Robot docking system

Abstract

The utility model relates to the technical field of robot docking, in particular to a robot docking system which comprises a first robot, a second robot, a first docking mechanism and a second docking mechanism, the first docking mechanism is arranged at one end of the first robot, and the second docking mechanism is arranged at one end of the second robot; the first butt joint mechanism is provided with a first butt joint locking device and a first butt joint connector, the second butt joint mechanism is provided with a second locking groove and a second butt joint connector, and the first butt joint locking device is used for being matched with the second locking groove so that the first butt joint mechanism and the second butt joint mechanism can be in butt joint with each other and locked and fixed. And when the first docking mechanism is docked with the second docking mechanism, the first docking connector is connected with the second docking connector, so that the first robot is in communication connection with the second robot. According to the utility model, the integrated design of mechanical connection and electrical communication connection is realized, so that the first robot and the second robot can rapidly communicate and work after being butted.

Description

Technical Field

[0001] This utility model relates to the field of robot docking technology, and in particular to a robot docking system. Background Technology

[0002] A robot is a robotic system that typically consists of two wheels or wheel assemblies. This design allows the robot to move on a horizontal surface and to steer and rotate by controlling the different wheel speeds. Two-wheeled robots often use differential drive systems, enabling various movements such as forward, backward, and turning by independently controlling the speed of each wheel. Furthermore, two-wheeled robots can also achieve rotational movement by controlling the speed difference between their wheels, making them highly flexible and suitable for confined spaces and complex environments.

[0003] Currently, connecting two robots requires manual data cable connection, which is cumbersome and inconvenient. Some systems offer automated docking, but these are relatively complex and unstable, resulting in inconsistent communication after docking. Therefore, improvements to the existing docking mechanisms are needed. Utility Model Content

[0004] To solve the above problems, this utility model realizes an integrated design of mechanical connection and electrical communication connection, enabling the first robot and the second robot to communicate and work quickly after docking.

[0005] The technical solution adopted by this utility model is: a robot docking system, including a first robot, a second robot, a first docking mechanism, and a second docking mechanism. The first docking mechanism is disposed at one end of the first robot, and the second docking mechanism is disposed at one end of the second robot. The first docking mechanism is provided with a first docking locking device and a first docking connector, and the second docking mechanism is provided with a second locking groove and a second docking connector. The first docking locking device is used to cooperate with the second locking groove so that the first docking mechanism and the second docking mechanism can dock with each other and lock and fix each other. When the first docking mechanism and the second docking mechanism dock, the first docking connector and the second docking connector are connected so that the first robot and the second robot can communicate with each other.

[0006] A further improvement to the above scheme is that the first docking mechanism is provided with a first docking panel, which is mounted on the first robot, and a first docking guide device is provided on the first docking panel; the second docking mechanism is provided with a second docking panel, which is mounted on the second robot, and a second docking guide device is provided on the second docking panel. The first docking guide device and the second docking guide device cooperate to provide alignment guidance when the first docking mechanism and the second docking mechanism dock.

[0007] A further improvement to the above scheme is that the first docking guide device is composed of multiple first guide elements, which are distributed circumferentially around the first docking connector, and a first guide groove is provided between two adjacent first guide elements; a first guide slope is provided on the outer periphery of the first guide element.

[0008] A further improvement to the above scheme is that the second docking guide device is composed of multiple second guide elements, which are distributed circumferentially around the second docking connector, and a second guide groove is provided between two adjacent second guide elements; a second guide slope is provided on the outer periphery of the second guide element; the first guide element is used to cooperate with the second guide groove, and the second guide element is used to cooperate with the first guide groove.

[0009] A further improvement to the above scheme is that the second docking mechanism is provided with a second docking locking device, and the first docking mechanism is provided with a first locking groove. The first locking groove is used to cooperate with the second docking locking device to lock and fix the first docking mechanism after docking with the second docking mechanism.

[0010] A further improvement to the above solution is that a first locking drive device is provided on the first docking panel, and a second locking drive device is provided on the second docking panel. The first locking drive device is used to drive the first docking locking device so that the first docking locking device cooperates with the second locking groove for locking and fixing. The second locking drive device is used to drive the second docking locking device so that the second docking locking device cooperates with the first locking groove for locking and fixing.

[0011] A further improvement to the above solution is that the first docking panel is provided with a first mounting bracket, the first mounting bracket is provided with a first docking placement cavity, a first locking limiting groove and a first transmission cavity, the first docking placement cavity is provided with a first docking bracket, and the first docking connector is provided on the first docking bracket; the first locking limiting groove and the first transmission cavity are both located on the outside of the first mounting bracket.

[0012] A further improvement to the above solution is that the second docking panel is provided with a second mounting bracket, the second mounting bracket is provided with a second docking placement cavity, a second locking limiting groove and a second transmission cavity, the second docking placement cavity is provided with a second docking bracket, and the second docking connector is provided on the second docking bracket; the second locking limiting groove and the second transmission cavity are both located on the outside of the second mounting bracket.

[0013] A further improvement to the above scheme is that the first locking drive device includes a first drive module, a first sun gear, and a first planetary gear. The first drive module is disposed on the first docking cavity, the first sun gear is disposed on the first mounting bracket and connected to the drive end of the first drive module, the first planetary gear is disposed in the first transmission cavity and meshes with the first sun gear, and the first docking locking device is connected to the first planetary gear. The first planetary gear is used to drive the first docking locking device to rotate and move toward the second locking groove.

[0014] A further improvement to the above scheme is that the second locking drive device includes a second drive module, a second sun gear, and a second planetary gear. The second drive module is disposed on the second docking cavity, the second sun gear is disposed on the second mounting bracket and connected to the drive end of the second drive module, the second planetary gear is disposed in the second transmission cavity and meshes with the second sun gear, and the second docking locking device is connected to the second planetary gear. The second planetary gear is used to drive the second docking locking device to rotate and move toward the first locking groove.

[0015] A further improvement to the above solution is that the first drive module includes a first drive bracket, a first drive motor, and a first drive connector. The first drive bracket is mounted on a first mounting bracket, the first drive motor is mounted on the first drive bracket, and the first drive motor is driven to a first sun gear via the first drive connector, so as to drive the first planetary gear to rotate through the first sun gear.

[0016] A further improvement to the above solution is that the second drive module includes a second drive bracket, a second drive motor, and a second drive connector. The second drive bracket is mounted on a second mounting bracket, the second drive motor is mounted on the second drive bracket, and the second drive motor is connected to the second sun gear via the second drive connector to drive the second planetary gear to rotate.

[0017] A further improvement to the above solution is that the first docking bracket is provided with a first through groove opposite to the first guide groove, the first docking bracket is provided with a first docking fixing groove, and the first docking connector is provided on the first docking fixing groove; one end of the first docking bracket is provided with a first connecting bearing, and the first sun gear is provided on the first connecting bearing.

[0018] A further improvement to the above scheme is that the second docking bracket is provided with a second through groove opposite to the second guide groove, the second docking bracket is provided with a second docking fixing groove, and the second docking connector is provided on the second docking fixing groove; a second connecting bearing is provided at one end of the second docking bracket, and the second sun gear is provided on the second connecting bearing.

[0019] A further improvement to the above solution is that the first docking panel is provided with a first groove facing the first transmission cavity, the first mounting bracket is provided with a second groove facing the first transmission cavity, the first locking limiting groove is located on one side of the second groove, and a first bearing is provided on both the first groove and the second groove. The first docking locking device includes a first docking transmission screw, a first docking limiting rod, and a first docking locking rod. The first docking transmission screw is connected to a first planetary gear. The first docking limiting rod is located at the first end of the first docking transmission screw, and the first docking locking rod is located at the second end of the first docking transmission screw. The first docking limiting rod is located in the first locking limiting groove to prevent the first docking transmission screw from rotating and to limit its movement. The first docking locking rod is used to cooperate with the first locking groove for locking and fixing.

[0020] A further improvement to the above solution is that the second docking panel has a third groove facing the second transmission cavity, the second mounting bracket has a fourth groove facing the second transmission cavity, the second locking limiting groove is located on one side of the fourth groove, and a second bearing is provided on both the third and fourth grooves. The second docking locking device includes a second docking transmission screw, a second docking limiting rod, and a second docking locking rod. The second docking transmission screw is connected to the second planetary gear. The second docking limiting rod is located at the second end of the second docking transmission screw, and the second docking locking rod is located at the second end of the second docking transmission screw. The second docking limiting rod is located in the second locking limiting groove to prevent the second docking transmission screw from rotating and to limit its rotation. The second docking locking rod is used to cooperate with the second locking groove for locking and fixing.

[0021] A further improvement to the above scheme is that the inner diameter of the first planetary gear is provided with a first threaded groove, the outer diameter of the first docking transmission screw is provided with a first threaded ring, the first threaded ring is connected to the first threaded groove, and the two sides of the first threaded ring are provided with first flat parts; when the first planetary gear rotates, it drives the first docking transmission screw to rotate; when the first docking limit rod is stopped at the upper limit of the first locking groove, the first docking transmission screw is pushed to move axially through the cooperation of the first threaded ring and the first threaded groove.

[0022] A further improvement to the above scheme is that the inner diameter of the second planetary gear is provided with a second threaded groove, the outer diameter of the second docking transmission screw is provided with a second threaded ring, the second threaded ring is connected to the second threaded groove, and the two sides of the second threaded ring are provided with second flat positions; when the second planetary gear rotates, it drives the second docking transmission screw to rotate. When the second docking limit rod is stopped at the upper limit of the second locking groove, the second docking transmission screw is pushed to move axially through the cooperation of the second threaded ring and the second threaded groove.

[0023] The beneficial effects of this utility model are:

[0024] Compared to existing robot docking methods, this invention, through the cooperation of a first docking locking device and a second locking groove, ensures a precise and stable mechanical connection between the first and second robots during docking. The locking structure significantly improves the reliability and stability of the docking, effectively preventing loosening or separation due to external interference or vibration during the docking process. In terms of electrical connection, the first and second docking connectors connect simultaneously upon completion of the mechanical docking, establishing a stable and reliable communication link between the two robots. This ensures accurate and rapid data transmission between the two robots, enabling real-time exchange of various key information, such as task instructions, work status feedback, charging data, and environmental data, thereby achieving efficient and coordinated collaborative operations. By placing the docking mechanisms at one end of each robot, the docking function possesses excellent independence and scalability. On the one hand, it facilitates flexible application of the docking system to robots of different types or uses without requiring large-scale modifications to the overall robot structure; on the other hand, during robot research and development and maintenance, the docking mechanism, as an independent module, is easy to debug, repair, and replace individually, effectively reducing the overall maintenance cost of the system. This invention achieves an integrated design of mechanical connection and electrical communication connection, enabling the first robot and the second robot to quickly form an organic whole after docking, providing strong technical support for collaborative operation of robots in various fields such as complex industrial scenarios, logistics transportation, and scientific research. Attached Figure Description

[0025] Figure 1This is a three-dimensional schematic diagram of the robot docking system of this utility model;

[0026] Figure 2 for Figure 1 A three-dimensional schematic diagram of the robot docking system from another perspective;

[0027] Figure 3 for Figure 1 A side view of the robot docking system;

[0028] Figure 4 for Figure 1 A schematic diagram of the first docking structure and the second docking mechanism of the robot docking system;

[0029] Figure 5 for Figure 4 A schematic diagram of the first docking structure and the second docking mechanism from another perspective;

[0030] Figure 6 This is an exploded view of the docking mechanism of this utility model;

[0031] Figure 7 for Figure 6 An explosion diagram from another perspective of the docking mechanism;

[0032] Figure 8 for Figure 6 A partial structural diagram of the docking mechanism;

[0033] Figure 9 for Figure 6 Front view of the docking structure;

[0034] Figure 10 for Figure 9 Sectional view of AA.

[0035] Explanation of reference numerals in the attached drawings: First robot 10, Second robot 20, First docking mechanism 30, Second docking mechanism 40;

[0036] First docking locking device 1, first docking transmission screw 11, first threaded ring 111, first flat part 112, first docking limiting rod 12, first docking locking rod 13, first docking connector 2;

[0037] Second docking locking device 3, second docking transmission screw 31, second threaded ring 311, second flat part 312, second docking limiting rod 32, second docking locking rod 33, second docking connector 4;

[0038] First docking panel 5, first docking guide device 51, first guide element 511, first guide groove 512, first guide slope 513, first locking groove 52, first mounting bracket 53, first docking placement cavity 531, first locking limiting groove 532, first transmission cavity 533, first docking bracket 534, first through groove 5341, first docking fixing groove 5342, first connecting bearing 5343, first groove 54, second groove 55, first bearing 551;

[0039] Second docking panel 6, second docking guide device 61, second guide element 611, second guide groove 612, second guide slope 613, second locking groove 62, second mounting bracket 63, second docking placement cavity 631, second locking limiting groove 632, second transmission cavity 633, second docking bracket 634, second through groove 6341, second docking fixing groove 6342, second connecting bearing 6343, third groove 64, fourth groove 65, second bearing 651;

[0040] The first locking drive device 7, the first drive module 71, the first drive bracket 711, the first drive motor 712, the first drive connector 713, the first sun gear 72, the first planetary gear 73, and the first threaded groove 731;

[0041] The second locking drive device 8, the second drive module 81, the second drive bracket 811, the second drive motor 812, the second drive connector 813, the second sun gear 82, the second planetary gear 83, and the second threaded groove 831. Detailed Implementation

[0042] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0043] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Figures 1-10As shown, in one embodiment of this utility model, a robot docking system is provided, including a first robot 10, a second robot 20, a first docking mechanism 30, and a second docking mechanism 40. The first docking mechanism 30 is disposed at one end of the first robot 10, and the second docking mechanism 40 is disposed at one end of the second robot 20. The first docking mechanism 30 is provided with a first docking locking device 1 and a first docking connector 2, and the second docking mechanism 40 is provided with a second locking groove 62 and a second docking connector 4. The first docking locking device 1 is used to cooperate with the second locking groove 62 so that the first docking mechanism 30 and the second docking mechanism 40 dock and lock together. When the first docking mechanism 30 and the second docking mechanism 40 dock, the first docking connector 2 connects with the second docking connector 4 to enable communication between the first robot 10 and the second robot 20. This embodiment ensures a precise and stable mechanical connection between the first robot 10 and the second robot 20 during docking through the cooperation of the first docking locking device 1 and the second locking groove 62. The locking structure significantly enhances the reliability and stability of the docking process, effectively preventing loosening or separation due to external interference or vibration. In terms of electrical connection, the first docking connector 2 and the second docking connector 4 connect simultaneously upon completion of the mechanical docking, establishing a stable and reliable communication link between the first robot 10 and the second robot 20. This ensures accurate and rapid data transmission between the two robots, enabling real-time exchange of various critical information, such as task instructions, work status feedback, charging data, and environmental data, thereby achieving efficient and coordinated collaborative operation. By placing the docking mechanisms at one end of each robot, the docking function possesses excellent independence and scalability. On one hand, this facilitates flexible application of the docking system to robots of different types or uses without requiring large-scale modifications to the overall robot structure; on the other hand, during robot development and maintenance, the docking mechanism, as an independent module, is easy to debug, repair, and replace individually, effectively reducing the overall maintenance cost of the system. This embodiment realizes the integrated design of mechanical connection and electrical communication connection, which enables the first robot 10 and the second robot 20 to quickly form an organic whole after docking, providing strong technical support for collaborative operation of robots in various fields such as complex industrial scenarios, logistics transportation, and scientific research.

[0045] See Figures 4-10As shown, the first docking mechanism 30 is provided with a first docking panel 5, which is mounted on the first robot 10. A first docking guide device 51 is provided on the first docking panel 5. The second docking mechanism 40 is provided with a second docking panel 6, which is mounted on the second robot 20. A second docking guide device 61 is provided on the second docking panel 6. The first docking guide device 51 and the second docking guide device 61 cooperate to provide alignment guidance when the first docking mechanism 30 and the second docking mechanism 40 dock. Specifically, the first docking guide device 51 consists of multiple first guide elements 511, which are circumferentially distributed around the first docking connector 2. A first guide groove 512 is provided between two adjacent first guide elements 511. A first guide slope 513 is provided on the outer periphery of each first guide element 511. The second docking guide device 61 consists of multiple second guide elements 611, which are circumferentially distributed around the second docking connector 4. A second guide groove 612 is provided between adjacent second guide elements 611. A second guide slope 613 is provided on the outer periphery of each second guide element 611. The first guide element 511 is used to cooperate with the second guide groove 612, and the second guide element 611 is used to cooperate with the first guide groove 512. In this embodiment, the multiple first guide elements 511 are circumferentially distributed around the first docking connector 2, cooperating with the corresponding second guide elements 611. This allows for positioning and calibration from multiple directions during docking, ensuring minimal positional deviation between the first robot 10 and the second robot 20 during docking, achieving high-precision docking. The mutual cooperation between the first guide groove 512 and the second guide element 611, and between the second guide groove 612 and the first guide element 511, not only provides guidance but also possesses a certain degree of fault tolerance and self-calibration capability. During the docking process, even with slight angular or positional deviations in the robot, the guide ramp design allows the guide elements to slide smoothly into the corresponding guide grooves, automatically correcting the deviations and making the docking process smoother and more reliable. The circumferentially distributed guide elements enhance the stability of the docking mechanism in all directions. Regardless of the direction of external forces affecting the robot during docking, the stability of the docking is guaranteed, effectively preventing shaking or misalignment during the process.

[0046] The second docking mechanism 40 is equipped with a second docking locking device 3, and the first docking mechanism 30 is equipped with a first locking groove 52. The first locking groove 52 is used to cooperate with the second docking locking device 3 for locking and fixing after the first docking mechanism 30 and the second docking mechanism 40 are docked. Specifically, the first docking panel 5 is equipped with a first locking drive device 7, and the second docking panel 6 is equipped with a second locking drive device 8. The first locking drive device 7 is used to drive the first docking locking device 1, so that the first docking locking device 1 cooperates with the second locking groove 62 for locking and fixing; the second locking drive device 8 is used to drive the second docking locking device 3, so that the second docking locking device 3 cooperates with the first locking groove 52 for locking and fixing. In this embodiment, the first docking mechanism 30 and the second docking mechanism 40 achieve precise and stable docking locking and fixing through the cooperation of the second docking locking device 3 and the first locking groove 52, as well as the synergistic effect of the first docking locking device 1 and the second locking groove 62. This improves the reliability of docking and effectively avoids positional deviations caused by loosening during robot operation. The configuration of the first locking drive device 7 and the second locking drive device 8 enables automated control of the docking locking process. It can precisely drive the docking locking devices according to a preset program, greatly improving docking efficiency, reducing manual intervention, and minimizing uncertainties and errors caused by human operation.

[0047] The first docking panel 5 is provided with a first mounting bracket 53, which includes a first docking cavity 531, a first locking and limiting groove 532, and a first transmission cavity 533. The first docking cavity 531 is provided with a first docking bracket 534, and the first docking connector 2 is mounted on the first docking bracket 534. Both the first locking and limiting groove 532 and the first transmission cavity 533 are located on the outer side of the first mounting bracket 53. Specifically, the second docking panel 6 is provided with a second mounting bracket 63, which includes a second docking cavity 631, a second locking and limiting groove 632, and a second transmission cavity 633. The second docking cavity 631 is provided with a second docking bracket 634, and the second docking connector 4 is mounted on the second docking bracket 634. Both the second locking and limiting groove 632 and the second transmission cavity 633 are located on the outer side of the second mounting bracket 63. In this embodiment, the first docking cavity 531 and the second docking cavity 631 respectively accommodate the first docking bracket 534 and the second docking bracket 634, ensuring the stable installation of the docking connector. This greatly improves the stability and positioning accuracy of the docking connector during the docking process, reduces docking deviation, and ensures the accuracy and reliability of robot docking. The first locking limit groove 532 and the second locking limit groove 632 can achieve precise locking positioning during docking. By cooperating with the corresponding limiting structure, excessive movement or offset during the docking process can be effectively limited, ensuring the accuracy of the docking position and preventing problems such as incomplete or excessive docking.

[0048] The first locking drive device 7 includes a first drive module 71, a first sun gear 72, and a first planetary gear 73. The first drive module 71 is disposed on the first docking cavity 531. The first sun gear 72 is disposed on the first mounting bracket 53 and connected to the drive end of the first drive module 71. The first planetary gear 73 is disposed in the first transmission cavity 533 and meshes with the first sun gear 72. The first docking locking device 1 is connected to the first planetary gear 73. The first planetary gear 73 is used to drive the first docking locking device 1 to rotate and move toward the second locking groove 62. Specifically, the second locking drive device 8 includes a second drive module 81, a second sun gear 82, and a second planetary gear 83. The second drive module 81 is disposed on the second docking cavity 631. The second sun gear 82 is disposed on the second mounting bracket 63 and connected to the drive end of the second drive module 81. The second planetary gear 83 is disposed in the second transmission cavity 633 and meshes with the second sun gear 82. The second docking locking device 3 is connected to the second planetary gear 83. The second planetary gear 83 is used to drive the second docking locking device 3 to rotate and move towards the first locking groove 52. In this embodiment, in the first locking drive device 7, the first drive module 71 provides the power source for the entire driving process. Under the stable support of the first mounting bracket 53, the first sun gear 72 efficiently transmits power to the meshing first planetary gear 73. As a key transmission component, the first planetary gear 73 not only drives the connected first docking locking device 1 to rotate and precisely adjust the docking angle, but also moves it towards the second locking groove 62 to achieve tight docking. Similarly, the second locking drive device 8, through a similar structure, drives the second docking locking device 3 to rotate and move towards the first locking groove 52 via the second planetary gear 83. Compared to traditional transmission methods, the planetary gear transmission structure has advantages such as a large transmission ratio, high load-bearing capacity, and high transmission efficiency, effectively reducing energy loss during docking and improving energy utilization. Simultaneously, the coordinated operation of the dual locking drive devices achieves multi-dimensional precise control, ensuring that the robot can accurately complete mechanical and electrical connections during docking, greatly improving the reliability and practicality of the robot docking system.

[0049] The first drive module 71 includes a first drive bracket 711, a first drive motor 712, and a first drive connector 713. The first drive bracket 711 is mounted on a first mounting bracket 53, and the first drive motor 712 is mounted on the first drive bracket 711. The first drive motor 712 is driven to a first sun gear 72 via the first drive connector 713, so as to drive the first planetary gear 73 to rotate through the first sun gear 72. Specifically, the second drive module 81 includes a second drive bracket 811, a second drive motor 812, and a second drive connector 813. The second drive bracket 811 is mounted on a second mounting bracket 63, and the second drive motor 812 is mounted on the second drive bracket 811. The second drive motor 812 is driven to a second sun gear 82 via the second drive connector 813, so as to drive the second planetary gear 83 to rotate through the second sun gear 82. In this embodiment, the first drive motor 712 is stably mounted on the first drive bracket 711, and the first drive bracket 711 is mounted on the first mounting bracket 53. This hierarchical structure ensures stable support of the power source. The first drive motor 712 is driven to the first sun gear 72 via the first drive connector 713, enabling precise and efficient transmission of motor power to the first sun gear 72, which in turn drives the first planetary gear 73 to rotate. This process enables precise driving of relevant components in the robot docking system, providing stable and controllable power support for the docking action, ensuring the accuracy of position adjustment during docking, and reducing errors. Similarly, with the coordinated operation of the second mounting bracket 63, the second drive bracket 811, and the second drive connector 813, the second drive module 81 enables the second drive motor 812 to reliably transmit power to the second sun gear 82, which in turn drives the second planetary gear 83 to rotate. The combined action of the two drive modules allows the robot docking system to achieve flexible and precise motion control in different directions and dimensions, greatly improving the success rate and stability of robot docking. In the above embodiment, the drive connector can be a separate gear or gear shaft, allowing the drive motor to be installed horizontally or vertically as needed by the environment.

[0050] A first docking bracket 534 is provided in the first docking cavity 531. The first docking bracket 534 has a first through groove 5341 opposite to the first guide groove 512 and a first docking fixing groove 5342. The first docking connector 2 is disposed on the first docking fixing groove 5342. A first connecting bearing 5343 is provided at one end of the first docking bracket 534, and the first sun gear 72 is disposed on the first connecting bearing 5343. Specifically, a second docking bracket 634 is provided in the second docking cavity 631. The second docking bracket 634 has a second through groove 6341 opposite to the second guide groove 612 and a second docking fixing groove 6342. The second docking connector 4 is disposed on the second docking fixing groove 6342. A second connecting bearing 6343 is provided at one end of the second docking bracket 634, and the second sun gear 82 is disposed on the second connecting bearing 6343. In this embodiment, the first through groove 5341 on the first docking bracket 534 corresponds to the first guide groove 512, providing precise guidance for the first docking process and ensuring that the first docking connector 2 can accurately reach the docking position along the predetermined path, thus improving the accuracy and stability of the docking. The first docking fixing groove 5342 securely sets the first docking connector 2, ensuring that the connector will not loosen during docking and subsequent operation, enhancing the reliability of the docking. The first connecting bearing 5343 supports the first sun gear 72, allowing the first sun gear 72 to rotate flexibly, effectively reducing wear and energy loss during transmission. Similarly, the structure inside the second docking placement cavity 631 has a similar and complementary effect. The second through groove 6341 cooperates with the second guide groove 612 to guide the second docking connector 4 to dock precisely. The second docking fixing groove 6342 firmly fixes the second docking connector 4, ensuring stable docking. The second connecting bearing 6343 supports the second sun gear 82, ensuring its smooth rotation, and works in conjunction with the first sun gear 72 to achieve efficient and stable operation of the robot docking system in terms of mechanical connection and power transmission.

[0051] The first docking panel 5 is provided with a first groove 54 facing the first transmission cavity 533, and the first mounting bracket 53 is provided with a second groove 55 facing the first transmission cavity 533. The first locking limiting groove 532 is located on one side of the second groove 55. The first bearing 551 is provided on both the first groove 54 and the second groove 55. The first docking locking device 1 includes a first docking transmission screw 11, a first docking limiting rod 12 and a first docking locking rod 13. The first docking transmission screw 11 is connected to the first planetary gear 73. The first docking limiting rod 12 is located at the first end of the first docking transmission screw 11, and the first docking locking rod 13 is located at the second end of the first docking transmission screw 11. The first docking limiting rod 12 is located in the first locking limiting groove 532 to stop and limit the rotation of the first docking transmission screw 11. The first docking locking rod 13 is used to cooperate with the first locking groove 52 for locking and fixing. Specifically, the second docking panel 6 is provided with a third groove 64 facing the second transmission cavity 633, and the second mounting bracket 63 is provided with a fourth groove 65 facing the second transmission cavity 633. The second locking limiting groove 632 is located on one side of the fourth groove 65. A second bearing 651 is provided on both the third groove 64 and the fourth groove 65. The second docking locking device 3 includes a second docking transmission screw 31, a second docking limiting rod 32, and a second docking locking rod 33. The second docking transmission screw 31 is connected to the second planetary gear 83. The second docking limiting rod 32 is located at the second end of the second docking transmission screw 31. The second docking locking rod 33 is located at the second end of the second docking transmission screw 31. The second docking limiting rod 32 is located in the second locking limiting groove 632 to prevent the second docking transmission screw 31 from rotating and to limit its rotation. The second docking locking rod 33 is used to cooperate with the second locking groove 62 for locking and fixing. In this embodiment, the first docking panel 5 and the first groove 54, second groove 55, and corresponding first bearing 551 on the first mounting bracket 53 provide a stable support and transmission foundation for the first docking locking device 1. The first docking transmission screw 11 is connected to the first planetary gear 73, enabling precise power transmission and driving the docking action. The first docking limiting rod 12 is located within the first locking limiting groove 532, effectively preventing the first docking transmission screw 11 from rotating arbitrarily and ensuring its positional accuracy and operational stability during the docking process. The first docking locking rod 13 cooperates with the first locking groove 52 to lock and fix the docking structure firmly after docking is completed, preventing loosening due to external interference and ensuring the reliability of the docking. Similarly, the structure on the second docking panel 6 and the second mounting bracket 63, through the third groove 64, fourth groove 65, second bearing 651, and second docking locking device 3, achieves stable docking and reliable locking of the second part.The second docking transmission screw 31 works in conjunction with the second planetary gear 83, and the second docking limiting rod 32 and the second docking locking rod 33 cooperate with the second locking limiting groove 632 and the second locking groove 62 to further enhance the docking accuracy and stability of the entire robot docking system.

[0052] The inner diameter of the first planetary gear 73 is provided with a first threaded groove 731, and the outer diameter of the first docking transmission screw 11 is provided with a first threaded ring 111. The first threaded ring 111 is connected to the first threaded groove 731, and the first flat part 112 is provided on both sides of the first threaded ring 111. When the first planetary gear 73 rotates, it drives the first docking transmission screw 11 to rotate. When the first docking limit rod 12 is stopped from rotating at the upper limit in the first locking groove 52, it pushes the first docking transmission screw 11 to move axially through the cooperation of the first threaded ring 111 and the first threaded groove 731. Specifically, the inner diameter of the second planetary gear 83 is provided with a second threaded groove 831, and the outer diameter of the second docking transmission screw 31 is provided with a second threaded ring 311. The second threaded ring 311 is connected to the second threaded groove 831, and second flat sections 312 are provided on both sides of the second threaded ring 311. When the second planetary gear 83 rotates, it drives the second docking transmission screw 31 to rotate. When the second docking limit rod 32 is stopped at the upper limit in the second locking groove 62, the second docking transmission screw 31 is pushed to move axially through the cooperation of the second threaded ring 311 and the second threaded groove 831. In this embodiment, the first planetary gear 73 and the first docking transmission screw 11 are connected through the cooperation of the first threaded groove 731 and the first threaded ring 111, and the design of the first flat section 112 ensures the accuracy and stability of power transmission. When the first planetary gear 73 rotates, it reliably drives the first docking transmission screw 11 to rotate synchronously. At the critical moment when the first docking limit rod 12 is stopped at the first locking groove 52, the threaded engagement pushes the first docking transmission screw 11 to move axially, achieving precise displacement adjustment of specific components during robot docking. This helps to complete the docking action quickly and accurately, improving docking accuracy and success rate. Similarly, the similar structure of the second planetary gear 83 and the second docking transmission screw 31, the connection between the second threaded groove 831 and the second threaded ring 311, and the setting of the second flat part 312 ensure the reliability of power transmission. When the second docking limit rod 32 is stopped at the second locking groove 62, the axial movement of the second docking transmission screw 31 can coordinate with the first docking transmission screw 11 to perform comprehensive fine-tuning and correction of robot docking from different directions or angles, further improving the overall performance and adaptability of the docking system. The flat part design ensures the stability of the transmission screw and reduces resistance.

[0053] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot docking system, characterized in that: The system includes a first robot, a second robot, a first docking mechanism, and a second docking mechanism. The first docking mechanism is located at one end of the first robot, and the second docking mechanism is located at one end of the second robot. The first docking mechanism is provided with a first docking locking device and a first docking connector, and the second docking mechanism is provided with a second locking groove and a second docking connector. The first docking locking device is used to cooperate with the second locking groove so that the first docking mechanism and the second docking mechanism can dock with each other and lock and fix each other. When the first docking mechanism and the second docking mechanism dock, the first docking connector and the second docking connector are connected so that the first robot and the second robot can communicate with each other. The first docking mechanism is provided with a first docking panel, which is mounted on the first robot and has a first docking guide device. The second docking mechanism is provided with a second docking panel, which is mounted on the second robot and has a second docking guide device. The first docking guide device and the second docking guide device cooperate to provide alignment guidance when the first docking mechanism and the second docking mechanism dock.

2. The robot docking system according to claim 1, characterized in that: The first docking guide device is composed of multiple first guide elements, which are distributed circumferentially around the first docking connector. A first guide groove is provided between two adjacent first guide elements. A first guide slope is provided on the outer periphery of the first guide element.

3. The robot docking system according to claim 2, characterized in that: The second docking guide device consists of multiple second guide elements, which are distributed circumferentially around the second docking connector. A second guide groove is provided between two adjacent second guide elements. A second guide slope is provided on the outer periphery of the second guide element. The first guide element is used to cooperate with the second guide groove, and the second guide element is used to cooperate with the first guide groove.

4. The robot docking system according to claim 2, characterized in that: The second docking mechanism is provided with a second docking locking device, and the first docking mechanism is provided with a first locking groove. The first locking groove is used to cooperate with the second docking locking device for locking and fixing after the first docking mechanism and the second docking mechanism are docked. The first docking panel is provided with a first locking drive device, and the second docking panel is provided with a second locking drive device. The first locking drive device is used to drive the first docking locking device so that the first docking locking device cooperates with the second locking groove for locking and fixing. The second locking drive device is used to drive the second docking locking device so that the second docking locking device cooperates with the first locking groove for locking and fixing.

5. The robot docking system according to claim 4, characterized in that: The first docking panel is provided with a first mounting bracket, the first mounting bracket is provided with a first docking placement cavity, a first locking limiting groove and a first transmission cavity, the first docking placement cavity is provided with a first docking bracket, and the first docking connector is provided on the first docking bracket; the first locking limiting groove and the first transmission cavity are both located on the outside of the first mounting bracket; The second docking panel is provided with a second mounting bracket, the second mounting bracket is provided with a second docking placement cavity, a second locking limiting groove and a second transmission cavity, the second docking placement cavity is provided with a second docking bracket, and the second docking connector is provided on the second docking bracket; the second locking limiting groove and the second transmission cavity are both located on the outside of the second mounting bracket.

6. The robot docking system according to claim 5, characterized in that: The first locking drive device includes a first drive module, a first sun gear, and a first planetary gear. The first drive module is disposed on the first docking cavity. The first sun gear is disposed on the first mounting bracket and connected to the drive end of the first drive module. The first planetary gear is disposed in the first transmission cavity and meshes with the first sun gear. The first docking locking device is connected to the first planetary gear. The first planetary gear is used to drive the first docking locking device to rotate and move toward the second locking groove. The second locking drive device includes a second drive module, a second sun gear, and a second planetary gear. The second drive module is disposed on the second docking cavity. The second sun gear is disposed on the second mounting bracket and connected to the drive end of the second drive module. The second planetary gear is disposed in the second transmission cavity and meshes with the second sun gear. The second docking locking device is connected to the second planetary gear. The second planetary gear is used to drive the second docking locking device to rotate and move toward the first locking groove.

7. The robot docking system according to claim 6, characterized in that: The first drive module includes a first drive bracket, a first drive motor, and a first drive connector. The first drive bracket is mounted on a first mounting bracket, and the first drive motor is mounted on the first drive bracket. The first drive motor is driven to a first sun gear through the first drive connector, so as to drive the first planetary gear to rotate through the first sun gear. The second drive module includes a second drive bracket, a second drive motor, and a second drive connector. The second drive bracket is mounted on a second mounting bracket, and the second drive motor is mounted on the second drive bracket. The second drive motor is connected to the second sun gear via the second drive connector so as to drive the second planetary gear to rotate.

8. The robot docking system according to claim 6, characterized in that: The first docking bracket is provided with a first through groove opposite to the first guide groove, the first docking bracket is provided with a first docking fixing groove, and the first docking connector is provided on the first docking fixing groove; one end of the first docking bracket is provided with a first connecting bearing, and the first sun gear is provided on the first connecting bearing. The second docking bracket is provided with a second through groove opposite to the second guide groove, the second docking bracket is provided with a second docking fixing groove, and the second docking connector is provided on the second docking fixing groove; one end of the second docking bracket is provided with a second connecting bearing, and the second sun gear is provided on the second connecting bearing.

9. The robot docking system according to claim 7, characterized in that: The first docking panel has a first groove facing the first transmission cavity, and the first mounting bracket has a second groove facing the first transmission cavity. The first locking and limiting groove is located on one side of the second groove. Both the first groove and the second groove are provided with first bearings. The first docking locking device includes a first docking transmission screw, a first docking limiting rod, and a first docking locking rod. The first docking transmission screw is connected to a first planetary gear. The first docking limiting rod is located at the first end of the first docking transmission screw, and the first docking locking rod is located at the second end of the first docking transmission screw. The first docking limiting rod is located in the first locking and limiting groove to prevent the first docking transmission screw from rotating and to limit its movement. The first docking locking rod is used to cooperate with the first locking groove for locking and fixing. The second docking panel has a third groove facing the second transmission cavity, and the second mounting bracket has a fourth groove facing the second transmission cavity. The second locking and limiting groove is located on one side of the fourth groove. A second bearing is provided on both the third and fourth grooves. The second docking locking device includes a second docking transmission screw, a second docking limiting rod, and a second docking locking rod. The second docking transmission screw is connected to the second planetary gear. The second docking limiting rod is located at the second end of the second docking transmission screw. The second docking locking rod is located at the second end of the second docking transmission screw. The second docking limiting rod is located in the second locking and limiting groove to prevent the second docking transmission screw from rotating. The second docking locking rod is used to cooperate with the second locking groove for locking and fixing.

10. The robot docking system according to claim 9, characterized in that: The first planetary gear has a first threaded groove on its inner diameter, and the first docking drive screw has a first threaded ring on its outer diameter. The first threaded ring is connected to the first threaded groove, and the first threaded ring has a first flat part on both sides. When the first planetary gear rotates, it drives the first docking drive screw to rotate. When the first docking limit rod is stopped at the upper limit in the first locking groove, the first docking drive screw is pushed to move axially through the cooperation of the first threaded ring and the first threaded groove. The inner diameter of the second planetary gear is provided with a second threaded groove, and the outer diameter of the second docking drive screw is provided with a second threaded ring. The second threaded ring is connected to the second threaded groove, and the two sides of the second threaded ring are provided with second flat parts. When the second planetary gear rotates, it drives the second docking drive screw to rotate. When the second docking limit rod is stopped at the upper limit of the second locking groove, the second docking drive screw is pushed to move axially through the cooperation of the second threaded ring and the second threaded groove.

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