Docking device, robot and docking system

Abstract

The utility model provides a docking device, a robot and a docking system. The butt joint device comprises a mounting plate, an operation assembly, a first butt joint assembly and a limiting part. The operation assembly comprises a manual component and a sliding component, the sliding component is in sliding connection with the mounting plate, and a chute is formed in the sliding component. The first butt joint assembly is used for being in butt joint with a second butt joint assembly on another device in the first direction. The first butt joint assembly is provided with a matching piece which is located in the inclined groove. And the limiting component is arranged on the mounting plate, is connected with the first butt-joint assembly and is used for limiting the first butt-joint assembly to move in the first direction. The sliding part is driven by the manual part to slide relative to the mounting plate in the second direction, the sliding chute enables the matching part to move in the first direction, and then the first butt joint assembly moves relative to the mounting plate in the first direction. According to the technical scheme, the two devices which are in butt joint can be manually unlocked through the operation assembly.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a docking device, a robot and a docking system. Background Art

[0002] With the continuous development of robot technology, many robots or machine equipment can be connected to each other and complete corresponding functions in the form of a combination. For example, a handling robot can be connected with an ARM (Autonomous Mobile Robot) to form a free combination device.

[0003] The transport robot is provided with a first docking device, and the ARM is provided with a second docking device. When docking is required, the first docking device and the second docking device are docked to realize the combination of the transport robot and the ARM. However, if at least one of the first docking device and the second docking device fails, it will inevitably cause the two devices to be unable to be separated, and the use of the devices will be limited. Utility Model Content

[0004] In view of the above problems, the present application proposes a docking device, a robot and a docking system.

[0005] In one embodiment of the present application, a docking device is provided, comprising:

[0006] Mounting plate;

[0007] The operating assembly includes a manual component and a sliding component, wherein the sliding component is slidably connected to the mounting plate; the manual component is connected to the sliding component, and an inclined groove is provided on the sliding component;

[0008] A first docking assembly, used for docking with a second docking assembly on another device in the first direction, wherein the first docking assembly is provided with a matching piece, and the matching piece is located in the inclined groove;

[0009] A limiting component, disposed on the mounting plate, the limiting component being connected to the first docking assembly and used for limiting the first docking assembly to move in a first direction;

[0010] Wherein, the sliding component slides relative to the mounting plate along the second direction under the drive of the manual component, and the sliding inclined groove enables the matching component to move along the first direction, thereby realizing the movement of the first docking assembly relative to the mounting plate along the first direction.

[0011] Optionally, a slide rail extending along the second direction is provided on the mounting plate;

[0012] The sliding component comprises a sliding seat, and a nut is provided on the sliding seat;

[0013] The slide seat is slidably connected to the slide rail;

[0014] The manual component includes a handpiece and a connecting rod, and the connecting rod is provided with threads;

[0015] The nut is connected to the connecting rod through threads.

[0016] Optionally, the limiting component includes a support member;

[0017] The support member is provided with a limiting groove extending along the first direction;

[0018] The matching piece is located in the limiting groove;

[0019] Wherein, the sliding component slides relative to the mounting plate along the second direction under the drive of the manual component, and the sliding inclined groove enables the matching component to move along the first direction in the limiting groove; the first direction is perpendicular to the second direction.

[0020] Optionally, the first docking assembly includes a mechanical docking unit;

[0021] The mechanical docking unit includes a base and a positioning sleeve;

[0022] The base is arranged on the bottom surface of the mounting plate and has a mounting cavity with an opening facing downward;

[0023] The positioning sleeve is arranged in the installation cavity;

[0024] The matching piece is provided on the outer wall of the positioning sleeve;

[0025] Wherein, the positioning sleeve is used for docking with a docking column in a second docking assembly on another device.

[0026] Optionally, a contact and a guide post are provided in the positioning sleeve, the guide post is provided in the sleeve hole of the positioning sleeve, and the contact is provided at the end of the guide post;

[0027] An elastic member is provided on the guide column, one end of the elastic member abuts against the contact, and the other end abuts against the bottom of the hole of the sleeve;

[0028] The contact is used to trigger a sensor on a docking column of a second docking assembly of another device.

[0029] Optionally, a wedge-shaped piece is provided at the end of the contact;

[0030] When docking with a docking post of a second docking assembly of another device, the wedge-shaped piece contacts the docking post to generate an upward lifting force to move the contact upward.

[0031] Optionally, the limiting component includes a telescopic unit;

[0032] The telescopic unit has a telescopic end that moves along the first direction;

[0033] The first docking assembly is connected to the telescopic end.

[0034] Optionally, the first docking assembly comprises an electrical docking unit;

[0035] The electrical docking unit includes a first electrical connection end and a floating plate;

[0036] The floating plate is connected to the telescopic end;

[0037] The first electrical connection end is disposed downward on the floating plate;

[0038] The matching piece is provided on the floating plate;

[0039] Wherein, the first electrical connection end is used to connect to the second electrical connection end in the second docking assembly on another device.

[0040] In another embodiment of the present application, a robot is provided, comprising a body;

[0041] The machine body is provided with the above-mentioned docking device.

[0042] In yet another embodiment of the present application, a docking system is provided, comprising:

[0043] The first device is provided with the above-mentioned docking device.

[0044] The second device is provided with a second docking assembly for docking with the first docking assembly in the docking device.

[0045] In the technical solution provided in the embodiment of the present application, an operating component is added to the docking device, and the operating component includes a manual component and a sliding component, and the sliding component is provided with an oblique groove. The mating piece on the first docking component is located in the oblique groove, and the first docking component is limited to move in the first direction by the limiting component. In this way, when the first docking component is in a docking state with the second docking component on another device, the user can operate the manual component to drive the sliding component to slide along the second direction, and the sliding oblique groove enables the mating piece to move along the first direction, thereby realizing the movement of the first docking component along the first direction to break away from the docking relationship with the second docking component. It can be seen that the technical solution provided in the embodiment of the present application can solve the problem that two docked devices cannot be automatically decoupled due to a fault when they need to be decoupled, and the two devices can be separated manually, which provides a guarantee for the safe operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 An exploded view of a docking device provided in an embodiment of the present application;

[0048] Figure 2 A front view of a docking device provided in an embodiment of the present application;

[0049] Figure 3 A three-dimensional diagram of a docking device provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of a first docking state of a docking device provided in an embodiment of the present application;

[0051] Figure 5 for Figure 4 Sectional view in the AA direction;

[0052] Figure 6 A schematic diagram of a second docking state of a docking device provided in an embodiment of the present application;

[0053] Figure 7 for Figure 6 Cross-sectional view in the BB direction;

[0054] Figure 8 A schematic diagram of a third docking state of a docking device provided in an embodiment of the present application;

[0055] Fig. 9 A schematic diagram of a fourth docking state of a docking device provided in an embodiment of the present application;

[0056] Fig.10 A three-dimensional diagram of an autonomous mobile robot and a transport robot provided in an embodiment of the present application.

[0057] Figure Number:

[0058] 1. Mounting plate;

[0059] 2. Mechanical docking unit; 21. Base; 22. Positioning sleeve; 23. Mounting cavity; 24. Inclined groove; 25. Matching piece; 26. Contact; 27. Guide column; 28. Elastic piece; 29. ​​Guide plate; 221. Sleeve hole; 241. Inclined section; 242. Straight section; 291. Guide groove;

[0060] 3. top plate; 31. docking column; 32. second electrical connection end; 33. top plate; 311. main body section; 312. rotatable section; 313. countersunk hole;

[0061] 4. Second docking assembly; 41. Slide rail; 42. Sliding component; 43. Manual component; 421. Sliding seat; 431. Hand piece; 432. Connecting rod;

[0062] 5. Electrical docking unit; 51. Telescopic unit; 52. First electrical connection end; 53. Floating plate; 511. Piston seat; 512. Telescopic rod; 521. Electrical connection part; 522. Fixed plate; 523. Buffer;

[0063] 6. First docking assembly; 61 support member; limiting groove 62;

[0064] 100. Intelligent forklift; 200. Automatic guided vehicle; DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. The "including" mentioned in the entire specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problems within a certain error range and basically achieve the technical effects. In addition, in the embodiments of the present application, a plurality of refers to two or more. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0066] Fig.10 A stereoscopic diagram of an autonomous mobile robot and a transport robot provided in an embodiment of the present application, see Fig.10 In one embodiment of the present application, a robot is provided, which can be docked and combined with another device having a second docking component 4 to form a combined machine device with a connected mechanical structure and / or circuit structure. The robot includes a body 101, and a docking device is provided at the bottom of the body 101, and the docking device is used to connect the robot with a device having a second docking component 4.

[0067] A device with the second docking assembly 4 can be a vehicle that can navigate and move autonomously. When the robot needs to dock with the vehicle, the vehicle moves to the bottom of the robot, and then the second docking assembly 4 is connected or separated from the docking device on the robot by lifting.

[0068] In this embodiment, the robot may be an intelligent forklift, or a picking robot with a mechanical arm, a picking robot, etc. A vehicle that can navigate and move autonomously may be an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot). Fig.10 , the following is a detailed description taking the robot as an intelligent forklift 100 and the vehicle as an autonomous mobile robot 200 as an example.

[0069] The intelligent forklift 100 can stay at a certain position to carry goods, and when the carrying is completed, it needs to move to another position to carry goods again. Since the intelligent forklift 100 cannot move autonomously, it needs to dock with the autonomous mobile robot 200, and then move to another position under the drive of the autonomous mobile robot 200 to complete the corresponding task.

[0070] Usually, in order to facilitate the docking of the autonomous mobile robot 200 and the intelligent forklift 100, a docking device is provided at the bottom of the intelligent forklift. When the autonomous mobile robot 200 and the intelligent forklift 100 are docked, the top plate 33 on the autonomous mobile robot 200 is lifted, and the second docking assembly 4 on the top plate 33 can be connected with the docking device. Of course, this is only one embodiment. In addition to the lifting of the top plate 33 on the autonomous mobile robot 200, the docking of the autonomous mobile robot 200 and the intelligent forklift 100 can also be achieved by lowering the chassis of the intelligent forklift 100 or lowering the docking device to achieve the docking of the two devices.

[0071] In a specific embodiment, after the intelligent forklift 100 completes the corresponding work task in one place, it needs to move to another place. The intelligent forklift 100 sends a command to the autonomous mobile robot 200, and the autonomous mobile robot 200 moves to the vicinity of the intelligent forklift, and then aligns with the position of the intelligent forklift 100 through a positioning device or an auxiliary device, and finally the top plate 33 of the autonomous mobile robot 200 is lifted. The docking column 31 and the second electrical connection end 32 on the top plate 33 cooperate with the docking device at the bottom of the intelligent forklift 100 to dock, and the autonomous mobile robot 200 and the intelligent forklift are mechanically connected and circuit-connected. Subsequently, the autonomous mobile robot 200 can take the intelligent forklift 100 away and move it to the next work location. After arriving at the destination, the top plate 33 of the autonomous mobile robot 200 descends, and the docking column 31 and the second electrical connection end 32 can be separated from the docking device. Subsequently, the intelligent forklift 100 can independently complete the corresponding work, and the autonomous mobile robot 200 can return to the waiting area or perform other work tasks.

[0072] As mentioned above, the autonomous mobile robot is docked or separated with the docking device through the liftable second docking assembly 4. When the autonomous mobile robot fails and the second docking assembly 4 cannot be lowered, it means that the second docking assembly 4 cannot be separated from the docking device. This will not only affect the normal operation of the two devices, but also make it inconvenient to repair the autonomous mobile robot.

[0073] A docking device with a manual decoupling function is introduced below through a more detailed description.

[0074] See also Figures 1 to 3 In one embodiment of the present application, a docking device is provided, which includes: a mounting plate 1, an operating component, a first docking component 6 and a limiting component. The operating component includes a manual component 43 and a sliding component 42, and the sliding component 42 is slidably connected to the mounting plate 1; the manual component 43 is connected to the sliding component 42, and the operator can operate the sliding component 42 to slide on the mounting plate 1 through the manual component 43. The first docking component 6 is used to dock with the second docking component 4 on another device in a first direction, and the first docking component 6 is provided with a matching piece 25, and the sliding component 42 is provided with an inclined groove 24, and the matching piece 25 is located in the inclined groove 24. When the sliding component 42 is displaced under the drive of the manual component 43, the matching piece 25 slides in the inclined groove 24.

[0075] The limiting component is arranged on the mounting plate 1, and the limiting component is connected to the first docking component 6, and is used to limit the movement of the first docking component 6 in the first direction. Specifically, the first docking component 6 can be connected with the limiting component, and the limiting component can limit the movement direction of the first docking component 6, and the first docking component 6 can only move on the straight line where the first direction is located. Among them, the sliding component 42 slides relative to the mounting plate 1 along the second direction under the drive of the manual component 43, and the sliding inclined groove 24 enables the matching member 25 to move along the first direction, so that the first docking component 6 moves relative to the mounting plate 1 along the first direction.

[0076] In a possible implementation, the first direction is perpendicular to the second direction. Figure 2 The direction of the arrow X in the middle is perpendicular to the surface of the mounting plate 1, and the second direction (such as Figure 2 The first direction (arrow Y direction) is parallel to the surface of the mounting plate 1. In another possible implementation, the first direction and the second direction are arranged at a first angle, and the first angle may be an acute angle or an obtuse angle.

[0077] In the technical solution provided in the present application, an operating component is provided on the docking device, and the operating component includes a manual component 43 and a sliding component 42, and an inclined groove 24 is provided on the sliding component 42. The first docking component 6, which can be docked with the second docking component 4 on another device, can move in a first direction perpendicular to the mounting plate 1, and the matching piece 25 on the first docking component 6 is connected to the inclined groove 24. When the manual component 43 drives the sliding component 42 to move in a second direction parallel to the mounting plate 1, the first docking component 6 will move relative to the mounting plate 1 in the first direction, thereby separating the first docking component 6 from the second docking component 4, and realizing manual decoupling.

[0078] See also Figures 1 to 3 In one embodiment provided in the present application, a slide rail 41 extending along the second direction is provided on the mounting plate 1, and a sliding component 42 includes a slide seat 421, a nut is provided on the slide seat 421, and the slide seat 421 is slidably connected to the slide rail 41. The manual component 43 includes a hand piece 431 and a connecting rod 432, a thread is provided on the connecting rod 432, and the nut is connected to the connecting rod 432 through the thread. When the operator drives the connecting rod 432 to rotate through the hand piece 431, the nut can be displaced relative to the connecting rod 432, and the slide seat 421 will be displaced together with the nut, so that the slide seat 421 moves on the slide rail 41. The setting direction of the slide rail 41 is the same as the second direction, and the connecting rod 432 can drive the slide seat 421 to slide along the second direction. When the docking device includes multiple sliding components 42, the multiple slide seats 421 can be connected to each other, or the multiple sliding components 42 only need to have one sliding seat, and the sliding seat can drive the multiple sliding components 42 to move at the same time.

[0079] In addition, the manual component 43 can also be a push rod, and the setting direction of the push rod is the same as the setting direction of the slide rail 41. The operator only needs to push or pull the push rod to drive the sliding seat to move on the slide rail 41 through the push rod.

[0080] Further, the limiting component includes a support member 61, and a limiting groove 62 extending along the first direction is provided on the support member 61, and the matching member 25 is located in the limiting groove 62. Wherein, the sliding member 42 slides relative to the mounting plate 1 along the second direction under the drive of the manual member 43, and the sliding inclined groove 24 enables the matching member 25 to move in the limiting groove 62 along the first direction. Figure 2 When the sliding member 42 moves in the direction of arrow Y in the figure, as the matching member 25 slides in the inclined groove 24, the matching member 25 will also slide from bottom to top in the limiting groove 62. Due to the limiting effect of the limiting groove 62, the first docking assembly 6 can only move up and down along the setting direction of the limiting groove 62.

[0081] See also Figures 1 to 3 In one embodiment provided in the present application, the first docking assembly 6 includes at least one mechanical docking unit 2. The mechanical docking unit 2 includes a base 21 and a positioning sleeve 22. The base 21 is arranged on the bottom surface of the mounting plate 1 and has a mounting cavity 23 with an opening facing downward. The positioning sleeve 22 is arranged in the mounting cavity 23, and a matching piece 25 is provided on the outer wall of the positioning sleeve 22. Among them, the positioning sleeve 22 is used to dock with the docking column 31 in the second docking assembly 4 on another device. Specifically, as the sliding component 42 slides, the inclined groove 24 on the sliding component 42 will drive the matching piece 25 to move in the first direction. At this time, the positioning sleeve 22 will also move in the first direction with the matching piece 25.

[0082] Usually, when one device is docked with another device, the docking column 31 on the other device moves along the first direction and finally fits in the positioning sleeve 22. When the docking device needs to be manually unlocked, the sliding component 42 only needs to be driven to slide leftward along the second direction, and the horizontal movement of the sliding component 42 is converted into the vertical movement of the positioning sleeve 22 through the inclined groove 24 on the sliding component 42. The positioning sleeve 22 moves upward to disconnect from the docking column 31, thereby realizing manual decoupling of the two devices.

[0083] The mechanical docking unit 2 on the first connecting component can be one or more. When the first connecting component includes multiple mechanical docking units 2, the sliding component 42 can be respectively connected to the positioning sleeves 22 on the multiple mechanical docking units 2, so as to synchronously drive the multiple positioning sleeves 22 to move together.

[0084] Further, in an embodiment provided in the present application, a contact 26 and a guide post 27 are provided in the positioning sleeve 22, the guide post 27 is provided in the sleeve hole 221 of the positioning sleeve 22, and the contact 26 is provided at the end of the guide post 27. An elastic member 28 is provided on the guide post 27, one end of the elastic member 28 abuts against the contact 26, and the other end abuts against the bottom of the sleeve hole 221. The contact 26 is used to trigger a sensor on a docking post 31 of a second docking assembly 4 of another device. When the sensor is triggered by the contact 26, it can be considered that the docking post 31 is successfully docked with the positioning sleeve 22, and the other device can stop the corresponding action.

[0085] When the docking post 31 is inserted into the positioning sleeve 22, the contact 26 can be directly inserted into the countersunk hole at the top of the docking post 31. The countersunk hole at the top of the docking post 31 can be considered as a docking target area. The docking of the contact 26 with the docking target area can make the connection between the positioning sleeve 22 and the docking post 31 more stable. In addition, when the docking post 31 is inserted into the sleeve hole 221 of the positioning sleeve 22, the contact 26 will abut against the countersunk hole at the top of the docking post 31, the contact 26 is pressed, the elastic member 28 is compressed, and the contact 26 retreats into the sleeve hole 221. The elastic member 28 can make the contact 26 elastically abut against the countersunk hole on the docking post 31 to prevent the contact 26 from being damaged.

[0086] Further, see Figure 7 and Figure 8 The end of the contact 26 is provided with a wedge-shaped piece. When docking with the docking post 31 of the second docking assembly 4 of another device, the wedge-shaped piece contacts the docking post 31 to generate an upward lifting force to move the contact 26 upward. Usually, the contact 26 is arranged beyond the sleeve hole 221. When the docking post 31 is docked with the positioning sleeve 22, the wedge-shaped piece can abut against the top of the docking post 31, thereby forcing the guide post 27 to move into the sleeve hole 221.

[0087] See also Figure 4 , Figure 7 and Figure 8 In one embodiment provided in the present application, the limiting component includes a telescopic unit 51, the telescopic unit 51 has a telescopic end that moves along a first direction, the first docking assembly 6 is connected to the telescopic end, and the telescopic unit 51 can drive the first docking assembly 6 to move along the first direction. The telescopic unit 51 is a piston-like structure. The telescopic unit 51 includes a piston seat and a telescopic rod, the telescopic rod is downwardly disposed in the piston seat, and a floating plate 53 is connected to the end of the telescopic rod. The telescopic rod can slide in the piston seat, and the first docking assembly 6 located at the end of the telescopic rod will slide with the piston. The piston seat and the telescopic rod are mainly used to limit the direction of movement of the first docking assembly 6, so as to facilitate the upward movement of the first electrical connection end 52 during the manual decoupling process.

[0088] Furthermore, when different devices are combined, it is necessary not only to connect the mechanical structures of the two but also to connect the two electrically. The first docking assembly 6 includes an electrical docking unit 5, and the electrical docking unit 5 includes a first electrical connection end 52 and a floating plate 53. The floating plate 53 is connected to the telescopic end, and the first electrical connection end 52 is downwardly arranged on the floating plate 53, and a matching piece 25 is provided on the floating plate 53. Among them, the first electrical connection end 52 is used to dock with the second electrical connection end 32 in the second docking assembly 4 on another device. Specifically, the telescopic seat is arranged on the bottom surface of the mounting plate 1, the floating plate 53 is connected to the telescopic end of the telescopic seat, and the first electrical connection end 52 is downwardly arranged on the floating plate 53. The floating plate 53 can move upward in the vertical direction in the telescopic seat, and the first electrical connection end 52 on the floating plate 53 will move together with the floating plate 53. Usually, in order to facilitate the connection between the first electrical connection end 52 and the second electrical connection end 32, the first electrical connection end 52 protrudes from the lower surface of the floating plate 53; when the first electrical connection end 52 and the second electrical connection end 32 are separated by manual decoupling, the first electrical connection end 52 moves upward with the floating plate 53, and the distance between the first electrical connection end 52 and the second electrical connection end 32 is increased, so that separation can be achieved.

[0089] See also Figure 1 In one embodiment provided in the present application, the docking assembly has a front side and a rear side along the third direction, and the third direction is perpendicular to the first direction and the second direction respectively. The sliding component 42 includes two sliding plates, both of which are provided with an inclined groove 24, and the two sliding plates are respectively located at the front side and the rear side of the docking assembly. The support member 61 includes two support plates, both of which are provided with a limit groove 62, and the two support plates are respectively located at the front side and the rear side of the docking assembly.

[0090] In the technical solution provided in the embodiment of the present application, the docking device has a manual decoupling function. When the autonomous mobile robot fails, the second docking component 4 on the autonomous mobile robot cannot move, so it is difficult for the user to separate the autonomous mobile robot and the intelligent forklift for maintenance. At this time, the decoupling can be achieved through the operating component on the docking device, and the first docking component 6 can be driven to move upward by the operating component, and then the first docking component 6 can be separated from the second docking component 4, and the user can directly drag the autonomous mobile robot out from under the dockable device for maintenance.

[0091] In another embodiment of the present application, the matching member 25 can stably stay at the first height position and the second height position. Figure 6The inclined groove 24 includes an inclined section 241 and a straight section 242, and a straight section 242 is provided at each end of the inclined section 241. Specifically, when the matching piece 25 is located in the straight section 242A at the bottom end of the inclined section 241, the first docking assembly 6 is limited to a first height position, and when the matching piece 25 is located in the straight section 242B at the top end of the inclined section 241, the first docking assembly 6 is limited to a second height position. When the sliding component 42 is not sliding, since the contact portion is in the horizontal straight section 242, the matching piece 25 is more stable when subjected to external force and will not slide easily.

[0092] See also Figures 1 to 3 The docking device further comprises a guide plate 29, which is arranged on the bottom end of the base 21. A V-shaped guide groove 291 is arranged on the guide plate 29, and the bottom of the guide groove 291 is arranged corresponding to the opening of the mounting cavity 23. The setting direction of the guide groove 291 is the same as the docking direction of the two devices. For example, when the autonomous mobile robot docks with the dockable device from the rear side, the opening direction of the guide groove 291 is arranged backward, so that when the autonomous mobile robot docks with the dockable device, the guide plate 29 can guide the docking column 31. Specifically, the guide plate 29 will increase the tolerance of the docking column 31 and the docking device. At the beginning of docking, the docking column 31 does not need to be completely aligned with the positioning sleeve 22. Within a certain error range, as long as the docking column 31 can fall into the positioning sleeve 22, the guide plate 29 can correct the docking column 31, so that the position of the autonomous mobile robot is accurate. When the docking post 31 moves to the bottom of the guide groove 291 , it means that the docking post 31 is completely aligned with the positioning sleeve 22 , and the docking post 31 rises and can be directly inserted into the sleeve hole 221 of the positioning sleeve 22 .

[0093] Furthermore, participate Figures 3 to 5 The docking column 31 includes a main section 311 and a rotatable section 312. The main section 311 is arranged on the top plate 33 of the autonomous mobile robot, and the rotatable section 312 is arranged at the end of the main section 311. When the docking column 31 abuts against the side wall of the guide groove 291, the rotatable section 312 can rotate during the guiding process of the guide plate 29 on the docking column 31. This can avoid direct sliding friction between the docking column 31 and the guide plate 29. The rotatable section 312 can convert sliding friction into rolling friction. The friction coefficient between the docking column 31 and the guide plate 29 will be significantly reduced. The friction coefficient can be reduced from 0.5 to 0.03, which can greatly improve the service life of the docking column 31.

[0094] In another embodiment, the docking column 31 includes a center column and a rotatable sleeve. The center column is disposed on the top plate 33 of the autonomous mobile robot, and the rotatable sleeve is sleeved outside the center column. When the docking column 31 contacts and slides with the guide plate 29, the rotatable sleeve rotates, thereby converting sliding friction into rolling friction, reducing the friction coefficient between the two, and greatly improving the service life of the docking column 31.

[0095] See also Figure 2 and Figure 3 In one embodiment provided in the present application, the first electrical connection end 52 also includes an electrical connection portion 521 and a fixed plate 522, the electrical connection portion 521 is provided on the fixed plate 522, and the fixed plate 522 is connected to the floating plate 53 through a buffer 523. Specifically, a buffer 523 is provided at each of the four corners of the fixed plate 522, and the other end of the buffer 523 is connected to the floating plate 53. When the first electrical connection end 52 and the second electrical connection end 32 are mated, the two can be considered to be structures similar to a male head and a female head. When the electrical connection portion 521 is a male head, the second electrical connection end 32 is a female head. Of course, the electrical connection portion 521 can also be a female head, and the second electrical connection end 32 is a male head. Providing the electrical connection portion 521 on the fixed plate 522 can not only improve the structural strength of the first electrical connection end 52, but also improve the stability of the connection.

[0096] In addition, a buffer 523 is provided between the fixed plate 522 and the floating plate 53, which can improve the tolerance of the electrical connection part 521 and the second electrical connection end 32 when they are connected. When the axes of the electrical connection part 521 and the second electrical connection end 32 do not coincide, the buffer 523 can be compressed or stretched during the connection process so that the electrical connection part 521 can be aligned with the second electrical connection end 32. In addition, the buffer 523 can also mitigate the impact force between the second electrical connection end 32 and the electrical connection part 521, thereby preventing the electrical connection part 521 from being damaged. The buffer 523 includes, but is not limited to, springs, elastic foam, elastic rubber, elastic silicone, elastic plastic, etc.

[0097] See also Figure 1 and Figure 3 In one embodiment provided in the present application, the docking device includes two mechanical docking units 2 and one electrical docking unit 5 arranged at intervals. Along the width direction of the dockable device, the two mechanical docking units 2 and one electrical docking unit 5 can be arranged in a straight line, that is, the electrical docking unit 5 is located between the two mechanical docking units 2. Alternatively, the two mechanical docking units 2 and one electrical docking unit 5 are arranged in a V-shape.

[0098] See below Figure 3 , Figures 7 to 9 The entire docking process of the docking member, the first electrical connection end 52 and the docking device is briefly described. Figure 7In the embodiment, when docking starts, the autonomous mobile robot moves to the bottom of the dockable device, and the docking column 31 and the guide plate 29 are roughly aligned in the docking direction. Figure 8 As shown, as the autonomous mobile robot continues to move, the docking post 31 enters the guide groove 291 of the guide plate 29. The V-shaped guide groove 291 can guide the docking post 31, thereby correcting the position of the autonomous mobile robot. At this time, the top of the docking piece also abuts against the wedge-shaped piece at the end of the contact 26. As the movement continues, the docking post 31 moves to the bottom of the guide groove 291 and is accurately aligned with the position of the positioning sleeve 22. Fig. 9 As the top plate 33 rises, the docking post 31 is inserted into the sleeve hole 221 of the positioning sleeve 22, and the docking post 31 is connected with the positioning sleeve 22. As the positioning sleeve 22 is inserted, the contact 26 is pressed into the sleeve hole 221, and the elastic member 28 on the guide post 27 is compressed. At this time, the second electrical connection end 32 is also inserted into the first electrical connection end 52.

[0099] In one embodiment of the present application, a docking system is also provided, and the docking system includes: a first device and a second device. The above-mentioned docking device is provided on the first device. A docking column 31 is provided on the second device, and a groove is provided on the top of the docking column 31, and a sensor is provided in the groove. Among them, the first docking component 6 in the docking device also includes a guide plate 29, and the guide plate 29 is provided at the bottom end of the base 21. A guide groove 291 is provided on the guide plate 29, and the bottom of the guide groove 291 corresponds to the position of the positioning sleeve 22. A sleeve that can rotate relative to the docking column 31 is provided on the outside of the docking column 31, and the contact 26 of the first docking component 6 enters the groove, and the sensor is triggered.

[0100] For the specific structure of the docking device, please refer to the description above and will not be repeated here.

[0101] In summary, the technical solution provided in the embodiment of the present application can solve the problem that two docked devices cannot be automatically decoupled due to a fault when they need to be decoupled. The two devices can be separated manually, which provides a guarantee for the safe operation of the devices.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A docking device, characterized in that: include: Mounting plate; The operating assembly includes a manual component and a sliding component, wherein the sliding component is slidably connected to the mounting plate; the manual component is connected to the sliding component, and an inclined groove is provided on the sliding component; A first docking assembly, used for docking with a second docking assembly on another device in a first direction, wherein a matching piece is provided on the first docking assembly, and the matching piece is located in the inclined groove; A limiting component, disposed on the mounting plate, the limiting component being connected to the first docking assembly and used for limiting the first docking assembly to move in a first direction; Wherein, the sliding component slides relative to the mounting plate along the second direction under the drive of the manual component, and the sliding inclined groove enables the matching component to move along the first direction, thereby realizing the movement of the first docking assembly relative to the mounting plate along the first direction.

2. The docking device according to claim 1, characterized in that: The mounting plate is provided with a slide rail extending along the second direction; The sliding component comprises a sliding seat, and a nut is provided on the sliding seat; The slide seat is slidably connected to the slide rail; The manual component includes a handpiece and a connecting rod, and the connecting rod is provided with threads; The nut is connected to the connecting rod through threads.

3. The docking device according to claim 1 or 2, characterized in that: The limiting component includes a support member; The support member is provided with a limiting groove extending along the first direction; The matching piece is located in the limiting groove; Wherein, the sliding component slides relative to the mounting plate along the second direction under the drive of the manual component, and the sliding inclined groove enables the matching component to move in the limiting groove along the first direction, and the first direction is perpendicular to the second direction.

4. The docking device according to claim 3, characterized in that: The first docking assembly includes a mechanical docking unit; The mechanical docking unit includes a base and a positioning sleeve; The base is arranged on the bottom surface of the mounting plate and has a mounting cavity with an opening facing downward; The positioning sleeve is arranged in the installation cavity; The matching piece is provided on the outer wall of the positioning sleeve; Wherein, the positioning sleeve is used for docking with a docking column in a second docking assembly on another device.

5. The docking device according to claim 4, characterized in that: The positioning sleeve is provided with a contact and a guide post, the guide post is arranged in the sleeve hole of the positioning sleeve, and the contact is arranged at the end of the guide post; An elastic member is provided on the guide column, one end of the elastic member abuts against the contact, and the other end abuts against the bottom of the hole of the sleeve; The contact is used to trigger a sensor on a docking column of a second docking assembly of another device.

6. The docking device according to claim 5, characterized in that: The end of the contact is provided with a wedge-shaped piece; When docking with a docking post of a second docking assembly of another device, the wedge-shaped piece contacts the docking post to generate an upward lifting force to move the contact upward.

7. The docking device according to claim 1 or 2, characterized in that: The limiting component includes a telescopic unit; The telescopic unit has a telescopic end that moves along the first direction; The first docking assembly is connected to the telescopic end.

8. The docking device according to claim 7, characterized in that: The first docking assembly includes an electrical docking unit; The electrical docking unit includes a first electrical connection end and a floating plate; The floating plate is connected to the telescopic end; The first electrical connection end is disposed downward on the floating plate; The matching piece is provided on the floating plate; Wherein, the first electrical connection end is used to connect to the second electrical connection end in the second docking assembly on another device.

9. A robot, characterized in that: Including the body; The machine body is provided with a docking device according to any one of claims 1 to 8.

10. A docking system, characterized in that: include: A first device, on which is provided a docking device as described in any one of claims 1 to 8; The second device is provided with a second docking assembly for docking with the first docking assembly in the docking device.

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