CN114735245A

CN114735245A - Hermaphrodite butt joint structure capable of being in rotary butt joint in any direction

Info

Publication number: CN114735245A
Application number: CN202210415236.6A
Authority: CN
Inventors: 王璟贤; 陈荣; 梁昊鹏; 曹译; 白玉铸; 赵勇; 绳涛
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2022-04-20
Filing date: 2022-04-20
Publication date: 2022-07-12

Abstract

The invention discloses a hermaphrodite butt joint structure capable of being in rotary butt joint in any direction. The connecting base is constructed into a hollow cylindrical structure; the butt joint part is at least partially accommodated in the connecting base and comprises a supporting body and a clamping part, the clamping part is connected to the top of the supporting body and uniformly arranged at intervals along the circumferential direction of the supporting body, the clamping part extends along the height direction of the supporting body, the clamping part comprises a protruding part and a recessed part, the recessed part is close to the supporting body and accommodated in the connecting base, and the protruding part extends beyond the connecting base; the clamping part is provided with a protruding part and a recessed part on two sides of the supporting body in the circumferential direction, and a protruding structure formed by the protruding part is matched with a recessed area formed by the recessed part. From this, at the in-process of butt joint, two hermaphrodite butt joint structures can follow arbitrary direction relative rotation, have improved the flexibility in the butt joint process, have reduced the degree of difficulty of on-orbit equipment, have promoted the installation effectiveness.

Description

Hermaphrodite butt joint structure capable of being in rotary butt joint in any direction

Technical Field

The invention relates to the technical field of axial butt joint, in particular to a hermaphrodite butt joint structure capable of being in rotary butt joint in any direction.

Background

Satellites are spacecraft that perform in orbit tasks, flying around the earth or other planets for long periods of time, following the laws of orbital mechanics. The artificial satellite can realize various functions, such as ground monitoring, astronomical observation, communication retransmission and scientific research. With the continuous and deep exploration of space by human beings, the construction of more complicated and large-scale space systems becomes the development key point of space science and technology, and the development of on-orbit assembly technology is urgently needed in order to better meet the assembly requirement of large-scale space structures. During on-orbit assembly, inter-satellite on-orbit interconnection needs to be completed by means of a docking structure, wherein the docking structure needs to realize connection of four types of interfaces (a mechanical interface, an electrical interface, a thermal interface and a data interface).

In the prior art, the conventional butt joint pieces for in-orbit assembly usually distinguish male and female bodies, in the butt joint process, two butt joint pieces need to be in butt joint according to a set position and a set direction, and the same-polarity interfaces cannot be in butt joint, so that no arbitrariness exists during butt joint, the flexibility during butt joint is greatly influenced, the difficulty is increased for in-orbit assembly, and meanwhile, the installation efficiency of in-orbit assembly is reduced. Although, german aerospace center has designed an intelligent space system interface for the modularization micro-nano satellite in the iBOSS plan, this interface has integrateed four kinds of interfaces, and hermaphrodite, can the butt joint, however, the rotational locking of the mechanical interface in this interface is realized through one-way spout, can only be along one direction swivelling joint when locking, can not realize locking connection according to current interface position rotation in arbitrary direction, and the butt joint requirement of electrical interface is severe, need let the accurate butt joint of stitch, increased the degree of difficulty of butt joint.

Disclosure of Invention

To at least partially solve the above technical problems of the prior art, the present invention provides a hermaphrodite docking structure capable of rotational docking in any direction.

The technical scheme of the invention is as follows:

a hermaphroditic docking structure capable of rotational docking in any direction, the hermaphroditic docking structure comprising:

a connection base configured as a hollow cylindrical structure;

the butt joint piece is at least partially accommodated in the connecting base and comprises a supporting body and a clamping part, the clamping part is connected to the top of the supporting body and is uniformly arranged at intervals along the circumferential direction of the supporting body, the clamping part extends along the height direction of the supporting body, the clamping part comprises a protruding part and a recessed part which are sequentially arranged along the height direction of the supporting body, the recessed part is close to the supporting body and is accommodated in the connecting base, and the protruding part extends beyond the connecting base;

the clamping part is provided with a protruding part and a recessed part on two sides in the circumferential direction of the support body, and a protruding structure formed by the protruding part is matched with a recessed area formed by the recessed part.

Alternatively, the recessed portion is configured to be recessed inward in a circumferential direction of the support body, and the protruding portion is configured to protrude outward in the circumferential direction of the support body.

Optionally, the recessed portion includes a first recessed surface and a second recessed surface extending obliquely to an axial direction of the support body, the first recessed surface and the second recessed surface being joined via a first adjacent side, an end of the first adjacent side remote from the protruding portion extending toward an inner side of the clamping portion in a circumferential direction of the support body to at least partially form the recessed region;

the protrusion includes first and second protruding faces extending obliquely to an axial direction of the support body, the first and second protruding faces at least partially forming the protruding structure;

wherein the first concave surface is adapted to the first convex surface, and the second concave surface is adapted to the second convex surface.

Optionally, the number of clamping sections is at least three.

Optionally, the hermaphroditic docking structure further comprises a driving assembly and an electrical connection assembly, the driving assembly and the electrical connection assembly are at least partially accommodated in the connection base, the electrical connection assembly is located on the top of the supporting body and is surrounded between the clamping portions, wherein the driving assembly can drive at least a portion of the electrical connection assembly to extend beyond the connection base.

Optionally, the drive assembly comprises a drive motor and a conveyor belt, the drive motor being connectable with the electrical connection assembly via the conveyor belt.

Optionally, the electrical connection assembly comprises:

the periphery of the end part of the rotating part, close to the supporting body, is provided with a transmission groove capable of bearing the conveyor belt, the driving motor can drive the rotating part to rotate through the conveyor belt, and the end part of the rotating part, far away from the supporting body, is provided with an accommodating cavity which is provided with an opening;

the guide piece is sleeved on the periphery of the rotating piece;

a moveable tip disposed in the receiving cavity;

the inner wall of the guide piece is provided with a spiral guide groove, the side wall of the rotating piece is provided with a penetrating groove extending along the axial direction of the rotating piece, the outer wall of the movable end is provided with a sliding pin, the sliding pin extends through the penetrating groove and extends into the guide groove, and the rotating piece can rotate relative to the guide piece so that the movable end can move along the axial direction of the rotating piece.

Optionally, the electrical connection assembly further comprises a cover plate received in the connection base and disposed around between the clamping portions, the cover plate having a through hole for the movable tip to pass through, and a top surface of the cover plate being flush with a top surface of the connection base.

Optionally, the electrical connection assemblies are uniformly arranged at intervals along the circumferential direction of the support body, and the included angle of the protrusion portion fitted into the recess portion in the circumferential direction of the support body is N, and the included angle of the adjacent electrical connection assembly in the circumferential direction of the support body is M, then

N ═ P × M, where P is a positive integer.

Optionally, the included angle of the protruding portion fitted into the recessed portion in the circumferential direction of the support body is 20 °, the number of the electrical connection assemblies is 18, and 18 electrical connection assemblies are uniformly arranged at intervals in the circumferential direction of the support body.

The technical scheme of the invention has the following main advantages:

the hermaphroditic butt joint structure capable of being in rotary butt joint in any direction comprises a connection base and a butt joint piece, wherein the butt joint piece is at least partially accommodated in the connection base, the butt joint piece comprises a support body and a clamping part, the clamping part is provided with a protruding part and a concave part, and the protruding structure formed by the protruding part is matched with the concave area formed by the concave part. The hermaphrodite butt joint structure is used in pairs, when the hermaphrodite butt joint structure is used, the hermaphrodite butt joint structure can be respectively arranged on two target devices which need to be connected in an on-rail way, the two hermaphrodite butt joint structures are positioned at corresponding positions and move synchronously, and then the protrusion in one hermaphrodite butt joint structure is embedded into the recess in the other hermaphrodite butt joint structure, so that the two target devices can be fixedly connected. Compared with the prior art, because joint part all is provided with protruding portion and depressed part in the ascending both sides of the circumference direction of supporter, at the in-process of butt joint, arbitrary orientation relative rotation can be followed to two hermaphroditic butt joint structures, has improved the flexibility in the butt joint process effectively, has reduced the degree of difficulty of assembling at the rail, can promote the installation effectiveness of assembling at the rail.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

In the drawings:

FIG. 1 is a schematic diagram of a hermaphroditic docking structure according to an embodiment of the invention;

FIG. 2 is an exploded view of the hermaphroditic docking structure shown in FIG. 1;

FIG. 3 is a schematic view of the docking member in the hermaphroditic docking configuration shown in FIG. 2;

FIG. 4 is a top view of the interface element shown in FIG. 3;

FIG. 5 is a schematic view of the electrical connection assembly of the hermaphroditic mating structure shown in FIG. 2;

FIG. 6 is a top view of the hermaphroditic docking structure shown in FIG. 1; and

fig. 7 is a schematic view of the electrical connection assembly mounted in the hermaphroditic mating structure shown in fig. 1.

Description of reference numerals:

10: the connection base 20: the abutting piece 21: support body

22: the click portion 23: the protruding portion 231: first protruding surface

232: second projection surface 24: the recessed portion 241: first concave surface

242: second recessed surface 30: the drive assembly 31: driving motor

32: the conveyor belt 40: the electrical connection assembly 41: rotating member

42: the guide member 43: movable head 44: cover plate

45: the slide pin 46: flange

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 7, according to one embodiment of the present invention, a hermaphroditic docking structure capable of rotational docking in any direction is provided, and the hermaphroditic docking structure can be provided on a device requiring on-rail connection.

As shown in fig. 1 and 2, the hermaphroditic docking structure includes a connection base 10 and a docking member 20.

Wherein the connection base 10 is configured as a hollow cylindrical structure, for example, the connection base 10 may be configured as a cylindrical structure having a certain height. In the present embodiment, the connection base 10 can be fixedly provided in advance on a target satellite or a device such as a robot arm. The docking member 20 is at least partially accommodated in the connection base 10.

As shown in fig. 3 and 4, the docking member 20 includes a supporting body 21 and clamping portions 22, the clamping portions 22 are connected to the top of the supporting body 21, and the clamping portions 22 are uniformly spaced along the circumferential direction of the supporting body 21. Preferably, the number of the catching portions 22 is at least three.

For example, the supporting body 21 in the present embodiment is provided with three clamping portions 22, and the three clamping portions 22 are uniformly arranged on the top edge of the supporting body 21 along the circumferential direction of the supporting body 21. Meanwhile, the three clamping parts 22 jointly enclose a containing space capable of containing other structures.

Further, the catching portion 22 is extended along the height direction of the supporting body 21, and the catching portion 22 includes a protrusion 23 and a recess 24 sequentially arranged along the height direction of the supporting body 21. The recess 24 is close to the support body 21 and is accommodated in the connection base 10, and the protrusion 23 extends beyond the connection base 10. It will be understood that the recess 24 and the support body 21 are located together inside the top surface of the connection base 10 and are accommodated in the connection base 10, and the protrusion 23 is located outside the top surface.

Furthermore, the clamping portion 22 is provided with a protruding portion 23 and a recessed portion 24 on both sides of the supporting body 21 in the circumferential direction, and the protruding structure formed by the protruding portion 23 is matched with the recessed region formed by the recessed portion 24, that is, the space shape formed by the protruding portion 23 can be effectively and adaptively accommodated in the recessed space formed by the recessed portion 24.

It is understood that the hermaphroditic docking structure in the present embodiment is used in pairs, the paired hermaphroditic docking structures are respectively disposed on two devices to be connected during in-orbit assembly of the artificial satellite, the docking pieces 20 of the two hermaphroditic docking structures can be connected with each other, for example, by rotation clamping, and the protrusion 23 of one docking piece 20 can be fitted into the recess 24 of the other docking piece 20, so that the two hermaphroditic docking structures are effectively connected in the circumferential direction.

For example, in an actual installation connection, a module satellite provided with a hermaphroditic docking structure needs to be connected with a robot provided with the hermaphroditic docking structure, and the hermaphroditic docking structure on the module satellite and the hermaphroditic docking structure on the robot can be moved relatively and synchronously with each other by an external driving device. The hermaphroditic docking structures are then brought into proximity with each other until the docking member 20 of one hermaphroditic docking structure is inserted into the docking member 20 of the other hermaphroditic docking structure, and then the two hermaphroditic docking structures are rotated in either direction about their axial direction, such that the protrusion of one docking member 20 is engaged with the recess of the other docking member 20, thereby connecting the hermaphroditic docking structures to each other.

In the present embodiment, since the docking member 20 is provided with the protrusion 23 and the recess 24 on both sides in the circumferential direction of the supporting body 21, when two hermaphroditic docking structures are connected to each other, they can rotate relatively in any direction, and the protrusion 23 of one hermaphroditic docking structure can be always engaged with the recess 24 of the other hermaphroditic docking structure, so that the positional relationship of the two hermaphroditic docking structures in the axial direction can be restricted, and then the relative rotation of the two hermaphroditic docking structures in the circumferential direction can be restricted by the other connecting member, thereby ensuring that the two hermaphroditic docking structures can be connected effectively in space.

In order to ensure that the shapes of the recessed portion 24 and the protruding portion 23 can be sufficiently fitted, in the present embodiment, the recessed portion 24 is configured to be recessed inward in the circumferential direction of the support body 21, and the protruding portion 23 is configured to protrude outward in the circumferential direction of the support body 21.

Specifically, the recessed portion 24 includes a first recessed surface 241 and a second recessed surface 242 extending obliquely to the axial direction of the support body 21, the first recessed surface 241 and the second recessed surface 241 are connected to each other via a first adjacent side, and one end of the first adjacent side, which is away from the protruding portion 23, extends obliquely toward the inside of the catching portion 22 in the circumferential direction of the support body 21, thereby forming a recessed region at least partially. The protruding portion 23 includes a first protruding face 231 and a second protruding face 232 extending obliquely to the axial direction of the support body 21, the first protruding face 231 and the second protruding face 232 forming at least partially a protruding structure.

Also, the first recess surface 241 can be matched with the first projection surface 231, and the second recess surface 242 can be matched with the second projection surface 232. It can be understood that when two hermaphroditic mating structures are connected to each other, the first protruding surface 231 and the second protruding surface 232 of the protruding portion 23 of one hermaphroditic mating structure can be respectively attached to the first recessed surface 241 and the second recessed surface 242 of the recessed portion 24 of the other hermaphroditic mating structure, so that the connection effect between the protruding portion 23 and the recessed portion 24 can be effectively ensured.

Of course, the above is only exemplary, and in other embodiments not shown, the concave portion and the convex portion may be formed by means of a circular arc surface, a step surface, or the like, so as to effectively ensure sufficient fitting connection between the concave portion and the convex portion.

Further, the hermaphroditic docking structure further comprises a driving assembly 30 and an electrical connection assembly 40.

As shown in fig. 1 and 2, the driving assembly 30 and the electrical connection assembly 40 are at least partially accommodated in the connection base 10, and the electrical connection assembly 40 is located on the top of the support body 21 and is surrounded between the clamping portions 22, that is, the plurality of clamping portions 22 are circumferentially arranged on the outer circumference of the electrical connection assembly 40. In addition, the driving assembly 30 can drive at least a portion of the electrical connection assembly 40 to extend beyond the top end surface of the connection base 10. Thus, when two hermaphroditic connection structures are connected to each other, the portion of the electrical connection assembly 40 of one hermaphroditic connection structure that extends beyond the connection base 10 can be inserted into the other hermaphroditic connection structure, thereby enabling the two hermaphroditic connection structures to be effectively connected and limiting the relative rotation of the two hermaphroditic connection structures.

Specifically, the drive assembly 30 can power the movement of the movable portion in the electrical connection assembly 40. As one implementation, the driving assembly 30 may include a driving motor 31 and a conveyor belt 32, and the driving motor 31 may drive the movable portion of the electrical connection assembly 40 to move via the conveyor belt 32.

In the present embodiment, the electrical connection assembly 40 includes a rotation member 41, a guide member 42, and a movable tip 43.

Wherein, the periphery of the end part of the rotating piece 41 close to the supporting body 21 is provided with a transmission groove which can receive the conveyor belt 32. When the conveyor belt 32 is fitted into the transmission groove, the driving motor 31 can drive the rotation member 41 to rotate by the conveyor belt 32. The end of the rotating member 41 remote from the supporting body 21 is also provided with an accommodating chamber having an opening. The guide member 42 is fitted over the outer periphery of the rotating member 41, and the movable end 43 is disposed in the accommodating chamber.

Specifically, as shown in fig. 5, the inner wall of the guide member 42 is provided with a spiral guide groove, the side wall of the rotation member 41 is provided with a through groove extending in the axial direction of the rotation member 41, the through groove penetrates the side wall of the rotation member 41, the axially outer wall of the movable tip 43 is provided with a slide pin 45, the slide pin 45 extends through the through groove and protrudes into the guide groove, and the rotation member 41 is rotatable relative to the guide member 42 so that the movable tip 43 can move in the height direction of the electrical connection assembly 40. It will be appreciated that when the drive motor 31 drives the electrical connection assembly 40 via the conveyor belt 32, the guide member 42 remains stationary and the rotary member 41 rotates, the slide pin 45 on the movable tip 43 being engaged in the through slot, the slide pin 45 moving along the helical guide slot on the one hand and the through slot in the axial direction on the other hand, so that the movable tip 43 moves in the axial direction of the rotary member 41 and extends beyond the connection base 10.

In order to effectively restrict the belt 32 while preventing the rotation member 41 from moving in its axial direction, as shown in fig. 5, the outer wall of the rotation member 41 is provided with two flanges 46 in the circumferential direction, and the belt 32 can be placed between the two flanges 46 while the flange 46 near the guide 42 can abut against the guide 42, whereby the rotation member 41 can be effectively restricted from moving in its axial direction relative to the guide 42.

The electrical connection assembly 40 further includes a cover plate 44, and the cover plate 44 is accommodated in the connection base 10 and is circumferentially disposed between the clamping portions 22, i.e., the plurality of clamping portions 22 are circumferentially disposed on the outer periphery of the cover plate 44. In addition, the cover plate 44 has a through hole for the movable tip 43 to pass through, and in the present embodiment, the driving assembly 30 can drive the movable tip 43 in the electrical connection assembly 40 to protrude outside the connection base 10 through the through hole of the cover plate 44.

Preferably, the top surface of the cover 44 is flush with the top surface of the connection base 10, thereby avoiding excessive interference between the hermaphroditic connection structures when they are connected to each other, reducing safety concerns.

The electrical connection assemblies 40 are uniformly arranged at intervals in the circumferential direction of the support body 21, and the included angle in the circumferential direction of the support body 21 at which the protruding portions 23 are fitted into the recessed portions 24 is N, and the included angle in the circumferential direction of the support body 21 at which the adjacent electrical connection assemblies 40 are fitted is M, then

N ═ P × M, where P is a positive integer. For example, P may be equal to 1, 2, or 3.

It will be appreciated that when two hermaphroditic docking structures are connected to each other, the protrusion 23 of one hermaphroditic docking structure can engage with the recess 24 of the other hermaphroditic docking structure, and then, for the hermaphroditic docking structures, the maximum included angle formed by the protrusion and the recess in the circumferential direction of the support body is N.

In the present embodiment, as shown in fig. 6, the included angle of the protruding portion 23 fitted into the recessed portion 24 in the circumferential direction of the supporting body 21 is 20 °, the number of the electrical connection assemblies 40 is 18, 18 electrical connection assemblies 40 are arranged at regular intervals in the circumferential direction of the supporting body 21, and the included angle of the adjacent electrical connection assemblies 40 in the circumferential direction of the supporting body 21 is 20 °. Of course, in other embodiments, the included angle of the protrusion 23 fitted into the recess 24 may also be other values, for example, in yet another embodiment, the included angle of the protrusion 23 fitted into the recess 24 in the circumferential direction of the support body 21 is 30 °, and the included angle of the adjacent electrical connection assemblies 40 in the circumferential direction of the support body 21 may be 15 °.

To ensure that the 18 electrical connection assemblies 40 can rotate synchronously, in this embodiment, the 18 electrical connection assemblies 40 can be connected to the same conveyor belt 32 at the same time.

As shown in fig. 7 in particular, 18 electrical connection assemblies 40 are uniformly spaced in the circumferential direction of the supporting body 21, the driving assembly 30 includes two driving motors 31 and a conveyor belt 32, the 18 electrical connection assemblies 40 are disposed around the peripheries of the two driving motors 31, one end of the conveyor belt 32 is connected to one of the driving motors 31, and the other end of the conveyor belt 32 is connected to the other driving motor 31 after being sequentially connected to the peripheries of the rotating members 41 of the 18 electrical connection assemblies 40, that is, after the conveyor belt 32 is connected to the peripheries of the 18 electrical connection assemblies 40, the two ends of the conveyor belt are respectively connected to the two driving motors 31. Therefore, when one of the driving motors 31 rotates, the 18 electrical connection assemblies 40 can be driven to rotate synchronously.

In addition, a data interface can be arranged at the central axis of the hermaphrodite butt joint structure. For example, the center of the cover plate 44 may be provided with a central through hole, where the data structure may be located.

In this embodiment, when two hermaphroditic connection structures are connected to each other, after one hermaphroditic docking structure is rotated and then connected to the other hermaphroditic docking structure, the latching portions 22 of the two are connected to each other, that is, the protrusion 23 of one latching portion 22 is connected to the recess 24 of the other latching portion 22. Because the clamping part 22 is provided with the protruding part 23 and the recessed part 24 on both sides of the supporting body 21 in the circumferential direction, in the process of butt joint, the two hermaphroditic butt joint structures can relatively rotate along any direction, so that the installation mode can be flexibly determined according to the installation requirement. Then, under the action of the driving assembly 30, the movable end 43 of one of the electrical connection assemblies 40 extends out of the connection base 10 and into the through hole of the cover plate 44 of the other hermaphroditic connection structure, and forms an electrical connection with the electrical connector in the cover plate 44. Therefore, the connection of the two hermaphroditic butting structures is finally realized.

In practical applications, the hermaphroditic connection structure may be disposed on a satellite, or may be disposed on a mechanical device for connecting a satellite, such as a robot arm, and when connection between the satellite and the satellite, between the satellite and the robot arm, or between the robot arm and the robot arm needs to be achieved, connection may be flexibly performed through the hermaphroditic connection structure.

It is noted that, in this document, 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, method, 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, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.

Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A hermaphroditic docking structure capable of rotational docking in any direction, the hermaphroditic docking structure comprising:

a connection base configured as a hollow cylindrical structure;

2. The hermaphroditic docking structure capable of rotational docking in any direction as recited in claim 1, wherein the recess is configured to be inwardly recessed in a circumferential direction of the support body, and the protrusion is configured to be outwardly protruded in the circumferential direction of the support body.

3. The hermaphroditic docking structure capable of docking by rotation in any direction according to claim 2,

the recessed portion includes a first recessed surface and a second recessed surface extending obliquely to an axial direction of the support body, the first recessed surface and the second recessed surface being joined via a first adjacent side, an end of the first adjacent side remote from the protruding portion extending toward an inner side of the click portion in a circumferential direction of the support body to at least partially form the recessed region;

wherein the first concave surface is matched with the first convex surface, and the second concave surface is matched with the second convex surface.

4. The hermaphroditic mating structure capable of rotational mating in any direction according to claim 1, wherein the number of the clamping portions is at least three.

5. The hermaphroditic docking structure capable of rotational docking in any direction according to any one of claims 1 to 4, further comprising a driving assembly and an electrical connection assembly, the driving assembly and the electrical connection assembly being at least partially received in the connection base, the electrical connection assembly being located on top of the support body and being surrounded between the clamping portions, wherein the driving assembly is capable of driving at least a portion of the electrical connection assembly to extend beyond the connection base.

6. The hermaphroditic docking structure capable of rotational docking in any direction according to claim 5, wherein the driving assembly comprises a driving motor and a conveyor belt, and the driving motor is capable of being connected with the electrical connection assembly via the conveyor belt.

7. The hermaphroditic mating structure capable of arbitrary orientation rotational mating according to claim 6, wherein the electrical connection assembly comprises:

the guide piece is sleeved on the periphery of the rotating piece;

a moveable tip disposed in the receiving cavity;

8. The hermaphroditic mating structure capable of rotational mating in any direction according to claim 7, wherein the electrical connection assembly further comprises a cover plate received in the connection base and circumferentially disposed between the clamping portions, the cover plate having a through hole for the movable tip to pass through, and a top surface of the cover plate being flush with a top surface of the connection base.

9. The hermaphroditic docking structure capable of rotational docking in any direction according to claim 7, wherein the electrical connection assemblies are evenly arranged at intervals along the circumferential direction of the supporting body, and the included angle of the protrusion fitted into the recess in the circumferential direction of the supporting body is N, and the included angle of the adjacent electrical connection assemblies in the circumferential direction of the supporting body is M, then

N ═ P × M, where P is a positive integer.

10. The hermaphroditic mating structure capable of being rotatably mated in any direction according to claim 7, wherein the protrusion is fitted into the recess at an included angle of 20 ° in the circumferential direction of the supporting body, the number of the electrical connection assemblies is 18, and the 18 electrical connection assemblies are uniformly arranged at intervals in the circumferential direction of the supporting body.