Robot butt joint locking structure

Abstract

The utility model relates to the technical field of robot butt joint, in particular to a robot butt joint locking structure which comprises a first butt joint mechanism and a second butt joint mechanism used for being matched with the first butt joint mechanism, and the first butt joint mechanism is provided with a first panel, a first locking driving device and a first locking element. A locking groove is formed in the side, opposite to the first locking element, of the second butt joint mechanism, the first locking driving device is arranged on the first panel, the first locking element is provided with a first locking piece, and the first locking driving device is used for driving the first locking element to move so as to drive the first locking piece to be matched in the locking groove. And the first docking mechanism and the second docking mechanism are locked after being matched. By means of high matching performance, automation level, stability and good adaptability, accurate butt joint and locking of the robots are improved, and stable communication between the two robots can be conveniently kept.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot butt joint technical field, in particular to a kind of robot butt joint lock structure. BACKGROUND

[0002] Robot refers to a kind of robot system, it is usually by two wheels or wheel assembly consisting of wheel component. This design makes robot can move on horizontal surface, and can be realized by different wheel speed control to turn and rotate. Double-wheel robot usually uses differential drive system, by independently controlling the speed of each wheel, the advance, retreat, turning of robot and various movements can be realized. In addition, double-wheel robot can also be realized by controlling the speed difference of wheel to rotate, which makes them very flexible and suitable for narrow space and complex environment.

[0003] The existing robot needs to connect two robots by manually using data line for connection transmission in use, and the connection is relatively cumbersome and inconvenient to use. Some structures are automatically docked and transmitted, but the structure is relatively complex, and the stability is poor, so that stable communication cannot be maintained after docking. Therefore, the existing docking mechanism needs to be improved. UTILITY MODEL CONTENT

[0004] To solve the above problems, the utility model improves the accurate docking and locking of robot by the matching height, automation level, stability and good adaptability, so that the robot docking and locking structure can maintain stable communication between two robots.

[0005] The technical scheme adopted by the utility model is: a robot docking and locking structure, comprising a first docking mechanism and a second docking mechanism for matching the first docking mechanism, the first docking mechanism is provided with a first panel, a first locking driving device and a first locking element, the second docking mechanism is provided with a locking groove on the side opposite to the first locking element, the first locking driving device is arranged on the first panel, the first locking element is provided with a first locking element, the first locking driving device is used to drive the first locking element to move, so as to drive the first locking element to match in the locking groove, and the first docking mechanism and the second docking mechanism are matched and locked.

[0006] Further improvement of the above scheme is that the first docking mechanism is provided with a first docking element, the second docking mechanism is provided with a second docking element, and the first docking element and the second docking element are matched and docked.

[0007] Further, the first locking elements are arranged in a plurality of groups, and the first locking elements in each group are arranged in a ring shape around the first connecting element.

[0008] Further, the first locking driving device comprises a first driving support, a first locking driving gear, a first driving module and a first synchronous transmission gear, the first driving support is arranged on one side of the first panel, the first driving module is arranged on the first driving support, the first locking driving gear is in driving connection with the first driving module, the first synchronous transmission gear is in engagement with the first locking driving gear, and the first locking element is connected with the first synchronous transmission gear.

[0009] Further, the first driving module comprises a first mounting support and a first driving motor, the first mounting support is arranged on the first driving support, the first driving motor is arranged on the first mounting support, and the driving end of the first driving motor is provided with an output gear in engagement with the first locking driving gear.

[0010] Further, the first driving module comprises a first mounting support, a first driving motor and a first linkage element, the first mounting support is arranged on the first driving support, the first driving motor is arranged on the first mounting support, and the first linkage element is arranged on the first mounting support, one end of the first linkage element is connected with the driving end of the first driving motor, and the other end of the first linkage element is connected with the first locking driving gear.

[0011] Further, the first driving support is provided with a first mounting groove, the first panel is provided with a second mounting groove, the first mounting groove is opposite to the second mounting groove, bearings are arranged in the first mounting groove and the second mounting groove, two ends of the first synchronous transmission gear are connected with the two bearings respectively, and the first synchronous transmission gear is used for driving the first locking element to rotate or driving the first locking element to move towards the locking groove.

[0012] Further, the inner diameter of the first synchronous transmission gear is provided with a transmission thread groove, and the outer diameter of the first locking element is provided with a transmission thread strip, the transmission thread strip is connected with the transmission thread groove.

[0013] Further improvement of the above scheme is that the first driving support is provided with a first limiting groove on one side of the first mounting groove, the first limiting groove is provided with a limiting wall surface, one end of the first locking element extends towards the first limiting groove and is provided with a limiting rod, the limiting rod is used for abutting against the limiting wall surface to stop the first locking element from rotating with the first synchronous transmission gear and to move the first locking element towards the locking groove under the cooperation of the transmission screw strip and the transmission screw groove.

[0014] Further improvement of the above scheme is that the locking groove is provided with a locking limiting surface, the first locking element comprises a locking rod and a locking roller, the locking rod is arranged at one end of the first locking element, and the locking roller is arranged on the locking rod, the locking roller is used for abutting against the locking limiting surface to lock and limit the first locking element on the locking groove.

[0015] The utility model has the advantages of:

[0016] Compared with the existing butt locking mechanism, the utility model realizes high matching of the butt process between two robots through the first butt mechanism and the second butt mechanism. The first locking element accurately corresponds to the locking groove on the second butt mechanism, ensuring the positional accuracy during butt, and avoiding functional failure or mechanical damage caused by butt deviation. The first locking driving device greatly improves the automation and intelligent level of the locking process. It can accurately drive the first locking element to move, so that the first locking element smoothly matches into the locking groove and completes the locking action. Not only is it fast and efficient, but also reduces the dependence on manual operation and improves work efficiency.

[0017] The utility model fully considers the stability and reliability of locking. Once the first butt mechanism and the second butt mechanism are butt-connected through the matching of the locking element and the locking groove, the locking mechanism will ensure the close connection between the two, effectively preventing the butt from loosening or separating due to external force or vibration. The utility model improves the accurate butt and locking of robots through high matching, automation level, stability and good adaptability, and facilitates stable communication between two robots. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic view of the robot butt locking structure of the utility model;

[0019] Figure 2 It is Figure 1 It is a three-dimensional schematic view of the robot butt locking structure from another angle;

[0020] Figure 3 It is Figure 1 It is a structural schematic view of one embodiment of the first butt mechanism;

[0021] Figure 4 For Figure 1 The first docking mechanism in the middle is an exploded schematic view;

[0022] Figure 5 For Figure 1 The first docking mechanism in the middle is an exploded schematic view from another perspective;

[0023] Figure 6 For Figure 1 The first docking mechanism in the middle is a front view schematic view;

[0024] Figure 7 For Figure 6 The first docking mechanism in the middle is a sectional view of A-A;

[0025] Figure 8 For Figure 1 The first docking mechanism in the middle is a partial structure schematic view;

[0026] Figure 9 For the schematic diagram of the locking process of the utility model.

[0027] Explanation of reference signs: first docking mechanism 10, second docking mechanism 20, first panel 1, second mounting groove 11, bearing 12, first locking drive device 2, first drive support 21, first mounting groove 211, first limiting groove 212, limiting wall surface 213, first locking drive gear 22, first drive module 23, first mounting support 231, first drive motor 232, output gear 233, first linkage element 234, first synchronous transmission gear 24, transmission screw groove 241, first locking element 3, first locking piece 31, locking rod 311, locking roller 312, transmission screw strip 32, limiting rod 33, locking groove 4, locking limiting surface 41, first docking element 5, second docking element 6. DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of the utility model, the utility model will be described more fully below with reference to the relevant drawings. The preferred embodiments of the utility model are shown in the drawings. However, the utility model can be realized 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 utility model more thorough and comprehensive.

[0029] 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 be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used in this patent application, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Figures 1-5 As shown in the drawings, in one embodiment of the present application, a robot docking lock structure is involved, which comprises a first docking mechanism 10 and a second docking mechanism 20 for matching the first docking mechanism 10, the first docking mechanism 10 is provided with a first panel 1, a first locking driving device 2 and a first locking element 3, the side opposite to the first locking element 3 of the second docking mechanism 20 is provided with a locking groove 4, the first locking driving device 2 is arranged on the first panel 1, the first locking element 3 is provided with a first locking piece 31, the first locking driving device 2 is used to drive the first locking element 3 to move, so as to drive the first locking piece 31 to match in the locking groove 4, and the first docking mechanism 10 and the second docking mechanism 20 are matched and then locked. Through the first docking mechanism 10 and the second docking mechanism 20, the high matching of the docking process between two robots is realized. The first locking element 3 is accurately corresponding to the locking groove 4 on the second docking mechanism 20, which ensures the position accuracy during docking and avoids the functional failure or mechanical damage caused by docking deviation. The first locking driving device 2 greatly improves the automation and intelligent level of the locking process. The first locking element 3 can be accurately driven to move, so that the first locking piece 31 smoothly matches into the locking groove 4 and completes the locking action. This process is not only fast and efficient, but also reduces the dependence on manual operation and improves work efficiency.

[0031] The above embodiment fully considers the stability and reliability of the locking. When the first docking mechanism 10 and the second docking mechanism 20 are docked through the matching of the locking piece and the locking groove 4, the locking mechanism will ensure the close connection between the two, effectively preventing the docking from loosening or separating due to external force or vibration and other factors. Through the high matching, automation level, stability and good adaptability, the embodiment improves the accurate docking and locking of the robot, and facilitates the stable communication between the two robots.

[0032] The first docking mechanism 10 is provided with a first docking element 5, the second docking mechanism 20 is provided with a second docking element 6, and the first docking element 5 is matched and docked with the second docking element 6. Specifically, the first locking element 3 is provided in plurality, and the plurality of first locking elements 3 are evenly distributed on the first panel 1 in a ring shape with the first docking element 5 as the center; the locking groove 4 is provided in plurality, and the plurality of first locking elements 3 are opposite to the plurality of locking grooves 4. In the embodiment, the plurality of first locking elements 3 on the first docking mechanism 10 are evenly distributed in a ring shape with the first docking element 5 as the center, which ensures the accuracy of docking and greatly enhances the stability of locking. The locking element can be uniformly stressed during docking, effectively preventing docking deviation or locking failure caused by uneven stress. The plurality of locking grooves 4 provided on the second docking mechanism 20 correspond one-to-one with the first locking elements 3, forming a tight locking fit. Not only does it improve the firmness of the docking, but also enables the two robots to form a stable whole after docking. The first docking element 5 and the second docking element 6 play a guiding role during docking to match the docking guide of the two docking structures, ensuring the docking accuracy. Specifically, a docking groove and a docking bevel are provided on the two docking elements for guiding and matching during docking, which is high in accuracy and good in stability.

[0033] The first locking driving device 2 includes a first driving bracket 21, a first locking driving gear 22, a first driving module 23, and a first synchronous transmission gear 24. The first driving bracket 21 is arranged on one side of the first panel 1, the first driving module 23 is arranged on the first driving bracket 21, the first locking driving gear 22 is drivingly connected with the first driving module 23, the first synchronous transmission gear 24 is engaged with the first locking driving gear 22, and the first locking element 3 is connected with the first synchronous transmission gear 24. In the embodiment, the first driving bracket 21 is stably mounted on one side of the first panel 1, ensuring the reference stability of the locking action. The first driving module 23 serves as a power source to efficiently and accurately drive the first locking driving gear 22, realizing rapid transmission of locking force. This improves the locking efficiency and reduces energy consumption. The accurate engagement of the first synchronous transmission gear 24 with the first locking driving gear 22 ensures the synchronism and stability of the locking action. The gear transmission mode has the advantages of high transmission efficiency, strong carrying capacity, and long service life, providing reliable protection for the locking of the docked robots. The close connection of the first locking element 3 with the first synchronous transmission gear 24 ensures the accurate execution of the locking action. During the docking of the two robots, the locking element can quickly and firmly lock the docking position, effectively preventing docking looseness or misalignment caused by vibration or external force interference.

[0034] The first driving module 23 comprises a first mounting bracket 231 and a first driving motor 232. The first mounting bracket 231 is arranged on the first driving bracket 21, and the first driving motor 232 is arranged on the first mounting bracket 231. The driving end of the first driving motor 232 is provided with an output gear 233, and the output gear 233 is engaged with the first locking driving gear 22. Specifically, the first driving motor 232 and the first locking driving gear 22 are vertically arranged through the output gear 233. In this embodiment, the first mounting bracket 231 is arranged on the first driving bracket 21 to provide support for the first driving motor 232. The first driving motor 232 is precisely engaged with the first locking driving gear 22 through the output gear 233 arranged on the driving end. This ensures the efficiency of power transmission and enables the first driving motor 232 and the first locking driving gear 22 to be vertically arranged, thereby optimizing the spatial layout and reducing the risk of interference during docking. During the docking process of the robots, when the docking surfaces of the two robots gradually approach and finally contact, the first driving module 23 begins to play a role. Through the driving of the first driving motor 232, the output gear 233 drives the first locking driving gear 22 to rotate, thereby realizing the rapid and accurate locking of the docking locking mechanism. This not only improves the stability and reliability of the docking, but also effectively prevents the docking from loosening or separating due to external factors

[0035] The first driving module 23 comprises a first mounting bracket 231, a first driving motor 232 and a first linkage element 234. The first mounting bracket 231 is arranged on the first driving bracket 21, the first driving motor 232 is arranged on the first mounting bracket 231, and the first linkage element 234 is arranged on the first mounting bracket 231. One end of the first linkage element 234 is connected to the driving end of the first driving motor 232, and the other end is connected to the first locking driving gear 22. Specifically, the first driving motor 232 and the first locking driving gear 22 are horizontally arranged through the first linkage element 234. In this embodiment, the first mounting bracket 231 is arranged on the first driving bracket 21 to provide driving support for the first driving motor 232. The first driving motor 232 serves as a power source and is installed on the first mounting bracket 231 to ensure stable power transmission. The first linkage element 234 serves as a connecting bridge, with one end tightly connected to the driving end of the first driving motor 232 and the other end connected to the first locking driving gear 22, forming an efficient transmission chain. Through the ingenious design of the first linkage element 234, the first driving motor 232 and the first locking driving gear 22 are horizontally arranged. This optimizes the use of space and ensures the linearity and stability of power transmission, thereby greatly improving the accuracy and reliability of the locking action. When the two robots are docked, this driving module can quickly and accurately drive the locking driving gear to perform the locking action, ensuring the stable connection between the two robots.

[0036] The first driving support 21 is provided with a first mounting groove 211, the first panel 1 is provided with a second mounting groove 11, the first mounting groove 211 is opposite to the second mounting groove 11, bearings 12 are arranged in the first mounting groove 211 and the second mounting groove 11, two ends of the first synchronous transmission gear 24 are respectively connected to the two bearings 12, and the first synchronous transmission gear 24 is used to drive the first locking element 3 to rotate or move towards the locking groove 4. In the embodiment, the first mounting groove 211 on the first driving support 21 is opposite to the second mounting groove 11 on the first panel 1, and precise positioning is provided for the mounting of the bearings 12. The opposite layout not only ensures the compactness of the structure, but also effectively improves the convenience of installation. As a key component, the bearing 12 is embedded in the first mounting groove 211 and the second mounting groove 11, and provides stable and low-friction support for the rotation of the first synchronous transmission gear 24. The two ends of the first synchronous transmission gear 24 are respectively connected to the two bearings 12, which not only enhances the stability of gear transmission. The first synchronous transmission gear 24 can accurately drive the first locking element 3 to rotate or move towards the locking groove 4 under the control of the driving system. Through precise transmission control, the first locking element 3 can quickly and accurately mesh with the locking groove 4, thereby realizing firm locking between the two robots.

[0037] The inner diameter of the first synchronous transmission gear 24 is provided with a transmission thread groove 241, and the outer diameter of the first locking element 3 is provided with a transmission thread strip 32 which is connected with the transmission thread groove 241. Specifically, the first driving support 21 is provided with a first limiting groove 212 on one side of the first mounting groove 211, and the first limiting groove 212 is provided with a limiting wall surface 213. One end of the first locking element 3 extends towards the first limiting groove 212 and is provided with a limiting rod 33 which is used to abut against the limiting wall surface 213 to stop the rotation of the first locking element 3 following the first synchronous transmission gear 24, and under the cooperation of the transmission thread strip 32 and the transmission thread groove 241, the first locking element 3 moves towards the locking groove 4. In this embodiment, the inner diameter of the first synchronous transmission gear 24 is provided with a transmission thread groove 241, and the outer diameter of the first locking element 3 is provided with a matching transmission thread strip 32. The design of the threaded connection ensures a close fit between the two, and also provides a stable and reliable transmission mechanism. When the two robots are docked, the limiting wall surface 213 in the first limiting groove 212 on the first driving support 21 effectively limits the rotation of the first locking element 3, so that it can stably follow the rotation of the first synchronous transmission gear 24. With the transmission, the close meshing between the transmission thread strip 32 and the transmission thread groove 241 enables the first locking element 3 to move accurately towards the locking groove 4. Not only does this improve the accuracy and stability of the robot docking, but it also significantly enhances the locking effect. When the first locking element 3 completely enters the locking groove 4, the connection between the two robots will become exceptionally firm, effectively preventing the phenomenon of loosening or separation after docking.

[0038] The locking groove 4 is provided with a locking limiting surface 41, and the first locking piece 31 includes a locking rod 311 and a locking roller 312. The locking rod 311 is provided at one end of the first locking element 3, and the locking roller 312 is provided on the locking rod 311. The locking roller 312 is used to abut against the locking limiting surface 41 to lock and limit the first locking piece 31 in the locking groove 4. In this embodiment, when the two robots are docked, the locking rod 311 in the first locking piece 31 can be accurately inserted into the locking groove 4, and the locking roller 312 closely fits on the locking limiting surface 41. The contact between the locking roller 312 and the locking limiting surface 41 effectively prevents the relative sliding or misalignment of the two robots after docking. The locking roller 312 also has a certain buffering and shock-absorbing effect. During the docking of the robots, even if there is a small impact or vibration, the locking roller 312 can absorb these energies through its rolling characteristics, thereby further protecting the docking mechanism from damage.

[0039] The above embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but can not therefore be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, without departing from the utility model concept, several deformations and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. A robotic docking lock arrangement, characterized by: The first docking mechanism is provided with a first panel, a first locking driving device and a first locking element, and the second docking mechanism is provided with a locking groove on the side opposite to the first locking element.

2. The robotic docking lock arrangement of claim 1, wherein: The first docking mechanism is provided with a first docking element, and the second docking mechanism is provided with a second docking element.

3. The robotic docking lock arrangement of claim 2, wherein: The first locking element is provided in plurality, and the plurality of first locking elements are evenly distributed on the first panel in a ring shape with the first docking element as the center.

4. The robotic docking lock arrangement of claim 1, wherein: The first locking driving device comprises a first driving support, a first locking driving gear, a first driving module and a first synchronous transmission gear.

5. The robotic docking lock arrangement of claim 4, wherein: The first driving module comprises a first mounting support and a first driving motor.

6. The robotic docking lock arrangement of claim 4, wherein: The first driving module comprises a first mounting support, a first driving motor and a first linkage element.

7. The robotic docking lock arrangement of claim 4, wherein: The first driving support is provided with a first mounting groove, and the first panel is provided with a second mounting groove.

8. The robotic docking lock arrangement of claim 4, wherein: The inner diameter of the first synchronous transmission gear is provided with a transmission thread groove, and the outer diameter of the first locking element is provided with a transmission thread strip. The inner diameter of the first synchronous transmission gear is provided with a transmission thread groove, and the outer diameter of the first locking element is provided with a transmission thread strip.

9. The robotic docking lock arrangement of claim 8, wherein: The first driving support is provided with a first limiting groove on one side of the first mounting groove, the first limiting groove is provided with a limiting wall surface, one end of the first locking element extends towards the first limiting groove and is provided with a limiting rod, the limiting rod is used for abutting against the limiting wall surface, so that the first locking element is stopped with the first synchronous transmission gear, and under the cooperation of the transmission screw strip and the transmission screw groove, the first locking element moves towards the locking groove.

10. The robotic docking lock arrangement of claim 1, wherein: The locking groove is provided with a locking limiting surface, the first locking element comprises a locking rod and a locking roller, the locking rod is arranged at one end of the first locking element, and the locking roller is arranged on the locking rod, the locking roller is used for abutting against the locking limiting surface, so that the first locking element is locked and limited on the locking groove.

Images