Docking device and docking robot having the same

Abstract

This invention provides a docking device and a docking robot having the same. The docking device includes: a first mounting base with a first connecting hole; a second mounting base spaced apart from the first mounting base and movably disposed relative to the first mounting base; and a connecting assembly including a connecting seat, a spherical portion, a connecting rod, and an elastic structure. The connecting seat is mounted on the first mounting base and has a second connecting hole. The spherical portion is movably disposed between the first connecting hole and the connecting seat and has a through hole. The connecting rod passes through the first connecting hole, the through hole, and the second connecting hole. A first end of the connecting rod is connected to the second mounting base. The elastic structure includes a first elastic element disposed between the first end of the connecting rod and the connecting seat and / or a second elastic element disposed between the second end of the connecting rod and the spherical portion. The technical solution of this application effectively solves the problem of potential damage to the docking parts during the docking process in related technologies.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and more specifically, to a docking device and a docking robot having the same. Background Technology

[0002] Industrial robots, known for their high operational flexibility, are widely used in industrial production processes, such as for material handling and docking. An industrial robot typically consists of a robotic arm and a docking point. The robotic arm controls the movement of the docking point and features multiple degrees of freedom, high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling.

[0003] In related technologies, during industrial robot docking, there is an error between the actual and theoretically planned docking positions. This error causes the docking points to shift under pressure during the docking process to achieve accurate docking. However, this docking process may damage the docking points. Summary of the Invention

[0004] The main objective of this invention is to provide a docking device and a docking robot having the same, so as to solve the problem that the docking parts may be damaged during the docking process in related technologies.

[0005] To achieve the above objectives, according to one aspect of the present invention, a docking device is provided, comprising: a first mounting base having a first connecting hole; a second mounting base spaced apart from the first mounting base and movably disposed relative to the first mounting base; and a connecting assembly including a connecting seat, a ball portion, a connecting rod, and an elastic structure, wherein the connecting seat is mounted on the first mounting base, the connecting seat has a second connecting hole communicating with the first connecting hole, the ball portion is movably disposed between the first connecting hole and the connecting seat, the ball portion has a through hole, the connecting rod passes through the through hole, the connecting rod passes through the first connecting hole, the through hole, and the second connecting hole, a first end of the connecting rod is connected to the second mounting base, the second end of the connecting rod is a free end, and the elastic structure includes a first elastic element disposed between the first end of the connecting rod and the connecting seat and / or a second elastic element disposed between the second end of the connecting rod and the ball portion.

[0006] Furthermore, the connecting assembly also includes a connecting sleeve, a first stop member, and a third elastic member. The connecting sleeve includes a sleeve portion and a protrusion connected to a first end of the sleeve portion. The connecting sleeve passes through a through hole. The first stop member is connected to a second end of the sleeve portion. A ball portion is located between the protrusion member and the first stop member. The third elastic member is located between the ball portion and the first stop member. The connecting rod passes through the connecting sleeve.

[0007] Furthermore, the third elastic element includes a first spring sleeved on the sleeve portion, and the first stop element includes a first nut connected to the sleeve portion, with the distance between the first nut and the ball portion being adjustable.

[0008] Furthermore, the first elastic element is a second spring, the second elastic element is a third spring, and both the second spring and the third spring are sleeved on the connecting rod.

[0009] Furthermore, the connecting assembly also includes a second stop, which is disposed at the second end of the connecting rod, and a second elastic member is located between the ball portion and the second stop.

[0010] Furthermore, the second stop includes a second nut, the distance between the second nut and the second mounting base being adjustable.

[0011] Furthermore, the connecting assembly also includes a third stop member connected to the connecting rod and located between the first mounting base and the second mounting base, and a first elastic member located between the third stop member and the first stop member.

[0012] Furthermore, the third stop includes a third nut, the distance between the third nut and the second mounting base being adjustable.

[0013] Furthermore, there are multiple connecting components, which are arranged at intervals between the first mounting base and the second mounting base.

[0014] According to another aspect of the present invention, a docking robot is provided, comprising a robotic arm and a docking device connected to the robotic arm, wherein the docking device is the docking device described above.

[0015] According to the technical solution of this invention, a first mounting base is provided with a first connecting hole. A second mounting base is spaced apart from the first mounting base and is movably disposed relative to the first mounting base. The connecting assembly includes a connecting base, a ball portion, a connecting rod, and an elastic structure. The connecting base is mounted on the first mounting base and is provided with a second connecting hole communicating with the first connecting hole. The ball portion is movably disposed between the first connecting hole and the connecting base and is provided with a through hole. The connecting rod passes through the first connecting hole, the through hole, and the second connecting hole. The first end of the connecting rod is connected to the second mounting base, and the second end of the connecting rod is a free end. The elastic structure includes a first elastic element and a second elastic element. The first elastic element is disposed between the first end of the connecting rod and the connecting base, and the second elastic element is disposed between the second end of the connecting rod and the ball portion. With the above configuration, the connecting rod passes through the first connecting hole, the through hole, and the second connecting hole. The first connecting hole is located on the first mounting base, meaning the connecting rod connects to the first mounting base. The through hole is located on the spherical part, meaning the connecting rod connects to the spherical part. The second connecting hole, communicating with the first connecting hole, is located on the connecting seat, which is mounted on the first mounting base. The spherical part is movably positioned between the first connecting hole and the connecting seat. This allows the connecting rod, passing through the spherical part, to swing relative to the first mounting base. The first end of the connecting rod connects to the second mounting base, allowing the second mounting base to move with the swing of the connecting rod. This ensures a change in the relative position between the first and second mounting bases, preventing damage to the structure between the first and second mounting bases when using the docking device. The first elastic element allows the relative position of the second mounting base and the connecting seat to change when the connecting rod swings, preventing damage from collisions with other structures due to positional errors during the use of the docking device; the first elastic element acts as a buffer. The second elastic element allows the second end of the connecting rod to move relatively a short distance relative to the spherical part when the connecting rod swings. Therefore, the technical solution of this application effectively solves the problem that the docking parts may be damaged during the docking process in related technologies. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the docking device according to the present invention is shown;

[0018] Figure 2 It shows Figure 1 A three-dimensional structural diagram of the first mounting base of the docking device;

[0019] Figure 3It shows Figure 1 A three-dimensional structural diagram of the connecting components of the docking device;

[0020] Figure 4 It shows Figure 3 A cross-sectional view of the connecting components;

[0021] Figure 5 It shows Figure 3 A schematic diagram of the exploded structure of the connecting components;

[0022] Figure 6 It shows Figure 1 A three-dimensional structural diagram of the docking device from another perspective;

[0023] Figure 7 It shows Figure 6 A schematic diagram of the exploded structure of the docking device;

[0024] Figure 8 It shows Figure 6 A three-dimensional structural diagram of the docking device;

[0025] Figure 9 A three-dimensional structural schematic diagram of an embodiment of the docking robot according to the present invention is shown;

[0026] Figure 10 It shows Figure 9 A magnified view of part A of the docking robot.

[0027] The above figures include the following reference numerals:

[0028] 10. First mounting base; 11. First connecting hole; 20. Second mounting base; 30. Connecting assembly; 31. Connecting seat; 311. Second connecting hole; 32. Ball part; 321. Through hole; 33. Connecting rod; 34. Elastic structure; 341. First elastic element; 3411. Second spring; 342. Second elastic element; 3421. Third spring; 35. Connecting sleeve; 351. Sleeve part; 352. Protruding edge; 36. First stop; 361. First nut; 37. Third elastic element; 371. First spring; 38. Second stop; 381. Second nut; 39. Third stop; 391. Third nut; 100. Robotic arm. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0032] like Figure 1 and Figure 2As shown, according to one aspect of this embodiment, a docking device is provided, including: a first mounting base 10, a second mounting base 20, and a connecting assembly 30. The first mounting base 10 is provided with a first connecting hole 11. The second mounting base 20 is disposed at a distance from the first mounting base 10, and the second mounting base 20 is movably disposed relative to the first mounting base 10. The connecting assembly 30 includes a connecting seat 31, a ball portion 32, a connecting rod 33, and an elastic structure 34. The connecting seat 31 is mounted on the first mounting base 10 and has a second connecting hole 311 communicating with the first connecting hole 11. The ball portion 32 is movably disposed between the first connecting hole and the connecting seat 31 and has a through hole 321. The connecting rod 33 passes through the through hole 321 and is disposed within the first connecting hole 11, the through hole 321, and the second connecting hole 311. The first end of the connecting rod 33 is connected to the second mounting base 20, and the second end of the connecting rod 33 is a free end. The elastic structure 34 includes a first elastic element 341 disposed between the first end of the connecting rod 33 and the connecting seat 31, and a second elastic element 342 disposed between the second end of the connecting rod 33 and the ball portion 32.

[0033] Using the technical solution of this embodiment, the first mounting base 10 is provided with a first connecting hole 11. The second mounting base 20 is disposed at a distance from the first mounting base 10, and the second mounting base 20 is movably disposed relative to the first mounting base 10. The connecting assembly 30 includes a connecting seat 31, a ball portion 32, a connecting rod 33, and an elastic structure 34. The connecting seat 31 is mounted on the first mounting base 10 and has a second connecting hole 311 that communicates with the first connecting hole 11. The ball portion 32 is movably disposed between the first connecting hole 11 and the connecting seat 31 and has a through hole 321. The connecting rod 33 passes through the first connecting hole 11, the through hole 321, and the second connecting hole 311. The first end of the connecting rod 33 is connected to the second mounting base 20, and the second end of the connecting rod 33 is a free end. The elastic structure 34 includes a first elastic element 341 and a second elastic element 342. The first elastic element 341 is disposed between the first end of the connecting rod 33 and the connecting seat 31, and the second elastic element 342 is disposed between the second end of the connecting rod 33 and the ball portion 32. With the above configuration, the connecting rod 33 passes through the first connecting hole 11, the through hole 321, and the second connecting hole 311. The first connecting hole 11 is located on the first mounting base 10, meaning the connecting rod 33 is connected to the first mounting base 10. The through hole 321 is located on the spherical part 32, meaning the connecting rod 33 is connected to the spherical part 32. The second connecting hole 311, which communicates with the first connecting hole 11, is located on the connecting seat 31, which is mounted on the first mounting base 10. The spherical part 32 is movably located between the first connecting hole 11 and the connecting seat 31. This allows the connecting rod 33, which passes through the spherical part 32, to swing relative to the first mounting base 10. The first end of the connecting rod 33 is connected to the second mounting seat 20, allowing the second mounting seat 20 to move with the swing of the connecting rod 33. This ensures that the relative position between the first mounting seat 10 and the second mounting seat 20 can change, thus preventing damage to the part of the connecting rod 33 located between the first mounting seat 10 and the second mounting seat 20 when using the docking device for docking. The first elastic element 341 allows the relative positions of the second mounting base 20 and the connecting base 31 to change when the connecting rod 33 swings, thereby preventing damage from collisions with other structures due to positional errors during the use of the docking device; that is, the first elastic element 341 acts as a buffer. The second elastic element 342 allows the second end of the connecting rod 33 and the ball portion 32 to move relatively a short distance when the connecting rod swings. Therefore, the technical solution of this embodiment effectively solves the problem of potential damage to the docking parts during the docking process in related technologies.

[0034] It should be noted that the change in the relative position between the first mounting base 10 and the second mounting base 20 includes the first mounting base 10 and the second mounting base 20 moving closer to each other, the change in the relative angle between the second mounting base 20 and the first mounting base 10, and the movement of the second mounting base 20 within the plane in which the second mounting base 20 is located.

[0035] like Figure 1 as well as Figures 3 to 5 As shown, in this embodiment, the connecting assembly 30 further includes a connecting sleeve 35, a first stop member 36, and a third elastic member 37. The connecting sleeve 35 includes a sleeve portion 351 and a protruding edge 352 connected to a first end of the sleeve portion 351. The connecting sleeve 35 passes through the through hole 321. The first stop member 36 is connected to the second end of the sleeve portion 351. A ball portion 32 is located between the protruding edge 352 and the first stop member 36. The third elastic member 37 is located between the ball portion 32 and the first stop member 36. The connecting rod 33 passes through the connecting sleeve 35. The connecting sleeve 35 passes through the through hole 321, allowing the connecting sleeve 35 to connect with the ball portion 32. The protruding edge 352 allows the first stop 36 connected to the second end of the sleeve portion 351 to connect with the ball portion 32, and then the first stop 36 can connect with the connecting seat 31. That is, the third elastic member 37 provided between the ball portion 32 and the first stop 36 can provide a buffer for the relative movement of the first stop 36 and the ball portion 32, so as to avoid the first stop 36 moving too far and contacting the ball portion 32, causing damage to the ball portion 32 and affecting the use of the docking device.

[0036] Specifically, the raised edge 352 is located on the side of the sleeve portion 351 away from the first end of the connecting rod 33, and the first stop 36 is located on the side of the sleeve portion 351 close to the first end of the connecting rod 33, that is, the second end of the sleeve portion 351 is located on the side close to the first end of the connecting rod 33. The connecting sleeve 35 is made of self-lubricating brass material, and the sleeve portion 351 provides self-lubrication for the connecting rod 33 to compensate for height errors during sliding, ensuring smooth and convenient sliding.

[0037] like Figures 3 to 5As shown, in this embodiment, the third elastic member 37 includes a first spring 371, which is sleeved on the sleeve portion 351. The first stop member 36 includes a first nut 361, which is connected to the sleeve portion 351. The distance between the first nut 361 and the ball portion 32 is adjustable. When the first nut 361 rotates towards the ball portion 32, it compresses the first spring 371 fitted on the sleeve portion 351. That is, the elastic force of the first spring 371 after compression gradually approaches the maximum elastic force of the first spring 371, and thus the distance the first nut 361 moves towards the ball portion 32 will decrease. Similarly, when the first nut 361 moves away from the ball portion 32, it will reduce the compression on the first spring 371. The compressed first spring 371 can provide a larger elastic force, and thus the first nut 361 can move a larger distance towards the ball portion 32. In other words, by adjusting the position of the first nut 361, the distance the first nut 361 moves towards the ball portion 32 can be controlled, and thus the change in the relative position of the first mounting base 10 and the second mounting base 20 can be controlled.

[0038] Specifically, when the connecting assembly 30 is subjected to a rotational force, the first spring 371 deforms to provide cushioning, vibration damping, and angle compensation. The compression force of the first spring 371 can be adjusted by the first nut 361. Moving the first nut 361 closer to the ball portion 32 increases the compression on the first spring 371, thereby increasing the compression force and making it easier to adjust the angle compensation force to a suitable value during use.

[0039] like Figures 3 to 5 As shown, in this embodiment, the first elastic element 341 is the second spring 3411, and the second elastic element 342 is the third spring 3421. Both the second spring 3411 and the third spring 3421 are sleeved on the connecting rod 33. This arrangement ensures that during the swinging process of the connecting rod 33, i.e., during the change in the relative position of the second mounting base 20 and the first mounting base 10, the second spring 3411 and the third spring 3421 are compressed, providing a buffer for the change in the relative position of the second mounting base 20 and the first mounting base 10, and preventing large changes in the relative position between the second mounting base 20 and the first mounting base 10.

[0040] Specifically, when the connecting assembly 30 is subjected to a pushing force, the second spring 3411 deforms, thereby providing cushioning, vibration damping, and height compensation. When the connecting assembly 30 is subjected to a pulling force, the third spring 3421 deforms, providing cushioning, vibration damping, and height compensation.

[0041] like Figures 3 to 5As shown, in this embodiment, the connecting assembly 30 further includes a second stop 38, which is disposed at the second end of the connecting rod 33. The second elastic member 342 is located between the ball portion 32 and the second stop 38. By adjusting the distance between the second stop 38 and the ball portion 32, the degree of compression on the second elastic member 342 can be changed, thereby changing the maximum relative movement distance between the second end of the connecting rod 33 and the ball portion 32.

[0042] like Figures 3 to 5 As shown, in this embodiment, the second stop 38 includes a second nut 381, and the distance between the second nut 381 and the second mounting base 20 is adjustable. The second nut 381 makes it easier to adjust the distance between the second stop 38 and the second mounting base 20.

[0043] like Figures 3 to 5 As shown, in this embodiment, the connecting assembly 30 further includes a third stop 39, which is connected to the connecting rod 33 and located between the first mounting base 10 and the second mounting base 20. A first elastic member 341 is located between the third stop 39 and the first stop 36. By adjusting the distance between the third stop 39 and the ball portion 32, the degree of compression on the first elastic member 341 can be changed, thereby changing the maximum relative movement distance between the second mounting base 20 and the first mounting base 10 connected to the first end of the connecting rod 33, i.e., the maximum relative movement distance between the second mounting base 20 and the first mounting base 10 can be controlled.

[0044] like Figures 3 to 5 As shown, in this embodiment, the third stop 39 includes a third nut 391, and the distance between the third nut 391 and the second mounting base 20 is adjustable. The third nut 391 makes it easier to adjust the distance between the third stop 39 and the second mounting base 20.

[0045] like Figure 1 as well as Figures 6 to 9 As shown, in this embodiment, there are multiple connecting components 30, which are arranged at intervals between the first mounting base 10 and the second mounting base 20. The multiple connecting components 30 can provide buffering for the relative movement of the first mounting base 10 and the second mounting base 20, thereby making the docking process of the docking device more stable.

[0046] Preferably, the docking device further includes a camera assembly disposed on the upper side of the first mounting base and the second mounting base, and a quick-change main plate disposed on the side of the second mounting base away from the first mounting base, the quick-change main plate being located on the lower side of the second mounting base. The camera assembly includes a camera bracket and a camera. The camera bracket includes a first horizontal plate disposed above and perpendicular to the first mounting base. The camera bracket also includes a first protrusion, a second protrusion, and a third protrusion disposed at intervals. The first, second, and third protrusions are all disposed on the first horizontal plate and extend toward the second mounting base. The first protrusion is located on the left side of the first mounting plate, the third protrusion is located on the right side of the first mounting plate, and the second protrusion is located between the first and third protrusions. Support plates are disposed between the first mounting base and the first, second, and third protrusions to make the position of the first horizontal plate more stable. Two openings are provided on the side of the first horizontal plate away from the second mounting base to reduce the weight of the camera bracket.

[0047] like Figure 9 and Figure 10 As shown, according to another aspect of this embodiment, a docking robot is provided, including a robotic arm 100 and a docking device connected to the robotic arm 100, the docking device being the aforementioned docking device. The robotic arm 100 can control the position change of the docking device and dock the docking device. The connecting rod of the aforementioned docking device passes through a spherical portion 32, which is movably disposed between a first connecting hole 11 and a connecting seat 31. The first end of the connecting rod 33 is connected to a second mounting seat 20. A first elastic member 341 is disposed between the first end of the connecting rod 33 and the connecting seat 31, and a second elastic member 342 is disposed between the second end of the connecting rod 33 and the spherical portion 32. That is, under the action of the first elastic member 341 and the second elastic member 342, the relative position of the first mounting seat 10 and the second mounting seat 20 can be changed, avoiding damage to the docking device during use. The docking device provides multi-degree-of-freedom flexible compensation for docking and installation scenarios, ensuring flexible buffer contact and flexible compliance during docking, improving docking error tolerance and docking accuracy, ensuring error-free docking, and avoiding collisions and jamming. This achieves intelligent and unmanned operation of the docking and installation process, reducing labor costs, improving work efficiency, and mitigating personnel safety hazards. The docking robot equipped with the aforementioned docking device also possesses these advantages.

[0048] Specifically, the connecting seat 31 is also provided with a receiving cavity for accommodating the ball part 32 (the ball part is located in the receiving cavity). The receiving cavity is connected to the second connecting hole 311. The receiving cavity is located on the side of the connecting seat 31 facing the first mounting seat 10, which makes the change of the relative position of the ball part 32 and the connecting seat 31 smoother.

[0049] Preferably, the docking robot also includes a feeding gun tool end and a tool end mounting bracket. The feeding gun tool end mainly functions to fix various required tools (not limited to the feeding gun). The quick-change tool disc installed on the feeding gun tool end (located on the lower side of the tool end mounting plate, i.e., the side connected to the quick-change main disc) can be locked or separated from the quick-change main disc on the docking device, making the docking robot more efficient and flexible during operation. The main body of the feeding gun tool end is supported by the tool end mounting plate. On both sides of the tool end mounting plate, a separable locking ring (located on the upper side of the tool end mounting plate), a separable fixing ring (located on the upper side of the tool end mounting plate, and located on both sides of the center line of the tool end mounting plate with the separable locking ring, the center line being the center line from the upper side to the lower side of the tool end mounting plate), and a quick-change tool disc mounting ring for mounting the quick-change tool disc are respectively installed by bolts and positioning pins. The sides of the separable locking ring, separable fixing ring, and quick-change tool disc mounting ring (specifically, the sides perpendicular to the direction from the upper side to the lower side of the second mounting plate and flat) are... Positioning plates (located on both sides of the second mounting base) have positioning holes for guiding and positioning the tool end of the feeding gun when placed on the tool end support. The tool end mounting plate has through holes for the material quick connector (located on the upper side of the tool end mounting plate, with part of its structure between the separable locking ring and the separable retaining ring) to pass through. After the material quick connector is positioned on the tool end mounting plate by its outer circle and stepped surface, it is then fixed and locked to the tool end mounting plate by the separable locking ring and the separable retaining ring. The outer circle of the material quick connector, the inner hole of the separable locking ring, and the inner hole of the separable retaining ring all have knurled designs to increase friction. The separate locking ring and the separate fixing ring feature a separate design that ensures a large locking force, guaranteeing that the quick-connect material connector can be stably fixed on the tool end of the feeding gun. The quick-connect material connector (with the rear side used for installing the conveying hose, extending from the rear side to the side facing the first mounting base 10, and the first mounting base 10 having a clearance recess for the conveying hose extending from the left side to the right side of the first mounting base 10) enables quick connection and automatic pipeline flow, eliminating the need for unnecessary operations such as opening the cover. Furthermore, it ensures no leakage when the connection is broken, preventing accidental leaks and guaranteeing the safety of the connection. The quick-change tool tray mounting ring is used for installation and fixation. The quick-change tool tray utilizes a pneumatic locking mechanism to lock and separate the quick-change main tray and the quick-change tool tray (the surface of the quick-change main tray facing the quick-change tool tray has a protruding part, which is a protruding ball. Under air pressure, the protruding ball extends into the recess on the inner surface of the quick-change tool tray, thus locking the quick-change main tray and the quick-change tool tray). This allows for rapid replacement of different feed gun tool ends within seconds, making the robot more flexible and efficient. Visual markers are installed on the side of the quick-change tool tray (the side refers to the side near the lower part of the tool end mounting plate) to assist the vision system in identifying and determining direction, facilitating more precise coordination between the quick-change main tray and the quick-change tool tray.

[0050] It should be noted that the docking device aligns the feeding gun tool with the material adding connector of the mixed explosives vehicle. The camera is a 3D vision camera, which accurately collects, identifies, and calculates the three-dimensional pose information of the material adding connector using 3D vision recognition and positioning technology, ensuring precise movement of the docking robot driven by the robotic arm. The quick-connect material connector replaces the traditional, more complex open-top handle-type material connector, enabling rapid connection of pipelines, preventing leakage through disconnection and sealing. It offers quick on / off switching without the need for additional operations such as opening the cover; docking simply requires insertion and a 90° rotation (90° clockwise to open, 90° counterclockwise to close). Operation is simple, reliable, and safe.

[0051] Preferably, a first detection device and a first bracket for fixing the first detection device are provided on the upper side of the second mounting base 20. The first detection device detects the distance between the second mounting base 20 and the tool end of the feeding gun. The first bracket extends toward the second mounting base 20 away from the first mounting base 10. The first bracket includes a support frame and two fixed straight plates, which are located on both sides of the support frame (the left and right sides of the second mounting base 20). The support frame includes a first vertical plate, a second horizontal plate, and a second vertical plate connected in sequence. The first vertical plate is perpendicular to the second horizontal plate, and the second vertical plate is perpendicular to the second horizontal plate. The first bracket is shaped like a "U". The first detection device is installed on the second horizontal plate by two nuts located on both sides of the second horizontal plate and is perpendicular to the second mounting base, that is, the first vertical plate and the second vertical plate are also perpendicular to the second horizontal plate. A second detection device is provided near the upper side of the second mounting base 20 and located on the right side of the second mounting base 20. The second detection device detects the relative distance between the first mounting base 10 and the second mounting base 20. The second mounting base 20 is fixed to the second mounting base 20 by two nuts located on both sides of the second mounting base 20.

[0052] like Figure 9As shown, the feeding gun tool end is placed on the tool end support bracket in a horizontal orientation, so that the quick-change tool tray on the feeding gun tool end faces upwards, making it easier for the robotic arm to control the docking device to pick it up. Two fixing blocks (spaced apart on both sides along the width of the tool end mounting plate) are installed on the tool end support bracket to contact the feeding gun tool end. A total of four guide and positioning conical pins are installed on the two fixing blocks to guide and position the feeding gun tool end when it is lowered, ensuring that the feeding gun tool end is placed in a consistent position. The tool end placement bracket is equipped with a pick-up or placement detection system. This detection is performed by a sensor located below the space formed by two fixed blocks. When the feeding gun tool end is correctly placed on the tool end placement bracket, the detection sensor below will output a signal to the docking robot to indicate that the feeding gun tool end is in place when it detects an object using infrared laser. When the robotic arm picks up the feeding gun tool end and removes it, the detection sensor below will output a signal to the robot to indicate that the feeding gun tool end has been picked up. The detection sensor output signal is used by the robot system to determine the robot's current position and to correspond to the detection function.

[0053] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0054] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0055] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A docking device, characterized in that include: First mounting base (10), the first mounting base (10) is provided with a first connecting hole (11); The second mounting base (20) is spaced apart from the first mounting base (10), and the second mounting base (20) is movably disposed relative to the first mounting base (10); The connecting assembly (30) includes a connecting seat (31), a ball portion (32), a connecting rod (33), and an elastic structure (34). The connecting seat (31) is mounted on the first mounting base (10). The connecting seat (31) has a second connecting hole (311) communicating with the first connecting hole (11). The ball portion (32) is movably disposed between the first connecting hole (11) and the connecting seat (31). The ball portion (32) is provided with a through hole (321). The connecting rod (33) passes through the through hole (321). The connecting rod (33) passes through the first connecting hole (11), the through hole (321) and the second connecting hole (311). The first end of the connecting rod (33) is connected to the second mounting base (20), and the second end of the connecting rod (33) is a free end. The elastic structure (34) includes a first elastic element (341) disposed between the first end of the connecting rod (33) and the connecting base (31) and / or a second elastic element (342) disposed between the second end of the connecting rod (33) and the ball part (32). The connecting assembly (30) further includes a connecting sleeve (35), a first stop (36), and a third elastic member (37). The connecting sleeve (35) includes a sleeve portion (351) and a protruding edge (352) connected to a first end of the sleeve portion (351). The connecting sleeve (35) passes through the through hole (321). The first stop (36) is connected to the second end of the sleeve portion (351). The ball portion (32) is located between the protruding edge (352) and the first stop (36). The third elastic member (37) is located between the ball portion (32) and the first stop (36). The connecting rod (33) passes through the connecting sleeve (35).

2. The docking device according to claim 1, characterized in that, The third elastic element (37) includes a first spring (371) which is sleeved on the sleeve portion (351). The first stop element (36) includes a first nut (361) which is connected to the sleeve portion (351). The distance between the first nut (361) and the ball portion (32) is adjustable.

3. The docking device according to claim 1, characterized in that, The first elastic element (341) is the second spring (3411), and the second elastic element (342) is the third spring (3421). Both the second spring (3411) and the third spring (3421) are sleeved on the connecting rod (33).

4. The docking device according to claim 1, characterized in that, The connecting assembly (30) further includes a second stop (38), which is disposed at the second end of the connecting rod (33), and the second elastic member (342) is located between the ball portion (32) and the second stop (38).

5. The docking device according to claim 4, characterized in that, The second stop (38) includes a second nut (381), the distance between the second nut (381) and the second mounting base (20) is adjustable.

6. The docking device according to any one of claims 2 to 5, characterized in that, The connecting assembly (30) further includes a third stop (39) connected to the connecting rod (33) and located between the first mounting base (10) and the second mounting base (20), and the first elastic member (341) located between the third stop (39) and the first stop (36).

7. The docking device according to claim 6, characterized in that, The third stop (39) includes a third nut (391), and the distance between the third nut (391) and the second mounting base (20) is adjustable.

8. The docking device according to any one of claims 1 to 5, characterized in that, There are multiple connecting components (30), and the multiple connecting components (30) are arranged at intervals between the first mounting base (10) and the second mounting base (20).

9. A docking robot, comprising a robotic arm (100) and a docking device connected to said robotic arm (100), characterized in that, The docking device is the docking device according to any one of claims 1 to 8.

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