CN117416234A

CN117416234A - Self-adaptive docking mechanism and docking equipment

Info

Publication number: CN117416234A
Application number: CN202311403040.6A
Authority: CN
Inventors: 韩福昌
Original assignee: Shanghai E Car Technology Co ltd
Current assignee: Shanghai E Car Technology Co ltd
Priority date: 2023-10-26
Filing date: 2023-10-26
Publication date: 2024-01-19

Abstract

The invention belongs to the technical field of docking equipment, and discloses a self-adaptive docking mechanism and docking equipment, wherein the self-adaptive docking mechanism comprises a mounting seat assembly, a docking seat and a connecting piece, the mounting seat assembly is provided with a spherical cavity, the spherical cavity is provided with a spherical rotor, and the spherical rotor can freely rotate around a preset angle in the spherical cavity; one end of the connecting piece is connected with the spherical rotor, and the other end of the connecting piece is connected with the butt joint seat. The self-adaptive docking mechanism and the docking device can realize multi-angle adjustment in space.

Description

Self-adaptive docking mechanism and docking equipment

Technical Field

The invention relates to the technical field of docking equipment, in particular to a self-adaptive docking mechanism and docking equipment.

Background

The self-adaptive docking mechanism is widely applied to various mechanical devices, such as electric automobile charging devices, and is usually arranged on a charging gun or a charging seat in order to enable the charging gun to be accurately inserted into the charging seat. The existing butt joint mechanism relies on the guide mechanism to carry out accurate butt joint, but the guide mechanism only supports angle adjustment in a single direction, and cannot realize adjustment of multiple angles in space.

Accordingly, there is a need for an adaptive docking mechanism and docking apparatus that address the above-described issues.

Disclosure of Invention

One object of the present invention is to: an adaptive docking mechanism and docking apparatus are provided to enable multi-angle adjustment in space.

To achieve the purpose, the invention adopts the following technical scheme:

in a first aspect, an adaptive docking mechanism is provided, the adaptive docking mechanism comprising:

the installation seat assembly is provided with a spherical cavity, the spherical cavity is provided with a spherical rotor, and the spherical rotor can freely rotate around a preset angle in the spherical cavity;

the device comprises a butt joint seat and a connecting piece, wherein one end of the connecting piece is connected with the spherical rotor, and the other end of the connecting piece is connected with the butt joint seat.

As an optional technical scheme, the self-adaptive docking mechanism further comprises a plurality of groups of elastic adjusting components, one end of each elastic adjusting component is abutted to the corresponding mounting seat component, the other end of each elastic adjusting component is abutted to the corresponding docking seat, and the elastic adjusting components are used for elastically adjusting the interval between the corresponding mounting seat component and the corresponding docking seat, so that the central axis of the corresponding mounting seat component is overlapped with the central axis of the corresponding docking seat.

As an optional technical scheme, one of the mount pad subassembly and the butt joint seat is first subassembly, the mount pad subassembly with another of the butt joint seat is the second subassembly, first subassembly towards the one end of second subassembly is equipped with the holding tank, the one end of second subassembly stretches into the holding tank, the one end butt of elasticity adjusting part in the outer wall of second subassembly stretching into holding tank one end, the other end butt of elasticity adjusting part in first subassembly.

As an optional technical scheme, the lateral wall of holding tank is radially link up and is equipped with a plurality of mounting holes, multiunit elasticity adjusting part one-to-one wears to locate a plurality of the mounting holes, elasticity adjusting part is including pushing away first, spring and the screw thread fastener that radially set gradually, screw thread fastener screw thread install in the mounting hole, the spring is used for promoting push away first support press in the outer wall of second subassembly.

As an optional technical scheme, the mounting hole is close to the one end of second subassembly is equipped with spacing platform, the push head is kept away from the one end of second subassembly is equipped with spacing shaft shoulder, spacing platform is used for the butt spacing shaft shoulder in order to restrict the push head break away from in the mounting hole.

As an optional technical scheme, the spherical rotor is provided with a central hole, a threaded hole is formed in one side of the butt joint seat facing the installation seat assembly, the connecting piece penetrates through the central hole and is in threaded connection with the threaded hole, and the nut of the connecting piece is located on one side of the spherical rotor, which faces away from the butt joint seat.

As an optional technical scheme, the butt joint seat is provided with a connecting table facing one side of the installation seat assembly, the threaded hole is formed in the connecting table, and the edge of the connecting table is a conical surface.

As an optional technical scheme, a first gasket is arranged between the connecting table and the spherical rotor, and the first gasket is sleeved on the periphery of the connecting piece;

and/or a second gasket is arranged between the nut of the connecting piece and the spherical rotor, and the second gasket is sleeved on the periphery of the connecting piece.

As an optional technical scheme, mount pad subassembly still includes mount pad, collar and snap ring, the mount pad is used for installing at bearing mechanism, the middle part of mount pad is equipped with the installation through-hole, the bottom of installation through-hole is equipped with the plummer, the top of installation through-hole is equipped with the draw-in groove, the collar set up in the installation through-hole, the snap ring joint in the draw-in groove, the top of collar with the snap ring butt, the bottom of collar with plummer butt, spherical cavity set up in the collar.

In a second aspect, a docking apparatus is provided, the docking apparatus comprising a load bearing mechanism, a docking member, and an adaptive docking mechanism as described above, the mount assembly being fixedly connected with the load bearing mechanism, the docking member being fixedly connected with the docking station.

The invention has the beneficial effects that:

the invention provides a self-adaptive docking mechanism and docking equipment, wherein the docking equipment comprises a self-adaptive docking mechanism, the self-adaptive docking mechanism comprises a mounting seat assembly, a docking seat and a connecting piece, the mounting seat assembly is fixedly connected with a bearing mechanism, the docking seat is fixedly connected with the docking piece, the mounting seat assembly is provided with a spherical cavity, the spherical cavity is provided with a spherical rotor, and the spherical rotor can freely rotate around a preset angle in the spherical cavity; one end of the connecting piece is connected with the spherical rotor, and the other end of the connecting piece is connected with the butt joint seat. After the butt joint piece fixedly connected to the butt joint seat is inserted into the opponent piece, the connecting piece connected to the butt joint seat can drive the spherical rotor to freely rotate around a preset angle in the spherical cavity, so that multi-angle adjustment is realized; or before the butt joint piece is inserted into the opponent piece, if the butt joint piece is not aligned with the opponent piece, the butt joint piece fixedly connected to the butt joint seat can be aligned with the opponent piece by rotating the connecting piece and the butt joint seat, so that the butt joint piece can be accurately butted with the opponent piece.

Drawings

The invention is described in further detail below with reference to the drawings and examples;

FIG. 1 is a schematic view of a docking apparatus according to an embodiment;

FIG. 2 is a bottom view of an adaptive docking mechanism according to an embodiment;

FIG. 3 is a cross-sectional view of section A-A of FIG. 2;

FIG. 4 is a cross-sectional view of the B-B cross-section of FIG. 2;

FIG. 5 is an exploded view of an adaptive docking mechanism according to an embodiment;

fig. 6 is a schematic structural diagram of the docking station according to the embodiment.

In the figure:

100. an adaptive docking mechanism; 200. a carrying mechanism; 300. a butt joint member; 400. an opponent; 500. a guide mechanism;

1. a mounting base assembly; 11. a spherical rotor; 111. a central bore; 12. a mounting base; 121. mounting through holes; 122. a carrying platform; 123. a clamping groove; 124. avoiding the cavity; 13. a mounting ring; 131. a spherical cavity; 14. a clasp;

2. a butt joint seat; 21. a receiving groove; 22. a mounting hole; 221. a limiting table; 23. a connection station; 231. a conical surface; 232. a threaded hole;

3. a connecting piece;

4. an elastic adjustment assembly; 41. pushing heads; 411. limiting shaft shoulders; 42. a spring; 43. a threaded fastener;

5. a first gasket;

6. and a second gasket.

Detailed Description

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the operation, rather than to indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for providing a special meaning.

In the description herein, reference to the term "one embodiment," "an example," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

As shown in fig. 1 and 2, the present embodiment provides a docking apparatus, which includes a bearing mechanism 200, a docking member 300, and an adaptive docking mechanism 100, where the adaptive docking mechanism 100 includes a mounting seat assembly 1 and a docking seat 2, the mounting seat assembly 1 is fixedly connected with the bearing mechanism 200, and the docking seat 2 is fixedly connected with the docking member 300.

As shown in fig. 2 to 6, in the present embodiment, the adaptive docking mechanism 100 further includes a connecting member 3, the mount assembly 1 is provided with a spherical cavity 131, the spherical cavity 131 is provided with a spherical rotor 11, and the spherical rotor 11 can freely rotate around a preset angle in the spherical cavity 131; one end of the connecting piece 3 is connected with the spherical rotor 11, and the other end of the connecting piece 3 is connected with the butt joint seat 2.

Specifically, after the docking piece 300 fixedly connected to the docking seat 2 is inserted into the opponent piece 400, the connecting piece 3 connected to the docking seat 2 can drive the spherical rotor 11 to freely rotate around the preset angle in the spherical cavity 131, so that multi-angle adjustment is realized; alternatively, before inserting the docking member 300 into the opponent piece 400, if the docking member 300 is not aligned with the opponent piece 400, the docking member 300 fixedly connected to the docking station 2 can be aligned with the opponent piece 400 by rotating the connecting member 3 and the docking station 2, so that the docking member 300 can be accurately docked with the opponent piece 400.

The self-adaptive docking mechanism 100 of the embodiment is suitable for various occasions such as charging equipment and vehicles, taking the charging equipment as an example, the bearing mechanism 200 is a mechanical arm, the docking piece 300 is a charging gun, the docking piece 400 is a charging seat, the front end of the charging seat is provided with the guide mechanism 500, the guide mechanism 500 is in a cone-shaped structure, when the charging gun is inserted into the charging seat, the charging gun gradually rotates to an angle matched with the charging seat along with the cone angle of the guide mechanism 500 by rotating the connecting piece 3 and the docking seat 2, the charging gun can be accurately inserted into the charging seat, after the charging gun is inserted into the charging seat, if the position of the mechanical arm relative to the charging seat needs to be adjusted, the mechanical arm can be rotated within a preset range, and at the moment, the spherical rotor 11 freely rotates around a preset angle in the spherical cavity 131, and the charging efficiency is not influenced in the process; in other applications, the docking piece 300 is a charging dock and the hand piece 400 is a charging gun, and the charging dock is aligned with the charging gun by rotating the connector 3 and the docking dock 2; the inner wall of the spherical cavity 131 is an inner spherical surface, the outer wall of the spherical rotor 11 is an outer spherical surface, the outer spherical surface of the spherical rotor 11 is abutted to the inner spherical surface of the spherical cavity 131, the spherical rotor 11 can be guaranteed to freely rotate around a preset angle in the spherical cavity 131, and the spherical rotor 11 can be prevented from being separated from the spherical cavity 131.

Optionally, the adaptive docking mechanism 100 further includes a plurality of groups of elastic adjustment assemblies 4, one end of each elastic adjustment assembly 4 is abutted to the corresponding mounting seat assembly 1, the other end of each elastic adjustment assembly 4 is abutted to the corresponding docking seat 2, and the elastic adjustment assemblies 4 are used for elastically adjusting the interval between the corresponding mounting seat assembly 1 and the corresponding docking seat 2, so that the central axis of the corresponding mounting seat assembly 1 overlaps with the central axis of the corresponding docking seat 2.

After the butt joint piece 300 is separated from the opposite piece 400, the butt joint seat 2 can be automatically aligned due to the elastic action of the elastic adjusting component 4, namely, the central axis of the mounting seat component 1 can be overlapped with the central axis of the butt joint seat 2; in this embodiment, the elastic adjustment assemblies 4 are arranged in six groups, and the six groups of elastic adjustment assemblies 4 are equally spaced around the circumference of the mounting seat assembly 1, and in other embodiments, the specific number of the elastic adjustment assemblies 4 is set according to actual needs.

In this embodiment, the spring adjustment assembly 4 applies a spring force radially to the mount assembly 1 and the interface 300, and in other embodiments, the spring adjustment assembly 4 applies a spring force axially to the mount assembly 1 and the interface 300.

Optionally, one of the mount assembly 1 and the docking station 2 is a first assembly, the other of the mount assembly 1 and the docking station 2 is a second assembly, one end of the first assembly facing the second assembly is provided with a containing groove 21, one end of the second assembly extends into the containing groove 21, one end of the elastic adjusting assembly 4 is abutted to the outer wall of the second assembly extending into one end of the containing groove 21, and the other end of the elastic adjusting assembly 4 is abutted to the first assembly.

In this embodiment, the end of the docking station 2 facing the mounting seat assembly 1 is provided with a receiving groove 21, and one end of the mounting seat assembly 1 extends into the receiving groove 21, i.e. one end of the docking station 2 surrounds the periphery of one end of the mounting seat assembly 1; in other embodiments, the end of the mount assembly 1 facing the docking station 2 is provided with a receiving groove 21, and the end of the docking station 2 extends into the receiving groove 21, i.e. the end of the mount assembly 1 surrounds the periphery of the end of the docking station 2.

In some embodiments, the elastic adjusting component 4 is a straight barrel spring 42, a first limiting hole is formed in an inner side wall of the first component, a second limiting hole is formed in an outer side wall of the second component, and two ends of the straight barrel spring 42 are respectively inserted into the first limiting hole and the second limiting hole, so that elastic acting force is applied to the first component and the second component, and a central axis of the first component and a central axis of the second component have a trend of coincidence.

Optionally, the side wall of the accommodating groove 21 is provided with a plurality of mounting holes 22 in a penetrating manner along a radial direction, the plurality of groups of elastic adjusting components 4 are correspondingly arranged in the plurality of mounting holes 22 in a penetrating manner, each elastic adjusting component 4 comprises a push head 41, a spring 42 and a threaded fastener 43 which are sequentially arranged along the radial direction, the threaded fastener 43 is arranged in the mounting hole 22 in a threaded manner, and the spring 42 is used for pushing the push head 41 to be propped against the outer wall of the second component.

Specifically, the elastic force of the elastic adjusting component 4 can be adjusted by the threaded fastener 43, when the restoring force needs to be improved, the threaded fastener 43 is rotated, so that the threaded fastener 43 compresses the spring 42, the higher the pre-tightening degree of the spring 42 is, the larger the elastic force applied to the mounting seat component 1 by the push head 41 is, otherwise, the threaded fastener 43 is far away from the mounting seat component 1, the pre-tightening degree of the spring 42 is reduced, and the elastic force applied to the mounting seat component 1 by the push head 41 is reduced.

In the present embodiment, the end of the push head 41 abutting against the mount assembly 1 is a circular arc portion to reduce wear.

Optionally, a limiting platform 221 is disposed at an end of the mounting hole 22 near the second component, a limiting shoulder 411 is disposed at an end of the push head 41 far away from the second component, and the limiting platform 221 is used for abutting against the limiting shoulder 411 to limit the push head 41 from being separated from the mounting hole 22.

Optionally, the spherical rotor 11 is provided with a central hole 111, a threaded hole 232 is provided on the side of the docking seat 2 facing the mounting seat assembly 1, the connecting piece 3 passes through the central hole 111 and is screwed to the threaded hole 232, and the nut of the connecting piece 3 is located on the side of the spherical rotor 11 facing away from the docking seat 2.

In this embodiment, the connecting piece 3 is a pin screw, and the pin screw is screwed into the threaded hole 232 of the docking station 2 after passing through the central hole 111 of the spherical rotor 11, so that the docking station 2, the pin screw and the spherical rotor 11 can integrally rotate; the cap of the pivot screw is located on the side of the spherical rotor 11 facing away from the docking seat 2, so that the pivot screw can be prevented from being separated from the spherical rotor 11. In other embodiments, the connection 3 is another threaded member, such as a bolt.

Optionally, a connecting table 23 is disposed on a side of the docking station 2 facing the mounting seat assembly 1, the threaded hole 232 is formed in the connecting table 23, and the edge of the connecting table 23 is a conical surface 231.

When the butt joint seat 2, the shaft pin screw and the spherical rotor 11 integrally rotate, one part of the edge of the connecting table 23 is close to the mounting seat 12, and the other part of the edge of the connecting table 23 is far away from the mounting seat 12, so as to avoid collision, in this embodiment, the edge of the connecting table 23 is set as a conical surface 231. The top of mount pad 12 is equipped with dodges the cavity 124, and connecting bench 23 is located dodges the cavity 124, sets up connecting bench 23 and establishes the edge of connecting bench 23 as conical surface 231, can make docking station 2, pivot screw and spherical rotor 11 satisfy the rotation angle of + -14, and docking station 2, pivot screw and spherical rotor 11 can do the free rotation in the rotation angle scope of + -14 promptly.

Optionally, a first gasket 5 is arranged between the connecting table 23 and the spherical rotor 11, and the first gasket 5 is sleeved on the periphery of the connecting piece 3. The first spacer 5 increases the distance between the tapered surface 231 and the mounting base 12, providing more space for rotation of the connection table 23.

Optionally, a second gasket 6 is arranged between the nut of the connecting piece 3 and the spherical rotor 11, and the second gasket 6 is sleeved on the periphery of the connecting piece 3. The second spacer 6 increases the distance between the nut and the mounting seat 12, providing more room for rotation of the connector 3.

Optionally, the mounting seat assembly 1 further includes a mounting seat 12, a mounting ring 13 and a clamping ring 14, the mounting seat 12 is used for being mounted on the bearing mechanism 200, a mounting through hole 121 is formed in the middle of the mounting seat 12, a bearing table 122 is arranged at the bottom of the mounting through hole 121, a clamping groove 123 is formed in the top of the mounting through hole 121, the mounting ring 13 is arranged in the mounting through hole 121, the clamping ring 14 is clamped in the clamping groove 123, the top of the mounting ring 13 is abutted to the clamping ring 14, the bottom of the mounting ring 13 is abutted to the bearing table 122, and a spherical cavity 131 is formed in the mounting ring 13.

In this embodiment, the spherical rotor 11 and the mounting ring 13 are both part of the radial spherical plain bearing, and the radial spherical plain bearing is limited to the mounting through hole 121 by the snap ring 14, so that the radial spherical plain bearing is easy to disassemble and assemble, and can be prevented from being easily separated from the mounting seat 12.

Furthermore, the foregoing description of the preferred embodiments and the principles of the invention is provided herein. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. An adaptive docking mechanism, characterized in that the adaptive docking mechanism (100) comprises:

the mounting seat assembly (1), the mounting seat assembly (1) is provided with a spherical cavity (131), the spherical cavity (131) is provided with a spherical rotor (11), and the spherical rotor (11) can freely rotate around a preset angle in the spherical cavity (131);

the device comprises a butt joint seat (2) and a connecting piece (3), wherein one end of the connecting piece (3) is connected with the spherical rotor (11), and the other end of the connecting piece (3) is connected with the butt joint seat (2).

2. The adaptive docking mechanism according to claim 1, wherein the adaptive docking mechanism (100) further comprises a plurality of groups of elastic adjustment assemblies (4), one end of each elastic adjustment assembly (4) is abutted to the corresponding mounting seat assembly (1), the other end of each elastic adjustment assembly (4) is abutted to the corresponding docking seat (2), and the elastic adjustment assemblies (4) are used for elastically adjusting the interval between the corresponding mounting seat assembly (1) and the corresponding docking seat (2) so that the central axis of the corresponding mounting seat assembly (1) overlaps with the central axis of the corresponding docking seat (2).

3. The self-adaptive docking mechanism according to claim 2, wherein one of the mounting seat assembly (1) and the docking seat (2) is a first assembly, the other of the mounting seat assembly (1) and the docking seat (2) is a second assembly, one end of the first assembly facing the second assembly is provided with a containing groove (21), one end of the second assembly extends into the containing groove (21), one end of the elastic adjusting assembly (4) is abutted to the outer wall of the second assembly extending into one end of the containing groove (21), and the other end of the elastic adjusting assembly (4) is abutted to the first assembly.

4. The self-adaptive docking mechanism according to claim 3, wherein a plurality of mounting holes (22) are formed in the side wall of the accommodating groove (21) in a penetrating manner in the radial direction, a plurality of groups of elastic adjusting assemblies (4) are correspondingly arranged in the plurality of mounting holes (22) in a penetrating manner, each elastic adjusting assembly (4) comprises a push head (41), a spring (42) and a threaded fastener (43) which are sequentially arranged in the radial direction, the threaded fastener (43) is installed in the mounting hole (22) in a threaded manner, and the spring (42) is used for pushing the push head (41) to be pressed against the outer wall of the second assembly.

5. The self-adaptive docking mechanism according to claim 4, wherein a limiting table (221) is arranged at one end of the mounting hole (22) close to the second component, a limiting shaft shoulder (411) is arranged at one end of the push head (41) away from the second component, and the limiting table (221) is used for abutting against the limiting shaft shoulder (411) to limit the push head (41) from being separated from the mounting hole (22).

6. The self-adaptive docking mechanism according to any one of claims 1-5, characterized in that the spherical rotor (11) is provided with a central hole (111), a threaded hole (232) is provided on the side of the docking station (2) facing the mounting station assembly (1), the connecting piece (3) passes through the central hole (111) and is screwed to the threaded hole (232), and a nut of the connecting piece (3) is located on the side of the spherical rotor (11) facing away from the docking station (2).

7. The self-adaptive docking mechanism according to claim 6, wherein a connection table (23) is arranged on one side of the docking station (2) facing the installation seat assembly (1), the threaded hole (232) is formed in the connection table (23), and the edge of the connection table (23) is a conical surface (231).

8. The self-adaptive docking mechanism according to claim 7, characterized in that a first gasket (5) is arranged between the connecting table (23) and the spherical rotor (11), the first gasket (5) being sleeved on the periphery of the connecting piece (3);

and/or a second gasket (6) is arranged between the nut of the connecting piece (3) and the spherical rotor (11), and the second gasket (6) is sleeved on the periphery of the connecting piece (3).

9. The self-adaptive docking mechanism according to claim 1, characterized in that the mounting seat assembly (1) further comprises a mounting seat (12), a mounting ring (13) and a clamping ring (14), the mounting seat (12) is used for being mounted on the bearing mechanism (200), a mounting through hole (121) is formed in the middle of the mounting seat (12), a bearing table (122) is arranged at the bottom of the mounting through hole (121), a clamping groove (123) is formed in the top of the mounting through hole (121), the mounting ring (13) is arranged in the mounting through hole (121), the clamping ring (14) is clamped in the clamping groove (123), the top of the mounting ring (13) is abutted to the clamping ring (14), the bottom of the mounting ring (13) is abutted to the bearing table (122), and the spherical cavity (131) is formed in the mounting ring (13).

10. Docking device, characterized in that it comprises a carrying mechanism (200), a docking element (300) and an adaptive docking mechanism (100) according to any one of claims 1-9, the mount assembly (1) being fixedly connected with the carrying mechanism (200), the docking element (300) being fixedly connected with the docking station (2).