CN112682396A - Hook type automatic butt joint device - Google Patents

Abstract

The embodiment of the invention provides a hook type automatic butt joint device, wherein a spiral groove is formed in the outer side surface of a rotating structure of a fixing piece of the device and is arranged in a positioning structure, a positioning groove is formed in the end part of the positioning structure, and a guide groove is formed in the inner side surface of the positioning structure; the big end part of the sliding pin is embedded in the guide groove, and the sliding pin penetrates through the spiral groove and is connected with the end part of the straight line section of the locking hook; install between docking structure and the limit structure of interfacing part with constant head tank complex locating piece to and, with hook portion complex pin, and a tip of pin is installed on docking structure, and another tip is in on the stopper, install rotary mechanism in the location structure, install on the rotary mechanism rotating structure, interfacing part installs on the body that docks, and the body that docks passes through locking mechanism locking and installs on motion platform, rotary mechanism, locking mechanism and motion platform all are connected with the control system electricity. Therefore, the device provided by the embodiment of the invention can improve the working efficiency on the basis of ensuring the personal safety.

Description

Hook type automatic butt joint device

Technical Field

The invention relates to the technical field of manufacturing and automation, in particular to a hook type automatic butt joint device.

Background

At present, along with the development of mechanical engineering intelligent technology, in various industries, more and more artificial intelligence replaces manual work to finish operation, but in some dangerous and special industries, still need manual assistance can only finish butt joint work, if dangerous works such as changing ammunition boxes in tunnel excavation engineering need manual operation to finish the change of ammunition boxes.

Therefore, under the conditions of severe environment and dangerous working conditions, the butt joint can be completed only by manually assisting operation in the prior art, so that the work load is large, the efficiency is low, and meanwhile, the personal safety is easily threatened in long-term operation.

Disclosure of Invention

The embodiment of the invention aims to provide a hook type automatic butt joint device which can improve the working efficiency on the basis of ensuring the personal safety.

The specific technical scheme is as follows:

the embodiment of the invention provides a hook type automatic butt joint device, which comprises: the locking mechanism comprises a fixing component, a locking hook component, a pair of butt joint components, a locking mechanism and a moving platform with a preset number of degrees of freedom;

the fixing assembly includes: a fixed member and a rotating mechanism;

the fixing piece comprises a positioning structure and a rotating structure which are both hollow structures, a spiral groove with a preset length is arranged on the outer side surface of the rotating structure along the circumferential direction in a mode of penetrating through the outer side surface, the rotating structure is arranged in the positioning structure in a mode of being located on the same central axis line with the positioning structure, and the rotating structure can independently move relative to the positioning structure; the end part of the positioning structure is provided with a positioning groove, and the inner side surface of the positioning structure is provided with a guide groove vertical to the circumferential direction;

the positioning structure is internally provided with the rotating mechanism and is used for being arranged on a fixed end face of a preset first butt joint mechanism;

the rotating structure is arranged on the rotating mechanism;

the locking hook assembly includes: the hook part is provided with a locking hook with a self-locking function and a sliding pin with the end part from big to small; wherein the diameter of the large end of the sliding pin is larger than the width of the spiral groove;

the big end part of the sliding pin is embedded in the guide groove, and the sliding pin penetrates through the spiral groove and is connected with the end part of the straight line section of the locking hook;

the docking assembly includes: the butt joint part, the butt joint body, the positioning block and the pin are arranged on the base;

the butt joint piece comprises a limiting structure and a butt joint structure which are both hollow structures, the butt joint structure is arranged in the limiting structure in a mode of being located on the same central axis line with the limiting structure, a positioning block matched with the positioning groove and a pin matched with the hook portion are arranged between the butt joint structure and the limiting structure, one end portion of the pin is arranged on the butt joint structure, and the other end portion of the pin is arranged on the positioning block;

the butt joint piece is mounted on the butt joint body;

the butt joint body is locked and installed on the moving platform through the locking mechanism, and the moving platform can drive the butt joint pieces to move according to the degree of freedom of a preset number;

the locking mechanism, the moving platform and the rotating mechanism are all used for being electrically connected with a preset control system, wherein the control system is used for controlling the locking mechanism to be in a locking state under the condition that the butt joint piece and the fixing piece are determined to be in butt joint, controlling the moving platform to drive the butt joint piece to move to be in the same central axis with the fixing piece, controlling the positioning block and the positioning groove to be in an alignment state, meanwhile, the opening position of the hook part of the locking hook is relatively arranged at the pin, continuously controlling the moving platform to drive the butt joint piece to move, enabling the positioning block to be arranged between the limiting structure and the butt joint structure in a manner of being partially matched with the positioning groove, unlocking the locking mechanism, and controlling the rotating mechanism to rotate so that the sliding pin drives the locking hook to hook the pin along the spiral groove under the guidance of the guide groove, and after the hook part locks the pin, stopping the rotation of the rotating mechanism.

In one embodiment of the invention, the helix angle of the initial section of the spiral groove is set to 0 degree;

the locking hook assembly further comprises: the ratchet, the ratchet shaft and the limit stop block;

wherein the ratchet is provided with an elastic structure for keeping the ratchet in a vertical state in a free state;

the ratchet is arranged on the rotating structure through the ratchet shaft and can rotate around the ratchet shaft within a preset angle, the locking hook hooks the pin under the pushing action of the ratchet under the condition that the rotating structure rotates and the sliding pin is arranged in the spiral section with the helical angle of 0 degree, and the top of the ratchet is separated from the locking hook after the hook part is in rigid contact with the pin;

and the rotating structure is provided with a limit stop for limiting the position of the locking hook.

In one embodiment of the present invention, the spiral angle of the terminating segment of the spiral groove is set to 0 degree.

In one embodiment of the invention, the device further comprises a control system, wherein the rotating mechanism comprises a speed reducing mechanism and a motor;

the speed reducing mechanism is arranged in the positioning structure, the input end of the speed reducing mechanism is connected with the motor, and the output end of the speed reducing mechanism is provided with the rotating structure;

the control system is further electrically connected with the motor and used for determining that the butt joint part is butted with the fixing part, determining that the positioning structure is arranged between the limiting structure and the butt joint structure in a manner that the positioning block is partially matched with the positioning groove, and controlling the motor to rotate after the opening position of the hook part of the locking hook is arranged at the pin, so that the sliding pin is guided by the guide groove and driven by the spiral groove to hook the locking hook to hook the pin, and stopping the motor to rotate after the pin is locked by the hook part.

In one embodiment of the invention, the positioning groove is a groove formed by intersecting a terrace and a cuboid, and the large end surface of the terrace is positioned on the end surface of the positioning structure.

In one embodiment of the present invention, the apparatus further comprises: a first sensor and a second sensor;

the first sensor is arranged on the fixing piece and used for obtaining the position and the posture information of the spiral groove;

the second sensor is arranged on the motion platform and used for obtaining the position and posture information of the positioning block;

the control system is further respectively electrically connected with the first sensor and the second sensor and used for controlling the locking mechanism to be in a locking state under the condition that the butt joint piece and the fixing piece are in butt joint in a determined mode, and controlling the motion platform to drive the butt joint piece to move to the position, which is in the same central axis with the fixing piece, according to the position and posture information obtained by the first sensor and the second sensor, the positioning block and the positioning groove are in an aligned state, and meanwhile, the opening position of the hook part of the locking hook is arranged at the position of the pin relatively.

In one embodiment of the present invention, the apparatus further comprises: a third sensor;

the third sensor is arranged on the fixing piece and used for obtaining positioning information of the hook opening position so as to enable the hook opening position to be arranged at the position of the pin;

the control system is also respectively electrically connected with a third sensor and used for controlling the locking mechanism to be in a locking state under the condition that the butt joint piece and the fixing piece are in butt joint in a determined mode, and controlling the motion platform to drive the butt joint piece to move to the position, which is in the same central axis with the fixing piece, of the positioning block and the positioning groove in an aligned state according to the position and the posture obtained by the first sensor, the position and the posture information obtained by the second sensor and the positioning information obtained by the third sensor, and meanwhile, the opening position of the hook part of the locking hook is oppositely arranged at the pin.

In one embodiment of the invention, the inner side surface of the limiting structure is a first conical surface;

the outer side surface of the positioning structure is a second conical surface matched with the first conical surface.

In one embodiment of the invention, the motion platform comprises a mechanism for a double slide platform and a telescopic mechanical arm;

the mechanical arm mechanism is arranged on the double-sliding platform and is used for being arranged on the butt joint end face of the first butt joint mechanism; the double-sliding platform can drive the mechanical arm mechanism to move along two directions which are parallel to the butt joint end face and are perpendicular to each other;

the mechanical arm mechanism is provided with the locking mechanism, and the mechanical arm can drive the butt joint assembly to rotate by a preset alignment angle;

the control system is respectively electrically connected with the double sliding platforms and the mechanical arm mechanism and used for controlling the locking mechanism to be in a locking state under the condition that the butt joint piece and the fixing piece are in butt joint in a certain mode, respectively controlling the double sliding platforms and the mechanical arm mechanism to enable the butt joint piece to move to be in the same central axis with the fixing piece according to the position and the posture obtained by the first sensor, the position and the posture information obtained by the second sensor and the positioning information obtained by the third sensor, enabling the positioning block and the positioning groove to be in an aligned state, meanwhile, the opening position of the hook portion of the locking hook is oppositely arranged at the pin, and continuously controlling the double sliding platforms to drive the butt joint piece to move so that the positioning block is arranged in the positioning groove.

In an embodiment of the invention, the control system is further configured to, in a case where it is determined that the docking assembly needs to be disassembled, control the moving platform to move to the docking body, mount the docking body on the moving platform through the locking mechanism, start the rotating mechanism to rotate in a reverse direction, drive the pin to push the docking piece away from the fixing piece in a case where the sliding pin is pushed by a reverse action of the spiral groove, continue to control the motor to rotate in a case where the sliding pin is located at an initial section of the spiral groove and the sliding pin slides to an end of the guide groove, disengage the locking hook from the pin under a pushing action of the limit stopper, and return the ratchet to an initial position under an action of the elastic structure, stop the motor from rotating, and control the locking mechanism to clamp and lock the docking assembly, and controlling the motion platform to move the butt joint assembly to a preset placing platform.

Has the advantages that:

the embodiment of the invention provides a hook type automatic butt joint device, wherein a spiral groove with a preset length is arranged on the outer side surface of a rotating structure of a fixing piece of the device and can be independently arranged in a positioning structure relative to the positioning structure, a positioning groove is arranged at the end part of the positioning structure, and a guide groove is arranged on the inner side surface of the positioning structure; the big end part of the sliding pin is embedded in the guide groove, and the sliding pin penetrates through the spiral groove and is connected with the end part of the straight line section of the locking hook; install between docking structure and the limit structure of interfacing part with constant head tank complex locating piece to and, with hook portion complex pin, and a tip of pin is installed on docking structure, and another tip is in on the stopper, install rotary mechanism in the location structure, install on the rotary mechanism rotating structure, interfacing part installs on the body that docks, and the body that docks passes through locking mechanism locking and installs on motion platform, rotary mechanism, locking mechanism and motion platform all are used for being connected with the control system electricity. Compared with the prior art, the automatic butt joint device provided by the embodiment of the invention does not need manual assistance for butt joint, but controls the locking mechanism, the moving platform and the rotating mechanism to rotate through the control system, so that the sliding pin drives the locking hook to hook the pin along the spiral groove under the guide of the guide groove, and the rotating mechanism stops rotating after the hook part locks the pin. Therefore, the device provided by the embodiment of the invention can improve the working efficiency on the basis of ensuring the personal safety. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a partial structural schematic view of a hook type automatic docking device to be docked according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of a fixing assembly according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a locking hook assembly according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a docking assembly according to an embodiment of the present invention;

fig. 5 is an assembly schematic view of the hook type automatic docking device provided by the embodiment of the invention during docking.

1-fixing component, 2-locking hook component, 3-butt joint component, 4-locking mechanism, 11-fixing component, 12-rotating mechanism, 21-locking hook, 22-sliding pin, 23-ratchet, 24-ratchet shaft, 25-limit stop, 31-butt joint component, 32-butt joint body, 33-positioning block, 34-pin, 111-positioning structure, 112-rotating structure, 121-speed reducing mechanism, 122-motor, 311-limit structure, 312-butt joint structure, 1111-positioning groove, 1112-guide groove and 1121-spiral groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a view illustrating a hook type automatic docking device according to an embodiment of the present invention, where the device may include: the locking mechanism comprises a fixing component 1, a locking hook component 2, a butt joint component 3, a locking mechanism 4 and a moving platform with a preset number of degrees of freedom;

the fixing assembly 1 comprises: a fixed member 11 and a rotating mechanism 12;

as shown in fig. 2, the fixing member 11 includes a positioning structure 111 and a rotating structure 112, both of which are hollow structures, an outer side surface of the rotating structure 112 is provided with a spiral groove 1121 with a preset length along a circumferential direction and in a manner of penetrating through the outer side surface, the rotating structure 112 is disposed in the positioning structure 111 in a manner of being located on the same central axis as the positioning structure 111, and the rotating structure 112 can move independently relative to the positioning structure 111; the end part of the positioning structure is provided with a positioning groove 1111, and the inner side surface of the positioning structure is provided with a guide groove 1112 vertical to the circumferential direction;

the rotating mechanism 12 is installed in the positioning structure 111, and is used for being installed on a fixed end face of a preset first butt joint mechanism;

the rotating mechanism 12 is provided with the rotating structure 112;

as shown in fig. 3, the locking hook assembly 2 includes: the hook part is provided with a locking hook 21 with a self-locking function and a sliding pin 22 with the end part from big to small; wherein the diameter of the large end of the sliding pin 22 is larger than the width of the spiral groove 1121;

the big end of the sliding pin 22 is embedded in the guide groove 1112, and the sliding pin 22 penetrates through the spiral groove 1121 to be connected with the straight section end of the locking hook 21;

the docking assembly 3 includes: the butt piece 31, the butt body 32, the positioning block 33 and the pin 34;

as shown in fig. 4, the docking member 31 includes a limiting structure 311 and a docking structure 312, both of which are hollow structures, the docking structure 312 is installed in the limiting structure 311 in a manner of being located on the same central axis as the limiting structure 311, a positioning block 33 which is matched with the positioning slot 1111 is installed between the docking structure 312 and the limiting structure 311, and a pin 34 which is matched with the hook portion, and one end of the pin 34 is installed on the docking structure, and the other end is installed on the positioning block 33;

the abutting piece 31 is mounted on the abutting body 32;

the butt joint body 32 is locked and installed on the moving platform through the locking mechanism 4;

the rotating mechanism 12, the locking mechanism 4 and the moving platform are respectively configured to be electrically connected to a preset control system, wherein the control system is configured to, when it is determined that the abutting part 31 and the fixing part 11 are abutted, control the locking mechanism 4 to be in a locked state, and control the moving platform to drive the abutting part 31 to move to be in the same central axis as the fixing part 11, and the positioning block 33 and the positioning slot 1111 are aligned, and meanwhile, the opening position of the hook portion of the locking hook 21 is relatively disposed at the pin 34, and continuously control the moving platform to drive the abutting part 31 to move, so that the positioning block 33 is partially matched with the positioning slot 1111, unlock the locking mechanism 4, and control the rotating mechanism 12 to rotate, so that the sliding pin 22 is guided by the guiding slot 1112 to drive the locking hook 21 to hook the pin 34 along the spiral groove 1121, after the hook locks the pin 34, the rotation of the rotary mechanism 12 is stopped.

The predetermined number of degrees of freedom may be 4 degrees of freedom, 6 degrees of freedom, or 7 degrees of freedom. The 7 degrees of freedom are respectively 2 degrees of freedom in the horizontal direction and 2 degrees of freedom in the vertical direction which are parallel to the butt joint end face, and also 2 degrees of freedom in the height direction and 1 degree of freedom of rotation in the height direction which are perpendicular to the butt joint end face.

The inner side surface is provided with a guide groove 1112 perpendicular to the circumferential direction, and it can be understood that the longitudinal direction of the guide groove is perpendicular to the circumferential direction of the inner side surface of the positioning structure 111 and is parallel to the axial direction.

The hollow structure may be a hollow cylindrical structure, a hollow cube structure, or a hollow cone structure, which is not limited in this embodiment.

The above-mentioned fixing end face can be understood as being parallel to the end face of the fixing piece 11.

The abutting end surface may be parallel to the fixing end surface or perpendicular to the fixing end surface, which is not limited in this embodiment.

Under the condition that the butting end face is parallel to the fixed end face, the moving platform drives the butting piece 31 to move on the butting end face along a first direction, the moving platform can also drive the butting piece 31 to move along a second direction, the moving platform can also drive the butting piece 31 to move along a third direction, the first direction and the second direction are mutually perpendicular directions, and the third direction is respectively perpendicular to the first direction and the second direction. And then the docking assembly 3 can be driven to move in space.

The upper docking structure 312 is installed in the position-limiting structure 311 through the pin 34 and the positioning block 33, and is located on the same central axis as the position-limiting structure 311.

In view of the fact that the docking assembly 3 is mounted on the motion platform through the locking mechanism 4, the motion platform can drive the docking assembly 3 to move along the preset number of degrees of freedom relative to the docking end surface.

The locking mechanism 4 is structurally related to the docking assembly 3 and may be designed as a mechanism, such as a robot, for supporting and locking the docking body 32. It is also possible to design the structure to have a fitting connection with the docking member 31, when in locking, the locking mechanism 4 and the docking body 32 are in a fixed state, and when in unlocking, the docking body 32 can move on a mounting surface on the locking mechanism 4 and fitted with the docking body 32.

The predetermined length is related to the matching length between the docking structure and the rotating structure, and when the matching length is a length that can ensure that the docking piece and the fixing piece 11 are completely and fixedly connected.

The rotating mechanism 12 is a mechanism that can rotate the rotating structure.

The sliding pin 22 is a cylinder with a large end portion, and the diameter of the large end portion of the sliding pin 22 is larger than the width of the spiral groove 1121, so that the sliding pin 22 does not separate from the spiral groove 1121 by being pulled by the locking hook 21 when moving along the spiral groove 1121, that is, the sliding pin 22 can be always placed in the spiral groove 1121.

The large end of the upper slide pin 22 is fitted in the guide groove 1112, and the slide pin 22 can be surely guided by the guide groove 1112 and can move freely along the spiral groove 1121.

In addition, the locking hook 21 includes a straight line section and a hook section, and the straight line section and the hook section are connected.

The opening of the hook is provided with a tightening function, i.e. it automatically tightens and wraps around the pin 34 when the hook is in rigid contact with the pin 34 and pulled.

It should be noted that the number of the pins 34 may be multiple, and the number of the pins 34 and the locking hooks 21 are in a one-to-one correspondence, that is, the number of the pins 34 and the locking hooks 21 is the same, and the pins 34 and the locking hooks 21 may be aligned one by one to be matched.

Similarly, the number of the positioning blocks 33 may be multiple, and the number of the positioning blocks 33 and the positioning grooves 1111 also correspond to each other one by one, that is, the positioning grooves 1111 and the positioning blocks 33 have the same number and can be aligned one by one to be matched.

The positioning blocks and the pins can be the same in number or different in number, and when the positioning blocks and the pins are different, the positioning blocks which are not connected with the pins can be directly placed between and connected with the limiting structures and the butting structures.

Above-mentioned constant head tank 1111 can set to V type groove, also can set to U type groove, also can set to the trapezoidal groove, can also design into the groove that passes through mutually by halfpace and cuboid and form, and the big terminal surface of halfpace is located location structure 111's terminal surface.

In order to facilitate the positioning block 33 to be inserted into the positioning groove 1111 and enable the positioning structure to stably limit the rotation of the docking assembly, in an embodiment of the present invention, the positioning groove 1111 is preferably configured as a groove formed by intersecting a landing and a rectangular parallelepiped, and a large end surface of the landing is located on an end surface of the positioning structure 111.

The docking body 32 may be used to mount an article to be docked, such as a construction device, an explosive cartridge, or a piece of cotton fabric.

The positioning block 33 is partially matched with the positioning slot 1111 to limit the rotation of the docking piece.

The automatic docking device may or may not include a control system, which is not limited in this embodiment.

The control system controls the moving platform to drive the abutting part 31 to move to be located on the same central axis as the fixed part 11, and the positioning block 33 is aligned with the positioning slot 1111, which may include at least two embodiments.

In the first embodiment, the control system may obtain the position and posture information of the docking piece and the fixing piece 11 by using a sensor, and control the moving platform to drive the docking piece to move to the same central axis as the fixing piece 11 according to the obtained position and posture information, and the positioning block 33 is aligned with the positioning slot 1111.

In a second embodiment, the control system can obtain an image of the docking piece and the fixing piece 11 captured by the camera, analyze the image, and control the moving platform to drive the docking piece to move to the same central axis as the fixing piece 11 according to the analysis result of the image, and the positioning block 33 and the positioning groove 1111 are aligned.

Similarly, the opening of the locking hook 21 is disposed at the position corresponding to the pin 34, and includes at least two embodiments,

in a first embodiment, the control system may obtain the positioning information of the pin 34 in the docking member through a sensor, and control the moving platform to drive the docking member to move according to the obtained positioning information, so that the opening of the locking hook 21 is relatively disposed at the pin 34.

In a second embodiment, the control system may obtain an image of the docking member and the fixing member 11 captured by the camera, analyze the image, and control the moving platform to drive the docking member to move according to the analysis result of the image and the relative coordinate information of the docking member and the fixing member 11, so that the opening of the locking hook 21 is relatively disposed at the pin 34.

The positioning block 33 is partially engaged with the positioning slot 1111 to limit the rotation of the docking assembly relative to the fixing assembly.

The working principle of the automatic docking device of the embodiment is as follows: when the butt joint element 31 and the fixing element 11 are butt jointed, the locking mechanism 4 fixes the butt joint element 32 on a motion platform controlled by a control system, the control system controls the motion platform to drive the butt joint element 31 to move, the butt joint element 31 is moved to be located at the same central axis with the fixing element 11, the pin 34 of the butt joint element is moved to the opening position of the locking hook 21 of the fixing element 11 along the axis, meanwhile, the positioning block 33 and the positioning slot 1111 are aligned one by one, the motion platform is continuously controlled to drive the butt joint element to move, so that the positioning block 33 is matched with the positioning slot 1111 part, the locking mechanism 4 is unlocked to enable the locking mechanism 4 to release the butt joint end, at this time, the locking mechanism 4 can support the butt joint assembly 3, the rotating mechanism 12 is started, the rotating mechanism 12 drives the rotating structure to rotate when rotating, so that the sliding pin 22 drives the locking hook 21 to hook, after the hook locks the pin 34, the rotation of the rotating mechanism 12 is stopped. Thus, as shown in fig. 5, the docking member 31 is fully docked with the stationary member 11, and finally, the control system controls the motion platform away from the docking assembly.

Therefore, in the technical solution provided by the embodiment of the present invention, the outer side surface of the rotating structure of the fixing member 11 of the device is provided with the spiral groove 1121 with a preset length, and the spiral groove 1121 is disposed in the positioning structure 111 in an independent manner with respect to the positioning structure 111, and the end of the positioning structure 111 is provided with the positioning slot 1111, and the inner side surface is provided with the guide slot 1112; the big end of the sliding pin 22 is embedded in the guiding groove 1112, and the sliding pin 22 penetrates through the spiral groove 1121 to be connected with the straight section end of the locking hook 21; install between docking structure and the limit structure 311 of interfacing part with constant head tank 1111 complex locating piece 33 to and, with hook portion complex pin 34, and a tip of pin 34 installs on docking structure, and another tip is in on the stopper, install rotary mechanism 12 in the location structure 111, install on the rotary mechanism 12 rotating-structure, interfacing part are installed on interfacing part 32, and interfacing part 32 passes through locking mechanism 4 locking and installs on motion platform, and rotary mechanism 12, locking mechanism 4 and motion platform all are used for being connected with the control system electricity. Compared with the prior art, the automatic docking device provided by the embodiment of the invention does not need manual assistance to perform docking, but controls the locking mechanism 4, the moving platform and the rotating mechanism 12 to rotate through the control system, so that the sliding pin 22 drives the locking hook 21 to hook the pin 34 along the spiral groove 1121 under the guidance of the guide groove 1112, and after the hook part locks the pin 34, the rotating mechanism 12 stops rotating. Therefore, the device provided by the embodiment of the invention can improve the working efficiency on the basis of ensuring the personal safety.

In an embodiment of the present invention, a helix angle of an initial section of the spiral groove 1121 may be set to 0 degree;

as shown in fig. 3, the locking hook 21 mechanism may further include: ratchet 23, ratchet shaft 24 and limit stop 25;

wherein, the ratchet 23 is provided with an elastic structure for keeping the ratchet 23 in a vertical state in a free state;

the ratchet 23 is mounted on the rotating structure through the ratchet shaft 24 and can rotate around the ratchet shaft 24 within a preset angle, and under the condition that the rotating structure rotates and the sliding pin 22 is arranged on the spiral segment with the helical angle of 0 degree, the locking hook 21 can hook the pin 34 under the pushing action of the ratchet 23, and after the hook part is in rigid contact with the pin 34, the top of the ratchet 23 can be separated from the locking hook 21;

a limit stop 25 is mounted on the rotating structure to limit the position of the locking hook 21.

Wherein, the tooth height of the ratchet 23 can be determined by a preset calculation formula.

The bottom end of the ratchet 23 may be provided with the elastic structure so that the ratchet 23 is always kept in an upright state in a free state, which ensures that the top of the ratchet 23 can be rotated by the rotating structure and the locking hook 21 hooks the pin 34 under the pushing action of the ratchet 23 under the condition that the sliding pin 22 is arranged in a spiral section with a helical angle of 0 degree.

It should be noted that the ratchet 23 can only be rotated about the ratchet shaft 24 within a predetermined angle, which facilitates the ratchet 23 to be disengaged from the locking hook 21 and to be restored to the original position.

The limit stop 25 is provided to ensure that the locking hook 21 is always in a restricted position.

The spiral angle of the end of the spiral groove 1121 may be 0 degree or may be other than 0 degree.

The working principle of the automatic docking device of the embodiment is as follows: when the butt joint element 31 and the fixing element 11 are butt jointed, the locking mechanism 4 fixes the butt joint body 32 on a motion platform controlled by a control system, the control system controls the motion platform to drive the butt joint element 31 to move, the butt joint element 31 is moved to be positioned on the same central axis with the fixing element 11, a pin 34 of the butt joint element is moved to an opening position of a locking hook 21 of the fixing element 11 along the axis, meanwhile, a positioning block 33 and a positioning groove 1111 are aligned one by one, the motion platform is continuously controlled to drive the butt joint element to move, so that the positioning block 33 is matched with the positioning groove 1111, the locking mechanism 4 is unlocked to enable the locking mechanism 4 to release a butt joint end, at this time, the locking mechanism 4 can support the butt joint element 3, the rotating mechanism 12 is started, the rotating mechanism 12 drives the rotating structure to rotate when rotating, and the sliding pin 22 slides in, thus, the sliding pin 22 does not slide along the guiding groove 1112, at this time, the ratchet 23 is driven by the rotation of the rotating structure to push the locking hook 21 to hook the pin 34, the locking hook 21 hooks the pin 34, that is, a rigid contact is formed, at this moment, the top of the ratchet 23 is separated from the locking hook 21, the ratchet 23 rotates around the ratchet shaft 24 within the preset angle, and with the continuous rotation of the rotating structure, the middle section of the spiral groove 1121, the helix angle of which is not 0, generates a pulling force on the sliding pin 22, so that the sliding pin 22 slides in the guiding groove 1112, that is, the locking hook 21 pulls the abutting piece to move towards the fixing piece 11, until the inner side surface of the limiting structure 311 is abutted to the outer side surface of the positioning structure 111, and the rotating mechanism 12.

It can be seen that in the technical solution provided by the embodiment of the present invention, the ratchet 23 of the device is provided with an elastic structure; the ratchet 23 is mounted on the rotating structure by a ratchet shaft 24 and is rotatable within a predetermined angle around the ratchet shaft 24, and the rotating structure is mounted with a limit stopper 25 defining the position of the locking hook 21. It can be seen that the arrangement of the limit stop 25 and the ratchet 23 can ensure that the locking hook 21 hooks the pin 34 under the pushing action of the ratchet 23 under the condition that the rotating structure rotates and the sliding pin 22 is arranged in the spiral segment with the spiral angle of 0 degree, and the top of the ratchet 23 is separated from the locking hook 21 after the hook part is in rigid contact with the pin 34; and then the locking hook 21 can automatically and accurately hook the pin 34 under the condition that the rotating structure rotates, and the reliability of butt joint is improved.

In the case that the abutting member and the fixing member 11 have already been abutted, there may be a situation that the fixing member 11 is automatically reversed, and the abutting member and the fixing member 11 may be loosened and even separated, and in an embodiment of the present invention, the helix angle of the terminating segment of the spiral groove 1121 may be set to 0 degree.

When the spiral angle of the terminating segment of the spiral groove 1121 may be set to 0 degree, a certain pre-tightening force is ensured for the connection between the abutment and the fixing member 11.

The working principle of the automatic docking device of the embodiment is as follows: when the butt joint element and the fixing element 11 are butt jointed, the locking mechanism 4 fixes the butt joint body 32 on a motion platform controlled by a control system, the control system controls the motion platform to drive the butt joint element to move, and the butt joint element 31 is moved to be in the same central axis with the fixing element 11, and moves the pin 34 of the butt joint element to the opening position of the locking hook 21 of the fixing element 11 along the axis, and meanwhile, the positioning block 33 and the positioning slot 1111 are aligned one by one, the motion platform is continuously controlled to drive the butt joint element to move, so that the positioning block 33 is matched with the positioning slot 1111 partially, the locking mechanism 4 is unlocked to enable the locking mechanism 4 to release the butt joint end, at this time, the locking mechanism 4 can support the butt joint assembly 3, the rotating mechanism 12 is started, the rotating mechanism 12 drives the rotating structure to rotate when rotating, the sliding pin 22 slides in the, the sliding pin 22 does not slide along the guiding groove 1112, and at this time, the ratchet 23 is driven by the rotation of the rotating structure to push the locking hook 21 to hook the pin 34, the locking hook 21 hooks the pin 34, that is, rigid contact is formed, at this moment, the top of the ratchet 23 is disengaged from the locking hook 21, the ratchet 23 rotates around the ratchet shaft 24 within the preset angle, and as the rotating structure continues to rotate, the middle section of the spiral groove 1121, the helix angle of which is not 0, exerts a pulling force on the sliding pin 22, so that the sliding pin 22 slides in the guide groove, namely, the locking hook 21 pulls the butt-joint piece to move towards the fixing piece 11 until the inner side surface of the limiting structure 311 is attached to the outer side surface of the positioning structure 111, the rotation of the rotating structure is continuously controlled to enable the sliding pin 22 to slide to the angle of the ending section of the spiral groove 1121, so as to ensure that the connection between the butting piece and the fixing piece 11 has a certain pretightening force and ensure that the locking state is stable and reliable.

Therefore, the spiral angle of the terminating section of the spiral groove 1121 of the device can be set to 0 degree, which can ensure that the connection between the abutting piece and the fixing piece 11 has a certain pretightening force, thereby ensuring the stability and reliability of the locking state, and further improving the reliability of the abutting.

In an embodiment of the present invention, as shown in fig. 2, the apparatus may further include a control system, and the rotating mechanism 12 may include a speed reducing mechanism 121 and a motor 122;

the speed reducing mechanism 121 is installed in the positioning structure 111, an input end of the speed reducing mechanism 121 is connected with the motor 122, and an output end of the speed reducing mechanism 121 is provided with the rotating structure 112;

the control system is also electrically connected with the motor 122, and is used for controlling the motor 122 to rotate after determining that the positioning structure 111 is disposed between the limiting structure 311 and the abutting structure by partially matching the positioning block 33 and the positioning slot 1111 and the hook opening position of the locking hook 21 is relatively disposed at the pin 34 under the condition of determining that the abutting piece and the fixing piece 11 are abutted, so that the sliding pin 22 drives the locking hook 21 to hook the pin 34 along the spiral groove 1121 under the guidance of the guide groove 1112, and the motor 122 stops rotating after the hook locks the pin 34.

The motor 122 drives the speed reducing mechanism 121 to rotate under the control of the control system, the speed reducing mechanism 121 drives the rotating structure 112 to rotate, so that the sliding pin 22 is screwed into the spiral groove 1121 on the rotating structure 112, and the locking hook 21 is driven by the sliding pin 22 to hook the pin 34, thereby achieving the connection between the abutting piece 31 and the fixing piece 11.

The working principle of the automatic docking device of the embodiment is as follows: when the butt joint member 31 and the fixing member 11 are butt jointed, the locking mechanism 4 fixes the butt joint body 32 on a motion platform controlled by a control system, the control system controls the motion platform to drive the butt joint assembly 3 to move, and make the butt joint member 31 move to be in the same central axis with the fixing member 11, and move the pin 34 of the butt joint member to the opening position of the locking hook 21 of the fixing member 11 along the axis, and at the same time, the positioning block 33 and the positioning slot 1111 are aligned one by one, the motion platform is continuously controlled to drive the butt joint member to move, so that the positioning block 33 is matched with the positioning slot 1111, the locking mechanism 4 is unlocked to make the locking mechanism 4 release the butt joint end, and the motor 122 is controlled to rotate, the speed reduction mechanism 121 drives the rotation structure to rotate under the driving of the motor, at the initial stage of the rotation structure, the slide pin 22 slides in the spiral groove 1121 with, at this time, the ratchet 23 is driven by the rotation of the rotating structure to push the locking hook 21 to hook the pin 34, the locking hook 21 hooks the pin 34, that is, a rigid contact is formed, at this time, the top of the ratchet 23 is separated from the locking hook 21, the ratchet 23 rotates around the ratchet shaft 24 within the preset angle, along with the continuous rotation of the rotating structure, the middle section of the spiral groove 1121, where the helix angle is not 0, generates a pulling force on the sliding pin 22, so that the sliding pin 22 slides in the guide groove 1112, that is, the locking hook 21 pulls the abutment to move towards the fixing member 11, until the inner side surface of the limiting structure 311 is attached to the outer side surface of the positioning structure 111, and the rotation of the rotating structure is continuously controlled to enable the sliding pin 22 to slide to the angle of the termination section of the spiral groove 1121, so as to ensure that the connection between the abutment and the fixing member.

It can be seen that, in the technical solution provided in the embodiment of the present invention, the speed reducing mechanism 121 of the rotating mechanism 12 is installed in the positioning structure 111, an input end of the speed reducing mechanism 121 is connected to the motor 122 of the rotating mechanism 12, and an output end of the speed reducing mechanism 121 is installed with the rotating structure 112. And the device provided by this embodiment controls the locking mechanism 4 to be in the locked state under the action of the control system, and after it is determined that the positioning structure 111 is disposed between the limiting structure 311 and the abutting structure in a manner of partially fitting the positioning block 33 and the positioning slot 1111, and the opening position of the hook portion of the locking hook 21 is relatively disposed at the position of the pin 34, the motor 122 is controlled to rotate, so that the sliding pin 22 drives the locking hook 21 to hook the pin 34 along the spiral groove 1121 under the guidance of the guide groove 1112, and after the hook portion locks the pin 34, the motor 122 is stopped to rotate. Therefore, the device of the embodiment of the invention can improve the working efficiency on the basis of ensuring the personal safety, and meanwhile, the motor 122 provides the preset locking torque in the non-driving state, so that the butt joint reliability of the butt joint piece 31 and the fixing piece 11 can be improved.

When the sensor is used to obtain the position and posture information, in an embodiment of the present invention, the apparatus may further include: a first sensor and a second sensor;

the first sensor is mounted on the fixing member 11 and is configured to obtain position and posture information of the spiral groove 1121;

the second sensor is mounted on the motion platform and used for obtaining the position and posture information of the positioning block 33;

the control system is further electrically connected with the first sensor and the second sensor respectively, and is used for controlling the locking mechanism 4 to be in a locking state under the condition that the butt joint piece 31 and the fixing piece 11 are in butt joint in a definite mode, controlling the motion platform to drive the butt joint piece 31 to move to be in the same central axis with the fixing piece 11 according to position and posture information obtained by the first sensor and the second sensor, the positioning block 33 and the positioning groove 1111 are in an aligned state, and meanwhile, the hook opening position of the locking hook 21 is arranged at the pin 34 relatively.

The first sensor and the second sensor may be the same or different in structure.

When the sensors having the same structure are used, the first sensor and the second sensor may each use a position and orientation measuring sensor.

The control system of the embodiment specifically comprises: under the condition that the butt joint piece 31 and the fixing piece 11 are determined to be in butt joint, the locking mechanism 4 is controlled to be in a locked state, the moving platform is controlled to drive the butt joint piece 31 to move to be in the same central axis with the fixing piece 11 according to the position and the posture obtained by the first sensor and the position and the posture information obtained by the second sensor, the positioning block 33 and the positioning groove 1111 are in an aligned state, meanwhile, the opening position of the hook part of the locking hook 21 is relatively arranged at the pin 34, the moving platform is continuously controlled to drive the butt joint piece 31 to move, so that the positioning block 33 is arranged between the limiting structure 311 and the butt joint structure in a manner of being partially matched with the positioning groove 1111, the locking mechanism 4 is unlocked, the rotating mechanism 12 is controlled to rotate, so that the sliding pin 22 drives the locking hook 21 to hook the pin 34 along the spiral groove 1121 under the guidance of the guide groove 1112, after the hook locks the pin 34, the rotation of the rotating mechanism 12 is stopped.

It can be seen that in the technical solution provided by the embodiment of the present invention, the first sensor is installed on the fixing component 11 for obtaining the position and posture information of the spiral groove 1121, the second sensor is installed on the moving platform for obtaining the position and posture information of the positioning block 33, the control system can accurately control the moving platform to drive the abutting component 31 to move to be in the same central axis with the fixing component 11 according to the position and posture information obtained by the first sensor and the second sensor, the positioning block 33 is aligned with the positioning slot 1111, and meanwhile, the hook opening position of the locking hook 21 is relatively placed at the stud 34. By applying the first sensor and the second sensor of the embodiment of the invention, not only the structure is simple and convenient, but also the position and posture information of the abutting piece 31 and the fixing piece 11 can be accurately obtained, and the abutting accuracy of the abutting piece 31 and the fixing piece 11 can be further improved.

When obtaining positioning information using sensors, in one embodiment of the invention, the apparatus further comprises: a third sensor;

a third sensor is mounted on the fixing member 11 for obtaining positioning information of the hook opening position so that the hook opening position is placed at the position of the pin 34;

the control system is further electrically connected to a third sensor, and is configured to control the locking mechanism 4 to be in a locked state when it is determined that the abutting piece 31 and the fixing piece are abutted, and control the moving platform to drive the abutting piece 31 to move to be in the same central axis as the fixing piece 11 according to the position and posture obtained by the first sensor, the position and posture information obtained by the second sensor, and the positioning information obtained by the third sensor, where the positioning block 33 and the positioning groove 1111 are in an aligned state, and the hook opening position of the locking hook 21 is relatively disposed at the pin 34.

The third sensor may be a distance sensor for measuring positioning information.

The control system of the embodiment specifically comprises: under the condition that the butting piece 31 and the fixing piece 11 are determined to be butted, the locking mechanism 4 is controlled to be in a locking state, the moving platform is controlled to drive the butting piece 31 to move to be in the same central axis with the fixing piece 11 according to the position and the posture obtained by the first sensor, the position and the posture information obtained by the second sensor and the positioning information obtained by the third sensor, the positioning block 33 and the positioning groove 1111 are in an aligned state, meanwhile, the opening position of the hook part of the locking hook 21 is relatively arranged at the pin 34, the moving platform is controlled to drive the butting piece 31 to move continuously, the positioning block 33 and the positioning groove 1111 are arranged between the limiting structure 311 and the butting structure in a partially matched mode, the locking mechanism 4 is unlocked, the rotating mechanism 12 is controlled to rotate, and the sliding pin 22 drives the locking hook 21 to move along the spiral groove 1121 under the guiding of the guide groove 1112 The pin 34 is hooked, and after the hook part locks the pin 34, the rotation of the rotating mechanism 12 is stopped.

It can be seen that in the technical solution provided by the embodiment of the present invention, the third sensor is installed on the moving platform for obtaining the positioning information of the pin 34, and the control system can accurately control the moving platform to move according to the positioning information obtained by the third sensor, so that the opening position of the hook portion of the locking hook 21 is relatively placed at the pin 34. By applying the third sensor of the embodiment of the invention, not only the structure is simple and convenient, but also the positioning information of the pin 34 can be accurately obtained, and the accuracy of butt joint of the butt joint piece 31 and the fixing piece 11 can be further improved.

In an embodiment of the present invention, the inner side surface of the stopper 311 may be a first tapered surface, and the outer side surface of the positioning structure 111 may be a second tapered surface matching with the first tapered surface.

The conical surface is matched, so that the assembly and disassembly are convenient, and the accurate centering effect can be still ensured even if the assembly and disassembly are carried out for many times. In addition, the coaxiality of the conical surface fit is high, and the zero clearance fit can be realized.

The first conical surface and the second conical surface are designed to facilitate the positioning mechanism to be smoothly inserted into the limiting structure 311 and achieve the purpose of fitting.

The connection between the limiting structure 311 and the positioning mechanism under the action of the control system is specifically as follows: after the control system unlocks the locking mechanism 4 and controls the motor 122 to rotate, the speed reducing mechanism 121 is driven by the motor 122 to rotate slowly along the axis of the fixed end, the relative circumferential rotation of the abutting part 31 and the fixing part 11 is limited due to the alignment and limiting effects of the positioning block 33 and the positioning slot 1111, the sliding pin 22 drives the locking hook 21 to hook the pin 34 under the guidance of the guide slot 1112 along the spiral groove 1121, and also generates a pulling effect on the abutting part 31, and the abutting part 31 approaches the fixing part 11 under the pulling force until the first conical surface of the limiting structure 311 of the abutting part 31 is in fit with the second conical surface of the fixing part 11.

It can be seen that, in the technical solution provided in the embodiment of the present invention, the inner side surface of the limiting structure 311 may be a first conical surface, and the outer side surface of the positioning structure 111 is a second conical surface matched with the first conical surface. The arrangement of the first conical surface and the second conical surface can not only facilitate the positioning and assembling and disassembling of the abutting piece 31 and the fixing piece 11, but also facilitate the accurate assembly of the positioning structure 111 and the limiting structure 311.

In an embodiment of the present invention, the motion platform may include a dual sliding platform and a retractable mechanical arm mechanism;

the mechanical arm mechanism is arranged on the double-sliding platform and is used for being arranged on the butt joint end face of the first butt joint mechanism; the double-sliding platform can drive the mechanical arm mechanism to move along two directions which are parallel to the butt joint end face and are perpendicular to each other;

the locking mechanism 4 is arranged on the mechanical arm mechanism, and the mechanical arm can drive the butt joint assembly 3 to rotate by a preset alignment angle;

the control system is electrically connected with the double-sliding platform and the mechanical arm mechanism respectively, and is used for controlling the locking mechanism 4 to be in a locking state under the condition that the butt joint piece 31 and the fixing piece 11 are determined to be in butt joint, and controlling the double-sliding platform and the mechanical arm mechanism respectively to enable the butt joint piece 31 to move to be in the same central axis with the fixing piece 11 according to the position and the posture obtained by the first sensor, the position and the posture information obtained by the second sensor and the positioning information obtained by the third sensor, wherein the positioning block 33 and the positioning groove 1111 are in an alignment state, meanwhile, the opening position of the hook part of the locking hook 21 is relatively arranged at the pin 34, and the double-sliding platform is continuously controlled to drive the butt joint piece 31 to move so that the positioning block 33 is arranged in the positioning groove 1111.

The locking mechanism 4 is mounted on a mechanical arm, the mechanical arm mechanism is mounted on a double-sliding platform, and the double-sliding platform is mounted on the butt joint end of the second butt joint mechanism.

The double sliding platforms can drive the mechanical arm mechanism to move along two directions which are parallel to the butt joint end face and perpendicular to each other, and it can be understood that the double sliding platforms can move in two perpendicular directions on the butt joint end face, and the two directions can be a horizontal direction and a vertical direction. That is, the dual sliding platforms can move the robot arm on a plane parallel to the butt end face.

Because the mechanical arm is a telescopic mechanical arm, the mechanical arm can drive the butt-joint piece 31 on the locking mechanism 4 to move along the length direction of the mechanical arm.

In addition, since the dual sliding platforms can drive the robot arm to move on a plane parallel to the docking end face, the docking member 31 on the robot arm can also move on a plane parallel to the docking end face.

Thus, the robot arm can achieve 6 degrees of freedom, 4 degrees of freedom parallel to the horizontal and vertical directions on the butt end face, respectively, and 4 degrees of freedom along the length direction of the robot arm. Furthermore, the mechanical arm can drive the docking assembly 3 to achieve free motion in space, in addition, the mechanical arm can drive the docking assembly 3 to achieve a rotation alignment angle, the alignment angle can be selected to be less than or equal to 20 degrees, so that under the control of the control system, the mechanical arm can drive the docking assembly 3 to be precisely coincided with the central axis of the fixed assembly 1, and the positioning groove 1111 is aligned with the positioning block 33.

In addition, one way to align the abutment 31 with the fixing member 11 is: the position and posture information of the fixing member 11 relative to the fixing end surface are predetermined, and meanwhile, the position and posture information of the abutting member 31 relative to the abutting body 32 are also corresponding to the position and posture information corresponding to the fixing member 11, that is, the abutting member 31 can be fixedly installed on the abutting body 32 in advance, so that when the abutting member 31 is moved to be located at the same central axis with the fixing member 11 by the double sliding platforms during abutting, the positioning blocks 33 and the pins 34 in the abutting member 31 just correspond to the positioning grooves 1111 and the locking hooks 21 of the fixing member 11 one by one to achieve the matching alignment positions.

Another way to align the abutment 31 with the fixture 11 is: the corner mechanism is arranged on the mechanical arm, the locking mechanism is installed on the corner mechanism, the corner mechanism is electrically connected with the control system, the control system can control the movement of the double-sliding platform, the mechanical arm or/and the corner mechanism according to the position and posture information and the positioning information of the fixing piece 11 and the butt joint piece 31, so that the butt joint piece 31 moves to the position where the fixing piece 11 is located in the same central axis, and the positioning block 33 and the pin 34 in the butt joint piece 31 correspond to the positioning groove 1111 and the locking hook 21 of the fixing piece 11 in a matched mode one by one.

Therefore, in the technical scheme provided by the embodiment of the invention, the mechanical arm mechanism is arranged on the double sliding platforms of the moving platform and is used for being arranged on the butt joint end surface of the first butt joint mechanism; the mechanical arm mechanism is provided with a locking mechanism 4; the control system controls the locking mechanism 4 to be in a locking state, and controls the double-sliding platform and the mechanical arm mechanism respectively according to the position and the posture obtained by the first sensor, the position and the posture information obtained by the second sensor and the positioning information obtained by the third sensor so that the abutting piece 31 moves to be in the same central axis with the fixing piece 11, the positioning block 33 is aligned with the positioning groove 1111, the opening position of the hook part of the locking hook 21 is oppositely arranged at the pin 34, and the double-sliding platform is continuously controlled to drive the abutting piece 31 to move so that the positioning block 33 is arranged in the positioning groove 1111. It can be seen that the robot arm provided by this embodiment can flexibly and accurately drive the docking member 31 and the fixing member 11 to achieve a fixed connection under the action of the control system.

When the docking body 32 needs to be replaced, in an embodiment of the present invention, the control system is further configured to, in a case that it is determined that the docking assembly 3 needs to be detached, control the moving platform to move to the docking body 32, mount the docking body 32 on the moving platform through the locking mechanism 4, start the rotating mechanism 12 to rotate in reverse, in a case that the spiral groove 1121 acts in reverse to push the sliding pin 22, the locking hook 21 drives the pin 34 to push the docking piece 31 away from the fixing piece 11, in a case that the sliding pin 22 is located at the initial section of the spiral groove 1121 and the sliding pin 22 slides to the end of the guide groove 1112, continue to control the motor 122 to rotate, the locking hook 21 disengages from the pin 34 under the pushing action of the limit stopper, and the ratchet 23 returns to the initial position under the action of the elastic structure, stop the motor 122 from rotating, and control the locking mechanism 4 to clamp and lock the docking assembly 3, and controls the motion platform to move the docking assembly 3 to a preset placing platform.

Wherein, the locking mechanism 4 has the functions of installation and locking. When the docking body 32 is mounted on the motion platform and the locking mechanism 4 is not locked, the motion platform can play a role of supporting the docking body 32, and at this time, the docking body 32 can move along the mounting surface where the locking mechanism 4 and the docking body 32 are mounted; when the docking body 32 is mounted on the moving platform and the locking mechanism 4 is locked, the docking body 32 is in a fixed state relative to the locking mechanism 4.

The process of replacing the docking assembly 3, i.e. unloading the docking member 31 from the fixture 11, is the reverse of the docking locking process described in the above embodiments. The docking unit 3 is a docking body 32 to which a docking piece 31 is attached.

The predetermined placing platform may be a warehouse which is set in advance for placing the already used docking assembly 3 or the unused docking assembly 3.

The specific process of unloading is as follows: controlling the moving platform to move to the abutting body 32, and installing the abutting body 32 installed on the fixing member 11 by using the locking mechanism 4 to play a role of supporting the abutting piece 31, wherein the magnitude of the contact force between the locking mechanism 4 and the abutting body 32 is greater than or equal to the gravity of the abutting assembly 3, starting the motor 122 to rotate in reverse, the reduction transmission mechanism slowly rotates under the driving of the motor 122, the rotating structure rotates in reverse, due to the alignment effect of the positioning block 33 and the positioning slot 1111, under the condition that the spiral slot 1121 acts in reverse on the sliding pin 22, the locking hook 21 drives the pin 34 to push the abutting piece 31 away from the fixing member 11, when the rotating structure rotates to the initial section of the spiral slot 1121, the sliding pin 22 slides to the end of the guide slot 1112, the rotating structure continues to rotate in reverse, the limit stop 25 pushes the locking hook 21, so that the locking hook 21 is separated from the pin 34, meanwhile, the ratchet 23 is restored to the initial position under the elastic action of the internal elastic structure, the control system controls the motor 122 to stop, the control system controls the locking mechanism 4 on the motion platform to lock the butt-joint piece 31, and controls the motion platform to move the butt-joint component 3 to a preset placing platform, and the disassembly work of the automatic butt-joint locking mechanism 4 is completed.

It can be seen that in the technical solution provided in the embodiment of the present invention, when the control system determines that the docking assembly 3 needs to be detached, the control system controls the moving platform to move to the docking body 32, and mounts the docking body 32 on the moving platform through the locking mechanism 4, starts the rotating mechanism 12 to rotate in reverse direction, when the spiral groove 1121 acts in reverse direction to push the sliding pin 22, the locking hook 21 drives the pin 34 to push the docking piece 31 away from the fixing piece 11, and when the sliding pin 22 is located at the initial section of the spiral groove 1121 and the sliding pin 22 slides to the end of the guide groove 1112, the control system continues to control the motor 122 to rotate, the locking hook 21 disengages from the pin 34 under the pushing action of the limit stopper, and the ratchet 23 returns to the initial position under the action of the elastic structure, stops the motor 122 from rotating, controls the locking mechanism 4 to clamp and lock the docking assembly 3, and controls the moving platform to move the docking assembly 3 to the preset placing platform, the disassembly of the butt joint assembly 3 can be automatically, conveniently and accurately completed under the control of the control system, and further preparation is provided for next butt joint of the butt joint assembly 3, so that the butt joint and disassembly of the butt joint assembly 3 are completed fully automatically, labor cost is saved, and working efficiency is further improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. A hook type automatic docking device, characterized in that the device comprises: the locking mechanism comprises a fixing component (1), a locking hook component (2), a butt joint component (3), a locking mechanism (4) and a moving platform with a preset number of degrees of freedom;

the fixation assembly (1) comprises: a fixed member (11) and a rotating mechanism (12);

the fixing piece (11) comprises a positioning structure (111) and a rotating structure (112), wherein the positioning structure (111) and the rotating structure (112) are both hollow structures, a spiral groove (1121) with a preset length is formed in the outer side surface of the rotating structure (112) along the circumferential direction in a mode of penetrating through the outer side surface, the rotating structure (112) is arranged in the positioning structure (111) in a mode of being located on the same central axis line with the positioning structure (111), and the rotating structure (112) can independently move relative to the positioning structure (111); wherein, the end of the positioning structure (111) is provided with a positioning groove (1111), and the inner side surface is provided with a guide groove (1112) vertical to the circumferential direction;

the rotating mechanism (12) is arranged in the positioning structure (111) and is used for being arranged on a fixed end face of a preset first butt joint mechanism;

the rotating mechanism (12) is provided with the rotating structure (112);

the locking hook assembly (2) comprises: the hook part is provided with a locking hook (21) with a self-locking function and a sliding pin (22) with the end part from big to small; wherein the diameter of the large end of the sliding pin (22) is larger than the width of the spiral groove (1121);

the big end part of the sliding pin (22) is embedded in the guide groove (1112), and the sliding pin (22) penetrates through the spiral groove (1121) to be connected with the straight section end part of the locking hook (21);

the docking assembly (3) comprises: the butt joint part (31), the butt joint body (32), the positioning block (33) and the pin (34);

the butt joint piece (31) comprises a limiting structure (311) and a butt joint structure (312), the limiting structure (311) and the butt joint structure (312) are both of a hollow structure, the butt joint structure (312) is installed in the limiting structure (311) in a mode of being located on the same central axis as the limiting structure (311), a positioning block (33) matched with the positioning groove (1111) is installed between the butt joint structure (312) and the limiting structure (311), a pin (34) matched with the hook portion is installed, one end portion of the pin (34) is installed on the butt joint structure (312), and the other end portion of the pin is installed on the positioning block (33);

the butt joint piece (31) is mounted on the butt joint body (32);

the butt joint body (32) is locked and installed on the moving platform through the locking mechanism (4), and the moving platform can drive the butt joint piece (31) to move according to the degree of freedom of a preset number;

the locking mechanism (4), the moving platform and the rotating mechanism (12) are all used for being electrically connected with a preset control system, wherein the control system is used for controlling the locking mechanism (4) to be in a locking state and controlling the moving platform to drive the abutting piece (31) to move to be in the same central axis with the fixing piece (11) under the condition that the abutting piece (31) and the fixing piece (11) are butted, the positioning block (33) and the positioning groove (1111) are in an aligned state, meanwhile, the opening position of the hook part of the locking hook (21) is relatively arranged at the pin (34), the moving platform is continuously controlled to drive the abutting piece (31) to move, so that the positioning block (33) is partially matched with the positioning groove (1111) and is arranged between the limiting structure (311) and the abutting structure (312), unlocking the locking mechanism (4), controlling the rotating mechanism (12) to rotate, so that the sliding pin (22) drives the locking hook (21) to hook the pin (34) along the spiral groove (1121) under the guidance of the guide groove (1112), and stopping the rotating mechanism (12) from rotating after the hook part locks the pin (34).

2. The apparatus according to claim 1, wherein a helix angle of a starting section of the spiral groove (1121) is set to 0 degree;

the locking hook mechanism (2) further comprises: a ratchet (23), a ratchet shaft (24) and a limit stop (25);

wherein the ratchet (23) is provided with an elastic structure for keeping the ratchet (23) in an upright state in a free state;

the ratchet (23) is mounted on the rotating structure (112) through the ratchet shaft (24) and can rotate around the ratchet shaft (24) within a preset angle, and under the condition that the rotating structure (112) rotates and the sliding pin (22) is arranged on the spiral section with the helical angle of 0 degree, the locking hook (21) is hooked on the stud (34) under the pushing action of the ratchet (23), and after the hook part is in rigid contact with the stud (34), the top of the ratchet (23) is separated from the locking hook (21);

and a limit stop (25) for limiting the position of the locking hook (21) is arranged on the rotating structure (112).

3. The apparatus of claim 2, wherein a helix angle of a terminating segment of the helical groove (1121) is set to 0 degree.

4. The device according to claim 1, characterized in that it further comprises a control system, said rotation mechanism (12) comprising a reduction mechanism (121) and a motor (122);

the speed reducing mechanism (121) is installed in the positioning structure (111), the input end of the speed reducing mechanism (121) is connected with the motor (122), and the output end of the speed reducing mechanism (121) is provided with the rotating structure (112);

the control system is also electrically connected with the motor (122) and used for controlling the motor (122) to rotate after determining that the positioning structure (111) is arranged between the limiting structure (311) and the butting structure (312) in a manner that the positioning block (33) is partially matched with the positioning groove (1111) and the hook opening position of the locking hook (21) is relatively arranged at the pin (34) under the condition that the butting piece (31) and the fixing piece (11) are determined to be butted, so that the sliding pin (22) drives the locking hook (21) to hook the pin (34) along the spiral groove (1121) under the guide of the guide groove (1112) and stops the motor (122) to rotate after the hook locks the pin (34).

5. The device according to claim 4, characterized in that the positioning slot (1111) is a slot formed by intersecting a landing and a rectangular parallelepiped, and the large end surface of the landing is located at the end surface of the positioning structure (111).

6. The apparatus of claim 5, further comprising: a first sensor and a second sensor;

the first sensor is arranged on the fixing piece (11) and used for obtaining position and posture information of the spiral groove (1121);

the second sensor is arranged on the motion platform and used for obtaining the position and posture information of the positioning block (33);

the control system is further respectively electrically connected with the first sensor and the second sensor and used for controlling the locking mechanism (4) to be in a locking state under the condition that the butt joint piece (31) and the fixing piece (11) are in butt joint in a determined mode, controlling the motion platform to drive the butt joint piece (31) to move to the position and posture information obtained by the first sensor and the second sensor to be in the same central axis with the fixing piece (11), controlling the positioning block (33) to be in an alignment state with the positioning groove (1111), and meanwhile, relatively arranging the hook opening position of the locking hook (21) at the pin (34).

7. The apparatus of claim 6, further comprising: a third sensor;

the third sensor is arranged on the fixing piece (11) and used for obtaining positioning information of the hook opening position, so that the hook opening position is arranged at the position of the pin (34);

the control system is also respectively electrically connected with a third sensor and used for controlling the locking mechanism (4) to be in a locking state under the condition that the butt joint piece (31) and the fixing piece (11) are determined to be in butt joint, controlling the motion platform to drive the butt joint piece (31) to move to be in the same central axis with the fixing piece (11) according to the position and the posture obtained by the first sensor, the position and posture information obtained by the second sensor and the positioning information obtained by the third sensor, enabling the positioning block (33) and the positioning groove (1111) to be in an alignment state, and meanwhile, enabling the opening position of the hook part of the locking hook (21) to be relatively arranged at the pin (34).

8. The device according to claim 1, wherein the inner side of the limiting structure (311) is a first conical surface;

the outer side surface of the positioning structure (111) is a second conical surface matched with the first conical surface.

9. The apparatus of claim 7, wherein the motion platform comprises a mechanism for a dual slide platform and a retractable robotic arm;

the mechanical arm mechanism is arranged on the double-sliding platform and is used for being arranged on the butt joint end face of the first butt joint mechanism; the double-sliding platform can drive the mechanical arm mechanism to move along two directions which are parallel to the butt joint end face and are perpendicular to each other;

the locking mechanism (4) is mounted on the mechanical arm mechanism, and the mechanical arm can drive the butt joint assembly (3) to rotate by a preset alignment angle;

the control system is respectively electrically connected with the double sliding platforms and the mechanical arm mechanism and is used for controlling the locking mechanism (4) to be in a locking state under the condition that the butt joint piece (31) and the fixing piece (11) are determined to be in butt joint, and respectively controlling the double-sliding platform and the mechanical arm mechanism according to the position and the posture obtained by the first sensor, the position and the posture information obtained by the second sensor and the positioning information obtained by the third sensor so as to enable the butt joint piece (31) to move to be in the same central axis with the fixing piece (11), and the positioning block (33) and the positioning groove (1111) are in an aligned state, meanwhile, the opening position of the hook part of the locking hook (21) is oppositely arranged at the pin (34), and the double sliding platforms are continuously controlled to drive the butting piece (31) to move so that the positioning block (33) is placed in the positioning groove (1111).

10. The device according to any one of claims 1 to 9, wherein the control system is further configured to control the motion platform to move to the docking body (32) and to mount the docking body (32) on the motion platform through the locking mechanism (4) in case it is determined that the docking assembly (3) needs to be disassembled, to start the rotation mechanism (12) to rotate in reverse, wherein the locking hook (21) drives the pin (34) to push the docking body (31) away from the fixing member (11) in case the spiral groove (1121) pushes the sliding pin (22) in reverse, and to continue to control the rotation of the motor (122) in case the sliding pin (22) is at the beginning of the spiral groove (1121) and the sliding pin (22) slides to the end of the guiding groove (1112), and wherein the locking hook (21) disengages from the pin (34) in case of the pushing action of the stopper, and the ratchet (23) is restored to the initial position under the action of the elastic structure, the motor (122) stops rotating, the locking mechanism (4) is controlled to clamp and lock the butt joint component (3), and the motion platform is controlled to move the butt joint component (3) to a preset placing platform.

Images