The invention provides an active and passive switchable docking system for self-reconfiguration carrying equipment, which can meet the quick docking requirement of the self-reconfiguration carrying equipment under a manned/unmanned condition. The butt joint efficiency is high, and the stability is high. The docking control system comprises an active docking unit and a passive docking unit. The active docking unit comprises an active sensing system, an active capturing device, a rope hanging system and an active locking device; the passive docking unit comprises a bolt mechanism, a marking system and a locking mechanism; the active sensing system is matched with the marking system to sense the relative pose between the two self-reconfiguration carrying units; a hook in the hanging rope system can be actively dragged by the active capturing device or passively dragged into a capturing opening of the passive docking unit manually; the bolt mechanism is used for locking the position of the hook entering the capturing opening; the hanging rope system is used for pulling the two self-reconfiguration carrying units close to the butt joint position. And the active locking device is matched with the locking mechanism to realize butt joint and locking of the two self-reconfiguration carrying units.
本发明提供一种自重构运载装备主被动可切换式对接系统,能够满足自重构运载装备在有人/无人情况下快速对接需求;对接效率高,稳固性能强。对接控制系统包括:主动对接单元和被动对接单元;主动对接单元包括:主动感知系统、主动捕获装置、挂绳系统和主动锁紧装置;被动对接单元包括:插销机构、标记系统及锁紧机构;主动感知系统与标记系统配合用于感知两辆自重构运载单元间的相对位姿;挂绳系统中的挂钩能够由主动捕获装置主动牵引或人工被动牵引至被动对接单元的捕获口内;插销机构用于对进入捕获口内的挂钩进行位置锁定;挂绳系统用于拉近两辆自重构运载单元至对接位;主动锁紧装置和锁紧机构配合,实现两辆自重构运载单元的对接和锁紧。
Active and passive switchable docking system of self-reconfiguration carrying equipment
自重构运载装备主被动可切换式对接系统
2023-01-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS |
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