CN112873272A - Driving force interface device - Google Patents

Abstract

The invention provides a driving force interface device, comprising: a female joint, a self-locking device, a spreading mechanism, a male joint and a driving mechanism; the female joint is provided with a first limiting groove for matching with the male joint; A second limit slot is arranged above the limit slot; the first end of the male connector is provided with an elastic self-locking mechanism, and the second end of the male connector is connected with the driving mechanism to be driven by the driving mechanism. The female joint moves; the self-locking device is arranged on one side of the female joint to be locked with the second limit groove; the opening mechanism is arranged below the self-locking device, so that the elastic self-locking mechanism is in the position of the elastic force. Under the action, it moves to the first limiting groove and locks with it. In the present invention, by arranging the first limit groove and the second limit groove on the female connector, the elastic self-locking mechanism is applied with the opening force through the opening mechanism, so that the elastic self-locking mechanism is separated from the opening mechanism and the second limit is closed. The position slots are locked to ensure the reliable connection between the robotic arm and the tool to be taken.

Description

A driving force interface device

technical field

The present invention relates to the technical field of mechanical manufacturing, and in particular, to a driving force interface device.

Background technique

The distribution network is located at the end of the power system and is directly connected to user equipment. Its reliability occupies a very important position in the entire power supply reliability. At present, live work has become one of the important means to ensure the safe and reliable operation of the distribution network. In general, the distribution network lines are complex, some lines have short interphase distances, and the safety distance is not enough. There are many potential safety hazards in manual live work. All walks of life have been increasingly widely used. It is an inevitable direction of technological development to develop and promote live working robots to replace manual live work on distribution networks.

The current live working robots use industrial manipulators to connect working tools with specific functions to complete various operation steps, such as the use of stripping tools to complete the stripping of insulated wires, the use of clamping tools to complete the steps of grasping wires, and the use of wiring tools to complete installation and drainage. Wire clamp steps, use sleeve tools to complete bolt tightening steps, etc. Robotic arms and tools are usually connected by manipulator grasping or flange threaded holes. The grasping connection has problems such as unstable control and easy to fall off. Screw fixation has problems such as difficulty in automatically and quickly picking and placing tools and requiring manual replacement. Since there is only mechanical fixation between the manipulator and the tool, the manipulator only sends the tool to a specific working position, and the tool is still required to be equipped with an independent battery and motor drive system, resulting in an increase in the volume and weight of the tool at the end of the manipulator, and low work efficiency. A compact work environment for distribution lines.

SUMMARY OF THE INVENTION

In view of this, the present invention proposes a driving force interface device, which aims to solve the problem that the tool is easy to fall off and the efficiency is low when the existing robot arm takes the tool.

The present invention provides a driving force interface device, comprising: a female connector, a self-locking device, a spreading mechanism, a male connector and a driving mechanism; wherein,

The female connector is provided with a first limiting slot for matching with the male connector; the female connector is provided with a second limiting slot at a position above the first limiting slot for cooperate with the self-locking device;

The first end of the male connector is provided with an elastic self-locking mechanism for matching with the first limiting groove, and the second end of the male connector is connected with the driving mechanism for Driven by the drive mechanism, it moves toward the female connector to be docked with the female connector;

The self-locking device is arranged on one side of the female connector for locking with the second limiting groove, and when the male connector is in contact with the female connector, the function of the male connector down to loosen the female connector;

The expansion mechanism is arranged below the self-locking device, and is used to open the elastic self-locking mechanism when the male joint is in continuous contact with the female joint, so that the elastic self-locking mechanism is under the elastic force. Under the action, it moves to the first limit groove and is locked with the first limit groove, so as to complete the butt joint of the male connector and the female connector.

Further, in the above-mentioned driving force interface device, the male joint includes: a base, a hollow top column and an elastic self-locking mechanism;

The top of the hollow top column is provided with several bosses for engaging with the female connector;

The elastic self-locking mechanism is slidably arranged on the side wall of the hollow top column along the horizontal direction;

The driving mechanism is arranged below the base, and the hollow top column penetrates through the hollow part of the base and is connected with the driving mechanism.

Further, in the above-mentioned driving force interface device, the elastic self-locking mechanism includes: two buckles and two elastic pieces;

The two snaps are arranged opposite to each other, and a pressing portion is formed between them. make the two buckles open to both sides;

The two elastic members are respectively connected between the two ends of the two buckles to limit the displacement of the two buckles;

The two snaps are respectively provided with protruding structures in a one-to-one correspondence, which are used to interact with the outside of the opening mechanism, so that the two snaps move toward each other under the elastic force of the elastic member and interact with each other. The first limiting grooves are locked together.

Further, in the above-mentioned driving force interface device, a through hole is opened on the side wall of the hollow top column at the positions corresponding to the two buckles to fix the buckles and provide the buckles. Sliding channel.

Further, in the above-mentioned driving force interface device, the male joint further comprises: a first transmission shaft; wherein,

The first transmission shaft passes through the hollow part of the hollow top column and is connected with the output shaft of the driving mechanism.

Further, in the above-mentioned driving force interface device, the female connector comprises: a cylinder;

The first limiting groove is formed on the side wall of the cylinder body at one end close to the male joint along the circumferential direction;

A first convex ring portion is coaxially disposed on the cylinder body above the first limiting groove, and a plurality of clamping grooves are opened on the side wall of the first convex ring portion, and each of the clamping grooves is up and down. Both ends are open and are matched with the bosses on the male joint to provide movement channels for the bosses;

A second convex ring portion is coaxially disposed above the first convex ring portion on the cylinder body, and the second limiting groove is formed between the second convex ring portion and the first convex ring portion .

Further, in the above-mentioned driving force interface device, the female joint further comprises: a second transmission shaft; wherein,

The second transmission shaft passes through the cylinder, and the second transmission shaft is matched with the first transmission shaft of the male joint to realize the connection between the male joint and the female joint. power delivery.

Further, in the above-mentioned driving force interface device, the self-locking device includes: two oppositely arranged buckle bodies; wherein,

The two buckle bodies are connected to form a clamping portion, and each of the buckle bodies is provided with a self-locking protrusion correspondingly, and the two self-locking protrusions are matched to be connected to the female connector from both sides. The second limit groove is locked.

Further, in the above-mentioned driving force interface device, the expansion mechanism includes: two inclined rails arranged oppositely; wherein,

The distance between the two inclined rails is adapted to the distance between the two snaps in the elastic self-locking mechanism, so that when the male joint continues to move toward the female joint, the two snaps Can be in contact with the outside of both said ramps.

Further, in the above-mentioned driving force interface device, it further comprises: a carrying plate; wherein, the self-locking device and the opening mechanism are respectively connected to the upper and lower sides of the carrying plate.

In the present invention, the first limit groove and the second limit groove are arranged on the female connector, and the elastic self-locking mechanism is arranged on the male connector, and the second limit groove is matched with the self-locking device on the side of the female connector. The female connector is locked with the self-locking device, and when the male connector exerts a force on the self-locking device, the unlocking of the female connector by the self-locking device is realized, and the elastic self-locking mechanism is further applied through the opening mechanism, so that the elastic self-locking mechanism is opened. The locking mechanism is locked with the second limit slot after disengaging the opening mechanism, which ensures the reliable connection between the robotic arm and the tool to be taken, realizes the automatic locking and unlocking of the robotic arm and the end tool, and can effectively prevent the robotic arm from When taking tools and tools, the problem that the tools and tools are easy to fall off due to the unstable connection also improves the efficiency of the robot arm for taking the end tools and tools.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 is a schematic structural diagram of a driving force interface device provided by an embodiment of the present invention;

2 is an exploded view of a driving force interface device provided by an embodiment of the present invention;

Fig. 3 is the top view of the male joint in the embodiment of the present invention;

Fig. 4 is another top view of the male joint in the embodiment of the present invention;

5 is a schematic structural diagram of a female connector and a carrier plate in a driving force interface device provided by an embodiment of the present invention;

6 is a cross-sectional view of a driving force interface device provided by an embodiment of the present invention;

7 is a schematic diagram of the butt joint process of the male connector and the female connector in the embodiment of the present invention;

FIG. 8 is a schematic diagram of the completed butt joint of the male connector and the female connector in the embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Referring to FIG. 1 , the driving force interface device according to the embodiment of the present invention includes: a female connector 1 , a self-locking device 2 , a spreading mechanism 3 , a male connector 4 and a driving mechanism 5 ; wherein, the female connector 1 is provided with a first limit A position slot 11 is used to cooperate with the male connector 4 ; a second position limit slot 12 is provided on the female connector 1 at a position above the first position limit slot 11 for cooperating with the self-locking position. The first end of the male connector 4 is provided with an elastic self-locking mechanism 42 to cooperate with the first limiting groove 11, and the second end of the male connector 4 is connected to the The driving mechanism 5 is connected to move to the female connector 1 under the driving of the driving mechanism 5 to connect with the female connector 1 ; side, used for locking with the second limiting groove 12, and when the male connector 4 is in contact with the female connector 1, the female connector 1 is released under the action of the male connector 4; The expansion mechanism 3 is arranged below the self-locking device 2 to open the elastic self-locking mechanism 42 when the male connector 4 is in continuous contact with the female connector 1, so that the elastic self-locking The mechanism 42 moves toward the first limiting groove 11 under the action of elastic force and locks with the first limiting groove 11 , so as to complete the connection between the male connector 4 and the female connector 1 .

Specifically, the female connector 1 may have a columnar or cylindrical structure, and a first limiting slot 11 and a second limiting slot 12 are respectively provided on the side wall of the side wall from bottom to top. The first limiting slot 11 and the second limiting slot The position slots 12 are arranged at intervals so as to be locked with the male connector 4 and the self-locking device 2 respectively, so as to realize the docking of the female connector 1 and the male connector 4 . The first limiting groove 11 and the second limiting groove 12 may both be annular grooves.

The middle part of the male connector 4 can be provided with a top post structure, so that when the driving mechanism 5 drives it to move toward the female connector 1 and contact the female connector 1 , the self-locking device 2 locked on one side of the female connector 1 can be pushed open. The male joint 4 is provided with an elastic self-locking mechanism 42 on the periphery of the top column structure, and the elastic self-locking mechanism 42 is located under the top of the top column structure, so that when the male joint 4 continues to move towards the female joint 1 and is in continuous contact with the female joint 1 , is subjected to the opening force exerted by the opening mechanism 3 and when the driving mechanism 5 drives the entire male joint 4 to leave the opening mechanism 3, the deformation is restored, so as to move to the first limit groove 11 and be in phase with the first limit groove 11 After locking, the connection between the male connector 4 and the female connector 1 is completed. In this embodiment, the driving mechanism 5 may be a motor.

It is well known to those skilled in the art that the function of the male connector 4 and the female connector 1 is to realize the connection of the two structures, and the structure to be connected is not limited in this embodiment. The joint 4 can be connected with the mechanical arm 7 through the driving mechanism 5, one end of the female joint 1 can be connected with the tool to be taken, such as an electric end tool, and the other end is connected with the male joint 4, so that the tool to be taken can be realized by the mechanical arm. pick-and-place and replacement.

There can be multiple self-locking devices 2 and multiple opening mechanisms 3. Each opening mechanism 3 is arranged below the corresponding self-locking device 2, and the two can be fixed on the same connector, or can be Fixed on different connectors, determined according to the actual application scenario. The self-locking device 2 and the spreading mechanism 3 can be arranged in pairs to cooperate with each other to realize the locking and unlocking of the male connector 4 and the female connector 1 .

Preferably, this embodiment includes: a carrying plate 6 ; wherein, the self-locking device 2 and the opening mechanism 3 are respectively connected to the upper and lower sides of the carrying plate 6 . Each of the self-locking devices 2 and the corresponding opening mechanism 3 can be disposed on the same side of the carrier plate 6 facing each other up and down. That is to say, a plurality of groups of tools to be taken can be installed on the carrier plate 6, so as to realize the pick-and-place and replacement of the tools to be taken.

Referring to FIG. 2 , in this embodiment, the self-locking device 2 includes: two oppositely arranged buckle bodies 21 ; wherein, the two buckle bodies 21 face each other to form a clamping portion, and each of the buckle bodies 21 is Correspondingly, there are self-locking protrusions 211 , and the two self-locking protrusions cooperate to lock with the second limiting groove 12 on the female connector 1 from both sides.

Specifically, the two buckle bodies 21 can be fixed on the carrier plate 6 by bolts. The clamping portion formed by the two buckle bodies 21 facing each other may have a claw-like structure. A self-locking protrusion is arranged in the middle of the clamping claw to be locked with the second limiting groove 12 on the female connector 1 . The buckle body 21 can be an elastic piece to automatically pop out under the top force exerted by the top column structure on the male connector 4 to release the female connector 1 .

Continuing to refer to FIG. 2 , the opening mechanism 3 includes: two inclined rails 31 arranged opposite to each other; wherein the distance between the two inclined rails 31 and the distance between the two buckles 421 in the elastic self-locking mechanism 42 It is adapted so that when the male joint 4 continues to move toward the female joint 1 , the two snaps 421 can be in contact with the outer sides of the two inclined rails 31 .

Specifically, the two inclined rails 31 are connected to the carrying plate 6 through bolts, and can also be connected to the carrying plate 6 through the clamping slot 131 . A stretched channel is formed between the two inclined rails 31 , and the width of the stretched channel may be greater than or equal to the distance between the two buckles 421 on the elastic self-locking mechanism 42 . Each inclined rail 31 has a planar structure close to the inner side of the opening channel. The outer wall of the inclined rail 31 has an inclined surface at one end away from the carrier plate 6 , and the wall surface close to the carrier plate 6 has a stepped structure.

It is obvious from the above that the driving force interface device provided in this embodiment is provided with the first limiting groove 11 and the second limiting groove 12 on the female connector 1 and the elastic self-locking mechanism 42 on the male connector 4. The locking of the female connector 1 and the self-locking device 2 is realized through the cooperation of the second limiting groove 12 with the self-locking device 2 on the side of the female connector 1 , and the self-locking is realized when the male connector 4 exerts a force on the self-locking device 2 The device 2 unlocks the female connector 1, and further applies the opening force to the elastic self-locking mechanism 42 through the opening mechanism 3, so that the elastic self-locking mechanism 42 is separated from the opening mechanism 3 and locked with the second limit groove 12 to ensure that The reliable connection between the robot arm 7 and the tool 8 to be taken is realized, and the automatic locking and unlocking of the robot arm and the end tool 8 is realized, which can effectively prevent the tool from falling off easily due to the unstable connection when the robot arm takes the tool. At the same time, the efficiency of the robot arm to take the end tool is improved.

2, 3 and 4, the male joint 4 includes: a base 40, a hollow top post 41 and an elastic self-locking mechanism 42; the top of the hollow top post 41 is provided with a plurality of bosses 411 for connecting with all The female connector 1 is engaged with each other; the elastic self-locking mechanism 42 is slidably arranged on the side wall of the hollow top column 41 along the horizontal direction; the driving mechanism 5 is arranged below the base 40, and the hollow The top post 41 penetrates through the hollow part of the base 40 and is connected with the driving mechanism 5 .

Specifically, the base 40 can be a flange structure with several connecting holes in the circumferential direction, the driving mechanism 5 is arranged under the base 40 , and the connection between the male joint 4 and the driving mechanism 5 can be realized by bolts. The hollow top column 41 can be a circular, square or other columnar structure, and the elastic self-locking mechanism 42 can be sleeved on the outer wall of the hollow top column 41 . A boss 411 may be provided on both sides of the top of the hollow top column 41 to engage with the slot 131 on the side wall of the female connector 1. On the one hand, the boss 411 can be in close contact with the male connector 4 to the female connector 1 At the same time, the self-locking protrusion of the self-locking device 2 is pushed open to unlock the female connector 1;

The elastic self-locking mechanism 42 can be slidably connected to the hollow top column 41 along the horizontal direction (the cross-sectional direction of the hollow top column 41 in FIG. 2 ).

3 and 4, the elastic self-locking mechanism 42 includes: two buckles 421 and two elastic members 422; The contour of the pressing part is adapted to the shape of the end of the end of the female connector 1 to be butted, so that the two snaps 421 are opened to both sides under the action of the end; the two elastic pieces 422 They are respectively connected between the two ends of the two buckles 421 to limit the displacement of the two buckles 421 ; the two buckles 421 are respectively provided with protruding structures 4211 in a one-to-one correspondence with the two buckles 421 . The outer sides of the opening mechanism 3 act together, so that the two buckles 421 move toward each other under the elastic force of the elastic member 422 and are locked with the first limiting groove 11 . In order to reduce the weight, several weight-reducing holes are distributed on the buckle 421 .

Specifically, the pressing portion may be in the shape of a circular arc, and the axis thereof is collinear with the axis of the hollow top column 41 . The buckle 421 can be wedge-shaped, triangular, rectangular, etc., the elastic member 422 can be a spring, and the buckle 421 can include: a connecting part and a clamping part, the connecting part is connected with the hollow top post 41, and the clamping part is arranged at a distance from the connecting part. One end of the hollow top column 41 . The connecting portion is one end of the two buckles 421 that are close to each other. The end face of the connecting portion close to the center of the hollow top column 41 has an arc-shaped end face. The butt end of the female connector 1 is adapted to open to both sides under the action of the two elastic pieces 422 under the pressing of the end of the female connector 1 . In this embodiment, the connecting portion may be composed of a connecting plate or two connecting rods arranged at intervals, and the end faces of the connecting plate and the connecting rod near the center of the hollow top column 41 may both have arc end faces.

Protruding structures 4211 are respectively provided on the two snaps 421 near the outer edges in a one-to-one correspondence. The distance between the two protruding structures 4211 may be slightly smaller than the distance between the two inclined rails 31 of the spreading mechanism 3 .

In order to realize the sliding connection between the elastic self-locking element and the hollow top post 41, a through hole a is formed on the side wall of the hollow top post 41 at the position corresponding to the two snaps 421 for fixing the snaps The buckle 421 provides a sliding channel for the buckle 421 . The size of the two through holes can be adapted to those of the clip 421 , and more specifically, the through holes can be square holes.

Further, the male joint 4 further includes: a first transmission shaft 43 ; wherein, the first transmission shaft 43 penetrates through the hollow part of the hollow top column 41 and is connected with the output shaft of the driving mechanism 5 . Correspondingly, the female joint 1 is also provided with a second transmission shaft, the second transmission shaft passes through the cylindrical body 10 of the female joint 1 , and the second transmission shaft is connected to the first transmission shaft 43 of the male joint 4 . In order to realize the power transmission between the male connector 4 and the female connector 1, it can provide a power source for the end tool 8 connected at the end of the female connector 1, so that the end tool 8 does not need to be equipped with a power supply and a motor For other drive systems, only a suitable mechanical transmission structure can be designed to complete operations such as stripping, clamping wires, installing wire clips, and tightening bolts, which greatly reduces the size, weight and cost of the end tool 8 .

2 , 5 and 6 , the female connector 1 includes: a cylindrical body 10 ; a side wall of the cylindrical body 10 close to one end of the male connector 4 is provided with the first limiting groove 11 in the circumferential direction; A first convex ring portion 13 is coaxially disposed on the cylindrical body 10 above the first limiting groove 11 , and a plurality of locking grooves 131 are formed on the side wall of the first convex ring portion 13 , and each The upper and lower ends of the card slot 131 are open, and are matched with the bosses 411 on the male connector 4 to provide a movement channel for the bosses 411 ; the cylinder 10 is located on the first convex ring portion A second protruding ring portion 14 is coaxially disposed above the 13 , and the second limiting groove 12 is formed between the second protruding ring portion 14 and the first protruding ring portion 13 .

Specifically, the upper end of the cylindrical body 10 can be connected with the device to be connected (for example, the tool 8 to be used) through a flange. The end surface of the cylinder body 10 close to the first limiting groove 11 is provided with rounded corners, so as to exert a pressing force on the two buckles 421 on the elastic self-locking mechanism 42 of the male connector 4 . The distance between the first convex ring portion 13 and the first limiting groove 11 can be determined according to the actual situation. Correspondingly, in this embodiment, there are two clamping grooves 131 , and the two clamping grooves 131 are oppositely arranged on both sides of the first convex ring portion 13 , so as to be the bosses 411 when the male connector 4 is in continuous contact with the female connector 1 . A movement channel is provided so that the boss 411 pushes open the self-locking device 2 locked in the second limiting groove 12 of the female connector 1 . The second convex ring portion 14 and the first convex ring portion 13 are coaxially arranged, and the inner and outer diameters of the two can be kept the same, and the longitudinal widths of the first convex ring portion 13 and the second convex ring portion 14 can be the same or different. For example, the longitudinal width of the first convex ring portion 13 may be greater than the longitudinal width of the second convex ring portion 14 .

The female joint 1 further includes: a second transmission shaft 15 ; wherein, the second transmission shaft 15 passes through the cylinder 10 , and the first transmission between the second transmission shaft 15 and the male joint 4 The shafts 43 are matched to realize the power transmission between the male joint 4 and the female joint 1 .

Referring to FIGS. 7 and 8 , taking the electric tool at the end of the robot arm as an example, the use process of the driving force interface device in this embodiment is as follows: the male connector 4 is installed on the top of the robot arm 7, and the female connector 1 is installed on the electric power tool. In the tool 8 and locked by the self-locking device on the carrier plate 6, the motor on the mechanical arm 7 is moved to the bottom of the carrier plate 6, and the male connector 4 is moved to the same position as the female connector 1 on the carrier plate 6. Below the vertical line, the motor drives the mechanical arm 7 to move upwards, so that the male joint 4 moves upwards to connect with the female joint 1. Because the elastic self-locking mechanism 42 of the male joint 4 is pressed by the rounded surface of the lower end of the female joint 1, it moves toward the hollow. Both sides of the top column 41 slide and expand, so that the female connector 1 is continuously connected to the male connector 4 . When the male connector 4 continues to rise, the boss 411 of the hollow top column 41 of the male connector 4 follows the groove 131 on the female connector 1 . The position continues to rise until it contacts the self-locking device 2, and applies pressure to the outside to unlock the self-locking device 2 at the female connector 1. When the male connector 4 continues to move upward and contacts the female connector 1, the elastic self-locking mechanism 42 The protruding structure 4211 on the top is in contact with the outside of the two inclined rails 31 of the opening mechanism 3, and is continuously opened by the two inclined rails 31. After that, the motor drives the mechanical arm 7 to move horizontally outwards, so that the rollers Leaving the inclined rail 31 of the opening mechanism 3, the buckles 421 on both sides are pulled by the tension spring, and then move toward the center of the hollow top column 41, and the buckles 421 are inserted into the second limit groove 12 to complete the self-locking. The arm 7 completes the unlocking and self-locking functions during the access process of the end tool.

To sum up, in the driving force interface device provided in this embodiment, the first limit groove and the second limit groove are arranged on the female connector, and the elastic self-locking mechanism is arranged on the male connector. The self-locking device on one side of the connector cooperates to realize the locking of the female connector and the self-locking device, and when the male connector exerts a force on the self-locking device, the self-locking device unlocks the female connector, and the elastic self-locking device is further unlocked through the opening mechanism. The locking mechanism exerts a spreading force, so that the elastic self-locking mechanism is locked with the second limit slot after being separated from the spreading mechanism, which ensures the reliable connection between the robotic arm and the tool to be taken, and realizes the automatic connection between the robotic arm and the end tool. Locking and unlocking, further, through the connection of the first transmission shaft and the second transmission shaft, the transmission connection between the male joint and the female joint is realized, so as to realize the power transmission of the mechanical arm to the end tool, so as to cancel the power source of the tool end, The size and weight of the tool are reduced.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (10)

1. A driving force interface device, characterized in that, comprising: a female connector, a self-locking device, a spreading mechanism, a male connector and a driving mechanism; wherein, The female connector is provided with a first limiting slot for matching with the male connector; the female connector is provided with a second limiting slot at a position above the first limiting slot for cooperate with the self-locking device; The first end of the male connector is provided with an elastic self-locking mechanism for matching with the first limiting groove, and the second end of the male connector is connected with the driving mechanism for Driven by the drive mechanism, it moves toward the female connector to be docked with the female connector; The self-locking device is arranged on one side of the female connector for locking with the second limiting groove, and when the male connector is in contact with the female connector, the function of the male connector down to loosen the female connector; The expansion mechanism is arranged below the self-locking device, and is used to open the elastic self-locking mechanism when the male joint is in continuous contact with the female joint, so that the elastic self-locking mechanism is under the elastic force. Under the action, it moves to the first limit groove and is locked with the first limit groove, so as to complete the butt joint of the male connector and the female connector. 2. The driving force interface device according to claim 1, wherein the male joint comprises: a base, a hollow top post and an elastic self-locking mechanism; The top of the hollow top column is provided with several bosses for engaging with the female connector; The elastic self-locking mechanism is slidably arranged on the side wall of the hollow top column along the horizontal direction; The driving mechanism is arranged below the base, and the hollow top column penetrates through the hollow part of the base and is connected with the driving mechanism. 3. The driving force interface device according to claim 2, wherein the elastic self-locking mechanism comprises: two buckles and two elastic pieces; The two snaps are arranged opposite to each other, and a pressing portion is formed between them. make the two buckles open to both sides; The two elastic members are respectively connected between the two ends of the two buckles to limit the displacement of the two buckles; The two snaps are respectively provided with protruding structures in a one-to-one correspondence, which are used to interact with the outside of the opening mechanism, so that the two snaps move toward each other under the elastic force of the elastic member and interact with each other. The first limiting grooves are locked together. 4 . The driving force interface device according to claim 2 , wherein a through hole is formed on the side wall of the hollow top column at positions corresponding to the two clips to fix the clips. 5 . snap and provide a sliding channel for the snap. 5. The driving force interface device according to claim 2, wherein the male joint further comprises: a first transmission shaft; wherein, The first transmission shaft passes through the hollow part of the hollow top column and is connected with the output shaft of the driving mechanism. 6. The driving force interface device according to claim 1, wherein the female connector comprises: a cylinder; The first limiting groove is formed on the side wall of the cylinder body at one end close to the male joint along the circumferential direction; A first convex ring portion is coaxially disposed on the cylinder body above the first limiting groove, and a plurality of clamping grooves are opened on the side wall of the first convex ring portion, and each of the clamping grooves is up and down. Both ends are open and are matched with the bosses on the male joint to provide movement channels for the bosses; A second convex ring portion is coaxially disposed above the first convex ring portion on the cylinder body, and the second limiting groove is formed between the second convex ring portion and the first convex ring portion . 7. The driving force interface device according to claim 6, wherein the female connector further comprises: a second transmission shaft; wherein, The second transmission shaft passes through the cylinder, and the second transmission shaft is matched with the first transmission shaft of the male joint to realize the connection between the male joint and the female joint. power delivery. 8. The driving force interface device according to any one of claims 1 to 7, wherein the self-locking device comprises: two oppositely arranged buckle bodies; wherein, The two buckle bodies are connected to form a clamping portion, and each of the buckle bodies is correspondingly provided with a self-locking protrusion, and the two self-locking protrusions are matched to be connected to the female connector from both sides The second limit groove is locked. 9. The driving force interface device according to any one of claims 1 to 7, wherein the expansion mechanism comprises: two inclined rails arranged oppositely; wherein, The distance between the two inclined rails is adapted to the distance between the two snaps in the elastic self-locking mechanism, so that when the male joint continues to move toward the female joint, the two snaps Can be in contact with the outside of both said ramps. 10. The driving force interface device according to any one of claims 1 to 7, characterized in that, further comprising: a carrying board; wherein, The self-locking device and the spreading mechanism are respectively connected on the upper and lower sides of the carrying plate.

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