differential flap 2040 of the active end 200 is machined with a steel ball groove on the outside. The active content differential flap 2040 has the same structure as the passive tolerance flap 1020 of the passive end 100, so the passive tolerance flap 1020 also has the feature of a locking ball groove. Therefore, one active end 200 can be locked by the other active end 200, so that both active ends 200 are locked. After the active end 200 and the active end 200 are connected, due to the same polarity of the magnets, a repulsive effect will occur, requiring the robot arm to apply additional external force to make them fit together. The solid space above the mating surface of the two active ends 200 corresponds to the empty space below the mating surface, and the solid space below the mating surface corresponds to the empty space above the mating surface. In addition to the active locking feature, the active end 200 also has a passive locking feature, namely a locking ball groove. Since the locking feature and the locked feature of the ball lock structure must be the inner and outer rings, this structure provides two circles of concave and convex grooves arranged alternately on the inner and outer rings.

[0088] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A load docking device, characterized in that: The passive end portion (100) and the active end portion (200) are butt-jointed and locked with each other. The connecting end of the passive end portion (100) and the connecting end of the active end portion (200) are locked and fixed via a locking assembly (2010) of the active end portion (200). The electric connector of the passive end portion (100) and the electric connector of the active end portion (200) are butt-jointed with each other. The electric connector of the active end portion (200) moves telescopically within the active end portion (200).

2. A load docking device according to claim 1, characterized in that: The passive end portion (100) includes a passive housing (1010) and four passive tolerance flaps (1020); The electrical connector of the passive end (100) is mounted on the passive housing (1010), the four passive tolerance flaps (1020) are radially arranged on the passive housing (1010), and the four passive tolerance flaps (1020) and the passive housing (1010) are integrally connected.

3. The load docking device according to claim 1, characterized in that: The active end portion (200) comprises an active housing (2020) and four active external tolerance lobes (2030); Four active external tolerance flaps (2030) are evenly distributed radially on the active housing (2020), and the four active external tolerance flaps (2030) are integrally connected to the active housing (2020). The locking assembly (210) is mounted on the active housing (2020) and the four active external tolerance flaps (2030). The electrical connector of the active end portion (200) telescopically moves within the active housing (2020).

4. A load docking device according to claim 2 or 3, characterized in that: Each passive tolerance flap (1020) is arranged corresponding to an active external tolerance flap (2030), and the four passive tolerance flaps (1020) and the four active external tolerance flaps (2030) are locked and fixed via a locking assembly (2010).

5. The load docking device according to claim 4, characterized in that: The locking assembly (2010) comprises a pushing disk (2011), a driving frame (2012), a plurality of cam rollers (2013) and a plurality of steel balls (2014); The driving frame (2012) is rotatably connected to the inner shell of the active shell (2020). The driving frame (2012) is radially processed with a plurality of cam grooves, which are arranged obliquely along the axial direction of the driving frame (2012). Each cam roller (2013) is slidably arranged in a cam groove. The plurality of cam rollers (2013) are radially mounted on the push disk (2011). Each active outer tolerance flap (2030) is provided with at least one steel ball (2014) and a push disk ( The top working section of the push disc (2011) contacts the steel ball (2014), the steel ball (2014) is arranged on the inner wall of the active outer tolerance flap (2030), and a steel ball groove is provided on the outer wall of each passive tolerance flap (1020), and the steel ball groove is arranged corresponding to the steel ball (2014) of the active outer tolerance flap (2030), and the steel ball (2014) is squeezed into the steel ball groove of the passive tolerance flap (1020) through the working section at the top of the push disc (2011).

6. The load docking device according to claim 5, characterized in that: The locking assembly (2010) further includes a semicircular annular worm gear (2015) and a worm (2016); A semi-circular worm wheel (2015) is fixedly mounted on the outer side of the driving frame (2012), and the worm (2016) is rotatably connected and mounted on the active housing (2020). The semi-circular worm wheel (2015) and the worm (2016) are arranged in coordination.

7. The load docking device according to claim 6, characterized in that: The locking assembly (2010) further includes a motor and a harmonic reducer; The output end of the motor is fixedly connected to the worm (2016) through a harmonic reducer, and the housing of the motor is fixedly installed on the bottom of the active housing (2020).

8. The load docking device according to claim 6, characterized in that: The pushing plate (2011) comprises an inner ring, a connecting ring, a plurality of limiting plates on the outer ring and a plurality of arc-shaped pushing plates; The inner ring and the outer ring are integrally fixedly connected via a connecting ring, a plurality of limit plates are mounted on the inner ring, a plurality of arc-shaped push plates are mounted on the top of the outer ring, the top of the arc-shaped push plates is a folded surface bent inward, the plurality of limit plates on the inner ring are slidably arranged on the active housing (2020), and the electrical connector of the active end (200) is fixedly mounted on the top of the limit plate, the folded surface of the arc-shaped push plate contacts the steel ball of the active outer tolerance flap (2030), and the steel ball (2014) is squeezed into the steel ball groove of the passive tolerance flap (1020) through the folded surface and vertical surface of the arc-shaped push plate.

9. The load docking device according to claim 6, characterized in that: The cam roller (2013) includes a connecting shaft and a roller bearing. The connecting shaft is inserted into the roller bearing, the connecting shaft is installed on the connecting ring, and the connecting shaft is slidably arranged in the cam groove.

10. The load docking device according to claim 4, characterized in that: The active end (200) further includes four active content difference lobes (2040); Four active content differential flaps (2040) are evenly distributed along the radial direction on the active shell (2020), the circle where the four active content differential flaps (2040) are located is set inside the circle where the four active external tolerance flaps (2030) are located, the circle where the four passive tolerance flaps (1020) are located coincides with the circle where the four active content differential flaps (2040) are located, each active external tolerance flap (2030) is an arc-shaped shell, and the width of the top of the arc-shaped shell of the active external tolerance flap (2030) is smaller than the width of the bottom of the arc-shaped shell, the thickness of the top of the arc-shaped shell is smaller than the thickness of the bottom of the arc-shaped shell, and the outer circular surface of the top of the arc-shaped shell of the active external tolerance flap (2030) is tilted downward to the inner circular surface, and the arc-shaped shell top of the active external tolerance flap (2030) is tilted downward to the side. The content difference flap (2040) is an arc-shaped shell, and the width of the top of the arc-shaped shell of the active content difference flap (2040) is smaller than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell of the active content difference flap (2040) is smaller than the thickness of the bottom of the arc-shaped shell. The passive tolerance flap (1020) is an arc-shaped shell, and the width of the top of the arc-shaped shell of the passive tolerance flap (1020) is larger than the width of the bottom of the arc-shaped shell, and the thickness of the top of the arc-shaped shell is larger than the thickness of the bottom of the arc-shaped shell. Each passive tolerance flap (1020) is inserted into two adjacent active content difference flaps (2040). Four active content difference flaps (2040) and four passive tolerance flaps (1020) are staggered and inserted to form a cylindrical body, and each passive tolerance flap (1020) is correspondingly arranged with an active external tolerance flap (2030). A weak connection magnet is embedded in the side surface of each active content difference flap (2040), and a weak connection magnet is embedded in the side surface of each passive tolerance flap (1020). The weak connection magnet of each active content difference flap (2040) is arranged correspondingly to the weak connection magnet of the adjacent passive tolerance flap (1020), and the weak connection magnet of the active content difference flap (2040) is attracted to the weak connection magnet of the adjacent passive tolerance flap (1020).

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