Robot docking mechanism and docking robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot butt-joint mechanism and a butt-joint robot, the robot butt-joint mechanism comprises a butt-joint female seat and a butt-joint head seat, the butt-joint female seat comprises a plugging sleeve, a first butt-joint connector and a plugging locking assembly, the plugging sleeve is provided with a plugging cavity, the first butt-joint connector is arranged in the plugging cavity, and the first butt-joint connector is arranged in the plugging cavity. The plug-in locking assembly is arranged on the outer side of the plug-in cavity; the butt joint base comprises a connecting plug, a second butt joint connector, a butt joint locking assembly and a locking driving assembly, the connecting plug is provided with a matching cavity, the second butt joint connector is arranged in the matching cavity, and the connecting plug is used for being inserted into the inserting cavity so that the first butt joint connector can make contact with the second butt joint connector; and the locking driving assembly is used for driving the opposite inserting locking assembly to be matched with the inserting locking assembly so as to keep the inserting head in the inserting cavity. The butt joint transmission device is used for butt joint transmission of two robots and can be used for electrical connection, communication connection, power transmission and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot docking mechanism and a docking robot. Background Art

[0002] A robot refers to a robot system, which usually consists of two wheels or a wheel assembly composed of wheels. This design enables the robot to move on a horizontal surface and can achieve steering and rotation by controlling the speeds of different wheels. A two-wheel robot usually uses a differential drive system. By independently controlling the speeds of each wheel, various movements of the robot such as forward, backward, and turning can be achieved. In addition, a two-wheel robot can also achieve rotational movement by controlling the speed difference between the wheels, which makes them very flexible and suitable for narrow spaces and complex environments.

[0003] In the use of existing robots, there is no structure for automatically docking and transmitting data between two robots. Currently, when it is necessary to connect two robots, it is all through manual connection and transmission using data cables, which is relatively cumbersome and inconvenient to use. Therefore, it is necessary to address the connection of existing robots. Summary of the Utility Model

[0004] To solve the above problems, the utility model has the effects of stable and reliable docking connection, precise fitting and contact, convenient operation and maintenance, high-efficiency safety guarantee, and wide applicability, and provides a reliable, safe, and efficient solution for the docking of robots and automated equipment, namely a robot docking mechanism and a docking robot.

[0005] The technical solution adopted by the utility model is: a robot docking mechanism, including a docking female seat and a docking head seat. The docking female seat includes a plugging sleeve, a first docking connector, and a plugging locking component. The plugging sleeve is provided with a plugging cavity, the first docking connector is arranged in the plugging cavity, and the plugging locking component is arranged outside the plugging cavity. The docking head seat includes a plugging head, a second docking connector, an inserting and locking component, and a locking driving component. The plugging head is provided with a fitting cavity, the second docking connector is arranged in the fitting cavity, and the plugging head is used to be inserted into the plugging cavity so that the first docking connector contacts the second docking connector. The locking driving component is used to drive the inserting and locking component to cooperate with the plugging locking component to hold the plugging head in the plugging cavity.

[0006] A further improvement to the above solution is that an expansion part is provided at the opening of the plugging sleeve. The expansion part expands towards the outside. An introduction block is provided on one side of the plugging sleeve close to the expansion part. There are a plurality of introduction blocks, and the plurality of introduction blocks are evenly distributed in a ring on the inner circumference of the plugging sleeve. A plurality of guiding blocks are evenly distributed in a circumferential direction on the outer circumference of the plugging head. A guiding groove is formed between two adjacent guiding blocks, and the guiding groove is used to cooperate with the introduction block.

[0007] A further improvement to the above solution is that guiding inclined surfaces are provided on the opposite sides of the introduction block and the guiding block. One end of the plugging head facing the plugging sleeve is provided with an insertion inclined surface.

[0008] A further improvement to the above solution is that the first docking connector includes a first substrate, a first docking housing, a contact groove and a conductive contact disk. A sealing ring is provided on the outer circumference of the contact groove. The first docking housing is arranged on the first substrate. The contact groove is arranged on the first docking housing. The conductive contact disk is arranged on the first substrate and faces the contact groove.

[0009] A further improvement to the above solution is that the second docking connector includes a second substrate, a second docking housing, a contact plug and a conductive probe. The second substrate is arranged on one side of the second docking housing. The contact plug is arranged on the second docking housing. The conductive probe is arranged in the contact plug. A sealing compression ring is provided on the outer circumference of the contact plug. The contact plug is used to cooperate with the contact groove. The conductive probe is used to contact the conductive contact disk. The sealing compression ring is used to cooperate with the sealing ring to seal the contact plug and the contact groove.

[0010] A further improvement to the above solution is that the plugging locking assembly includes a locking positioning element and a locking slot. The plugging head is provided with a locking positioning groove. The locking positioning element is used to cooperate with the locking positioning groove to position the plugging head. The docking locking assembly is provided with a locking tongue, and the locking driving assembly is used to drive the locking tongue to insert into the locking slot.

[0011] A further improvement to the above solution is that one end of the locking positioning element extends into the plugging cavity. When the plugging head is inserted into the plugging cavity, the locking positioning element is extruded and moves outwards to apply a pre-tightening force to the plugging head until it fits into the locking positioning groove.

[0012] A further improvement to the above solution is that the locking drive assembly includes a rotary drive element, a drive main shaft, a turntable, and a drive gear disk. The plug connector is provided with a cavity, and a bearing is arranged in the cavity. The drive main shaft is rotatably arranged on the bearing. The rotary drive element is used to drive the drive main shaft to rotate. The turntable is arranged at one end of the drive main shaft. The drive gear disk is arranged on the turntable. The drive gear disk is a spiral gear disk. One side of the lock tongue is provided with a spiral tooth groove, and the spiral tooth groove is used to cooperate with the drive gear disk. A sliding groove is arranged on the outer side of the plug connector. The drive gear disk is used to drive the spiral tooth groove to drive the lock tongue to slide on the sliding groove, so that the lock tongue is inserted into the locking slot.

[0013] A further improvement to the above solution is that a positioning step is arranged on the outer side of the cavity, and a positioning ring is installed on the positioning step. The positioning ring is used to fix the end face of the bearing in the cavity. A fixing nut is arranged at one end of the drive main shaft, and the fixing nut is used to lock and cooperate one end of the main shaft on the bearing.

[0014] A further improvement to the above solution is that it further includes a pulling assistance component. One end of the plug connector is provided with a fixing plate. The pulling assistance component includes a connecting column, an assisting pressure ring, and an assisting spring. One end of the connecting column is arranged on the fixing plate. The assisting pressure ring is slidably arranged on the connecting column. The assisting spring is arranged on the connecting column and is used to apply pressure to the assisting pressure ring. The assisting pressure ring is provided with a supporting plate, and one end of the supporting plate is used to abut against the end face of the plugging sleeve.

[0015] A further improvement to the above solution is that a sinking groove is arranged on the outer circumference of the fixing plate close to the plug connector. After the plug connector is inserted into the plugging cavity, the end face of the plugging sleeve is used to press the supporting plate into the sinking groove.

[0016] A further improvement to the above solution is that it further includes a ratchet connection mechanism. The ratchet connection mechanism includes a tension element, a ratchet seat, a ratchet pawl, and a ratchet tooth seat. A ratchet groove is arranged on the wall surface of the plugging sleeve, and the ratchet groove penetrates to the plugging cavity. The ratchet seat is arranged in the ratchet groove. The ratchet seat is provided with a hinge groove for hinging the ratchet pawl. One end of the tension element is connected to the ratchet pawl to provide a hinge tension for the ratchet pawl. The ratchet tooth seat is arranged on the plug connector, and the ratchet tooth seat is provided with tooth grooves to cooperate with the ratchet pawl.

[0017] A further improvement to the above solution is that the plugging sleeve is provided with a connecting platform, and the connecting platform is provided with a connecting element. One end of the tension element is connected to the connecting element and the other end is connected to the ratchet pawl.

[0018] A further improvement to the above solution is that the tension element is a tension spring. An articulated positioning groove is provided on the wall surface of the articulated groove. Articulated shafts are provided on both sides of the pawl, and one end of each articulated shaft extends into the articulated positioning groove. The pawl includes a tension connection end and a ratchet connection end. The articulated shafts are arranged between the tension connection end and the ratchet connection end. The tension connection end is used to connect the tension element, and the ratchet connection end is used to cooperate with the tooth groove.

[0019] A further improvement to the above solution is that an angle is formed between the tension connection end and the ratchet connection end.

[0020] A further improvement to the above solution is that the plug connector is provided with a ratchet mounting groove. The ratchet tooth seat is arranged in the ratchet mounting groove, and a clearance position is provided on one side of the ratchet tooth seat located in the tooth groove.

[0021] A further improvement to the above solution is that it further includes a direction movement mechanism. The direction movement mechanism is arranged on one side of the docking female seat and is used to provide a direction floating force for the docking female seat.

[0022] A further improvement to the above solution is that the direction movement mechanism includes a female seat base plate, a movable base plate, movable guide rails, and a movable tension assembly. One side of the female seat base plate is connected to the docking female seat. The movable base plate is connected to the female seat base plate through the movable guide rails. The movable tension assembly includes a movable tension spring. Two tension shafts are provided at both ends of the movable tension spring, and the two tension shafts are respectively connected to the movable base plate and the female seat base plate. Two sets of the movable tension assemblies are provided, and the two sets of movable tension assemblies are respectively arranged on both sides of the movable base plate.

[0023] A further improvement to the above solution is that two sets of the direction movement mechanisms are provided, and the movement track directions of the two sets of direction movement mechanisms are distributed in a cross shape.

[0024] A docking robot includes the robot docking mechanism described above. The docking robot includes a first robot and a second robot. A first bracket is provided at one end of the first robot, and the docking female seat is arranged in the first bracket. A second bracket is provided at one end of the second robot, and the docking head seat is arranged on the second bracket. The first robot is provided with a first fuselage, and first driving modules are provided on both sides of the first fuselage. The first bracket is arranged on the first fuselage. The second robot is provided with a second fuselage, and second driving modules are provided on both sides of the second fuselage. The second bracket is arranged on the second fuselage.

[0025] The beneficial effects of the present utility model are:

[0026] Compared with existing robot connections, the utility model is used for the docking and transmission between two robots and can perform electrical connection, communication connection, power transmission, etc. The docking female seat is the fixed end, and the docking male seat is the movable end. Through the design of plug-in sleeves, plug connectors, docking connectors, and plug-in locking components, etc., the docking mechanism can achieve stable and reliable docking connection, ensuring the connection safety and stability between robots or devices, and is applicable to various industrial scenarios and application environments. The plug connector can achieve precise fit and contact with the first docking connector and the second docking connector in the plug-in cavity, making the robot docking process smoother and more precise, and reducing damage and failures caused by poor docking. The locking drive component is considered in the design to drive the mating of the plug-in locking component and the plug-in locking component. Such a design makes the operation and maintenance of the docking mechanism more convenient, improving the operability and maintenance efficiency of the equipment. Through the cooperation of the plug-in locking component and the plug-in locking component, the effective locking of the plug connector can be achieved, thus providing an efficient safety guarantee measure to prevent accidental detachment or loosening during use. The docking mechanism solution is applicable to the docking requirements of various robots, automation equipment, etc., and can be flexibly applied to fields such as industrial production lines and logistics equipment, with strong versatility and applicability. The utility model has multiple technical effects such as stable and reliable docking connection, precise fit and contact, convenient operation and maintenance, efficient safety guarantee, and wide applicability, providing a reliable, safe and efficient solution for the docking of robots and automation equipment.

[0027] The ratchet connection mechanism is used to play a role in preventing the plug from retracting when the docking female seat and the docking male seat are connected. When the plug connector is inserted into the plug-in cavity, the ratchet pawl cooperates with the ratchet groove, and the plug connector will not move backward until it is inserted to the innermost part. Then, the ratchet pawl is pulled back to the original position by the tension element before it can be retracted and loosened. This makes the stability of the ratchet docking process better, and there will be no backward movement during the insertion process. It solves the problem of easy backward movement in the existing docking process. By inserting the plug connector into the plug-in cavity of the plug-in sleeve, a reliable conductive connection between the head seat power receiving component and the mother seat power receiving component is achieved, ensuring the stability of the connector and the reliability of electrical transmission. The ratchet connection mechanism is adopted. Through the design of the ratchet seat, ratchet pawl, and ratchet tooth seat, the flexible plugging and fixing of the connector are realized, making the connection operation more convenient and reliable. The connector adopts a connection method between the tension element and the ratchet pawl, which can provide stable articulated tension, thereby enhancing the durability and stability of the connector and extending its service life. The connector structure is stable, and it is not easy to loosen or disconnect during the plugging and unplugging process, which is beneficial to ensuring the safe use of the connector and reducing the risk of accidental disconnection.

[0028] A docking robot, by arranging the docking female seat inside the first bracket and the docking head seat on the second bracket, and combining the stability and reliability of the aforementioned docking mechanism, realizes a stable and firm docking connection between the docking robots, ensuring the stability and safety of the robots during collaborative operations. The first traveling module of the first robot and the second traveling module of the second robot cooperate with each other, enabling the two robots to perform motion coordination in different directions, thereby improving the overall flexibility and working range. The design of the first fuselage, the layout of the first traveling module, the installation of the first bracket, as well as the layout of the second fuselage, the second traveling module, and the setting of the second bracket, etc., make the entire docking robot structure compact, which is conducive to operation and application in narrow spaces. The docking connection between the two robots is tight and reliable, enabling them to effectively transmit electrical, communication data, etc., and can perform collaborative operations, improving production efficiency and work quality. The utility model has multiple technical effects such as stable and firm docking connection, multi-dimensional motion coordination, overall compact structure, efficient collaborative operation, and easy maintenance and management, providing a reliable and efficient solution for robots in collaborative operations and joint motions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a perspective view of the docking robot of the present utility model;

[0030] Figure 2 is Figure 1 a perspective view of the docking robot from another angle in

[0031] Figure 3 is a perspective view of the robot docking mechanism of the present utility model;

[0032] Figure 4 is Figure 3 an exploded view of the robot docking mechanism in

[0033] Figure 5 is Figure 3 an exploded view of the robot docking mechanism from another angle in

[0034] Figure 6 is Figure 3 a front view of the robot docking mechanism in

[0035] Figure 7 is Figure 6 a cross-sectional view taken along A-A in

[0036] Figure 8 is Figure 3 a perspective view of the docking female seat of the robot docking mechanism in

[0037] Figure 9 is Figure 3Schematic three-dimensional view of the docking head seat of the docking mechanism of the robot;

[0038] Figure 10 is Figure 3 Front view schematic of the docking head seat of the docking mechanism of the robot;

[0039] Figure 11 is Figure 10 Cross-sectional view of B-B in the figure;

[0040] Figure 12 is Figure 9 Schematic three-dimensional view of a partial structure of the docking head seat in the figure;

[0041] Figure 13 Schematic structural view of another embodiment of the docking mechanism of the robot of the present utility model;

[0042] Figure 14 is Figure 13 Front view of the embodiment in the figure;

[0043] Figure 15 is Figure 14 Cross-sectional view of A-A in the figure;

[0044] Figure 16 is Figure 13 Schematic structural view of the ratchet connection mechanism of the embodiment in the figure;

[0045] Figure 17 is Figure 13 Schematic view of the docking state of the embodiment in the figure;

[0046] Figure 18 is Figure 13 Schematic structural view of the direction movement mechanism of the embodiment in the figure.

[0047] Explanation of reference numerals: docking female seat 1, insertion sleeve 11, insertion cavity 111, expansion part 112, introduction block 113, guiding inclined surface 114, ratchet groove 115, connection platform 116, connection element 117, first docking connector 12, first substrate 121, first docking housing 122, contact groove 123, conductive contact disk 124, sealing ring 1231, locking positioning groove 215, insertion locking assembly 13, locking positioning element 131, locking slot 132;

[0048] Docking connector seat 2, plug connector 21, mating cavity 211, guiding block 212, guiding groove 213, insertion inclined plane 214, locking positioning groove 215, bearing 216, sliding groove 217, positioning step 218, fixing disk 219, counterbore 2191, second docking connector 22, second substrate 221, second docking housing 222, contact plug 223, sealing pressing ring 2231, conductive probe 224, plug-in locking assembly 23, locking tongue 231, spiral tooth groove 2311, locking drive assembly 24, rotary drive element 241, drive main shaft 242, fixing nut 2421, turntable 243, drive gear disk 244;

[0049] Pull-out assisting component 3, connecting column 31, assisting pressing ring 32, supporting plate 321, assisting spring 33;

[0050] First robot 4, first bracket 41, first fuselage 42, first traveling module 43;

[0051] Second robot 5, second bracket 51, second fuselage 52, second traveling module 53;

[0052] Ratchet connection mechanism 6, tension element 61, ratchet seat 62, hinged groove 621, ratchet pawl 63, hinged shaft 631, tension connection end 632, ratchet connection end 633, ratchet tooth seat 64, tooth groove 641, clearance space 642;

[0053] Directional movement mechanism 7, female seat substrate 71, movable substrate 72, movable guide rail 73, movable tension assembly 74, movable tension spring 741, tension shaft 742. Detailed implementation manner

[0054] For ease of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0055] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example Figures 1 to 18As shown in the figure, in an embodiment of the present utility model, a robot docking mechanism is involved, which includes a docking female seat 1 and a docking head seat 2. The docking female seat 1 includes a plugging sleeve 11, a first docking connector 12 and a plugging locking assembly 13. The plugging sleeve 11 is provided with a plugging cavity 111. The first docking connector 12 is arranged in the plugging cavity 111. The plugging locking assembly 13 is arranged outside the plugging cavity 111. The docking head seat 2 includes a plugging head 21, a second docking connector 22, a plugging locking assembly 23 and a locking driving assembly 24. The plugging head 21 is provided with a mating cavity 211. The second docking connector 22 is arranged in the mating cavity 211. The plugging head 21 is used to be inserted into the plugging cavity 111 so that the first docking connector 12 contacts the second docking connector 22. The locking driving assembly 24 is used to drive the plugging locking assembly 23 to cooperate with the plugging locking assembly 13 to hold the plugging head 21 in the plugging cavity 111. This embodiment is used for the docking and transmission of two robots and can perform electrical connection, communication connection, power transmission, etc. Through the designs of the plugging sleeve 11, the plugging head 21, the docking connector and the plugging locking assembly 13, etc., this docking mechanism can achieve a firm and reliable docking connection, ensuring the connection safety and stability between robots or devices, and is applicable to various industrial scenarios and application environments. The plugging head 21 and the first docking connector 12 and the second docking connector 22 in the plugging cavity 111 can achieve precise cooperation and contact, making the robot docking process smoother and more accurate, and reducing damages and failures caused by poor docking. In the design, it is considered that the locking driving assembly 24 is used to drive the plugging locking assembly 23 to cooperate with the plugging locking assembly 13. Such a design makes the operation and maintenance of the docking mechanism more convenient, improving the operability and maintenance efficiency of the device. Through the cooperation of the plugging locking assembly 13 and the plugging locking assembly 23, the effective locking of the plugging head 21 can be achieved, thus providing an efficient safety guarantee measure to prevent accidental detachment or loosening during use. The docking mechanism solution is applicable to the docking requirements of various robots, automation devices, etc., and can be flexibly applied to fields such as industrial production lines and logistics equipment, with strong versatility and applicability. This embodiment has multiple technical effects such as firm and reliable docking connection, precise cooperation and contact, convenient operation and maintenance, efficient safety guarantee and wide applicability, providing a reliable, safe and efficient solution for the docking of robots and automation devices.

[0057] Refer to Figure 8As shown in the figure, an expansion part 112 is provided at the opening of the plug socket 11. The expansion part 112 expands towards the outside. An introduction block 113 is provided on one side of the plug socket 11 close to the expansion part 112. A plurality of introduction blocks 113 are provided, and the plurality of introduction blocks 113 are evenly distributed in a ring on the inner circumference of the plug socket 11. A plurality of guiding blocks 212 are evenly distributed in a circumferential direction on the outer circumference of the plug joint 21. A guiding groove 213 is formed between two adjacent guiding blocks 212, and the guiding groove 213 is used to cooperate with the introduction block 113. Specifically, guiding inclined surfaces 114 are provided on the opposite sides of the introduction block 113 and the guiding block 212. One end of the plug joint 21 facing the plug socket 11 is provided with an insertion inclined surface 214. In this embodiment, the designs of the expansion part 112, the introduction block 113 and the guiding block 212 enable the plug joint 21 to achieve stable connection and positioning within the plug socket 11. The cooperation of the guiding groove 213 and the introduction block 113 effectively ensures the precise docking between the plug joint 21 and the plug socket 11, thereby improving the firmness and stability of the connection. The guiding inclined surfaces 114 provided on the guiding block 212 and the introduction block 113, and the insertion inclined surface 214 provided at one end of the plug joint 21 facing the plug socket 11 help to reduce errors and friction during the docking process, making the plugging more smooth and accurate. Through the designs of the guiding block 212 and the introduction block 113, the docking process is made more simple and intuitive, and the robot can quickly and accurately complete the docking action, improving the operation efficiency. Due to the circumferentially even distribution design of the guiding block 212 and the introduction block 113, the plug joint 21 is evenly stressed during the docking process with the plug socket 11, which helps to reduce wear and improve the durability and stability of the docking mechanism.

[0058] Refer to Figures 7 to 8 and Figure 11As shown, the first docking connector 12 includes a first substrate 121, a first docking housing 122, a contact groove 123, and a conductive contact disk 124. A sealing ring 1231 is provided on the outer periphery of the contact groove 123. The first docking housing 122 is provided on the first substrate 121. The contact groove 123 is provided on the first docking housing 122. The conductive contact disk 124 is provided on the first substrate 121 and faces the contact groove 123. Specifically, the second docking connector 22 includes a second substrate 221, a second docking housing 222, a contact plug 223, and a conductive probe 224. The second substrate 221 is provided on one side of the second docking housing 222. The contact plug 223 is provided on the second docking housing 222. The conductive probe 224 is provided inside the contact plug 223. A sealing compression ring 2231 is provided on the outer periphery of the contact plug 223. The contact plug 223 is used to fit into the contact groove 123. The conductive probe 224 is used to contact the conductive contact disk 124. The sealing compression ring 2231 is used to cooperate with the sealing ring 1231 to seal the contact plug 223 and the contact groove 123. In this embodiment, the first docking connector 12 and the second docking connector 22 achieve reliable electrical connection through components such as the contact plug 223 and the conductive probe 224, ensuring the stable transmission of electrical signals during the docking process of the robot, thereby guaranteeing the electrical connection quality required for the normal operation of the docking robot. Through the cooperative design of the sealing ring 1231 and the sealing compression ring 2231, the contact plug 223 and the contact groove 123 are effectively sealed, preventing external substances such as dust and water vapor from invading, and improving the durability and stability of the docking connector. The reliable electrical connection and effective sealing protection help to improve the stability and reliability of the overall docking mechanism, making the robot docking process smoother and more reliable.

[0059] Refer to Figures 7 to 11As shown, the plug-in locking assembly 13 includes a locking positioning element 131 and a locking slot 132. The plug 21 is provided with a locking positioning groove 215. The locking positioning element 131 is used to cooperate with the locking positioning groove 215 to position the plug 21. The plug-in locking assembly 23 is provided with a locking tongue 231. The locking drive assembly 24 is used to drive the locking tongue 231 to insert into the locking slot 132. Specifically, the locking drive assembly 24 includes a rotary drive element 241, a drive main shaft 242, a turntable 243 and a drive gear disk 244. The plug 21 is provided with a cavity, and a bearing 216 is arranged in the cavity. The drive main shaft 242 is rotatably arranged on the bearing 216. The rotary drive element 241 is used to drive the drive main shaft 242 to rotate. The turntable 243 is arranged at one end of the drive main shaft 242. The drive gear disk 244 is arranged on the turntable 243. The drive gear disk 244 is a spiral gear disk. One surface of the locking tongue 231 is provided with a spiral tooth groove 2311. The spiral tooth groove 2311 is used to cooperate with the drive gear disk 244. A chute 217 is arranged on the outer side of the plug 21. The drive gear disk 244 is used to drive the spiral tooth groove 2311 to drive the locking tongue 231 to slide on the chute 217, so that the locking tongue 231 is inserted into the locking slot 132. In this embodiment, through the design of the locking positioning element 131 and the locking positioning groove 215, and the operation of inserting the locking tongue 231 into the locking slot 132, the accurate positioning and fixing of the plug 21 are realized, ensuring the position accuracy and stability during the docking process. The locking drive assembly 24 can reliably drive the locking tongue 231 to insert into the locking slot 132 through the cooperative design of components such as the rotary drive element 241, the drive main shaft 242, the turntable 243 and the drive gear disk 244, realizing the effective locking of the docking head. At the same time, the docking head can also be quickly released through the reverse operation, improving the flexibility and convenience of the operation. Through the design of the drive gear disk 244 and the spiral tooth groove 2311, the sliding of the locking tongue 231 on the chute 217 is realized, enabling the docking head to be quickly and smoothly inserted into the locking slot 132, thereby improving the efficiency and stability of the docking process. Through the arrangement of components such as the bearing 216, the drive main shaft 242 and the turntable 243, a firm support and rotation structure are provided for the locking drive assembly 24, improving the durability and stability of the overall structure. The design of the locking positioning element 131 and the locking drive assembly 24, and the cooperation of the chute 217 and the locking slot 132 can ensure the safety and reliability during the docking process, reducing the risks caused by misoperation or accidents.

[0060] One end of the locking and positioning element 131 extends into the insertion cavity 111. When the plug connector 21 is inserted into the insertion cavity 111, the locking and positioning element 131 is extruded and moves outward to apply a pre-tightening force to the plug connector 21 until it fits into the locking and positioning groove 215. The locking and positioning groove 215 and the locking and positioning element 131 ensure that the robot will not separate after docking, making the docking more stable and reliable.

[0061] Furthermore, the locking and positioning element 131 is a ball plunger and there are multiple of them, which can apply pre-tightening forces in multiple directions of the plug connector. Thus, the structural positioning accuracy is higher and the stability is better during insertion. When the robot controls the docking mechanism to collide with the ball plunger, it plays a role of pre-fixation to prevent the robot from separating again.

[0062] A positioning step 218 is provided on the outer side of the cavity. A positioning ring is installed on the positioning step 218. The positioning ring is used to fix the end face of the bearing 216 in the cavity. One end of the driving main shaft 242 is provided with a fixing nut 2421, and the fixing nut 2421 is used to lock and fit one end of the main shaft on the bearing 216. In this embodiment, through the design of the positioning step 218 and the positioning ring, it can be ensured that the end face of the bearing 216 is accurately fixed and positioned in the cavity, thus ensuring the stability and reliability of the bearing 216. The setting of the fixing nut 2421 can lock and fit one end of the main shaft on the bearing 216, so that the bearing 216 is effectively fixed, avoiding loosening or instability during the working process. Through the above design, the bearing 216 in the overall structure is accurately positioned and firmly fixed, which helps to improve the overall stability and reliability of the docking mechanism.

[0063] It further includes a pulling assistance component 3. One end of the plug connector 21 is provided with a fixing plate 219. The pulling assistance component 3 includes a connecting column 31, an assisting pressing ring 32 and an assisting spring 33. One end of the connecting column 31 is arranged on the fixing plate 219. The assisting pressing ring 32 is slidably arranged on the connecting column 31. The assisting spring 33 is arranged on the connecting column 31 and is used to apply pressure to the assisting pressing ring 32. The assisting pressing ring 32 is provided with a supporting plate 321. One end of the supporting plate 321 is used to abut against the end face of the socket sleeve 11. Specifically, a sunk groove 2191 is arranged on the fixing plate 219 near the outer circumference of the plug connector 21. After the plug connector 21 is inserted into the socket cavity 111, the end face of the socket sleeve 11 is used to press the supporting plate 321 into the sunk groove 2191. In this embodiment, the design of the pulling assistance component 3 can provide additional assistance when the plug connector 21 needs to be pulled out, making the plugging and unplugging operations easier and smoother. The pressure applied by the assisting spring 33 and the design of the assisting pressing ring 32 help to ensure that the robot will not be blocked when pulling out. Through the design of components such as the fixing plate 219, the connecting column 31, the assisting pressing ring 32 and the supporting plate 321, the supporting plate 321 can be pressed into the sunk groove 2191 after the plug connector 21 is inserted into the socket cavity 111, thereby realizing the abutment of the supporting plate 321 against the end face of the socket sleeve 11 and providing a pulling force. The design of the assisting spring 33 and the assisting pressing ring 32 can reduce the floating effect when the robot pulls out the docking mechanism and reduce friction.

[0064] Refer to Figures 13 to 17As shown, it further includes a ratchet connection mechanism 6. The ratchet connection mechanism 6 includes a tension element 61, a ratchet seat 62, a pawl 63, and a ratchet tooth seat 64. A ratchet groove 115 is provided on the wall surface of the insertion sleeve 11, and the ratchet groove 115 penetrates into the insertion cavity 111. The ratchet seat 62 is arranged in the ratchet groove 115. The ratchet seat 62 is provided with a hinge groove 621 for hinging the pawl 63. One end of the tension element 61 is connected to the pawl 63 to provide a hinge tension for the pawl 63. The ratchet tooth seat 64 is arranged on the plug head 21, and the ratchet tooth seat 64 is provided with a tooth groove 641 to cooperate with the pawl 63. This embodiment is used to prevent the plug from retracting when the docking female seat and the docking head seat are connected. When the plug head 21 is inserted into the insertion cavity 111, the pawl 63 cooperates with the ratchet groove 115, and the plug head 21 will not move backward. After being inserted to the innermost part, the pawl 63 is pulled back to the original position by the tension element 61 before it can be retracted and loosened. This makes the ratchet insertion process more stable, and there will be no backward movement during the insertion process. It solves the problem of easy backward movement during the existing docking process. By inserting the plug head 21 into the insertion cavity 111 of the insertion sleeve 11, a reliable electrical connection between the head seat power connection component and the female seat power connection component is achieved, ensuring the stability of the connector and the reliability of electrical transmission. The ratchet connection mechanism 6 is adopted. Through the design of the ratchet seat 62, the pawl 63, and the ratchet tooth seat 64, the flexible insertion and fixation of the connector are realized, making the connection operation more convenient and reliable. The connector adopts the connection method of the tension element 61 and the pawl 63, which can provide a stable hinge tension, thereby enhancing the durability and stability of the connector and extending its service life. The connector has a stable structure and is not prone to looseness or disconnection during the insertion and extraction process, which is beneficial to ensuring the safe use of the connector and reducing the risk of accidental disconnection.

[0065] The insertion sleeve 11 is provided with a connection platform 116. The connection platform 116 is provided with a connection element 117. One end of the tension element 61 is connected to the connection element 117 and the other end is connected to the pawl 63. In this embodiment, the connection platform 116 is used to cooperate with the installation and connection of the female seat substrate, and the structural assembly is convenient. The design of the connection element 117 facilitates the connection and fixation of the tension element 61. The tension element 61 of this embodiment is an axially shaped structural member or a screw, and its purpose is to fix both ends of the tension spring to ensure the tension stability of the pawl 63 during the hinge movement process.

[0066] The tension element 61 is a tension spring. An articulated positioning groove is provided on the wall surface of the articulated groove 621. Articulated shafts 631 are provided on both sides of the pawl 63, and one end of each articulated shaft 631 extends into the articulated positioning groove. The pawl 63 includes a tension connection end 632 and a ratchet connection end 633. The articulated shafts 631 are arranged between the tension connection end 632 and the ratchet connection end 633. The tension connection end 632 is used to connect the tension element 61, and the ratchet connection end 633 is used to cooperate with the tooth groove 641. In this embodiment, through the design of the articulated shafts 631 and the articulated positioning groove, a stable articulated connection between the pawl 63 and the ratchet connection end 633 is achieved, ensuring the reliability and stability of the connection. The tension spring is connected to the tension connection end 632 of the pawl 63, which can provide stable tension transmission, ensuring the stable movement and force transmission of the pawl 63 during operation. The stable articulated connection and tension transmission design contribute to enhancing the overall reliability and stability of the connector, ensuring the stable connection and transmission quality of the connector during long-term use.

[0067] An included angle is formed between the tension connection end 632 and the ratchet connection end 633. In this embodiment, an included angle structure with a relatively large angle is formed, aiming to form ratchet teeth that cooperate with the tooth groove 641 under the cooperation of the articulated structure and the tension element 61.

[0068] The plug connector 21 is provided with a ratchet installation groove. The ratchet seat 64 is arranged in the ratchet installation groove. An avoidance space 642 is provided on one side of the ratchet seat 64 where the tooth groove 641 is located. In this embodiment, a plurality of tooth grooves 641 are continuously arranged along the axial direction of the plug connector 21. The avoidance space 642 is used to keep the state of not moving backward after the pawl 63 enters. When inserted into the specified position, it enters the avoidance groove. When it needs to be pulled out, it can move backward under the action of the tension element 61.

[0069] Refer to Figure 18As shown in the figure, the direction movement mechanism 7 is arranged on one side of the docking female seat 1 and is used to provide a direction floating force for the docking female seat 1. The direction movement mechanism 7 includes a female seat base plate 71, a movable base plate 72, a movable guide rail 73 and a movable tension assembly 74. One side of the female seat base plate 71 is connected to the docking female seat 1. The movable base plate 72 is connected to the female seat base plate 71 through the movable guide rail 73. The movable tension assembly 74 includes a movable tension spring 741. Two tension shafts 742 are arranged at both ends of the movable tension spring 741. The two tension shafts 742 are respectively connected to the movable base plate 72 and the female seat base plate 71. Two sets of the movable tension assemblies 74 are arranged, and the two sets of the movable tension assemblies 74 are respectively arranged on both sides of the movable base plate 72. In this embodiment, the direction movement mechanism 7 is arranged on the female seat base plate 71, which can provide a direction floating force for the female seat base plate 71, so that the connector can more flexibly adapt to the plugging operations in different directions during the connection process, improving the application range and flexibility of the connector. Through the connection between the movable base plate 72 and the movable guide rail 73, a firm connection between the direction movement mechanism 7 and the female seat base plate 71 is realized, ensuring the stability and reliability of the connector during use. The movable tension assembly 74 adopts the movable tension spring 741, which is connected to the movable base plate 72 and the female seat base plate 71 through the tension shafts 742, and can provide stable tension transmission, ensuring the stable movement and force transmission of the direction movement mechanism 7. The design of the direction movement mechanism 7 enables the connector to better adapt to the plugging requirements at various different angles and directions, improving the versatility and adaptability of the connector. Specifically, two sets of the movable tension assemblies 74 are arranged, and the position directions of the tension shafts 742 of the two sets are opposite (on one side, the two tension shafts 742 are between the movable base plate 72 and the female seat base plate 71, and on the other side, the two tension shafts 742 are between the female seat base plate 71 and the movable base plate 72), aiming to generate opposite tensions on both sides, so as to keep the female seat base plate 71 in the center and can slide along the movable guide rail 73 when floating is needed.

[0070] Two sets of the direction movement mechanisms 7 are arranged, and the movement track directions of the two sets of the direction movement mechanisms 7 are distributed in a cross shape. In this embodiment, the two sets of designs are adopted and distributed in a cross direction, and the function is that it can float along the cross direction and has better stability during the connector docking process.

[0071] As Figures 1 to 12As shown in the figure, a docking robot includes the robot docking mechanism described above. The docking robot includes a first robot 4 and a second robot 5. One end of the first robot 4 is provided with a first bracket 41, and the docking female seat 1 is arranged inside the first bracket 41. One end of the second robot 5 is provided with a second bracket 51, and the docking head seat 2 is arranged on the second bracket 51. The first robot 4 is provided with a first fuselage 42, and two sides of the first fuselage 42 are provided with first traveling modules 43, and the first bracket 41 is arranged on the first fuselage 42. The second robot 5 is provided with a second fuselage 52, and two sides of the second fuselage 52 are provided with second traveling modules 53, and the second bracket 51 is arranged on the second fuselage 52. In this embodiment, by arranging the docking female seat 1 inside the first bracket 41 and the docking head seat 2 on the second bracket 51, combined with the stable reliability of the foregoing docking mechanism, a stable and firm docking connection between the docking robots is achieved, ensuring the stability and safety of the robots during joint operation. The first traveling module 43 of the first robot 4 and the second traveling module 53 of the second robot 5 cooperate with each other, enabling the two robots to perform motion coordination in different directions, thereby improving the overall flexibility and working range. The setting of the first fuselage 42, the arrangement of the first traveling module 43, and the installation of the first bracket 41, as well as the arrangement of the second fuselage 52, the second traveling module 53, and the setting of the second bracket 51 and other designs make the entire docking robot structure compact, which is conducive to operation and application in a narrow space. The docking connection between the two robots is tight and reliable, enabling them to effectively transmit electrical and communication data, etc., and can perform joint operations, improving production efficiency and work quality. The utility model has multiple technical effects such as stable and firm docking connection, multi-dimensional motion coordination, overall compact structure, efficient joint operation, and easy maintenance and management, providing a reliable and efficient solution for the robots in joint operation and combined motion.

[0072] The above embodiments only express several implementation manners of the present utility model, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the patent of the present utility model shall be subject to the appended claims.

Claims

1. A robot docking mechanism, characterized in that: Comprising A docking female socket, the docking female socket includes a plugging sleeve, a first docking connector and a plugging locking assembly. The plugging sleeve is provided with a plugging cavity, the first docking connector is arranged in the plugging cavity, and the plugging locking assembly is arranged outside the plugging cavity; A docking male socket, the docking male socket includes a plug, a second docking connector, a plugging and locking assembly and a locking driving assembly. The plug is provided with a mating cavity, the second docking connector is arranged in the mating cavity, and the plug is used for inserting into the plugging cavity so that the first docking connector contacts the second docking connector; The locking driving assembly is used to drive the plugging and locking assembly to cooperate with the plugging locking assembly to hold the plug in the plugging cavity, and A pulling assistance assembly, one end of the plug is provided with a fixing plate, and the pulling assistance assembly is arranged on the fixing plate and is used to provide assistance when the plug is pulled out of the plugging cavity.

2. The robot docking mechanism according to claim 1, characterized in that: An expansion part is arranged at the opening of the plugging sleeve, the expansion part expands outwards, and an introduction block is arranged on one side of the plugging sleeve close to the expansion part. There are multiple introduction blocks, and the multiple introduction blocks are evenly distributed in a ring on the inner circumference of the plugging sleeve; multiple guiding blocks are evenly distributed in a circumferential direction on the outer circumference of the plug, and a guiding groove is formed between two adjacent guiding blocks, and the guiding groove is used to cooperate with the introduction block.

3. The robot docking mechanism according to claim 2, characterized in that: Guiding inclined surfaces are arranged on the opposite sides of the introduction block and the guiding block; one end of the plug facing the plugging sleeve is provided with an insertion inclined surface.

4. The robot docking mechanism according to claim 1, wherein: The first docking connector includes a first substrate, a first docking housing, a contact groove and a conductive contact disc. A sealing ring is arranged on the outer circumference of the contact groove, the first docking housing is arranged on the first substrate, the contact groove is arranged on the first docking housing, and the conductive contact disc is arranged on the first substrate and faces the contact groove; The second docking connector includes a second substrate, a second docking housing, a contact plug and a conductive probe. The second substrate is arranged on one side of the second docking housing, the contact plug is arranged on the second docking housing, and the conductive probe is arranged in the contact plug; a sealing compression ring is arranged on the outer circumference of the contact plug, the contact plug is used to cooperate with the contact groove, and the conductive probe is used to contact the conductive contact disc; the sealing compression ring is used to cooperate with the sealing ring to seal the contact plug and the contact groove.

5. The robot docking mechanism according to claim 1, wherein: The plugging locking assembly includes a locking positioning element and a locking slot. The plug is provided with a locking positioning groove, and the locking positioning element is used to cooperate with the locking positioning groove to position the plug; the plugging and locking assembly is provided with a locking tongue, and the locking driving assembly is used to drive the locking tongue to insert into the locking slot.

6. The robot docking mechanism according to claim 5, characterized in that: One end of the locking positioning element extends into the plugging cavity. When the plug is inserted into the plugging cavity, the locking positioning element is extruded and moves outwards to apply a pre-tightening force to the plug until it is fitted into the locking positioning groove.

7. The robot docking mechanism according to claim 5, wherein: The locking drive assembly includes a rotary drive element, a drive main shaft, a turntable, and a drive gear disk. The plug connector is provided with a cavity, and a bearing is arranged in the cavity. The drive main shaft is rotatably arranged on the bearing. The rotary drive element is used to drive the drive main shaft to rotate. The turntable is arranged at one end of the drive main shaft, and the drive gear disk is arranged on the turntable. The drive gear disk is a spiral gear disk. One surface of the locking tongue is provided with a spiral tooth groove, and the spiral tooth groove is used to cooperate with the drive gear disk. A sliding groove is arranged on the outer side of the plug connector. The drive gear disk is used to drive the spiral tooth groove to drive the locking tongue to slide on the sliding groove, so that the locking tongue is inserted into the locking slot.

8. The robot docking mechanism according to claim 7, characterized in that: A positioning step is arranged on the outer side of the cavity, and a positioning ring is installed on the positioning step. The positioning ring is used to fix the end face of the bearing in the cavity. A fixing nut is arranged at one end of the drive main shaft, and the fixing nut is used to lock and cooperate one end of the main shaft on the bearing.

9. The robot docking mechanism according to claim 1, characterized in that: The pulling-out assisting assembly includes a connecting column, an assisting pressure ring, and an assisting spring. One end of the connecting column is arranged on the fixed disk. The assisting pressure ring is slidably arranged on the connecting column. The assisting spring is arranged on the connecting column and is used to apply pressure to the assisting pressure ring. The assisting pressure ring is provided with a supporting plate, and one end of the supporting plate is used to abut against the end face of the plugging sleeve.

10. The robot docking mechanism according to claim 1, characterized in that: It further includes a ratchet connection mechanism. The ratchet connection mechanism includes a tension element, a ratchet seat, a ratchet pawl, and a ratchet tooth seat. A ratchet groove is arranged on the wall surface of the plugging sleeve, and the ratchet groove penetrates through to the plugging cavity. The ratchet seat is arranged in the ratchet groove. The ratchet seat is provided with a hinge groove, and the hinge groove is used to hinge the ratchet pawl. One end of the tension element is connected to the ratchet pawl to provide a hinge tension for the ratchet pawl. The ratchet tooth seat is arranged on the plug connector, and the ratchet tooth seat is provided with a tooth groove to cooperate with the ratchet pawl.

11. The robot docking mechanism according to claim 10, wherein: The plugging sleeve is provided with a connecting platform, and the connecting platform is provided with a connecting element. One end of the tension element is connected to the connecting element and the other end is connected to the ratchet pawl.

12. The robot docking mechanism according to claim 10, characterized in that: The tension element is a tension spring. A hinge positioning groove is arranged on the wall surface of the hinge groove. Hinge shafts are arranged on both sides of the ratchet pawl, and one end of the hinge shaft extends into the hinge positioning groove. The ratchet pawl includes a tension connection end and a ratchet connection end. The hinge shaft is arranged between the tension connection end and the ratchet connection end. The tension connection end is used to connect the tension element, and the ratchet connection end is used to cooperate with the tooth groove.

13. The robot docking mechanism according to claim 12, characterized in that: An included angle is formed between the tension connection end and the ratchet connection end.

14. The robot docking mechanism according to claim 10, characterized in that: The plug connector is provided with a ratchet installation groove, and the ratchet tooth seat is arranged in the ratchet installation groove. A clearance space is arranged on one side of the ratchet tooth seat where the tooth groove is located.

15. The robot docking mechanism according to claim 1, characterized in that: It further includes a direction movement mechanism. The direction movement mechanism is arranged on one surface of the docking female seat and is used to provide a direction floating force for the docking female seat.

16. The robot docking mechanism according to claim 15, wherein: The direction movement mechanism includes a base substrate, a movable substrate, a movable guide rail, and a movable tension component. One side of the base substrate is connected to the docking base. The movable substrate is connected to the base substrate through the movable guide rail. The movable tension component includes a movable tension spring. Two tension shafts are provided at both ends of the movable tension spring, and the two tension shafts are respectively connected to the movable substrate and the base substrate. Two sets of the movable tension components are provided, and the two sets of the movable tension components are respectively arranged on both sides of the movable substrate; Two sets of the direction movement mechanisms are provided, and the movable track directions of the two sets of the direction movement mechanisms are distributed in a cross shape.

17. A docking robot, characterized in that: It includes the robot docking mechanism according to any one of claims 1 to 16; the docking robot includes a first robot and a second robot; a first bracket is provided at one end of the first robot, the docking base is arranged in the first bracket, a second bracket is provided at one end of the second robot, and the docking head base is arranged on the second bracket; the first robot is provided with a first fuselage, first traveling modules are arranged on both sides of the first fuselage, and the first bracket is arranged on the first fuselage; the second robot is provided with a second fuselage, second traveling modules are arranged on both sides of the second fuselage, and the second bracket is arranged on the second fuselage.

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