Robot docking mechanism

Abstract

The invention relates to the technical field of robot butt joint, in particular to a robot butt joint mechanism which comprises a first butt joint device and a second butt joint device, the first butt joint device comprises a first butt joint frame, a first matching part, a first communication connecting assembly, a butt joint locking assembly and a locking driving assembly, and the first matching part is arranged on the first butt joint frame; the butt-joint locking assembly is arranged on the first matching part, and the locking driving assembly is arranged on the first butt-joint frame and used for driving the butt-joint locking assembly; the second butt-joint device comprises a second butt-joint frame, a second matching part, a second communication connection assembly and a butt-joint matching assembly, the first matching part and the second matching part are in concave-convex butt-joint matching, and the locking driving assembly is used for driving the butt-joint locking assembly to implement locking and fixing in the butt-joint matching assembly. The connection stability and reliability of the two robots after butt joint are ensured, separation caused by factors such as external force after butt joint is effectively prevented, and the continuity of the butt joint state is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot docking, in particular to a robot docking mechanism. BACKGROUND

[0002] In today's era of rapid technological development, robots have been widely used in industrial production, logistics distribution, space exploration and many other fields. In many scenarios, the cooperative work between multiple robots becomes increasingly important, which involves the docking problem between robots. In order to achieve efficient docking between robots, the docking mechanism becomes one of the key technologies.

[0003] The stability of the existing robot docking mechanism is a factor that needs to be considered in the docking process, because unstable docking may cause the connection between robots to be loose, thereby affecting the normal implementation of functions such as data transmission and power supply, and even may cause the failure of the entire task. In order to ensure the stability of docking, the existing docking mechanism mostly adopts a locking structure. However, the existing locking structure has obvious defects. On the one hand, its structure is relatively complex. Complex structure means more parts and more delicate assembly requirements, which not only increases the manufacturing cost and production cycle, but also increases the probability of failure. Once a part fails, the entire locking structure may fail, thereby affecting the normal work of the docking mechanism.

[0004] In view of the above problems, it is particularly urgent to improve the existing robot docking mechanism and its locking structure. It is necessary to develop a docking locking structure with relatively simple structure and good locking stability, in order to improve the reliability and stability of robot docking, reduce cost and maintenance difficulty, so as to better meet the needs of cooperative work of robots in various complex scenarios. SUMMARY

[0005] To solve the above problems, the present application ensures the stability and reliability of the connection of two robots after docking by docking the docking locking assembly and the docking cooperation assembly, and driving the docking locking assembly to implement locking and fixation in the docking cooperation assembly by the locking driving assembly, effectively prevents the separation after docking due to external force and other factors, and ensures the continuous robot docking mechanism in the docking state.

[0006] The technical scheme adopted by the present application is: a robot docking mechanism, comprising a first docking device and a second docking device, the first docking device comprising a first docking frame, a first cooperation part, a first communication connection assembly, a docking locking assembly and a locking driving assembly, the first docking frame is arranged on the body of the robot, the first cooperation part is arranged on the first docking frame, the docking locking assembly is arranged on the first cooperation part, and the locking driving assembly is arranged on the first docking frame and used to drive the docking locking assembly. The second docking device comprises a second docking frame, a second matching part, a second communication connection assembly and a docking matching assembly, the second docking frame is arranged on another robot, the second matching part is arranged on the docking frame, the docking matching assembly is arranged on the second matching part, the first matching part and the second matching part are in concave-convex docking matching, so that the docking locking assembly and the docking matching assembly are docked, and the locking driving assembly is used for driving the docking locking assembly to implement locking fixation in the docking matching assembly, so that the first communication connection assembly and the second communication connection assembly are docked.

[0007] Further improvement of the above scheme is that the first docking frame comprises a first mounting base plate and a first mounting frame, the first mounting frame is arranged on one side of the first mounting base plate, the first matching part is arranged on the first mounting frame, and a docking positioning pin is arranged on the first mounting frame, the second docking frame is provided with a second mounting base plate and a second mounting frame, the second mounting frame is arranged on one side of the second mounting base plate, the second matching part is arranged on the second mounting frame, and a docking positioning shaft sleeve is arranged on the second mounting frame, and an end of the docking positioning pin is provided with an inclined surface for matching the docking positioning shaft sleeve, so that the first mounting frame and the second mounting frame are in docking positioning.

[0008] Further improvement of the above scheme is that the first matching part comprises a first matching boss, and a first matching groove is arranged at the center of the first matching boss; the second matching part comprises a second matching groove, and a second matching boss is arranged at the center of the second matching groove; the first matching boss is used for docking matching with the second matching groove; and the second matching boss is used for docking matching with the first matching groove.

[0009] Further improvement of the above scheme is that a first guide inclined surface is arranged between the first matching boss and the second matching groove for guiding matching when matching; and a second guide inclined surface is arranged between the second matching boss and the first matching groove for guiding matching when matching.

[0010] Further improvement of the above scheme is that the first communication connection assembly comprises at least two first contact connectors; the second communication connection assembly comprises at least two second contact connectors, and the first contact connectors are used for contacting the second contact connectors for robot contact.

[0011] Further improvement of the above-mentioned solution is that the first docking frame is internally provided with a fixing support, the locking driving assembly is arranged on the fixing support, the docking locking assembly comprises a fixed sleeve, a movable pull rod, an elastic element and a locking steel ball, the fixed sleeve comprises a fixed end and a locking end, the fixed end is arranged on the fixing support, one end of the locking end extends to the first matching part, the fixed sleeve is internally provided with a movable through slot and an elastic groove, one end of the movable pull rod is arranged in the movable through slot and the other end is arranged in the elastic groove, the elastic element is arranged in the elastic groove and is used for providing tension to the movable pull rod, one end of the movable pull rod is provided with a driving connection end, the locking driving assembly is used for driving the movable pull rod to move in the movable through slot, the locking end is provided with a plurality of steel ball grooves, the locking steel ball is arranged in the steel ball groove, and one end of the movable pull rod arranged in the movable through slot is provided with an unlocking groove corresponding to the steel ball groove, so that the locking steel ball sinks.

[0012] Further improvement of the above-mentioned solution is that the docking matching assembly comprises a docking locking ring arranged on the second matching part, the docking locking ring is provided with a locking guide groove on the opposite side of the docking locking assembly, a locking groove is arranged on the inner side of the locking guide groove, and the locking groove is used for matching the locking steel ball; when locking, the locking driving assembly drives the movable pull rod to move forward or backward, so that the steel ball groove is separated from the unlocking groove, the locking steel ball is pushed out of the steel ball groove by the outer diameter of the movable pull rod and abuts against the locking groove, and the docking locking is realized.

[0013] Further improvement of the above-mentioned solution is that the fixing support comprises an upper end plate, a lower end plate, a fixed side plate and an internal fixing frame, the upper end plate and the lower end plate are connected through a connecting column, the fixed side plate is used for connecting the upper end plate and the lower end plate, the fixed sleeve is arranged on the fixed side plate, and the internal fixing frame is arranged on the inner side of the fixed side plate to form a driving cavity at one end of the fixed sleeve; the locking driving assembly is provided with a driving shaft, the driving shaft is arranged in the driving cavity and is used for driving the movable pull rod.

[0014] Further improvement of the above-mentioned solution is that the locking driving assembly comprises a driving module, a cam element and a rotating bearing, the rotating bearing is provided with two and is arranged on the upper end plate and the lower end plate respectively, the driving module is arranged on the upper end plate and is connected with the driving shaft, the cam element is arranged on the driving shaft, the driving module is used for driving the driving shaft to rotate, so that the cam element rotates to push the movable pull rod to move to realize locking or unlocking.

[0015] Further improvement of the above scheme is further comprising a fixing assembly, the fixing assembly comprises a plurality of first fixing columns, a plurality of second fixing columns and a connecting piece, the plurality of first fixing columns are arranged on both sides of the first docking frame respectively, the plurality of second fixing columns are arranged on both sides of the second docking frame respectively; when the first docking device and the second docking device are docked, the first fixing column and the second fixing column are connected through the connecting piece.

[0016] The present application has the following advantages: Compared with the existing robot docking, the present application cooperates the first docking device and the second docking device. The first docking frame and the second docking frame can be stably arranged on different robot bodies respectively, ensuring the reliable connection of the whole docking mechanism and the robot. The first matching part and the second matching part are concave-convexly matched, which can realize accurate docking positioning, greatly improve the accuracy and efficiency of docking, and also play a certain guiding role in the docking process, making the docking process more smooth. The docking of the docking locking assembly and the docking matching assembly, and the driving of the docking locking assembly in the docking matching assembly by the locking driving assembly to implement locking and fixing, ensures the connection stability and reliability of the two robots after docking, effectively prevents the separation after docking due to external force and other factors, and ensures the continuity of the docking state. In terms of communication connection, after the docking locking and fixing, the first communication connection assembly and the second communication connection assembly are successfully docked, so that the robots can realize important functions such as transmission of control instructions or charging after docking. For the transmission of control instructions, the information exchange between robots can be realized, so that different robots can work more efficiently, and the overall working ability and efficiency can be improved. For example, in some complex tasks that require multiple robots to cooperate, task allocation and cooperative operation can be better realized. The charging function provides a way for the robot to supplement energy, prolongs the working time and endurance of the robot, and improves the practicality and use range of the robot. Through reasonable structure design and effective docking locking mode, the present application realizes stable docking and communication connection, and provides a strong guarantee for the cooperative work and energy supplement of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective view of the robot docking mechanism of the present application; Figure 2 is Figure 1 is an exploded view of the robot docking mechanism of the present application; Figure 3 is Figure 1 is an exploded view of the robot docking mechanism of the present application from another angle; Figure 4 is Figure 1 is a front view of the robot docking mechanism of the present application; Figure 5 isFigure 4 Cross-sectional view of the middle A-A; Figure 6 For Figure 1 Schematic diagram of the locking state of the docking locking assembly of the robot docking mechanism; Figure 7 For Figure 1 Schematic diagram of the unlocking state of the docking locking assembly of the robot docking mechanism; Figure 8 For Figure 1 Schematic diagram of the structure of the locking driving assembly of the robot docking mechanism.

[0018] Explanation of reference signs: first docking device 10, second docking device 20; First docking frame 1, first mounting base plate 11, first mounting frame 12, fixed support 13, upper end plate 131, lower end plate 132, fixed side plate 133, inner fixed frame 134, connecting column 135, docking positioning pin 14, first matching part 2, first matching boss 21, first guide inclined surface 211, first matching groove 22, first communication connection assembly 3, first contact type connector 31, docking locking assembly 4, fixed sleeve 41, fixed end 411, locking end 412, movable slot 413, elastic groove 414, steel ball groove 415, movable pull rod 42, driving connection end 421, unlocking groove 422, elastic element 43, locking steel ball 44, locking driving assembly 5, driving shaft 51, driving module 52, cam element 53, rotating bearing 54; Second docking frame 6, second mounting base plate 61, second mounting frame 62, docking positioning shaft sleeve 63, second matching part 7, second matching groove 71, second matching boss 72, second guide inclined surface 721, second communication connection assembly 8, second contact type connector 81, docking matching assembly 9, docking locking ring 91, locking guide groove 92, locking groove 93; Fixed assembly 30, first fixed column 301, second fixed column 302, connecting piece 303. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0020] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element.

[0021] 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 application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. All publications, patent applications, patents, figures, and other references mentioned herein are incorporated by reference in their entirety for the teachings relevant to the sentence and / or paragraph in which the reference is presented. Figures 1-8As shown, in one embodiment of the present application, a robot docking mechanism is provided, which comprises a first docking device 10 and a second docking device 20. The first docking device 10 comprises a first docking frame 1, a first matching part 2, a first communication connection component 3, a docking locking component 4, and a locking driving component 5. The first docking frame 1 is arranged on the body of a robot. The first matching part 2 is arranged on the first docking frame 1. The docking locking component 4 is arranged on the first matching part 2. The locking driving component 5 is arranged on the first docking frame 1 and is used to drive the docking locking component 4. The second docking device 20 comprises a second docking frame 6, a second matching part 7, a second communication connection component 8, and a docking matching component 9. The second docking frame 6 is arranged on another robot. The second matching part 7 is arranged on the docking frame. The docking matching component 9 is arranged on the second matching part 7. The first matching part 2 and the second matching part 7 are in concave-convex docking matching, so that the docking locking component 4 and the docking matching component 9 are docked. The locking driving component 5 is used to drive the docking locking component 4 to be locked and fixed in the docking matching component 9, so that the first communication connection component 3 and the second communication connection component 8 are docked. In this embodiment, the first docking device 10 and the second docking device 20 are matched. The first docking frame 1 and the second docking frame 6 can be stably arranged on different robot bodies, which ensures the reliable connection between the docking mechanism and the robot. The first matching part 2 and the second matching part 7 are in concave-convex docking matching, which can realize accurate docking positioning, greatly improve the accuracy and efficiency of docking, and also play a guiding role in the docking process, making the docking process more smooth. The docking of the docking locking component 4 and the docking matching component 9, and the locking and fixing of the docking locking component 4 in the docking matching component 9 driven by the locking driving component 5, ensure the stability and reliability of the connection between the two robots after docking, effectively prevent the two robots from separating due to external forces and other factors after docking, and ensure the continuity of the docking state. In terms of communication connection, after the docking locking and fixing, the first communication connection component 3 and the second communication connection component 8 are successfully docked, so that the robots can realize important functions such as transmission of control instructions or charging after docking. For the transmission of control instructions, the information exchange between robots can be realized, which makes the cooperative work of different robots more efficient and improves the overall work ability and efficiency. For example, in some complex tasks that require multiple robots to cooperate, task allocation and cooperative operation can be better realized. The charging function provides a way for the robot to supplement energy, prolongs the working time and endurance of the robot, and improves the practicality and use range of the robot. Through reasonable structure design and effective docking locking mode, this embodiment realizes stable docking and communication connection, and provides a strong guarantee for the cooperative work and energy supplement of the robot.

[0022] Referring to Figures 2-3As shown, the first docking frame 1 comprises a first mounting base plate 11 and a first mounting frame 12 arranged on one side of the first mounting base plate 11, the first mating part 2 is arranged on the first mounting frame 12, the first mounting frame 12 is provided with a docking positioning pin 14, the second docking frame 6 is provided with a second mounting base plate 61 and a second mounting frame 62 arranged on one side of the second mounting base plate 61, the second mating part 7 is arranged on the second mounting frame 62, the second mounting frame 62 is provided with a docking positioning shaft sleeve 63, and the end of the docking positioning pin 14 is provided with an inclined surface for cooperating with the docking positioning shaft sleeve 63 to position the first mounting frame 12 and the second mounting frame 62. In this embodiment, the docking positioning pin 14 on the first mounting frame 12 cooperates with the docking positioning shaft sleeve 63 on the second mounting frame 62. The inclined surface at the end of the docking positioning pin 14 can play a good guiding role in the docking process. When the two docking devices are close, the inclined surface can guide the docking positioning pin 14 to smoothly insert into the docking positioning shaft sleeve 63. Even if there is a certain position deviation or angle error, the inclined surface can also guide the precise docking gradually, greatly improving the precision of docking positioning. High-precision docking positioning is the basis for subsequent docking lock and communication connection operations to be carried out smoothly. The cooperation of the docking positioning pin 14 and the docking positioning shaft sleeve 63 further enhances the stability of the docking of the first mounting frame 12 and the second mounting frame 62. During the docking process, they not only realize horizontal positioning, but also can resist vertical shaking and displacement to some extent, so that the structure after docking is more stable.

[0023] The first matching part 2 comprises a first matching boss 21, and a first matching groove 22 is arranged at the center of the first matching boss 21; the second matching part 7 comprises a second matching groove 71, and a second matching boss 72 is arranged at the center of the second matching groove 71; the first matching boss 21 is used for interfacing with the second matching groove 71; and the second matching boss 72 is used for interfacing with the first matching groove 22. Specifically, a first guide inclined surface 211 is arranged between the first matching boss 21 and the second matching groove 71, and is used for guiding the matching; and a second guide inclined surface 721 is arranged between the second matching boss 72 and the first matching groove 22, and is used for guiding the matching. In the embodiment, the precise alignment is realized through the mutual matching mode of the first matching boss 21 and the second matching groove 71 and the second matching boss 72 and the first matching groove 22. The center-nested matching structure can enable the first interfacing device 10 and the second interfacing device 20 to quickly and accurately find the positions of each other in the interfacing process, greatly improving the success rate of the interfacing. Even in a complex environment or with certain errors, the accurate interfacing can be realized by virtue of the matching structure. The first guide inclined surface 211 and the second guide inclined surface 721 can play a guiding role when the first matching boss 21 approaches the second matching groove 71 and the second matching boss 72 approaches the first matching groove 22 in the interfacing process. The matching process is more smooth. Even if there is a certain angle deviation or position deviation in the interfacing, the guide inclined surface can gradually adjust it to the correct interfacing position, avoiding the interfacing failure or the damage to the interfacing mechanism caused by the inaccurate interfacing.

[0024] The first communication connection assembly 3 comprises at least two first contact connectors 31; the second communication connection assembly 8 comprises at least two second contact connectors 81, and the first contact connectors 31 are used for contacting the second contact connectors 81 for the robot contact. In the embodiment, the arrangement of the plurality of contact connectors greatly enhances the stability of the communication connection. In the robot interfacing process, the contact connectors can still maintain the communication connection, ensuring the stable transmission of the control instructions or the continuous performance of the charging function. The contact connectors can share the task of signal transmission, reducing the burden of a single connector. This is helpful for reducing signal interference and attenuation, so that the control instructions and other information can be more accurately and clearly transmitted between the two robots. For the robot cooperation task requiring high-precision control, high-quality signal transmission is the key to realizing accurate operation.

[0025] Referring to Figures 6-8As shown, the first docking frame 1 is provided with a fixed support 13, the locking drive assembly 5 is arranged on the fixed support 13, the docking locking assembly 4 comprises a fixed sleeve 41, a movable pull rod 42, an elastic element 43 and a locking steel ball 44, the fixed sleeve 41 comprises a fixed end 411 and a locking end 412, the fixed end 411 is arranged on the fixed support 13, one end of the locking end 412 extends to the first matching part 2, the fixed sleeve 41 is provided with a movable through slot 413 and an elastic recess 414, one end of the movable pull rod 42 is arranged in the movable through slot 413 and the other end is in the elastic recess 414, the elastic element 43 is arranged in the elastic recess 414 and is used to provide tension to the movable pull rod 42, one end of the movable pull rod 42 is provided with a drive connection end 421, the locking drive assembly 5 is used to drive the movable pull rod 42 to move in the movable through slot 413, the locking end 412 is provided with a plurality of steel ball grooves 415, the locking steel ball 44 is arranged in the steel ball groove 415, one end of the movable pull rod 42 arranged in the movable through slot 413 is provided with an unlocking recess 422, the unlocking recess 422 is used to correspond to the steel ball groove 415 so that the locking steel ball 44 sinks. In this embodiment, the fixed support 13 provides solid support for the locking drive assembly 5, ensuring that the locking drive assembly 5 is fixed in position during operation and can accurately drive the movable pull rod 42. In terms of flexibility in locking and unlocking, the coordinated design of the movable pull rod 42, the elastic element 43 and the locking steel ball 44 achieves a clever locking and unlocking function. The elastic element 43 provides tension to the movable pull rod 42, so that the locking steel ball 44 protrudes under normal circumstances, achieving the locking and fixing of the docking locking assembly 4 and the docking matching assembly 9. When unlocking is needed, the locking drive assembly 5 drives the movable pull rod 42, so that the unlocking recess 422 corresponds to the steel ball groove 415, the locking steel ball 44 sinks, thereby easily achieving unlocking. The robot docking mechanism can quickly and accurately complete the locking and unlocking operation according to actual needs, improving the flexibility and work efficiency of the robot.

[0026] The docking assembly 9 includes a docking locking ring 91 disposed on the second mating portion 7. The docking locking ring 91 is provided with a locking guide groove 92 on the side opposite to the docking locking assembly 4. A locking groove 93 is provided on the inner side of the locking guide groove 92. The locking groove 93 is used to cooperate with the locking steel ball 44. When locking, the locking drive assembly 5 drives the movable pull rod 42 to move forward or backward, so that the steel ball groove 415 is separated from the unlocking groove 422. The locking steel ball 44 is pushed out of the steel ball groove 415 by the outer diameter of the movable pull rod 42 and one end abuts against the locking groove 93, thereby achieving docking locking. In this embodiment, the locking guide groove 92 on the docking locking ring 91 can guide the locking steel ball 44 to accurately enter the locking groove 93 during the docking process. Even if there is a certain position deviation or angular error during docking, the locking guide groove 92 can gradually guide the locking steel ball 44 to the correct position through its reasonable shape and structure, thereby achieving precise docking. To ensure the robot's subsequent stable operation, stable and accurate docking is essential for both the transmission of control commands and the delivery of power. The locking steel ball 44 cooperates with the locking groove 93 to provide a reliable locking force. When the locking drive assembly 5 drives the movable pull rod 42 to move, separating the steel ball groove 415 from the unlocking groove 422, the outer diameter of the movable pull rod 42 pushes the locking steel ball 44 out of the steel ball groove 415 and into contact with the locking groove 93, forming a stable mechanical locking structure. This structure can effectively resist external interference, such as vibrations and impacts generated during the robot's movement, ensuring that the two parts will not easily separate after docking, thus ensuring the stability of the robot's docking mechanism under various complex working conditions. The locking drive assembly 5 drives the movable pull rod 42 in a simple and direct manner, enabling rapid locking and unlocking operations. Operators can complete the docking, locking, or unlocking process in a short time simply by controlling the locking drive assembly 5, without the need for complex adjustments or calibrations, significantly improving the robot's operational efficiency.

[0027] The fixed support 13 comprises an upper end plate 131, a lower end plate 132, a fixed side plate 133, and an inner fixed support 134. The upper end plate 131 and the lower end plate 132 are connected by a connecting column 135. The fixed side plate 133 is used to connect the upper end plate 131 and the lower end plate 132. The fixed sleeve 41 is arranged on the fixed side plate 133. The inner fixed support 134 is arranged on the inner side of the fixed side plate 133 to form a driving cavity at one end of the fixed sleeve 41. The locking drive assembly 5 is provided with a driving shaft 51. The driving shaft 51 is located in the driving cavity and is used to drive the movable pull rod 42. Specifically, the locking drive assembly 5 comprises a driving module 52, a cam element 53, and a rotating bearing 54. The rotating bearing 54 is provided with two and is arranged on the upper end plate 131 and the lower end plate 132, respectively. The driving module 52 is arranged on the upper end plate 131 and is connected with the driving shaft 51. The cam element 53 is arranged on the driving shaft 51. The driving module 52 is used to drive the driving shaft 51 to rotate, so that the cam element 53 rotates to push the movable pull rod 42 to move to realize locking or unlocking. In this embodiment, the fixed support 13 is composed of the upper end plate 131, the lower end plate 132, the fixed side plate 133, and the inner fixed support 134. The upper end plate 131 and the lower end plate 132 are connected by the connecting column 135, and then they are further connected by the fixed side plate 133 to form a firm and stable frame structure. It can provide reliable support for the locking drive assembly 5 and the fixed sleeve 41, and ensure that the position is fixed during the working process, so as to avoid displacement or shaking due to the movement of the robot or external vibration. In terms of space utilization and layout, the inner fixed support 134 is arranged on the inner side of the fixed side plate 133 to form a driving cavity at one end of the fixed sleeve 41, so that the structure of the whole docking mechanism is more compact. The driving shaft 51 is located in the driving cavity, which reasonably utilizes the limited space and avoids the redundancy and disorder of the structure. The locking drive assembly 5 adopts the combination of the driving module 52, the cam element 53, and the rotating bearing 54. Two rotating bearings 54 are arranged on the upper end plate 131 and the lower end plate 132, respectively, to provide stable support and smooth rotation conditions for the driving shaft 51. The driving module 52 drives the driving shaft 51 to rotate, so that the cam element 53 rotates to push the movable pull rod 42 to move, realizing locking or unlocking. The use of the cam element 53 makes the driving mode more flexible. By adjusting the shape and size of the cam, the movement stroke and speed of the movable pull rod 42 can be accurately controlled, so as to realize precise locking and unlocking operation. It can withstand certain external force and impact, reduce the probability of failure, and improve the service life of the docking mechanism of the robot.

[0028] Further comprising a fixing assembly 30, the fixing assembly 30 comprises a plurality of first fixing columns 301, a plurality of second fixing columns 302 and a connecting piece 303, the plurality of first fixing columns 301 are respectively arranged on both sides of the first docking frame 1, the plurality of second fixing columns 302 are respectively arranged on both sides of the second docking frame 6; when the first docking device 10 and the second docking device 20 are docked, the first fixing column 301 and the second fixing column 302 are connected through the connecting piece 303. In the embodiment, the first fixing column 301 and the second fixing column 302 are respectively arranged on both sides of the first docking frame 1 and the second docking frame 6, and the distribution of the plurality of fixing columns increases the connection points during docking. When the first docking device 10 and the second docking device 20 are docked, the first fixing column 301 and the second fixing column 302 are connected through the connecting piece 303, forming a stable connection structure. The design of multiple connection points can evenly disperse the stress generated during docking, avoid damage caused by excessive local stress, and ensure the firm and reliable connection between the two docking devices. Whether the robot is in regular motion or subjected to external impact, the fixing assembly 30 can effectively maintain the docking state, reduce the risk of separation of the docking device, and ensure the overall stability of the robot docking mechanism.

[0029] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A robot docking mechanism, characterized in that: The invention comprises a first docking device and a second docking device, wherein the first docking device comprises a first docking frame, a first mating portion, a first communication connection component, a docking locking component, and a locking drive component, wherein the first mating portion is arranged on the first docking frame, the docking locking component is arranged on the first mating portion, and the locking drive component is arranged on the first docking frame and is used to drive the docking locking component; The second docking device includes a second docking frame, a second mating portion, a second communication connection component and a docking mating component. The second mating portion is arranged on the docking frame, and the docking mating component is arranged on the second mating portion. The first mating portion and the second mating portion are mated in a concave-convex shape so that the docking locking component and the docking mating component are docked. The locking drive component is used to drive the docking locking component to implement locking and fixing in the docking mating component so that the first communication connection component and the second communication connection component are docked.

2. The robot docking mechanism according to claim 1, characterized in that: The first docking frame includes a first mounting substrate and a first mounting frame, the first mounting frame is arranged on one side of the first mounting substrate, the first matching portion is arranged on the first mounting frame, and a docking positioning pin is provided on the first mounting frame, the second docking frame is provided with a second mounting substrate and a second mounting frame, the second mounting frame is arranged on one side of the second mounting substrate, the second matching portion is arranged on the second mounting frame, and a docking positioning sleeve is provided on the second mounting frame, and the end of the docking positioning pin is provided with a slope for matching the docking positioning sleeve, so that the first mounting frame and the second mounting frame are docked and positioned.

3. The robot docking mechanism according to claim 1, characterized in that: The first mating portion includes a first mating boss, and a first mating groove is provided at the center of the first mating boss; the second mating portion includes a second mating groove, and a second mating boss is provided at the center of the second mating groove; the first mating boss is used to dock and mate with the second mating groove; the second mating boss is used to dock and mate with the first mating groove.

4. The robot docking mechanism according to claim 3, characterized in that: A first guiding slope is provided between the first mating boss and the second mating groove for guiding the mating; a second guiding slope is provided between the second mating boss and the first mating groove for guiding the mating.

5. The robot docking mechanism according to claim 1, characterized in that: The first communication connection component includes at least two first contact connectors; the second communication connection component includes at least two second contact connectors, and the first contact connectors are used to contact with the second contact connectors for robot contact.

6. The robot docking mechanism according to claim 1, characterized in that: A fixed bracket is provided in the first docking frame, and the locking drive assembly is provided on the fixed bracket. The docking locking assembly includes a fixed sleeve, a movable pull rod, an elastic element and a locking steel ball. The fixed sleeve includes a fixed end and a locking end, and the fixed end is provided on the fixed bracket. One end of the locking end extends to the first matching portion. A movable through groove and an elastic groove are provided in the fixed sleeve. One end of the movable pull rod is provided in the movable through groove and the other end is in the elastic groove. The elastic element is provided in the elastic groove and is used to provide tension for the movable pull rod. A driving connection end is provided at one end of the movable pull rod, and the locking drive assembly is used to drive the movable pull rod to move in the movable through groove. The locking end is provided with a plurality of steel ball grooves, and the locking steel ball is provided in the steel ball groove. An unlocking groove is provided at one end of the movable pull rod in the movable through groove, and the unlocking groove is used to correspond to the steel ball groove so that the locking steel ball sinks.

7. The robot docking mechanism according to claim 6, characterized in that: The docking mating component includes a docking locking ring arranged at the second mating part, and a locking guide groove is provided on the opposite side of the docking locking ring and the docking locking component, and a locking groove is provided on the inner side of the locking guide groove, and the locking groove is used to cooperate with the locking steel ball; when locking, the locking drive component drives the movable pull rod to move forward or backward, so that the steel ball groove is separated from the unlocking groove, and the locking steel ball is pushed out of the steel ball groove through the outer diameter of the movable pull rod and one end abuts against the locking groove to realize docking locking.

8. The robot docking mechanism according to claim 6, characterized in that: The fixed bracket includes an upper end plate, a lower end plate, a fixed side plate and an inner fixed frame. A connecting column is provided between the upper end plate and the lower end plate. The fixed side plate is used to connect the upper end plate and the lower end plate. The fixed sleeve is provided on the fixed side plate. The inner fixed frame is provided on the inner side surface of the fixed side plate to form a drive cavity at one end of the fixed sleeve. The locking drive assembly is provided with a drive shaft. The drive shaft is in the drive cavity and is used to drive the movable pull rod.

9. The robot docking mechanism according to claim 8, characterized in that: The locking drive assembly includes a driving module, a cam element and a rotating bearing. Two rotating bearings are provided and are respectively arranged on the upper end plate and the lower end plate. The driving module is arranged on the upper end plate and connected to the driving shaft. The cam element is arranged on the driving shaft. The driving module is used to drive the driving shaft to rotate so that the cam element rotates to push the movable pull rod to achieve locking or unlocking.

10. The robot docking mechanism according to any one of claims 1 to 9, characterized in that: It also includes a fixing assembly, which includes a first fixing column, a second fixing column and a connecting piece. There are multiple first fixing columns, and the multiple first fixing columns are respectively arranged on both sides of the first docking frame. There are multiple second fixing columns, and the multiple second fixing columns are respectively arranged on both sides of the second docking frame. When the first docking device is docked with the second docking device, the first fixing column and the second fixing column are connected by the connecting piece.

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