Butt joint module and robot
By designing a docking module that can movably connect the anti-foolproof parts and the anti-foolproof body, the problem of improper docking of modular robots is solved and stable module docking is achieved.
Patent Information
- Application Number
- CN202422420005.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-09-12
- Estimated Expiration
- 2034-09-30
AI Technical Summary
Modular robots are prone to docking problems or docking failures during the docking process.
A docking module design including a base component, a pedestal component and an anti-foolproofing body is adopted. The anti-foolproofing component can be movably set on the base or pedestal and movably connected to the anti-foolproofing body to achieve docking through a snap-in state.
Even when docking in an unspecified orientation, the base assembly and the base assembly can be successfully docked, avoiding improper docking or failure.
Smart Images
Figure CN223326416U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics technology, and in particular to a docking module and a robot. Background Art
[0002] Since the birth of robotics technology, the robotics industry has been transforming from the narrow concept of robots to the broad concept of robotics technology, and from the industrial robotics industry to the service robot industry. For example, desktop robots can communicate and interact with users through language, actions, etc. In order to improve the playability of desktop robots, modularizing desktop robots has become a development trend in this field.
[0003] When a modular robot is in use, the various modules of the robot are stacked together through docking. This method requires the various modules of the robot to be in a specific orientation to complete the docking, otherwise the docking will not be in place or even fail. Utility Model Content
[0004] This application mainly provides a docking module and robot, which can avoid the situation of improper docking or even docking failure.
[0005] In order to solve the above technical problems, a technical solution adopted in this application is: to provide a docking module for a robot, the docking module including: a base assembly, including a base and a first anti-foolproofing part; a base assembly, including a base and a second anti-foolproofing part, one of the first anti-foolproofing part and the second anti-foolproofing part is provided with an anti-foolproofing mouth; an anti-foolproofing main body, the first anti-foolproofing part can be movably set on the base and / or the second anti-foolproofing part can be movably set on the base, and the other of the first anti-foolproofing part and the second anti-foolproofing part is movably connected to the anti-foolproofing main body, so that when the base is docked with the base, the first anti-foolproofing part and / or the second anti-foolproofing part can be moved until the anti-foolproofing main body and the anti-foolproofing mouth are in an engaged state.
[0006] In a specific embodiment, the first anti-foolproofing component includes a top plate and a side plate, the side plate is connected to the top plate on the side of the top plate toward the docking direction of the base, and the anti-foolproofing opening is set on the side plate; or the second anti-foolproofing component includes a top plate and a side plate, the side plate is connected to the top plate on the side of the top plate toward the docking direction of the base, and the anti-foolproofing opening is set on the side plate.
[0007] In a specific embodiment, the second anti-foolproofing part is rotatably arranged on the base, the anti-foolproofing body is telescopically arranged relative to the second anti-foolproofing part in a first direction, and the first direction is arranged at an angle to the docking direction of the base; or the first anti-foolproofing part is rotatably arranged on the base, the anti-foolproofing body is telescopically arranged relative to the first anti-foolproofing part in a second direction, and the second direction is arranged at an angle to the docking direction of the base.
[0008] In a specific embodiment, an elastic member is further provided between the anti-foolproofing body and the second anti-foolproofing part, and the elastic member abuts against the anti-foolproofing body and the second anti-foolproofing part respectively; or an elastic member is further provided between the anti-foolproofing body and the first anti-foolproofing part, and the elastic member abuts against the anti-foolproofing body and the first anti-foolproofing part respectively.
[0009] In a specific embodiment, the second fool-proofing component is provided with a guide groove, and the fool-proofing body is movably arranged in the guide groove; or the first fool-proofing component is provided with a guide groove, and the fool-proofing body is movably arranged in the guide groove.
[0010] In a specific embodiment, a guide column is provided in the guide groove, and the fool-proof body is provided with a guide hole that can be matched with the guide column.
[0011] In a specific embodiment, the side panels and / or the fool-proof body are provided with inclined guide surfaces.
[0012] In a specific embodiment, a first connecting member is provided on the base, and a second connecting member is provided on the base, so that when the base is docked with the base, the first connecting member is connected to the second connecting member.
[0013] In a specific embodiment, the base is provided with a first electrical connector, and the base is provided with a second electrical connector, so that when the base is docked with the base, the first electrical connector is electrically connected to the second electrical connector.
[0014] In order to solve the above technical problems, another technical solution adopted in this application is: providing a robot, the robot comprising a robot body and the docking module, the robot body being mounted on the base.
[0015] The beneficial effect of the present application is that, different from the prior art, the docking module provided by the present application includes: a base assembly, including a base and a first anti-foolproofing part; a base assembly, including a base and a second anti-foolproofing part, one of the first anti-foolproofing part and the second anti-foolproofing part is provided with an anti-foolproofing opening; an anti-foolproofing main body, the first anti-foolproofing part is movably arranged on the base and / or the second anti-foolproofing part is movably arranged on the base, and the other of the first anti-foolproofing part and the second anti-foolproofing part is movably connected to the anti-foolproofing main body, so that when the base is docked with the base, the first anti-foolproofing part and / or the second anti-foolproofing part can be moved to the anti-foolproofing main body and the anti-foolproofing opening are in an engaged state. Through this setting, in the process of docking the base assembly and the base assembly, even if the docking is not performed in a specific orientation, the first anti-foolproofing part and / or the second anti-foolproofing part can also be moved to the anti-foolproofing main body and the anti-foolproofing opening are in an engaged state, thereby completing the docking of the base assembly and the base assembly, avoiding the situation of inadequate docking or even docking failure. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the docking module embodiment provided by this application;
[0018] Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the docking module;
[0019] Figure 3 yes Figure 2 Schematic diagram of the three-dimensional structure of the first foolproof component;
[0020] Figure 4 yes Figure 2 Schematic diagram of the assembly structure of the second fool-proofing component and the fool-proofing main body;
[0021] Figure 5 This is a schematic cross-sectional view of the docking module in 1 with the FF upward;
[0022] Figure 6 yes Figure 5 A schematic cross-sectional view of the exploded middle base assembly and the base assembly;
[0023] Figure 7 yes Figure 5 An enlarged schematic diagram of the N portion;
[0024] Figure 8yes Figure 7 Schematic diagram of the alignment status of the middle foolproof body and the foolproof opening;
[0025] Figure 9 yes Figure 8 Schematic diagram of the engagement state of the middle fool-proof body and the fool-proof opening;
[0026] Figure 10 yes Figure 2 Schematic diagram of the three-dimensional structure of the middle base in the M direction;
[0027] Figure 11 It is a schematic diagram of the three-dimensional structure of the robot embodiment provided by this application. DETAILED DESCRIPTION
[0028] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is particularly noted that the following embodiments are only used to illustrate the present application and do not limit the scope of the present application. Similarly, the following embodiments are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0029] The terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of such features. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise specifically defined. All directional indications in the embodiments of this application (such as up, down, left, right, front, back...) are only used to explain the relative positional relationship, movement, etc. between the components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. A process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.
[0030] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0031] See also Figure 1 and Figure 2 , Figure 1 This is a three-dimensional structural diagram of an embodiment of the docking module 10 provided in this application. Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the docking module 10 , the docking module 10 in this embodiment includes a base assembly 11 , a base assembly 12 and an anti-foolproof body 13 .
[0032] The base assembly 11 includes a base 111 and a first foolproof component 112 , and the base assembly 12 includes a base 121 and a second foolproof component 122 .
[0033] Please also refer to Figure 2 and Figure 3 , Figure 3 yes Figure 2 Schematic diagram of the three-dimensional structure of the first fool-proofing part 112, one of the first fool-proofing part 112 and the second fool-proofing part 122 is provided with a fool-proofing opening 11a.
[0034] Specifically, the first anti-foolproofing component 112 includes a top plate 1121 and a side plate 1122, the side plate 1122 is connected to the top plate 1121 on the side of the docking direction A1 of the top plate 1121 toward the base 111, and the anti-foolproofing opening 11a is set on the side plate 1122; or the second anti-foolproofing component 122 includes a top plate and a side plate, the side plate is connected to the top plate on the side of the docking direction A2 of the top plate toward the base 121, and the anti-foolproofing opening 11a is set on the side plate. In this embodiment, taking the first anti-foolproofing component 112 including the top plate 1121 and the side plate 1122 as an example, that is, in this embodiment, the anti-foolproofing opening 11a is set on the side plate 1122 of the first anti-foolproofing component 112.
[0035] It is understandable that in actual applications, the number of the first fool-proofing parts 112 and the second fool-proofing parts 122 can be one or more respectively, and there is no limitation on this; similarly, the number of the fool-proofing openings 11a can be one or more respectively, and there is no limitation on this.
[0036] Please also refer to Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 , Figure 4 yes Figure 2 Schematic diagram of the assembly structure of the second foolproof component 122 and the foolproof body 13, Figure 5 This is a cross-sectional diagram of the docking module 10 in 1 with the FF upward. Figure 6 yes Figure 5 A schematic cross-sectional view of the exploded middle base assembly 11 and the base assembly 12, Figure 7 yes Figure 5 The enlarged schematic diagram of the N part, Figure 8 yes Figure 7 Schematic diagram of the alignment state of the middle fool-proof body 13 and the fool-proof opening 11a, Figure 9 yes Figure 8 Schematic diagram of the engagement state of the anti-foolproofing body 13 and the anti-foolproofing mouth 11a, the first anti-foolproofing part 112 can be movably set on the base 111 and / or the second anti-foolproofing part 122 can be movably set on the base 121, and the other of the first anti-foolproofing part 112 and the second anti-foolproofing part 122 is movably connected to the anti-foolproofing body 13, so that when the base 111 and the base 121 are docked, the first anti-foolproofing part 112 and / or the second anti-foolproofing part 122 can be moved to the anti-foolproofing body 13 and the anti-foolproofing mouth 11a are in an engagement state. Through this setting method, during the docking process of the base assembly 11 and the base assembly 12, even if the docking is not performed in a specific orientation, the first anti-foolproofing part 112 and / or the second anti-foolproofing part 122 can also be moved to the anti-foolproofing body 13 and the anti-foolproofing mouth 11a are in an engagement state, thereby completing the docking operation of the base assembly 11 and the base assembly 12, avoiding the situation where the docking is not in place or even the docking fails.
[0037] Specifically, the second anti-foolproofing part 122 is rotatably arranged on the base 121, and the anti-foolproofing body 13 is retractably arranged relative to the second anti-foolproofing part 122 in the first direction B, and the first direction B is set at an angle to the docking direction A2 of the base 121; or the first anti-foolproofing part 112 is rotatably arranged on the base 111, and the anti-foolproofing body 13 is retractably arranged relative to the first anti-foolproofing part 112 in the second direction, and the second direction is set at an angle to the docking direction A1 of the base 111.
[0038] For ease of explanation, in this embodiment, the second anti-foolproofing part 122 is rotatably arranged on the base 121, the anti-foolproofing body 13 is retractably arranged relative to the second anti-foolproofing part 122 in the first direction B, and the first direction B is arranged at an angle to the docking direction A2 of the base 121.
[0039] Specifically, when the base 111 is Figure 6 The docking direction A1 and / or the base 121 shown in FIG. Figure 6When docking with each other in the docking direction A2 shown, if the first anti-foolproofing member 112 is relatively fixed to the base 111, and the second anti-foolproofing member 122 is relatively fixed to the base 121, then in order to successfully dock the base 111 and the base 121, it is necessary to ensure that the base 111 and the base 121 are docked in a specific orientation, that is, it is necessary to ensure that the anti-foolproofing body 13 and the anti-foolproofing opening 11a are aligned, otherwise the anti-foolproofing body 13 cannot be inserted into the anti-foolproofing opening 11a, resulting in docking failure. In this embodiment, since the second anti-foolproofing member 122 is rotatably arranged on the base 121, even if the base 111 and the base 121 are not docked in a specific orientation, that is, as shown in FIG. Figure 7 As shown, even if the foolproof body 13 is not aligned with the foolproof opening 11a, the base 111 and the base 121 can be connected. Figure 8 As shown, the foolproof body 13 is compressed in the first direction B under the abutment of the first foolproof member 112, and then the second foolproof member 122 is rotated relative to the base 121 until the foolproof body 13 is aligned with the foolproof opening 11a, so as to Figure 9 As shown, the fool-proof body 13 extends in the first direction B and is inserted into the fool-proof opening 11a, and the two are in a locked state to complete the docking operation.
[0040] It can be understood that the angle between the first direction B and the docking direction A2 of the base 121 can be set according to actual needs. For example, in this embodiment, the angle between the two is 90°.
[0041] Furthermore, an elastic member 14 is provided between the anti-foolproofing body 13 and the second anti-foolproofing member 122, and the elastic member 14 abuts against the anti-foolproofing body 13 and the second anti-foolproofing member 122 respectively; or an elastic member 14 is provided between the anti-foolproofing body 13 and the first anti-foolproofing member 112, and the elastic member 14 abuts against the anti-foolproofing body 13 and the first anti-foolproofing member 112 respectively. In this embodiment, an elastic member 14 is provided between the anti-foolproofing body 13 and the second anti-foolproofing member 122, and the elastic member 14 abuts against the anti-foolproofing body 13 and the second anti-foolproofing member 122 respectively as an example.
[0042] Specifically, in the process of compressing the anti-foolproofing body 13 in the first direction B as described above, the anti-foolproofing body 13 compresses the elastic part 14, causing the elastic part to generate elastic force. When the anti-foolproofing body 13 is aligned with the anti-foolproofing mouth 11a, the anti-foolproofing body 13 is no longer compressed, so that the anti-foolproofing body 13 extends out and is inserted into the anti-foolproofing mouth 11a under the elastic force of the elastic part 14.
[0043] Optional, such as Figure 7As shown, the second anti-foolproofing part 122 is provided with a guide groove 101, and the anti-foolproofing main body 13 is movably arranged in the guide groove 101; or the first anti-foolproofing part 112 is provided with a guide groove 101, and the anti-foolproofing main body 13 is movably arranged in the guide groove 101. In this embodiment, the second anti-foolproofing part 122 is provided with a guide groove 101, and the anti-foolproofing main body 13 is movably arranged in the guide groove 101 as an example.
[0044] Among them, a guide column 102 is provided in the guide groove 101, and the anti-foolproof body 13 is provided with a guide hole 103 that can be matched with the guide column 102. Through this setting method, a guiding effect is provided for the extension and contraction process of the anti-foolproof body 13.
[0045] Furthermore, the side panel 1122 and / or the anti-foolproofing body 13 are provided with an inclined guide surface 13a. In this embodiment, taking the anti-foolproofing body 13 provided with an inclined guide surface 13a as an example, through the setting of the inclined guide surface 13a, when the first anti-foolproofing component 112 abuts against the anti-foolproofing body 13, and the anti-foolproofing body 13 is compressed in the first direction B, the first anti-foolproofing component 112 can gradually move along the inclined guide surface 13a, so that the anti-foolproofing body 13 is gradually compressed, thereby improving the convenience of the compression process of the anti-foolproofing body 13.
[0046] Please also refer to Figure 2 and Figure 10 , Figure 10 yes Figure 2 Schematic diagram of the three-dimensional structure of the middle base 111 in the M direction. In this embodiment, a first connecting member 11b is provided on the base 111, and a second connecting member 12b is provided on the base 121, so that when the base 111 and the base 121 are docked, the first connecting member 11b and the second connecting member 12b are connected to each other, so that the base 111 and the base 121 are connected together through the first connecting member 11b and the second connecting member 12b.
[0047] It can be understood that in actual applications, the connection method between the first connecting member 11b and the second connecting member 12b can be selected according to actual needs, such as selecting a magnetic adsorption method or a snap-on method. Therefore, there is no limitation on the specific connection method. Through this setting method, on the one hand, no other structure is required to fix the base 111 and the base 112. On the other hand, when the base 111 and the base 112 need to be separated, the base 111 can be easily pulled out from the base 112 by using external force, which is very convenient.
[0048] Furthermore, in this embodiment, the base 111 is provided with a first electrical connector 11c, and the base 121 is provided with a second electrical connector 12c, so that when the base 111 and the base 121 are docked, the first electrical connector 11c and the second electrical connector 12c are electrically connected.
[0049] Specifically, one of the first electrical connector 11c and the second electrical connector 12c is a male socket for electrical connection, and the other of the first electrical connector 11c and the second electrical connector 12c is a female socket for electrical connection. When the base 111 and the base 121 are docked, the male socket is inserted into the female socket, thereby electrically connecting the two. Through this electrical connection, the robot body and the base 121 can communicate, output commands, and exchange data, such as controlling the servo on the robot body to work and collecting data from sensors on the robot body.
[0050] See also Figure 11 , Figure 11 It is a three-dimensional structural diagram of an embodiment of the robot 20 provided in this application. The robot 20 in this embodiment includes a robot body 21 and the docking module 10 in the above embodiment. The robot body 21 is installed on the base 111.
[0051] The beneficial effect of the present application is that, different from the prior art, the docking module provided by the present application includes: a base assembly, including a base and a first anti-foolproofing part; a base assembly, including a base and a second anti-foolproofing part, one of the first anti-foolproofing part and the second anti-foolproofing part is provided with an anti-foolproofing opening; an anti-foolproofing main body, the first anti-foolproofing part is movably arranged on the base and / or the second anti-foolproofing part is movably arranged on the base, and the other of the first anti-foolproofing part and the second anti-foolproofing part is movably connected to the anti-foolproofing main body, so that when the base is docked with the base, the first anti-foolproofing part and / or the second anti-foolproofing part can be moved to the anti-foolproofing main body and the anti-foolproofing opening are in an engaged state. Through this setting, in the process of docking the base assembly and the base assembly, even if the docking is not performed in a specific orientation, the first anti-foolproofing part and / or the second anti-foolproofing part can also be moved to the anti-foolproofing main body and the anti-foolproofing opening are in an engaged state, thereby completing the docking of the base assembly and the base assembly, avoiding the situation of inadequate docking or even docking failure.
[0052] The above description is only part of the implementation methods of the present application, and does not limit the scope of protection of the present application. Any equivalent device or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly used in other related technical fields, are also included in the scope of patent protection of this application.
Claims
1. A docking module for a robot, characterized in that: The docking module includes: A base assembly, comprising a base and a first foolproof member; The base assembly includes a base and a second foolproof part, wherein one of the first foolproof part and the second foolproof part is provided with a foolproof opening; The anti-foolproofing body, the first anti-foolproofing part can be movably set on the base and / or the second anti-foolproofing part can be movably set on the base, and the other of the first anti-foolproofing part and the second anti-foolproofing part is movably connected to the anti-foolproofing body, so that when the base is docked with the base, the first anti-foolproofing part and / or the second anti-foolproofing part can be moved until the anti-foolproofing body and the anti-foolproofing mouth are in a locked state.
2. The docking module according to claim 1, characterized in that: The first foolproof component includes a top plate and a side plate, the side plate is connected to the top plate on a side of the top plate facing the docking direction of the base, and the foolproof opening is provided on the side plate; or The second fool-proof component includes a top plate and a side plate, the side plate is connected to the top plate on a side of the top plate facing the docking direction of the base, and the fool-proof opening is provided on the side plate.
3. The docking module according to claim 2, characterized in that: The second foolproofing member is rotatably arranged on the base, the foolproofing body is telescopically arranged relative to the second foolproofing member in a first direction, and the first direction is arranged at an angle to the docking direction of the base; or The first fool-proofing component is rotatably disposed on the base, and the fool-proofing body is telescopically disposed relative to the first fool-proofing component in a second direction, and the second direction is disposed at an angle to a docking direction of the base.
4. The docking module according to claim 3, characterized in that: An elastic member is further provided between the foolproof body and the second foolproof member, and the elastic member abuts against the foolproof body and the second foolproof member respectively; or An elastic member is further provided between the fool-proofing main body and the first fool-proofing member, and the elastic member abuts against the fool-proofing main body and the first fool-proofing member respectively.
5. The docking module according to claim 3, characterized in that: The second fool-proofing member is provided with a guide groove, and the fool-proofing body is movably arranged in the guide groove; or The first fool-proofing component is provided with a guide groove, and the fool-proofing body is movably arranged in the guide groove.
6. The docking module according to claim 5, characterized in that: A guide column is provided in the guide groove, and the fool-proof body is provided with a guide hole that can be matched with the guide column.
7. The docking module according to claim 3, characterized in that: The side panels and / or the fool-proof body are provided with inclined guide surfaces.
8. The docking module according to claim 1, characterized in that: The base is provided with a first connecting member, and the base is provided with a second connecting member, so that when the base is docked with the base, the first connecting member is connected to the second connecting member.
9. The docking module according to claim 1, characterized in that: The base is provided with a first electrical connector, and the pedestal is provided with a second electrical connector, so that when the base is docked with the pedestal, the first electrical connector is electrically connected to the second electrical connector.
10. A robot, characterized in that: The robot comprises a robot body and a docking module according to any one of claims 1 to 9, and the robot body is mounted on the base.