Docking device and robotic system

Abstract

The application discloses a docking device and a robot system. The docking device comprises a first docking mechanism, a second docking mechanism, at least one multi-dimensional elastic compensation component, and a positioning component. The second docking mechanism is detachably connected to the first docking mechanism. The first docking mechanism and the second docking mechanism are configured to form a plurality of fluid transmission channels in a docking state. The first docking mechanism and / or the second docking mechanism is provided with the multi-dimensional elastic compensation component. The multi-dimensional elastic compensation component is configured to provide elastic deformation in at least two dimensions to absorb docking position deviation when the first docking mechanism and the second docking mechanism are close to each other. The positioning component is arranged on the first docking mechanism and the second docking mechanism to provide positioning cooperation when the first docking mechanism and the second docking mechanism are in the docking state. Thus, the docking device provided by the application effectively solves the technical problem that the rigid connection in the prior art cannot adapt to multi-dimensional position deviation by arranging the multi-dimensional elastic compensation component.

Description

Technical Field

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

[0002] With the increasing prevalence of service robots (such as cleaning robots, delivery robots, and companion robots), these robots typically need to automatically dock with base stations or resupply stations to perform functions such as charging, water refilling, sewage disposal, or data transmission. In fluid transport scenarios (such as water supply and drainage), the docking accuracy and sealing reliability between the robot and the base station are crucial.

[0003] However, existing docking devices mostly employ rigid connections or single-dimensional guiding structures. When the robot's docking position deviates due to navigation errors, uneven ground, tire slippage, or mechanical wear, the rigid structure cannot effectively absorb multi-dimensional positional errors. This often leads to docking failure, interface jamming, or even mechanical damage to the docking components. Summary of the Invention

[0004] This application provides a docking device and a robot system that can solve at least one of the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a docking device applied to a robot system, the docking device comprising: First liaison organization; A second docking mechanism is detachably connected to a first docking mechanism; the first and second docking mechanisms are configured to form multiple fluid transmission channels in the docking state. At least one multidimensional elastic compensation component is provided, and the first docking mechanism and / or the second docking mechanism are provided with the multidimensional elastic compensation component; the multidimensional elastic compensation component is configured to provide elastic deformation in at least two dimensions to absorb docking position deviation when the first docking mechanism and the second docking mechanism are close together.

[0006] A positioning component is provided on the first docking mechanism and the second docking mechanism to provide positioning coordination when the first docking mechanism and the second docking mechanism are in the docking state.

[0007] In some embodiments, the first docking mechanism includes a first mounting base, and the second docking mechanism includes a second mounting base; The multidimensional elastic compensation component includes an adapter, a mating part, and multiple elastic elements. The adapter is located on the first mounting base, and the multiple elastic elements are connected between the adapter and the mating part.

[0008] In some implementations, the elastic element is a spring, with one end of the spring connected to the adapter and the other end connected to the mating element.

[0009] In some embodiments, the positioning component includes a first magnetic member and a second magnetic member, the first magnetic member being disposed on the docking member and the second magnetic member being disposed on the second mounting base, and at least one of the first magnetic member and the second magnetic member being an electromagnet.

[0010] In some embodiments, the first docking mechanism includes a first mounting base, which is provided with a multi-dimensional elastic compensation component; the docking device further includes a horizontal correction component, which is movably disposed between the first mounting base and the multi-dimensional elastic compensation component.

[0011] In some embodiments, the horizontal correction component includes a slide rail structure and a slider structure. One of the first mounting base and the multidimensional elastic compensation component is provided with a slide rail structure, and the other of the first mounting base and the multidimensional elastic compensation component is provided with a slider structure. The slide rail structure and the slider structure are in sliding engagement.

[0012] In some embodiments, the horizontal correction assembly further includes a first elastic reset member and a second elastic reset member, the first elastic reset member and the second elastic reset member being disposed on the slide rail structure, and the slider structure being disposed between the first elastic reset member and the second elastic reset member.

[0013] In some embodiments, the first docking mechanism includes a first mounting base, the first mounting base being provided with a multi-dimensional elastic compensation component, and the second docking mechanism includes a second mounting base; One of the multidimensional elastic compensation component and the second mounting base is provided with a flared groove structure, and the other of the multidimensional elastic compensation component and the second mounting base is provided with a mating conical surface structure, which is guided and mated with the flared groove structure.

[0014] In some embodiments, the docking device further includes a guide structure, which is provided in conjunction with the conical surface structure and / or the flared groove structure.

[0015] In some embodiments, the guide structure includes a plurality of spheres; a portion of each sphere is rotatably fitted into a mating conical structure; And / or, a portion of each sphere is rotatably embedded in the flared groove structure.

[0016] In some implementations, the multiple fluid transport channels include a first fluid transport channel and a second fluid transport channel that are independent of each other; The first docking mechanism includes a first mounting base and a first clean water pipe and a first sewage pipe disposed on the first mounting base; the second docking mechanism includes a second mounting base and a second clean water pipe and a second sewage pipe disposed on the second mounting base. The first clean water pipe and the second clean water pipe are configured in the first docking mechanism and the second docking mechanism to form a first fluid transmission channel when docked; the first sewage pipe and the second sewage pipe are configured in the first docking mechanism and the second docking mechanism to form a second fluid transmission channel when docked.

[0017] In some embodiments, the docking device further includes a first seal and a second seal, wherein the first seal is configured in the first docking mechanism and the second docking mechanism to seal the connection between the first water pipe and the second water pipe when in the docking state; The second seal is configured in the first and second docking mechanisms to seal the connection between the first and second sewage pipes when they are docked.

[0018] Secondly, embodiments of this application provide a robot system, including: Robots and base stations; and In any of the above-described docking devices, the first docking mechanism is located at the base station, and the second docking mechanism is located at the robot.

[0019] The docking device and robot system provided in this application embodiment include a first docking mechanism, a second docking mechanism, at least one multi-dimensional elastic compensation component, and a positioning component. The second docking mechanism is detachably connected to the first docking mechanism; the first and second docking mechanisms are configured to form multiple fluid transmission channels in the docking state; the first and / or second docking mechanisms are provided with multi-dimensional elastic compensation components; the multi-dimensional elastic compensation components are configured to provide elastic deformation in at least two dimensions to absorb docking position deviations when the first and second docking mechanisms are close together; the positioning component is disposed on the first and second docking mechanisms to provide positioning and engagement between the first and second docking mechanisms in the docking state.

[0020] Thus, the docking device provided in this application effectively solves the technical problem that rigid connections in the prior art cannot adapt to multi-dimensional positional deviations by setting up a multi-dimensional elastic compensation component. When the robot experiences horizontal misalignment, height difference, or angular tilt between the second docking mechanism and the first docking mechanism due to factors such as accumulated navigation errors, uneven ground, or tire slippage, the multi-dimensional elastic compensation component can actively provide elastic deformation in at least two dimensions during the approach process. This flexible compensation mechanism transforms rigid displacement errors that might otherwise be converted into mechanical collisions or jamming into a controllable elastic potential energy storage and release process, thereby automatically absorbing and resolving docking positional deviations without relying on real-time feedback from high-precision sensors or additional motor drives. This design significantly reduces the stringent requirements of the robot system for navigation and positioning accuracy and improves the docking success rate in complex unstructured environments.

[0021] Furthermore, during the docking introduction phase, the multi-dimensional elastic compensation component primarily absorbs errors; during the final docking phase, the positioning component takes over the attitude locking, ensuring that the first and second docking mechanisms maintain a rigid fit in the alignment positions of multiple fluid transmission channels. This clearly defined structural layout retains adaptive tolerance capabilities while ensuring the long-term sealing stability of the fluid interface under high-pressure, high-frequency operating conditions, avoiding the risk of leakage caused by dynamic disturbances. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the docking device provided in the embodiments of this application.

[0024] Figure 2 for Figure 1 A schematic diagram of the first docking mechanism of the docking device.

[0025] Figure 3 for Figure 1 A schematic diagram of the second docking mechanism of the docking device.

[0026] Figure 4 for Figure 1 A cross-sectional schematic diagram of the docking device.

[0027] Explanation of icon numbers: 10. Docking device; 100. First docking mechanism; 110. First mounting base; 120. First clean water pipe; 130. First sewage pipe; 140. First sealing element; 150. Second sealing element; 200. Second docking mechanism; 201. First fluid transmission channel; 202. Second fluid transmission channel; 210. Second mounting base; 220. Second clean water pipe; 230. Second sewage pipe; 300. Multi-dimensional elastic compensation component; 310. Adapter; 320. Docking component; 330. Elastic component; 400. Positioning component; 410. First magnetic suction component; 420. Second magnetic suction component; 500. Horizontal correction component; 510. Slide rail structure; 520. Slider structure; 530. First elastic reset component; 540. Second elastic reset component; 610. Flared groove structure; 620. Mating conical surface structure; 630. Sphere; The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0029] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all 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 claims.

[0030] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0031] 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 herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] Please see Figures 1 to 4 This application provides a docking device 10, which is applied to a robot system to realize automatic fluid interaction between the robot and a base station. The docking device 10 includes a first docking mechanism 100 and a second docking mechanism 200. The second docking mechanism 200 is detachably connected to the first docking mechanism 100. When docked, the two together form multiple independent fluid transmission channels to meet the parallel transmission needs of various media such as clean water supply, sewage discharge, or coolant circulation. The first docking mechanism 100 is usually fixedly installed on the base station side as a stable interface for the fluid source or receiver; the second docking mechanism 200 is integrated into the robot body, moves with the robot, and completes dynamic coupling with the first docking mechanism 100.

[0033] A multi-dimensional elastic compensation component 300 is disposed in the first docking mechanism 100 and / or the second docking mechanism 200 to actively absorb docking position deviations during the approach of the two ends. This component can provide elastic deformation in at least two dimensions, such as translational compensation in the horizontal direction and height adjustment in the vertical direction, or joint correction of radial offset and angular tilt. When the robot's docking posture deviates from the ideal position due to navigation errors, ground undulations, or tire wear, the multi-dimensional elastic compensation component 300 transforms rigid collisions into a controllable elastic response through its own flexible deformation, avoiding interface jamming or damage to the sealing surface. This passive adaptive mechanism does not rely on real-time feedback from high-precision sensors or the intervention of additional drive units, significantly reducing the sensitivity of the docking process to positioning accuracy. The stiffness and stroke of the multi-dimensional elastic compensation component 300 are precisely matched to ensure sufficient tolerance to cover typical working condition deviations while maintaining necessary support to prevent excessive sinking or swaying.

[0034] Positioning components 400 are respectively disposed in the first docking mechanism 100 and the second docking mechanism 200, and are used to provide precise and stable positioning and engagement in the final docking state. After the multi-dimensional elastic compensation component 300 completes the initial error absorption, the positioning component 400 takes over the attitude locking task, ensuring that multiple fluid transmission channels achieve preset alignment accuracy in the axial, radial, and circumferential directions. The positioning component 400 can adopt forms such as conical surface fit, pin hole fitting, magnetic attraction guidance, or mechanical snap-fit, and its structural design takes into account both smooth insertion and final rigidity, so that the docking interface can maintain the sealing integrity under fluid pressure fluctuations or external vibrations. The positioning component 400 and the multi-dimensional elastic compensation component 300 form a cooperative working mechanism of first flexible and then rigid: the insertion stage is dominated by flexible compensation to reduce insertion resistance; the locking stage is dominated by rigid positioning to ensure long-term reliable sealing. This division of labor strategy effectively balances the contradiction between tolerance adaptability and interface stability, so that the docking device 10 can tolerate large initial deviations and maintain high-precision fluid communication in the working state.

[0035] Multiple fluid transfer channels are established synchronously after the first docking mechanism 100 and the second docking mechanism 200 are docked. Each fluid transfer channel is physically isolated through an independent sealing structure to prevent cross-contamination or media cross-flow. The fluid transfer channel layout typically adopts a concentric ring or symmetrical array arrangement to optimize space utilization and balance force distribution. Each fluid transfer channel's inlet and outlet are equipped with a self-sealing valve core or elastic lip, opening the flow path only after complete docking to avoid leakage risks in misaligned states. The cross-sectional dimensions, flow resistance characteristics, and pressure resistance rating of the fluid transfer channels are customized according to specific application requirements, supporting a wide range of operating conditions from micro-precision liquid injection to large-flow sewage discharge. Combined with the buffering effect of the multi-dimensional elastic compensation component 300 on mechanical impact and the constraint of the final posture by the positioning component 400, the entire fluid interaction process combines high reliability, low maintenance costs, and long service life, providing solid technical support for the continuous autonomous operation of service robots in complex real-world environments.

[0036] Based on the above embodiments, the docking device 10 provided in this application effectively solves the technical problem that rigid connections in the prior art cannot adapt to multi-dimensional positional deviations by setting a multi-dimensional elastic compensation component 300. When the robot experiences horizontal misalignment, height difference, or angular tilt between the second docking mechanism 200 and the first docking mechanism 100 due to factors such as accumulated navigation errors, uneven ground, or tire slippage, the multi-dimensional elastic compensation component 300 can actively provide elastic deformation in at least two dimensions during the approach process. This flexible compensation mechanism transforms rigid displacement errors that might otherwise be converted into mechanical collisions or jamming into a controllable elastic potential energy storage and release process, thereby automatically absorbing and resolving docking positional deviations without relying on real-time feedback from high-precision sensors or additional motor drives. This design significantly reduces the stringent requirements of the robot system for navigation and positioning accuracy and improves the docking success rate in complex unstructured environments.

[0037] Furthermore, during the docking introduction phase, the multi-dimensional elastic compensation component 300 primarily absorbs errors; during the final docking phase, the positioning component 400 locks the docking attitude, ensuring a rigid fit between the first docking mechanism 100 and the second docking mechanism 200 at positions aligned with multiple fluid transmission channels. This clearly defined structural layout retains adaptive tolerance capabilities while ensuring the long-term sealing stability of the fluid interface under high-pressure, high-frequency operating conditions, avoiding the risk of leakage due to dynamic disturbances.

[0038] Moreover, the docking device 10 in this embodiment is free from excessive reliance on high-precision sensors and complex mechanical guiding mechanisms. It actively adapts to environmental errors by utilizing the flexible compensation capability of the mechanical structure itself, which significantly reduces the overall cost and maintenance difficulty while ensuring the reliability of fluid transmission.

[0039] Please see Figure 1 and Figure 2 In some embodiments, the first docking mechanism 100 includes a first mounting base 110, the second docking mechanism 200 includes a second mounting base 210, and the multi-dimensional elastic compensation component 300 includes an adapter 310, a docking component 320, and multiple elastic components 330. The adapter 310 is fixedly mounted on the first mounting base 110, and the two ends of the multiple elastic components 330 are respectively connected to the adapter 310 and the docking component 320, so that the docking component 320 is suspended and supported in front of the adapter 310 through the elastic components 330, forming a flexible connection structure that can float in multiple directions. When the second mounting base 210 of the second docking mechanism 200 approaches the first docking mechanism 100, the docking component 320, as a direct contact component, bears the docking force from the second mounting base 210, while the elastic components 330 absorb the multi-dimensional positional deviation generated by the force through their own deformation, preventing the deviation from being directly transmitted to the first mounting base 110 and the precision components inside the base station.

[0040] The adapter 310 serves as the mounting base for the multi-dimensional elastic compensation component 300, providing a stable load-bearing reference for the entire component. The adapter 310 is rigidly or flexibly connected to the first mounting base 110. The docking component 320, as a functional component that directly contacts the second mounting base 210, typically has a guide structure or sealing interface on its surface to guide the second mounting base 210 to precise alignment and establish a fluid transmission channel. The docking component 320 is connected to the adapter 310 via an elastic element 330, enabling the docking component 320 to have multi-degree-of-freedom floating capabilities relative to the adapter 310 in the radial, axial, and angular directions, allowing it to adaptively adjust to the actual docking position of the second mounting base 210.

[0041] Multiple elastic elements 330 are evenly distributed between the adapter 310 and the docking member 320, jointly undertaking the functions of buffering and resetting. The number and layout of the elastic elements 330 can be optimized according to the load size, dimensions, and expected deviation range of the docking device 10, for example, by adopting a symmetrical arrangement at the four corners or a uniformly distributed ring, to ensure that the docking member 320 is subjected to balanced forces and moves smoothly in all directions. In its natural state, the elastic elements 330 are kept in a pre-compressed or pre-stretched state, providing an initial positioning force for the docking member 320, so that the docking member 320 is stably kept in the center position when not subjected to external forces. When the docking member 320 is subjected to an off-center load from the second mounting base 210, the elastic element 330 in the corresponding direction undergoes further deformation to absorb the deviation, while the elastic element 330 on the opposite side provides a reverse restoring force. The two work together to achieve dynamic balance, ensuring a smooth and jam-free docking process.

[0042] This transforms the rigid connection between the second mounting base 210 and the first mounting base 110 into a flexible connection transmitted through the elastic element 330. During the docking process, regardless of the form of positional deviation of the second mounting base 210 due to navigation errors, uneven ground, or mechanical wear, the elastic element 330 can convert harmful mechanical stress into elastic potential energy through its own elastic deformation, avoiding component damage or seal failure caused by stress concentration. Simultaneously, the stable restoring force provided by the elastic element 330 ensures that after the second docking mechanism 200 disengages, the docking component 320 can automatically return to its initial center position, preparing for the next docking without the need for additional drive mechanisms or sensor feedback, significantly improving the system's reliability and maintenance convenience.

[0043] In some embodiments, the elastic element 330 specifically adopts a spring structure, with one end of the spring firmly connected to the adapter 310 and the other end fixedly connected to the mating element 320. This establishes an elastic connection between the adapter 310 and the mating element 320, providing both buffering and resetting functions. As a core flexible transmission element, the spring organically combines the rigid support of the adapter 310 with the dynamic adaptation requirements of the mating element 320, allowing them to maintain structural connection while achieving relative freedom of motion. This connection method avoids rigid direct contact between the adapter 310 and the mating element 320, effectively isolating the transmission path of external impact loads to the precision mating interface, and providing a fundamental guarantee for the stable operation of the docking device 10 under complex working conditions.

[0044] The spring plays a multi-dimensional mechanical adjustment role between the adapter 310 and the mating part 320. When the mating part 320 is subjected to external forces such as axial pressure, radial offset, or angular tilt, the spring absorbs and stores energy through its own compression, tension, or bending deformation, allowing the mating part 320 to produce a controlled displacement response relative to the adapter 310, thereby achieving adaptive compensation for installation errors and dynamic disturbances. After the docking is completed or the external force is removed, the spring releases the stored elastic potential energy, driving the mating part 320 to smoothly return to the preset initial position, ensuring the consistency and repeatability of the interface posture before each docking. The spring's stiffness parameters are precisely matched to ensure sufficient support force to maintain the basic positioning accuracy of the mating part 320, while providing sufficient flexibility to avoid jamming or damage to the sealing surface caused by over-constraint.

[0045] It should be understood that although a spring is preferably used as the elastic element 330 in this embodiment, this is not a limitation on the scope of protection of this application. In other feasible embodiments, the elastic element 330 can also be any component with elastic recovery capability, such as a rubber column, a spring sheet, a polyurethane buffer block, or a gas spring.

[0046] In some embodiments, the positioning component 400 includes a first magnetic chuck 410 and a second magnetic chuck 420. The first magnetic chuck 410 is fixedly installed on the side surface of the docking member 320 facing the second mounting base 210, and the second magnetic chuck 420 is fixedly installed on the corresponding position of the second mounting base 210 facing the docking member 320. The first magnetic chuck 410 and the second magnetic chuck 420 are arranged facing each other in space. When the docking member 320 and the second mounting base 210 approach each other to a preset distance, a magnetic attraction force is generated between the first magnetic chuck 410 and the second magnetic chuck 420. This magnetic attraction force can actively pull the docking member 320 and the second mounting base 210 to complete the final alignment and maintain a stable fit. This non-contact magnetic positioning method avoids the problems of wear, jamming, and alignment difficulties that exist in traditional mechanical buckle or pin positioning, significantly improving the smoothness of the docking process and the reliability of long-term use.

[0047] At least one of the first magnetic attractor 410 and the second magnetic attractor 420 is an electromagnet, and the other can be a permanent magnet or also an electromagnet. When an electromagnet and a permanent magnet are combined, the electromagnet generates a controllable magnetic field when energized, interacting with the permanent magnet to achieve precise engagement; when the power is off, the magnetic field disappears, and the docking part 320 and the second mounting base 210 can be easily separated without an additional unlocking mechanism. When both are electromagnets, the strength and polarity of the magnetic attraction force can be flexibly adjusted by independently controlling the magnitude and direction of the excitation current of the two electromagnets. This allows for strong engagement to ensure reliable sealing, and also generates a repulsive force to assist in rapid disengagement when needed, giving the system a higher degree of control freedom and adaptability to different working conditions. The introduction of the electromagnet upgrades the positioning component 400 from a passive fixing unit to an active and controllable execution unit, capable of dynamically adjusting the output force according to different requirements during the docking stage.

[0048] The first magnetic chuck 410 is positioned on the docking member 320 instead of the first mounting base 110. This layout design closely complements the floating characteristics of the multi-dimensional elastic compensation component 300. Since the docking member 320 is suspended and supported in front of the adapter 310 via the elastic member 330, it possesses multi-degree-of-freedom adaptive adjustment capabilities. Integrating the first magnetic chuck 410 directly onto the docking member 320 ensures that the point of application of the magnetic force coincides with the docking contact surface, avoiding attitude deflection or stress concentration caused by torque transmission. Simultaneously, as the component directly in contact with the second mounting base 210, the position of the docking member 320 changes in real time with the deformation of the elastic member 330. The first magnetic chuck 410 moves synchronously accordingly, ensuring that it maintains an effective working distance from the second magnetic chuck 420 throughout the entire docking stroke, preventing loss of magnetic attraction due to excessive initial deviation. This integrated design simplifies the structural hierarchy and improves magnetic energy utilization efficiency.

[0049] The second magnetic chuck 420 is mounted on the second mounting base 210, forming an integral module with the docking interface on the robot side. The second mounting base 210, as the robot's support platform, typically integrates functional units such as fluid transmission channels, electrical contacts, or communication interfaces. The second magnetic chuck 420 is coplanar with or embedded in this platform, ensuring that all functional units are in place synchronously after docking. The installation position of the second magnetic chuck 420 is precisely calibrated to ensure complete alignment with the first magnetic chuck 410 on the docking component 320 under ideal docking conditions, maximizing magnetic flux density and attraction force. During actual docking, even with slight positional deviations, the gradient characteristics of the magnetic field provide a self-correcting torque, guiding the second mounting base 210 to slide to the correct position. This synergistic effect with the flexible buffering function of the multi-dimensional elastic compensation component 300 ensures the accuracy and sealing integrity of the final docking state.

[0050] In some embodiments, the first docking mechanism 100 includes a first mounting base 110, on which a multidimensional elastic compensation component 300 is mounted. The docking device 10 is also equipped with a horizontal correction component 500. The horizontal correction component 500 is movably disposed between the first mounting base 110 and the multidimensional elastic compensation component 300, forming an intermediate adjustment layer between the first mounting base 110 and the multidimensional elastic compensation component 300. This arrangement allows the horizontal correction component 500 to undergo controlled displacement relative to the first mounting base 110 in the horizontal plane, thereby actively correcting large horizontal position deviations before or simultaneously with the multidimensional elastic compensation component 300 exerts its passive buffering effect, creating more favorable initial conditions for subsequent flexible docking.

[0051] The movable nature of the horizontal correction component 500 enables it to actively correct its alignment, unlike the multi-dimensional elastic compensation component 300 which relies solely on elastic deformation for passive adaptation. When the robot's docking position experiences a lateral misalignment exceeding the effective compensation range of the elastic element 330, the horizontal correction component 500 can generate a corresponding translational movement through its built-in drive mechanism or external force. This causes the upper multi-dimensional elastic compensation component 300 and the docking component 320 to move synchronously, adjusting the deviation to a range that the elastic element 330 can easily absorb. This hierarchical correction mechanism, combining active and passive methods, significantly expands the overall tolerance of the docking device 10, preventing problems such as overload of the elastic element 330, docking failure, or sealing failure caused by excessive initial deviation.

[0052] The horizontal alignment correction component 500 is positioned between the first mounting base 110 and the multi-dimensional elastic compensation component 300. This hierarchical relationship ensures functional decoupling and reasonable force transmission. The first mounting base 110 serves as the fixed foundation for the entire docking device 10, providing a stable installation reference. The horizontal alignment correction component 500, as a movable intermediate layer, undertakes a wide range of positional adjustments. The multi-dimensional elastic compensation component 300, located at the foremost position, is responsible for fine buffering and final fitting. The three components are connected in series, allowing the coarse adjustment in the horizontal direction and the fine adjustment in the multi-dimensional direction to perform their respective functions without interfering with each other. Simultaneously, the travel range and limiting structure of the horizontal alignment correction component 500 are specially designed to ensure a sufficient correction range while preventing excessive displacement from causing mechanical damage to the elastic element 330 or the docking element 320, ensuring safe and controllable system operation.

[0053] The specific implementation of the horizontal alignment correction component 500 can be flexibly selected according to actual needs, such as using a linear guide rail with an electric push rod, a cylinder-driven slider, or a manually adjusting screw. Regardless of the driving method used, the horizontal alignment correction component 500 must have sufficient rigidity and guiding accuracy to withstand lateral loads during the docking process and maintain smooth movement. In addition, the horizontal alignment correction component 500 can also integrate a position sensor or limit switch to provide real-time feedback on the current offset status or trigger a protection mechanism when the limit position is reached, further improving the system's intelligence and operational reliability. This component works in conjunction with the multi-dimensional elastic compensation component 300 to jointly construct a complete docking guarantee system from active correction of large deviations to flexible absorption of small deviations.

[0054] In some embodiments, the horizontal alignment component 500 includes a slide rail structure 510 and a slider structure 520, which achieve relative movement through a sliding fit. One of the first mounting base 110 and the multi-dimensional elastic compensation component 300 is fixedly mounted with the slide rail structure 510, and the other is fixedly mounted with the slider structure 520. The two are movably connected through a precise fit between the slide rail and the slider. This modular design allows the horizontal alignment component 500 to achieve customized displacement functions with standardized components, simplifying the assembly process and facilitating later maintenance and replacement. The selection of the slide rail structure 510 and the slider structure 520 can be flexibly matched according to the load size, stroke requirements, and environmental conditions. For example, different forms such as linear guides, dovetail grooves, or ball screw pairs can be used to meet the accuracy and rigidity requirements under different working conditions.

[0055] When the slide rail structure 510 is mounted on the first mounting base 110, the slide rail provides a stable guiding path as a fixed reference, while the slider structure 520 is mounted on the bottom of the multi-dimensional elastic compensation component 300 and reciprocates along the slide rail. This arrangement allows the multi-dimensional elastic compensation component 300 and its upper docking member 320 to move horizontally relative to the first mounting base 110, while the first mounting base 110 remains stationary, which helps maintain the installation reference of the entire docking device 10. Conversely, if the slider structure 520 is fixed to the first mounting base 110 and the slide rail structure 510 is connected to the multi-dimensional elastic compensation component 300, the slide rail moves with the compensation component, and the slider provides support and guidance on the first mounting base 110. The two arrangements are functionally equivalent, but the former is better at protecting the slide rail from external contamination or collisions, while the latter may be more advantageous in compact scenarios. The optimal arrangement can be selected based on the actual installation space and protection requirements during the design process.

[0056] The sliding engagement of the slide rail structure 510 and the slider structure 520 not only defines the degrees of freedom of motion of the horizontal correction component 500, but also undertakes the functions of load bearing and force transmission. During the docking process, the horizontal force applied by the robot is transmitted to the slider or slide rail through the multi-dimensional elastic compensation component 300, and then the sliding pair guides the force to the first mounting base 110 and is finally borne by the base station structure. Therefore, the slide rail and slider must have sufficient rated dynamic and static load capacity to ensure that no plastic deformation or premature wear occurs during repeated docking cycles. At the same time, the coefficient of friction of the sliding pair directly affects the correction response speed and drive power consumption. Low friction design can reduce the risk of jamming and improve position control accuracy. In some implementation schemes, self-lubricating materials or sealed dust covers can be added to the sliding contact surface to further extend the service life and adapt to harsh environments such as dust and humidity.

[0057] The fit clearance and preload of the slide rail structure 510 and the slider structure 520 have a decisive impact on the smoothness of the horizontal correction component 500's movement. Excessive clearance will cause the mating parts 320 to wobble in the horizontal direction, reducing the final docking accuracy; insufficient clearance or excessive preload will increase movement resistance and even cause crawling. Therefore, during assembly, the slider preload level or guide rail parallelism must be strictly adjusted according to technical specifications to ensure smooth movement of the sliding pair within its entire stroke range without abnormal vibration. Furthermore, mechanical limit blocks or buffers are typically installed at both ends of the slide rail to prevent the slider from dislodging from the rail or experiencing rigid impacts at extreme positions, providing a safety boundary for the horizontal correction component 500. This sliding fit structure works in conjunction with the multi-dimensional elastic compensation component 300 to jointly construct a graded tolerance system ranging from large-scale active translational correction to small-scale flexible adaptive absorption, significantly improving the overall adaptability of the docking device 10 to complex docking deviations.

[0058] In some embodiments, the horizontal correction assembly 500 further includes a first elastic reset member 530 and a second elastic reset member 540. Both the first elastic reset member 530 and the second elastic reset member 540 are mounted on the slide rail structure 510, and the slider structure 520 is located between the first elastic reset member 530 and the second elastic reset member 540. This symmetrical clamping layout ensures that the movement of the slider on the slide rail is always subject to bidirectional elastic constraint. Regardless of which direction the slider deviates, it will be subjected to a restoring force from the corresponding elastic reset member. The first elastic reset member 530 and the second elastic reset member 540 together constitute a self-centering elastic system, ensuring that the slider automatically returns to and stably maintains its position at the center of the slide rail when no external force is applied, providing a repeatable initial reference state for the next docking.

[0059] The first elastic reset component 530 and the second elastic reset component 540 are disposed on the slide rail structure 510 instead of the slider. This installation method fixes the application point of the elastic reset force on the stationary reference side, avoiding additional inertia or attitude disturbances generated by the elastic component 330 as the slider moves. The slide rail serves as the mounting base for the entire horizontal correction assembly 500, and its geometric accuracy and rigidity directly determine the performance stability of the elastic reset system. Anchoring the elastic reset components at both ends of the slide rail or at specific mounting positions allows the reset force to be uniformly transmitted to the slider along the slide rail axis, reducing the damage of the off-center load torque to the sliding pair. At the same time, this arrangement facilitates the adjustment and replacement of the pre-compression of the elastic reset components, and calibration can be completed without disassembling the slider or the multi-dimensional elastic compensation assembly 300, improving the maintainability and assembly efficiency of the system.

[0060] The slider structure 520 is confined between the first elastic reset member 530 and the second elastic reset member 540, forming a dual guarantee of physical limitation and elastic support. When a horizontal deviation occurs during robot docking and pushes the slider off-center, one side of the elastic reset member is further compressed to absorb kinetic energy, while the other side releases pre-stored energy to provide a reverse pulling force. The two work together to smoothly pull the slider back to the center position. This process is achieved entirely by mechanical elasticity, without the need for sensor feedback or motor drive, and has advantages such as rapid response, strong anti-interference ability, and zero energy consumption. Even in the event of a power outage or control system failure, the elastic reset system can still work independently, preventing the slider from being stuck in the extreme position and causing the next docking failure, significantly enhancing the intrinsic safety and operational robustness of the device.

[0061] The stiffness parameters of the first elastic reset component 530 and the second elastic reset component 540 are designed to match their combined force characteristics with the floating range of the multi-dimensional elastic compensation component 300. If the stiffness of the elastic reset component is too large, it will inhibit the necessary correction displacement of the slider and weaken the horizontal correction function; if the stiffness is too small, the reset force will be insufficient, which may lead to slow slider return to center or inaccurate positioning. Therefore, the selection of the elastic reset component needs to comprehensively consider factors such as docking load, expected deviation range, slide rail friction resistance and reset time requirements, and usually uses components such as helical springs, disc spring groups or polyurethane buffer blocks. This elastic reset system, used in conjunction with the slide rail slider, not only realizes active tolerance and passive return in the horizontal direction, but also provides a reliable mechanical redundancy protection mechanism for the entire docking device 10.

[0062] In some embodiments, the first docking mechanism 100 includes a first mounting base 110, on which the multidimensional elastic compensation component 300 is mounted; the second docking mechanism 200 includes a second mounting base 210. Between the multidimensional elastic compensation component 300 and the second mounting base 210, one is provided with a flared groove structure 610, and the other with a mating conical surface structure 620. The flared groove structure 610 and the mating conical surface structure 620 achieve automatic alignment during the docking process through guided engagement. This conical guide mechanism utilizes the principle of inclined plane force component to convert horizontal misalignment into radial sliding motion along the conical surface, thereby correcting positional errors from the initial contact stage. This significantly reduces the stringent requirements for robot docking accuracy and creates favorable initial conditions for subsequent sealing and bonding or functional connection.

[0063] When the flared groove structure 610 is installed on the multidimensional elastic compensation component 300, the flared groove is fixed to the floating side as the receiving end, while the conical surface structure 620 is machined on the mating surface of the second mounting base 210. This arrangement allows the conical surface to act directly on the groove wall of the elastic compensation component during insertion, and the resulting corrective torque is absorbed by the elastic element 330 and converted into controllable deformation, preventing rigid impact from being transmitted to internal precision components. Conversely, if the conical surface structure 620 is installed on the multidimensional elastic compensation component 300 and the flared groove structure 610 is installed on the second mounting base 210, the conical surface floats with the elastic body, and the groove provides a stable guiding reference. The two configurations are functionally equivalent, but the former is better at protecting the conical surface from wear or contamination, while the latter is more advantageous when space is limited or when the structural rigidity of the second mounting base 210 needs to be strengthened. The design should be based on a comprehensive consideration of the actual assembly sequence, maintenance convenience, and force path.

[0064] The geometric parameters of the flared groove structure 610 and the mating conical surface structure 620 are precisely matched to ensure a smooth and jam-free guiding process. The opening angle of the flared groove is usually larger than the cone angle of the mating conical surface, forming a progressive guide channel and avoiding local stress concentration or surface scratches caused by angular interference. The contact area between the conical surface and the groove wall uses low-friction coefficient materials or surface treatment processes, such as hard chrome plating, PTFE spraying, or self-lubricating bushings, to reduce sliding resistance and extend service life. At the same time, the bottom of the flared groove is often provided with a transition fillet or buffer step to prevent the tip of the conical surface from rigidly colliding with the bottom of the groove after it is fully in place, further improving the positioning repeatability accuracy and structural durability in the final docking state.

[0065] The flared groove structure 610 and the mating conical surface structure 620 work synergistically with the flexible characteristics of the multi-dimensional elastic compensation component 300 to enhance the overall performance. In the initial docking stage, the mechanical guidance of the conical surface and the flared groove undertakes a large-scale positional correction task. As docking deepens, the multi-dimensional elastic compensation component 300 gradually intervenes, absorbing residual minor deviations and providing uniform clamping force. This "rigid-flexible coupling" graded tolerance mechanism ensures both rapid and reliable operation in the coarse positioning stage and guarantees the sealing integrity and uniform force distribution in the fine positioning stage. Furthermore, the guiding structure itself has a certain error-proofing function. When the deviation exceeds the design tolerance, the conical surface cannot smoothly enter the flared groove. The system can detect abnormal resistance through force sensors or limit switches and promptly stop the operation, preventing forced docking from damaging the equipment, thereby comprehensively improving the safety and intelligence level of the docking device 10.

[0066] In some embodiments, at least one of the mating conical structure 620 and the flared groove structure 610 is provided with a guide structure. The guide structure is movably mounted on the surface of the mating conical structure 620 facing the second mounting base 210, or on the inner wall surface of the flared groove structure 610. The guide structure can preferentially intervene and guide during the initial contact stage of docking, avoiding rigid collisions or dry friction between the mating conical body and the inner wall of the flared groove. The degree of freedom of the guide structure allows it to generate minute displacements or rolling under force, thereby transforming the potential sliding friction into low-resistance rolling friction or adaptive fitting motion, significantly reducing insertion resistance and surface wear risks during docking. This forward-positioned, docking-oriented guide configuration ensures that the mechanical introduction action occurs before the sealing interface closes, creating a damage-free transition condition for subsequent high-precision alignment and reliable sealing.

[0067] The specific form of the guide structure can be flexibly selected according to actual working conditions. Common implementation schemes include embedded steel balls, needle roller bearings, self-lubricating bushings, or elastic rollers. When steel balls are used as the guide structure, the steel balls are embedded in the pre-set spherical grooves on the edge of the mating cone surface, with only the top arc surface exposed and in contact with the flared groove, ensuring smooth rolling and preventing detachment. If a roller structure is selected as the guide structure, rotational support is achieved through pins or bearing seats, suitable for heavy-load or high-frequency docking scenarios. Regardless of the form used, the guide structure is precisely limited within the projection range of the mating cone surface toward the second mounting base 210, ensuring that the functional area of ​​the guide structure completely coincides with the guide path of the flared groove. At the same time, the protrusion height of the guide structure is strictly calculated so that the guide structure does not interfere with the final contact of the sealing surface during the final docking state, and only functions during the introduction stage, achieving the dynamic behavior characteristics of guiding without obstructing and leading without stagnation.

[0068] In one specific embodiment of the docking device 10, the guide structure includes multiple spheres 630, each sphere 630 being partially and rotatably embedded in the mating conical surface structure 620. The spheres 630 are not completely embedded within the mating conical surface; instead, a certain proportion of their crowns are exposed, ensuring that during docking, the exposed arc surface of the spheres 630 preferentially contacts the inner wall of the flared groove and forms a rolling pair. This semi-embedded layout ensures that the spheres 630 have free rolling space under load, while also providing sufficient support rigidity through the enveloping effect of the mating conical surface, preventing the spheres 630 from dislodging, deflecting, or jamming under axial or radial loads. The multiple spheres 630 are arranged in a ring or symmetrical array along the edge of the mating conical surface, ensuring that the guiding force is evenly distributed throughout the circumference of the entire conical surface, avoiding guide failure or surface damage caused by localized stress concentration.

[0069] In another specific embodiment of the docking device 10, the guide structure includes a plurality of spheres 630, each sphere 630 being partially and rotatably embedded in the flared groove structure 610. The spheres 630 are installed in a semi-embedded manner on the inner wall surface of the flared groove, with only their top arc surface exposed and in contact with the mating conical surface, thereby converting sliding friction into rolling friction during the docking introduction stage. A pre-set spherical groove on the inner wall of the flared groove provides a stable installation reference and limiting constraint for the spheres 630, ensuring that the spheres 630 will not shift or fall off when subjected to radial forces from the mating conical surface. This arrangement is particularly suitable for machining scenarios where the mating conical surface material is relatively soft or unsuitable for grooving. By transferring the guiding function to the flared groove side, the structural integrity of the mating conical surface is protected while achieving the same low-resistance introduction effect.

[0070] In another specific embodiment of the docking device 10, both the mating conical structure 620 and the flared groove structure 610 are equipped with guide structures, and both sides of the guide structures employ multiple spheres 630. The spheres 630 on the mating conical side and the spheres 630 on the flared groove side form a double-row rolling pair during docking, further reducing insertion resistance and improving guiding stability. The arrangement of the spheres 630 on both sides is staggered to avoid mutual interference or rigid collisions at the final docking state. The double-row sphere 630 guide structure can simultaneously compensate for the manufacturing errors of both the mating conical surface and the flared groove, enabling the docking device 10 to maintain smooth insertion performance even with large cumulative tolerances. This dual-guide scheme is particularly suitable for docking scenarios with large dimensions, heavy loads, or high precision requirements, significantly improving the system's tolerance and long-term operational reliability.

[0071] Regardless of whether the sphere 630 is embedded in the mating conical structure 620 or the flared groove structure 610, the embedding structure between the sphere 630 and the substrate (matting conical structure 620 or flared groove structure 610) must balance rolling flexibility and positioning stability. The diameter of the pre-set spherical groove on the substrate is slightly larger than the diameter of the sphere 630, forming a small clearance fit, allowing the sphere 630 to rotate freely within the groove but restricting its translational freedom. In some embodiments, an elastic pad or limiting step is provided at the bottom of the groove to absorb impact vibration and control the consistency of the sphere 630's protrusion height. The sphere 630 is typically made of high-hardness stainless steel, ceramic, or self-lubricating composite material, and its surface is polished or coated to reduce the coefficient of friction and improve wear resistance. The embedding process uses methods such as press fitting, adhesive bonding, or mechanical locking to ensure that the sphere 630 does not loosen or experience abnormally increased rotational resistance during long-term, high-frequency docking cycles. This mounting structure makes the sphere 630 an independent and replaceable functional unit. When an individual sphere 630 wears out beyond the limit, it can be replaced individually by simply removing the fasteners at the corresponding position or breaking the adhesive layer, without having to scrap the entire sphere and replace it with a conical or flared groove assembly.

[0072] The rolling guidance mechanism formed by the coordinated operation of multiple spheres 630 significantly enhances the adaptability of the docking device 10 under complex error conditions. When the second mounting base 210 approaches in an inclined, eccentric, or angularly deviated state, each sphere 630 generates a differentiated rolling response based on the actual contact position, automatically decomposing the irregular insertion force into a tangential rolling component and a normal support component, thereby smoothly guiding the second mounting base 210 to slide into the final position along the correct path. Compared to a single fixed boss or sliding guide rail, the multi-sphere rolling pair has a higher tolerance for initial attitude errors and lower frictional resistance, effectively avoiding motor overload or scratches on the sealing surface caused by jamming. At the same time, the slight self-cleaning effect generated during the rolling of the spheres 630 helps to eliminate interference from dust, water film, or foreign objects on the guiding accuracy, enabling the docking device 10 to maintain stable insertion performance even in non-ideal environments such as humid and dusty conditions. This flexible guiding strategy based on discrete rolling units extends the reliability of precision mechanical fit from ideal assembly conditions to the boundary of real working conditions, reflecting the in-depth optimization of the docking device 10 in terms of engineering robustness.

[0073] Please see Figure 4 In some embodiments, the multiple fluid transmission channels include a first fluid transmission channel 201 and a second fluid transmission channel 202 that are independent of each other. The first fluid transmission channel 201 and the second fluid transmission channel 202 are completely isolated in physical space and functional logic, and do not interfere with each other. This dual-channel parallel architecture is designed specifically for the simultaneous delivery of two media with very different properties, fundamentally eliminating the risk of cross-mixing between clean and contaminated fluids in the transmission path. The independent flow channel layout not only ensures water quality safety and hygiene standards, but also provides the necessary hardware foundation for subsequent differentiated pressure control, flow monitoring, or temperature regulation, enabling the docking device 10 to adapt to complex and ever-changing fluid operation requirements.

[0074] The first docking mechanism 100 includes a first mounting base 110 and a first clean water pipe 120 and a first sewage pipe 130 fixed on the first mounting base 110; the second docking mechanism 200 includes a second mounting base 210 and a second clean water pipe 220 and a second sewage pipe 230 fixed on the second mounting base 210. The four pipes are respectively anchored to their respective mounting bases, forming a stable and precisely positioned interface array. The spacing, orientation, and sealing surface height of the first clean water pipe 120 and the first sewage pipe 130 on the first mounting base 110 are precisely machined and assembled to ensure that the coaxiality and fit with the corresponding pipes on the second mounting base 210 meet the sealing requirements. Similarly, the second clean water pipe 220 and the second sewage pipe 230 on the second mounting base 210 also follow the same manufacturing and assembly specifications, thereby ensuring that all pipes can contact synchronously and evenly and establish a reliable connection when docking at both ends, avoiding leakage or structural damage caused by one side contacting first or uneven force.

[0075] The first clean water pipe 120 and the second clean water pipe 220 are interconnected when the first docking mechanism 100 and the second docking mechanism 200 are in the docking state, forming a complete first fluid transmission channel 201, dedicated to the unidirectional or bidirectional transport of clean media. This channel starts from the water source or liquid supply equipment, crosses the docking interface via the first clean water pipe 120, and then reaches the water terminal via the second clean water pipe 220, maintaining a closed and uncontaminated environment throughout the entire process. At the same time, the first sewage pipe 130 and the second sewage pipe 230 are also interconnected when docked, forming an independent second fluid transmission channel 202, specifically responsible for guiding used waste liquid or cleaning return water from the receiving end back to the treatment system. Although the two channels are established synchronously in the same docking action, each has its own exclusive sealing structure and flow channel cross-section, maintaining its integrity even under high pressure or vibration conditions, ensuring that the separation of clean and waste water is always effective.

[0076] The independence of the first fluid transmission channel 201 and the second fluid transmission channel 202 is also reflected in their sealing design and maintenance strategies. Each channel's docking interface uses a dedicated sealing ring or self-sealing valve structure. The material, hardness, and compression capacity are individually selected based on the chemical properties, temperature range, and pressure rating of the transported medium, avoiding performance compromises caused by generic design. When a leak or blockage occurs in one channel, maintenance personnel can selectively disassemble the corresponding pipeline component without interrupting the normal operation of the other channel or disassembling the entire docking module, significantly reducing downtime and maintenance costs. Furthermore, the parallel arrangement of the two channels reserves space for future functional expansion. For example, auxiliary interfaces such as gas purging, sensor probes, or electrical contacts can be added without affecting the existing cleaning and cleaning flow path, further enhancing the integration and adaptability of the docking device 10.

[0077] In some embodiments, the docking device 10 is equipped with a first seal 140 and a second seal 150, respectively dedicated to ensuring the sealing integrity of the clean water flow path and the sewage flow path in the docking state. The first seal 140 is installed at the corresponding position of the first docking mechanism 100 or the second docking mechanism 200. When the first clean water pipe 120 and the second clean water pipe 220 are docked, the first seal 140 is compressed and tightly fitted to the interface between the two pipes, forming a reliable sealing barrier for the clean media transmission channel. The second seal 150 is independently set at the sewage pipe interface. After the first sewage pipe 130 and the second sewage pipe 230 are docked, it is simultaneously compressed and deformed, achieving a dedicated seal for the contaminated fluid transmission channel. The two sets of seals are spatially separated and functionally independent, ensuring that the sealing failure of one channel will not affect the other channel, fundamentally maintaining the sanitary safety boundary of clean and sewage separation.

[0078] The selection of materials and structural design of the first seal 140 and the second seal 150 fully consider the differences in the physicochemical properties of the sealed media. The first seal 140 typically uses low-exudation, hydrolysis-resistant materials such as food-grade silicone rubber, EPDM rubber, or fluororubber, with a high surface smoothness and no pores to prevent microbial growth or impurities from dissolving into the clean water. Its geometry is often designed as a lip, O-ring, or combined gasket, enabling dual gas-liquid sealing under relatively low compression force, meeting the requirements of clean water systems for low pressure loss and high cleanliness. The second seal 150 focuses on wear resistance, corrosion resistance, and resistance to contaminant embedding. It often uses high-hardness, high-resilience nitrile rubber or polyurethane materials and may integrate a scraping lip or self-cleaning structure to automatically remove residual contaminants adhering to the pipe opening during repeated insertion and removal, preventing seal failure due to particulate matter jamming. The differentiated configuration of the two seals reflects a precise response to actual working conditions, rather than simply applying a general solution.

[0079] The installation methods of the first seal 140 and the second seal 150 balance sealing performance with ease of maintenance. The seals can be embedded in the grooves at the pipe end or fixed to the corresponding positions on the mounting base using fasteners such as pressure plates and snap rings, ensuring they do not shift or fall off under impact and vibration loads. In some designs, the seals also have a pre-applied micro-lubricating coating or guide bevels to reduce insertion and removal resistance and minimize the impact of frictional heat on seal life. More importantly, as consumable parts, the seals can be replaced without disassembling the entire docking module or disconnecting other functional interfaces; simply loosening some fasteners allows the old part to be removed and the new part installed, significantly shortening the maintenance window. This modular sealing architecture not only improves the availability of the device but also provides flexible adaptation space for seal upgrades under different water quality conditions or pressure levels.

[0080] The compression behavior of the first seal 140 and the second seal 150 during the docking process works synergistically with the multi-dimensional elastic compensation component 300. When there is a slight deviation in the docking, the multi-dimensional elastic compensation component 300 allows the pipeline interface to float within a certain range for alignment, while the seal absorbs this fluctuation through its own elastic deformation capacity, maintaining a uniform contact pressure distribution and preventing local overpressure from causing permanent deformation or underpressure from causing leakage. Especially in sewage channels, where wastewater may contain solid particles or air bubbles, the seal needs to maintain a stable seal under dynamic disturbances, making its coordination with the elastic compensation system particularly critical. In addition, the compression stroke and rebound force of the seal are precisely calculated to ensure that the sealing specific pressure at the final docking state meets the standard requirements without increasing the load on the drive mechanism or accelerating seal aging due to excessive reaction force. This mechanical matching enables the docking device 10 to maintain excellent sealing reliability and environmental adaptability even during high-frequency, long-cycle operation.

[0081] It is important to note that existing robotic water supply and drainage systems generally use open-type water trays as transfer containers. This means the robot first injects clean water into the water tray on the base station side, or the water tray receives wastewater discharged by the robot, and then a separately configured pump performs secondary extraction and transfer. This non-direct connection transfer method has several technical drawbacks: First, the water tray is constantly exposed to the air and difficult to clean thoroughly. Residual liquid easily breeds bacteria and produces odors and leaks, seriously affecting the hygiene of the operating environment. Second, to achieve the transfer function, additional components such as the water tray body, transfer pump, liquid level sensor, and corresponding pipeline supports are required, significantly increasing the overall material cost and assembly complexity. Third, to prevent liquid splashing during water injection and ensure accurate water reception by the water tray, a large movement buffer space and operational margin must be reserved during robot docking, limiting the compact design of the base station structure and hindering deployment in confined spaces.

[0082] Based on the above embodiments, this application directly forms a sealed first fluid transmission channel 201 and a second fluid transmission channel 202 when the first docking mechanism 100 and the second docking mechanism 200 are docked, completely eliminating the traditional open water receiving tray transfer mode. The realization of this direct connection sealing structure relies on the coordinated cooperation of the electromagnet and the sealing ring assembly: the electromagnets set on the first mounting base 110 and the second mounting base 210 generate a stable axial adsorption force when energized in the final docking stage, so that the first sealing element 140 and the second sealing element 150 are continuously pressed and form a reliable end face lip seal, thereby ensuring that clean water is directly injected into the robot's internal water tank through the first clean water pipe 120 set on the first mounting base 110, the first sealing element 140 and the second clean water pipe 220 set on the second mounting base 210, and sewage is directly discharged into the base station sewage system without leakage throughout the process through the second sewage pipe 230 set on the second mounting base 210, the second sealing element 150 and the first sewage pipe 130 set on the first mounting base 110. It is precisely because the constant clamping force provided by the electromagnet ensures the sealing reliability of the sealing ring under non-rigid alignment conditions that the robot system can completely eliminate the intermediate step of the water tray, completing the entire transmission within a closed pipeline without any liquid exposure. This direct-connection sealing structure physically isolates the path of odor volatilization and bacterial growth, fundamentally solving the inherent hygiene hazards of the water tray solution. At the same time, by eliminating the water tray, intermediate water pump, and their auxiliary support structures, not only are material costs and maintenance difficulties reduced, but the movement space required for the second docking mechanism 200 to dock with the first docking mechanism 100 is also significantly reduced—there is no need to reserve a water filling buffer distance and anti-splash safety margin for the water tray. The overall size of the base station can be effectively compressed, thus adapting to more diverse and compact installation scenarios and improving the deployment flexibility and user experience of the product in real-world usage environments.

[0083] This application also provides a robot system comprising a robot, a base station, and a docking device 10. The docking device 10 adopts any of the aforementioned technical solutions. A first docking mechanism 100 is fixedly installed on the base station body, while a second docking mechanism 200 is integrated into the robot body. The base station, as a fixed infrastructure, provides a stable installation reference and external resource interface for the first docking mechanism 100, such as power input, clean water supply, and sewage discharge pipelines. The robot, as a mobile execution unit, carries the second docking mechanism 200 and autonomously navigates within the work area, accurately docking in front of the base station. The two achieve mechanical connection, fluid pathway establishment, and possible electrical signal interaction through the docking device 10, thereby completing maintenance tasks such as automatic liquid replenishment, sewage discharge, or charging. The entire system achieves closed-loop operation without human intervention.

[0084] The design of the first docking mechanism 100, located at the base station, fully considers the structural rigidity and resource access convenience of the fixed end. The base station typically possesses a robust support frame and a reserved mounting surface, capable of withstanding the impact forces and continuous loads generated during docking without deformation or displacement. This provides a reliable assembly foundation for precision guiding and sealing components such as the multi-dimensional elastic compensation component 300, the flared groove structure 610, or the matching conical surface structure 620. Simultaneously, the base station's interior or rear can be directly connected to building water supply and drainage networks, electrical distribution boxes, or control systems, allowing the first clean water pipe 120, the first sewage pipe 130, and possible electrical interfaces to be connected to external facilities without additional adapters. This simplifies system integration complexity and reduces the risk of leakage or poor contact. This layout strategy, prioritizing resource interfaces at the fixed end, also avoids placing heavy or easily damaged external connectors on the mobile robot, thus improving the robot's mobility and environmental adaptability.

[0085] When the second docking mechanism 200 is integrated into the robot, its lightweight, compact design and vibration resistance become key design considerations. The robot generates inertial forces and vibrations during movement, turning, or braking. Therefore, the second mounting base 210 and its associated second clean water pipe 220, second wastewater pipe 230, seals, and even the guide structure must be made of high-strength, lightweight materials. These components are isolated from the robot chassis using vibration damping pads or flexible supports to prevent dynamic loads from being transmitted to the docking interface, affecting sealing reliability or alignment accuracy. Furthermore, the second docking mechanism 200 has a streamlined profile to prevent scratches during operation in confined spaces. All exposed interfaces are equipped with dust covers or self-sealing valves when not docked to prevent dust, moisture, or foreign objects from contaminating the flow channels. The robot control system also incorporates docking status monitoring logic, using force sensors, position encoders, or visual feedback to determine in real time whether the docking is in place. In abnormal situations, it automatically stops the operation or triggers a retry mechanism, ensuring that the second docking mechanism 200 can safely and accurately couple with the base station under various operating conditions.

[0086] The docking device 10 in the robot system not only performs physical connection functions but is also a key node in the overall intelligent operation and maintenance system. When the robot's battery is low, the water tank level is below the threshold, or sewage needs to be discharged after the task is completed, the scheduling system automatically plans a path to guide the robot back to the base station. The docking device 10 then initiates automatic alignment, seal establishment, and fluid transfer processes. The entire process requires no manual intervention, and the docking device 10 itself has tolerance compensation, error prevention protection, and status feedback capabilities. It can upload data such as docking success rate, seal integrity, and transmission efficiency to the cloud management platform in real time for predictive maintenance and operation optimization. This highly integrated robot and base station collaborative architecture significantly improves the continuous operation capability and operation and maintenance economy of service robots in scenarios such as commercial cleaning, medical delivery, and industrial inspection. It also lays a standardized interface foundation for future extended applications such as multi-robot shared base stations and interoperability of heterogeneous devices.

[0087] To more clearly illustrate the technical solution of this application, this embodiment provides a detailed description of the complete docking and resupply process of the robot system. This process covers the entire journey from the robot approaching the base station to completing resupply and disengaging, demonstrating the system's adaptive absorption capability for docking errors.

[0088] When the robot system performs automatic docking and resupply tasks, it first undergoes an approach and initial introduction phase. The robot, carrying the second docking mechanism 200, autonomously navigates and approaches the first docking mechanism 100 fixed to the base station. When the robot's docking position deviates significantly due to navigation errors or uneven ground, the horizontal correction component 500, located between the first mounting base 110 and the multi-dimensional elastic compensation component 300, responds first. It actively corrects the lateral misalignment through the relative translational movement of the slide rail structure 510 and the slider structure 520, adjusting the deviation to within the effective absorption range of the subsequent flexible compensation unit. Simultaneously, the flared groove structure 610 on the multi-dimensional elastic compensation component 300 and the mating conical surface structure 620 on the second mounting base 210 begin to contact. Utilizing the principle of force component of the conical surface, the remaining horizontal misalignment is converted into radial sliding motion along the conical surface, achieving initial mechanical guidance and alignment. To avoid rigid collision damage, multiple spheres 630, which are semi-embedded on the edge of the conical surface, preferentially contact the inner wall of the flared groove, converting sliding friction into rolling friction, significantly reducing insertion resistance and protecting the sealing mating surface from scratches.

[0089] As the second mounting base 210 continues to advance, the docking process enters the flexible compensation and fitting stage. The second mounting base 210 directly contacts the docking component 320 in the multi-dimensional elastic compensation assembly 300 and applies docking force, with the docking component 320 acting as a floating part to bear this force. Multiple elastic elements 330 connected between the adapter 310 and the docking component 320 undergo compression, tension, or bending deformation, actively absorbing the residual positional deviations of the second mounting base 210 relative to the first mounting base 110 in the horizontal, vertical, and angular directions. This flexible compensation mechanism transforms rigid displacement errors that might otherwise translate into mechanical jamming or damage to the sealing surface into a controllable elastic potential energy storage process, enabling the docking component 320 to adaptively adjust to the robot's actual docking posture with multiple degrees of freedom, ensuring a smooth docking process without any hard impact transmitted to the precision components inside the base station.

[0090] When the two ends approach a preset distance, the docking process enters the precise positioning and locking stage, with the positioning component 400 taking over the attitude locking task. A magnetic attraction force is generated between the first magnetic chuck 410 fixed to the surface of the docking piece 320 facing the second mounting base 210 and the corresponding second magnetic chuck 420 fixed to the second mounting base 210, actively pulling the docking piece 320 and the second mounting base 210 to achieve final precise alignment and maintain a stable fit. Since the docking piece 320 has floating capability due to the suspension support of the elastic element 330, the first magnetic chuck 410 moves synchronously with the docking piece 320, ensuring that it maintains an effective working distance from the second magnetic chuck 420 throughout the entire docking stroke. The self-correcting torque provided by the magnetic field gradient characteristics and the flexible buffering function of the multi-dimensional elastic compensation component 300 form a "flexible first, rigid later" collaborative working mechanism, which retains adaptive tolerance capability while ensuring that multiple fluid transmission channels achieve preset alignment accuracy in the axial, radial, and circumferential directions, laying the foundation for reliable sealing.

[0091] After the final docking is completed, the system enters the seal establishment and fluid transfer stage. At least one of the first magnetic suction component 410 and the second magnetic suction component 420 is an electromagnet. When the electromagnet is energized, it generates a constant axial attraction force, continuously pressing the first seal 140, which is dedicated to the clean water flow path, and the second seal 150, which is dedicated to the sewage flow path, to form a reliable end-face lip sealing barrier. The self-sealing valve cores or elastic lips equipped at the inlet and outlet of each fluid transfer channel only open the flow path after complete docking, avoiding the risk of leakage in misaligned states. Clean water is directly injected into the robot's internal water tank through the first clean water pipe 120 fixed to the first mounting base 110 and the second clean water pipe 220 fixed to the second mounting base 210, while sewage is directly discharged into the base station's sewage system through the second sewage pipe 230 fixed to the second mounting base 210 and the first sewage pipe 130 fixed to the first mounting base 110. The entire fluid interaction process is completely sealed and leak-free, completely abandoning the traditional open water tray transfer mode and physically isolating the odor volatilization and bacterial growth paths.

[0092] After the resupply mission is completed, the docking process enters the disengagement and reset phase. The electromagnet is de-energized or reverse-energized to generate a repulsive force to assist in rapid disengagement, and the robot retreats and separates from the base station. After the external force is removed, the elastic element 330 in the multi-dimensional elastic compensation component 300 releases its stored elastic potential energy, driving the docking component 320 to smoothly return to the preset initial center position. The first elastic reset element 530 and the second elastic reset element 540, symmetrically arranged at both ends of the slide rail structure 510 in the horizontal correction component 500, simultaneously release their pre-stored energy, pulling the slider structure 520 back to the center position of the slide rail, restoring the entire docking device 10 to a standby state. The self-sealing valves of all fluid transmission channels automatically close at the moment of separation to prevent residual liquid leakage. This purely mechanical reset mechanism provides a repeatable initial reference state for the next docking without the need for additional drive mechanisms or sensor feedback, significantly improving the system's reliability and maintenance convenience.

[0093] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0094] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A docking device, characterized in that, The docking device, used in robotic systems, includes: First liaison organization; A second docking mechanism is detachably connected to the first docking mechanism; the first docking mechanism and the second docking mechanism are configured to form multiple fluid transmission channels in the docking state; At least one multidimensional elastic compensation component is provided, wherein the first docking mechanism and / or the second docking mechanism are provided with the multidimensional elastic compensation component; the multidimensional elastic compensation component is configured to provide elastic deformation in at least two dimensions to absorb docking position deviation when the first docking mechanism and the second docking mechanism are close together; and A positioning component is disposed on the first docking mechanism and the second docking mechanism to provide positioning cooperation when the first docking mechanism and the second docking mechanism are in the docking state.

2. The docking device according to claim 1, characterized in that, The first docking mechanism includes a first mounting base, and the second docking mechanism includes a second mounting base; The multidimensional elastic compensation component includes an adapter, a docking component, and multiple elastic components. The adapter is disposed on the first mounting base, and the multiple elastic components are connected between the adapter and the docking component.

3. The docking device according to claim 2, characterized in that, The elastic element is a spring, one end of which is connected to the adapter and the other end of which is connected to the mating part.

4. The docking device according to claim 2, characterized in that, The positioning component includes a first magnetic attractor and a second magnetic attractor. The first magnetic attractor is disposed on the docking member, and the second magnetic attractor is disposed on the second mounting base. At least one of the first magnetic attractor and the second magnetic attractor is an electromagnet.

5. The docking device according to claim 1, characterized in that, The first docking mechanism includes a first mounting base, on which the multidimensional elastic compensation component is provided; the docking device further includes a horizontal correction component, which is movably disposed between the first mounting base and the multidimensional elastic compensation component.

6. The docking device according to claim 5, characterized in that, The horizontal correction component includes a slide rail structure and a slider structure. One of the first mounting base and the multidimensional elastic compensation component is provided with the slide rail structure, and the other of the first mounting base and the multidimensional elastic compensation component is provided with the slider structure. The slide rail structure and the slider structure are in sliding engagement.

7. The docking device according to claim 6, characterized in that, The horizontal correction component further includes a first elastic reset member and a second elastic reset member, the first elastic reset member and the second elastic reset member are disposed on the slide rail structure, and the slider structure is disposed between the first elastic reset member and the second elastic reset member.

8. The docking device according to claim 1, characterized in that, The first docking mechanism includes a first mounting base, the first mounting base being provided with the multidimensional elastic compensation component; the second docking mechanism includes a second mounting base. One of the multidimensional elastic compensation component and the second mounting base is provided with a flared groove structure, and the other of the multidimensional elastic compensation component and the second mounting base is provided with a mating conical surface structure, wherein the mating conical surface structure is guided and mated with the flared groove structure.

9. The docking device according to claim 8, characterized in that, The docking device further includes a guide structure, and the mating conical surface structure and / or the flared groove structure are provided with the guide structure.

10. The docking device according to claim 9, characterized in that, The guide structure includes a plurality of spheres; a portion of each sphere is rotatably embedded in the mating conical surface structure; And / or, a portion of each of the spheres is rotatably embedded in the flared groove structure.

11. The docking device according to claim 1, characterized in that, The plurality of fluid transport channels include a first fluid transport channel and a second fluid transport channel that are independent of each other; The first docking mechanism includes a first mounting base and a first clean water pipe and a first sewage pipe disposed on the first mounting base; the second docking mechanism includes a second mounting base and a second clean water pipe and a second sewage pipe disposed on the second mounting base. The first clean water pipe and the second clean water pipe are configured in the first docking mechanism and the second docking mechanism to form the first fluid transmission channel when they are docked; the first sewage pipe and the second sewage pipe are configured in the first docking mechanism and the second docking mechanism to form the second fluid transmission channel when they are docked.

12. The docking device according to claim 11, characterized in that, The docking device further includes a first sealing element and a second sealing element, wherein the first sealing element is configured to seal the connection between the first water pipe and the second water pipe when the first docking mechanism and the second docking mechanism are in the docking state. The second seal is configured in the first docking mechanism and the second docking mechanism to seal the connection between the first sewage pipe and the second sewage pipe when in the docking state.

13. A robot system, characterized in that, include: Robots and base stations; as well as According to any one of claims 1 to 12, the docking device is provided on the base station and the second docking mechanism is provided on the robot.

Images