Four-claw locking quick-change device integrating active and passive butt joint characteristics

Abstract

The invention discloses a four-claw locking quick-change device integrating active and passive butt joint characteristics, and belongs to the technical field of space robots. An existing quick-change device cannot have the effects of light weight, large tolerance and high reliability at the same time. The active butt joint module comprises an active end shell, a clamping jaw and a clamping jaw driving mechanism, the active end shell is provided with a first positioning face, and an opening is formed in the outer circumferential face of the active end shell; the clamping jaw driving mechanism is arranged in the driving end shell, one end of the clamping jaw is connected with the clamping jaw driving mechanism, and the other end extends out of the opening; the passive docking module is provided with a locking groove and a second positioning surface; when the active butt joint module and the passive butt joint module are in butt joint, preliminary butt joint is achieved through impedance motion of two positioning faces, and then the clamping jaw driving mechanism drives the clamping jaw to execute closing motion. And the clamping jaw extends into the locking groove of the passive butt joint module and pulls down the passive butt joint module, so that the angle and position deviations of the active butt joint module and the passive butt joint module during preliminary butt joint are corrected through the guiding effect of the first positioning surface and the second positioning surface.

Description

Technical Field

[0001] This invention belongs to the field of space robot technology, specifically relating to space robotic arms, and more particularly to a four-claw locking quick-change device that integrates active and passive docking features. Background Technology

[0002] Existing space robotic arms perform tasks such as crawling, grasping, and docking in space, typically relying on specialized devices with differentiated functions. However, their docking processes are often cumbersome, time-consuming, and have limited docking tolerances. Currently, quick-change devices for robotic arm end effectors that are either in orbit or under development are mainly divided into two types: active capture type and passive guidance type. Active capture docking quick-change devices have an inherent contradiction: capture tolerance is limited by device size. To increase tolerance, the envelope volume after capture and deployment must be increased, resulting in a bulky structure. Passive guidance docking quick-change devices, on the other hand, often suffer from docking accuracy issues due to incomplete alignment of the guide surfaces. Their ball-lock or pin-type locking mechanisms are prone to docking failure when errors are large.

[0003] Therefore, both of these docking methods have their own limitations that are difficult to overcome, making it an urgent problem to be solved in the field of on-orbit space operations to develop a terminal docking mechanism that is lightweight, has high tolerance, and is highly reliable. Summary of the Invention

[0004] In view of this, the present invention provides a four-claw locking quick-change device that combines active and passive docking features. It can achieve initial docking by using the guiding effect of the concave and convex positioning surfaces and the impedance control mode of the external space equipment. Subsequently, the grippers and locking grooves are used to grasp and lock the device. Under the guidance of the concave and convex positioning surfaces, the angle and position deviations that may exist in the initial docking are further corrected to achieve final precise docking and fixation.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A four-jaw locking quick-change device integrating active and passive docking features includes an active docking module and a passive docking module. The active docking module includes an active end housing, a jaw, and a jaw driving mechanism. The top of the active end housing is provided with a first positioning surface, and an opening is opened on the outer circumference. The jaw driving mechanism is located inside the active end housing. One end of the jaw is connected to the jaw driving mechanism, and the other end extends out from the opening on the active end housing. The passive docking module is provided with a locking groove that cooperates with the jaw and a second positioning surface that cooperates with the first positioning surface.

[0007] When the active docking module docks with the passive docking module, they first dock initially through the impedance movement of the first positioning surface and the second positioning surface. Then, the gripper drive mechanism drives the gripper to perform a closing movement. The gripper extends into the locking groove of the passive docking module and pulls down the passive docking module, so as to correct the angle and position deviation that exists between the active docking module and the passive docking module during the initial docking through the guiding effect of the first positioning surface and the second positioning surface.

[0008] Furthermore, the gripper drive mechanism includes a drive motor, a lead screw shaft, and a nut seat; the lead screw shaft is rotatably mounted inside the active end housing and has a central through hole in its axial direction; the drive motor is placed inside the central through hole of the lead screw shaft and fixed to the top inside the active end housing, and the drive motor provides torque to the lead screw shaft; the nut seat has an internal thread and is screwed into the lead screw shaft; the gripper is connected to the nut seat and can be driven by the nut seat to perform opening and closing motion.

[0009] Furthermore, the gripper includes four capturing fingers and four sets of finger connecting assemblies. The four capturing fingers are evenly arranged circumferentially around the nut seat, and each capturing finger is connected to the nut seat through a set of finger connecting assemblies.

[0010] Furthermore, each finger connection assembly includes a pin, a guide pin, a finger mounting base, a disc spring, and a locking nut. The bottom of the finger mounting base is provided with a stud, and the nut seat is provided with a first stepped through hole. The stud of the finger mounting base is inserted into the first stepped through hole of the nut seat. The disc spring is sleeved on the stud of the finger mounting base and locked and fixed by the locking nut. An adjustment gap is left between the locking nut and the nut seat. One end of the capturing finger is hinged to the finger mounting base by a pin, and the other end extends out from the opening of the active end housing. A guide groove is provided on the capturing finger along its length direction. The guide groove includes a vertical guide section and an oblique guide section. The guide pin is installed at the opening of the active end housing and is embedded in the guide groove of the capturing finger, forming a sliding fit with the guide groove.

[0011] Furthermore, the drive motor is a brushless DC motor.

[0012] Furthermore, the active docking module also includes a power failure brake, which is rotatably mounted in the central through hole of the lead screw shaft and fixed on the active end housing for braking the lead screw shaft.

[0013] Furthermore, the active docking module also includes a position sensor, which is installed between the nut seat and the active end housing to determine the movement state of the captured finger.

[0014] Furthermore, the first positioning surface and the second positioning surface have the same structure, both containing four positioning convex surfaces, with a positioning concave surface between two adjacent positioning convex surfaces, and protruding ridges arranged on each positioning convex surface, while pits corresponding to the protruding ridges are provided on the positioning concave surface.

[0015] Furthermore, it also includes an active electrical connector and a passive electrical connector. The active electrical connector is installed on the active docking module, and the passive electrical connector is installed on the passive docking module. After the active docking module and the passive docking module complete positioning, the active electrical connector and the passive electrical connector are electrically connected.

[0016] Furthermore, the active electrical connector includes a first insulating shell and contact pins; the first insulating shell is installed in a mounting groove at the center of the top of the active end shell, and the contact pins are placed in the first insulating shell; the bottom of the passive docking module is provided with a mounting groove and a cover plate for covering the opening of the mounting groove, the cover plate and the mounting groove forming a mounting cavity, which communicates with the locking groove; the passive electrical connector includes a second insulating shell, connector pressure plates, compression springs, locking pins, and spring contact pins; the second insulating shell is placed in the mounting cavity of the passive docking module, one end of the spring contact pin is installed on the second insulating shell, and the other end extends toward the opening of the cover plate; there are four connector pressure plates, each corresponding to one of the four locking grooves, one end of each of the four connector pressure plates is fixed to the second insulating shell by bolts, and the other end extends toward the locking groove side; there are four locking pins, evenly arranged in the circumferential direction, one end of each locking pin is connected to the cover plate by bolts, and the other end is inserted into the connector pressure plate; each locking pin is fitted with a compression spring for lifting the connector pressure plate upwards.

[0017] The beneficial effects of this invention compared to the prior art are:

[0018] The active docking module and passive docking module of this invention first form a passive guiding structure through concave and convex positioning surfaces, thereby achieving initial guidance within a large tolerance range. Subsequently, an active capture mechanism consisting of a capture finger and a locking groove further compensates for the insufficient precision of the passive guidance, ultimately achieving reliable locking. This staged docking method ensures the stability of the docking process within the set tolerance range. This design avoids the bulkiness problem caused by purely active quick-change devices pursuing large tolerances, and also improves the low docking success rate of purely passive quick-change devices, thus achieving the goals of lightweight design, large tolerance, and high docking success rate. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are provided to give a further understanding of the invention.

[0020] Figure 1 This is a three-dimensional structural diagram of a four-jaw locking quick-change device that combines active and passive docking features.

[0021] Figure 2 Cross-sectional view of the active docking module Figure 1 .

[0022] Figure 3 Cross-sectional view of the active docking module Figure 2 .

[0023] Figure 4 Cross-sectional view of the active docking module Figure 3 .

[0024] Figure 5 This is a top view of the active docking module.

[0025] Figure 6 This is an assembly drawing of the gripper and nut seat.

[0026] Figure 7 for Figure 2 A magnified view of a portion of point A in the middle.

[0027] Figure 8 Cross-sectional view of the passive docking module Figure 1 .

[0028] Figure 9 Cross-sectional view of the passive docking module Figure 2 .

[0029] Figure 10 This is a bottom view of the passive docking module.

[0030] Figure 11 This is a schematic diagram showing the state of the active docking module and the passive docking module before docking.

[0031] Figure 12 This is a schematic diagram illustrating the initial docking process between the active docking module and the passive docking module via the first positioning surface and the second positioning surface.

[0032] Figure 13 This is a schematic diagram illustrating the state of the active docking module when it captures the passive docking module.

[0033] Figure 14 This is a schematic diagram illustrating the state of the electrical connector during the docking and locking process between the active docking module and the passive docking module.

[0034] Figure 15 This is a schematic diagram showing the state after the active docking module and the passive docking module are docked and locked.

[0035] Explanation of reference numerals in the attached figures:

[0036] Active docking module 100, passive docking module 200, electrical connector 300;

[0037] Active end housing 1, lower cover 11, first positioning surface 12, base plate 13;

[0038] 2. Gripper, 21. Capturing finger, 211. Guide groove, 211. Vertical guide section, 2111. Angled guide section, 2112. Correction protrusion, 212. Pin, 22. Guide pin, 23. Finger mounting seat, 24. Disc spring, 25. Locking nut, 26.

[0039] The gripper drive mechanism 3, drive motor 31, motor stator 311, motor rotor 312, motor spacer 313, motor base 314, lead screw shaft 32, center through hole 321, nut seat 33, and first stepped through hole 331 are all included.

[0040] 4. Power failure brake, 41. Brake housing, 42. Brake coil, 43. Guide rod, 44. Support spring, 45. Armature friction disc, 46. Brake friction disc;

[0041] Position sensor 5, circuit board bracket 51, circuit board 52, brush 53, brush cover 54, brush base 55;

[0042] Upper cover 6, second positioning surface 61, locking groove 62;

[0043] Active electrical connector 7, first insulating shell 71, contact pin 72;

[0044] Passive electrical connector 8, second insulating shell 81, connector pressure plate 82, compression spring 83, locking post 84, spring contact pin 85. Detailed Implementation

[0045] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] Figure 1 , Figures 10 to 15 A schematic diagram of a four-jaw locking quick-change device integrating active and passive docking features is shown in this embodiment. As shown, the quick-change device of this embodiment includes an active docking module 100 and a passive docking module 200. The active docking module 100 is installed on an actively operating space station device such as a space robotic arm, and the passive docking module 200 is installed on a device that needs to dock or be captured, such as the end effector of a tool or the space station hull. The actively operating space station device and the captured device achieve rapid docking, tool changing, and crawling transfer and transportation through the disassembly and assembly of the active docking module 100 and the passive docking module 200.

[0047] Figures 11 to 15 The docking and locking process of the active docking module 100 and the passive docking module 200 is shown. Figures 11 to 15As can be seen, in this embodiment, the docking surfaces of the active docking module 100 and the passive docking module 200 are respectively provided with concave-convex positioning surfaces. The active docking module 100 adopts a gripper 2 structure, while the passive docking module 200 is provided with a corresponding locking groove 62. The docking process is divided into two stages. First, through the guiding effect of the concave-convex positioning surfaces, combined with the impedance control mode of the external space equipment, high-precision initial docking can be achieved. Subsequently, the gripper 2 and the locking groove 62 cooperate to grasp and lock, and under the guidance of the concave-convex positioning surfaces, further correct any angle and positional deviations that may exist in the initial docking, achieving final precise docking and fixation. This two-stage docking method integrates active capture and passive guidance features, effectively improving the system's fault tolerance and adaptability while ensuring docking reliability.

[0048] For details, see Figure 3 , Figure 4 and Figure 5 The active docking module 100 of this embodiment includes an active end housing 1, grippers 2, and a gripper drive mechanism 3. The active end housing 1 includes a lower cover 11 and a base plate 13. The top of the lower cover 11 is provided with a first positioning surface 12, and the bottom is designed as an opening. The base plate 13 is installed at the bottom opening of the lower cover 11, serving to support the grippers 2 and the gripper drive mechanism 3, and connecting to the actively operating space station device to transmit drag force. The gripper drive mechanism 3 is located inside the lower cover 11 and fixed to the upper surface of the base plate 13. An opening is opened on the outer circumferential surface of the lower cover 11. One end of the gripper 2 is connected to the gripper drive mechanism 3, and the other end extends out from the opening. Driven by the gripper drive mechanism 3, the gripper 2 can perform an opening and closing motion, thereby capturing the passive docking module 200.

[0049] Among them, combined Figure 3 , Figure 4 and Figure 5 The gripper drive mechanism 3 in this embodiment includes a drive motor 31, a lead screw shaft 32, and a nut seat 33. The lead screw shaft 32 is rotatably mounted inside the lower cover 11, and has a central through hole 321 in its axial direction. The drive motor 31 is placed inside the central through hole 321 of the lead screw shaft 32 and is mounted on the top of the lower cover 11, providing torque to the lead screw shaft 32. The nut seat 33 has an internal thread and is screwed into the lead screw shaft 32. Figure 5 and Figure 6 The gripper 2 includes four gripping fingers 21 and four sets of finger connecting assemblies. The four gripping fingers 21 are evenly arranged circumferentially around the nut seat 33, and each gripping finger 21 is connected to the nut seat 33 through a set of finger connecting assemblies. Figures 3 to 5Each finger connection assembly includes a pin 22, a guide pin 23, a finger mounting base 24, a disc spring 25, and a locking nut 26. The bottom of the finger mounting base 24 has a stud, and the nut seat 33 has a first stepped through hole 331. The stud of the finger mounting base 24 is inserted into the first stepped through hole 331 of the nut seat 33. The disc spring 25 is sleeved on the stud of the finger mounting base 24 and locked in place by the locking nut 26. It should be noted that an adjustment gap is left between the locking nut 26 and the nut seat 33 so that when the capturing finger 21 captures the passive docking module 200, the deformation of the disc spring 25 can compensate for the gap between the locking surface of the capturing finger 21 and the passive docking module 200, ensuring the locking force of the capturing finger 21 on the passive docking module 200. One end of the capturing finger 21 is hinged to the finger mounting base 24 via the pin 22, and the other end extends from the opening of the active end housing 1. Figure 3 and Figure 6 The capture finger 21 adopts a bent rod-like structure, and its surface has a guide groove 211 along its length. This guide groove 211 is divided into two sections: a vertical guide section 2111, used only to control the extension movement of the capture finger 21; and an oblique guide section 2112, used to realize the opening movement of the capture finger 21. A guide pin 23 is installed at the opening of the lower cover 11 and is embedded in the guide groove 211 of the capture finger 21, forming a sliding fit with the guide groove 211. Through the cooperation of the guide pin 23 and the guide groove 211, the movement of the nut seat 33 is constrained, thus ensuring that it can only translate axially along the lead screw shaft 32.

[0050] Before the active docking module 100 docks with the passive docking module 200, the drive motor 31 drives the lead screw shaft 32 to rotate, and the nut seat 33 moves upward along the lead screw shaft 32. The four finger mounting seats 24 move upward synchronously with the nut seat 33, and drive the corresponding capturing fingers 21 to extend out from the opening of the active end housing 1. At the same time, the guide pin 23 slides relative to the guide groove 211. When the guide pin 23 moves downward relative to the vertical guide section 2111 of the guide groove 211, the capturing fingers 21 extend vertically out of the active end housing 1 under the constraint of the guide pin 23 and the vertical guide section 2111. When the guide pin 23 moves downward relative to the oblique guide section 2112 of the guide groove 211, the capturing fingers 21 extend out of the active end housing 1 and rotate outward around the pin shaft 22 under the action of the guide pin 23. At this time, the four capturing fingers 21 open and are in a pre-capture state. Subsequently, the active docking module 100 and the passive docking module 200 complete the initial docking through the positioning surfaces with concave and convex fits. The drive motor 31 drives the lead screw shaft 32 to rotate in the opposite direction. The nut seat 33 moves downward along the lead screw shaft 32. The four finger mounting seats 24 move downward synchronously with the nut seat 33, and drive the corresponding capture fingers 21 to retract into the active end housing 1. Meanwhile, the guide pin 23 moves upward relative to the inclined guide section 2112 of the guide groove 211, and generates a driving force for the capture fingers 21 to rotate around the pin shaft 22. The four capture fingers 21 retract inward and gradually insert into the locking groove 62 of the passive docking module 200. The drive motor 31 continues to drive the lead screw shaft 32 to rotate in the opposite direction. The nut seat 33 pulls down the passive docking module 200 through the capture fingers 21. During the entire pulling process, the pulling force is transmitted through the nut seat 33 to the disc spring 25, the locking nut 26, the finger mounting seat 24 and the capture fingers 21 in sequence. When there are different gaps between the fingertips of the four capture fingers 21 and the locking surface of the locking groove 62, that is, when the force on the four capture fingers 21 is uneven, it can be compensated by the deformation of the disc spring 25 to ensure the locking effect of the four capture fingers 21 on the passive docking module 200. At the same time, the active docking module 100 and the passive docking module 200 are further docked through the positioning surfaces of the concave and convex fit, thereby achieving precise docking between the two.

[0051] Therefore, in this embodiment, the active docking module 100 and the passive docking module 200 first form a passive guiding structure through concave and convex positioning surfaces, thereby achieving initial guidance within a large tolerance range. Subsequently, the active capture mechanism formed by the capturing finger 21 and the locking groove 62 further compensates for the insufficient accuracy of the passive guidance, ultimately achieving reliable locking. This staged docking method ensures the stability of the docking process within the set tolerance range. This design avoids the bulkiness problem caused by the pursuit of large tolerance in purely active quick-change devices, and also improves the low docking success rate of purely passive quick-change devices, thus achieving the goals of lightweight design, large tolerance, and high docking success rate.

[0052] Furthermore, this embodiment uses a brushless DC motor as the drive motor 31 to reduce the axial dimension of the active docking module 100. The drive motor 31 mainly consists of a motor stator 311, a motor rotor 312, a motor spacer 313, and a motor base 314. One end of the motor base 314 is fixed to the top of the active end housing 1 with screws, and the other end is supported in the central through hole 321 of the lead screw shaft 32 by a deep groove ball bearing, achieving a rotatable connection. The motor stator 311 is fixedly mounted on the motor base 314, and the motor rotor 312 is sleeved on the outside of the motor stator 311 and rotates synchronously with the lead screw shaft 32 through a key connection. The motor spacer 313 is disposed between the outer ring of the deep groove ball bearing and the motor rotor 312 for axial positioning of the lead screw shaft 32. When the motor stator 311 is energized, the rotor of the drive motor 31 rotates, thereby driving the lead screw shaft 32 to output rotational power.

[0053] Since the drive motor 31 is fixed on the active end housing 1, and the upper end of the lead screw shaft 32 is connected to the drive motor 31 via a deep groove ball bearing, the upper end of the lead screw shaft 32 can be supported by the drive motor 31. The deep groove ball bearing can achieve radial and axial positioning of the lead screw shaft 32, eliminating the need for a separate bearing between the top of the lead screw shaft 32 and the active end housing 1, thus simplifying the overall structure and further reducing the axial dimension of the active docking module 100.

[0054] Furthermore, to improve the locking stiffness of the active docking module 100 after capturing the passive docking module 200 and to save power, the active docking module 100 of this embodiment is also equipped with a power-off brake 4 for locking the lead screw shaft 32. Combined with... Figures 3 to 5 In this embodiment, the power-off brake 4 is rotatably mounted in the central through hole 321 of the lead screw shaft 32 via a pair of angular contact bearings and fixed on the base plate 13 of the active end housing 1. The power-off brake 4 includes a brake housing 41, a brake coil 42, guide rods 43, a support spring 44, an armature friction disc 45, and a brake friction disc 46. The brake housing 41 is mounted on the upper surface of the base plate 13 and has an annular mounting groove and multiple second-step through holes. The brake coil 42 is embedded in the annular mounting groove. Multiple guide rods 43 are inserted into each of the second-step through holes and can move up and down along them. One end of each guide rod 43 has a shoulder that abuts against the stepped surface within the second-step through hole; the other end has an external thread. The armature friction disc 45 has an annular structure with multiple threaded holes, and is relatively fixed to the brake housing 41 by threaded connection with the guide rods 43. Each guide rod 43 is fitted with a support spring 44, one end of which rests against the stepped surface of the second stepped through hole, and the other end is pressed against the armature friction disc 45. A support ring is provided in the central through hole 321 of the lead screw shaft 32, and the brake friction disc 46 is mounted on the support ring and arranged vertically opposite to the armature friction disc 45.

[0055] Before the active docking module 100 captures the passive docking module 200, the de-energized brake 4 is energized. At this time, the brake coil 42, under the action of electromagnetic force, overcomes the elastic force of the support spring 44, attracting the armature friction disc 45 and separating it from the brake friction disc 46, thus allowing the lead screw shaft 32 to rotate freely under the drive of the drive motor 31. After the active docking module 100 completes the capture of the passive docking module 200, the de-energized brake 4 is de-energized, and the electromagnetic force disappears. The support spring 44 then releases its elastic force, pushing the armature friction disc 45 upwards, causing it to press tightly against the brake friction disc 46, thus braking the lead screw shaft 32. After the active docking module 100 and the passive docking module 200 complete the docking and locking, the de-energized brake 4 is energized again. At this time, the lead screw shaft 32 is braked and cannot rotate, ensuring the locking effect of the active docking module 100 on the passive docking module 200. In addition, since the power failure brake 4 is fixed on the base plate 13, and the power failure brake 4 is connected to the lead screw shaft 32 through an angular contact bearing, the bottom end of the lead screw shaft 32 can be supported by the power failure brake 4. That is, there is no need to set a bearing separately between the bottom end of the lead screw shaft 32 and the active end housing 1, which further simplifies the overall structure and reduces the axial dimension of the active docking module 100.

[0056] See Figure 5 The active docking module 100 in this embodiment also includes a position sensor 5 for determining the movement state of the captured finger 21. This position sensor 5 is installed between the nut seat 33 and the active end housing 1. The position sensor 5 mainly consists of a circuit board bracket 51, a circuit board 52, a brush 53, a brush cover plate 54, and a brush base 55. The brush base 55 is bolted to the nut seat 33, and the brush 53 is pressed by the brush cover plate 54 and bolted to the brush base 55. The circuit board 52 is bolted to the circuit board bracket 51, and the circuit board bracket 51 is bolted into the lower housing 11. During assembly, adjustments are made to ensure that the tip of the brush 53 remains in contact with the carbon film on the surface of the circuit board 52.

[0057] When the nut seat 33 moves, it drives the brush 53 to move on the carbon film on the circuit board 52, contacting the carbon film at different positions. By detecting the conduction length of the carbon film, the absolute position information of the nut seat 33 can be obtained, thereby determining the state of the captured finger 21.

[0058] See Figure 8 and Figure 9The passive docking module 200 in this embodiment includes an upper cover 6, and the bottom end of the upper cover 6 is provided with a second positioning surface 61 that matches the first positioning surface 12. The first positioning surface 12 and the second positioning surface 61 have the same structure, each including four positioning convex surfaces, and a positioning concave surface is provided between two adjacent positioning convex surfaces, thus forming a total of four positioning concave surfaces. Each positioning convex surface is provided with a protruding ridge, and the positioning concave surface is provided with a pit corresponding to the protruding ridge. Through the cooperation of the positioning convex surfaces and concave surfaces, combined with the interlocking design of the protruding ridge and the pit, the docking accuracy between the active docking module 100 and the passive docking module 200 can be improved.

[0059] Furthermore, a locking groove 62 is provided at each positioning concave surface of the upper cover 6. The fingertip of the capturing finger 21 is designed with a correction protrusion 212, the diameter of which gradually increases from the fingertip towards the base of the finger. The locking groove 62 contains a correction groove (not shown in the figure) corresponding to the correction protrusion 212. During the insertion of the capturing finger 21 into the locking groove 62 of the active docking module 100, if there is an axial deviation between the two around the lead screw shaft 32, the interaction between the correction protrusion 212 and the correction groove will automatically correct the deviation as the capturing finger 21 is inserted, achieving precise docking.

[0060] See Figure 1 The four-jaw locking quick-change device in this embodiment also includes an electrical connector 300, which consists of a cooperating active electrical connector 7 and a passive electrical connector 8. The active electrical connector 7 is mounted on the active docking module 100, while the passive electrical connector 8 is mounted on the passive docking module 200. Once the active docking module 100 and the passive docking module 200 are positioned, they can achieve electrical connection.

[0061] Specifically, the active electrical connector 7 is a spring-loaded female connector, and the passive electrical connector 8 is a spring-loaded male connector. See also Figures 3 to 5 The active electrical connector 7 includes a first insulating shell 71 and contact pins 72; the first insulating shell 71 is mounted in a mounting groove at the center of the top of the active end shell 1, and the contact pins 72 are placed within the first insulating shell 71. See also Figure 8 and Figure 9The passive docking module 200 has a mounting groove at the bottom of its upper cover 6. A cover plate with an opening is installed at the opening of this mounting groove, forming a mounting cavity with the mounting groove. This mounting cavity communicates with the locking groove 62. The passive electrical connector 8 includes a second insulating shell 81, connector pressure plates 82, a compression spring 83, a locking pin 84, and a spring contact pin 85. The second insulating shell 81 is placed inside the mounting cavity of the upper cover 6. One end of the spring contact pin 85 is mounted on the second insulating shell 81, and the other end extends toward the opening of the cover plate. Four connector pressure plates 82 are provided, each corresponding to one of the four locking grooves 62. One end of each of the four connector pressure plates 82 is fixed to the second insulating shell 81 by bolts, and the other end extends toward the locking groove 62. Four locking pins 84 are evenly arranged circumferentially. One end of each locking pin 84 is bolted to the cover plate, and the other end is inserted into the connector pressure plate 82. Each locking pin 84 is fitted with a compression spring 83, which is used to push the connector pressure plate 82 upward, thereby causing the spring contact pin 85 to retract into the upper cover 6. After the active docking module 100 docks with the passive docking module 200, the four capture fingers 21 on the active docking module 100 are inserted into the locking groove 62 and simultaneously press down on the connector pressure plate 82. This causes the connector pressure plate 82 to drive the second insulating shell 81 to overcome the resistance of the compression spring 83 and push the spring contact pin 85 out of the opening of the cover plate, so that it contacts the contact point 72 in the active docking module 100, thereby realizing the conduction of the electrical connector 300.

[0062] This embodiment designs electrical / information interfaces at the end faces of the active docking module 100 and the passive docking module 200, integrating load capture and electrical / information connection operations into a modular system, thus improving the reliability of space applications. Simultaneously, the electrical connector 300, employing a female and male socket design with spring-loaded contact pins 85, saves space on the circuit board 52, reduces assembly height, can withstand multiple mating operations, and is resistant to mechanical shock and vibration. It can be customized according to different circuit board 52 configurations, and installation allows for precise positioning, ensuring a stable and reliable connection.

[0063] The following is in conjunction with the appendix Figures 11 to 15 The working principle and workflow of a four-claw locking quick-change device that combines active and passive docking features according to the present invention are described in detail.

[0064] The docking and locking process between the active docking module 100 and the passive docking module 200:

[0065] Initial preparation stage: such as Figure 11As shown, before the active docking module 100 captures the passive docking module 200, the power-off brake 4 is energized. At this time, the brake coil 42 overcomes the elastic force of the support spring 44 under the action of electromagnetic force, attracting the armature friction disc 45 and separating it from the brake friction disc 46, so that the lead screw shaft 32 can rotate freely under the drive of the drive motor 31. When the drive motor 31 is energized, the motor rotor 312 drives the lead screw shaft 32 to rotate clockwise, the nut seat 33 moves upward along the lead screw shaft 32, and the four finger mounting seats 24 move upward synchronously with the nut seat 33, and drive the corresponding capture fingers 21 to extend out from the opening of the active end housing 1. At the same time, the guide pin 23 slides relative to the guide groove 211. When the guide pin 23 moves downward relative to the vertical guide section 2111 of the guide groove 211, the capture fingers 21 extend vertically out of the active end housing 1 under the constraint of the guide pin 23 and the vertical guide section 2111. As the guide pin 23 moves downward relative to the inclined guide section 2112 of the guide groove 211, the capturing fingers 21 extend out of the active end housing 1 and rotate outward around the pin shaft 22 under the action of the guide pin 23. At this time, the four capturing fingers 21 open up and are in a pre-capture state. Meanwhile, the spring contact pin 85 in the passive docking module 200 is located in the upper cover 6. During the movement, the nut seat 33 drives the brush 53 on it to slide on the carbon film of the circuit board 52. Thus, the absolute position of the nut seat 33 when the calibrated capturing fingers 21 are fully open can be confirmed by the position sensor 5.

[0066] Initial docking phase: such as Figure 12 As shown, the active docking module 100 is installed on an external space device such as a robotic arm. Based on vision guidance, it moves towards the passive docking module 200 to enter the large tolerance range of the passive docking module 200. The external space device switches to impedance control mode and drives the active docking module 100 to move closer to the passive docking module 200. The positioning convex surface of the active docking module 100 gradually inserts into the positioning concave surface of the passive docking module 200, and the positioning convex surface of the passive docking module 200 gradually inserts into the positioning concave surface of the active docking module 100. The initial docking is completed through the cooperation of the positioning convex surface and the positioning concave surface.

[0067] Capture phase: such as Figure 13As shown, as the distance between the active docking module 100 and the passive docking module 200 gradually shortens, when an external vision device (such as a camera) detects that the passive docking module 200 has entered the capture range of the capture finger 21, the drive motor 31 is activated. The drive motor 31 drives the lead screw shaft 32 to rotate in the opposite direction, and the nut seat 33 moves downward along the lead screw shaft 32. The four finger mounting seats 24 move downward synchronously with the nut seat 33, and drive the corresponding capture finger 21 to retract into the active end housing 1. At the same time, the guide pin 23 moves upward relative to the inclined guide section 2112 of the guide groove 211, and generates a driving force for the capture finger 21 to rotate around the pin shaft 22. The four capture fingers 21 retract inward and gradually insert into the locking groove 62 of the passive docking module 200, realizing the capture of the passive docking module 200. When the correction protrusion 212 at the tip of the capture finger 21 is gradually inserted into the correction groove in the lock slot 62, the capture finger 21 generates a circumferential driving force on the passive docking module 200, thereby correcting the attitude deviation between the active docking module 100 and the passive docking module 200.

[0068] Locking and dragging phase: such as Figure 14 As shown, the drive motor 31 continues to drive the lead screw shaft 32 to rotate in the opposite direction. The nut seat 33 pulls down the passive docking module 200 through the capture fingers 21. During the entire pulling process, the pulling force is transmitted through the nut seat 33 to the disc spring 25, the locking nut 26, the finger mounting seat 24 and the capture fingers 21 in sequence. When there are different gaps between the fingertips of the four capture fingers 21 and the locking surface of the locking groove 62, that is, when the force on the four capture fingers 21 is uneven, it can be compensated by the deformation of the disc spring 25 to ensure the locking effect of the four capture fingers 21 on the passive docking module 200. At the same time, the active docking module 100 and the passive docking module 200 are further docked through the cooperation of the first positioning surface 12 and the second positioning surface 61, thereby achieving precise docking between the two.

[0069] Electrical connection stage: such as Figure 15 As shown, after the active docking module 100 and the passive docking module 200 are fully docked, the capture finger 21 presses the connector pressure plate 82, causing the connector pressure plate 82 to drive the second insulating shell 81 to overcome the resistance of the compression spring 83, pushing the spring contact pin 85 out of the opening of the cover plate, so that it contacts the contact pin contact point 72 in the active docking module 100, thereby realizing the conduction of the electrical connector 300. After the position sensor 5 determines that the nut seat 33 has reached the fully locked position of the capture finger 21, it indicates that the quick-change device has completed the locking action. At this time, the power-off brake 4 is de-energized, and the electromagnetic force disappears. The support spring 44 then releases its elastic force, pushing the armature friction disc 45 to move upward, so that it presses tightly against the brake friction disc 46, thereby braking the lead screw shaft 32 and completing the locking process.

[0070] Unlocking and disassembling process of active docking module 100 and passive docking module 200:

[0071] Unlocking phase: When the power-off brake 4 is energized, the brake coil 42 overcomes the elastic force of the support spring 44 under the action of electromagnetic force, attracts the armature friction disc 45, and separates it from the brake friction disc 46, so that the lead screw shaft 32 can rotate freely under the drive of the drive motor 31.

[0072] Release phase of passive docking module 200: Drive motor 31 is energized, motor rotor 312 drives lead screw shaft 32 to rotate clockwise, nut seat 33 moves upward along lead screw shaft 32, and four finger mounting seats 24 move upward synchronously with nut seat 33, causing the corresponding capturing fingers 21 to extend out from the opening of active end housing 1. Simultaneously, guide pin 23 slides relative to guide groove 211. As guide pin 23 moves downward relative to guide groove 2111 along the vertical guide section 2111, capturing fingers 21 extend vertically out of active end housing 1 under the constraint of guide pin 23 and vertical guide section 2111. As guide pin 23 moves downward relative to guide groove 2111 along the oblique guide section 2112, capturing fingers 21 extend out of active end housing 1 while also rotating outward around pin shaft 22 under the action of guide pin 23. At this time, the four capturing fingers 21 open, realizing the release of passive docking module 200. Simultaneously, as the captured finger 21 leaves the connector pressure plate 82, the compression spring 83 pushes the second insulating shell 81 upward, causing the spring contact pin 85 of the passive electrical connector 8 to disengage from the contact point 72 of the spring contact pin 85 of the active electrical connector 7, thus disconnecting the electrical connector 300 and cutting off the electrical signal transmission. The external space equipment then moves the active docking module 100 away from the passive docking module 200, thereby completing the entire unlocking and disassembly process.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions created by the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions created by the present invention without departing from the essence and scope of the technical solutions created by the present invention.

Claims

1. A four jaw locking quick change device incorporating both active and passive docking features, characterised in that, The active docking module comprises an active end shell, a clamping jaw and a clamping jaw driving mechanism, and the top end of the active end shell is provided with a first positioning surface, and an opening is formed in the outer circumferential surface of the active end shell; The clamping jaw driving mechanism is arranged in the active end shell, one end of the clamping jaw is connected with the clamping jaw driving mechanism, and the other end of the clamping jaw extends out of the opening in the active end shell; the passive docking module is provided with a locking groove matched with the clamping jaw and a second positioning surface matched with the first positioning surface; When the active docking module and the passive docking module are docked, the active docking module and the passive docking module are initially docked through the impedance motion of the first positioning surface and the second positioning surface, and then the clamping jaw driving mechanism drives the clamping jaw to perform a closing motion; the clamping jaw extends into the locking groove of the passive docking module and pulls down the passive docking module, so as to correct the angle and position deviation between the active docking module and the passive docking module in the initial docking through the guiding action of the first positioning surface and the second positioning surface.

2. The four jaw locking quick change device of claim 1, wherein, The clamping jaw driving mechanism comprises a driving motor, a lead screw shaft and a nut seat; the lead screw shaft is rotatably arranged in the active end shell, and the axial center through hole is arranged in the lead screw shaft; the driving motor is arranged in the axial center through hole of the lead screw shaft and is fixed to the top of the active end shell, and the driving motor provides a torsion force for the lead screw shaft; the nut seat is provided with an internal thread and is screwed with the lead screw shaft; the clamping jaw is connected with the nut seat and can be driven by the nut seat to perform a closing and opening motion.

3. The four jaw locking quick change device of claim 2, wherein, The clamping jaw comprises four capturing fingers and four groups of finger connecting assemblies, and the four capturing fingers are uniformly arranged around the nut seat in the circumferential direction, and each capturing finger is connected with the nut seat through a group of finger connecting assemblies.

4. The four jaw locking quick change device of claim 3, wherein, Each group of finger connecting assemblies comprises a pin shaft, a guide pin, a finger mounting seat, a disc spring and a locking nut; the bottom of the finger mounting seat is provided with a stud, the nut seat is provided with a first stepped through hole, the stud of the finger mounting seat is inserted into the first stepped through hole of the nut seat, the disc spring is sleeved on the stud of the finger mounting seat and is locked and fixed by the locking nut, and an adjusting gap is left between the locking nut and the nut seat; one end of the capturing finger is hinged to the finger mounting seat through the pin shaft, and the other end of the capturing finger extends out of the opening of the active end shell; the capturing finger is provided with a guide sliding groove along the length direction of the capturing finger, the guide sliding groove comprises a vertical guide section and an inclined guide section, the guide pin is arranged at the opening position of the active end shell and is embedded in the guide sliding groove of the capturing finger, and the guide sliding groove and the guide pin form a sliding fit.

5. The four paw fast change locking device incorporating both active and passive docking features of claim 2, wherein, The driving motor is a brushless direct current motor.

6. The four paw fast change locking device incorporating both active and passive docking features of claim 2, wherein, The active docking module further comprises a power-off brake, which is rotatably arranged in the axial center through hole of the lead screw shaft and is fixed on the active end shell, and is used for braking the lead screw shaft.

7. The four paw fast change locking device incorporating both active and passive docking features of claim 2, wherein, The active docking module further comprises a position sensor, which is arranged between the nut seat and the active end shell and is used for judging the motion state of the capturing finger.

8. The four paw lock quick change device of claim 1, wherein, The first positioning surface and the second positioning surface are consistent in structure, each comprises four positioning convex surfaces, and a positioning concave surface is arranged between two adjacent positioning convex surfaces; each positioning convex surface is provided with a convex rib, and the positioning concave surface is provided with a concave pit corresponding to the convex rib.

9. The four paw fast change locking device incorporating both active and passive docking features of claim 1, wherein, The active docking module further comprises an active electrical connector and a passive electrical connector, the active electrical connector is arranged on the active docking module, the passive electrical connector is arranged on the passive docking module, and the active electrical connector and the passive electrical connector are electrically connected after the active docking module and the passive docking module are positioned.

10. The four paw fast change locking device incorporating both active and passive docking features of claim 9, wherein, The active electric connector comprises a first insulating shell and a contact pin contact; the first insulating shell is installed in a mounting groove in the center of the top end of the active end shell, and the contact pin contact is arranged in the first insulating shell; the bottom of the passive mating module is provided with a mounting groove and a cover plate for covering the opening of the mounting groove, the cover plate and the mounting groove form a mounting cavity, and the mounting cavity is communicated with the lock groove; the passive electric connector comprises a second insulating shell, a connector pressing plate, a compression spring, a lock column and a spring contact pin; the second insulating shell is arranged in the mounting cavity of the passive mating module, one end of the spring contact pin is installed on the second insulating shell, and the other end extends towards the opening of the cover plate; the connector pressing plate is provided with four pieces corresponding to the four lock grooves, one end of the four pieces of the connector pressing plate is fixed on the second insulating shell through a bolt, and the other end extends to the side of the lock groove; the lock column is provided with four pieces and is uniformly arranged in the circumferential direction, one end of the lock column is connected to the cover plate through a bolt, and the other end is inserted into the connector pressing plate; one compression spring is sleeved on each lock column for upwardly lifting the connector pressing plate.

Images