Service robot

Abstract

The invention provides a service robot which comprises a universal base, a function module and a floating quick-plug connector, the floating quick-plug connector comprises a connector male end and a connector female end which can be mutually plugged, one of the connector male end and the connector female end is arranged on one of the universal base and the function module in a floating mode, and the function module is arranged on the universal base. The other one of the connector male end and the connector female end is fixedly arranged on the other one of the universal base and the functional module, the plugging direction of the connector male end and the connector female end is a first direction, and the relative floating direction of the connector male end and the connector female end is perpendicular to the first direction. According to the service robot provided by the invention, when the service robot encounters a larger threshold or groove, the functional module may generate vibration displacement relative to the universal base, and the connector male end can float relative to the connector female end to adjust the relative position, so that the conductive pin and the conductive jack can always keep close contact; and the situation that the signal is disconnected when the robot vibrates is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and more specifically, relates to a service robot. Background Art

[0002] Artificial intelligence technology is widely applied in various fields of daily life, and various service robots play an increasingly important role in all walks of life. For example, delivery robots are gradually playing an important role in fields such as express delivery, restaurant delivery, hotel delivery, and vending; for example, cleaning robots can perform functions such as vacuuming, dust mopping, floor washing, floor mopping, and polishing in scenarios such as restaurants, hotels, and squares; for example, inspection robots are widely used in fields such as daily security inspection, power inspection, and logistics transportation. Therefore, there has also emerged a robot integrated service solution, which uses a general chassis to adapt to multiple functional modules, thereby realizing a service robot with multiple functions. However, due to vibrations with different frequencies and accelerations during the movement of the robot, there are assembly tolerances in the size and assembly between the functional module and the robot. Therefore, conventionally, conductive elastic sheets are used in combination with a guiding structure to provide power and control signals for the functional module.

[0003] Adopting the conventional conductive elastic sheet solution has the following disadvantages: signal transmission instantaneous interruption problem. When the robot is moving, if it encounters a large threshold or groove, the contact of a single elastic sheet may vibrate, resulting in the signal instantaneous interruption time exceeding 1 us, causing the functional module to malfunction due to power or signal disconnection. Therefore, a multi-elastic sheet solution in different directions needs to be adopted to avoid risks, but this will increase the wiring difficulty and limit the structural design. Summary of the Invention

[0004] The purpose of the embodiment of the present invention is to provide a service robot to solve the technical problem in the prior art that the signal is easily disconnected during vibration caused by the use of conductive elastic sheets.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: providing a service robot, including a general base, a functional module, and a floating quick-connect connector. The floating quick-connect connector includes a male connector and a female connector that can be inserted into each other. One of the male connector and the female connector is floatingly arranged on one of the general base and the functional module, and the other of the male connector and the female connector is fixedly arranged on the other of the general base and the functional module. The male connector includes conductive pins, and the female connector has conductive jacks that cooperate with the conductive pins. The insertion direction of the male connector and the female connector is the first direction, and the relative floating direction of the male connector and the female connector is perpendicular to the first direction.

[0006] Optionally, the male connector is floatingly arranged on the general base, the female connector is fixed to the functional module, and the male connector includes a male connector seat floatingly arranged on the general base, the conductive pins fixed to the male connector seat, and a connecting member for connecting the male connector and the general base.

[0007] Optionally, the male connector seat is provided with a first connection hole, the general base is provided with a second connection hole, the connecting member includes a screw, the screw passes through the first connection hole and is threadedly connected to the second connection hole, and the inner diameter of the first connection hole is larger than the major diameter of the screw.

[0008] Optionally, the male connector further includes a floating seat, the floating seat includes a cylindrical portion and two first skirt portions, the two first skirt portions are respectively radially outwardly extended from both ends of the cylindrical portion, the cylindrical portion is located inside the first connection hole, and the first skirt portion abuts against the surface of the male connector seat at the periphery of the first connection hole; the screw passes through the cylindrical portion, and there is a gap between the outer peripheral wall of the cylindrical portion and the inner peripheral wall of the first connection hole.

[0009] Optionally, an inlay sleeve is fixed to the inner peripheral wall of the first connection hole, the cylindrical portion is located inside the inlay sleeve, and there is a gap between the inlay sleeve and the cylindrical portion.

[0010] Optionally, the gap between the inner peripheral wall of the inlay sleeve and the outer peripheral wall of the cylindrical portion is 0.15 mm to 0.2 mm.

[0011] Optionally, second skirt portions are respectively radially outwardly extended from both axial ends of the inlay sleeve, a sink is provided at the periphery of the first connection hole of the male connector seat, the second skirt portions are located in the sink, and the side of the second skirt portion facing away from the sink is flush with the surface of the male connector seat.

[0012] Optionally, one of the male connector and the female connector is provided with a guide post, and the other is provided with a guide hole.

[0013] Optionally, a torsion spring for contacting and conducting with the conductive pin is provided on the circumferential inner wall of the conductive jack.

[0014] Optionally, the service robot further includes a guide rail structure, the guide rail structure includes a mutually cooperating guide depression and a guide protrusion, the cross-section of the guide protrusion gradually increases from its top to its root, the guide depression is located in one of the general base and the functional module, and the guide protrusion is located in the other of the general base and the functional module.

[0015] The beneficial effects of the service robot provided by the present invention are as follows: Compared with the prior art, the service robot of the present invention includes a general base, a functional module, and a floating connector. One of the male connector end and the female connector end is floatingly arranged, and the other is fixedly arranged. Since the male connector end can float relative to the female connector end, when the service robot encounters a relatively large threshold or groove, the functional module may vibrate and displace relative to the general base. The male connector end can float relative to the female connector end to adjust the relative position, so that the conductive pins and the conductive sockets can always maintain close contact, so as to avoid signal disconnection when the robot vibrates, and ensure the stable connection between the general base and the functional module. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 Partial perspective view of the service robot provided by the embodiment of the present invention;

[0018] Figure 2 Side view of the service robot provided by the embodiment of the present invention;

[0019] Figure 3 Exploded structure diagram of the male connector end provided by the embodiment of the present invention;

[0020] Figure 4 Cross-sectional view of the male connector end provided by the embodiment of the present invention;

[0021] Figure 5 Stereo structure diagram of the male connector base provided by the embodiment of the present invention;

[0022] Figure 6 Stereo structure diagram of the female connector end provided by the embodiment of the present invention;

[0023] Figure 7 Schematic diagram of the mating structure of the conductive pins and the conductive sockets provided by the embodiment of the present invention.

[0024] Among them, the reference numerals in the drawings are as follows:

[0025] 10 - Universal base; 20 - Functional module; 30 - Floating quick - connect connector; 31 - Male connector; 311 - Male connector housing; 3110 - First connection hole; 3111 - Counterbore; 312 - Conductive pin; 313 - First conductive contact; 314 - Floating seat; 3141 - Cylindrical part; 3142 - First skirt part; 315 - Insert sleeve; 3151 - Second skirt part; 316 - Connecting piece; 317 - Guide post; 32 - Female connector; 321 - Conductive socket; 322 - Second conductive contact; 323 - Guide hole; 324 - Torsion spring. Detailed implementation mode

[0026] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0029] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0030] Artificial intelligence technology is widely applied in various fields of daily life, and various service robots are playing an increasingly important role in all walks of life. For example, delivery robots are gradually playing an important role in fields such as express delivery, restaurant delivery, hotel delivery, and vending; for example, cleaning robots can perform functions such as vacuuming, dust mopping, floor washing, floor mopping, and polishing in scenarios such as restaurants, hotels, and squares; for example, inspection robots are widely used in fields such as daily security inspections, power inspections, and logistics transportation. Therefore, a robot integrated service solution has emerged, which uses a general chassis to adapt to multiple functional modules, thereby realizing service robots with multiple functions. However, due to vibrations of different frequencies and accelerations during the movement of the robot, there are assembly tolerances in the dimensions and assembly between the functional modules and the robot. Therefore, conventional methods usually use conductive elastomers in combination with guiding structures to provide power and control signals for the functional modules.

[0031] Adopting the conventional conductive elastomer solution has the following disadvantages: signal transmission instantaneous interruption problem. When the robot is moving, if it encounters a large threshold or groove, the contacts of a single elastomer may experience signal instantaneous interruption for more than 1 us due to vibration, resulting in functional failure of the functional module due to power or signal disconnection. Therefore, a multi-elastomer solution in different directions needs to be adopted to avoid risks, but this will increase the wiring difficulty and limit the structural design.

[0032] To solve the above technical problems, the present invention proposes a service robot, including a general base 10, a functional module 20, and a floating quick connector 30. The floating quick connector 30 includes a male connector 31 and a female connector 32 that are inserted into each other. The male connector 31 or the female connector 32 is floatingly arranged. Then, when the service robot encounters a threshold, groove, etc. that cause it to vibrate, the floating male connector 31 or female connector 32 can adjust its position to always keep the male connector 31 and the female connector 32 inserted into each other, so as to avoid signal disconnection when the robot vibrates and ensure the stable connection between the general base 10 and the functional module 20.

[0033] Now, the service robot provided by the embodiments of the present invention will be described.

[0034] Please refer to Figures 1 to 3, the service robot includes a general base 10, a functional module 20, and a floating quick-connect connector 30. The floating quick-connect connector 30 includes a male connector 31 and a female connector 32 that can be plugged into each other. One of the male connector 31 and the female connector 32 is floatingly disposed on one of the general base 10 and the functional module 20, and the other of the male connector 31 and the female connector 32 is fixedly disposed on the other of the general base 10 and the functional module 20. The male connector 31 includes a conductive pin 312, and the female connector 32 has a conductive socket 321 that cooperates with the conductive pin 312. The plugging direction of the male connector 31 and the female connector 32 is the first direction, and the relative floating direction of the male connector 31 and the female connector 32 is perpendicular to the first direction.

[0035] Different types of service robots can use the same general base 10. By designing different functional modules 20 and electrically connecting the functional module 20 to the general base 10, different types of service robots can be formed, which can reduce the design cost and material cost.

[0036] The general base 10 generally has functions such as walking, scanning maps, and positioning, and the general base 10 can be used in combination with different functional modules 20. The general base 10 is generally disposed at the bottom of the functional module 20 and needs to form a structural and electrical connection and conduction with the functional module 20.

[0037] The functional module 20 can integrate different functions, such as vacuuming function, floor washing function, inspection function, food delivery function, etc., and then cooperate with the general base 10 to form different types of service robots.

[0038] The floating quick-connect connector 30 includes a male connector 31 and a female connector 32. The male connector 31 has conductive pins 312, and the female connector 32 has conductive sockets 321. When the male connector 31 and the female connector 32 are plugged into each other, when the conductive pins 312 are inserted into the conductive sockets 321, the electrical connection between the two is achieved. Among them, the plugging direction of the male connector 31 and the female connector 32 is the first direction. One of the male connector 31 and the female connector 32 is floatingly arranged on one of the general base 10 and the functional module 20, and the other of the male connector 31 and the female connector 32 is fixedly arranged on the other of the general base 10 and the functional module 20. Specifically, the following situations are included: The male connector 31 is floatingly arranged on the general base 10, and the male connector 31 is electrically connected to the general base 10. The female connector 32 is fixedly arranged on the functional module 20, and the female connector 32 is electrically connected to the functional module 20; or, the male connector 31 is floatingly arranged on the functional module 20, and the male connector 31 is electrically connected to the functional module 20. The female connector 32 is fixedly arranged on the general base 10, and the female connector 32 is electrically connected to the general base 10; or, the male connector 31 is fixedly arranged on the general base 10, and the male connector 31 is electrically connected to the general base 10. The female connector 32 is floatingly arranged on the functional module 20, and the female connector 32 is electrically connected to the functional module 20; or, the male connector 31 is fixedly arranged on the functional module 20, and the male connector 31 is electrically connected to the functional module 20. The female connector 32 is floatingly arranged on the general module, and the female connector 32 is electrically connected to the general module.

[0039] If both the female connector 32 and the male connector 31 are fixed to the corresponding general base 10 or functional module 20, when the service robot is in a vibration condition, the male connector 31 and the female connector 32 may be misaligned with each other, and even cause impact damage. By setting the female connector 32 or the male connector 31 as a floating structure, and the floating direction of the female connector 32 or the male connector 31 is perpendicular to the first direction, so that when the service robot is in a vibration condition, the male connector 31 can move relative to the female connector 32, and the position between the two can be adjusted according to the influence of the vibration. The conductive pins 312 and the conductive sockets 321 always remain in a conducting state, and the male connector 31 and the female connector 32 will not be damaged.

[0040] The service robot in the above embodiments includes a general base 10, a functional module 20, and a floating connector. One of the male connector 31 and the female connector 32 is floatingly arranged, and the other is fixedly arranged. Since the male connector 31 can float relative to the female connector 32, when the service robot encounters a relatively large threshold or groove, the functional module 20 may vibrate and displace relative to the general base 10. The male connector 31 can float relative to the female connector 32 to adjust the relative position, so that the conductive pins 312 and the conductive sockets 321 can always maintain close contact, so as to avoid signal disconnection when the robot vibrates, and ensure the stable connection between the general base 10 and the functional module 20.

[0041] In some embodiments of the present invention, please refer to Figure 3 and Figure 4 , the male connector 31 is floatingly arranged on the general base 10, the female connector 32 is fixed to the functional module 20. The male connector 31 includes a male connector base 311 floatingly arranged on the general base 10, a conductive pin 312 fixed to the male connector base 311, and a connecting member 316 for connecting the male connector 31 and the general base 10. The male connector 31 is electrically connected to the general base 10, and the female connector 32 is electrically connected to the functional module 20. The male connector base 311 is the basic structure of the male connector 31, and the conductive pins 312 and the like are arranged on the male connector base 311. The male connector base 311 can move relative to the general base 10 in a direction perpendicular to the first direction, so that the entire male connector 31 can move relative to the general base 10 in a direction perpendicular to the first direction. The connecting member 316 is used to floatingly connect the male connector 31 to the general base 10, so that the male connector 31 can float relative to the general base 10.

[0042] Through the arrangement of the connecting member 316, the male connector 31 is floatingly arranged on the general base 10. When the functional module 20 and the general base 10 have relative displacement, under the limiting action of the female connector 32 on the male connector 31, the male connector 31 displaces relative to the general base 10, and then the male connector 31 and the female connector 32 can always maintain a stable plugging state.

[0043] In some embodiments of the present invention, please refer to Figures 3 to 5, the male connector seat 311 is provided with a first connection hole 3110, the general base 10 is provided with a second connection hole, the connecting member 316 includes a screw, the screw passes through the first connection hole 3110 and is threadedly connected to the second connection hole, and the inner diameter of the first connection hole 3110 is larger than the major diameter of the screw. The first connection hole 3110 penetrates through the male connector seat 311, the first connection hole 3110 is a through hole, the second connection hole is a threaded hole, and the screw passes through the first connection hole 3110 and is connected to the second connection hole; if the inner diameter of the first connection hole 3110 is adapted to the major diameter of the screw, the male connector seat 311 and the general base 10 are fixedly connected, and in the first direction and the direction perpendicular to the first direction, the male connector seat 311 cannot move; if the inner diameter of the first connection hole 3110 is larger than the major diameter of the screw, there is a gap between the inner wall of the first connection hole 3110 and the outer peripheral wall of the screw, and the screw can move in the direction perpendicular to the first direction. It can be understood that the male connector seat 311 can move relative to the general base 10 in the radial direction of the first connection hole 3110 to adjust the position of the male connector seat 311.

[0044] The male connector seat 311 is installed on the general base 10 through screws. The connection structure is simple, low-cost, and easy to assemble. Moreover, the inner diameter of the first connection hole 3110 on the male connector seat 311 is larger than the outer diameter of the screw, so that the male connector seat 311 can move relative to the general base 10 in the radial direction of the first connection hole 3110 to adjust the position of the male connector seat 311, realizing the floating setting of the male connector seat 311 on the general base 10.

[0045] Wherein, the screw includes a head and a rod part connected to each other, and the thread is arranged on the rod part. When the screw is installed on the male connector seat 311, the head of the screw abuts against the side of the male connector seat 311 away from the general base 10.

[0046] In some embodiments, please refer to Figures 3 to 5 , the number of the connecting members 316 is multiple. Correspondingly, the number of the first connection holes 3110 and the second connection holes is also multiple. The number of the connecting members 316, the first connection holes 3110 and the second connection holes is the same, which can stably install the male connector seat 311 on the general base 10.

[0047] Optionally, the number of the connecting members 316 is four, and the number of the first connection holes 3110 and the second connection holes is also four. The first connection holes 3110 are respectively arranged at the four corners of the male connector seat 311.

[0048] In some embodiments of the present invention, please refer to Figure 3 and Figure 4, the male connector end 31 further includes a floating seat 314. The floating seat 314 includes a cylindrical portion 3141 and two first skirt portions 3142. The two first skirt portions 3142 extend radially outward from both ends of the cylindrical portion 3141 respectively. The cylindrical portion 3141 is located inside the first connection hole 3110, and the first skirt portion 3142 abuts against the surface of the male connector base 311 around the first connection hole 3110. The screw is arranged through the cylindrical portion 3141, and there is a gap between the outer peripheral wall of the cylindrical portion 3141 and the inner peripheral wall of the first connection hole 3110. The two first skirt portions 3142 are respectively connected to the opposite ends of the cylindrical portion 3141 in the axial direction, and the first skirt portion 3142 extends radially outward along the cylindrical portion 3141. The first skirt portion 3142 abuts against the surface of the male connector end 31 around the first connection hole 3110, and the surface of the male connector base 311 around the first connection hole 3110 is located on the side of the male connector end 31 away from and facing the general base 10. One of the first skirt portions 3142 is located on the side of the male connector end 31 away from the general base 10, and the other first skirt portion 3142 is located on the side of the male connector end 31 facing away from the general base 10. After the floating seat 314 is installed on the male connector base 311, the floating seat 314 is located between the inner peripheral wall of the first connection hole 3110 and the outer peripheral wall of the screw. The screw, the floating seat 314 and the general base 10 remain relatively stationary, and when the service robot is in a vibration condition, the male connector base 311 can move relative to the general base 10.

[0049] Through the arrangement of the floating seat 314, the screw and the first connection hole 3110 can be isolated, avoiding the collision between the screw and the inner wall of the first connection hole 3110, and protecting the screw. Moreover, both ends of the floating seat 314 have the first skirt portions 3142, and the first skirt portions 3142 abut against the surface of the male connector base 311, making the movement of the male connector base 311 relative to the floating seat 314 smoother.

[0050] In some embodiments, the size of the cylindrical portion 3141 of the floating seat 314 matches the size of the screw, so that after the screw passes through the cylindrical portion 3141, the cylindrical portion 3141 and the screw are relatively fixed. For example, the inner diameter of the cylindrical portion 3141 is smaller than the major diameter of the screw, and the two are arranged in an interference fit. When the screw passes through the cylindrical portion 3141, it is equivalent to tapping the cylindrical portion 3141 to achieve the relative fixation of the screw and the floating seat 314.

[0051] In some embodiments, the gap between the outer peripheral wall of the cylindrical portion 3141 and the inner peripheral wall of the first connection hole 3110 is 0.15 mm to 0.2 mm. When the gap is too small, the floating distance of the male connector housing 311 is limited, and it cannot be ensured that the male connector terminal 31 and the female connector terminal 32 are always conducting; when the gap is too large, the locking force of the connecting member 316 on the male connector housing 311 is reduced, and even under non-vibrating working conditions, the male connector terminal 31 is prone to slip.

[0052] In some embodiments of the present invention, please refer to Figure 3 and Figure 4 , an insert sleeve 315 is fixed to the inner peripheral wall of the first connection hole 3110, the cylindrical portion 3141 is located inside the insert sleeve 315, and there is a gap between the insert sleeve 315 and the cylindrical portion 3141. The insert sleeve 315 is fixedly connected to the male connector housing 311, and when the male connector housing 311 floats, the insert sleeve 315 moves synchronously. Since there is a gap between the insert sleeve 315 and the cylindrical portion 3141, the male connector housing 311 and the insert sleeve 315 can move relative to the common base 10.

[0053] By providing the insert sleeve 315, the first connection hole 3110 and the cylindrical portion 3141 can be isolated to prevent the cylindrical portion 3141 from colliding with the first connection hole 3110, thereby protecting the first connection hole 3110.

[0054] In some embodiments, the insert sleeve 315 has a soft structure, and when the cylindrical portion 3141 collides with the insert sleeve 315, the impact can be alleviated to prevent damage to the male connector terminal 31 and the female connector terminal 32.

[0055] Optionally, the insert sleeve 315 is made of materials such as rubber and silica gel.

[0056] In some embodiments, the insert sleeve 315 is injection molded on the inner wall of the first connection hole 3110 by an insert molding process.

[0057] When installing the male connector housing 311, first, the insert sleeve 315 is injection molded on the inner wall of the first connection hole 3110 by an insert molding process, the floating seat 314 is installed in the insert sleeve 315 by a press riveting process, and finally the connecting member 316 is passed through the floating seat 314 and connected to the common base 10.

[0058] In some embodiments of the present invention, please refer to Figure 3 and Figure 4, the gap between the inner peripheral wall of the insert sleeve 315 and the outer peripheral wall of the cylindrical portion 3141 is 0.15 mm to 0.2 mm. That is to say, the gap between the insert sleeve 315 and the cylindrical portion 3141 in the radial direction is 0.15 mm to 0.2 mm. When the male connector 311 floats relative to the common base 10, the insert sleeve 315 moves relative to the cylindrical portion 3141, and the setting of the gap enables the male connector 311 to float. When the gap is too small, the floating distance of the male connector 311 is limited, and it cannot be ensured that the male terminal 31 of the connector and the female terminal 32 of the connector are always conducting; when the gap is too large, the locking force of the connecting member 316 on the male connector 311 is reduced, and even under non-vibrating working conditions, the male terminal 31 of the connector is prone to slip.

[0059] Optionally, the gap between the inner peripheral wall of the insert sleeve 315 and the outer peripheral wall of the cylindrical portion 3141 is 0.16 mm, 0.18 mm, 0.19 mm, etc.

[0060] In some embodiments of the present invention, please refer to Figure 3 and Figure 4 , second skirt portions 3151 are respectively formed by radially extending outward at both axial ends of the insert sleeve 315. The male connector 311 is provided with a counterbore 3111 at the circumference of the first connection hole 3110. The second skirt portions 3151 are located in the counterbore 3111, and the side of the second skirt portions 3151 facing away from the counterbore 3111 is flush with the surface of the male connector 311. The number of the second skirt portions 3151 is two, and they are respectively arranged at both axial ends of the insert sleeve 315. The circumference of the first connection hole 3110 of the male connector 311 can be understood as the side of the male connector 311 facing the common base 10 and the side facing away from the common base 10. The two second skirt portions 3151 are respectively located inside the two counterbores 3111. The side of the second skirt portions 3151 facing away from the counterbore 3111 is flush with the surface of the male connector 311. Here, the surface of the male connector 311 can be understood as the side of the male connector 311 facing the common base 10 and the side facing away from the common base 10.

[0061] By providing the second skirt portions 3151 and the counterbores 3111, and arranging the second skirt portions 3151 in the counterbores 3111, axial limit of the insert sleeve 315 can be achieved to prevent the insert sleeve 315 from falling off the male connector 311. Moreover, the side of the second skirt portions 3151 facing away from the counterbore 3111 is flush with the surface of the male connector 311, and the surface of the male connector 311 is smooth, making the movement of the male connector 311 smoother when the male connector 311 moves relative to the common base 10.

[0062] In some embodiments of the present invention, please refer to Figure 5 and Figure 6One of the connector male end 31 and the connector female end 32 is provided with a guide post 317, and the other is provided with a guide hole 323. When the connector male end 31 and the connector female end 32 approach each other, the guide post 317 gradually extends into the guide hole 323, so that the connector male end 31 and the connector female end 32 are aligned with each other, so that the conductive pin 312 is gradually inserted into the conductive socket 321.

[0063] By providing the guide column 317 and the guide hole 323 , the connector male end 31 and the connector female end 32 can be guided and plugged so that the connector male end 31 and the connector female end 32 are aligned with each other.

[0064] In some embodiments, the guide post 317 is fixedly disposed on the connector male socket 311 , and the guide hole 323 is opened on the connector female end 32 .

[0065] In some embodiments, the guide post 317 is fixedly disposed on the connector female end 32 , and the guide hole 323 is opened in the connector male socket 311 .

[0066] In some embodiments, the top end of the guide post 317 is conical, so that the guide post 317 can enter the guide hole 323 more easily.

[0067] In some embodiments, there are multiple guide posts 317 and multiple guide holes 323 , and the guide posts 317 and the guide holes 323 are arranged in a one-to-one correspondence.

[0068] In some embodiments of the present invention, see Figure 7 The circumferential inner wall of the conductive plug hole 321 has a torsion spring 324 for contacting and conducting with the conductive pin 312. When the conductive pin 312 is inserted into the conductive plug hole 321, the outer circumferential wall of the conductive pin 312 and the inner circumferential wall of the torsion spring 324 abut against each other and conduct, thereby making the connector male end 31 and the connector female end 32 conduct to each other. Specifically, the conductive pin 312 squeezes the torsion spring 324, the torsion spring 324 is deformed, and the rebound force of the torsion spring 324 presses against the conductive pin 312, making the conduction connection between the two more stable.

[0069] In the conventional scheme, a conductive spring is used in conjunction with a guide structure to provide power and control signals for the functional module 20. The number and contact area of ​​the conductive spring are small, and the spring contacts are easily oxidized and fail due to overcurrent temperature rise. Therefore, in order to ensure the current, the spring needs to be made very large, resulting in a large space occupation. In this embodiment, by setting a torsion spring 324 inside the conductive socket 321, the conductive contact area can be increased, the reliability of the connection and the small contact resistance can be ensured, and the current-carrying capacity is strong. At the same time, the anti-seismic ability can meet the requirements of vehicle regulations and meet the use requirements of the robot.

[0070] In some embodiments of the present invention, see Figure 5and Figure 6 The connector male end 31 further includes a plurality of first conductive contacts 313, and the connector female end 32 further includes a plurality of second conductive contacts 322 arranged one-to-one corresponding to the first conductive contacts 313. The first conductive contacts 313 can be arranged in a linear array, a rectangular array, a circular array, etc.

[0071] When the functional module 20 is connected to the universal base 10, the universal base 10 provides power and transmits control signals to the functional module 20. The conductive connection between the conductive pin 312 and the conductive socket 321 can provide power to the functional module 20, and the conductive connection between the first conductive contact 313 and the second conductive contact 322 can transmit control signals to the functional module 20.

[0072] In some embodiments of the present invention, the service robot further comprises a guide rail structure, the guide rail structure comprises a guide recess and a guide protrusion which cooperate with each other, the cross section of the guide protrusion gradually increases from the top to the root, the guide recess is located in one of the universal base 10 and the functional module 20, and the guide protrusion is located in the other of the universal base 10 and the functional module 20. When the functional module 20 is mounted on the universal base 10, the guide protrusion gradually moves into the inside of the guide recess. The cross section of the guide protrusion gradually increases from the top to the root, and correspondingly, the cross section of the guide recess gradually decreases from the top to the root, so that the guide recess is trumpet-shaped.

[0073] By providing the guide recess and the guide protrusion, the universal base 10 and the functional module 20 can be assembled with each other more easily.

[0074] In some embodiments, the guide protrusion is disposed on the universal base 10 , and the guide recess is disposed on the functional module 20 .

[0075] In some embodiments, the guide protrusion is disposed on the functional module 20 , and the guide recess is disposed on the universal base 10 .

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A service robot, characterized in that: It includes a universal base, a functional module and a floating quick-plug connector, the floating quick-plug connector includes a connector male end and a connector female end that can be plugged into each other, one of the connector male end and the connector female end is floatingly arranged on one of the universal base and the functional module, and the other of the connector male end and the connector female end is fixedly arranged on the other of the universal base and the functional module, the connector male end includes a conductive pin, and the connector female end has a conductive socket that cooperates with the conductive pin. The plug-in direction of the connector male end and the connector female end is a first direction, and the relative floating direction of the connector male end and the connector female end is perpendicular to the first direction.

2. The service robot according to claim 1, characterized in that: The connector male end is floated on the universal base, the connector female end is fixed to the functional module, and the connector male end includes a connector male seat floated on the universal base, the conductive pin fixed to the connector male seat, and a connector for connecting the connector male end and the universal base.

3. The service robot according to claim 2, characterized in that: The connector male seat is provided with a first connecting hole, the universal base is provided with a second connecting hole, the connecting member includes a screw, the screw passes through the first connecting hole and is threadedly connected to the second connecting hole, and the inner diameter of the first connecting hole is larger than the major diameter of the screw.

4. The service robot according to claim 3, characterized in that: The male end of the connector also includes a floating seat, which includes a cylindrical portion and two first skirt portions, wherein the two first skirt portions are respectively formed by radially extending outward from both ends of the cylindrical portion, the cylindrical portion is located inside the first connecting hole, and the first skirt portions abut against the surface of the connector male seat at the circumference of the first connecting hole; the screw is arranged to pass through the cylindrical portion, and the outer circumferential wall of the cylindrical portion and the inner circumferential wall of the first connecting hole are spaced apart.

5. The service robot according to claim 4, characterized in that: A nested cylinder is fixed to the inner peripheral wall of the first connecting hole, the cylindrical portion is located inside the nested cylinder, and a gap is provided between the nested cylinder and the cylindrical portion.

6. The service robot according to claim 5, characterized in that: The gap between the inner peripheral wall of the nested tube and the outer peripheral wall of the cylindrical portion is 0.15 mm to 0.2 mm.

7. The service robot according to claim 5, characterized in that: The axial ends of the nested tube extend radially outward to form a second skirt portion, and the connector male seat is provided with a recessed groove at the circumference of the first connecting hole. The second skirt portion is located in the recessed groove, and the second skirt portion is arranged flush with the surface of the connector male seat on the side facing away from the recessed groove.

8. The service robot according to any one of claims 1 to 7, characterized in that: One of the connector male end and the connector female end is provided with a guide column, and the other is provided with a guide hole.

9. The service robot according to any one of claims 1 to 7, characterized in that: The circumferential inner wall of the conductive plug hole is provided with a torsion spring for contacting and conducting with the conductive pin.

10. The service robot according to any one of claims 1 to 7, characterized in that: The service robot also includes a guide rail structure, which includes a guide recess and a guide protrusion that cooperate with each other, and the cross-section of the guide protrusion gradually increases from the top to the root. The guide recess is located in one of the universal base and the functional module, and the guide protrusion is located in the other of the universal base and the functional module.

Images