CN111634164A - Multi-degree-of-freedom combined connecting device - Google Patents
Multi-degree-of-freedom combined connecting device Download PDFInfo
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- CN111634164A CN111634164A CN202010552008.4A CN202010552008A CN111634164A CN 111634164 A CN111634164 A CN 111634164A CN 202010552008 A CN202010552008 A CN 202010552008A CN 111634164 A CN111634164 A CN 111634164A
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- butt joint
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- 210000001503 joint Anatomy 0.000 claims abstract description 118
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 241000309551 Arthraxon hispidus Species 0.000 description 23
- 238000003032 molecular docking Methods 0.000 description 18
- 230000007246 mechanism Effects 0.000 description 12
- 230000003993 interaction Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 239000013589 supplement Substances 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/01—Traction couplings or hitches characterised by their type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/14—Draw-gear or towing devices characterised by their type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
- B60D1/44—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable horizontally
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
- B60D1/46—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable vertically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to the technical field of flexible transmission, and discloses a connecting device combined with multiple degrees of freedom, which comprises vehicle body units which can be sequentially connected end to end, wherein the vehicle body units comprise a vehicle head butt-joint device which is arranged at the front end and can swing along a horizontal plane, and a vehicle tail extending device which is arranged at the tail end and can swing along a vertical plane; the automobile tail extension device and the automobile head butt joint device extend out from the automobile body to realize multidirectional butt joint and locking when the two automobile body units are in butt joint, and the automobile tail extension device and the automobile head butt joint device are separated and retract into the automobile body when the two automobile body units are in a single state. The flexible serial connection of the trolleys is achieved through ingenious design, the trolley array can adapt to various climbing and river-crossing road conditions and can be rapidly disconnected to execute single-trolley tasks, operation under various road conditions is met, and the use requirements of various environments are greatly met.
Description
Technical Field
The invention relates to the technical field of flexible transmission, in particular to a multi-degree-of-freedom combined connecting device.
Background
At present, when a plurality of trolley bodies are required to be connected in series for operation in unmanned workshops, factories, fields and the like, a common butt joint mode is a butt joint mode similar to train carriages, a head butt joint mechanism of one carriage and a tail butt joint mechanism of the other carriage are required to be strictly aligned in advance during butt joint, one end of the butt joint mechanism is gradually drawn close to the other end of the butt joint mechanism to complete the butt joint, the implementation conditions of the prior art are harsh, if two trolley bodies are not located on the same horizontal plane or have deviation left and right, the butt joint cannot be realized when the use occasions of the special trolleys are special terrains such as hills, grasslands, rivers, indoor stairs and the like, and therefore, the execution of special tasks of the trolley array under.
Disclosure of Invention
The invention aims to overcome the defects and provides a connecting device with multiple degrees of freedom combination. This application is through ingenious design, and car head and rear of a vehicle docking mechanism have different degrees of freedom, combines the raising and lowering functions realization of dolly self to dock under complicated road conditions, thereby reach the purpose that each section dolly flexibility concatenated, concatenate the completion back, the adaptable various climbing of dolly array, cross road conditions such as river, also can throw off rapidly, carry out the bicycle task, satisfied the operation under the various road conditions condition, satisfied the operation requirement of various environment greatly.
The specific technical scheme provided by the invention is as follows:
a multi-degree-of-freedom combined connecting device comprises vehicle body units which can be sequentially connected end to end, wherein each vehicle body unit comprises a vehicle head butt joint device which is arranged at the front end and can swing along a horizontal plane, and a vehicle tail extending device which is arranged at the tail end and can swing along a vertical plane; the automobile tail extension device and the automobile head butt joint device extend out from the automobile body to realize multidirectional butt joint and locking when the two automobile body units are in butt joint, and the automobile tail extension device and the automobile head butt joint device are separated and retract into the automobile body when the two automobile body units are in a single state.
Preferably, the vehicle body unit includes a driving device, and the driving device includes a telescopic driving device for driving the vehicle head docking device and the vehicle tail to extend and retract, and a swing driving device for driving the vehicle head docking device and the vehicle tail extending device.
Preferably, the telescopic driving device comprises a cylinder body which is respectively connected with the headstock docking device and the tailstock extension device and is controlled by a driving motor, and a guide rail which is used for the headstock docking device and the tailstock extension device to slide and is positioned on a longitudinal central axis of a vehicle body.
Preferably, the swing driving device comprises a gear-controlled rotating unit which is connected with the vehicle head docking device and the vehicle tail extending device respectively and comprises a gear, and the rotating unit drives the vehicle head docking device to swing in the horizontal direction and the vehicle tail extending device to swing in the vertical direction.
Preferably, the vehicle head butt joint device can form a swinging range of an included angle of +/-45 degrees relative to a vertical central plane.
Preferably, the tailstock extension device can form a swinging range of an included angle of +/-90 degrees relative to a horizontal central plane.
Preferably, the tail extension device comprises a tail butt joint part in the middle, and a tail energy supply device and a tail control device which are positioned on two sides and are provided with conical heads for butt joint, the tail butt joint part is also provided with a locking element for butt joint with the headstock butt joint device, and the locking element comprises a pin hole.
Preferably, the vehicle head docking device includes a head end docking portion located in the middle, and a head end energy supply device and a head end control device located on both sides, and both are provided with tapered holes for docking, the head end docking portion is further provided with a locking element for docking with the vehicle tail extension device, and the locking element includes a pin shaft.
Preferably, the head end control device is connected with the pin shaft to control the pin shaft to be inserted into the pin hole to realize locking or to be ejected out of the pin hole to realize disengagement.
Preferably, the vehicle body unit is further provided with a camera device at the tail of the vehicle, and the camera device is connected with a control device for controlling the butt joint of the tail extending device and the vehicle head butt joint device.
It should be noted that each wheel of the car body unit has the function of self-lifting, and the car head butt joint device can form a swing range of an included angle of plus or minus 45 degrees relative to a vertical central plane, and the car tail extension device can form a swing range of an included angle of plus or minus 90 degrees relative to a horizontal central plane, so that a multi-degree-of-freedom connecting mechanism is formed, and the vehicle can be adjusted and formed at any time according to special terrains such as passing through hills, grasslands, rivers, indoor stairs and the like, and can climb at 90 degrees when necessary, or several connected cars are erected at 90 degrees with the ground through the butt joint device; or according to the requirement of the whole layout of the trolley, the trolley at the front end or the rear end is lifted up and down quantitatively or swings left and right quantitatively according to the requirement.
It should be noted that, after the docking, the terminal command vehicle and the energy supply vehicle can perform corresponding wired communication command, information interaction and energy supply and supplement on all vehicles.
The invention has the beneficial effects that:
a connecting device combined with multiple degrees of freedom is characterized in that a vehicle head butt joint device capable of swinging along a horizontal plane and a vehicle tail extension device capable of swinging along a vertical plane are arranged at the front end of a vehicle body unit, the vehicle tail extension device and the vehicle head butt joint device extend out of the vehicle body to carry out multi-directional butt joint under the control of a control system, the multiple degrees of freedom combination of the vehicle body units of two connected trolleys is achieved, and when a trolley single body is required to operate, the vehicle tail extension device and the vehicle head butt joint device are disengaged and retracted into the vehicle body. This application is through ingenious design, and car head and rear of a vehicle docking mechanism have different degrees of freedom, combines the raising and lowering functions realization of dolly self to dock under complicated road conditions, thereby reach the purpose that each section dolly flexibility concatenated, concatenate the completion back, the adaptable various climbing of dolly array, cross road conditions such as river, also can throw off rapidly, carry out the bicycle task, satisfied the operation under the various road conditions condition, satisfied the operation requirement of various special environment greatly.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of a body unit docking mechanism of the present invention in a retracted state;
FIG. 2 is a cross-sectional view E-E of FIG. 1;
FIG. 3 is a schematic view of the body unit docking mechanism of the present invention in an extended state;
FIG. 4 is a cross-sectional view F-F of FIG. 3;
FIG. 5 is a schematic view of the rear extension device and the front docking device of the vehicle body unit in a swinging state;
FIG. 6 is a cross-sectional view M-M of FIG. 5;
FIG. 7 is a schematic view of the first body unit to second body unit connection mechanism;
FIG. 8 is an N-directional view of FIG. 7; another structure partial enlarged view of I;
FIG. 9 is a partial enlarged view of the I-connection structure;
FIG. 10 is a cross-sectional view of the trailing end interface;
FIG. 11 is a cross-sectional view of the head end interface;
fig. 12 is an isometric view of the body unit docking mechanism in a retracted state.
Wherein: 1-butt joint of tail ends; 2-a master controller; 3-vertical swing control means; 4-tail end driving cylinder; 5, driving the cylinder by the head end; 6-gear pair; 7-butt joint of the head ends; 8-head end energy supply device; 9-head end butt joint part; 10-head end control device; 11-a frame; 12-tail end control means; 13-tail end butt joint part; 14-tail end energy supply device; 15-head end gear motor; 16-a rotating shaft; 17-a wheel; 18-a guide rail; 19-pin hole; 20-a pin shaft; 21-taper hole; 22-a cone head; 23-an image pickup device; 24-a rotating gear; 25-tail end speed reducing motor.
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The terms "first", "second", and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated; "Multi-node" means equal to or more than two nodes; the description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
Referring to fig. 1 to 12:
one embodiment of the invention:
the connecting device combined with multiple degrees of freedom comprises vehicle body units which can be sequentially connected end to end, wherein each vehicle body unit comprises a head end butt joint part 9 arranged at the front end of the upper part of a vehicle frame 11, a tail end butt joint part 13 arranged at the tail end of the upper part of the vehicle frame 11, wheels 17 arranged below the vehicle frame 11 and a master controller 2.
The butt joint head end 7 is installed on a guide rail 18 on the longitudinal central axis of the vehicle body and connected with the head end driving cylinder 5, and under the driving of the head end driving cylinder 5, the butt joint head end slides along the guide rail 18 along the longitudinal central axis to realize the extending and retracting actions.
The butt joint head end 7 comprises a head end butt joint part 9 in the middle, a head end energy supply device 8 and a head end control device 10 which are fixedly connected to two sides, taper holes for butt joint are formed in the butt joint head end 7, pin shafts 20 are slidably mounted on two sides of an inner hole connected with the taper holes 21 of the head end butt joint part 9, the pin shafts 20 are connected with the head end control device 10, the movement of the pin shafts 20 is controlled to be connected and locked with pin holes 19 of the butt joint tail end 1, and the pin shafts 20 are controlled to rebound and be separated from the pin holes 19 of the butt joint tail end 1.
The butt joint tail end 1 is arranged on a guide rail 18 on a longitudinal central axis of a vehicle body and connected with a tail end driving cylinder 4, and the butt joint tail end 1 slides along the guide rail 18 along the longitudinal central axis under the driving of the tail end driving cylinder 4 to realize extending and retracting actions.
And a tail end speed reducing motor 25 connected with the master controller 2 is connected with a rotating disc 24 in the vertical swing control device 3, and drives the butt joint tail end 1 to swing up and down in a vertical plane, so that a swing range of an included angle of +/-90 degrees can be formed relative to a horizontal central plane.
The butt joint tail end 1 comprises a tail end butt joint part 13 in the middle, a tail end energy supply device 14 and a tail end control device 12 which are fixedly connected to two sides, conical heads for butt joint are arranged on the tail end butt joint part 1, a pin hole 19 is formed in a conical head 22 of the tail end butt joint part 13, the pin hole 19 is matched with the pin shaft 20 of the butt joint head end 7 in a connecting and locking mode, and the pin shaft 20 is separated from the pin hole 19.
The tail end cylinder of the vehicle body unit is provided with a camera device 23, and the camera device 23 is respectively connected with the tail end control device 12 and the head end control device 10.
The master controller 2 can control the extension or retraction of the butt joint head end 7 or the butt joint tail end 1 according to actual needs.
The specific butt joint and separation process comprises the following steps:
when two vehicle body units are required to be connected end to end, a master controller 2 is started, a tail end driving cylinder 4 of a first vehicle body unit is controlled to drive a butt joint tail end 1 to slide and extend along a guide rail 18, and a head end driving cylinder 5 of a second vehicle body unit is controlled to drive a butt joint head end 7 to slide and extend along the guide rail 18;
when two vehicle body units are positioned on the same horizontal plane, the tail end control device 12 of the first vehicle body unit controls the butt joint tail end 1 to be in a stretching waiting state, the master controller 2 of the second vehicle body unit controls the vehicle body to move close to the first vehicle body unit, meanwhile, the head end control device 10 receives the position information of the butt joint end transmitted by the camera 23 in real time, the head end butt joint part 9 which is in the middle and is in a taper shape and is arranged at the butt joint head end 7, the head end energy supply device 8 and the head end control device 10 which are at two sides, the tail end butt joint part 13 which is in the middle and is in a taper shape and is arranged at the butt joint tail end 1 of the first vehicle body unit, the tail end energy supply device 14 and the tail end control device 12 which are at two sides are respectively arranged at the butt joint tail end 1 of the first vehicle body unit, and the butt joint of the taper hole and the taper head are respectively realized, wherein the pin shafts 20 which are slidably arranged at two sides of the The locking connection is realized, and information interaction and energy supply and supplement can be carried out after the butt joint is successful; when two vehicle body units need to be separated, the head end control device 10 controls the pin shaft 20 to rebound and separate from the pin hole 19, so that the two vehicle body units are separated, after separation, the master controller 2 of the first vehicle body unit controls the butt joint tail end 1 to slide along the guide rail 18 and retract into the vehicle body, and the butt joint tail end 1 of the second vehicle body unit slides along the guide rail 18 and retracts into the vehicle body.
Another embodiment of the invention:
the connecting device combined with multiple degrees of freedom comprises vehicle body units which can be sequentially connected end to end, wherein each vehicle body unit comprises a head end butt joint part 9 arranged at the front end of the upper part of a vehicle frame 11, a tail end butt joint part 13 arranged at the tail end of the upper part of the vehicle frame 11, wheels 17 arranged below the vehicle frame 11 and a master controller 2.
The butt joint head end 7 is installed on a guide rail 18 on the longitudinal central axis of the vehicle body and connected with the head end driving cylinder 5, and under the driving of the head end driving cylinder 5, the butt joint head end slides along the guide rail 18 along the longitudinal central axis to realize the extending and retracting actions.
The butt joint head end 7 comprises a head end butt joint part 9 in the middle, a head end energy supply device 8 and a head end control device 10 which are fixedly connected to two sides, taper holes for butt joint are formed in the butt joint head end 7, pin shafts 20 are slidably mounted on two sides of an inner hole connected with the taper holes 21 of the head end butt joint part 9, the pin shafts 20 are connected with the head end control device 10, the movement of the pin shafts 20 is controlled to be connected and locked with pin holes 19 of the butt joint tail end 1, and the pin shafts 20 are controlled to rebound and be separated from the pin holes 19 of the butt joint tail end 1.
The butt joint tail end 1 is arranged on a guide rail 18 on a longitudinal central axis of a vehicle body and connected with a tail end driving cylinder 4, and the butt joint tail end 1 slides along the guide rail 18 along the longitudinal central axis under the driving of the tail end driving cylinder 4 to realize extending and retracting actions.
And a tail end speed reducing motor 25 connected with the master controller 2 is connected with a rotating disc 24 in the vertical swing control device 3, and drives the butt joint tail end 1 to swing up and down in a vertical plane, so that a swing range of an included angle of +/-90 degrees can be formed relative to a horizontal central plane.
The butt joint tail end 1 comprises a tail end butt joint part 13 in the middle, a tail end energy supply device 14 and a tail end control device 12 which are fixedly connected to two sides, conical heads for butt joint are arranged on the tail end butt joint part 1, a pin hole 19 is formed in a conical head 22 of the tail end butt joint part 13, the pin hole 19 is matched with the pin shaft 20 of the butt joint head end 7 in a connecting and locking mode, and the pin shaft 20 is separated from the pin hole 19.
The tail end cylinder of the vehicle body unit is provided with a camera device 23, and the camera device 23 is respectively connected with the tail end control device 12 and the head end control device 10.
The master controller 2 can control the extension or retraction of the butt joint head end 7 or the butt joint tail end 1 according to actual needs.
Each wheel 17 of the body unit can be lifted by itself.
The specific butt joint and separation process comprises the following steps:
when two vehicle body units are required to be connected end to end, a master controller 2 is started, a tail end driving cylinder 4 of a first vehicle body unit is controlled to drive a butt joint tail end 1 to slide and extend along a guide rail 18, and a head end driving cylinder 5 of a second vehicle body unit is controlled to drive a butt joint head end 7 to slide and extend along the guide rail 18;
when two sections of the car body units are positioned on different horizontal planes, the tail end control device 12 of the first section of the car body unit receives the position information of the butt joint end transmitted by the camera device 23 in real time, controls the butt joint tail end 1 to swing up and down in a vertical plane to be close to the butt joint head end 7, the swing angle range is determined according to the specific positions of the two sections of the car body units, meanwhile, each wheel 17 of the car body unit can carry out self-lifting adjustment according to the actual posture, meanwhile, the head end control device 10 of the second section of the car body unit receives the position information of the butt joint end transmitted by the camera device 23 in real time, controls the butt joint head end 7 to swing left and right in the horizontal plane to be close to the butt joint tail end 1, the swing angle range is determined according to the specific positions of the two sections of the car body units, and when the butt joint tail end 1 is aligned with the butt joint head end 7, the butt joint head end 7 is provided with a The butt joint tail end 1 of the first section of the vehicle body unit is respectively provided with a cone-shaped tail end butt joint part 13 in the middle, a tail end energy supply device 14 and a tail end control device 12 which are arranged on two sides, and butt joint of a taper hole and the taper head is realized respectively, wherein pin shafts 20 which are arranged on two sides of an inner hole of the head end butt joint part 9 in a sliding mode move into pin holes 19 which are formed in a cone head 22 of the tail end butt joint part 13 under the control of the head end control device 10 to realize locking connection, and information interaction and energy supply and supplement can be carried out after butt joint is successful; when the two vehicle body units need to be separated, the head end control device 10 controls the pin shaft 20 to rebound and separate from the pin hole 19, so that the two vehicle body units are separated. After separation, the tail end control device 12 of the first section of the vehicle body unit controls the butt joint tail end 1 to swing the angle, the butt joint tail end 1 slides along the guide rail 18 and retracts into the vehicle body under the control of the master controller 2, the head end control device 10 of the second section of the vehicle body unit controls the butt joint head end 7 to swing the angle, and the butt joint head end 7 slides along the guide rail 18 and retracts into the vehicle body under the control of the master controller 2.
It should be noted that each wheel of the car body unit has the function of self-lifting, and the car head butt joint device can form a swing range of an included angle of plus or minus 45 degrees relative to a vertical central plane, and the car tail extension device can form a swing range of an included angle of plus or minus 90 degrees relative to a horizontal central plane, so that a multi-degree-of-freedom connecting mechanism is formed, and the vehicle can be adjusted and formed at any time according to special terrains such as passing through hills, grasslands, rivers, indoor stairs and the like, and can climb at 90 degrees when necessary, or several connected cars are erected at 90 degrees with the ground through the butt joint device; or according to the requirement of the whole layout of the trolley, the trolley at the front end or the rear end is lifted up and down quantitatively or swings left and right quantitatively according to the requirement.
It should be noted that, after the multiple vehicle body units are connected in a butt joint manner, the terminal command vehicle and the energy supply vehicle can perform corresponding wired communication command, information interaction and energy supply and supplement on all vehicles.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (10)
1. The utility model provides a connecting device that multi freedom combined, includes the automobile body unit that can end to end in proper order which characterized in that: the vehicle body unit comprises a vehicle head butt joint device which is arranged at the front end and can swing along a horizontal plane, and a vehicle tail extending device which is arranged at the tail end and can swing along a vertical plane; the automobile tail extension device and the automobile head butt joint device extend out from the automobile body to realize multidirectional butt joint and locking when the two automobile body units are in butt joint, and the automobile tail extension device and the automobile head butt joint device are separated and retract into the automobile body when the two automobile body units are in a single state.
2. The multi-degree-of-freedom bonded linkage device of claim 1, wherein: the car body unit comprises a driving device, and the driving device comprises a telescopic driving device and a swing driving device, wherein the telescopic driving device drives the car head butt joint device and the car tail to extend out and retract, and the swing driving device drives the car head butt joint device and the car tail extending device.
3. The multi-degree-of-freedom bonded linkage device of claim 2, wherein: the telescopic driving device comprises a cylinder body which is respectively connected with the headstock butt joint device and the tailstock extension device and is controlled by a driving motor, and a guide rail which is used for the headstock butt joint device and the tailstock extension device to slide and is positioned on the longitudinal central axis of the vehicle body.
4. The multi-degree-of-freedom bonded linkage device of claim 3, wherein: the swing driving device comprises a rotating unit which is connected with the vehicle head butt joint device and the vehicle tail extending device respectively and is controlled by a speed reducing motor and comprises a gear, and the rotating unit drives the vehicle head butt joint device to swing in the horizontal direction and the vehicle tail extending device to swing in the vertical direction.
5. The multi-degree-of-freedom bonded linkage device of claim 4, wherein: the vehicle head butt joint device can form +/-45 degrees relative to a vertical central plane0The swing range of the included angle.
6. The multi-degree-of-freedom bonded linkage device of claim 5, wherein: the tailstock extension device can form +/-90 degrees relative to a horizontal central plane0The swing range of the included angle.
7. The multi-degree-of-freedom bonded linkage device of claim 6, wherein: the tail extending device comprises a tail abutting part in the middle, and a tail energy supply device and a tail control device which are positioned on two sides, wherein conical heads for abutting are arranged on the tail abutting part, a locking element abutting against the head abutting device is further arranged on the tail abutting part, and the locking element comprises a pin hole.
8. The multi-degree-of-freedom bonded linkage device of claim 7, wherein: the head end butt joint device comprises a head end butt joint part in the middle, and a head end energy supply device and a head end control device which are positioned on two sides, wherein both the head end butt joint part and the head end energy supply device are provided with taper holes for butt joint, the head end butt joint part is also provided with a locking element for butt joint with the tail extension device, and the locking element comprises a pin shaft.
9. The multi-degree-of-freedom bonded linkage device of claim 8, wherein: the head end control device is connected with the pin shaft and controls the pin shaft to be inserted into the pin hole to realize locking or to be popped out from the pin hole to realize releasing.
10. The multi-degree-of-freedom bonded linkage device of claim 9, wherein: the tail of the vehicle body unit is also provided with a camera device, and the camera device is connected with a control device for controlling the butt joint of the tail extending device and the vehicle head butt joint device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010552008.4A CN111634164A (en) | 2020-06-17 | 2020-06-17 | Multi-degree-of-freedom combined connecting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010552008.4A CN111634164A (en) | 2020-06-17 | 2020-06-17 | Multi-degree-of-freedom combined connecting device |
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| CN111634164A true CN111634164A (en) | 2020-09-08 |
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| CN202010552008.4A Pending CN111634164A (en) | 2020-06-17 | 2020-06-17 | Multi-degree-of-freedom combined connecting device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968109A (en) * | 2021-11-08 | 2022-01-25 | 中国北方车辆研究所 | Multi-degree-of-freedom quick connecting device for vehicles in hilly and mountainous areas |
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| CN107614359A (en) * | 2015-03-31 | 2018-01-19 | 未来运输有限公司 | Alternative composition independency drives vehicle |
| US20200171899A1 (en) * | 2017-06-16 | 2020-06-04 | Lohr Electromecanique | Coupling device comprising four degrees of freedom |
| CN108621166A (en) * | 2018-06-15 | 2018-10-09 | 顺丰科技有限公司 | The unmanned delivery system of multirobot and method |
| CN212637053U (en) * | 2020-06-17 | 2021-03-02 | 北京洺楠汇科技有限公司 | Connecting device with multi-degree-of-freedom combination |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113968109A (en) * | 2021-11-08 | 2022-01-25 | 中国北方车辆研究所 | Multi-degree-of-freedom quick connecting device for vehicles in hilly and mountainous areas |
| CN113968109B (en) * | 2021-11-08 | 2024-03-15 | 中国北方车辆研究所 | Multi-degree-of-freedom quick connecting device for vehicles in hilly and mountainous areas |
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