Butt joint device and operation machine

Abstract

The invention provides a docking device and an operation machine, and relates to the technical field of docking. According to the docking device, a first guide unit is connected with an operation robot; the second guide unit is connected with another operation robot, and the first guide unit is in butt joint with the second guide unit; the detection unit detects relative positions and postures of the first guide unit and the second guide unit; and the detection unit, the first guide unit and the second guide unit are electrically connected with the control unit. When the relative position is equal to the preset relative position and the posture is equal to the preset posture, the control unit controls the first guide unit and the second guide unit to move relatively, so that the first guide unit and the second guide unit are in butt joint, the posture requirement and the relative position requirement of butt joint are met, and the butt joint accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of docking technology, and in particular to a docking device and a docking machine. Background Technology

[0002] In the routine maintenance of high-voltage transmission lines, drones hoist a work robot onto the ground wire of the transmission line. The work robot then autonomously moves along the ground wire to perform tasks such as line inspection, obstacle removal, and de-icing. However, due to limitations in the battery life and payload capacity of drones, these work robots are typically lightweight and have short operating times, making it difficult to meet the demands of long-term, high-intensity maintenance. To address this issue, a split-type work robot has emerged, separating the work function module from the energy supply module, and using a quick-connect mechanism for energy replenishment or functional expansion.

[0003] In related technologies, for the docking requirements of split-type robots, electromagnetic adsorption docking or mechanical docking methods are mainly used to achieve connection. For example, electromagnetic adsorption docking uses sensors to control the on / off state of electromagnets to achieve adsorption and separation between the working robot and the power robot. Mechanical docking methods mostly use simple pin or snap-fit ​​structures, requiring manual adjustment of the docking position.

[0004] However, the above docking method has inaccurate positioning, resulting in poor accuracy during docking. Summary of the Invention

[0005] This application provides a docking device and a working machine to improve the accuracy of docking.

[0006] To achieve the above objectives, the technical solution of this application is as follows:

[0007] This application provides a docking device, comprising: a first guide unit for connecting to a work robot; a second guide unit for connecting to another work robot, wherein the first guide unit is used to dock with the second guide unit; a detection unit for detecting the relative position and attitude of the first guide unit and the second guide unit; and a control unit, wherein the detection unit, the first guide unit, and the second guide unit are all electrically connected to the control unit; the control unit is configured to control the relative movement of the first guide unit and the second guide unit when the relative position is equal to a preset relative position and the attitude is equal to a preset attitude, so that the first guide unit docks with the second guide unit.

[0008] In one possible implementation, the docking device provided in this application embodiment has a first guiding unit with a locking sleeve and a guide sleeve, the locking sleeve being rotatably sleeved on the guide sleeve; and a second guiding unit with a guide shaft and a locking shaft, the locking shaft being disposed on the periphery of the guide shaft, the guide shaft being used to dock with the guide sleeve, and the locking shaft being used to connect with the locking sleeve.

[0009] The control unit is configured such that, when the relative position is equal to a preset relative position and the attitude is equal to a preset attitude, after the control unit controls the guide shaft to mate with the guide sleeve, the control unit controls the locking sleeve to rotate relative to the guide sleeve so as to connect with the locking shaft.

[0010] In one possible implementation, the docking device provided in this application embodiment further includes a damping floating element, which is connected to one end of the guide shaft away from the guide sleeve. The damping floating element is used to buffer the axial deviation of the guide shaft.

[0011] In one possible implementation, the docking device provided in this application embodiment includes a first guiding unit comprising a fixed plate and a driving unit. The fixed plate is used to connect with the working robot, and the driving unit is connected to the locking sleeve. The driving unit drives the locking sleeve to rotate relative to the guide sleeve.

[0012] In one possible implementation, the docking device provided in this application embodiment has at least one locking groove on the locking sleeve, and the locking shaft is used to engage or disengage from the locking groove.

[0013] In one possible implementation, the docking device provided in this application embodiment has at least one notch on the guide sleeve, the diameter of one end of the guide sleeve decreases sequentially from the direction toward the guide shaft to the direction away from the guide shaft, the diameter of one end of the guide shaft increases sequentially from the direction toward the guide sleeve to the direction away from the guide sleeve, and the extension direction of the locking shaft is perpendicular to the axial direction of the guide shaft.

[0014] In one possible implementation, the docking device provided in this application embodiment further includes an elastic element disposed within a guide sleeve.

[0015] In one possible implementation, the docking device provided in this application embodiment includes a detection unit comprising a first detection unit and a second detection unit. The first detection unit is used to detect the relative position of the first guide unit and the second guide unit. The first detection unit is disposed on the side of the fixing plate facing the locking sleeve. The second detection unit is used to detect the posture of the first guide unit and the second guide unit by detecting the posture of the working robot.

[0016] In one possible implementation, the docking device provided in this application embodiment further includes at least two balance wheel mechanisms. The balance wheel mechanisms are electrically connected to the control unit and are used to connect one-to-one with the working robot to adjust the posture of the working robot, thereby driving the adjustment of the posture of the first guide unit or the second guide unit.

[0017] A balance wheel mechanism is a mechanical device consisting of a rotary motor and a precessing motor. It generates a reaction torque by adjusting the rotation speed and oscillation angle. For example, a balance wheel mechanism uses the principle of a gyroscope to stabilize the flight attitude of a drone.

[0018] A rotary motor is the actuator that drives the balance wheel mechanism to rotate. For example, a rotary motor adjusts its torque output by changing its rotational speed.

[0019] The precession motor is the actuator that drives the balance wheel mechanism to oscillate. For example, the precession motor controls the direction of torque by adjusting the oscillation angle.

[0020] The balance wheel mechanism uses a rotary motor to adjust the rotational speed and a precession motor to adjust the oscillation angle, together generating a reaction torque. Changes in the rotary motor's rotational speed affect the magnitude of the torque, while changes in the precession motor's oscillation angle affect the direction of the torque. Their combined action dynamically balances the reaction torque with the robot's oscillation force, achieving posture adjustment.

[0021] For example, a balance wheel mechanism generates torque through rotation, such as in the +x direction, to counteract the robot's sway caused by ground sag, such as in the -x direction. A gyroscopic couple refers to the torque generated by the change in angular momentum of a rotating object, used to counteract external disturbances.

[0022] In addition, this application also provides a working machine, including the docking device of any of the above embodiments.

[0023] This application provides a docking device and a working machine. The docking device includes: a first guiding unit connected to a working robot; a second guiding unit connected to another working robot, with the first guiding unit docking with the second guiding unit; a detection unit detecting the relative position and attitude of the first guiding unit and the second guiding unit; and the detection unit, the first guiding unit, and the second guiding unit all electrically connected to a control unit. This application uses the detection unit to detect the relative position of the first guiding unit and the second guiding unit in real time. When the preset relative position has not been reached, the control unit controls the first guiding unit and the second guiding unit to move closer together (e.g., the control unit controls the walking unit of the working robot to start, thereby moving the first or second guiding unit connected to the working robot). Furthermore, it detects the attitude of the first guiding unit and the second guiding unit in real time, ensuring that their attitudes are equal to a preset attitude (e.g., the attitudes of the first guiding unit and the second guiding unit are synchronized before docking), thus meeting the attitude requirements for docking and ensuring docking accuracy. When the relative position and attitude are equal to the preset relative position and attitude, the control unit controls the first guiding unit and the second guiding unit to move relative to each other, thereby docking the first guiding unit with the second guiding unit and improving docking accuracy. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0025] Figure 1 A schematic diagram of the docking device and the working robot provided in the embodiments of this application on the ground wire;

[0026] Figure 2 for Figure 1 A magnified view of part A in the middle;

[0027] Figure 3 for Figure 2 A schematic diagram of the structure of the first guide unit;

[0028] Figure 4 for Figure 3 Cross-sectional view of the first guide unit;

[0029] Figure 5 for Figure 2 Schematic diagram of the structure of the second guide unit;

[0030] Figure 6 for Figure 5 Cross-sectional view of the second guide unit.

[0031] Explanation of reference numerals in the attached figures:

[0032] 10-Ground wire; 20-Operating robot; 21-Base; 22-First electrical transmission unit; 23-Second electrical transmission unit; 100-First guide unit; 110-Locking sleeve; 111-Locking groove; 112-Sliding bearing; 113-Elastic element; 120-Guide sleeve; 121-Notch; 130-Fixing plate; 140-Drive unit; 200-Second guide unit; 210-Guide shaft; 220-Locking shaft; 300-Detection unit; 310-First detection unit; 320-Second detection unit; 400-Control unit; 500-Damping floating element; 600-Balance wheel mechanism; 700-Walking unit.

[0033] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended application.

[0035] It should be noted that in the description of the embodiments of this application, the terms "upper", "lower", "inner", "outer" and other terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and are not intended to indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0036] Furthermore, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In the routine maintenance of high-voltage transmission lines, drones hoist a work robot onto the ground wire of the transmission line. The work robot then autonomously moves along the ground wire to perform tasks such as line inspection, obstacle removal, and de-icing. However, due to limitations in the battery life and payload capacity of drones, these work robots are typically lightweight and have short operating times, making it difficult to meet the demands of long-term, high-intensity maintenance. To address this issue, a split-type work robot has emerged, separating the work function module from the energy supply module, and using a quick-connect mechanism for energy replenishment or functional expansion.

[0039] In related technologies, for the docking requirements of split-type robots, electromagnetic adsorption docking or mechanical docking methods are mainly used to achieve connection. For example, electromagnetic adsorption docking uses sensors to control the on / off state of electromagnets to achieve adsorption and separation between the working robot and the power robot. Mechanical docking methods mostly use simple pin or snap-fit ​​structures, requiring manual adjustment of the docking position.

[0040] However, the above docking method has inaccurate positioning, resulting in poor accuracy during docking.

[0041] Specifically, taking the docking of a ground-based robot and an energy robot as an example, when the robot's battery is low or a functional module needs to be replaced, it connects to the energy robot or a functional expansion robot via a docking device to achieve energy replenishment or function switching. However, due to the sag or tilt of the ground wire, the robot and energy robot suffer from posture deviations and lack dynamic posture adjustment, making accurate docking difficult. Furthermore, manual adjustment of the docking position is required, resulting in low efficiency. The mechanical locking structure is also prone to contact failure due to vibration or load changes, affecting signal and energy transmission.

[0042] In view of this, this application provides a docking device and a working machine. The docking device includes: a first guiding unit connected to a working robot; a second guiding unit connected to another working robot, with the first guiding unit docking with the second guiding unit; a detection unit detecting the relative position and attitude of the first guiding unit and the second guiding unit; and the detection unit, the first guiding unit, and the second guiding unit all being electrically connected to a control unit. This application uses the detection unit to detect the relative position of the first guiding unit and the second guiding unit in real time. When the preset relative position has not been reached, the control unit controls the first guiding unit and the second guiding unit to move closer together (e.g., the control unit controls the walking unit of the working robot to start, thereby moving the first or second guiding unit connected to the working robot). Furthermore, it detects the attitude of the first guiding unit and the second guiding unit in real time, ensuring that their attitudes are equal to a preset attitude (e.g., the attitudes of the first guiding unit and the second guiding unit are synchronized before docking), thus meeting the attitude requirements for docking and ensuring docking accuracy. When the relative position is equal to the preset relative position and the attitude is equal to the preset attitude, the control unit controls the first guiding unit and the second guiding unit to move relative to each other, thereby docking the first guiding unit with the second guiding unit and improving docking accuracy.

[0043] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0044] This application provides a docking device, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6The system includes: a first guide unit 100 for connecting to a work robot 20; a second guide unit 200 for connecting to another work robot 20, with the first guide unit 100 docking with the second guide unit 200; a detection unit 300 for detecting the relative position and attitude of the first guide unit 100 and the second guide unit 200; and a control unit 400, which is electrically connected to the detection unit 300, the first guide unit 100, and the second guide unit 200. The control unit 400 is configured to control the relative movement of the first guide unit 100 and the second guide unit 200 when the relative position is equal to a preset relative position and the attitude is equal to a preset attitude, so that the first guide unit 100 docks with the second guide unit 200.

[0045] The first guide unit 100 is fixedly connected to the working robot 20 by bolts, and the second guide unit 200 is fixedly connected to another working robot 20 by bolts, so that the swing state of the first guide unit 100 and the second guide unit 200 is consistent with the swing state of the working robot 20.

[0046] It should be noted that during docking, the automatic locking function of the entire machine is activated, using a mechanical structure to securely lock the docking parts and prevent accidental loosening. When the operation is completed, the automatic disengagement function ensures the safe and rapid separation of the docking devices.

[0047] The first guide unit 100 has a first electrical transmission unit 22, and the second guide unit 200 has a second electrical transmission unit 23. After the first guide unit 100 and the second guide unit 200 are connected, the first electrical transmission unit 22 and the second electrical transmission unit 23 are electrically connected.

[0048] The first guide unit 100 includes a locking sleeve 110 and a guide sleeve 120, with the locking sleeve 110 rotatably fitted onto the guide sleeve 120. The second guide unit 200 includes a guide shaft 210 and a locking shaft 220, with the locking shaft 220 disposed around the guide shaft 210. The guide shaft 210 is used to mate with the guide sleeve 120, and the locking shaft 220 is used to connect with the locking sleeve 110.

[0049] The control unit 400 is configured such that, when the relative position is equal to a preset relative position and the attitude is equal to a preset attitude, after the control unit 400 controls the guide shaft 210 to dock with the guide sleeve 120, the control unit 400 controls the locking sleeve 110 to rotate relative to the guide sleeve 120 to connect with the locking shaft 220.

[0050] The guide sleeve 120 is a cylindrical structure with an inner conical surface. The opening angle of the conical surface is 30°. The inner conical surface is smooth and rounded, with low friction and smooth guidance.

[0051] The locking sleeve 110 is a cylindrical structure and is mounted on the guide sleeve 120 via a sliding bearing 112, exhibiting high coaxiality with the guide sleeve 120. The locking sleeve 110 rotates to lock and disengage with the locking shaft 220. For example, the locking sleeve 110 can rotate around the axis of the guide sleeve 120, and the locking or disengagement is achieved by driving the locking sleeve 110 to rotate via the drive unit 140.

[0052] The front end of the guide shaft 210 is conical, and a locking shaft 220 is provided on the periphery of the guide shaft 210. The rear end of the guide shaft 210 is connected to the damping floating component 500.

[0053] A second electrical transmission unit 23 is installed in the middle of the guide shaft 210. The guide shaft 210 connects with the guide sleeve 120 through the front conical guide surface. After the connection is completed, the second electrical transmission unit 23 presses against the first electrical transmission unit 22 to ensure reliable and stable transmission.

[0054] This application uses a detection unit 300 to detect the relative position of the first guide unit 100 and the second guide unit 200 in real time. When the preset relative position has not been reached, the control unit 400 controls the first guide unit 100 and the second guide unit 200 to move closer to each other (e.g., the control unit 400 controls the walking unit 700 of the working robot 20 to start, thereby driving the first guide unit 100 or the second guide unit 200 connected to the working robot 20 to move). It also detects the posture of the first guide unit 100 and the second guide unit 200 in real time, so that their postures are equal to the preset postures (e.g., the postures of the first guide unit 100 and the second guide unit 200 are synchronized before docking), so as to meet the posture requirements of docking and ensure the accuracy of docking. When the relative position is equal to the preset relative position and the posture is equal to the preset posture, the control unit 400 controls the first guide unit 100 and the second guide unit 200 to move relative to each other so that the first guide unit 100 and the second guide unit 200 dock, thereby improving the accuracy of docking.

[0055] Among them, combined Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 It also includes a damping floating element 500, which is connected to the end of the guide shaft 210 away from the guide sleeve 120.

[0056] The damping floating component 500 can be made of a highly elastic and hard damping material to absorb the axial impact force caused by the sag or tilt of the ground wire 10, reduce the stress concentration of the mechanical structure, and thus buffer the alignment axial deviation caused by factors such as inconsistent posture of the working robot 20 and the sag of the ground wire 10.

[0057] In some embodiments, the first guide unit 100 includes a fixing plate 130 and a drive unit 140. The fixing plate 130 is used to connect to the work robot 20 or the energy robot. The drive unit 140 is connected to the locking sleeve 110 and drives the locking sleeve 110 to rotate relative to the guide sleeve 120.

[0058] The drive unit 140 includes a drive component, a telescopic rod, and at least one hinge shaft. The drive component (such as a motor) drives the telescopic rod to extend or retract, forming a linear motion. One end of the telescopic rod is connected to the hinge shaft, and the other end of the hinge shaft is connected to the locking sleeve 110. For example, the hinge shaft is hinged to the drive arm on the locking sleeve 110. The telescopic rod is the drive end. When the telescopic rod extends, it drives the hinge shaft to move. When the hinge shaft moves, it drives the locking sleeve 110 to rotate clockwise. When the telescopic rod retracts, it drives the hinge shaft to move. When the hinge shaft moves, it drives the locking sleeve 110 to rotate counterclockwise. In addition, the drive component also has a power-off self-locking function, which can ensure reliable self-locking and reduce energy consumption.

[0059] Alternatively, there may be two hinge shafts, with the housing of the drive component connected to the fixed plate 130 or the locking sleeve 110 via one hinge shaft.

[0060] In addition, the guide shaft 210 of the second guide unit 200 can also be connected to the working robot 20 through the fixing plate 130.

[0061] In one possible implementation, combining Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The locking sleeve 110 has at least one locking groove 111 for engaging with the locking shaft 220.

[0062] The locking sleeve 110 has a loop-shaped structure with a notch 121, which forms a locking groove 111. The inner side of the locking groove 111 has a bevel. When the locking sleeve 110 rotates, the locking shaft 220 moves along the bevel to engage with the locking groove 111, thus locking. Upon disengagement, it can be quickly released; the locking shaft 220 moves along the bevel to disengage from the locking groove 111.

[0063] In one possible implementation, combining Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The docking device provided in this application embodiment also includes an elastic element 113, which is disposed inside the guide sleeve 120.

[0064] The elastic element 113 can be a spring. For example, a first electrical transmission unit 22 is installed inside the guide sleeve 120. By compressing its internal spring in the docking direction, the first electrical transmission unit 22 is connected to the second electrical transmission unit 23, thereby ensuring reliable and stable electrical transmission.

[0065] In some embodiments, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The guide sleeve 120 has at least one notch 121. The diameter of one end of the guide sleeve 120 decreases sequentially from the direction toward the guide shaft 210 to the direction away from the guide shaft 210. The diameter of one end of the guide shaft 210 increases sequentially from the direction toward the guide sleeve 120 to the direction away from the guide sleeve 120. The extension direction of the locking shaft 220 is perpendicular to the axial direction of the guide shaft 210.

[0066] In this embodiment, the guide sleeve 120 and the guide shaft 210 form a conical guide structure, which achieves mechanical guidance through a conical inclined surface and is used to correct positional deviations. For example, the conical guide structure corrects the offset of the docking shaft by sliding the inclined surface.

[0067] In one possible implementation, the docking device provided in this application embodiment, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The detection unit 300 includes a first detection unit 310 and a second detection unit 320. The first detection unit 310 is used to detect the relative position of the first guide unit 100 and the second guide unit 200. The first detection unit 310 is disposed on the side of the fixing plate 130 facing the locking sleeve 110. The second detection unit 320 is used to detect the posture of the first guide unit 100 and the second guide unit 200 by detecting the posture of the working robot 20.

[0068] The first detection unit 310 is located on the side of the fixing plate 130 facing the locking sleeve 110 and on the side of the ground wire 10.

[0069] The second detection unit 320 includes at least two inertial measurement units, such as those carried on the main body of the work robot 20 and the main body of the energy robot, to detect the attitude of the work robot 20 and to sense the tilt position of the work robot 20. The attitude of the work robot 20 affects the attitude of the first guide unit 100 and the second guide unit 200 connected to the work robot 20.

[0070] Therefore, in this embodiment of the application, the inertial measurement unit detects the attitude data of the work robot 20 and the energy robot in real time and sends it to the control unit 400. According to the gyro couple principle of the balance wheel mechanism 600, the control unit 400 controls the balance wheel mechanism 600 to dynamically adjust the attitude of the work robot 20 so that the attitude of the work robot 20 reaches the preset attitude, thereby realizing the attitude synchronization of the two work robots 20.

[0071] It should be noted that the rotating wheel inside the balance wheel mechanism 600 has angular momentum. When the working robot 20 tilts due to the sag of the ground line 10, the control unit 400 controls the precession motor to drive the balance wheel mechanism 600 to swing around the axis of the ground line 10 based on the angular velocity detected by the inertial measurement unit. This swing generates a gyroscopic torque (i.e., a reaction torque) opposite to the tilt direction, which can resist and counteract the tilting tendency of the working robot 20, thereby dynamically adjusting and stabilizing the attitude of the working robot 20 at the preset docking posture.

[0072] The inertial measurement unit is used to detect the oscillation angular velocity and angular acceleration of the inertial wheel group on the work robot 20. The control unit 400 controls the balancing mechanism to generate gyroscopic force based on the oscillation angular velocity and angular acceleration to counteract the tilt caused by the accidental tilting motion of the whole machine, thereby controlling the work robot 20 and the energy robot to maintain a preset posture during docking, thus meeting the docking conditions.

[0073] Understandably, inertial measurement units (IMUs) integrate sensors such as accelerometers and gyroscopes to measure the three-dimensional acceleration and angular velocity of an object. For example, an IMU can detect changes in the tilt angle of the robot 20 on the ground line 10. This embodiment of the application uses the IMU to sense attitude deviations in real time and dynamically adjusts the robot's attitude using the principle of gyroscopic couples, solving the attitude synchronization problem caused by the sag or tilt of the ground line 10, and providing a stable foundation for subsequent docking.

[0074] The first detection unit 310 includes a laser ranging unit. Guided by the laser ranging unit, the first guide unit 100 and the second guide unit 200 are docked, realizing automated operation of the docking process and improving docking efficiency and reliability. The laser ranging unit can detect the relative position of the two working robots 20 in real time. Based on the detected relative position, the control unit 400 controls the walking unit 700 of the working robot 20 to start. The walking unit 700 controls the two working robots 20 to move closer to each other. When the relative position of the two working robots 20 is equal to the preset relative position, the two working robots 20 reach the docking point, such as the first guide unit 100 and the second guide unit 200 making contact.

[0075] The laser ranging unit calculates the distance by measuring the time between laser emission and reflection, thereby detecting the relative positional relationship between the two working robots 20.

[0076] Alternatively, the first detection unit 310 may include a laser ranging unit and a position sensor to detect the relative position of the docking ends of the first guide unit 100 and the second guide unit 200, as well as the attitude of the docking ends of the first guide unit 100 and the second guide unit 200, such as the winding rotation attitude of the first guide unit 100 and the second guide unit 200, including the winding rotation angle and tilt angle. The first detection unit 310 is installed on the lower side of the fixing plate 130, close to the ground wire 10, to ensure a rapid response to the winding rotation degree of freedom and improve docking accuracy.

[0077] In some embodiments, the present application further includes at least two balance wheel mechanisms 600, which are electrically connected to the control unit 400. The balance wheel mechanisms 600 are used to connect one-to-one with the work robot 20 to adjust the posture of the work robot 20, thereby driving the adjustment of the posture of the first guide unit 100 or the second guide unit 200.

[0078] The second detection unit 320 includes at least two inertial measurement units, which are respectively installed on the two working robots 20. There are two balance wheel mechanisms 600, which are respectively connected to the two working robots 20.

[0079] Understandably, the inertial measurement unit (IMU) can be installed on the robot body 20 to detect the robot's tilt, sway, and other posture information. The control unit 400, based on the angular velocity and angular acceleration detected by the IMU, controls the balance wheel mechanism 600 to generate gyroscopic torque to counteract the robot's tilt, ensuring that both docking parties maintain a preset posture. This, in turn, drives the first guide unit 100 and the second guide unit 200 to maintain the preset posture, facilitating subsequent docking and allowing for real-time adjustments during the docking process to maintain the preset posture.

[0080] It should be noted that the preset posture can be understood as the first guide unit 100 and the second guide unit 200 having the same winding angle with the ground wire 10 as the rotation axis. The winding angle of the first guide unit 100 and the winding angle of the second guide unit 200 can be the same or different, and can be designed according to the docking requirements of the two. This application does not impose any restrictions on this.

[0081] For example, one of the work robots 20 is on an energy robot. One inertial measurement unit is installed on the work robot 20, and the other inertial measurement unit is installed on the energy robot. The two inertial measurement units detect the attitude of the work robot 20 and the energy robot in real time, respectively. The two inertial measurement units send the detected attitude to the control unit 400. The control unit 400 controls the balance wheel mechanism 600 to adjust the attitude of the work robot 20 according to the detected attitude, so that the attitudes of the two work robots 20 are consistent, thereby driving the first guide unit 100 and the second guide unit 200 to reach the allowable docking attitude range, thus facilitating the subsequent docking.

[0082] It should be noted that the balance wheel mechanism 600 includes two sets of metal wheels of the same size. Through a rotary motor and a precession motor, it can rotate and swing. By adjusting the rotation speed and swing angle, a torque around the axis (ground wire 10) can be generated, which forms a reaction torque with the swing force rectangle of the working robot 20 around the wire. This suppresses the swing of the working robot 20 around the wire and ensures that the posture of the working robot 20 body and the upper body of the energy robot remains synchronized during docking.

[0083] This application provides a work machine 20, combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 This includes the docking device of any of the above embodiments.

[0084] The work robot 20 includes a main body, which includes two work robots 20. Each work robot 20 has a base 21. A second detection unit 320 is disposed on the base 21. The base 21 is located above the ground wire 10. The work robot 20 moves via a walking unit 700.

[0085] The docking process of the robot 20 is shown below.

[0086] During the preparation phase, the robots 20 to be docked travel towards each other along the ground line 10 and gradually enter the docking area. The detection unit 300 is used to detect the relative position and attitude of the first guide unit 100 and the second guide unit 200. The detection unit 300 is connected to the control unit 400, which is used to adjust the winding angle of the robots 20 to ensure that the robots 20 to be docked are in a relatively synchronized winding attitude, thus achieving the preset docking attitude requirements.

[0087] When the robot 20, which needs to dock, travels a certain distance along the ground line 10 in a preset docking posture, the first guide unit 100 contacts the second guide unit 200, entering mechanical guidance. The guide shaft 210 and the guide sleeve 120 enter the docking state. The guide shaft 210 moves axially toward the guide sleeve 120, and slides along the inner wall of the guide sleeve 120. The guide shaft 210 gradually corrects the positional deviation between the two by the limiting of the guide sleeve 120. The damping floating component 500 on the guide shaft 210 can eliminate the influence of the sag of the line on the position. Through continued relative movement, the first guide unit 100 and the second guide unit 200 guide the robot 20 to a docking direction.

[0088] The first detection unit 310 transmits the real-time position information of the two docking robots 20 to the control unit 400 (such as the robot 20 balance system algorithm module). Based on the received position information, the algorithm module quickly calculates the optimal moving speed and distance of the guide shaft 210 along the guide path. The driving system of the robot 20 drives the guide shaft 210 to move smoothly along the guide path. During the movement, the robot 20 balance system algorithm adjusts the robot 20's winding posture in real time based on the continuously fed-back position data to ensure that the guide shaft 210 always maintains the correct posture and moves toward the guide sleeve 120 during the docking process.

[0089] During the docking process, the guide shaft 210 moves toward the guide sleeve 120. As the distance between the two decreases, the moving speed of the guide shaft 210 gradually slows down to ensure the accuracy and stability of the docking. When the first detection unit 310 detects that the relative position of the two docking robots 20 is equal to the preset position, the guide shaft 210 moves into place, indicating that the docking process is completed.

[0090] After docking is completed, the locking stage begins. Once the guide shaft 210 is in place, the drive unit 140 pushes the locking sleeve 110 to rotate, locking the locking shaft 220 in the locking groove of the locking sleeve 110, thus completing the rapid locking and ending the entire docking process.

[0091] Furthermore, this application also provides a docking method for a docking device, comprising acquiring attitude data of two working robots 20 through an inertial measurement unit, calculating control parameters of a reaction torque device (such as a balance wheel mechanism 600) based on the attitude data by a control unit 400, and adjusting the attitudes of the working robot 20 and the energy robot through the reaction torque device so that the attitudes of the first guide unit 100 and the second guide unit 200 are equal to a preset attitude. It should be noted that in the embodiments of this application, attitude data and attitude represent the same semantic meaning.

[0092] Specifically, this method uses an inertial measurement unit to collect real-time attitude data on the work robot 20 and the energy robot, including parameters such as the winding rotation angle and tilt angle. The attitude data is transmitted to a reaction torque device via a control unit 400. The reaction torque device calculates the required target angular velocity and angular acceleration based on the attitude data and adjusts the rotation speed and swing angle via a rotary motor and a precession motor. The torque generated by the reaction torque device reacts to the swing force rectangle caused by the sag or tilt of the robot body due to the ground wire 10, thereby dynamically adjusting the robot's attitude to make the attitudes of the work robot 20 and the energy robot more consistent. This ensures that the attitudes of the first guide unit 100 and the second guide unit 200 are equal to the preset attitudes, providing a stable foundation for subsequent docking.

[0093] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0094] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A docking device, characterized in that The application relates to a first guiding unit (100) for connecting with a work robot (20), a second guiding unit (200) for connecting with another work robot (20), the first guiding unit (100) being used for docking with the second guiding unit (200), a detection unit (300) for detecting the relative position and posture of the first guiding unit (100) and the second guiding unit (200), and a control unit (400) electrically connected with the detection unit (300), the first guiding unit (100) and the second guiding unit (200). The first guiding unit (100) has a locking sleeve (110) and a guiding sleeve (120), the locking sleeve (110) being rotatably sleeved on the guiding sleeve (120); the second guiding unit (200) has a guiding shaft (210) and a locking shaft (220), the locking shaft (220) being arranged on the side of the guiding shaft (210), the guiding shaft (210) being used for docking with the guiding sleeve (120), and the locking shaft (220) being used for connecting with the locking sleeve (110). The control unit (400) is configured to, when the relative position is equal to a preset relative position and the posture is equal to a preset posture, control the guiding shaft (210) to dock with the guiding sleeve (120), and then control the locking sleeve (110) to rotate relative to the guiding sleeve (120) to be connected with the locking shaft (220). The application further comprises a damping floating member (500) connected with one end of the guiding shaft (210) away from the guiding sleeve (120). The first guiding unit (100) comprises a fixing plate (130) and a driving unit (140), the fixing plate (130) being used for connecting with the work robot (20), and the driving unit (140) being connected with the locking sleeve (110) and driving the locking sleeve (110) to rotate relative to the guiding sleeve (120). The locking sleeve (110) is provided with at least one locking groove (111), and the locking shaft (220) is used for clamping or unclamping with the locking groove (111).

2. The docking device of claim 1, wherein, ​ ​ 3. The docking device of claim 2, wherein, ​ 4. The docking device of claim 2, wherein, ​ 5. Docking device according to any of claims 2-4, characterized in that ​ 6. Docking device according to any of claims 2-4, characterized in that The guide sleeve (120) has at least one notch (121), a diameter of one end of the guide sleeve (120) decreases from a direction towards the guide shaft (210) to a direction away from the guide shaft (210), a diameter of one end of the guide shaft (210) increases from a direction towards the guide sleeve (120) to a direction away from the guide sleeve (120), and an extension direction of the locking shaft (220) is perpendicular to an axial direction of the guide shaft (210).

7. Docking device according to any of claims 2-4, characterized in that An elastic member (113) is further included and arranged in the guide sleeve (120).

8. The docking device of claim 4, wherein, The detection unit (300) includes a first detection unit (310) and a second detection unit (320), the first detection unit (310) is used for detecting relative positions of the first guide unit (100) and the second guide unit (200), the first detection unit (310) is arranged on a side of the fixed plate (130) towards the locking sleeve (110), and the second detection unit (320) is used for detecting postures of the first guide unit (100) and the second guide unit (200) by detecting a posture of the work robot (20).

9. The docking device according to any one of claims 1-4, characterized in that, At least two balance wheel mechanisms (600) are further included, the balance wheel mechanisms (600) are electrically connected with the control unit (400), the balance wheel mechanisms (600) are used for being connected with the work robot (20) one by one to adjust the posture of the work robot (20) to drive adjustment of the posture of the first guide unit (100) or the second guide unit (200).

10. A work machine characterized by, The docking device includes the docking device according to any one of claims 1-9.

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