Robot docking mechanism and docking robot

Abstract

This invention relates to the field of robotics, specifically to a robot docking mechanism and a docking robot. The mechanism includes a docking female base and a docking male base. The docking female base includes a plug-in sleeve, a first docking connector, and a plug-in locking assembly. The plug-in sleeve has a plug-in cavity, the first docking connector is disposed within the plug-in cavity, and the plug-in locking assembly is disposed outside the plug-in cavity. The docking male base includes a plug-in connector, a second docking connector, a plug-in locking assembly, and a locking drive assembly. The plug-in connector has a mating cavity, and the second docking connector is disposed within the mating cavity. The plug-in connector is used to insert into the plug-in cavity, causing the first docking connector to contact the second docking connector. The locking drive assembly drives the plug-in locking assembly to engage with the plug-in locking assembly, thereby retaining the plug-in connector within the plug-in cavity. This invention is used for docking and transmission between two robots, enabling electrical connections, communication connections, and power transmission.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot docking mechanism and a docking robot. Background Technology

[0002] A robot is a robotic system that typically consists of two wheels or wheel assemblies. This design allows the robot to move on a horizontal surface and to steer and rotate by controlling the different wheel speeds. Two-wheeled robots often use differential drive systems, enabling various movements such as forward, backward, and turning by independently controlling the speed of each wheel. Furthermore, two-wheeled robots can also achieve rotational movement by controlling the speed difference between their wheels, making them highly flexible and suitable for confined spaces and complex environments.

[0003] Currently, there is no structure for automatically connecting and transmitting data between two robots. Connecting two robots now requires manual connection using data cables, which is cumbersome and inconvenient. Therefore, a solution is needed to address the connectivity issues of existing robots. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a robot docking mechanism and docking robot that offer reliable, safe, and efficient solutions for docking robots and automated equipment. These solutions include a stable and reliable docking connection, precise fit and contact, convenient operation and maintenance, high-efficiency safety assurance, and wide applicability.

[0005] The technical solution adopted in this invention is as follows: a robot docking mechanism, including a docking female seat and a docking head seat. The docking female seat includes a plug-in sleeve, a first docking connector, and a plug-in locking assembly. The plug-in sleeve is provided with a plug-in cavity, the first docking connector is disposed in the plug-in cavity, and the plug-in locking assembly is disposed on the outside of the plug-in cavity. The docking head seat includes a plug-in connector, a second docking connector, a plug-in locking assembly, and a locking drive assembly. The plug-in connector is provided with a mating cavity, the second docking connector is disposed in the mating cavity, and the plug-in connector is used to insert into the plug-in cavity so that the first docking connector and the second docking connector contact each other. The locking drive assembly is used to drive the plug-in locking assembly to engage with the plug-in locking assembly to keep the plug-in connector in the plug-in cavity.

[0006] A further improvement to the above solution is that the opening of the plug sleeve is provided with an expansion portion, the expansion portion expands outward, and a guide block is provided on the side of the plug sleeve near the expansion portion. Multiple guide blocks are provided and are evenly distributed in a ring around the inner circumference of the plug sleeve. Multiple guide blocks are evenly distributed in a ring around the outer circumference of the plug connector, and a guide groove is formed between two adjacent guide blocks. The guide groove is used to cooperate with the guide block.

[0007] A further improvement to the above scheme is that a guiding slope is provided on the opposite side of both the inlet block and the guide block; and an insertion slope is provided on the end of the plug facing the plug sleeve.

[0008] A further improvement to the above solution is that the first mating connector includes a first substrate, a first mating shell, a contact groove, and a conductive contact pad. A sealing ring is provided on the outer periphery of the contact groove. The first mating shell is disposed on the first substrate. The contact groove is disposed on the first mating shell. The conductive contact pad is disposed on the first substrate and faces the contact groove.

[0009] A further improvement to the above solution is that the second mating connector includes a second substrate, a second mating shell, a contact plug, and a conductive probe. The second substrate is disposed on one side of the second mating shell, the contact plug is disposed on the second mating shell, and the conductive probe is disposed inside the contact plug. A sealing ring is disposed on the outer periphery of the contact plug. The contact plug is used to fit into the contact groove, and the conductive probe is used to contact the conductive contact pad. The sealing ring is used to fit into the sealing ring to seal the contact plug and the contact groove.

[0010] A further improvement to the above solution is that the plug-in locking assembly includes a locking positioning element and a locking slot, the plug is provided with a locking positioning groove, and the locking positioning element is used to cooperate with the locking positioning groove to position the plug; the plug-in locking assembly is provided with a locking tongue, and the locking drive assembly is used to drive the locking tongue to insert into the locking slot.

[0011] A further improvement to the above scheme is that one end of the locking positioning element extends into the insertion cavity. When the plug is inserted into the insertion cavity, the locking positioning element is squeezed outward to apply a pre-tightening force to the plug until it fits into the locking positioning groove.

[0012] A further improvement to the above solution is that the locking drive assembly includes a rotary drive element, a drive spindle, a turntable, and a drive gear plate. The connector has a cavity, and a bearing is disposed within the cavity. The drive spindle is rotatably mounted on the bearing. The rotary drive element drives the drive spindle to rotate. The turntable is disposed at one end of the drive spindle, and the drive gear plate is disposed on the turntable. The drive gear plate is a helical gear plate. One side of the latch has a helical groove, which engages with the drive gear plate. The outer side of the connector has a sliding groove, and the drive gear plate drives the helical groove to slide the latch on the sliding groove, allowing the latch to be inserted into the locking slot.

[0013] A further improvement to the above scheme is that a positioning step is provided on the outer side of the cavity, and a positioning ring is installed on the positioning step. The positioning ring is used to fix the end face of the bearing in the cavity. A fixing nut is provided at one end of the drive spindle, and the fixing nut is used to lock one end of the spindle onto the bearing.

[0014] A further improvement to the above solution is that it also includes a pull-out assist component. One end of the connector is provided with a fixed plate. The pull-out assist component includes a connecting post, an assist pressure ring, and an assist spring. One end of the connecting post is provided on the fixed plate. The assist pressure ring is slidably provided on the connecting post. The assist spring is provided on the connecting post and is used to assist the pressure ring in applying pressure. The assist pressure ring is provided with a support plate. One end of the support plate is used to abut against the end face of the plug sleeve.

[0015] A further improvement to the above scheme is that a recessed groove is provided on the outer periphery of the fixed plate near the plug, and after the plug is inserted into the plug cavity, the end face of the plug sleeve is used to press the support plate into the recessed groove.

[0016] A further improvement to the above solution includes a ratchet connection mechanism, which comprises a tension element, a ratchet seat, a pawl, and a ratchet tooth seat. The wall of the insertion sleeve is provided with a ratchet groove extending into the insertion cavity. The ratchet seat is disposed within the ratchet groove and has a hinge groove for hinged engagement of the pawl. One end of the tension element is connected to the pawl to provide hinged tension to the pawl. The ratchet tooth seat is disposed on the insertion connector and has tooth grooves to engage with the pawl.

[0017] A further improvement to the above scheme is that the plug sleeve is provided with a connecting platform, the connecting platform is provided with a connecting element, one end of the tension element is connected to the connecting element, and the other end is connected to the pawl.

[0018] A further improvement to the above solution is that the tension element is a tension spring, the wall of the hinge groove is provided with a hinge positioning groove, the two sides of the pawl are provided with hinge shafts, one end of the hinge shaft extends into the hinge positioning groove; the pawl includes a tension connecting end and a ratchet connecting end, the hinge shaft is disposed between the tension connecting end and the ratchet connecting end, the tension connecting end is used to connect the tension element, and the ratchet connecting end is used to engage the tooth groove.

[0019] A further improvement to the above scheme is that an angle is formed between the tension connection end and the ratchet connection end.

[0020] A further improvement to the above solution is that the connector is provided with a ratchet mounting groove, the ratchet seat is disposed in the ratchet mounting groove, and the ratchet seat is provided with a clearance position on one side of the groove.

[0021] A further improvement to the above scheme is that it also includes a directional movement mechanism, which is disposed on one side of the docking female seat and is used to provide directional floating force to the docking female seat.

[0022] A further improvement to the above solution is that the directional movement mechanism includes a female base plate, a movable base plate, a movable guide rail, and a movable tension assembly. One side of the female base plate is connected to the docking female base. The movable base plate is connected to the female base plate through the movable guide rail. The movable tension assembly includes a movable tension spring. Two tension shafts are provided at both ends of the movable tension spring. The two tension shafts are respectively connected to the movable base plate and the female base plate. Two sets of movable tension assemblies are provided, and the two sets of movable tension assemblies are respectively provided on both sides of the movable base plate.

[0023] A further improvement to the above scheme is that the directional movement mechanism is provided in two sets, and the movement track directions of the two sets of directional movement mechanisms are distributed in a cross shape.

[0024] A docking robot includes the aforementioned robot docking mechanism; the docking robot includes a first robot and a second robot; one end of the first robot is provided with a first bracket, and a docking female seat is disposed within the first bracket; one end of the second robot is provided with a second bracket, and a docking joint seat is disposed on the second bracket; the first robot is provided with a first body, and first driving modules are provided on both sides of the first body, and the first bracket is disposed on the first body; the second robot is provided with a second body, and second driving modules are provided on both sides of the second body, and the second bracket is disposed on the second body.

[0025] The beneficial effects of this invention are:

[0026] Compared to existing robot connections, this invention is used for docking and transmission between two robots, enabling electrical, communication, and power transmission connections. The docking female is a fixed end, while the mating head is a movable end. Through the design of the plug sleeve, plug, docking connector, and plug-locking assembly, this docking mechanism achieves a stable and reliable docking connection, ensuring the safety and stability of the connection between robots or equipment, and is suitable for various industrial scenarios and application environments. The plug and the first and second docking connectors within the plug cavity achieve precise mating and contact, making the robot docking process smoother and more accurate, reducing damage and malfunctions caused by poor docking. The design incorporates a locking drive assembly to drive the mating locking assembly and the plug-locking assembly to engage. This design makes the operation and maintenance of the docking mechanism more convenient, improving the operability and maintenance efficiency of the equipment. The engagement of the plug-locking assembly and the mating locking assembly effectively locks the plug, providing a highly efficient safety guarantee to prevent accidental detachment or loosening during use. This docking mechanism solution is suitable for the docking needs of various robots and automated equipment, and can be flexibly applied to industrial production lines, logistics equipment, and other fields, exhibiting strong versatility and applicability. This invention offers several technical advantages, including a stable and reliable docking connection, precise fit and contact, convenient operation and maintenance, efficient safety assurance, and wide applicability, providing a reliable, safe, and efficient solution for the docking of robots and automated equipment.

[0027] The ratchet connection mechanism acts as a locking mechanism during the connection of the female connector and the mating connector. When the connector is inserted into the mating cavity, the pawl engages with the ratchet groove, preventing the connector from moving backward until it is fully inserted. Only then is the pawl pulled back to its original position by the pull element, allowing it to retract. This improves stability during ratchet mating and prevents backward movement, solving the problem of backward movement that often occurs during existing mating processes. By inserting the connector into the mating cavity of the mating sleeve, a reliable conductive connection is achieved between the head connector and the female connector, ensuring connector stability and reliable electrical transmission. The ratchet connection mechanism, through the design of the ratchet seat, pawl, and ratchet tooth seat, allows for flexible insertion, removal, and fixation of the connector, making connection operations more convenient and reliable. The connection method of the pull element and pawl provides stable hinge tension, thereby enhancing the connector's durability and stability and extending its service life. The connector's robust structure prevents loosening or breakage during insertion and removal, ensuring safe use and reducing the risk of accidental disconnection.

[0028] A docking robot, by placing the docking female seat within a first support and the docking head on a second support, combined with the robust reliability of the aforementioned docking mechanism, achieves a smooth and secure docking connection between the robots, ensuring stability and safety during collaborative operations. The first travel module of the first robot and the second travel module of the second robot cooperate with each other, enabling the two robots to move collaboratively in different directions, thereby improving overall flexibility and working range. The design of the first body, the arrangement of the first travel module, the installation of the first support, and the arrangement of the second body, the second travel module, and the second support, all contribute to a compact structure of the docking robot, facilitating operation and application in confined spaces. The tight and reliable docking connection between the two robots allows for efficient transmission of electrical and communication data, enabling collaborative operation and improving production efficiency and work quality. This invention possesses multiple technical advantages, including a smooth and secure docking connection, multi-dimensional motion collaboration, a compact overall structure, efficient collaborative operation, and ease of maintenance and management, providing a reliable and efficient solution for robot collaborative operations and joint movements. Attached Figure Description

[0029] Figure 1 This is a three-dimensional schematic diagram of the docking robot of the present invention;

[0030] Figure 2 for Figure 1 A three-dimensional schematic diagram of the docking robot from another perspective;

[0031] Figure 3 This is a three-dimensional schematic diagram of the robot docking mechanism of the present invention;

[0032] Figure 4 for Figure 3 An exploded view of the robot docking mechanism;

[0033] Figure 5 for Figure 3 An exploded view of the robot docking mechanism from another perspective;

[0034] Figure 6 for Figure 3 Front view schematic diagram of the robot docking mechanism;

[0035] Figure 7 for Figure 6 Sectional view of AA;

[0036] Figure 8 for Figure 3 A three-dimensional schematic diagram of the docking female seat of the robot docking mechanism;

[0037] Figure 9 for Figure 3A three-dimensional schematic diagram of the docking joint seat of the robot docking mechanism;

[0038] Figure 10 for Figure 3 A front view schematic diagram of the docking head of the robot docking mechanism;

[0039] Figure 11 for Figure 10 Sectional view of BB;

[0040] Figure 12 for Figure 9 A three-dimensional schematic diagram of part of the structure of the connector seat;

[0041] Figure 13 This is a schematic diagram of another embodiment of the robot docking mechanism of the present invention;

[0042] Figure 14 for Figure 13 The front view of the embodiment;

[0043] Figure 15 for Figure 14 Sectional view of AA;

[0044] Figure 16 for Figure 13 A schematic diagram of the ratchet connection mechanism in the embodiment;

[0045] Figure 17 for Figure 13 A schematic diagram of the docking status in the embodiment;

[0046] Figure 18 for Figure 13 A schematic diagram of the directional movement mechanism in the embodiment.

[0047] Explanation of reference numerals in the attached drawings: 1. Mating female connector; 11. Insertion sleeve; 111. Insertion cavity; 112. Expansion section; 113. Guide block; 114. Guide slope; 115. Ratchet groove; 116. Connecting platform; 117. Connecting element; 12. First mating connector; 121. First base plate; 122. First mating shell; 123. Contact groove; 124. Conductive contact plate; 1231. Sealing ring; 215. Locking positioning groove; 13. Insertion locking assembly; 131. Locking positioning element; 132. Locking slot.

[0048] 2. Connector base, 21. Mate cavity, 211. Guide block, 212. Guide groove, 213. Insertion ramp, 214. Locking positioning groove, 215. Bearing, 216. Slide groove, 217. Positioning step, 218. Fixing plate, 219. Countersunk groove, 2191. Second mating connector, 22. Second base plate, 221. Second mating housing, 222. Contact plug, 223. Sealing ring, 2231. Conductive probe, 224. Mating locking assembly, 23. Locking tongue, 231. Helical toothed groove, 2311. Locking drive assembly, 24. Rotary drive element, 241. Drive spindle, 242. Fixing nut, 2421. Turntable, 243. Drive gear, 244.

[0049] Pull out the power assist assembly 3, connecting column 31, power assist pressure ring 32, support plate 321, and power assist spring 33;

[0050] First robot 4, first support 41, first body 42, first driving module 43;

[0051] Second robot 5, second support 51, second body 52, second driving module 53;

[0052] Ratchet connecting mechanism 6, tension element 61, ratchet seat 62, hinge groove 621, pawl 63, hinge shaft 631, tension connecting end 632, ratchet connecting end 633, ratchet seat 64, tooth groove 641, clearance position 642;

[0053] Directional movement mechanism 7, female base plate 71, movable base plate 72, movable guide rail 73, movable tension assembly 74, movable tension spring 741, tension shaft 742. Detailed Implementation

[0054] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0055] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Figures 1-18As shown, in one embodiment of the present invention, a robot docking mechanism is provided, including a docking female seat 1 and a docking head 2. The docking female seat 1 includes a plug sleeve 11, a first docking connector 12, and a plug-in locking assembly 13. The plug sleeve 11 is provided with a plug-in cavity 111. The first docking connector 12 is disposed in the plug-in cavity 111, and the plug-in locking assembly 13 is disposed on the outside of the plug-in cavity 111. The docking head 2 includes a plug 21, a second docking connector 22, a plug-in locking assembly 23, and a locking drive assembly 24. The plug 21 is provided with a mating cavity 211. The second docking connector 22 is disposed in the mating cavity 211. The plug 21 is used to insert into the plug-in cavity 111 so that the first docking connector 12 contacts the second docking connector 22. The locking drive assembly 24 is used to drive the plug-in locking assembly 23 to engage with the plug-in locking assembly 13 to retain the plug 21 in the plug-in cavity 111. This embodiment is used for docking and transmission between two robots, enabling electrical, communication, and power connections. Through the design of the plug-in sleeve 11, plug-in connector 21, docking connector, and plug-in locking assembly 13, this docking mechanism achieves a stable and reliable docking connection, ensuring the safety and stability of the connection between robots or equipment, and is suitable for various industrial scenarios and application environments. The plug-in connector 21 achieves precise mating and contact with the first docking connector 12 and the second docking connector 22 within the plug-in cavity 111, making the robot docking process smoother and more accurate, reducing damage and malfunctions caused by poor docking. The design incorporates a locking drive assembly 24 to drive the plug-in locking assembly 23 to engage with the plug-in locking assembly 13. This design makes the operation and maintenance of the docking mechanism more convenient, improving the operability and maintenance efficiency of the equipment. The engagement of the plug-in locking assembly 13 with the plug-in locking assembly 23 effectively locks the plug-in connector 21, providing an efficient safety guarantee and preventing accidental detachment or loosening during use. This docking mechanism solution is suitable for the docking needs of various robots and automated equipment, and can be flexibly applied to industrial production lines, logistics equipment, and other fields, exhibiting strong versatility and applicability. This embodiment offers several technical advantages, including a robust and reliable docking connection, precise fit and contact, convenient operation and maintenance, efficient safety assurance, and wide applicability, providing a reliable, safe, and efficient solution for the docking of robots and automated equipment.

[0057] See Figure 8As shown, the opening of the insertion sleeve 11 is provided with an expansion portion 112, which expands outward. A guide block 113 is provided on the side of the insertion sleeve 11 near the expansion portion 112. Multiple guide blocks 113 are arranged in a ring around the inner circumference of the insertion sleeve 11. Multiple guide blocks 212 are evenly distributed in a ring around the outer circumference of the insertion connector 21. A guide groove 213 is formed between adjacent guide blocks 212, and the guide groove 213 is used to engage with the guide blocks 113. Specifically, a guide slope 114 is provided on the opposite side of the guide blocks 113 and 212. An insertion slope 214 is provided at the end of the insertion connector 21 facing the insertion sleeve 11. In this embodiment, the design of the expansion portion 112, the guide blocks 113, and the guide blocks 212 enables the insertion connector 21 to achieve a stable connection and positioning within the insertion sleeve 11. The guide groove 213, in conjunction with the guide block 113, effectively ensures precise docking between the connector 21 and the socket 11, thereby improving the strength and stability of the connection. The guide ramps 114 on the guide blocks 212 and 113, and the insertion ramp 214 on the end of the connector 21 facing the socket 11, help reduce errors and friction during docking, making the docking smoother and more precise. The design of the guide blocks 212 and 113 makes the docking process simpler and more intuitive, allowing the robot to quickly and accurately complete the docking action, improving operational efficiency. Due to the annular, evenly distributed design of the guide blocks 212 and 113, the force is evenly distributed during the docking of the connector 21 and the socket 11, helping to reduce wear and improving the durability and stability of the docking mechanism.

[0058] See Figures 7-8 and Figure 11As shown, the first mating connector 12 includes a first substrate 121, a first mating housing 122, a contact groove 123, and a conductive contact pad 124. A sealing ring 1231 is provided on the outer periphery of the contact groove 123. The first mating housing 122 is disposed on the first substrate 121. The contact groove 123 is disposed on the first mating housing 122. The conductive contact pad 124 is disposed on the first substrate 121 and faces the contact groove 123. Specifically, the second docking connector 22 includes a second base plate 221, a second docking housing 222, a contact plug 223, and a conductive probe 224. The second base plate 221 is disposed on one side of the second docking housing 222, the contact plug 223 is disposed on the second docking housing 222, and the conductive probe 224 is disposed inside the contact plug 223. A sealing ring 2231 is disposed on the outer periphery of the contact plug 223. The contact plug 223 is used to fit into the contact groove 123, and the conductive probe 224 is used to contact the conductive contact plate 124. The sealing ring 2231 is used to fit into the sealing ring 1231 to seal the contact plug 223 and the contact groove 123. In this embodiment, the first docking connector 12 and the second docking connector 22 achieve a reliable electrical connection through components such as the contact plug 223 and the conductive probe 224, ensuring the stable transmission of electrical signals during the docking process of the robot, thereby ensuring the electrical connection quality required for the normal operation of the docking robot. The design of the sealing ring 1231 and the sealing pressure ring 2231 effectively seals the contact plug 223 and the contact groove 123, preventing the intrusion of external dust, moisture, and other substances, thus improving the durability and stability of the docking connector. Reliable electrical connection and effective sealing protection contribute to enhancing the stability and reliability of the overall docking mechanism, making the robot docking process smoother and more reliable.

[0059] See Figures 7-11As shown, the plug-in locking assembly 13 includes a locking positioning element 131 and a locking slot 132. The plug-in connector 21 is provided with a locking positioning groove 215. The locking positioning element 131 is used to cooperate with the locking positioning groove 215 to position the plug-in connector 21. The plug-in locking assembly 23 is provided with a locking tongue 231. The locking drive assembly 24 is used to drive the locking tongue 231 to insert into the locking slot 132. Specifically, the locking drive assembly 24 includes a rotary drive element 241, a drive spindle 242, a turntable 243, and a drive gear disc 244. The connector 21 has a cavity, and a bearing 216 is disposed within the cavity. The drive spindle 242 is rotatably mounted on the bearing 216. The rotary drive element 241 drives the drive spindle 242 to rotate. The turntable 243 is disposed at one end of the drive spindle 242. The drive gear disc 244 is disposed on the turntable 243 and is a helical gear disc. One side of the latch 231 has a helical groove 2311, which is used to engage with the drive gear disc 244. The outer side of the connector 21 has a sliding groove 217, and the drive gear disc 244 drives the helical groove 2311 to cause the latch 231 to slide on the sliding groove 217, so that the latch 231 is inserted into the locking slot 132. In this embodiment, the design of the locking positioning element 131 and the locking positioning groove 215, along with the insertion of the locking tongue 231 into the locking slot 132, achieves precise positioning and fixation of the connector 21, ensuring positional accuracy and stability during the docking process. The locking drive assembly 24, through the coordinated design of components such as the rotary drive element 241, drive spindle 242, turntable 243, and drive gear 244, reliably drives the locking tongue 231 into the locking slot 132, effectively locking the connector. Simultaneously, the reverse operation enables rapid release of the connector, improving operational flexibility and convenience. The design of the drive gear 244 and the helical groove 2311 allows the locking tongue 231 to slide on the slide groove 217, enabling the connector to be quickly and smoothly inserted into the locking slot 132, thereby improving the efficiency and stability of the docking process. The arrangement of components such as bearing 216, drive spindle 242, and turntable 243 provides a robust support and rotation structure for the locking drive assembly 24, improving the overall durability and stability. The design of the locking positioning element 131, the locking drive assembly 24, and the cooperation between the slide 217 and the locking slot 132 ensure safety and reliability during the docking process, reducing the risk caused by misoperation or accidents.

[0060] One end of the locking positioning element 131 extends into the insertion cavity 111. When the connector 21 is inserted into the insertion cavity 111, the locking positioning element 131 is pressed outward to apply a pre-tightening force to the connector 21 until it is engaged with the locking positioning groove 215. After the locking positioning groove 215 engages with the locking positioning element 131, there will be no separation phenomenon after docking with the robot, making the docking more stable and reliable.

[0061] Furthermore, the locking positioning element 131 is a ball-head plunger, and there are multiple of them. They can apply pre-tightening force to the connector in multiple directions, thereby achieving higher structural positioning accuracy and better stability during insertion. The robot-controlled docking mechanism collides with the ball-head plunger to play a pre-fixing role, preventing the robot from separating again.

[0062] A positioning step 218 is provided on the outer side of the cavity, and a positioning ring is installed on the positioning step 218. The positioning ring is used to fix the end face of the bearing 216 in the cavity. A fixing nut 2421 is provided at one end of the drive spindle 242, and the fixing nut 2421 is used to lock one end of the spindle onto the bearing 216. In this embodiment, the design of the positioning step 218 and the positioning ring ensures that the end face of the bearing 216 is accurately fixed and positioned in the cavity, thereby ensuring the stability and reliability of the bearing 216. The setting of the fixing nut 2421 can lock one end of the spindle onto the bearing 216, so that the bearing 216 is effectively fixed and avoids loosening or instability during operation. Through the above design, the bearing 216 in the overall structure is accurately positioned and firmly fixed, which helps to improve the overall stability and reliability of the docking mechanism.

[0063] The system also includes a pull-out assist component 3. One end of the connector 21 is provided with a fixing plate 219. The pull-out assist component 3 includes a connecting post 31, an assist pressure ring 32, and an assist spring 33. One end of the connecting post 31 is mounted on the fixing plate 219. The assist pressure ring 32 is slidably mounted on the connecting post 31. The assist spring 33 is mounted on the connecting post 31 and is used to apply pressure to the pressure ring 32. The assist pressure ring 32 is provided with a support plate 321, one end of which is used to abut against the end face of the insertion sleeve 11. Specifically, the fixing plate 219 has a recess 2191 near the outer periphery of the connector 21. After the connector 21 is inserted into the insertion cavity 111, the end face of the insertion sleeve 11 is used to press the support plate 321 into the recess 2191. In this embodiment, the design of the pull-out assist component 3 can provide additional assistance when the connector 21 needs to be pulled out, making the insertion and removal operation easier and smoother. The pressure applied by the assist spring 33 and the design of the assist ring 32 help to reduce obstruction during robot pull-out. Through the design of components such as the fixed plate 219, connecting post 31, assist ring 32, and support plate 321, the support plate 321 can be pressed into the recess 2191 after the connector 21 is inserted into the insertion cavity 111, thereby achieving contact between the support plate 321 and the end face of the insertion sleeve 11, providing the pulling force. The design of the assist spring 33 and assist ring 32 reduces the floating effect of the robot when pulling out the docking mechanism, reducing friction.

[0064] See Figures 13-17As shown, it also includes a ratchet connecting mechanism 6, which includes a tension element 61, a ratchet seat 62, a pawl 63, and a ratchet tooth seat 64. The wall surface of the insertion sleeve 11 is provided with a ratchet groove 115, which extends into the insertion cavity 111. The ratchet seat 62 is disposed within the ratchet groove 115 and has a hinge groove 621 for hinged engagement of the pawl 63. One end of the tension element 61 is connected to the pawl 63 to provide hinged tension to the pawl 63. The ratchet tooth seat 64 is disposed on the insertion connector 21 and has a toothed groove 641 to engage with the pawl 63. This embodiment serves as a locking mechanism during the connection of the mating female and the mating connector. When the connector 21 is inserted into the insertion cavity 111, the pawl 63 engages with the ratchet groove 115, preventing the connector 21 from moving backward until it is fully inserted. Only then is the pawl 63 pulled back to its original position by the pulling element 61, allowing it to retract and release. This improves stability during ratchet mating and prevents backward movement, solving the problem of easy backward movement during existing mating processes. By inserting the connector 21 into the insertion cavity 111 of the insertion sleeve 11, a reliable conductive connection between the head connector assembly and the female connector assembly is achieved, ensuring connector stability and reliable electrical transmission. The ratchet connection mechanism 6, through the design of the ratchet seat 62, pawl 63, and ratchet tooth seat 64, enables flexible insertion, removal, and fixation of the connector, making connection operations more convenient and reliable. The connector uses a connection method between the pulling element 61 and the pawl 63, providing stable hinge tension, thereby enhancing the connector's durability and stability and extending its service life. The connector has a robust structure, making it less prone to loosening or disconnection during insertion and removal, which helps ensure the safe use of the connector and reduces the risk of accidental disconnection.

[0065] The insert sleeve 11 is provided with a connecting platform 116, and the connecting platform 116 is provided with a connecting element 117. One end of the tension element 61 is connected to the connecting element 117, and the other end is connected to the pawl 63. In this embodiment, the connecting platform 116 is used to cooperate with the installation and connection of the female base plate, and the structure is easy to assemble. The design of the connecting element 117 facilitates the connection and fixation of the tension element 61. In this embodiment, the tension element 61 is used as a shaft-shaped structural component or a screw, the purpose of which is to fix both ends of the tension spring and ensure the tension stability of the pawl 63 during the hinged movement.

[0066] The tension element 61 is a tension spring. The wall of the hinge groove 621 is provided with a hinge positioning groove. Hinge shafts 631 are provided on both sides of the pawl 63, with one end of each hinge shaft 631 extending into the hinge positioning groove. The pawl 63 includes a tension connecting end 632 and a ratchet connecting end 633. The hinge shaft 631 is positioned between the tension connecting end 632 and the ratchet connecting end 633. The tension connecting end 632 connects to the tension element 61, and the ratchet connecting end 633 engages with the toothed groove 641. In this embodiment, the design of the hinge shaft 631 and the hinge positioning groove achieves a stable hinged connection between the pawl 63 and the ratchet connecting end 633, ensuring the reliability and stability of the connection. The tension spring connected to the tension connecting end 632 of the pawl 63 provides stable tension transmission, ensuring stable movement and force transmission of the pawl 63 during operation. Stable articulated connections and tension transmission design help enhance the overall reliability and stability of the connector, ensuring stable connection and transmission quality during long-term use.

[0067] An angle is formed between the tension connection end 632 and the ratchet connection end 633. In this embodiment, a relatively large angle structure is formed so that the ratchet teeth of the mating groove 641 can be formed under the cooperation of the hinge structure and the tension element 61.

[0068] The connector 21 is provided with a ratchet mounting groove, and the ratchet seat 64 is disposed in the ratchet mounting groove. The ratchet seat 64 is provided with a clearance position 642 on one side of the tooth groove 641. In this embodiment, multiple tooth grooves 641 are continuously arranged along the axial direction of the connector 21. The clearance position 642 is used to keep the pawl 63 in a state that does not move backward after it is inserted. When it is inserted into the designated position, it enters the clearance groove. When it needs to be pulled out, it can move backward under the action of the pulling element 61.

[0069] See Figure 18As shown, the directional movement mechanism 7 is disposed on one side of the docking female base 1 and is used to provide directional floating force to the docking female base 1. The directional movement mechanism 7 includes a female base plate 71, a movable base plate 72, a movable guide rail 73, and a movable tension assembly 74. One side of the female base plate 71 is connected to the docking female base 1. The movable base plate 72 is connected to the female base plate 71 through the movable guide rail 73. The movable tension assembly 74 includes a movable tension spring 741. Two tension shafts 742 are provided at both ends of the movable tension spring 741, and the two tension shafts 742 are respectively connected to the movable base plate 72 and the female base plate 71. Two sets of movable tension assemblies 74 are provided, and the two sets of movable tension assemblies 74 are respectively disposed on both sides of the movable base plate 72. In this embodiment, the directional movement mechanism 7 is disposed on the female base plate 71, which can provide directional floating force to the female base plate 71, so that the connector can more flexibly adapt to the insertion operation in different directions during the connection process, thereby improving the applicability and flexibility of the connector. The connection between the movable base plate 72 and the movable guide rail 73 ensures a stable connection between the directional movement mechanism 7 and the female base plate 71, guaranteeing the stability and reliability of the connector during use. The movable tension assembly 74 uses a movable tension spring 741, connected to the movable base plate 72 and the female base plate 71 via a tension shaft 742, providing stable tension transmission and ensuring stable movement and force transmission of the directional movement mechanism 7. The design of the directional movement mechanism 7 allows the connector to better adapt to various insertion requirements at different angles and directions, improving the connector's versatility and adaptability. Specifically, the movable tension assembly 74 has two sets, with the tension shafts 742 in opposite positions (one side has two tension shafts 742 on the movable base plate 72 and the female base plate 71, and the other side has two tension shafts 742 on the female base plate 71 and the movable base plate 72). This generates opposing tension on both sides, keeping the female base plate 71 centered and allowing it to slide along the movable guide rail 73 when floating is required.

[0070] The directional movable mechanism 7 is provided in two sets, and the moving track directions of the two sets of directional movable mechanisms 7 are arranged in a cross shape. In this embodiment, a two-set design is adopted, and the cross-shaped distribution allows it to float along the cross direction, resulting in better stability during connector docking.

[0071] like Figures 1-12As shown, a docking robot includes the aforementioned robot docking mechanism. The docking robot includes a first robot 4 and a second robot 5. A first support 41 is provided at one end of the first robot 4, and a docking female seat 1 is disposed within the first support 41. A second support 51 is provided at one end of the second robot 5, and a docking connector 2 is disposed on the second support 51. The first robot 4 has a first body 42, and first travel modules 43 are provided on both sides of the first body 42. The first support 41 is disposed on the first body 42. The second robot 5 has a second body 52, and second travel modules 53 are provided on both sides of the second body 52. ​​The second support 51 is disposed on the second body 52. ​​This embodiment, by placing the docking female seat 1 within the first support 41 and the docking connector 2 on the second support 51, combined with the aforementioned stable and reliable docking mechanism, achieves a smooth and secure docking connection between the docking robots, ensuring the stability and safety of the robots during joint operations. The first travel module 43 of the first robot 4 and the second travel module 53 of the second robot 5 cooperate with each other, enabling the two robots to move collaboratively in different directions, thereby improving overall flexibility and working range. The design of the first body 42, the arrangement of the first travel module 43, and the installation of the first support 41, as well as the arrangement of the second body 52, the second travel module 53, and the second support 51, makes the entire docking robot structure compact, which is beneficial for operation and application in confined spaces. The tight and reliable docking connection between the two robots allows for efficient transmission of electrical and communication data, enabling collaborative operation and improving production efficiency and work quality. This invention possesses multiple technical advantages, including a stable and robust docking connection, multi-dimensional motion coordination, a compact overall structure, efficient collaborative operation, and ease of maintenance and management, providing a reliable and efficient solution for robots in collaborative operation and joint motion.

[0072] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A robot docking mechanism, characterized in that: include A female connector, comprising a plug sleeve, a first mating connector, and a plug-in locking assembly, wherein the plug sleeve has a plug-in cavity, the first mating connector is disposed within the plug-in cavity, and the plug-in locking assembly is disposed outside the plug-in cavity; and The connector base includes a plug, a second mating connector, a mating locking assembly, and a locking drive assembly. The plug is provided with a mating cavity, and the second mating connector is disposed in the mating cavity. The plug is used to be inserted into the plugging cavity so that the first mating connector and the second mating connector come into contact. The locking drive assembly is used to drive the mating locking assembly to cooperate with the plug-in locking assembly to keep the plug in the plug cavity; The first mating connector includes a first substrate, a first mating shell, a contact groove, and a conductive contact pad. A sealing ring is provided on the outer periphery of the contact groove. The first mating shell is disposed on the first substrate. The contact groove is disposed on the first mating shell. The conductive contact pad is disposed on the first substrate and faces the contact groove. The second mating connector includes a second substrate, a second mating housing, a contact plug, and a conductive probe. The second substrate is disposed on one side of the second mating housing, the contact plug is disposed on the second mating housing, and the conductive probe is disposed inside the contact plug. A sealing ring is disposed on the outer periphery of the contact plug. The contact plug is used to fit into a contact groove, and the conductive probe is used to contact a conductive contact pad. The sealing ring is used to fit into a sealing ring to seal the contact plug and the contact groove. The plug-in locking assembly includes a locking positioning element and a locking slot. The plug is provided with a locking positioning groove, and the locking positioning element is used to cooperate with the locking positioning groove to position the plug. The plug-in locking assembly is provided with a locking tongue, and the locking drive assembly is used to drive the locking tongue to insert into the locking slot. The locking drive assembly includes a rotary drive element, a drive spindle, a turntable, and a drive gear plate. The connector has a cavity containing a bearing. The drive spindle is rotatably mounted on the bearing. The rotary drive element drives the drive spindle to rotate. The turntable is located at one end of the drive spindle. The drive gear plate is mounted on the turntable and is a helical gear plate. One side of the latch has a helical groove that engages with the drive gear plate. The outer side of the connector has a sliding groove. The drive gear plate drives the helical groove to slide the latch on the sliding groove, allowing the latch to insert into the locking slot.

2. The robot docking mechanism according to claim 1, characterized in that: The opening of the plug sleeve is provided with an expansion portion, which expands outward. A guide block is provided on the side of the plug sleeve near the expansion portion. Multiple guide blocks are provided and are evenly distributed in a ring around the inner circumference of the plug sleeve. Multiple guide blocks are evenly distributed in a ring around the outer circumference of the plug connector. A guide groove is formed between two adjacent guide blocks and is used to cooperate with the guide block.

3. The robot docking mechanism according to claim 2, characterized in that: The inlet block and the guide block each have a guide slope on their opposite sides; the end of the plug facing the plug sleeve has an insertion slope.

4. The robot docking mechanism according to claim 1, characterized in that: One end of the locking positioning element extends into the insertion cavity. When the insertion connector is inserted into the insertion cavity, the locking positioning element is squeezed outward to apply a pre-tightening force to the insertion connector until it fits into the locking positioning groove.

5. The robot docking mechanism according to claim 1, characterized in that: A positioning step is provided on the outer side of the cavity, and a positioning ring is installed on the positioning step. The positioning ring is used to fix the end face of the bearing in the cavity. A fixing nut is provided at one end of the drive spindle, and the fixing nut is used to lock one end of the spindle onto the bearing.

6. The robot docking mechanism according to claim 1, characterized in that: It also includes a pull-out assist assembly. One end of the connector is provided with a fixed plate. The pull-out assist assembly includes a connecting post, an assist pressure ring, and an assist spring. One end of the connecting post is provided on the fixed plate. The assist pressure ring is slidably provided on the connecting post. The assist spring is provided on the connecting post and is used to assist the pressure ring in applying pressure. The assist pressure ring is provided with a support plate. One end of the support plate is used to abut against the end face of the plug sleeve.

7. The robot docking mechanism according to claim 1, characterized in that: It also includes a ratchet connection mechanism, which includes a tension element, a ratchet seat, a pawl, and a ratchet tooth seat. The wall of the insertion sleeve is provided with a ratchet groove that extends into the insertion cavity. The ratchet seat is disposed in the ratchet groove and is provided with a hinge groove for hinged pawl. One end of the tension element is connected to the pawl to provide hinged tension to the pawl. The ratchet tooth seat is disposed on the insertion connector and is provided with tooth grooves to engage with the pawl.

8. The robot docking mechanism according to claim 7, characterized in that: The insert sleeve is provided with a connecting platform, the connecting platform is provided with a connecting element, one end of the tension element is connected to the connecting element, and the other end is connected to the pawl.

9. The robot docking mechanism according to claim 7, characterized in that: The tension element is a tension spring, the wall of the hinge groove is provided with a hinge positioning groove, the two sides of the pawl are provided with hinge shafts, one end of the hinge shaft extends into the hinge positioning groove; the pawl includes a tension connecting end and a ratchet connecting end, the hinge shaft is disposed between the tension connecting end and the ratchet connecting end, the tension connecting end is used to connect the tension element, and the ratchet connecting end is used to engage with the tooth groove.

10. The robot docking mechanism according to claim 9, characterized in that: An angle is formed between the tension connection end and the ratchet connection end.

11. The robot docking mechanism according to claim 7, characterized in that: The connector is provided with a ratchet mounting groove, the ratchet seat is disposed in the ratchet mounting groove, and the ratchet seat is provided with a clearance position on one side of the groove.

12. The robot docking mechanism according to claim 1, characterized in that: It also includes a directional movement mechanism, which is disposed on one side of the docking female and is used to provide directional floating force to the docking female.

13. The robot docking mechanism according to claim 12, characterized in that: The directional movement mechanism includes a female base plate, a movable base plate, a movable guide rail, and a movable tension assembly. One side of the female base plate is connected to the mating female base. The movable base plate is connected to the female base plate via the movable guide rail. The movable tension assembly includes a movable tension spring, with two tension shafts at both ends of the movable tension spring. The two tension shafts are respectively connected to the movable base plate and the female base plate. Two sets of movable tension assemblies are provided, with the two sets of movable tension assemblies respectively located on both sides of the movable base plate. The directional movement mechanism is provided in two sets, and the movement track directions of the two sets of directional movement mechanisms are distributed in a cross shape.

14. A docking robot, characterized in that: The system includes the robot docking mechanism according to any one of claims 1 to 13; the docking robot includes a first robot and a second robot; one end of the first robot is provided with a first bracket, and the docking female seat is provided inside the first bracket; one end of the second robot is provided with a second bracket, and the docking joint seat is provided on the second bracket; the first robot is provided with a first body, and first driving modules are provided on both sides of the first body, and the first bracket is provided on the first body; the second robot is provided with a second body, and second driving modules are provided on both sides of the second body, and the second bracket is provided on the second body.

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